Multi-channel interventional robot slave device for driving dual guidewires and single catheter, and slave system thereof

Abstract

Provided are a multi-channel interventional robot slave device for driving dual guidewires and a single catheter, and a slave system. A first linear rail set is sequentially provided with a first port control module (10271), a first clamping-rotating and port control module, and a second clamping-rotating mechanism (10274). A second linear rail set is provided with a third clamping-rotating mechanism (10276). Module fixing bases are fixed on the linear rail sets or capable of reciprocating on the linear rail sets. A rear portion of the first port control module (10271) or the first clamping-rotating and port control module is connected to or aligned with a track-changing tube (10282). The track-changing tube (10282) is configured for guiding an interventional consumable on the second linear rail set to the first linear rail set. A second support assembly capable of guiding the movement of the interventional consumable is respectively arranged on the first linear rail set and positioned between the first port control module (10271) and the first clamping-rotating and port control module, or arranged between the first clamping-rotating and port control module and the second clamping-rotating mechanism (10274). The slave device and the slave system can realize simultaneous driving of dual guidewires and a single catheter.

Description

A multi-channel interventional robot slave device and slave system for driving double guidewires and a single catheter Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a multi-channel interventional robot slave device and a slave system thereof that drives double guidewires and a single catheter. Background Art

[0002] Minimally invasive interventional therapy is the primary treatment for cardiovascular and cerebrovascular diseases. Guided by fluoroscopic imaging equipment, it utilizes interventional devices to diagnose and treat diseases through physiological cavities. Compared to traditional surgical procedures, it offers significant advantages, including improved efficacy, increased safety, smaller incisions, and shorter postoperative recovery times.

[0003] Vascular interventional procedures primarily include femoral / radial artery puncture, coordinated advancement of a guidewire and angiography catheter, digital subtraction angiography (DSA), coordinated advancement of a therapeutic guidewire and balloon catheter, and stent placement. The coordinated advancement of the guidewire, catheter, and balloon catheter is a time-consuming step in these procedures and requires X-ray image navigation. Currently, vascular interventional procedures are typically performed manually by physicians. During the procedure, DSA emits X-rays, requiring the physician to wear a heavy lead vest. This rapidly degrades the physician's stamina, concentration, and stability, leading to decreased precision and a high risk of life-threatening accidents such as intimal damage and vascular perforation and rupture caused by improper thrust. Furthermore, prolonged wear of the lead vest can damage the physician's spine. Furthermore, the cumulative damage from long-term ionizing radiation exposure significantly increases the physician's risk of leukemia, cancer, and acute cataracts. Therefore, to ensure physician health and surgical quality, research and development of interventional surgical robots is intensifying, and a growing number of robots are now being used in clinical practice. Existing interventional surgical robots mainly adopt a master-slave end operation structure to isolate doctors from the radioactive environment. The existing interventional robot slave end device needs to clamp slender medical devices such as catheters and guide wires and move them from their proximal end to the distal end. The coordinated movement of the device drives the catheter and guide wire forward and delivers them to the lesion in the patient's body (such as within the blood vessel), making it convenient for doctors to perform subsequent related treatments such as angiography, embolization of abnormal blood vessels, dissolution of blood clots, and dilation of narrowed blood vessels.

[0004] For example, the following patents applied for by Shenzhen Aibo Medical Robot Co., Ltd.: an interventional surgery robot slave end with application number 2022116787026; an interventional surgery robot slave end with application number 202211686818.4; an interventional surgery robot slave end guidewire catheter control device with application number 202210923132.6; and an interventional surgery robot slave end guidewire catheter control device with application number 202210326352. .0 is an interventional surgical robot slave device, etc.; it splits the power of controlling the catheter / guidewire, controls the delivery of the corresponding catheter through the catheter delivery mechanism, controls the rotation of the corresponding catheter through the catheter rotation mechanism, controls the delivery of the guidewire through the guidewire delivery mechanism, and controls the rotation of the guidewire through the guidewire rotation mechanism. Its shortcomings are as follows: (1) the structure of the catheter rotation mechanism and the guidewire rotation mechanism is relatively complex; (2) the balloon delivery mechanism applies friction power to the balloon catheter through the synchronous rotation of the active roller and the driven roller. Under the action of the friction power, the balloon is delivered forward. There is no force perception during the delivery process, so force feedback cannot be achieved and the safety of the operation cannot be guaranteed; (3) the coordinated delivery of multiple catheters and guidewires cannot be achieved. Therefore, how to provide an interventional surgical robot slave device and its control method that is convenient for controlling the movement and rotation of one or more sets of catheters and guidewires, and how to perform force perception during the delivery process of multiple sets of catheters and guidewires, is a problem that needs to be solved urgently by those skilled in the art. Summary of the Invention

[0005] The purpose of the present invention is to provide a multi-channel interventional robot slave device and a slave system thereof for driving dual guidewires and a single catheter, so as to solve the existing technical defects and unmet technical requirements.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A multi-channel interventional robot slave device for driving dual guidewires and a single catheter comprises two sets of linear rail groups, the two sets of linear rail groups being a first linear rail group and a second linear rail group arranged in parallel or intersecting, the first linear rail group being respectively provided with a first port control module, a first clamping rotation and port control module and a second clamping rotation mechanism through a plurality of module fixing seats, the second linear rail group being respectively provided with a third clamping rotation mechanism through a plurality of module fixing seats, the module fixing seats being fixed on the linear rail group, or the module fixing seats being able to reciprocate on the linear rail group, and the module fixing seats being able to drive the corresponding first port control module, or a first clamping rotation mechanism, when reciprocating. The first clamping rotation and port control module, or the second clamping rotation mechanism, or the third clamping rotation mechanism reciprocates to realize the delivery of interventional consumables; the rear of the first port control module or the first clamping rotation and port control module is connected with a track changing tube, or the rear of the first port control module or the first clamping rotation and port control module is aligned with the track changing tube; the track changing tube is used to guide the interventional consumables on the second linear rail group to the first linear rail group; a second support component for guiding the movement of the interventional consumables is respectively installed between the first port control module and the first clamping rotation and port control module, or between the first clamping rotation and port control module and the second clamping rotation mechanism.

[0008] Preferably, the second support assembly can be telescopic or axially translated to limit the interventional consumables to a fixed axial direction to prevent the interventional consumables from bending during delivery; the second support assembly includes at least one of a telescopic tube assembly, a guide ring assembly, a bellows assembly, and a C-shaped tube assembly, and the guide ring assembly is an openable and closable support ring, which is convenient for placing and clamping the interventional consumables from the top.

[0009] Preferably, the first clamping rotation and port control module includes a first clamping rotation mechanism and a second port control module, and the first clamping rotation mechanism and the second port control module are respectively mounted on the first linear rail group through module fixing seat a and module fixing seat b, or the first clamping rotation mechanism and the second port control module are both mounted on the first linear rail group through a module fixing seat b, and the module fixing seat a and the module fixing seat b can slide independently on the first linear rail group, and the first clamping rotation mechanism is used to clamp the interventional consumables for rotational delivery.

[0010] Preferably, the second port control module is provided with a first bifurcation module, and the first bifurcation module is implemented by a first bifurcation seat. The first bifurcation seat is provided with a main channel and at least two bifurcation channels, and at least one interventional consumable can be delivered together along the corresponding main channel and bifurcation channel on the first bifurcation module.

[0011] Preferably, three forked channels are provided on the first fork seat, and a first consumable locking mechanism capable of pressing the interventional consumable is installed on the side of at least one forked channel of the first fork seat, and the first consumable locking mechanism adopts a self-locking press-type spring lock or a threaded structure; the self-locking press-type spring lock includes a lock body and a fourth pressure plate installed on the lock body, and the lock body is installed in the first fork seat. Pressing the fourth pressure plate can lock or disengage the fourth pressure plate from the lock body, thereby pressing the interventional consumable or the fourth pressure plate is disengaged from the interventional consumable, and the threaded structure drives the fourth pressure plate to push and pull laterally by rotating the screw, thereby pressing the interventional consumable or the fourth pressure plate is disengaged from the interventional consumable.

[0012] Preferably, a third port control module is installed in front of the third clamping and rotating mechanism, and the track change tube is a curved tube, one end of which is connected to or aligned with the rear of the first port control module or the first clamping and rotating and port control module, and the other end of the curved tube is installed on the third port control module; the curved tube is made of a flexible plastic tube.

[0013] The third port control module is set on the second linear rail group through the module fixing seat, and can move back and forth independently on the second linear rail group, or the third port control module and the first port control module or the first clamping rotation and port control module can establish a linkage relationship through the linkage locking structure, and the third port control module moves together with the first port control module or the first clamping rotation and port control module; or a third port support module is suspended in front of the third clamping rotation mechanism, and also includes a track changing support part, one end of the track changing support part is connected to the first port control module or the first clamping rotation and port control module, and the other end of the track changing support part extends to the second linear guide rail group and is connected to the third port support module, and the third port control module moves together with the first port control module or the first clamping rotation and port control module.

[0014] Preferably, a third support assembly for guiding the movement of the interventional consumable is installed between the third port control module and the third clamping and rotating mechanism. The third support assembly can be telescopic or axially translated to limit the interventional consumable to a fixed axial direction to prevent the interventional consumable from bending during delivery; the third support assembly includes at least one of a telescopic tube assembly, a guide ring assembly, a bellows assembly, and a C-shaped tube assembly. The guide ring assembly is an openable and closable support ring, which is convenient for placing and clamping the interventional consumable from the top.

[0015] Preferably, the track-changing tube is a telescopic track-changing tube, which includes a section of rigid coaxial telescopic sleeves that are sleeved in stages, a section at the rear end and a section at the front end of the telescopic sleeve are respectively covered with one end of a first hose and a second hose, and the telescopic sleeve is axially limited by a first limiting structure arranged on the outside of the tube body of the telescopic sleeve to avoid complete separation of different sections in the telescopic sleeve, and the first limiting structure is one or a combination of a pull rope structure, a limiting telescopic sleeve, a pull rod structure, a connecting rod structure, and a bellows structure; one end of the telescopic track-changing tube is arranged on the first port control module Or on the first clamping rotation and port control module, the other end of the telescopic track changing tube is installed on the front end of the third clamping rotation mechanism; the first port control module or the first clamping rotation and port control module is provided with a first track changing part locking mechanism, the first track changing part locking mechanism can lock the front end of the telescopic track changing tube, and the third clamping rotation mechanism is provided with a second track changing part locking mechanism, the second track changing part locking mechanism can lock the rear end of the telescopic track changing tube, the first track changing part locking mechanism and the second track changing part locking mechanism are a clamp structure or a locking structure or a magnetic structure or a compression structure.

[0016] Preferably, the first clamping rotation and port control module, the second clamping rotation mechanism, and the third clamping rotation mechanism all include a locking structure capable of locking or releasing the interventional consumable, a rotation mechanism capable of driving the locked interventional consumable to rotate, an axial force sensing element capable of detecting the axial force applied to the interventional consumable, and a torque sensing element capable of detecting the torsional moment applied to the interventional consumable in the axial direction; the locking structure has a self-locking structure and can maintain the locked state after being locked. The locking structure is disposed on the exterior of the housing of the first clamping rotation and port control module, the second clamping rotation mechanism, and the third clamping rotation mechanism, and the locking structure is directly driven by hand or an external tool to achieve locking or unlocking of the interventional consumable.

[0017] A slave-end system of a multi-channel interventional robot slave-end device for driving dual guidewires and a single catheter, further comprising a first catheter, a second catheter, a first guidewire and a second guidewire, the rear portion of the first catheter being mounted on a first port control module, the rear portion of the first port control module being connected to a track-changing tube, or the rear portion of the first port control module being aligned with the track-changing tube, the front portion of the second catheter being directly inserted into the first catheter or inserted into the first catheter through a bifurcated section of the track-changing tube, the rear portion of the second catheter being mounted on a first clamping rotation and port control module, the second catheter being delivered into the first catheter through the first clamping rotation and port control module, the first guidewire being mounted in a second clamping rotation mechanism, and the front portion of the first guidewire being inserted into the second catheter, the first guidewire being delivered into the second catheter through the second clamping rotation mechanism; the second guidewire being mounted in a third clamping rotation mechanism, the front portion of the second guidewire being able to pass through the track-changing tube into the first catheter, the second guidewire being delivered to the first catheter through the third clamping rotation mechanism Delivery within the catheter, through the track-changing guiding function of the track-changing tube, the simultaneous driving of the double guidewires and the single catheter is realized; or the rear part of the first catheter is installed on the first port control module, the front part of the second catheter is inserted into the first catheter, the rear end of the second catheter is installed on the first clamping rotation and port control module, the second catheter is delivered into the first catheter through the first clamping rotation and port control module, the rear part of the first clamping rotation and port control module is connected to the track-changing tube, or the rear part of the first clamping rotation and port control module is aligned with the track-changing tube, the first guidewire is installed in the second clamping rotation mechanism, and the front part of the first guidewire is inserted into the second catheter, the first guidewire is delivered into the second catheter through the second clamping rotation mechanism; the second guidewire is installed in the third clamping rotation mechanism, the second guidewire can pass through the track-changing tube to the second catheter, the second guidewire is delivered into the second catheter through the third clamping rotation mechanism, and the simultaneous driving of the double guidewires and the single catheter is realized through the track-changing guiding function of the track-changing tube.

[0018] A slave end system of a multi-channel interventional robot slave end device for driving double guidewires and a single catheter, further comprising a first catheter, a second catheter, a first guidewire and a second guidewire, wherein the linear track group is provided in two groups, namely a first linear track group and a second linear track group, the first linear track group is sequentially provided with a first port control module, a first clamping rotation and port control module and a second clamping rotation mechanism, the second linear track group is provided with a third clamping rotation mechanism, the rear end of the first catheter is provided on the first port control module, and the front end of the second catheter is inserted into the first catheter, and the rear end of the second catheter is provided on the first clamping rotation and port control module On the port control module, the rear end of the first clamping rotation and port control module is connected to the track change tube or the rear end of the first clamping rotation and port control module is aligned with the track change tube; the first guide wire is installed in the second clamping rotation mechanism, and the first guide wire can pass through the second catheter, the first catheter to the target object, or the first guide wire can pass through the bifurcated section of the track change tube, the second catheter, and the first catheter in sequence to the target object; the second guide wire is installed in the third clamping rotation mechanism, and the second guide wire can pass through the track change tube, the second catheter, and the first catheter in sequence to the target object, and through the track change guiding function of the track change tube, the simultaneous driving of the double guide wires and the single catheter is realized. Beneficial effects

[0019] 1. The doctor of the present invention can remotely control multiple groups of port control modules and multiple groups of clamping and rotating mechanisms, and clamp and / or rotate them forward or backward on the corresponding linear track groups, and realize the convergence of guidewires and / or catheters through the track change tube method, so that multiple guidewires and multiple catheters can move in place in coordination, and the robot can control the movement of guidewires and / or catheters more accurately, and can realize the coordinated movement of double guidewires and single catheters into place to enter the interior of the target object and work. More complex operations can be implemented, the workload can be reduced, and major mistakes can be avoided. The present invention can achieve the precise delivery of slender interventional consumables to the appropriate location of the lesion in the patient's body, and also avoid the long-term exposure of doctors to X-ray radiation, which causes harm to the doctor's body. 2. The clamping and rotating mechanism of the present invention includes a locking structure capable of locking or releasing the interventional consumable, a rotating mechanism capable of driving the locked interventional consumable to rotate, an axial force sensing element capable of detecting the axial force applied to the interventional consumable, and a torque sensing element capable of detecting the torsional moment applied to the interventional consumable in the direction around the axis; the locking structure has a self-locking structure and can maintain the locked state after being locked. The locking structure is arranged on the outside of the housing of the first clamping and rotating and port control module, the third clamping and rotating mechanism, and the second clamping and rotating mechanism, and can be directly driven by hand or with an external tool to lock or unlock the interventional consumable. 3. A first bifurcation module is provided at the rear of the second port control module of the present invention. The first bifurcation module is implemented by a first bifurcation seat. The first bifurcation seat is provided with a main channel and at least two bifurcation channels. At least one interventional consumable can be delivered together along the corresponding main channel and bifurcation channel on the first bifurcation module. A first consumable locking mechanism capable of compressing the interventional consumable is installed on the side of at least one bifurcated channel on the first bifurcated seat. This channel can clamp the guidewire catheter that does not need to be delivered, thereby preventing the clamped guidewire catheter from moving during the delivery process of other guidewire catheters. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] FIG1 is a schematic structural diagram of a slave device of a multi-channel interventional robot driving dual guidewires and a single catheter according to Example 1;

[0021] FIG2 is a schematic structural diagram of the first clamping and rotating mechanism of the first clamping and rotating and port control module and the second port control module when they move independently;

[0022] 3 is a schematic structural diagram of the first clamping and rotating mechanism of the first clamping and rotating and port control module and the second port control module in synchronous motion according to Example 1;

[0023] FIG4 is a schematic structural diagram of a slave device of a multi-channel interventional robot driving dual guidewires and a single catheter according to Example 2;

[0024] 5 is a schematic structural diagram of the first clamping and rotating mechanism and the second port control module of the first clamping and rotating and port control module of Example 2 when they move independently;

[0025] 6 is a schematic structural diagram of the first clamping and rotating mechanism of the first clamping and rotating and port control module and the second port control module in synchronous motion according to Example 2;

[0026] FIG7 is a schematic structural diagram of Example 3;

[0027] FIG8 is a schematic structural diagram of a track change support portion of Example 3;

[0028] FIG9 is a schematic structural diagram of the first port control module or the third port control module of Example 3;

[0029] FIG10 is a structural diagram of a first bifurcation module provided on the second port control module of Example 4;

[0030] FIG11 is a second structural diagram of a first bifurcation module provided on the second port control module of Example 4;

[0031] FIG12 is a schematic diagram of a structure of a first consumable material locking mechanism using a threaded structure according to Example 4;

[0032] FIG13 is a second structural diagram of the first consumable material locking mechanism using a threaded structure in Example 4;

[0033] FIG14 is a third structural diagram of the first consumable material locking mechanism using a threaded structure in Example 4;

[0034] FIG15 is a schematic diagram of a structure in which a Y-valve is installed on the second port control module of Example 5;

[0035] FIG16 is a second structural diagram of a Y-valve installed on the second port control module of Example 5;

[0036] FIG17 is a third structural diagram of a Y-valve installed on the second port control module of Example 5;

[0037] FIG18 is a fourth structural diagram of a Y-valve installed on the second port control module of Example 5;

[0038] FIG19 is a schematic structural diagram of a telescopic track-changing tube in accordance with Example 6;

[0039] FIG20 is a schematic diagram of the exploded structure of the telescopic track-changing tube of Example 6;

[0040] FIG21 is a schematic structural diagram of the hinge support structure of Example 6;

[0041] FIG22 is a schematic structural diagram of a rotating mechanism according to Example 7 of the present invention;

[0042] FIG23 is a schematic cross-sectional view of the interior of the rotating mechanism of Example 7 of the present invention;

[0043] FIG24 is a schematic diagram of the internal structure of the rotating mechanism of Example 7 of the present invention;

[0044] FIG25 is a schematic diagram of the exploded structure of the rotating mechanism of Example 7 of the present invention;

[0045] Figure 26 is a structural schematic diagram of the rotating shaft and the first connecting part of Example 7 of the present invention. Modes for Carrying Out the Invention

[0046] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0047] The guidewires here include but are not limited to guide wires, micro guidewires, angiographic guidewires and loach guidewires and other filamentous interventional medical devices; catheters include but are not limited to guide catheters, micro catheters, angiographic catheters, multifunctional tubes (also known as intermediate catheters), thrombolytic catheters, balloon dilatation catheters and balloon-expandable stent catheters and other tubular interventional medical devices. Example 1

[0048] As shown in Figures 1 to 3, a multi-channel interventional robot slave device that drives dual guidewires and a single catheter includes two sets of linear rail groups, which are a first linear rail group and a second linear rail group arranged in parallel or intersecting. The first linear rail group is sequentially equipped with a first port control module 10271, a first clamping rotation and port control module, and a second clamping rotation mechanism 10274 through a plurality of module fixing seats. The second linear rail group is sequentially equipped with a third clamping rotation mechanism 10276 through a plurality of module fixing seats. The module fixing seats are fixed on the linear rail group, or the module fixing seats can reciprocate on the linear rail group. The module fixing seats can drive the corresponding third clamping rotation mechanism 10276 when reciprocating. A port control module, or a first clamping rotation and port control module, or a second clamping rotation mechanism, or a third clamping rotation mechanism reciprocates to achieve the delivery of interventional consumables; the rear of the first port control module or the first clamping rotation and port control module is connected to a track change tube, or the rear of the first port control module or the first clamping rotation and port control module is aligned with the track change tube; the track change tube is used to guide the interventional consumables on the second linear track group to the first linear track group; a second support assembly for guiding the movement of the interventional consumables is installed between the first port control module and the first clamping rotation and port control module, or between the first clamping rotation and port control module and the second clamping rotation mechanism. The second support assembly can be telescopic or axially translated to limit the interventional consumables to a fixed axial direction to prevent the interventional consumables from bending during delivery; the second support assembly includes at least one of a telescopic tube assembly, a guide ring assembly, a bellows assembly, and a C-shaped tube assembly, and the guide ring assembly is an openable and closable support ring that facilitates the placement and clamping of interventional consumables from the top. The first clamping rotation and port control module includes a first clamping rotation mechanism 10272 and a second port control module 10273. The first clamping rotation mechanism 10272 and the second port control module 10273 are respectively installed on the first linear rail group through the module fixing seat a and the module fixing seat b, or the first clamping rotation mechanism 10272 and the second port control module 10273 are both installed on the first linear rail group through a module fixing seat b. The module fixing seat a and the module fixing seat b can slide independently on the first linear rail group. The first clamping rotation mechanism 10272 is used to clamp the second catheter 10280 for rotational delivery, and the second port control module 10273 is used to support the rear end port of the second catheter 10280; the first port control module is equipped with a first catheter.

[0049] A third port control module 10275 is installed in front of the third clamping and rotating mechanism 10276. The track change tube 10282 is a curved tube made of flexible plastic. One end of the curved tube is aligned with the rear end port of the first port control module so that the curved tube is connected to the first guide tube 10279. The other end of the curved tube is installed on the third port control module 10275. The second guide wire 10283 can smoothly enter the first guide tube 10279 along the curved tube. The third port control module 10275 is set on the second linear track group through a module fixing seat and can move back and forth independently on the second linear track group, or the third port control module 10275 and the first port control module 10271 can establish a linkage relationship through a linkage locking structure, so that the third port control module 10275 moves together with the first port control module 10271.

[0050] A third port support module is suspended in front of the third clamping and rotating mechanism 10276, and also includes a track changing support part. One end of the track changing support part is connected to the first port control module 10271 or the first clamping, rotating and port control module, and the other end of the track changing support part extends to the second linear guide rail group and is connected to the third port support module. The third port control module 10275 moves with the first port control module 10271 or the first clamping, rotating and port control module.

[0051] A third support assembly for guiding the movement of the second guide wire 10283 is installed between the third port control module 10275 and the third clamping and rotating mechanism 10276. The first guide wire 10281 passes through the second support assembly, and the second guide wire 10283 passes through the third support assembly. The second support assembly and the third support assembly can be telescopic or axially translated respectively, and are used to limit the first guide wire 10281 and the second guide wire 10283 to a fixed axial direction to avoid the first guide wire 10281 and the second guide wire 10283 from bending during delivery; the second support assembly and the third support assembly include at least one of a telescopic tube assembly, a guide ring assembly, a bellows assembly, and a C-shaped tube assembly. The guide ring assembly is an openable and closable support ring, which is convenient for placing and clamping the first guide wire 10281 or the second guide wire 10283 from the top.

[0052] A slave end system for a multi-channel interventional robot slave end device for driving dual guidewires and a single catheter, further comprising a first catheter 10279, a second catheter 10280, a first guidewire 10281, and a second guidewire 10283. The rear portion of the first catheter 10279 is mounted on a first port control module 10271, and the rear portion of the first port control module 10271 is connected to a track change tube, or the rear portion of the first port control module 10271 is aligned with the track change tube, the front portion of the second catheter 10280 is directly inserted into the first catheter 10279 or inserted into the first catheter 10279 through the bifurcation section of the track change tube 10282, the rear portion of the second catheter 10280 is mounted on the first clamping rotation and port control module, and the second catheter 10280 is connected to the first clamping rotation and port control module through the first clamping rotation and port control module. The translational movement of the block is used to deliver the guide wire into the first catheter 10279. The first guide wire 10281 is installed in the second clamping and rotating mechanism 10274, and the front part of the first guide wire 10281 is inserted into the second catheter 10280. The first guide wire 10281 is delivered into the second catheter 10280 through the translational movement of the second clamping and rotating mechanism 10274; the second guide wire 10283 is installed in the third clamping and rotating mechanism 10276, and the front part of the second guide wire 10283 can pass through the track changing tube 10282 to the first catheter 10279. The second guide wire 10283 is delivered into the first catheter 10279 through the translational movement of the third clamping and rotating mechanism 10276. The simultaneous driving of the double guide wires and the single catheter is achieved through the track changing guiding function of the track changing tube 10282. Example 2

[0053] The parts of this embodiment that have the same structure as that of embodiment 1 will not be described in detail. The differences are as follows:

[0054] As shown in Figures 4 to 6, a multi-channel interventional robot slave device that drives dual guidewires and a single catheter includes two sets of linear rail groups, which are a first linear rail group and a second linear rail group arranged in parallel or intersecting. The first linear rail group is sequentially equipped with a first port control module 10271, a first clamping rotation and port control module, and a second clamping rotation mechanism 10274. The second linear rail group is equipped with a third clamping rotation mechanism 10276. The rear part of the first catheter 10279 is installed on the first port control module 10271, and the front part of the second catheter 10280 is inserted into the first catheter 10279. The rear end of the second catheter 10280 is installed on the first clamping rotation and port control module. The second catheter 10280 is delivered into the first catheter 10279 through the translational movement of the first clamping rotation and port control module. The rear part of the clamping rotation and port control module is connected to the track changing tube 10282, or the rear part of the first clamping rotation and port control module is aligned with the track changing tube 10282, the first guide wire 10281 is installed in the second clamping rotation mechanism 10274, and the front part of the first guide wire 10281 is inserted into the second catheter 10280, and the first guide wire 10281 is delivered into the second catheter 10280 through the translational movement of the second clamping rotation mechanism 10274; the second guide wire 10283 is installed in the third clamping rotation mechanism 10276, and the second guide wire 10283 can pass through the track changing tube 10282 to the second catheter 10280, and the second guide wire 10283 is delivered into the second catheter 10280 through the translational movement of the third clamping rotation mechanism 10276, and the track changing guiding function of the track changing tube 10282 is used to realize the simultaneous driving of double guide wires and single catheters.

[0055] The track change tube 10282 is a curved tube, which is made of a flexible plastic tube. One end of the curved tube is aligned with the rear of the first clamping rotation and port control module, and the other end of the curved tube is installed on the third port control module 10275. The second guide wire 10283 can smoothly enter the second catheter 10280 along the curved tube. Example 3

[0056] As shown in Figures 7 and 8, a third port control module 10275 is suspended in front of the third clamping and rotating mechanism 10276, and also includes a track change support part 10291. One end of the track change support part 10291 is connected to the first port control module or the first clamping, rotating and port control module 10272101, and the other end of the track change support part 10291 extends to the second linear guide rail group and is connected to the third port control module 10275. The third port control module 10275 moves with the first port control module or the first clamping, rotating and port control module 10272101.

[0057] Specifically, taking one end of the track change support part 10291 as an example, the first clamping rotation and port control module 10272101 is installed on the first linear guide rail group through the second module fixing seat, and the third port control module 10275 is connected to the track change support part. The second module fixing seat is provided with an isolation shell and also includes a track change support part 10291. One end of the track change support part 10291 is connected to the isolation shell of the second module fixing seat. The track change support part 10291 is connected to the isolation shell of the second module fixing seat. The other end of 291 extends to the second linear guide rail group and is connected to the third port control module 10275. The track change support part 10291 establishes a linkage relationship between the third port control module 10275 and the second module fixed seat, and the position of the third port control module 10275 relative to the second linear guide rail group is determined by the position of the second module fixed seat relative to the first linear guide rail group, thereby judging the distance between the third clamping rotation mechanism 10276 and the third port control module 10275 to avoid collision interference.

[0058] A first clamping portion is provided on the isolation shell outside the first module fixing seat, and a trigger switch or an induction switch is provided in the first clamping portion, which can detect whether the track change support portion is clamped on the isolation shell outside the first module fixing seat. The track change support portion 10291 is a slanted beam structure, which includes a slanted beam 1029101, a second clamping portion 1029102 integrally formed with the slanted beam at the lower end of the slanted beam, and the second clamping portion can be clamped into the first clamping portion, and a connecting seat 1029103 integrally formed with the slanted beam or fixedly connected to the slanted beam is provided at the upper end of the slanted beam. The third port control module 10275 is installed on the connecting seat 1029103, and a telescopic sleeve locking mechanism 10330203 for supporting and fixing the third support assembly is installed on the connecting seat. The connecting seat is also provided with a track change portion locking mechanism for locking one end of the first track change portion, and the track change portion locking mechanism adopts a snap structure or a threaded structure. When the first port control module, the first clamping and rotating port control module, and the third port control module are used to support the end of a catheter or a track change tube, the first port control module, the first clamping and rotating port control module, and the third port control module only play a supporting role. In this case, if the catheter is a sheath (such as the first catheter 10279), the tail of the sheath has a hemostatic valve, and the first port control module, the first clamping and rotating port control module, and the third port control module are not required to control the opening and closing of the catheter channel. Taking the third port control module as an example, its structure is described in detail as follows:

[0059] Specifically as shown in Figure 9, the end of the second track change tube 10220003 is provided with a second mounting head 1022000301, the third port control module includes a support base 1022000201, the support base 1022000201 is provided with a mounting groove corresponding to the second mounting head 1022000301, the support base 1022000201 is hinged with a second rotating cover 1022000202, the second mounting head 1022000301 is placed in the mounting groove of the support base 1022000201, and then the second rotating cover 1022000202 is covered to achieve the fixation of the second mounting head 1022000301. At the same time, the second rotating cover 1022000202 is provided with a magnet to prevent the second rotating cover 1022000202 from opening by magnetic adsorption. The magnetic adsorption can also be replaced by other quick locking structures such as buckles or screws. Example 4

[0060] The parts of this embodiment that have the same structure as that of embodiment 1 will not be described in detail. The differences are as follows:

[0061] The first clamping rotation and port control module includes a first clamping rotation mechanism and a second port control module. The first clamping rotation mechanism and the second port control module are respectively installed on the first linear rail group through the module fixing seat a and the module fixing seat b, or the first clamping rotation mechanism and the second port control module are both installed on the first linear rail group through a module fixing seat b. The module fixing seat a and the module fixing seat b can slide independently on the first linear rail group. The first clamping rotation mechanism is used to clamp the interventional consumables for rotational delivery, and the second port control module is used to install a bifurcation valve; the first port control module is equipped with a first catheter.

[0062] The second port control module is provided with a first bifurcation module, and the first bifurcation module is implemented by a first bifurcation seat. The first bifurcation seat is provided with a main channel and at least two bifurcation channels. At least one interventional consumable can be delivered together along the corresponding main channel and bifurcation channel on the first bifurcation module.

[0063] As shown in Figures 10 and 11, a bifurcation valve 1027302 (such as a Y valve or a T valve) is installed on the second port control module, and a first bifurcation module 1027303 is provided on the second port control module. The first bifurcation module 1027303 is implemented by a first bifurcation seat. The first bifurcation seat is provided with a main channel and at least two bifurcation channels. Each bifurcation channel is independently set, and one end of each bifurcation channel extends in the same direction and is aligned with the port of the bifurcation valve at the same time, or the bifurcation channels converge into a trunk channel, and the trunk channel is aligned with the port of the bifurcation valve. At least one interventional consumable can enter the bifurcation valve 1027302 along the corresponding main channel and bifurcation channel on the first bifurcation module 1027303. In this embodiment, three bifurcation channels are provided on the first bifurcation seat, and the end of at least one interventional consumable (mainly a guide wire) is sleeved with a marking sleeve 1027304. The marking sleeve is provided with at least two colors to facilitate the distinction between interventional consumables.

[0064] A second support assembly for guiding the movement of the interventional consumable is respectively installed between the first clamping rotation and port control module and the second clamping rotation mechanism. The second support assembly can be telescopic or axially translated to limit the interventional consumable to a fixed axial direction to avoid bending of the interventional consumable during delivery; the second support assembly includes at least one of a telescopic tube assembly, a guide ring assembly, a bellows assembly, and a C-shaped tube assembly. The guide ring assembly is an openable and closable support ring, which is convenient for placing and clamping the interventional consumable from the top. In this embodiment, the second support assembly is supported by a rigid coaxial telescopic sleeve 103302 that is step-by-step sleeved. The telescopic sleeve is supported by a first limit joint arranged on the outside of the tube body of the telescopic sleeve. The structure realizes axial limiting to prevent different sections in the telescopic sleeve from completely separating. The first limiting structure is one or a combination of a pull rope structure, a limiting telescopic sleeve, a pull rod structure, a connecting rod structure, and a bellows structure. The rear part of the first fork seat is equipped with a telescopic sleeve locking mechanism 10330203 that can clamp the tube body of the telescopic sleeve. The telescopic sleeve locking mechanism is a clamp structure or a lock structure or a magnetic structure or a compression structure; the rear end of the telescopic sleeve 103302 is fixed on the telescopic sleeve locking mechanism on the second clamping and rotating mechanism; when the first clamping rotation and port control module and the second clamping and rotating mechanism are approaching, the segments behind the telescopic sleeve are all contracted and inserted into the frontmost section.

[0065] Three forked channels are provided on the first fork seat, and a first consumable locking mechanism capable of pressing the interventional consumable is installed on the side of at least one forked channel of the first fork seat, and the first consumable locking mechanism adopts a self-locking press-type spring lock; the self-locking press-type spring lock includes a lock body and a fourth pressure plate 102730307 installed on the lock body, and the lock body is installed in the first fork seat. Pressing the fourth pressure plate 102730307 can lock or disengage the fourth pressure plate 102730307 with the lock body, thereby pressing the fourth pressure plate 102730307 to press the interventional consumable or the fourth pressure plate disengages from the interventional consumable. The fourth pressure plate 102730307 has an inverted L-shaped structure and can slide up and down on the first bifurcated seat. An elastic pressure block is installed on the inner side of the crossbeam or within the bifurcated channel of the inverted L-shaped structure, where it can contact the interventional consumable. The elastic pressure block can be made of one or a combination of silicone blocks and rubber blocks. These elastic materials can improve the locking effect and prevent damage to the interventional consumable. The opening of the inverted L-shaped structure of the fourth pressure plate 102730307 is oriented toward the main channel of the first bifurcated seat.

[0066] As shown in Figures 12 to 14, when the first consumable locking mechanism adopts a threaded structure, the threaded structure drives the fourth pressing plate to push and pull laterally by rotating the screw, so that the fourth pressing plate presses the interventional consumable or the fourth pressing plate is separated from the interventional consumable.

[0067] Specifically, the first fork seat is provided with a main channel and three fork channels, wherein two fork channels are located on the side of the main channel close to the operator, and the third fork channel is located on the other side of the main channel away from the operator. The third fork channel of the first fork seat is provided with a track change part locking mechanism, and the track change part locking mechanism is a hinge pressure plate, and the track change part locking mechanism includes a second pressure plate 102730301 hingedly arranged on the first fork seat, and the second pressure plate 102730301 fixes one end of the track change part in the third fork channel; the side of the first fork seat close to the operator is equipped with a second consumables locking mechanism that can press the interventional consumables in the fork channel. The track-changing locking mechanism includes an L-shaped second pressing piece 102730302. After the second pressure plate 102730301 is buckled, when the operator drives the L-shaped second pressing piece 102730302 to rotate around the hinge axis in the direction close to the first fork seat, the second pressing piece rotates and presses on the corresponding second pressure plate 102730301, thereby locking the second pressure plate 102730301. Conversely, when the operator drives the L-shaped second pressing piece 102730302 to rotate around the hinge axis in the direction away from the first fork seat, the second pressing piece rotates and disengages from the corresponding second pressure plate 102730301, thereby loosening the second pressure plate 102730301. The second pressure plate 102730301 is fixedly connected to the outside with an inclined plate 1027303011. The operator presses the inclined plate 1027303011 to facilitate opening the second pressure plate 102730301. The end with a larger diameter of the telescopic sleeve 103302 extends into the main channel of the first fork module 1027303, and a telescopic sleeve locking mechanism that can clamp the tube body of the telescopic sleeve is provided at the rear of the first fork module 1027303.

[0068] The side of the first fork seat close to the operator is equipped with a second consumable locking mechanism that can press the interventional consumable in the fork channel. The second consumable locking mechanism includes a locking screw 102730501 and a pressing block 102730502. The pressing block 102730502 is arranged on one side of the fork channel for transverse sliding. The axial direction of the locking screw is arranged transversely. The locking screw is arranged on the first fork seat for circumferential rotation and axial limitation. The pressing block is outermostly arranged on the locking screw and the two are threadedly matched. Rotating the locking screw can make the pressing block approach or move away from the interventional consumable in the fork channel, thereby tightening or loosening the interventional consumable in the fork channel.

[0069] The first fork seat is provided with an active cavity for the lower end of the pressing block 102730502 to move, and the locking screw is inserted into the active cavity from the side of the first fork seat. The head of the locking screw is against the side of the first fork seat, and the front end of the locking screw is connected to the lower end of the pressing block through the threaded sleeve 102730503. The locking screw 102730501 and the threaded sleeve 102730503 are threaded together, and the lower end of the pressing block 102730502 is fixedly sleeved on the threaded sleeve 102730503. An annular groove is provided in the middle of the locking screw, and a retaining spring 102730503 is clamped at the annular groove. 2730504, and the retaining spring and the clamping block are abutted by the spring 102730505, so that the retaining spring can be abutted against the inner wall of the movable cavity to limit the axial position of the locking screw. Rotating the locking screw can make the threaded sleeve and the clamping block move relative to the locking screw, so that the clamping block is close to or away from the interventional consumables in the bifurcated channel, thereby tightening or loosening the interventional consumables in the bifurcated channel; an elastic clamping block is installed on the inner side of the clamping block 102730502 or in the bifurcated channel at a position where it can contact the interventional consumables. The elastic clamping block is one of a silicone block and a rubber block or a combination thereof. Example 5

[0070] The parts of this embodiment that have the same structure as that of embodiment 1 will not be described in detail. The differences are as follows:

[0071] The second port control module is equipped with a bifurcated valve (Y-valve or T-valve). Taking the Y-valve as an example, the second port control module is equipped with a Y-valve 10221. The second port control module can support one port of the Y-valve, facilitating the second clamping and rotating mechanism or the third clamping and rotating mechanism to clamp another guidewire and extend it through the port. When the second port control module is used to support the Y-valve, the front end of the Y-valve is provided with a rotatable catheter connector, and the rear end of the Y-valve is provided with a valve connector. The catheter locked by the first clamping and rotating mechanism is connected to the catheter connector via a hose or directly. The second port control module drives the catheter connector to rotate synchronously with the first clamping and rotating mechanism to avoid interference with the force sensing component within the first clamping and rotating mechanism. The second port control module drives the valve connector to control the opening and closing of the channel, thereby preventing blood or contrast agent leakage.

[0072] Taking the second port control module being able to support one side port of the Y-valve as an example, the specific structure of the second port control module is shown in Figures 15 to 18. A fixed bin 10220110 is provided on the first upper machine base 1022010. The Y-valve 1022110 is placed in the fixed bin 10220110. The clamping button 1021910 can be used to control the clamping or loosening of the fixed bin 10220110 on the Y-valve 1022110 body, which facilitates the quick disassembly and assembly of the Y-valve 1022110. The Y-valve 1022110 has a conduit connector at the front and a valve connector at the rear. The conduit connector of the Y-valve 1022110 is provided with a connector gear 1022210, and the valve connector of the Y-valve 1022110 is provided with a valve gear 1022310. A gear B 1021710 is rotatably provided on the first upper base 1022010, which can mesh with the connector gear 1022210. A gear A 1021610 is rotatably provided on the first upper base 1022010, which can mesh with the valve gear 1022310. The first upper base 1022010 is connected to the first lower base 1021810 via a quick-connect mechanism. The first lower base 1021810 is fixedly mounted on the upper module fixing base 10209110. The quick-connect mechanism can be one or a combination of a threaded connection, a snap-fit ​​connection, or a locking connection. Two motors B 1021510 are set inside the first lower machine base 1021810. The first transmission shaft 102151110 and the second transmission shaft 102151210 are rotatably set on the first lower machine base 1021810. The output shafts of the two motors B 1021510 respectively drive the first transmission shaft 102151110 and the second transmission shaft 102151210 to rotate through the bevel gear structure. The first upper machine base 1022010 is rotatably provided with a first transmission docking shaft 102151310 and a second transmission docking shaft 102151410. The first transmission docking shaft 102151310 drives the gear B1021710 to rotate through the bevel gear structure, and the second transmission docking shaft 102151410 drives the gear A1021610 to rotate through the bevel gear structure. When the first upper machine base 1022010 is connected to the first lower machine base 1021810 through the quick connection structure, the first transmission docking shaft 102151310 is docked with the first transmission shaft 102151110 to realize circumferential linkage, and the second transmission docking shaft 102151410 is docked with the second transmission shaft 102151210 to realize circumferential linkage.

[0073] Rotating valve gear 1022310 controls the opening and closing of the channel (the channel closing mechanism is conventional and can be achieved by, for example, compressing the valve, and will not be further described). To connect the Y-valve 1022110 using the port control module, the clamping button 1021910 is pulled to place the Y-valve 1022110 into the fixed compartment 1022010. Simultaneously, gear B 1021710 engages with the connector gear 1022210, and gear A 1021610 engages with the valve gear 1022310. Once installation is complete, the clamping button 1021910 is released, and the eighth elastic element 10219110 compresses the side of the Y-valve 1022110. Motor B1021510 controls gear A1021610 or gear B1021710 to rotate. Gear B 1021710 rotates to control the joint gear 1022210 to drive the catheter joint of the Y-valve 1022110 to rotate, thereby causing the catheter joint and the internal connecting tube or catheter to rotate synchronously. Due to the idle sealing structure provided on the Y-valve 1022110, the Y-valve 1022110 does not need to rotate as a whole, but no liquid leakage will occur at the relative rotation point; the rotation of gear A1021610 drives the valve gear 1022310 to rotate, thereby controlling the opening and closing of the valve to prevent blood and contrast agent from seeping out. Example 6

[0074] The parts of this embodiment that have the same structure as that of embodiment 1 will not be described in detail. The differences are as follows:

[0075] The second port control module is provided with a first bifurcation module, and the first bifurcation module is implemented by a first bifurcation seat. The first bifurcation seat is provided with a main channel and at least two bifurcation channels. At least one interventional consumable can be delivered together along the corresponding main channel and bifurcation channel on the first bifurcation module.

[0076] Three forked channels are provided on the first fork seat, and a first consumable locking mechanism capable of pressing the interventional consumable is installed on the side of at least one forked channel of the first fork seat, and the first consumable locking mechanism adopts a self-locking press-type spring lock or a threaded structure; the self-locking press-type spring lock includes a lock body and a fourth pressure plate installed on the lock body, and the lock body is installed in the first fork seat. Pressing the fourth pressure plate can lock or disengage the fourth pressure plate from the lock body, thereby pressing the interventional consumable or disengaging the fourth pressure plate from the interventional consumable, and the threaded structure drives the fourth pressure plate to push and pull laterally by rotating the screw, thereby pressing the interventional consumable or disengaging the fourth pressure plate.

[0077] The track-changing tube is a telescopic track-changing tube, comprising a rigid coaxial telescopic sleeve that is sleeved in stages, a rear section and a front section of the telescopic sleeve being respectively covered with one end of a first hose and a second hose, the telescopic sleeve being axially limited by a first limiting structure arranged on the outside of the tube body of the telescopic sleeve to prevent different sections in the telescopic sleeve from being completely separated, the first limiting structure being one or a combination of a pull rope structure, a limiting telescopic sleeve, a pull rod structure, a connecting rod structure, and a bellows structure; one end of the telescopic track-changing tube being arranged on the first port control module or the first clamping rotation and port control module, the other end of the telescopic track-changing tube being mounted on the front end of the third clamping rotation mechanism;

[0078] A first track-changing part locking mechanism is provided on the first port control module or the first clamping rotation and port control module, and the first track-changing part locking mechanism can lock the front end of the telescopic track-changing tube. A second track-changing part locking mechanism is provided on the third clamping rotation mechanism, and the second track-changing part locking mechanism can lock the rear end of the telescopic track-changing tube. The first track-changing part locking mechanism and the second track-changing part locking mechanism are a clamp structure, a locking structure, a magnetic structure, or a compression structure.

[0079] Specifically, as shown in Figures 19 to 21, a third rotary delivery mechanism 10276 is provided on the second linear rail group. A bifurcation valve is provided on the second port control module, and a first bifurcation module 10271001 is provided behind the bifurcation valve, and a track change tube is provided between one of the branches of the first bifurcation module and the third rotary delivery mechanism 10276. The track change tube is a telescopic track change tube 103302. The telescopic track change tube 103302 is used to support interventional consumables. The head end of each section of the telescopic track change tube 103302 is fixedly connected to a guide block 103302001, and each section of the telescopic track change tube 103302 is provided with a stop structure to prevent different sections of the telescopic track change tube 103302 from completely disengaging. The thickest and thinnest sections of the telescopic track change tube 103302 are respectively covered with one end of the first hose 1033020021 and one end of the second hose 1033020022. The other end of the first hose 1033020021 is clamped by the clamping mechanism of the third rotating delivery mechanism 10276, and the other end of the second hose 1033020022 is clamped by the clamping mechanism of the bifurcating module 10271001. Alternatively, the clamping positions of the first hose 1033020021 and the second hose 1033020022 can be interchanged.

[0080] Furthermore, a hinge support structure 1033020023 is provided on the first hose 1033020021 and the second hose 1033020022, and the hinge support structure 1033020023 includes a first hinge plate 10330200231 and a second hinge plate 10330200232, one end of the first hinge plate 10330200231 and the second hinge plate 10330200232 are hinged to each other, and the other ends of the first hinge plate 10330200231 and the second hinge plate 10330200232 are respectively fixedly connected to the limiting sleeve 10330200231. 330200233, the limiting sleeve 10330200233 is sleeved over the first hose 1033020021 or the second hose 1033020022, and can guide the bending direction of the first hose 1033020021 or the second hose 1033020022 to avoid excessive bending and prevent the first hose 1033020021 or the second hose 1033020022 from being damaged. When the material of the first hose 1033020021 or the second hose 1033020022 is relatively hard, the hinge support structure 1033020023 can also be omitted.

[0081] In order to prevent the interventional consumables from getting stuck on the end surface between different sections of the telescopic track change tube 103302 when being inserted from the front or rear end of the telescopic track change tube 103302, a guide tube 103302003 is sleeved inside the telescopic track change tube 103302, and one end of the guide tube 103302003 is fixedly connected to the thinnest section of the telescopic track change tube 103302.

[0082] When the telescopic track-changing tube 103302 is fully retracted, the other end of the guide tube 103302003 is no more than 10 mm away from the rear end of the first hose 1033020021. At this point, the operator can insert the interventional consumable directly from the other end of the guide tube 103302003. Guided by the flexible guide tube 103302003, the interventional consumable can smoothly pass through the telescopic track-changing tube 103302 without getting stuck between the different sections of the telescopic track-changing tube 103302. Alternatively, the operator can insert the interventional consumable directly from the inlet end of the second hose 1033020022. Guided by the flexible guide tube 103302003, the interventional consumable can smoothly pass through the telescopic track-changing tube 103302 without getting stuck. Example 7

[0083] The parts of this embodiment that have the same structure as that of embodiment 1 will not be described in detail. The differences are as follows:

[0084] The first clamping and rotating mechanism 10272, the second clamping and rotating mechanism and the third clamping and rotating mechanism have the same structure. The first clamping and rotating mechanism is used as an example to describe its specific structure.

[0085] As shown in Figures 22 to 26, the rotating mechanism includes a rotating shaft drive seat 1027202 and a rotating shaft 1027201 rotatably mounted in the rotating shaft drive seat 1027202. A rotating drive assembly capable of driving the rotating shaft 1027201 to rotate is mounted inside or outside the rotating shaft drive seat 1027202; the rotating drive assembly is a gear drive assembly, a friction wheel drive assembly, or a friction belt drive assembly; the rear end of the rotating shaft drive seat 1027202 is provided with a rear cover 102720201. The rotating shaft drive seat 1027202 has an opening structure; the rotating shaft drive seat 1027202 includes a base 102720203 and a rotating cover 102720202, and the rotating cover 102720202 is movably arranged on the base. The rotating cover 102720202 is locked on the base 102720203 by one or more combinations of press buckles, magnetic attraction, screw structures, and locks. The rotating cover 102720202 can be opened to facilitate the loading and unloading of the rotating shaft 1027201.

[0086] The rotating shaft 1027201 comprises a housing A1027201001 and a housing B1027201002, which are connected in an openable and closable manner to facilitate disassembly and cleaning of the internal structure. The internal components of the rotating shaft 1027201 are mounted within the housing A1027201001. The housings A027201001 and B1027201002 are each provided with a portion of a driven gear ring or a driven friction ring. When the housings A027201001 and B1027201002 are closed, a complete driven gear ring or driven friction ring is formed. To reduce the stroke length occupied by the rotating shaft 1027201 and ensure sufficient effective stroke length for interventional consumables inserted into the second catheter, the overall axial length of the rotating shaft 1027201 is less than 100 mm.

[0087] A second bearing structure 102720104 is provided between the rotating shaft 1027201 and the rotating shaft driving seat 1027202, and a second sealing rubber ring 102720105 is provided between the rear cover 102720201 and the second bearing structure 102720104 to achieve sealing.

[0088] During the installation process of the first rotating delivery mechanism 10272, first put the shell A027201001 and the shell B1027201002 together, then put the second bearing structure 102720104 on the front and rear ends of the rotating shaft 1027201 respectively, and use the second bearing structure 102720104 to close and fix the shell A027201001 and the shell B1027201002 together, open the rotating cover 102720202 above the base, and then put the shell A027201001, the shell B1027201002 and the second bearing structure 102720104 as a whole into the base, and then close and lock the rotating cover 102720202 on the base, and finally install the back cover 102720201 on the rear end of the rotating shaft drive seat 1027202. The rotary drive assembly drives the rotary shaft 1027201 to rotate through the transmission assembly. The transmission assembly realizes power transmission by meshing with the driven gear ring or by the friction force between the driven friction rings. The transmission assembly is an active gear or an active friction wheel or an active friction belt.

[0089] The first connecting portion 1022501 extends from the front end of the rotating shaft 1027201, and the front end of the first connecting portion 1022501 is tightened and fixed to the mounting head 102204 by a side top screw (or other locking methods are adopted). The Luer connector 102201 at the rear end of the second catheter is threadedly connected to the threaded transition head 102202. The threaded transition head 102202 includes a threaded structure and a quick-connect structure. The threaded transition head 102202 is connected to the interventional consumables through the threaded structure. The Luer connector 102201 at the tail end is tightened and connected, the thread structure is a Luer thread structure, the quick-connect structure is an anti-rotation buckle structure, the anti-rotation buckle structure adopts a hook type or a pin type, and the threaded transition head 102202 and the mounting head 102204 at the front end of the first connecting part 1022501 are sealed by a first sealing rubber ring 102205 to prevent leakage during subsequent contrast agent creation; or the threaded transition head 102202 is directly connected to the first connecting part 1022501.

[0090] The anti-rotation buckle structure includes a hook 1033020017, which is openably arranged on the thread transition head 102202. The thread transition head 102202 includes a clamping joint 1033020016. Two hooks 1033020017 are provided and symmetrically arranged on both sides of the thread transition head 102202. The head of the hook 1033020017 is a clamping portion. The tail of 17 is a pressing part. Pressing the pressing part can make the clamping part open outward. Then, the clamping joint 1033020016 (the clamping joint is a part of the threaded transition head 102202) at the end of the threaded transition head 102202 is inserted into the installation head 102204. The tail of the hook 1033020017 is loosened, so that the clamping part of the hook 1033020017 closes inward under the action of its own elastic force and is clamped on the clamping ring of the installation head 102204.

[0091] The anti-rotation buckle structure also includes an anti-rotation structure, which is an anti-rotation protrusion or anti-rotation groove arranged on the threaded transition head 102202. The anti-rotation buckle structure also includes a tubular guide portion, which extends toward the rear end of the threaded transition head. The anti-rotation protrusion or anti-rotation groove is arranged at the position where the guide portion is connected to the main body of the threaded transition head 102202.

[0092] It also includes an internal connecting tube 1027301, which is arranged through the first connecting part 1022501, and the front end of the internal connecting tube 1027301 is connected to the front end of the first connecting part 1022501; or the first connecting part 1022501 is a hollow pipe structure, and the front end of the internal connecting tube 1027301 is connected to the rear end of the first connecting part 1022501.

[0093] The rear end of the internal connecting tube 1027301 is connected to the front rotatable part of the bifurcated valve. The internal connecting tube 1027301 is provided with a flexible tube part, and the flexible tube part has a certain amount of bulge and bending, so that it has a certain amount of floating in the axial direction, which can solve the interference problem of torque and axial force caused by the lack of synchronization between the first connecting part 1022501 and the bifurcated valve during axial displacement and circumferential rotation.

[0094] Before the operation, the first rotating delivery mechanism 10272 only needs to install the internal connecting tube 1027301 and the mounting head 102204 on the first connecting part 1022501. During the operation, the operator manually snaps the card connector 1033020016 at the end of the threaded transition head 102202 onto the mounting head 102204. The threaded transition head 102202 is tightened and connected to the Luer connector 102201 at the tail end of the interventional consumable through a threaded structure, so that different interventional consumables can be replaced and installed.

[0095] A first sliding disk 102720101 is provided at the rear end of the rotating shaft 1027201, and a second sliding disk 102720102 is fixedly connected to the rear cover 102720201. The second sliding disk 102720102 is provided with multiple concentrically arranged annular conductive rings or protruding conductors. The first sliding disk 102720101 is provided with a protruding conductor or multiple concentrically arranged annular conductive rings (or the positions of the conductive rings and the conductors are interchanged). The conductor or the conductive ring is connected to the circuit component 102720103 in the rotating shaft 1027201. When the rotating shaft 1027201 rotates, the first sliding disk 102720101 rotates coaxially relative to the second sliding disk 102720102. At this time, the conductor rotates on the conductive ring to transmit electrical signals between the circuit component 102720103 and the outside world. The use of a conductive sliding disk structure can make the entire rotating shaft 1027201 structure flatter (axial length is 20~100mm), reducing the stroke occupied by the rotating shaft 1027201, thereby increasing the effective working length of the interventional consumables.

[0096] The circuit component 102720103 is provided with an analog-to-digital conversion element, which is used to convert the analog signal of the force sensor into a digital signal, so as to avoid the signal interference problem caused by the direct transmission of the analog signal, especially the contact resistance of the conductive sliding disk will change with the rotation of the rotating shaft 1027201, which introduces signal noise. The circuit component 102720103 is provided with a communication element, which is used to convert the digital signal into a communication signal and use a serial communication protocol to realize information transmission. The circuit component 102720103 is a PCB circuit board, and in order to reduce the axial length of the rotating shaft 1027201, the PCB circuit board is arranged in parallel to the end face of the rotating shaft 1027201.

[0097] The circuit component 102720103 is provided with an accelerometer or an IMU sensor, which can detect various acceleration values ​​of the rotating shaft 1027201, so that in the process of force perception, inertia force and inertia moment compensation are performed based on the various acceleration values ​​of the rotating shaft 1027201, so as to obtain the actual axial force exerted on the interventional consumable and the actual torque exerted on the interventional consumable in the direction around the axis; the acceleration values ​​include gravitational acceleration, acceleration during rotation, and acceleration during axial acceleration and deceleration.

[0098] A capillary tube 102720107 is fixedly connected to the rear end of the rotating shaft 1027201. The capillary tube 102720107 coaxially extends from the rear end of the rotating shaft 1027201, protruding from the rear end and engaging with a through-hole in the middle of the rear cover 102720201. A third sealing rubber ring 102720106 seals the capillary tube 102720107 with the through-hole in the middle of the rear cover 102720201. The second sealing ring 102720105 and the third sealing ring 102720106 prevent liquid from entering between the first sliding plate 102720101 and the second sliding plate 102720102, protecting the internal components from external factors.

[0099] The internal connecting tube 1027301 passes through the capillary tube 102720107, and the gap between the internal connecting tube 1027301 and the capillary tube 102720107 is less than 2 mm. The length of the capillary tube 102720107 is greater than 10 mm, thereby achieving a certain sealing effect between the internal connecting tube 1027301 and the capillary tube 102720107. The small gap and long length effectively prevent liquid from entering the rotating shaft 1027201 through the gap between the capillary tube 102720107 and the internal connecting tube 1027301 during surgery, thereby protecting the internal components from external factors. Alternatively, a closing portion may be provided on the capillary tube 102720107, which tightly fits the internal connecting tube 1027301 to improve the sealing effect.

[0100] The axial force sensing element measures the axial force exerted on the interventional consumable, and the torque force sensing element measures the torque exerted on the interventional consumable in the direction around the axis. Both the axial force sensing element and the torque force sensing element are arranged inside the rotating shaft 1027201, and the first connecting part 1022501 extends from the inside of the outer shell of the rotating shaft 1027201 to the outside of the outer shell of the rotating shaft 1027201.

[0101] After the locking structure locks the interventional consumable, when the interventional consumable is subjected to axial force during the delivery process, the axial force exerted on the interventional consumable is measured by an axial force sensor or a multi-dimensional force sensor; when the interventional consumable is subjected to torque around the axis during rotation, the torque exerted on the interventional consumable in the direction around the axis is measured by a torque sensor, or a combination of a torque sensor and a torque amplification mechanism, or a combination of a torque conversion structure and a force sensor.

[0102] A rotating sleeve is provided inside the rotating shaft 1027201, and the first connecting part 1022501 is rotatable and axially limited in the rotating sleeve through the bearing structure a. The rotating sleeve is connected to the force measuring end of the axial force sensor, and the other end of the axial force sensor is fixedly provided inside the rotating shaft 1027201. The force measuring direction of the axial force sensor coincides with or is parallel to the axial direction of the interventional consumable.

[0103] When the interventional consumable is subjected to axial external force during the delivery process, the interventional consumable transmits the axial force to the first connecting part 1022501 through the locking structure, and the first connecting part 1022501 transmits the axial force to the rotating sleeve, thereby transmitting the axial force to the axial force sensor fixedly connected to the rotating sleeve.

[0104] When the torque exerted on the interventional consumable in the direction around the axis is measured by the combination of a torque conversion structure and a force sensor, the force sensor is a one-dimensional force sensor, one end of which is fixed on the rotating shaft 1027201, and the other end of the one-dimensional force sensor is fixedly connected or integrally formed with a sensor force transmission part. The first connecting part 1022501 cooperates with the sensor force transmission part through the torque conversion structure, so that the first connecting part 1022501 converts the torsional torque into a push-pull force applied to the sensor force transmission part when rotating. After the force sensor measures the push-pull force, it can convert the torque exerted on the interventional consumable in combination with the force arm.

[0105] The torque conversion structure is one or a combination of a pin slot structure, a paddle structure, a connecting rod structure, a gear rack structure, and a transmission belt structure;

[0106] When the torque conversion structure is a pin-slot structure, the force sensor is a one-dimensional force sensor. The fixed end of the one-dimensional force sensor is fixedly connected to the inside of the rotating shaft 1027201 and is located on one side of the interventional consumables. The force measuring end of the one-dimensional force sensor is fixedly connected to the sensor force transmission member or is integrally formed. The sensor force transmission member is provided with a pin or a slot hole, and the first connecting part 1022501 is matched with a slot hole or a pin. The relative position of the sensor force transmission member and the first connecting part 1022501 enables the pin to be inserted into the slot. The locking structure locks the interventional consumable, and the axial direction of the pin is parallel to the axis of the interventional consumable and is at a certain distance from it. After the interventional consumable is subjected to torque, the first connecting part 1022501 rotates, and the slot or pin on the first connecting part 1022501 will push the pin or slot on the sensor force transmission part. At this time, the torsional moment will be converted into a push-pull force and applied to the sensor force transmission part. At this time, the unidirectional force sensor will detect the push-pull force and convert the torque applied to the interventional consumable based on the force arm.

[0107] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, from all points of view, the embodiments should be regarded as illustrative and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes that fall within the meaning and range of equivalents of the claims are included in the present invention. Any reference signs in the claims should not be construed as limiting the claim to which they relate.

Claims

1. A multi-channel interventional robot slave device for driving dual guidewires and a single catheter, characterized by: The invention comprises two groups of linear rail groups, which are a first linear rail group and a second linear rail group arranged in parallel or intersecting. The first linear rail group is respectively provided with a first port control module, a first clamping rotation and port control module and a second clamping rotation mechanism through a plurality of module fixing seats. The second linear rail group is provided with a third clamping rotation mechanism through a module fixing seat. The module fixing seat is fixed on the linear rail group, or the module fixing seat can reciprocate on the linear rail group. The module fixing seat can drive the corresponding first port control module, or the first clamping rotation and port control module, when reciprocating. Or the second clamping rotation mechanism, or the third clamping rotation mechanism reciprocates to realize the delivery of interventional consumables; the rear of the first port control module or the first clamping rotation and port control module is connected with a track changing tube, or the rear of the first port control module or the first clamping rotation and port control module is aligned with the track changing tube; the track changing tube is used to guide the interventional consumables on the second linear track group to the first linear track group; a second support component for guiding the movement of the interventional consumables is installed between the first port control module and the first clamping rotation and port control module, and between the first clamping rotation and port control module and the second clamping rotation mechanism.

2. A multi-channel interventional robot slave device for driving dual guidewires and a single catheter according to claim 1, characterized in that: The second support assembly can be telescopic or axially translated to limit the interventional consumables to a fixed axial direction to prevent the interventional consumables from bending during delivery; the second support assembly includes at least one of a telescopic tube assembly, a guide ring assembly, a bellows assembly, and a C-shaped tube assembly, and the guide ring assembly is an openable and closable support ring, which is convenient for placing and clamping the interventional consumables from the top.

3. The multi-channel interventional robot slave device for driving dual guidewires and a single catheter according to claim 1, characterized in that: The first clamping rotation and port control module includes a first clamping rotation mechanism and a second port control module. The first clamping rotation mechanism and the second port control module are respectively installed on the first linear rail group through the module fixing seat a and the module fixing seat b, or the first clamping rotation mechanism and the second port control module are both installed on the first linear rail group through a module fixing seat b. The module fixing seat a and the module fixing seat b can slide independently on the first linear rail group. The first clamping rotation mechanism is used to clamp the interventional consumables for rotational delivery.

4. The multi-channel interventional robot slave device for driving dual guidewires and a single catheter according to claim 3, characterized in that: The second port control module is provided with a first bifurcation module, and the first bifurcation module is implemented by a first bifurcation seat. The first bifurcation seat is provided with a main channel and at least two bifurcation channels. At least one interventional consumable can be delivered together along the corresponding main channel and bifurcation channel on the first bifurcation module.

5. The multi-channel interventional robot slave device for driving dual guidewires and a single catheter according to claim 4, characterized in that: Three forked channels are provided on the first fork seat, and a first consumable locking mechanism capable of pressing the interventional consumable is installed on the side of at least one forked channel of the first fork seat, and the first consumable locking mechanism adopts a self-locking press-type spring lock or a threaded structure; the self-locking press-type spring lock includes a lock body and a fourth pressure plate installed on the lock body, and the lock body is installed in the first fork seat. Pressing the fourth pressure plate can lock or disengage the fourth pressure plate from the lock body, thereby pressing the interventional consumable or disengaging the fourth pressure plate from the interventional consumable, and the threaded structure drives the fourth pressure plate to push and pull laterally by rotating the screw, thereby pressing the interventional consumable or disengaging the fourth pressure plate.

6. The multi-channel interventional robot slave device for driving dual guidewires and a single catheter according to claim 3, characterized in that: A third port control module is installed in front of the third clamping and rotating mechanism, and the track change tube is a curved tube, one end of the curved tube is connected to or aligned with the rear of the first port control module or the first clamping, rotating and port control module, and the other end of the curved tube is installed on the third port control module; the third port control module is set on the second linear track group through a module fixing seat, and can move back and forth independently on the second linear track group, or the third port control module and the first port control module or the first clamping, rotating and port control module can establish a linkage relationship through a linkage locking structure, and the third port control module moves together with the first port control module or the first clamping, rotating and port control module; Alternatively, a third port support module is suspended in front of the third clamping and rotating mechanism, and also includes a track changing support part, one end of the track changing support part is connected to the first port control module or the first clamping, rotating and port control module, and the other end of the track changing support part extends to the second linear guide rail group and is connected to the third port support module, and the third port control module moves with the first port control module or the first clamping, rotating and port control module.

7. The multi-channel interventional robot slave device for driving dual guidewires and a single catheter according to claim 6, characterized in that: A third support assembly for guiding the movement of the interventional consumable is installed between the third port control module and the third clamping and rotating mechanism. The third support assembly can be telescopic or axially translated to limit the interventional consumable to a fixed axial direction to prevent the interventional consumable from bending during delivery; the third support assembly includes at least one of a telescopic tube assembly, a guide ring assembly, a bellows assembly, and a C-shaped tube assembly. The guide ring assembly is an openable and closable support ring, which is convenient for placing and clamping the interventional consumable from the top.

8. The multi-channel interventional robot slave device for driving dual guidewires and a single catheter according to claim 3, characterized in that: The track-changing tube is a telescopic track-changing tube, comprising a rigid coaxial telescopic sleeve that is sleeved in stages, a rear section and a front section of the telescopic sleeve being respectively covered with one end of a first hose and a second hose, the telescopic sleeve being axially limited by a first limiting structure arranged on the outside of the tube body of the telescopic sleeve to prevent different sections in the telescopic sleeve from being completely separated, the first limiting structure being one or a combination of a pull rope structure, a limiting telescopic sleeve, a pull rod structure, a connecting rod structure, and a bellows structure; one end of the telescopic track-changing tube being arranged on the first port control module or the first clamping rotation and port control module, the other end of the telescopic track-changing tube being mounted on the front end of the third clamping rotation mechanism; A first track-changing part locking mechanism is provided on the first port control module or the first clamping rotation and port control module, and the first track-changing part locking mechanism can lock the front end of the telescopic track-changing tube. A second track-changing part locking mechanism is provided on the third clamping rotation mechanism, and the second track-changing part locking mechanism can lock the rear end of the telescopic track-changing tube. The first track-changing part locking mechanism and the second track-changing part locking mechanism are a clamp structure, a locking structure, a magnetic structure, or a compression structure.

9. The multi-channel interventional robot slave device for driving dual guidewires and a single catheter according to claim 1, characterized in that: The first clamping rotation and port control module, the third clamping rotation mechanism, and the second clamping rotation mechanism all include a locking structure capable of locking or loosening the interventional consumable, a rotation mechanism capable of driving the locked interventional consumable to rotate, an axial force sensing element capable of detecting the axial force exerted on the interventional consumable, and a torque force sensing element capable of detecting the torsional moment exerted on the interventional consumable in the axial direction; the locking structure has a self-locking structure and can maintain the locked state after locking; the locking structure is arranged on the outside of the outer shell of the first clamping rotation and port control module, the third clamping rotation mechanism, and the second clamping rotation mechanism, and the locking structure is directly driven by hand or external tools to achieve locking or unlocking of the interventional consumable.

10. A slave system for a multi-channel interventional robot slave device for driving dual guidewires and a single catheter according to any one of claims 1 to 9, characterized in that: It also includes a first catheter, a second catheter, a first guide wire and a second guide wire, the rear part of the first catheter is installed on the first port control module, the rear part of the first port control module is connected to the track change tube, or the rear part of the first port control module is aligned with the track change tube, the front part of the second catheter is directly inserted into the first catheter or inserted into the first catheter through the bifurcation section of the track change tube, the rear part of the second catheter is installed on the first clamping rotation and port control module, the second catheter is delivered to the first catheter through the first clamping rotation and port control module, the first guide wire is installed in the second clamping rotation mechanism, and the front part of the first guide wire is inserted into the second catheter, the first guide wire is delivered to the second catheter through the second clamping rotation mechanism; the second guide wire is installed in the third clamping rotation mechanism, the front part of the second guide wire can pass through the track change tube to the first catheter, the second guide wire is delivered to the first catheter through the third clamping rotation mechanism, and the track change guide of the track change tube The function is to realize the simultaneous driving of double guide wires and single catheter; or the rear part of the first catheter is installed on the first port control module, the front part of the second catheter is inserted into the first catheter, the rear end of the second catheter is installed on the first clamping rotation and port control module, the second catheter is delivered to the first catheter through the first clamping rotation and port control module, the rear part of the first clamping rotation and port control module is connected to the track changing tube, or the rear part of the first clamping rotation and port control module is aligned with the track changing tube, the first guide wire is installed in the second clamping rotation mechanism, and the front part of the first guide wire is inserted into the second catheter, and the first guide wire is delivered to the second catheter through the second clamping rotation mechanism; the second guide wire is installed in the third clamping rotation mechanism, the second guide wire can pass through the track changing tube to the second catheter, and the second guide wire is delivered to the second catheter through the third clamping rotation mechanism, and the track changing guiding function of the track changing tube is realized.

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