Interventional consumable delivery device and vascular interventional surgical robot

Abstract

Disclosed are an interventional consumable delivery device and a vascular interventional surgical robot. The interventional consumable delivery device comprises: a delivery guide rail; a first drive mechanism arranged at one end of the delivery guide rail close to an intervention end, the first drive mechanism being configured to drive a first interventional consumable to move; a first moving platform arranged on the delivery guide rail; a second drive mechanism arranged on the first moving platform, the second drive mechanism being configured to drive a second interventional consumable to move; a third drive mechanism arranged on the first moving platform, the third drive mechanism being configured to drive a third interventional consumable to move; and a first connection valve arranged on the first moving platform, the first connection valve comprising three mutually connected first connection channels, wherein one of the first connection channels is configured for fixed connection to the first interventional consumable, one of the first connection channels is configured for allowing the second interventional consumable to penetrate the first interventional consumable, and one of the first connection channels is configured for allowing the third interventional consumable to penetrate the first interventional consumable. The present application solves the problem that a robot requires disassembling and assembling mounting parts when replacing interventional consumables.

Description

Interventional consumables delivery device and vascular interventional surgery robot Technical Field

[0001] The present application relates to the field of medical equipment technology, and more specifically, to an interventional consumables delivery device and a vascular interventional surgical robot. Background Art

[0002] Existing interventional equipment only intercepts part of the content of the interventional surgery for operation, or can only install two interventional consumables at a time for surgery. When the consumables need to be replaced during the process, the operator needs to stop the operation and enter the operating room to replace and install the consumables. This is not conducive to the operator and cannot allow the operator to operate continuously, which not only reduces the efficiency of the operation, but also affects his or her operating thinking.

[0003] Summary of the Invention

[0004] The main purpose of the present application is to provide an interventional consumables delivery device to solve the problem in related technologies that interventional equipment needs to disassemble and assemble corresponding installation components when replacing interventional consumables, resulting in an incoherent surgical operation process.

[0005] To achieve the above objectives, the present application provides an interventional consumables delivery device, comprising:

[0006] delivery rails;

[0007] A first driving mechanism is provided at one end of the delivery guide rail close to the intervention end, and is used to drive the first interventional consumable to move;

[0008] A first movable platform is provided on the delivery guide rail and can move linearly along the delivery guide rail;

[0009] a second driving mechanism, provided on the first moving platform, for driving the second interventional consumable to move within the channel established by the first interventional consumable;

[0010] a third driving mechanism, provided on the first moving platform, for driving a third interventional consumable to move within the channel established by the first interventional consumable;

[0011] The first connecting valve is arranged on the first movable platform, and the first connecting valve includes at least three first connecting channels that are interconnected, one of which is used to be fixedly connected to one end of the first interventional consumable, another of which is used to allow the second interventional consumable to penetrate into the first interventional consumable, and another of which is used to allow the third interventional consumable to penetrate into the first interventional consumable, so that either the second interventional consumable or the third interventional consumable can be selectively inserted into the first interventional consumable.

[0012] Furthermore, the first connecting channel on the first connecting valve for fixing the first interventional consumable is coaxial with the through-port on the first driving mechanism; and / or

[0013] The first connecting channel on the first connecting valve for fixing the first interventional consumable is coaxial with the first connecting channel on the first connecting valve for allowing the third interventional consumable to penetrate.

[0014] Furthermore, the first connecting valve further includes a first medical fluid input channel communicated with the first connecting channel, and the first medical fluid input channel is used to be connected to a medical fluid input device.

[0015] Furthermore, the first interventional consumable driven by the first driving mechanism is a catheter, the second interventional consumable driven by the second driving mechanism is a guidewire, and the third interventional consumable driven by the third driving mechanism includes but is not limited to a microcatheter, a balloon, and a vascular stent.

[0016] Furthermore, the interventional consumables delivery device further includes:

[0017] A second movable platform is provided on the delivery guide rail and can move linearly along the delivery guide rail;

[0018] a fourth driving mechanism, provided on the second moving platform, for driving a fourth interventional consumable to move within the channel established by the third interventional consumable;

[0019] a fifth driving mechanism, provided on the second moving platform, for driving a fifth interventional consumable to move within the channel established by the third interventional consumable;

[0020] The second connecting valve is arranged on the second movable platform, and the second connecting valve includes at least three second connecting channels that are interconnected, one of which is used to be fixedly connected to one end of the third interventional consumable, another of which is used to allow the fourth interventional consumable to penetrate into the third interventional consumable, and another of which is used to allow the fifth interventional consumable to penetrate into the third interventional consumable.

[0021] Furthermore, the second connecting channel on the second connecting valve for fixing the third interventional consumable, the first connecting channel on the first connecting valve for fixing the first interventional consumable, and the first connecting channel on the first connecting valve for the third interventional consumable to pass through are all coaxially arranged; and / or

[0022] The second connecting channel on the second connecting valve for inserting the fourth interventional consumable, the second connecting channel on the second connecting valve for inserting the fifth interventional consumable, and the second connecting channel on the second connecting valve for fixing the third interventional consumable are not coaxial.

[0023] Furthermore, the second connecting valve also includes a second medical fluid input channel communicated with the second connecting channel, and the second medical fluid input channel is used to be connected to a medical fluid input device.

[0024] Furthermore, the third interventional consumable driven by the third driving mechanism is a microcatheter, the fourth interventional consumable driven by the fourth driving mechanism is a microguidewire, and the fifth interventional consumable driven by the fifth driving mechanism includes but is not limited to a balloon and a vascular stent.

[0025] Furthermore, an active motion mechanism is provided in both the first mobile platform and the second mobile platform, and the active motion mechanism is configured to cooperate with the delivery guide rail to actively drive the first mobile platform and the second mobile platform to move.

[0026] According to another aspect of the present application, a vascular interventional surgical robot is provided, comprising the above-mentioned interventional consumables delivery device.

[0027] The present application achieves the purpose of utilizing the three first connecting channels of the first connecting valve to respectively load the first interventional consumable, the second interventional consumable and the third interventional consumable, and automatically selecting the second interventional consumable or the third interventional consumable to be inserted into the first interventional consumable under the action of the second drive mechanism and the third drive mechanism, thereby realizing the technical effect of being able to install more than two interventional consumables at the same time, and there is no need to replace and install the interventional consumables during the operation, and the interventional consumables can be automatically switched during the operation, making the entire surgical operation process more coherent, thereby solving the problem in the related technology that the interventional equipment needs to disassemble and install the corresponding installation components when replacing the interventional consumables, resulting in an inconsistent surgical operation process; and since there is no need to install and replace the interventional consumables during the operation, the operation time is reduced and the surgical efficiency is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The drawings that constitute part of this application are used to provide a further understanding of this application and make other features, objects and advantages of this application more apparent. The illustrative embodiment drawings of this application and their descriptions are used to explain this application and do not constitute an improper limitation of this application. In the drawings:

[0029] FIG1 is a schematic top view of a delivery device according to an embodiment of the present application;

[0030] FIG2 is a side view of the structure of FIG1;

[0031] FIG3 is a schematic top view of the structure of the delivery device after the first interventional consumable is delivered according to an embodiment of the present application;

[0032] FIG4 is a side view of the structure of FIG3;

[0033] FIG5 is a schematic top view of the delivery device after delivery of a third interventional consumable according to an embodiment of the present application;

[0034] FIG6 is a side view of the structure of FIG5;

[0035] Among them, 1 is a first driving mechanism, 2 is a first interventional consumable, 3 is a first connecting valve, 31 is a first connecting channel, 32 is a first medical fluid input channel, 4 is a second driving mechanism, 5 is a second interventional consumable, 6 is a first moving platform, 7 is a third driving mechanism, 8 is a third interventional consumable, 9 is a delivery rail, 10 is a second connecting valve, 101 is a second connecting channel, 102 is a second medical fluid input channel, 11 is a fourth driving mechanism, 12 is a fourth interventional consumable, 13 is a second moving platform, 14 is a fifth driving mechanism, and 15 is a fifth interventional consumable. DETAILED DESCRIPTION

[0036] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0037] It should be noted that the terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, for the purposes of describing the embodiments of the present application herein.

[0038] In this application, the terms "upper," "lower," "inner," and the like indicate positions or locations based on those shown in the accompanying drawings. These terms are primarily intended to better describe this application and its embodiments and are not intended to limit the devices, elements, or components indicated to having a specific orientation, or to being constructed or operated in a specific orientation.

[0039] Furthermore, some of the above terms may be used to express other meanings besides indicating a position or location. For example, the term "on" may also be used to indicate a dependency or connection in certain circumstances. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0040] Furthermore, the terms "disposed," "provided with," "connected," and "fixed" should be interpreted broadly. For example, "connected" can mean a fixed connection, a removable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection, an indirect connection through an intermediary, or an internal communication between two devices, elements, or components. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0041] Additionally, the term "plurality" shall mean two or more.

[0042] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0043] To solve the related technical problems, as shown in Figures 1 and 2, an embodiment of the present application provides an interventional consumable delivery device, comprising:

[0044] Delivery rail 9;

[0045] A first driving mechanism 1 is provided at one end of the delivery guide rail 9 close to the intervention end, and is used to drive the first interventional consumable 2 to move;

[0046] The first movable platform 6 is provided on the delivery guide rail 9 and can move linearly along the delivery guide rail 9;

[0047] The second driving mechanism 4 is provided on the first moving platform 6 and is used to drive the second interventional consumable 5 to move within the channel established by the first interventional consumable 2;

[0048] a third driving mechanism 7 , provided on the first movable platform 6 , for driving the third interventional consumable 8 to move within the channel established by the first interventional consumable 2 ;

[0049] The first connecting valve 3 is arranged on the first movable platform 6. The first connecting valve 3 includes at least three first connecting channels 31 that are interconnected. One of the first connecting channels 31 is used to be fixedly connected to one end of the first interventional consumable 2, another first connecting channel 31 is used to allow the second interventional consumable 5 to penetrate into the first interventional consumable 2, and another first connecting channel 31 is used to allow the third interventional consumable 8 to penetrate into the first interventional consumable 2, so that the second interventional consumable 5 and the third interventional consumable 8 can be selected to penetrate into the first interventional consumable 2.

[0050] In this embodiment, the delivery rail 9 is a rail structure of a certain length mounted on the robot body. The first drive mechanism 1 is located at one end of the delivery rail 9 close to the intervention end. The specific structure and driving mode of the first drive mechanism 1 match the structural form and motion requirements of the first interventional consumable 2 to be driven. In one embodiment, the first interventional consumable 2 has a hollow tubular structure, and the first drive mechanism 1 is configured to drive the first interventional consumable 2 to deliver, withdraw, and rotate. The corresponding first drive mechanism 1 includes a structure that can output the corresponding motion. This embodiment does not limit its specific structure.

[0051] A first movable platform 6 is also installed on the delivery guide rail 9. The first movable platform 6 can move in a straight line along the delivery guide rail 9 actively or passively, and the specific movement method and structure are not limited. When the first movable platform 6 can actively move in a straight line along the delivery guide rail 9, the first movable platform 6 needs to be configured with a corresponding active drive mechanism. A first connecting valve 3, a second drive mechanism 4 and a third drive mechanism 7 are installed on the first movable platform 6. The specific structure and drive method of the second drive mechanism 4 and the third drive mechanism 7 are also matched with the structural form and movement requirements of the second interventional consumables 5 and the third interventional consumables 8 to be driven. In one embodiment, the structural form of the first drive mechanism 1, the second drive mechanism 4 and the third drive mechanism 7 are consistent, and the difference between the three is that the interventional consumables to be driven are different. Of course, this is not restrictive, and they can also be set to different structural forms.

[0052] For the first connecting valve 3, it includes at least three first connecting channels 31 that are interconnected, that is, the first connecting valve 3 is at least a three-way valve. According to actual surgical requirements, the first connecting valve 3 can also be a four-way valve or a five-way valve. When the first connecting valve 3 includes three first connecting channels 31, one of the first connecting channels 31 close to the first driving mechanism 1 is fixedly connected to the end of the first interventional consumable 2, so that the channel established by the first interventional consumable 2 can be connected to the other two first connecting channels 31. At the same time, when the first driving mechanism 1 drives the first interventional consumable 2 to perform a delivery operation, the traction force can be transmitted to the first mobile platform 6, so that the part of the first interventional consumable 2 located between the first driving mechanism 1 and the first connecting valve 3 can be in a straightened state. It should be noted that when the first interventional consumable 2 needs to perform a rotational motion, the part of the first connecting channel 31 that is fixedly connected to the first interventional consumable 2 can rotate independently.

[0053] As shown in Figure 1 , the other two of the three first connecting channels 31 can respectively allow the second interventional consumable 5 and the third interventional consumable 8 to pass through. In this embodiment, the three first connecting channels 31 are each of a certain length, which is required to ensure that when the three interventional consumables are loaded separately, the three interventional consumables do not interfere with each other, that is, no two of the three interventional consumables extend to the intersection of the three first connecting channels 31.

[0054] Before the operation, the corresponding first interventional consumables 2, second interventional consumables 5 and third interventional consumables 8 can be respectively loaded into the three first connecting channels 31 according to the requirements of the operation. During the operation, the second interventional consumables 5 and the third interventional consumables 8 are selectively controlled by the second drive mechanism 4 and the third drive mechanism 7 to penetrate into the channel established by the first interventional consumable 2 according to the requirements of the operation. In one embodiment, the first interventional consumable 2 is a catheter, the second interventional consumable 5 is a guide wire, and the third interventional consumable 8 is a terminal consumable such as a balloon or a vascular stent. Before the operation, the three interventional consumables can be respectively loaded into the corresponding first connecting channels 31 and all of them are in their initial positions. Then the guide wire is sent into the catheter by the second drive mechanism 4, and the catheter is guided to move by the guide wire. After the catheter is moved into place, the second drive mechanism 4 controls the guide wire to withdraw from the catheter and return to its initial position. Then the third drive mechanism 7 sends the balloon or vascular stent into the catheter and moves it along the catheter to the treatment position.

[0055] It should be noted that the above description of the types of the first interventional consumable 2, the second interventional consumable 5 and the third interventional consumable 8 and the order in which the second interventional consumable 5 and the third interventional consumable 8 are inserted into the first interventional consumable 2 is not restrictive, and those skilled in the art can make adaptive adjustments according to actual surgical requirements.

[0056] On the one hand, this embodiment achieves the purpose of utilizing the three first connecting channels 31 of the first connecting valve 3 to respectively load the first interventional consumable 2, the second interventional consumable 5 and the third interventional consumable 8, and automatically selecting the second interventional consumable 5 or the third interventional consumable 8 to be inserted into the first interventional consumable 2 under the action of the second drive mechanism 4 and the third drive mechanism 7, thereby achieving the purpose of being able to install more than two interventional consumables at the same time, and there is no need to replace and install the interventional consumables during the operation, and no manual intervention is required during the operation, and the interventional consumables can be automatically switched during the operation, making the entire surgical operation process more coherent. This solves the problem in the related technology that the interventional equipment needs to disassemble and assemble the corresponding installation components when replacing the interventional consumables, resulting in an incoherent surgical operation process; and since there is no need to install and replace the interventional consumables during the operation, the operation time is reduced and the surgical efficiency is improved.

[0057] Because one end of the first interventional consumable 2 needs to be fixed to one of the first connecting channels 31 and the other end needs to be installed on the first drive mechanism 1, and the first interventional consumable 2 needs to be used to establish a movement channel for the remaining interventional consumables, the portion of the first interventional consumable 2 located between the first drive mechanism 1 and the first connecting valve 3 needs to be kept straight. To this end, in this embodiment, the first connecting channel 31 on the first connecting valve 3, which is used to fix the first interventional consumable 2, is coaxial with the through-port on the first drive mechanism 1.

[0058] On this basis, when the third interventional consumable 8 is a structure that needs to be delivered straight, the first connecting channel 31 on the first connecting valve 3 for fixing the first interventional consumable 2 and the first connecting channel 31 for the third interventional consumable 8 to penetrate also need to remain coaxial (as shown in Figure 1).

[0059] Of course, it is understandable that when the third interventional consumable 8 is made of a material with better flexibility and can be delivered at a certain bending angle during the delivery process, the first connecting channel 31 on the first connecting valve 3 for fixing the first interventional consumable 2 and the first connecting channel 31 for the third interventional consumable 8 to penetrate may also be non-coaxial.

[0060] The same applies to whether the first connecting channel 31 on the first connecting valve 3 for fixing the second interventional consumable 5 and the first connecting channel 31 for fixing the first interventional consumable 2 are coaxially arranged, and this embodiment will not be repeated here.

[0061] In one embodiment, when the second interventional consumable 5 is a flexible microguidewire and the third interventional consumable 8 is a microcatheter, the microcatheter needs to remain straight because it serves as a delivery channel for subsequent microguidewires and balloons or stents. Accordingly, the first connecting channel 31 on the first connecting valve 3 for securing the first interventional consumable 2 and the first connecting channel 31 for inserting the third interventional consumable 8 need to remain coaxial.

[0062] While the first connecting valve 3 has three first connecting channels 31 for accommodating three types of interventional consumables, since medical fluids also need to be injected during surgery, the first connecting valve 3 in this embodiment also includes a first medical fluid input channel 32 communicating with the first connecting channels 31. The first medical fluid input channel 32 is used to connect to a medical fluid input device. In other words, in this embodiment, the first connecting valve 3 is at least a four-way valve.

[0063] In one embodiment, the first interventional consumable 2 driven by the first driving mechanism 1 is a catheter, the second interventional consumable 5 driven by the second driving mechanism 4 is a guidewire, and the third interventional consumable 8 driven by the third driving mechanism 7 includes but is not limited to a microcatheter, a balloon, and a vascular stent.

[0064] On the basis of the above embodiment, in order to further increase the number of pre-installed interventional consumables to meet the needs of more complex surgeries, as shown in Figures 1 to 6, the interventional consumable delivery device in this embodiment further includes:

[0065] The second movable platform 13 is provided on the delivery guide rail 9 and can move linearly along the delivery guide rail 9;

[0066] a fourth driving mechanism 11 , provided on the second movable platform 13 , for driving the fourth interventional consumable 12 to move within the channel established by the third interventional consumable 8 ;

[0067] a fifth driving mechanism 14 , provided on the second movable platform 13 , for driving the fifth interventional consumable 15 to move within the channel established by the third interventional consumable 8 ;

[0068] The second connecting valve 10 is arranged on the second movable platform 13. The second connecting valve 10 includes at least three interconnected second connecting channels 101, one of which is used to be fixedly connected to one end of the third interventional consumable 8, another second connecting channel 101 is used to allow the fourth interventional consumable 12 to penetrate into the third interventional consumable 8, and another second connecting channel 101 is used to allow the fifth interventional consumable 15 to penetrate into the third interventional consumable 8.

[0069] In this embodiment, the second mobile platform 13 is also mounted on the delivery rail 9, positioned sequentially with the first mobile platform 6 in a direction away from the interventional end. Like the first mobile platform 6, the second mobile platform 13 can also actively or passively move linearly along the delivery rail 9, with no particular limitation on the specific movement method or structure. If the second mobile platform 13 is capable of active linear movement along the delivery rail 9, it requires a corresponding active drive mechanism. To enhance interchangeability, the first and second mobile platforms 6 and 13 have substantially identical structures.

[0070] A second connecting valve 10, a fourth drive mechanism 11 and a fifth drive mechanism 14 are installed on the first movable platform 6. The specific structure and driving mode of the fourth drive mechanism 11 and the fifth drive mechanism 14 also match the structural form and movement requirements of the fourth interventional consumable 12 and the fifth interventional consumable 15 to be driven. Of course, the specific matching form is not limited. In one embodiment, the fourth drive mechanism 11 and the fifth drive mechanism 14 have the same structural form, and the difference between the two is that the interventional consumables to be driven are different. Furthermore, in order to improve interchangeability, the structures of the first drive mechanism 1, the second drive mechanism 4, the third drive mechanism 7, the fourth drive mechanism 11 and the fifth drive mechanism 14 are all the same, and the difference between the five is that the installation position and the interventional consumables driven are different.

[0071] For the second connecting valve 10, it includes at least three second connecting channels 101 that are interconnected, that is, the second connecting valve 10 is at least a three-way valve. According to actual surgical requirements, the second connecting valve 10 can also be a four-way valve or a five-way valve. When the second connecting valve 10 includes three first connecting channels 31, a second connecting channel 101 close to the first movable platform 6 is fixedly connected to the end of the third interventional consumable 8, so that the channel established by the third interventional consumable 8 can be connected to the other two second connecting channels 101. At the same time, when the third driving mechanism 7 drives the third interventional consumable 8 to perform a delivery operation, the traction force can be transmitted to the second movable platform 13, so that the part of the third interventional consumable 8 located between the third driving mechanism 7 and the second connecting valve 10 can be in a straightened state. It should be noted that when the third interventional consumable 8 needs to perform a rotational motion, the part of the second connecting channel 101 that is fixedly connected to the third interventional consumable 8 can rotate independently.

[0072] The other two of the three second connecting channels 101 can respectively pass through the fourth interventional consumable 12 and the fifth interventional consumable 15. In this embodiment, the three second connecting channels 101 have a certain length. The length is required to ensure that when the three interventional consumables are loaded separately, the three interventional consumables do not interfere with each other. In other words, no two of the three interventional consumables extend to the intersection of the three second connecting channels 101.

[0073] As shown in Figures 1 and 2, before surgery, the corresponding first interventional consumable 2, second interventional consumable 5, third interventional consumable 8, fourth interventional consumable 12, and fifth interventional consumable 15 can be respectively loaded into the three first connecting channels 31 and the three second connecting channels 101 according to surgical requirements and placed in their initial positions. As shown in Figures 3 to 6, during surgery, according to surgical requirements, the second interventional consumable 5 and the third interventional consumable 8 are selectively controlled by the second drive mechanism 4 and the third drive mechanism 7 to pass through the channel established by the first interventional consumable 2, and the fourth interventional consumable 12 and the fifth interventional consumable 15 are selectively controlled by the fourth drive mechanism 11 and the fifth drive mechanism 14 to pass through the channel established by the third interventional consumable 8.

[0074] In one embodiment, the first interventional consumable 2 is a catheter, the second interventional consumable 5 is a guidewire, the third interventional consumable 8 is a microcatheter, the fourth interventional consumable 12 is a microguidewire, and the fifth interventional consumable 15 is a terminal consumable such as a balloon or a vascular stent. As shown in Figures 1 and 2, before the operation, the four interventional consumables can be respectively loaded into the corresponding connecting channels and placed in their initial positions. Then, the guidewire is sent into the catheter by the second driving mechanism 4, and the catheter is guided by the guidewire to move in the blood vessel. After the catheter is moved into place (as shown in Figures 3 and 4), the second driving mechanism 4 controls the guidewire to withdraw from the catheter and return to its initial position. Then the third driving mechanism 7 sends the microcatheter into the catheter and moves along the catheter. Since the length of the microcatheter is greater than the catheter, the movement of the microcatheter after extending out of the catheter requires guidance of a microguidewire. Therefore, the fourth driving mechanism 11 is required to send the microguidewire into the microcatheter to guide the movement of the microcatheter. After the microcatheter moves into place (as shown in Figures 5 and 6), the microguidewire is withdrawn and returns to its initial position. Then the fifth driving mechanism 14 moves the terminal consumables such as the balloon or vascular stent along the microcatheter to the treatment position.

[0075] It can be seen that when this embodiment is applied to a surgical environment requiring five types of interventional consumables, there is no need to replace or install the interventional consumables during surgery, and the entire surgical process can be carried out continuously in a complex surgical environment.

[0076] In one embodiment, as shown in FIG1 , when the third interventional consumable 8 needs to be delivered straight, the second connecting channel 101 on the second connecting valve 10 for fixing the third interventional consumable 8, the first connecting channel 31 on the first connecting valve 3 for fixing the first interventional consumable 2, and the first connecting channel 31 on the first connecting valve 3 for the passage of the third interventional consumable 8 are all coaxially arranged. On this basis, the second connecting channel 101 on the second connecting valve 10 for the penetration of the fourth interventional consumable 12, the second connecting channel 101 on the second connecting valve 10 for the penetration of the fifth interventional consumable 15, and the second connecting channel 101 on the second connecting valve 10 for fixing the third interventional consumable 8 are not coaxial. In this embodiment, the three second connecting channels 101 are distributed in a triangular pattern, so that the lateral space occupied by each of the fourth drive mechanism 11 and the fifth drive mechanism 14 is relatively reduced.

[0077] In another embodiment, the second connecting channel 101 on the second connecting valve 10 for the fourth interventional consumable 12 to penetrate, the second connecting channel 101 on the second connecting valve 10 for the fifth interventional consumable 15 to penetrate, and the second connecting channel 101 on the second connecting valve 10 for fixing the third interventional consumable 8 are not coaxial.

[0078] Depending on surgical requirements, medical fluid may need to be injected through the third interventional consumable 8. To this end, as shown in FIG2 , the second connecting valve 10 in this embodiment further includes a second medical fluid input channel 102 communicating with the second connecting channel 101. The second medical fluid input channel 102 is configured to connect to a medical fluid input device. In other words, the second connecting valve 10 in this embodiment is at least a four-way valve.

[0079] Because the end of the first interventional consumable 2 is fixed to the first connecting valve 3 on the first movable platform 6, when delivering the first interventional consumable 2, the first movable platform 6 needs to be able to move at the same speed and direction as the delivery of the first interventional consumable 2. Similarly, because the end of the third interventional consumable 8 is fixed to the second connecting valve 10 on the second movable platform 13, the second movable platform 13 also needs to be able to move synchronously when delivering the interventional consumable.

[0080] To this end, in one embodiment of the first mobile platform 6 and the second mobile platform 13, active motion mechanisms are provided in the first mobile platform 6 and the second mobile platform 13, and the active motion mechanisms are configured to cooperate with the delivery guide rail 9 to actively drive the first mobile platform 6 and the second mobile platform 13 to move.

[0081] Under the action of the active motion mechanism, the first mobile platform 6 can move synchronously with the delivery process of the first interventional consumable 2, and the second mobile platform 13 can move synchronously with the delivery process of the third interventional consumable 8. In one embodiment of the active motion mechanism, the active motion mechanism may include a roller and a motor that drives the roller to rotate. The roller contacts the side of the robot body and can drive the mobile platform to move along the delivery guide rail 9 in a rotational manner. In another embodiment, the active motion mechanism may include a rack, a gear and a motor that drives the gear to rotate. The gear is engaged with the rack, and the rack is arranged on one side of the delivery guide rail 9. The gear is rotatably mounted on the mobile platform, and the mobile platform is driven to move by the rotation of the gear. The description of the active motion mechanism in this embodiment is not restrictive and can be adaptively adjusted according to actual needs.

[0082] According to another aspect of the present application, a vascular interventional surgical robot is provided, comprising the above-mentioned interventional consumables delivery device, with no limitation to other structures.

[0083] The foregoing description is merely a preferred embodiment of the present application and is not intended to limit the present application. Persons skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. An interventional consumable delivery device, characterized in that, Comprising: A delivery guide rail; A first driving mechanism, disposed at one end of the delivery guide rail close to the intervention end, for driving the first intervention consumable to move; A first moving platform, disposed on the delivery guide rail and capable of linearly moving along the delivery guide rail; A second driving mechanism, disposed on the first moving platform, for driving the second intervention consumable to move within the channel established by the first intervention consumable; A third driving mechanism, disposed on the first moving platform, for driving the third intervention consumable to move within the channel established by the first intervention consumable; A first connection valve, disposed on the first moving platform, the first connection valve at least includes three mutually connected first connection channels, one of the first connection channels is used for fixedly connecting with one end of the first intervention consumable, another first connection channel is used for the second intervention consumable to penetrate into the first intervention consumable, and still another first connection channel is used for the third intervention consumable to penetrate into the first intervention consumable, so that the second intervention consumable and the third intervention consumable can selectively penetrate into the first intervention consumable.

2. The interventional consumable delivery device according to claim 1, wherein The first connection channel on the first connection valve for fixing the first intervention consumable is coaxial with the penetration port on the first driving mechanism; and / or The first connection channel on the first connection valve for fixing the first intervention consumable is coaxial with the first connection channel on the first connection valve for the third intervention consumable to pass through.

3. The interventional consumable delivery device according to claim 1, wherein, The first connection valve further includes a first medical liquid input channel communicating with the first connection channel, and the first medical liquid input channel is used for connecting with a medical liquid input device.

4. The interventional consumable delivery device according to any one of claims 1 to 3, characterized in that, The first intervention consumable driven by the first driving mechanism is a catheter, the second intervention consumable driven by the second driving mechanism is a guide wire, and the third intervention consumable driven by the third driving mechanism includes but is not limited to a microcatheter, a balloon, and a vascular stent.

5. The interventional consumable delivery device according to any one of claims 1 to 3, characterized in that The intervention consumable delivery device further includes: A second moving platform, disposed on the delivery guide rail and capable of linearly moving along the delivery guide rail; A fourth driving mechanism, disposed on the second moving platform, for driving the fourth intervention consumable to move within the channel established by the third intervention consumable; A fifth driving mechanism, disposed on the second moving platform, for driving the fifth intervention consumable to move within the channel established by the third intervention consumable; A second connection valve, disposed on the second moving platform, the second connection valve at least includes three mutually connected second connection channels, one of the second connection channels is used for fixedly connecting with one end of the third intervention consumable, another second connection channel is used for the fourth intervention consumable to penetrate into the third intervention consumable, and still another second connection channel is used for the fifth intervention consumable to penetrate into the third intervention consumable.

6. The interventional consumable delivery device according to claim 5, wherein, The second connection channel on the second connection valve for fixing the third intervention consumable, the first connection channel on the first connection valve for fixing the first intervention consumable, and the first connection channel on the first connection valve for the third intervention consumable to pass through are coaxially arranged; and / or The second connection channels on the second connection valve for the penetration of the fourth interventional consumable, the second connection channels on the second connection valve for the penetration of the fifth interventional consumable, and the second connection channels on the second connection valve for fixing the third interventional consumable are not coaxial.

7. The interventional consumable delivery device according to claim 5, wherein, The second connection valve further includes a second medical fluid input channel communicating with the second connection channel, and the second medical fluid input channel is used to connect with a medical fluid input device.

8. The interventional consumable delivery device according to claim 5, wherein The third interventional consumable driven by the third driving mechanism is a microcatheter, the fourth interventional consumable driven by the fourth driving mechanism is a microguide wire, and the fifth interventional consumable driven by the fifth driving mechanism includes but is not limited to a balloon and a vascular stent.

9. The interventional consumable delivery device according to claim 5, wherein, 10. A vascular interventional surgical robot, characterized in that, Active motion mechanisms are provided in both the first moving platform and the second moving platform, and the active motion mechanisms are configured to cooperate with the delivery guide rail to actively drive the first moving platform and the second moving platform to move. It includes the interventional consumable delivery device according to any one of claims 1 to 9.

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