Multi-channel interventional surgical instrument delivery apparatus

Abstract

The present application relates to a multi-channel interventional surgical instrument delivery apparatus, comprising: a delivery wheel set, comprising a plurality of delivery wheels, wherein at least two active delivery channels for delivering at least two interventional surgical instruments are capable of being formed between the plurality of delivery wheels; and at least one passive clamping channel, used for placing interventional surgical instruments, wherein a first clamping assembly is arranged on one side of each passive clamping channel, and the first clamping assembly is capable of clamping and fixing the interventional surgical instrument when the interventional surgical instrument is placed in the passive clamping channel.

Description

Multi-channel interventional surgical instrument delivery device

[0001] Related applications

[0002] This application claims priority to Chinese invention patent application No. 202410248316.6 filed on March 5, 2024, priority to Chinese invention patent application No. 202410251493.X filed on March 5, 2024, priority to Chinese invention patent application No. 202411686688.3 filed on November 22, 2024, and priority to Chinese invention patent application No. 202411730709.7 filed on November 28, 2024, and cites all the contents disclosed in the above patent applications as part of this application. Technical Field

[0003] The present application relates to the field of medical devices, and in particular to a multi-channel interventional surgical instrument delivery device. Background Art

[0004] Vascular interventional surgery is a surgical procedure in which, guided by medical imaging equipment, an interventional physician uses a needle, catheter, guidewire, balloon, stent, and other interventional devices to deliver the designated device along the body's vascular pathways to the corresponding lesion site for treatment. As a minimally invasive treatment method, vascular interventional surgery has been widely used in the interventional treatment of cardiovascular disease, cerebrovascular disease, peripheral vascular disease, and tumors.

[0005] In the current surgical model, interventional physicians wear lead aprons weighing 20 to 30 kilograms (15 to 20 pounds) and stand at the operating table for extended periods while manipulating catheters, guidewires, and other interventional instruments. These aprons cannot fully shield against X-ray radiation, exposing their arms and heads directly to it. Interventional physicians' constant exposure to X-ray radiation is highly susceptible to occupational diseases such as cataracts, spinal curvature, and brain tumors. Using robotic systems to control the delivery of interventional instruments like catheters and guidewires effectively improves their working conditions, reduces physical exertion, and mitigates occupational hazards, allowing them to fully focus on the surgical procedure itself and ultimately deliver better outcomes for patients.

[0006] During vascular interventional surgery, interventional doctors use different numbers of interventional devices depending on the type of lesion. In the interventional treatment of coronary arteries, simple lesions usually only require the delivery of a guidewire, a balloon catheter, and a stent catheter to complete the surgical treatment; however, in the interventional treatment of a large number of complex vascular lesions (such as bifurcation lesions, completely occluded lesions, ostial lesions, and diffuse long lesions), depending on the needs of the procedure, it is necessary to perform complex operations such as using two guidewires, two balloon catheters, or two stent catheters during the surgery to protect the side branch vessels, enhance support, or implant double stents.

[0007] Existing vascular interventional surgical robots have only a single active delivery channel, and other channels can only achieve passive clamping of the guidewire. They are unable to actively deliver and cannot coordinate the operation of dual guidewires, dual balloon catheters and dual stent catheters. Therefore, they cannot meet the urgent clinical demand for interventional treatment of complex vascular diseases.

[0008] Therefore, the inventor, relying on years of experience and practice in related industries, proposed a multi-channel interventional surgical instrument delivery device to overcome the shortcomings of the existing technology. Summary of the Invention

[0009] The purpose of this application is to provide a multi-channel interventional surgical instrument delivery device that can realize the coordinated delivery operation of at least two interventional surgical instruments, and can clamp and fix at least one interventional surgical instrument that is no longer in use or temporarily not in use, so as to meet the complex surgical operations of multiple or multiple interventional instruments and is easy to operate.

[0010] The purpose of the present application is to achieve this based on a multi-channel interventional surgical instrument delivery device, which includes a delivery device, the delivery device including:

[0011] a delivery wheel assembly, comprising a plurality of fourth delivery wheels, wherein at least two active delivery channels for delivering at least two interventional surgical instruments can be formed between the plurality of fourth delivery wheels;

[0012] At least one passive clamping channel is used to place interventional surgical instruments. A first clamping assembly is provided on one side of each passive clamping channel. The first clamping assembly can clamp and fix the interventional surgical instrument when it is placed in the passive clamping channel.

[0013] In an exemplary embodiment of the present application, the multi-channel interventional surgical instrument delivery device also includes a first base shell, on which a second Y-valve mounting groove and at least one clamping guide groove are provided. The second Y-valve mounting groove is used to install the second Y-valve, and the two ends of the clamping guide groove are respectively connected to the second Y-valve mounting groove and a side wall of the first base shell, and the clamping guide groove constitutes a passive clamping channel.

[0014] In an exemplary embodiment of the present application, the multi-channel interventional surgical instrument delivery device further includes: a telescopic delivery mechanism and a coaxial vascular interventional surgical instrument delivery box, wherein the telescopic delivery mechanism can move the delivery device closer to or farther from the coaxial vascular interventional surgical instrument delivery box, and the delivery device can deliver a catheter and a guidewire.

[0015] The coaxial vascular interventional surgical instrument delivery box includes a first delivery wheel, a second delivery wheel, a first Y-valve mounting slot, and a second cover and a second bottom shell that can cover each other.

[0016] A main delivery channel for delivering microcatheters can be formed between the first delivery wheel and the second delivery wheel; the first Y-valve mounting groove is used to mount the first Y-valve; the head interface of the first Y-valve can be arranged close to the main delivery channel; and the end of the microcatheter can rotate; a main delivery guide groove is provided between the first Y-valve mounting groove and the main delivery channel; the microcatheter can be passed through the main delivery guide groove; the first delivery wheel, the second delivery wheel, the first Y-valve mounting groove and the main delivery guide groove are all provided in the second bottom shell; a main pressure rib is provided on the second cover body, and the main pressure rib can be pressed against the notch of the main delivery guide groove after the second cover body is covered on the second bottom shell.

[0017] In an exemplary embodiment of the present application, the multi-channel interventional surgical instrument delivery device further includes an interventional surgical catheter delivery device, wherein the interventional surgical catheter delivery device is provided at one end of the telescopic delivery mechanism, and the coaxial vascular interventional surgical instrument delivery box is located between the delivery device and the interventional surgical catheter delivery device. The telescopic delivery mechanism can enable the delivery device to move forward and backward relative to the interventional surgical catheter delivery device and the coaxial vascular interventional surgical instrument delivery box to deliver or withdraw the interventional surgical instrument.

[0018] Wherein, the interventional surgery catheter delivery device comprises:

[0019] The catheter delivery box is hollow and has a receiving cavity. The opposite ends of the catheter delivery box are respectively provided with an inlet and an outlet. The catheter passes through the inlet, the receiving cavity, and the outlet in sequence. The catheter delivery box is provided with a quick positioning connection structure.

[0020] a catheter delivery mechanism, disposed in the accommodating cavity, the catheter delivery mechanism driving the catheter to move along its length direction to achieve delivery and withdrawal of the catheter;

[0021] The vascular sheath connector includes a vascular sheath fixing seat and a connecting hose, one end of the connecting hose is detachably connected to the vascular sheath fixing seat through a first quick-connect structure, and the other end of the connecting hose is detachably connected to the outlet through a second quick-connect structure.

[0022] The present application also provides a delivery system, including a delivery device, a telescopic delivery mechanism and the above-mentioned coaxial vascular interventional surgical instrument delivery box; the telescopic delivery mechanism can make the delivery device close to or away from the coaxial vascular interventional surgical instrument delivery box, and the multi-channel interventional surgical instrument delivery device can deliver catheters and guidewires.

[0023] The present application also provides a delivery method, using the above-mentioned delivery system to deliver the microcatheter, the delivery method comprising:

[0024] Installing the first Y-valve connected to the catheter on the multi-channel interventional surgical instrument delivery device, and using the multi-channel interventional surgical instrument delivery device to deliver the catheter and the guidewire to a designated location;

[0025] Maintaining the axial position of the catheter and the guidewire, the first Y-valve is removed from the multi-channel interventional surgical instrument delivery device, and the delivery device is driven away from the first Y-valve by the telescopic delivery mechanism;

[0026] Place the microcatheter over the guide wire and insert it into the catheter;

[0027] Install the first Y-valve in the first Y-valve installation groove, insert the microcatheter into the main delivery channel, and install the second Y-valve connected to the end of the microcatheter into the multi-channel interventional surgical instrument delivery device;

[0028] The microcatheter is delivered using the first and second delivery wheels, and the guidewire is delivered using the multi-channel interventional surgical instrument delivery device until the guidewire reaches the target position.

[0029] As described above, the multi-channel interventional surgical instrument delivery device in the present application is provided with at least two active delivery channels and at least one passive clamping channel, and is a multi-channel device; by utilizing multiple fourth delivery wheels to form at least two active delivery channels, the coordinated delivery operation of at least two interventional surgical instruments can be realized; by providing at least one passive clamping channel, at least one interventional surgical instrument that is no longer in use or temporarily not in use can be clamped and fixed; thereby, the coaxial delivery of the catheter and the guidewire, the catheter and the balloon catheter, and the catheter and the stent catheter can be realized, and there is no limit on the number of guidewires used, and the coaxial delivery of the catheter and multiple guidewires can be realized, which meets the demand for coordinated delivery operations of multiple interventional instruments in complex vascular lesion interventional surgery, solves the limitation that the existing vascular interventional surgical robots can only be applied to simple lesions, greatly improves the clinical adaptability range, and has extremely important clinical value. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The following figures are intended only to illustrate and explain the present application and are not intended to limit the scope of the present application.

[0031] Figure 1: Overall diagram of the multi-channel interventional surgical instrument delivery device provided in this application.

[0032] Figure 2: A schematic structural diagram of the multi-channel interventional surgical instrument delivery device provided in this application after the first cover is opened.

[0033] Figure 3: Schematic diagram of the structure of the bottom of the multi-channel interventional surgical instrument delivery device provided in this application.

[0034] Figure 4: Schematic diagram of the structure of the rotating drive shaft provided in this application.

[0035] Figure 5 is a partial enlarged view of the first clamping assembly in Figure 2.

[0036] Figure 6 is a schematic diagram of the first bottom shell part of the multi-channel interventional surgical instrument delivery device provided by the present application.

[0037] Figure 7 is a partial cross-sectional view of Figure 6.

[0038] Figure 8: A three-dimensional view of the clamping wheel and the wheel axle provided in this application.

[0039] Figure 9: A front perspective view of the flexible guide block provided for this application.

[0040] FIG10 is a back perspective view of the flexible guide block provided in this application.

[0041] FIG11 is a partial cross-sectional view of the multi-channel interventional surgical instrument delivery device provided by the present application.

[0042] Figure 12: A schematic diagram of the partial structure of the multi-channel interventional surgical instrument delivery device provided in this application.

[0043] Figure 13: Schematic diagram of the second Y-valve rotation mechanism provided in this application being clamped behind the second Y-valve fixing seat.

[0044] Figure 14: Schematic diagram of the second Y-valve rotation mechanism provided in this application not being clamped on the second Y-valve fixing seat.

[0045] Figure 15: Schematic diagram of the upper fixing seat provided in this application after being lifted up.

[0046] FIG16 : Schematic diagram of the first guide wire for delivery provided in the present application.

[0047] Figure 17: Schematic diagram of fixing the first guide wire and delivering the second guide wire provided by the present application.

[0048] FIG18 is a schematic diagram of fixing the second guide wire provided in the present application and readjusting the first guide wire.

[0049] Figure 19: Schematic diagram of fixing the first guide wire provided by the present application and readjusting the second guide wire.

[0050] Figure 20: Schematic diagram of the three guidewires provided in this application working together.

[0051] Figure 21: Schematic diagram of multiple guidewires working together as provided in this application.

[0052] FIG. 22 : Schematic diagram of the first balloon catheter provided for delivery of the present application.

[0053] Figure 23: Schematic diagram of fixing the first balloon catheter provided by the present application and delivering the second balloon catheter.

[0054] FIG24 is a schematic diagram of fixing the second balloon catheter provided by the present application and readjusting the first balloon catheter.

[0055] Figure 25: Schematic diagram of fixing the first balloon catheter provided by the present application and readjusting the second balloon catheter.

[0056] Figure 26 is a schematic diagram of the coaxial vascular interventional surgical instrument delivery box and the delivery device provided in this application.

[0057] Figure 27: Schematic diagram of the coaxial vascular interventional surgical instrument delivery box, telescopic delivery mechanism and delivery device provided in this application.

[0058] Figure 28: Overall view of the coaxial vascular interventional surgical instrument delivery box provided by this application.

[0059] Figure 29: A schematic structural diagram of the coaxial vascular interventional surgical instrument delivery box provided in this application after the second cover is opened.

[0060] Figure 30: Schematic diagram of the structure of the second bottom of the coaxial vascular interventional surgical instrument delivery box provided in this application.

[0061] Figure 31: Schematic diagram of the structure of the second rotating drive shaft provided in this application.

[0062] Figure 32: Another structural schematic diagram of the coaxial vascular interventional surgical instrument delivery box provided by the present application after the second cover is opened.

[0063] Figure 33: Partial cross-sectional view 1 of the coaxial vascular interventional surgical instrument delivery box provided in this application.

[0064] Figure 34: Partial cross-sectional view 2 of the coaxial vascular interventional surgical instrument delivery box provided in this application.

[0065] Figure 35: Another structural schematic diagram of the bottom of the coaxial vascular interventional surgical instrument delivery box provided by this application.

[0066] Figure 36: Schematic diagram of the first Y-valve rotating mechanism provided in the present application being clamped behind the first Y-valve fixing seat.

[0067] Figure 37: Schematic diagram of the first Y-valve rotation mechanism provided in this application not being clamped on the first Y-valve fixing seat.

[0068] Figure 38: Schematic diagram of the second upper fixing seat provided in this application after being lifted up.

[0069] Figure 39: Schematic diagram of the coordination of the coaxial vascular interventional surgical instrument delivery box, interventional surgical catheter delivery device, telescopic delivery mechanism, and delivery device provided in this application.

[0070] FIG40 is a perspective view of the interventional catheter delivery device proposed in this application;

[0071] FIG41 is a schematic diagram of the catheter delivery box in the open state in the present application;

[0072] FIG42 is a bottom view of the catheter delivery box of the present application;

[0073] Figure 43 is a schematic diagram of the structure of the concentric wheel in this application;

[0074] Figure 44 is a schematic structural diagram of the fixed mounting plate of the drive mechanism in this application;

[0075] Figure 45 is a schematic diagram of a vascular sheath connector in this application;

[0076] Figure 46 is a schematic diagram of the installation of the catheter delivery mechanism in this application;

[0077] Figure 47: Schematic diagram of the structure of the vascular sheath connector in this application. DETAILED DESCRIPTION

[0078] In order to have a clearer understanding of the technical features, purposes and effects of this application, the specific implementation methods of this application are now described with reference to the accompanying drawings.

[0079] As shown in FIG1 to FIG25 , this embodiment provides a multi-channel interventional surgical instrument delivery device, including a delivery device, the delivery device including:

[0080] A delivery wheel assembly 3, comprising a plurality of fourth delivery wheels, wherein at least two active delivery channels for delivering at least two interventional surgical instruments can be formed between the plurality of fourth delivery wheels;

[0081] At least one passive clamping channel 4 is used to place interventional surgical instruments. A first clamping component 5 is provided on one side of each passive clamping channel 4. The first clamping component 5 can clamp and fix the interventional surgical instrument when it is placed in the passive clamping channel 4.

[0082] In this embodiment, the active delivery channel can be used to deliver interventional surgical instruments such as a guidewire 300, a balloon catheter 400 or a stent catheter, and the passive clamping channel 4 is mainly used to clamp and fix the guidewire 300. One passive clamping channel 4 can be used to clamp at least one interventional surgical instrument. During operation, the interventional surgical instrument that needs to be actively delivered is placed in one of the multiple active delivery channels for delivery. If an interventional surgical instrument is placed between the two fourth delivery wheels corresponding to the remaining active delivery channels, the corresponding two fourth delivery wheels will not clamp the interventional surgical instrument. Interventional surgical instruments that are no longer used or temporarily unused can be placed in the corresponding passive clamping channel 4 for clamping and fixing; if the interventional surgical instrument placed in the passive clamping channel 4 needs to be delivered again, it can be taken out and switched to the corresponding active delivery channel, which is more flexible.

[0083] Therefore, the delivery device in this embodiment is provided with at least two active delivery channels and at least one passive clamping channel 4, and is a multi-channel device; by using multiple fourth delivery wheels to form at least two active delivery channels, the coordinated delivery operation of at least two interventional surgical instruments (for example, at least two guidewires 300, at least two balloon catheters 400, at least two stent catheters, etc.) can be realized; by providing at least one passive clamping channel 4, at least one interventional surgical instrument (for example, a guidewire 300) that is no longer used or temporarily not used can be clamped and fixed; and thus the coaxial delivery of the catheter 200 and the guidewire 300, the catheter 200 and the balloon catheter 400, and the catheter 200 and the stent catheter can be realized, and there is no limit on the number of guidewires 300 used, and the coaxial delivery of the catheter 200 and multiple guidewires 300 can be realized, which meets the demand for coordinated delivery operation of multiple interventional instruments in complex vascular lesion interventional surgery, solves the limitation that the existing vascular interventional surgical robot can only be applied to simple lesions, greatly improves the clinical adaptability range, and has extremely important clinical value.

[0084] Further, referring to Figure 2, the multi-channel interventional surgical instrument delivery device also includes a first base shell 2, on which a second Y-valve mounting groove 21 and at least one clamping guide groove 41 are provided. The second Y-valve mounting groove 21 is used to install the second Y-valve 100. The two ends of the clamping guide groove 41 are respectively connected to the second Y-valve mounting groove 21 and a side wall of the first base shell 2 (the side wall can be the side wall opposite to the second Y-valve mounting groove 21, or it can be the side wall located on both sides of the second Y-valve mounting groove 21), and the clamping guide groove 41 constitutes a passive clamping channel 4.

[0085] The passive clamping channel 4 is composed of a groove structure provided on the first bottom shell 2 , and the first clamping assembly 5 is used to clamp the interventional surgical instrument placed in the passive clamping channel 4 , making the operation easier.

[0086] Generally, the passive clamping channel 4 is provided on one side of the delivery wheel assembly 3 (for example, one side among multiple sides). The number of passive clamping channels 4 can be determined as needed. In this embodiment, it is preferred that the number of passive clamping channels 4 is two and they are provided on both sides of the delivery wheel assembly 3, which can meet the stable clamping requirements of two or more guidewires 300 and facilitate the doctor to better distinguish each guidewire 300 during operation. The passive clamping channel 4 avoids the position where the fourth delivery wheel pushes and twists the guidewire 300 and other interventional surgical instruments, thereby avoiding the problem of the subsequent entry of the guidewire 300 or the balloon / stent catheter and other interventional surgical instruments overlapping with the original clamped guidewire 300 at the position of the delivery guidewire 300 and other interventional surgical instruments, causing mutual interference.

[0087] The specific structure of the above-mentioned first clamping assembly 5 can be implemented as follows. Referring to Figures 2 and 5, a first mounting groove 22 is connected to the groove wall on one side of the clamping guide groove 41. The first clamping assembly 5 includes a clamping shift block 51 and a compression return spring 52 arranged in the first mounting groove 22. The compression return spring 52 is clamped between the clamping shift block 51 and the groove wall in the first mounting groove 22 away from the clamping guide groove 41. One end of the clamping shift block 51 is rotatably connected to the first bottom shell 2 through a rotating shaft 53; the clamping shift block 51 can swing around the rotating shaft 53, and can press the interventional surgical instrument placed in the clamping guide groove 41 against the groove wall on the other side of the clamping guide groove 41.

[0088] The axis of the rotating shaft 53 is perpendicular to the surface of the first bottom shell 2 and is vertically arranged during use. The first side wall of the first mounting groove 22 is connected to the clamping guide groove 41. A compression return spring 52 is interposed between the clamping block 51 and the second side wall of the first mounting groove 22. Under the elastic force of the compression return spring 52, the clamping block 51 is pressed against the other side wall of the clamping guide groove 41. During use, the clamping block 51 is manually moved, the interventional surgical instrument is placed in the clamping guide groove 41, and then the clamping block 51 is released. Under the elastic force of the clamping block 51, the interventional surgical instrument is compressed and fixed.

[0089] For example, in vascular interventional surgery, especially coronary interventional surgery, a rapid exchange balloon catheter 400 and a stent catheter are usually used. During the operation, after the tip of the guidewire 300 passes through the narrow vascular lesion, the balloon catheter 400 and the stent catheter need to be delivered to the lesion along the guidewire 300 at one time. During the delivery of the balloon catheter 400 and the stent catheter, the guidewire 300 needs to be clamped very stably to avoid the risk of the guidewire 300 tip moving forward and puncturing the blood vessel wall. Using the first clamping assembly 5 of this embodiment, when the guidewire 300 tip passes through the narrow lesion and no longer needs to be manipulated by the doctor, the guidewire 300 is fixed in this position. At this time, the guidewire 300 is placed in the clamping guide groove 41 outside the delivery wheel assembly 3, and the clamping block 51 is toggled to clamp the guidewire 300, thereby achieving a structure for quickly and stably clamping the guidewire 300, ensuring that the guidewire 300 will not move accidentally during the pushing process of the balloon catheter 400 and the stent catheter, thereby improving the safety of the operation.

[0090] Further, referring to Figure 2, a second clamping assembly 6 is provided behind the delivery direction of each active delivery channel. When one of the active delivery channels delivers an interventional surgical instrument, the remaining second clamping assemblies 6 corresponding to the remaining active delivery channels can clamp the remaining interventional surgical instruments located in the remaining active delivery channels.

[0091] The second clamping assembly 6 can clamp or loosen the interventional surgical instrument in the corresponding active delivery channel. When an active delivery channel among multiple active delivery channels delivers the interventional surgical instrument located therein, the corresponding second clamping assembly 6 loosens the interventional surgical instrument to ensure the smooth delivery of the interventional surgical instrument. In the remaining active delivery channels other than the active delivery channel, if the corresponding interventional surgical instrument is placed, the second clamping assembly 6 corresponding to the active delivery channel clamps and fixes the interventional surgical instrument to ensure the position of the interventional surgical instrument is fixed; if no interventional surgical instrument is placed, the second clamping assembly 6 corresponding to the active delivery channel can be in a loose state.

[0092] The specific structure of the above-mentioned second clamping assembly 6 can be implemented as follows: Referring to Figures 2, 6 and 7, the second clamping assembly 6 includes a clamping wheel 61 and a clamping block 62. The clamping wheel 61 is an eccentric wheel. The clamping wheel 61 can approach or move away from the clamping block 62. When the clamping wheel 61 is close to the clamping block 62, the clamping wheel 61 can cooperate with the clamping block 62 to clamp the interventional surgical instrument located in the corresponding active delivery channel.

[0093] The clamping block 62 can be, for example, a rectangular block, or other shapes as needed. In actual use, the clamping wheel 61 is connected to a corresponding drive device, which drives the clamping wheel 61 to rotate to adjust the distance between the clamping wheel 61 and the clamping block 62, allowing the clamping wheel 61 to move closer to or away from the clamping block 62. This facilitates electronic control of the tightening or loosening of the second clamping assembly 6, further facilitating remote operation.

[0094] In one embodiment, referring to FIG8 , a sidewall of the clamping wheel 61 is provided with an escape groove 611. Since the tail end of the balloon catheter 400 and the stent catheter are relatively large, the portion of the clamping wheel 61 that clamps the balloon catheter 400 or the stent catheter at the head portion has an escape groove in the feed direction. This ensures that, in the case of distal vascular lesions, the tip of the balloon catheter 400 or the stent catheter has sufficient travel to reach the lesion site, thereby fully utilizing the length of the balloon catheter 400 or the stent catheter.

[0095] The first clamping assembly 5 and the second clamping assembly 6 may also adopt other structural forms, and this embodiment is only for illustration.

[0096] The number of fourth delivery wheels in the delivery wheel assembly 3 is determined by the number of required active delivery channels. In one specific embodiment, referring to Figures 2 and 16 , the plurality of fourth delivery wheels includes a driving wheel 31 and two driven wheels. The driving wheel 31 is concentric, while the driven wheels are eccentric and can move closer to or away from the driving wheel 31. When the driven wheels are close to the driving wheel 31, an active delivery channel is formed between the driving wheel 31 and the driven wheels. The driving wheel 31 can drive the driven wheels to rotate through friction, thereby propelling the interventional surgical instrument within the active delivery channel along its own axial direction, achieving axial delivery of the interventional surgical instrument. The driving wheel 31 and the driven wheels can also generate staggered motion in opposite directions to twist the interventional surgical instrument within the active delivery channel and rotate it.

[0097] Each of the fourth delivery wheels is arranged axially parallel (vertically during use). The driving wheel 31 and the driven wheel specifically generate a staggered motion along the axial direction of the fourth delivery wheel, rubbing against each other in opposite directions, thereby rotating the clamped guidewire 300 or other interventional surgical instrument. During use, the driving wheel 31 and the driven wheel are each connected to a corresponding drive device. The corresponding drive device drives the driven wheel to rotate eccentrically, adjusting the spacing between the driven wheel and the driving wheel 31, thereby clamping or releasing the interventional surgical instrument. When the driven wheel is close to the driving wheel 31, a primary delivery channel is formed between the driving wheel 31 and the driven wheel, and the driven wheel 31 and the driving wheel 31 jointly clamp the interventional surgical instrument. The corresponding drive device of the driven wheel is then deactivated, and the driving wheel 31, driven by the corresponding drive device, rotates the driven wheel about its eccentric axis by friction. The up and down staggered movement of the driving wheel 31 and the driven wheel is achieved by the corresponding drive device, which can be implemented using any existing method and is not limited here.

[0098] Because the driven wheel is an eccentric, before placing an interventional surgical instrument between the driving wheel 31 and the driven wheel, the driven wheel first rotates away from the driving wheel 31. This maximizes the minimum clearance between the two wheels, allowing for placement of the interventional surgical instrument. After placement, the eccentric rotates, clamping the driving wheel 31 and the driven wheel together. The driving wheel 31 now actively rotates, and friction drives the driven wheel to rotate, enabling forward and backward delivery of the interventional surgical instrument.

[0099] When the delivery wheel group 3 includes an active wheel 31 and two driven wheels, and the number of passive clamping channels 4 is two, the entire delivery device has two active delivery channels and two passive clamping channels 4, which is a multi-channel consumable box. It can not only realize the coordinated operation of dual guidewires 300, dual balloon catheters 400 and dual stent catheters, but also meet the passive clamping of more than two guidewires 300, greatly expanding the clinical applicability of vascular interventional surgical robots, and can realize complex vascular disease interventional surgical usage scenarios such as dual guidewires 300 (more than two guidewires 300 can be fixedly clamped), dual balloon catheters 400, and dual stent catheters coordinated delivery.

[0100] Further, referring to Figures 4, 7 and 8, the clamping wheel 61 and the fourth delivery wheel are both connected to corresponding axles 7 (also referred to as first axles), and the end of the axle 7 (the end away from the clamping block 62 or the fourth delivery wheel) is provided with a plurality of protrusions 71 (also referred to as first protrusions). The plurality of protrusions 71 on the axle 7 can be engaged with a plurality of positioning grooves 502 (also referred to as first positioning grooves) opened at the end of a rotating drive shaft 500 (also referred to as the first rotating drive shaft) to achieve circumferential fixation of the axle 7 and the rotating drive shaft 500, so as to facilitate the use of the rotating drive shaft 500 to drive the corresponding clamping wheel 61 or the fourth delivery wheel to rotate.

[0101] During use, the delivery device is connected to a corresponding drive device to drive the rotation of each of the fourth delivery wheels and each of the clamping wheels 61. The drive device can be, for example, a rotary motor, whose motor shaft constitutes the aforementioned rotary drive shaft 500. To avoid cross-contamination during surgery, the delivery device is disposable, while the drive device is reusable. By providing a protrusion 71 at the end of each wheel axle 7 and a positioning groove 502 at the end of the rotary drive shaft 500 of the drive device, the wheel axle 7 and the rotary drive shaft 500 can be quickly connected and disconnected, making it simple and convenient. The fourth delivery wheels and clamping wheels 61 are driven and rotated by electronic control, making them more convenient for remote operation.

[0102] As an example, the protrusion 71 or the end of the protrusion 71 is hemispherical.

[0103] To align with the shape of protrusions 71, as shown in Figure 4 , the end surface of the rotating drive shaft 500 used in conjunction therewith is provided with a protrusion 501. A plurality of positioning grooves 502, all spherical grooves, are circumferentially spaced around the outer circumference of the protrusion 501. When the wheel axle 7 is docked with the rotating drive shaft 500, because the end or entire protrusion 71 is hemispherical, simply pressing down on the wheel axle 7 causes each protrusion 71 to automatically slide into the corresponding positioning groove 502, eliminating the need for manual alignment. This is quick and convenient, facilitating automatic docking and mating during assembly.

[0104] The number of protrusions 71 and positioning grooves 502 is the same, and the number can be determined based on actual needs. For example, in this embodiment, as shown in Figures 3 and 4, the end of the protrusion 71 is hemispherical, forming a spherical cylindrical structure. The number of protrusions 71 and the number of positioning grooves 502 are both five, and they are evenly spaced around the circumference. The entire protrusion block 501 is in the shape of a five-pointed star, with the five protrusions 71 correspondingly distributed at the five corners of the pentagon, to ensure stability after the wheel axle 7 and the rotating drive shaft 500 are connected.

[0105] Furthermore, during vascular interventional procedures, catheters 200 for intracavitary imaging, such as OCT, are more flexible than guidewires 300. During delivery, OCT catheters, due to their inherent lack of rigidity, are more susceptible to resistance from vascular lesions and may bend within the delivery guide slot 23. To address the issue of inaccurate delivery of such catheters 200, this embodiment incorporates a flexible guide block 8 that is easily installed and removed, providing effective delivery guidance for the flexible catheter and guidewire.

[0106] Specifically, referring to Figures 2 and 6, at least two delivery guide grooves 23 are provided on the first bottom shell 2, and the two ends of the delivery guide groove 23 are respectively connected to the second Y-valve mounting groove 21 and a side wall of the first bottom shell 2, and the active delivery channel constitutes a part of the corresponding delivery guide groove 23; a second mounting groove that can be connected to one side groove wall of the delivery guide grooves 23 on both sides is provided between two partially adjacent delivery guide grooves 23, and the second mounting groove is located between the second Y-valve mounting groove 21 and the active delivery channel. A flexible guide block 8 is detachably installed in the second mounting groove; the two side walls of the flexible guide block 8 can form two flexible guide grooves 24 that can match the diameter of the interventional surgical instrument with the other side groove wall of the delivery guide groove 23 on both sides.

[0107] The flexible guide block 8 is made of a flexible material, such as a soft rubber material. For example, if there are three fourth delivery wheels, a second mounting groove is provided between two delivery guide grooves 23. After the flexible guide block 8 is installed in the second mounting groove, the first side groove wall of the flexible guide block 8 and the other side groove wall of the delivery guide groove 23 on the same side form a flexible guide groove 24, and the second side groove wall of the flexible guide block 8 and the other side groove wall of the delivery guide groove 23 on the same side form another flexible guide groove 24. The size of the flexible guide groove 24 should match the diameter of the flexible interventional surgical instrument (such as the flexible guide wire 300 or the flexible catheter 200) so that the free movement clearance within the flexible guide groove 24 is reduced. When the delivery operation is subject to external resistance, the flexible guide groove 24 can provide better guidance without the risk of bending.

[0108] The flexible guide block 8 is mainly used in soft catheter usage scenarios such as OCT, while for other rigid interventional surgical instruments such as other guide wires 300, the head interface of the second Y valve 100 needs to be inserted into the wire guide needle. If the flexible guide block 8 is still installed in the second mounting groove at this time, it will interfere with the guide needle. Therefore, in this embodiment, a guide block preset groove 25 is also provided on the first bottom shell 2, and the flexible guide block 8 can be installed in the guide block preset groove 25 or in the second mounting groove. In addition, in order to achieve convenient and quick disassembly and assembly, a first metal block is provided at the bottom of the guide block preset groove 25 and the bottom of the second mounting groove, and a first magnetic block 81 is provided at the bottom of the flexible guide block 8, and the first magnetic block 81 can be magnetically connected to the first metal block.

[0109] A magnetic attraction is embedded in the bottom of the flexible guide block 8 and fixed to the disposable first bottom shell 2. When the flexible guide block 8 is needed, it is installed in the second installation groove. When it is not needed, it is installed in the preset groove 25 of the guide block, which is convenient for use at any time. It ensures that it can be quickly installed in place when delivering the soft catheter, realizing the accurate delivery of the soft catheter, and avoids interference with other instruments when the soft catheter is not delivered, effectively solving the problem of accurate delivery of the soft catheter.

[0110] When a flexible interventional surgical instrument (guide wire 300) is delivered or withdrawn from a blood vessel through a delivery twisting assembly, the tip of the guide wire 300 is subject to certain resistance when in contact with the blood vessel wall. Therefore, there is a risk of bending in the delivery channel of the delivery device, so that the tip of the instrument may be separated from the delivery channel of the delivery device, resulting in the tip of the instrument being unable to accurately reach the designated part of the blood vessel. To solve this problem, referring to Figures 2, 6 and 7, a multi-channel interventional surgical instrument delivery device also includes a first cover body 1 that can be covered with a first bottom shell 2. A plurality of pressure ribs 11 are provided on the first cover body 1. After the first cover body 1 is covered with the first bottom shell 2, the pressure ribs 11 can be pressed against the notches of the clamping guide groove 41, the notches of the delivery guide groove 23 and / or the notches of the flexible guide groove 24; the pressure ribs 11 can be enclosed with the corresponding guide grooves to form a circumferentially closed closed channel, forming a nearly 360° enclosed space, which can effectively guide the interventional surgical instrument in the channel in all directions, prevent the interventional surgical instrument from bending and leaving the guide groove during delivery, and greatly improve the delivery accuracy of the interventional surgical instrument.

[0111] The first cover 1 and the first bottom shell 2 can be opened and closed in any manner. For example, in this embodiment, one side of the first cover 1 and one side of the first bottom shell 2 are hingedly connected by a hinge axis, and opening and closing can be achieved by flipping the first cover 1, which is simple and convenient. The shapes of the first cover 1 and the first bottom shell 2 can also be determined according to needs. For example, in this embodiment, both are rectangular.

[0112] By way of example, two limiting grooves 26 are provided on both sides of the clamping guide groove 41, on both sides of the delivery guide groove 23, and / or on both sides of the flexible guide groove 24, capable of communicating with the groove walls of the corresponding guide grooves. The groove depth of the limiting grooves 26 is less than the groove depth of the corresponding guide grooves, and the two sides of the pressure rib 11 can be locked in the corresponding two limiting grooves 26. After the pressure rib 11 is locked in the limiting grooves 26, there is a certain height difference between the pressure rib 11 and the corresponding guide groove, which can effectively prevent thin interventional surgical instruments (such as the guide wire 300) from leaving the guide groove, further effectively ensuring the precise delivery of flexible instruments such as the guide wire 300.

[0113] It can be understood that the limiting grooves 26 on both sides of the clamping guide groove 41 and the delivery guide groove 23 are both provided on the top surface of the first bottom shell 2, while one of the two limiting grooves 26 on both sides of the flexible guide groove 24 is provided on the top surface of the first bottom shell 2, and the other is provided on the flexible guide block 8. In addition, a delivery wheel mounting groove (also referred to as a first delivery wheel mounting groove) is also provided on the first bottom shell 2 for mounting the delivery wheel assembly 3.

[0114] Further, referring to Figure 2, a second Y-valve fixing seat 91 is provided in the second Y-valve mounting groove 21, and a second Y-valve rotating mechanism 92 is detachably mounted on the second Y-valve fixing seat 91. The second Y-valve rotating mechanism 92 can be connected to the second Y-valve 100 to drive the second Y-valve 100 to rotate.

[0115] The second Y-valve 100 rotation fixing assembly composed of the second Y-valve fixing seat 91 and the second Y-valve rotating mechanism 92 is mainly used for the quick installation of the second Y-valve 100. The second Y-valve 100 provides two entrances for the instrument to enter the catheter 200 and the contrast agent injection at the same time during vascular intervention surgery, and can also play a role in blocking blood outflow. The structure of the second Y-valve 100 is the existing technology, which has a straight tube and a side tube connected to each other, and the two ends of the straight tube constitute a head interface and a tail interface. The straight tube of the second Y-valve 100 has a fixed part and a rotating part that are rotatably connected. The side tube of the second Y-valve 100 is connected to the fixed part. When installed, the rotating part is inserted and fixed in the second Y-valve rotating mechanism 92, and the second Y-valve rotating mechanism 92 is used to drive the second Y-valve 100 to rotate to meet the need to rotate the second Y-valve 100.

[0116] In a specific embodiment, referring to Figures 13 and 14, the second Y-valve rotation mechanism 92 includes a gear fixing seat 921 (also referred to as a first gear fixing seat) and a coaxially connected hand wheel 922 (also referred to as a first hand wheel) and a first gear 923. The first gear 923 can be rotatably inserted into the gear fixing seat 921, and the gear fixing seat 921 can be clamped on the second Y-valve fixing seat 91; a second gear 9121 is provided on the second Y-valve fixing seat 91, and the second gear 9121 can mesh with the first gear 923 and can drive the first gear 923 to rotate; the second Y-valve 100 can be inserted into the hand wheel 922 and the first gear 923.

[0117] Generally, a corresponding slot 9111 (also referred to as a first slot) is provided on the second Y-valve fixing seat 91, into which the gear fixing seat 921 can be positioned for quick assembly and disassembly. The gear fixing seat 921 is an annular seat. The first gear 923 can be connected to the gear fixing seat 921 via corresponding bearings. The first gear 923 and the hand wheel 922 are coaxially arranged side by side and can be fixedly connected by fasteners (e.g., screws). The axial direction of the first gear 923 is perpendicular to the axial direction of the second gear 9121. During surgical operation, the axial direction of the second gear 9121 is vertical, while the axial direction of the first gear 923 is horizontal. The two gears can be, for example, bevel gears. Using bevel gears can change the direction of power transmission, allowing the first gear 923 and the second gear 9121 to be arranged in different directions, saving installation space and making the structure more compact. The diameter of the first gear 923 should be larger than that of the second gear 9121, that is, the first gear 923 is a large gear and the second gear 9121 is a small gear, thereby achieving speed reduction.

[0118] During use, the second Y-valve 100 is inserted into the inner hole of the hand wheel 922. The hand wheel 922 and the first gear 923 are axially inserted and fixed to the rear end of the second Y-valve 100. The second Y-valve 100 can be rotated manually or mechanically, as needed. When rotating manually, the second Y-valve rotating mechanism 92 is not installed in the second Y-valve fixing seat 91. The doctor manually rotates the hand wheel 922 to rotate the second Y-valve 100, thereby rotating the interventional surgical instrument connected to the second Y-valve 100. When rotating mechanically, the second Y-valve rotating mechanism 92 is installed in the second Y-valve fixing seat 91. The second gear 9121 is rotated by the mechanical motor at the bottom, which in turn rotates the first gear 923 and, in turn, the second Y-valve 100. Since the rear end of the second Y-valve 100 is connected to the interventional surgical instrument, it also rotates the interventional surgical instrument.

[0119] As an example, a flexible ring (also referred to as a first flexible ring) is provided inside the hand wheel 922, and the flexible ring can be inserted with the second Y-valve 100 through interference. The flexible ring is made of a flexible material, such as soft rubber, so as to be compatible with the second Y-valve 100 with different diameter mouth features. When installing the second Y-valve 100, the straight tube tail (tail interface) of the second Y-valve 100 can be directly inserted into the flexible ring in turn and extended into the first gear 923. The inner hole end of the first gear 923 is provided with a stopper that can axially limit the second Y-valve 100. A gap is left between the outer peripheral wall of the tail of the straight tube and the inner hole wall of the first gear 923. The tail of the straight tube can rest on the stopper, and the straight tube and the flexible ring are interference fit, thereby achieving axial fixation of the second Y-valve 100.

[0120] Furthermore, after the Y-gear fixing seat 921 (also referred to as the first Y-gear fixing seat) is clamped on the second Y-valve fixing seat 91, in order to switch instruments more quickly, the head interface of the second Y-valve 100 needs to be appropriately lifted to make it more convenient for the doctor to operate. In order to facilitate the lifting of the second Y-valve 100, referring to Figure 15, the second Y-valve fixing seat 91 includes an upper fixing seat 911 (also referred to as the first upper fixing seat) and a lower fixing seat 912 (also referred to as the first lower fixing seat). The side of the upper fixing seat 911 away from the active delivery channel is hinged to the side of the lower fixing seat 912, and the upper fixing seat 911 can swing around the hinge axis of the hinge.

[0121] The aforementioned slot 9111 is provided on the upper fixing base 911, and the second gear 9121 is mounted on the lower fixing base 912. The upper and lower fixing bases 912 are connected at this hinged joint by a rotating shaft 53. The axis of the rotating shaft 53 should be perpendicular to the straight tube of the second Y-valve 100. After the upper fixing base rotates and swings upward around the rotating shaft 53 to a certain angle, it can drive the upper module component, the second Y-valve 100, to also achieve an angle fold. That is, the head interface of the second Y-valve 100 is lifted upward, making it easier for doctors to insert interventional surgical instruments such as guidewires 300 into the second Y-valve 100 without interference from other structures on the first bottom shell 2.

[0122] In a specific embodiment, a plurality of fixed blocks (also referred to as first fixed blocks) are provided at a position away from the rotating shaft 53 on the bottom of the upper fixed seat 911, and a plurality of fixed grooves (also referred to as first fixed grooves) are provided on the top surface of the lower fixed seat 912 at a position away from the rotating shaft 53, and each fixed block can be clamped in the corresponding fixed groove; a limit block 9122 (also referred to as a first limit block) is provided on the top surface of the lower fixed seat 912 close to the rotating shaft 53, and the limit block 9122 can limit the upper fixed seat 911 after it swings a certain angle; and a compression spring (also referred to as a first compression spring) is sandwiched between the upper fixed seat 911 and the lower fixed seat 912.

[0123] Under normal circumstances, each fixing block is locked in its respective fixing slot, and the upper fixing seat 911 rests against the lower fixing seat 912. When the second Y-valve 100 needs to be lifted, the upper fixing seat 911 is manually lifted to release the fixing blocks from their respective fixing slots. Under the elastic force of the compression spring, the upper fixing seat 911 automatically swings about the rotating shaft 53 and swings to a position limited by the limiting block 9122, as shown in Figure 15. At this time, the upper fixing seat 911 swings upward by an angle β relative to the lower fixing seat 912. Of course, the swinging of the upper fixing seat 911 can also be achieved using other methods. This embodiment is only an example.

[0124] Further, referring to Figure 2, an elastically retractable telescopic shaft 12 (also referred to as a first telescopic shaft) is also provided on the first cover body 1. The telescopic shaft 12 can be pressed against the side tube of the second Y valve 100 after the first cover body 1 is covered with the first bottom shell 2.

[0125] The elastic extension and retraction of the telescopic shaft 12 can be achieved, for example, as follows: a third mounting groove is provided on the first cover body 1, the telescopic shaft 12 can be slidably inserted into the third mounting groove and the end of the telescopic shaft 12 extends out of the third mounting groove, a spring is clamped between the telescopic shaft 12 and the bottom of the third mounting groove, and a limiting portion for limiting the telescopic shaft 12 is provided at the notch of the third mounting groove to prevent the telescopic shaft 12 from escaping from the third mounting groove.

[0126] Since different types of second Y-valve 100 have different angles between the side tube and the straight tube, in order to adapt to the second Y-valve 100 with different angles, in this embodiment, only a straight tube accommodating groove 9112 (also referred to as a first straight tube accommodating groove) is provided on the second Y-valve fixing seat 91 (specifically, on the upper fixing seat 911), and no side tube accommodating groove (also referred to as a first side tube accommodating groove) whose shape matches the side tube is specially provided; after the second Y-valve rotating mechanism 92 is clamped on the second Y-valve fixing seat 91, The straight tube of the second Y-valve 100 is placed in the straight tube accommodating groove 9112, and the side tube is supported on the upper surface of the upper fixed seat 911; after the first cover body 1 is covered on the first bottom shell 2, the telescopic shaft 12 is directly opposite the side tube position of the second Y-valve 100, and the side tube is always pressed under the elastic force of the spring, thereby achieving circumferential fixation of the fixed part of the straight tube and the side tube in the second Y-valve 100, preventing the fixed part and the side tube of the second Y-valve 100 from rotating, but does not affect the rotation of the rotating part of the second Y-valve 100.

[0127] In this embodiment, the axial connection between the second Y-valve 100 and the second Y-valve rotating mechanism 92 is achieved through a hand-turned wheel 922. By providing a flexible ring in the hand-turned wheel 922, it can be compatible with second Y-valves 100 with different diameter mouth characteristics; by providing a telescopic shaft 12 on the first cover body 1, the side tube of the second Y-valve 100 can be pressed after the first cover body 1 is closed, and the second Y-valves 100 at different angles can be pressed; thereby, the second Y-valve 100 rotation fixing assembly can be compatible with the assembly of various forms of second Y-valves 100, and has stronger adaptability.

[0128] Further, referring to Figure 3, a plurality of positioning posts 27 (also referred to as first positioning posts) and a plurality of second magnetic blocks 28 are provided on the bottom surface of the first bottom shell 2. The plurality of second magnetic blocks can be magnetically connected to a plurality of metal blocks (such as magnets) on a first support plate, and the plurality of positioning posts 27 can be plugged into the plurality of positioning holes on the first support plate.

[0129] Magnetic attraction is used to achieve quick connection and fixation, and the positioning column 27 completes effective and precise installation and positioning. When in use, the delivery device can be quickly installed and fixed to a first support plate; the spherical protrusion 71 on the above-mentioned wheel shaft 7 can be used to achieve quick connection and transmission of power, which is simple and convenient.

[0130] Referring to Figure 1, generally the above-mentioned first cover body 1 includes a Y-valve cover body 13 and a delivery wheel cover body 14, the above-mentioned telescopic shaft 12 is arranged on the Y-valve cover body 13, the above-mentioned pressure rib 11 is arranged on the delivery wheel cover body 14, the above-mentioned second Y-valve mounting groove 21 is arranged corresponding to the Y-valve cover body 13, and the delivery wheel group 3, the first clamping assembly 5, the second clamping assembly 6 and the flexible guide block 8 are all arranged corresponding to the delivery wheel cover body 14.

[0131] 1 , a blood leakage hole 29 is provided on the side wall of the first bottom shell 2 and is connected to the second Y-valve mounting groove 21. In operation, a hose is connected to the blood leakage hole 29 to facilitate the flow of blood around the second Y-valve 100.

[0132] Furthermore, the following example uses a fourth delivery wheel having three active wheels, namely the active wheel 31, the first driven wheel 32, and the second driven wheel 33, and two clamping guide grooves 41, which are provided on both sides of the delivery wheel assembly 3 and are respectively referred to as the first clamping guide groove 41 and the second clamping guide groove 41. The delivery device includes two active delivery channels and two passive clamping channels 4, which can be used to coordinate the operation of dual guidewires 300, dual balloon catheters 400, and dual stent catheters, and can also meet the passive clamping requirements of more than two guidewires 300. Referring to Figures 16 to 25, the specific method of use is as follows:

[0133] (1) By combining the "clamping or loosening" of the three fourth delivery wheels at the front end and the two sets of second clamping assemblies 6 at the rear end, the two guide wires 300 can be delivered in a coordinated and alternating manner. The channels can be switched arbitrarily to adjust the position of the first guide wire 301 or the second guide wire 302. Similarly, the need for using more than two guide wires 300 can also be met. For a schematic diagram of the coordinated and alternating operation of the two guide wires 300, please refer to Figures 16 to 19.

[0134] 16 , the first guide wire 301 is delivered: the active wheel 31 and the first driven wheel 32 clamp and deliver the first guide wire 301, and the second clamping assembly 6 corresponding to the first active delivery channel is released; since no interventional surgical instrument is placed in the second active delivery channel, the second clamping assembly 6 corresponding to the second active delivery channel is released at this time.

[0135] 17 , the first guide wire 301 is fixed and the second guide wire 302 is delivered: the active wheel 31 and the second driven wheel 33 clamp and deliver the second guide wire 302 , the second clamping assembly 6 corresponding to the second active delivery channel is released, and the second clamping assembly 6 corresponding to the first active delivery channel clamps the first guide wire 301 .

[0136] Referring to Figure 18, the second guide wire 302 is fixed and the position of the first guide wire 301 is adjusted again: the active wheel 31 and the first driven wheel 32 clamp and continue to deliver the first guide wire 301 to adjust the axial position of the first guide wire 301, the second clamping assembly 6 corresponding to the first active delivery channel is loosened, and the second clamping assembly 6 corresponding to the second active delivery channel clamps the second guide wire 302.

[0137] Referring to Figure 19, the first guide wire 301 is fixed and the position of the second guide wire 302 is adjusted again: the active wheel 31 and the second driven wheel 33 clamp and continue to deliver the second guide wire 302 to adjust the axial position of the second guide wire 302, the second clamping assembly 6 corresponding to the second active delivery channel is loosened, and the second clamping assembly 6 corresponding to the first delivery channel clamps the first guide wire 301.

[0138] This delivery device also allows for the coordinated operation of multiple guidewires 300. With the coordinated cooperation of the delivery wheel assembly 3 and the second clamping assembly, the first clamping assembly 5 secures the guidewire 300 in place. The guidewire 300, which is then passed through the fourth delivery wheel, continues to operate, allowing adjustments to different positions. See Figures 20 and 21 for details.

[0139] 20 , the three guidewires 300 can work together, for example, when a second guidewire 302 needs to be delivered: when the first guidewire 301 is delivered to the target location or is temporarily not in use, the first guidewire 301 can be placed in the first clamping guide groove 41, and the first clamping assembly 5 on one side of the first clamping guide groove 41 is used to compress and secure the first guidewire 301. The driving wheel 31 and the first driven wheel 32 clamp and deliver the second guidewire 302, and the second clamping assembly 6 corresponding to the first active delivery channel is released; the third guidewire 303 is placed between the driving wheel 31 and the second driven wheel 33, and the second clamping assembly 6 corresponding to the second active delivery channel clamps the third guidewire 303.

[0140] 21 , multiple guidewires 300 can be coordinated. For example, if a third guidewire 303 is to be delivered, the active wheel 31 and the second driven wheel 33 clamp and deliver the third guidewire 303, and the second clamping assembly 6 corresponding to the second active delivery channel is released. The second guidewire 302 is placed between the active wheel 31 and the first driven wheel 32, and the second clamping assembly 6 corresponding to the first active delivery channel clamps the second guidewire 302. The first guidewire 301, the fourth guidewire 304, and the remaining guidewires 300 delivered to the target location or temporarily unused are placed in one of the clamping guide grooves 41. For example, as shown in FIG21 , the fourth guidewire 304 is placed in the second clamping guide groove and is clamped and fixed by the corresponding first clamping assembly 5, while the first guidewire 301 and the remaining guidewires 300 are placed in the first clamping guide groove and are clamped and fixed by the corresponding first clamping assembly 5.

[0141] (2) When the double guidewires 300 are in place, the first clamping assembly 5 clamps the guidewires 300 so that they do not move. In this way, the "clamping or loosening" combination of the three fourth delivery wheels at the front end and the two groups of second clamping assemblies 6 at the rear end realizes the coordinated alternating delivery of the two balloon / stent catheters, and the channels can be switched arbitrarily to adjust the positions of the two balloon catheters 400 or the two stent catheters. It can not only achieve stable clamping of some instruments during vascular interventional surgery, but also adjust the position of a certain instrument in an extremely convenient way, and at the same time keep the instrument of the other channel from moving back and forth during the surgery to avoid accidental damage to the inner wall of the blood vessel, thereby improving the safety of the surgery. This design greatly improves the precise, efficient and convenient operation of multiple instruments in complex vascular lesion surgery, has very high clinical value, and is currently not achievable by other existing vascular interventional surgery robots.

[0142] Specifically, after the surgical position of the double guidewire 300 is determined and fixed, the double balloon / stent catheters are delivered in sequence and coordinated alternating delivery is achieved. Taking the delivery of the double balloon catheter 400 as an example, specifically refer to Figures 22 to 25.

[0143] Referring to Figure 22 , during delivery of a first balloon catheter 401, the first guidewire 301 and the second guidewire 302 are positioned within the first clamping guide slot 41 and the second clamping guide slot 41, respectively, and are clamped and secured by their corresponding first clamping assemblies 5. The driving wheel 31 and the first driven wheel 32 clamp and deliver the first balloon catheter 401, while the second clamping assembly 6 corresponding to the first active delivery channel is released. Since no interventional surgical instrument is placed within the second active delivery channel, the second clamping assembly 6 corresponding to the second active delivery channel is also released.

[0144] 23 , the first balloon catheter 401 is fixed and the second balloon catheter 402 is delivered: the active wheel 31 and the second driven wheel 33 clamp and deliver the second balloon catheter 402, the second clamping assembly 6 corresponding to the second active delivery channel is released, and the second clamping assembly 6 corresponding to the first active delivery channel clamps the first balloon catheter 401.

[0145] Referring to Figure 24, the second balloon catheter 402 is fixed and the position of the first balloon catheter 401 is adjusted again: the active wheel 31 and the first driven wheel 32 clamp to continue delivering the first balloon catheter 401 to adjust the axial position of the first balloon catheter 401, the second clamping assembly 6 corresponding to the first active delivery channel is loosened, and the second clamping assembly 6 corresponding to the second active delivery channel clamps the second balloon catheter 402.

[0146] Referring to Figure 25, the first balloon catheter 401 is fixed and the position of the second balloon catheter 402 is adjusted again: the active wheel 31 and the second driven wheel 33 are clamped to continue delivering the second balloon catheter 402 to adjust the axial position of the second balloon catheter 402, the second clamping assembly 6 corresponding to the second active delivery channel is loosened, and the second clamping assembly 6 corresponding to the first delivery channel clamps the first balloon catheter 401.

[0147] Of course, the above usage method is only an example and can be flexibly adjusted in actual application.

[0148] In summary, the multi-channel interventional surgical instrument delivery device in this embodiment has the following advantages:

[0149] (1) It meets the demand for the coordinated delivery of multiple interventional instruments in interventional surgery for complex vascular lesions, and can accurately, conveniently and efficiently realize the control of multiple instruments. It solves the limitation of existing vascular interventional surgical robots that can only be applied to simple lesions, greatly improves the clinical adaptability, and has extremely important clinical value. For example, when there are "two active delivery channels + two passive clamping channels 4", it can meet the clinical demand for the coordinated delivery of two guide wires 300, two balloon catheters 400, and two stent catheters, and can also meet the passive clamping of one or more guide wires 300, greatly expanding the clinical application range of existing vascular interventional surgical robots and meeting the treatment needs of complex lesions in vascular interventional surgery.

[0150] (2) The accuracy of device delivery is improved. Through multiple structural designs (including the first clamping component 5, the second clamping component 6, the flexible guide block 8, the pressure rib 11, the telescopic shaft 12, etc.), the accuracy of delivery of different interventional devices such as the guide wire 300 and the soft catheter 200 is ensured.

[0151] (3) The delivery device is designed as a disposable, sterile component. After sterilization, it is provided to the doctor for direct use, ensuring the safety of the operation, effectively solving the problem of cross infection, and reducing the risk of surgical complications. In other words, the entire delivery device, including the first bottom shell 2, the first cover 1, the telescopic shaft 12 and the pressure rib 11 on the first cover 1, each fourth delivery wheel and the wheel shaft 7 connected to the fourth delivery wheel, the first clamping assembly 5, the second clamping assembly 6, the flexible guide block 8, the second Y-valve fixing seat 91, and the second Y-valve rotating mechanism 92. The second Y-valve 100 used in conjunction with the delivery device is also a disposable component.

[0152] (4) In order to realize the rapid installation and replacement of the delivery device during the operation, a quick-release structure is designed between the delivery device and a first support plate. By setting a positioning column 27 and a second magnetic block 28 on the first bottom shell 2, which are used to cooperate with the positioning hole and the second metal block on the first support plate, rapid disassembly and assembly can be realized, which is convenient for operation and quick replacement, thereby improving the efficiency of robot-assisted surgery.

[0153] (5) The delivery device is designed with relevant functional modules that cooperate with the surgical process (specifically including a roller module composed of the delivery wheel group 3, a module composed of the second Y-valve fixing seat 91, a module composed of the second Y-valve rotating mechanism 92, and a module composed of the second Y-valve 100 fixing assembly formed by the second Y-valve rotating mechanism 92 and the second Y-valve fixing seat 91 being snapped together). It has a high degree of integration, making the human-computer interaction more suitable for doctors to use and facilitating the installation and replacement of instruments.

[0154] (6) The safety of the operation is improved. The delivery device can stably clamp the corresponding instrument, thereby avoiding the risk of damage or even puncture of the inner wall of the blood vessel caused by the failure to fix a certain instrument in the existing manual interventional surgery.

[0155] Furthermore, in some relatively simple coronary interventional procedures, a rapid-exchange balloon / stent catheter is usually used in conjunction with a guidewire and catheter to complete the surgical treatment; while in some more complex and difficult coronary interventional procedures (such as completely occluded lesions, calcified lesions, tortuous and angulated lesions), as well as neurointerventional and peripheral interventional procedures, in addition to the use of rapid-exchange instruments, coaxial interventional instruments such as microcatheters and intermediate catheters are usually required (microcatheters and intermediate catheters are typical representatives of coaxial interventional instruments). How vascular interventional surgical robots can be compatible with different types of interventional instruments and ensure high-precision delivery of different types of interventional instruments is a very challenging and crucial core technical difficulty.

[0156] During coronary intervention surgery, especially for completely occluded lesions, the catheter may reach the coronary artery orifice. After the guidewire reaches the lesion through the catheter, it cannot directly pass through the lesion site. At this time, a microcatheter is needed to assist. The microcatheter extends the pathway directly from the catheter orifice to the lesion site, and provides stable support for the guidewire with a smaller diameter, thereby helping the guidewire pass through the occluded vascular lesion site. When the microcatheter and the guidewire are located in the catheter at the same time, the catheter, microcatheter, and guidewire are coaxial. The current existing technical solution uses a tail push method when delivering coaxial instruments. However, since the interventional instrument itself is flexible and easily bends during tail push, long-distance tail push cannot guarantee the delivery accuracy of the front end of the interventional instrument.

[0157] For example, in an existing vascular interventional surgical robot, microcatheter delivery is achieved by fixing one end and physically supporting and advancing the other end, shortening the distance between the two support points. To prevent the microcatheter from bending during delivery, a physical sleeve sealed channel is used to physically prevent the microcatheter from bending. However, this method has low delivery distance accuracy, and during delivery, because the outer anti-bending guide sleeve still has a certain gap with the outer diameter of the microcatheter, the microcatheter will still bend when encountering travel resistance due to its inherent flexibility and lack of rigidity, further causing insufficient delivery accuracy.

[0158] To address the above problems, in one embodiment of the present application, a multi-channel interventional surgical instrument delivery device further includes a telescopic delivery mechanism and a coaxial vascular interventional surgical instrument delivery box. The telescopic delivery mechanism can move the delivery device closer to or farther from the coaxial vascular interventional surgical instrument delivery box, and the delivery device can deliver catheters and guidewires. The coaxial vascular interventional surgical instrument delivery box includes a first delivery wheel, a second delivery wheel, a first Y-valve mounting groove, and a second cover and a second bottom shell that can cover each other. A main delivery channel for delivering a microcatheter can be formed between the first delivery wheel and the second delivery wheel. The first Y-valve mounting groove is used to mount a first Y-valve. The head interface of the first Y-valve can be arranged adjacent to the main delivery channel, and the distal end of the microcatheter can rotate. A main delivery guide groove is provided between the first Y-valve mounting groove and the main delivery channel, and the microcatheter can be inserted into the main delivery guide groove. The first delivery wheel, the second delivery wheel, the first Y-valve mounting groove, and the main delivery guide groove are all disposed within the second bottom shell. A main pressure rib is provided on the second cover, and the main pressure rib can be pressed against the notch of the main delivery guide groove after the second cover covers the second bottom shell.

[0159] As described above, the coaxial vascular interventional surgical instrument delivery box of the present application is provided with a first delivery wheel and a second delivery wheel to form a main delivery channel that can be close to the head interface of the first Y valve. Since the first Y valve is close to the main delivery channel, the section of the microcatheter between the main delivery channel and the head interface of the first Y valve will basically not bend, and the two delivery wheels can continuously clamp the microcatheter for continuous delivery, which makes the delivery of the microcatheter in its axial position more precise, and can achieve millimeter-level delivery accuracy. With higher delivery accuracy, precise delivery of coaxial interventional instruments (microcatheters) is achieved. This precise delivery capability is of great significance when the instrument passes through completely occluded lesions or extremely tortuous blood vessels.

[0160] The multi-channel interventional surgical instrument delivery device of the present application can not only use the delivery device to achieve the delivery of guidewires and catheters, but also use the coaxial vascular interventional surgical instrument delivery box in conjunction with the delivery device to achieve precise delivery of microcatheters; it can not only meet the delivery needs of rapid exchange instruments, but also achieve the delivery of coaxial microcatheters, thereby achieving the purpose of being compatible with different types of interventional surgical instruments.

[0161] Specifically, as shown in Figures 26 and 27, this embodiment provides a multi-channel interventional surgical instrument delivery device, including a delivery device 2300, a telescopic delivery mechanism 2700, and a coaxial vascular interventional surgical instrument delivery box 2100; the telescopic delivery mechanism 2700 can make the delivery device 2300 close to or away from the coaxial vascular interventional instrument delivery box, and the delivery device 2300 can deliver the catheter 200 (2400, 3200) and the guidewire 300 (2500).

[0162] The function of the catheter 200 (2400, 3200) is to select a path position closer to the location of the lesion in the blood vessel after rotating the catheter 200 (2400, 3200) through the shaped elbow at the front end when passing through the human blood vessel. The telescopic delivery mechanism 2700 here can adopt an existing telescopic structure to achieve the approach or distance between the delivery box and the delivery device 2300 by its own extension or shortening. During surgery, in some relatively simple surgeries, only the delivery device 2300 can be used to deliver the corresponding rapid exchange interventional instruments, such as the catheter 200 (2400, 3200), the guide wire 300 (2500), the balloon catheter, the stent catheter, etc. The specific operation process can follow the operation process of the existing delivery device and will not be repeated here.

[0163] In some relatively complex and difficult surgeries, in addition to the rapid exchange of interventional surgical instruments, coaxial interventional instruments such as microcatheters 2600 are also required. In this case, a coaxial vascular interventional surgical instrument delivery box is required to be used in conjunction with the delivery device 2300. During the operation, after the delivery device 2300 is used to deliver the catheter 200 (2400, 3200) and the guide wire 300 (2500), if the guide wire 300 (2500) cannot pass through the lesion smoothly and the microcatheter 2600 needs to be used, the second Y-valve 2200 connected to the catheter 200 (2400, 3200) is kept in an axial position, and the telescopic delivery mechanism 2700 is used to drive the delivery device 2300 back to move away from the delivery box, and the microcatheter 2600 is put on the guide wire 300 (2500) and inserted. The second Y-valve 2200 is installed in the first Y-valve installation groove 2121 of the delivery box. The microcatheter 2600 is passed through the main delivery channel 21321 and is clamped and delivered by two delivery wheels. During this process, the end of the microcatheter 2600 is clamped and driven to rotate by the delivery device 2300, and the delivery of the guide wire 300 (2500) is realized by the delivery device 2300; until the guide wire 300 (2500) passes through the lesion and reaches the designated position, the microcatheter 2600 is withdrawn.

[0164] Since the catheter 200 (2400, 3200), the microcatheter 2600 and the guidewire 300 (2500) are coaxially coordinated for delivery, the delivery wheel of the delivery guidewire 300 (2500) and the delivery wheel of the delivery microcatheter 2600 must have a certain long distance, which cannot be achieved on the current delivery device 2300. Otherwise, the delivery device 2300 will be designed to be very long, which will increase the weight of the end of the manipulator and does not meet actual needs. In this embodiment, a delivery box is separately designed for delivering the microcatheter 2600, and is used in conjunction with the delivery device 2300 for delivering the guidewire 300 (2500) and the catheter 200 (2400, 3200). When in use, the delivery box is installed in front of the delivery device 2300. The required spacing can be ensured between the delivery wheel for delivering the microcatheter 2600 in the delivery box and the delivery wheel for delivering the guidewire 300 (2500) in the delivery device 2300, without increasing the length and weight of the original delivery device 2300. The design is more reasonable and the overall weight of the delivery system is relatively light.

[0165] Therefore, the multi-channel interventional surgical instrument delivery device in this embodiment can not only use the delivery device 2300 to achieve the delivery of the guide wire 300 (2500) and the catheter 200 (2400, 3200), but also use the delivery box in conjunction with the delivery device 2300 to achieve the precise delivery of the microcatheter 2600; it can not only meet the delivery requirements of rapid exchange instruments, but also achieve the delivery of coaxial microcatheters 2600, thereby achieving the purpose of being compatible with different types of interventional surgical instruments.

[0166] Furthermore, after microcatheter 2600 is inserted into main delivery channel 21321, the distal end of microcatheter 2600 is clamped onto delivery device 2300. At this point, the extended state of telescopic delivery mechanism 2700 ensures that the portion of microcatheter 2600 between the delivery box and delivery device 2300 is in a naturally straightened state. During the delivery of microcatheter 2600, telescopic delivery mechanism 2700 can extend or shorten by the same length based on the delivery length of microcatheter 2600, and can maintain the naturally straightened portion of microcatheter 2600 between coaxial vascular interventional surgical instrument delivery box 2100 and delivery device 2300, thereby preventing bending of this portion of microcatheter 2600 and affecting the positioning accuracy of guidewire 300 (2500). The coordination between the delivery box, delivery device 2300, and telescopic delivery mechanism 2700 achieves precise delivery of microcatheter 2600 and guidewire 300 (2500).

[0167] In one embodiment, the first end of the telescopic delivery mechanism 2700 is connected to the bottom of the delivery device 2300. The second end of the telescopic delivery mechanism 2700 is connected to a second support plate 2701 that can rotate about the length of the telescopic delivery mechanism 2700. The delivery box can be detachably mounted on this second support plate 2701. When the microcatheter 2600 is not in use, the second support plate 2701 is placed vertically, and the telescopic delivery mechanism 2700 is retracted to its shortest position and stored at the bottom of the delivery device 2300, further conserving space. When the microcatheter 2600 is needed, the telescopic delivery mechanism 2700 is extended, and the second support plate 2701 is rotated 90 degrees so that the second support plate 2701 is horizontal, ensuring that the delivery box and the delivery device 2300 are at the same height.

[0168] The multi-channel interventional surgical instrument delivery device includes a first Y-valve 2200 and a second Y-valve 2202 (100). The first Y-valve 2200 can be installed in a coaxial vascular interventional surgical instrument delivery box 2100 or a delivery device 2300. The second Y-valve 2202 (100) can be installed in the delivery device 2300 after the first Y-valve 2200 is transferred from the delivery device 2300 to the coaxial vascular interventional surgical instrument delivery box 2100. The front end of the microcatheter 2600 can pass through the first Y-valve 2200 and can pass out from the tail interface of the first Y-valve 2200. The tube body of the microcatheter 2600 can be clamped by the first delivery wheel 2131 and the second delivery wheel 2132 to achieve delivery. The end of the microcatheter 2600 can be connected to the second Y-valve 2202 (100) to realize the rotation of the microcatheter 2600 by utilizing the rotation of the second Y-valve 2202 (100).

[0169] Correspondingly, the multi-channel interventional surgical instrument delivery device will also include two Y-valve fixing seats 215 (respectively recorded as the first Y-valve fixing seat and the second Y-valve fixing seat) and two Y-valve rotating mechanisms 216 (respectively recorded as the first Y-valve rotating mechanism and the second Y-valve rotating mechanism). Before the operation, the first Y-valve fixing seat and the second Y-valve rotating mechanism are pre-installed in the delivery box and the delivery device 2300 respectively. The first Y-valve rotating mechanism and the second Y-valve rotating mechanism are used to install the first Y-valve 2200 and the second Y-valve 2202 (100) respectively, and can be clamped in the corresponding Y-valve fixing seat 215 as needed.

[0170] In another embodiment, as shown in Figures 26 to 38, the coaxial vascular interventional surgical instrument delivery box 2100 provided in this embodiment includes a first delivery wheel 2131, a second delivery wheel 2132 and a first Y-valve mounting groove 2121; a main delivery channel 21321 for delivering the microcatheter 2600 can be formed between the first delivery wheel 2131 and the second delivery wheel 2132, and the first Y-valve mounting groove 2121 is used to install the first Y-valve 2200. The head interface of the first Y-valve 2200 can be arranged close to the main delivery channel 21321, and the end of the microcatheter 2600 can be rotated.

[0171] In a vascular interventional procedure, a catheter 200 (2400, 3200) is usually first inserted into the coronary artery ostium, and a guidewire 300 (2500) is then passed through the catheter 200 (2400, 3200) to enter the cardiovascular lesion, pass through the lesion, and then the balloon stent is delivered along the guidewire 300 (2500). However, when the guidewire 300 (2500) cannot pass through the lesion, a microcatheter 2600 is required to intervene, with the microcatheter 2600 and the guidewire 300 (2500) jointly assisting in passing through the lesion. Usually, when the microcatheter 2600 is used, the guidewire 300 (2500) and the catheter 200 (2400, 3200) have already reached their respective positions and are fixed. The microcatheter 2600 needs to be passed along the guidewire 300 (2500) into the catheter 200 (2400, 3200) and be delivered to the lesion.

[0172] Specifically, when in use, the delivery box needs to be matched with a delivery device 2300. The delivery device 2300 can be used to deliver the catheter 200 (2400, 3200) and the guide wire 300 (2500). The end of the microcatheter 2600 can be clamped by the delivery device 2300 and driven to rotate by the delivery device 2300. During the operation, after the delivery device 2300 is used to deliver the catheter 200 (2400, 3200) and the guide wire 300 (2500), if the guide wire 300 (2500) cannot pass through the lesion smoothly and the microcatheter 2600 needs to be used, the microcatheter 2600 is put on the guide wire 300 (2500) and inserted into the catheter 200 (2400, 3200). The microcatheter 2600 is inserted into the main delivery channel 21321 and is driven by the first delivery wheel 21 31 and the second delivery wheel 2132 are clamped together, and the rotation of the two delivery wheels drives the microcatheter 2600 to move along its axial direction to achieve forward or backward delivery; during this process, the delivery device 2300 clamps the end of the microcatheter 2600 and can achieve the rotation of the microcatheter 2600, and the delivery of the guide wire 300 (2500) is achieved by the delivery device 2300; until the guide wire 300 (2500) passes through the lesion and reaches the target position, the microcatheter 2600 is withdrawn.

[0173] Therefore, the delivery box in this embodiment, by setting the first delivery wheel 2131 and the second delivery wheel 2132 and forming a main delivery channel 21321 that can be close to the head interface of the first Y-valve 2200, since the first Y-valve 2200 is close to the main delivery channel 21321, the section of the microcatheter 2600 between the main delivery channel 21321 and the head interface of the first Y-valve 2200 will basically not bend, and the two delivery wheels can continuously clamp the microcatheter 2600 for continuous delivery, and the delivery of the microcatheter 2600 in its axial position is more precise, and the delivery accuracy at the millimeter level can be achieved. With higher delivery accuracy, precise delivery of coaxial interventional instruments (microcatheter 2600) is achieved. This precise delivery capability is of great significance when the instrument passes through completely occluded lesions or extremely tortuous blood vessels.

[0174] During processing and design, the positional relationship between the above-mentioned first Y-valve installation groove 2121 and the two delivery wheels should ensure that after the first Y-valve 2200 is installed, the head interface of the first Y-valve 2200 is close to the tangent point of the first delivery wheel 2131 and the second delivery wheel 2132. The specific size is determined according to actual needs to minimize the bending of this section of microcatheter 2600.

[0175] To further improve delivery accuracy, referring to Figures 29 and 32 , a primary delivery guide groove 2122 is provided between the first Y-valve mounting groove 2121 and the primary delivery channel 21321. The microcatheter 2600 can be inserted into the primary delivery guide groove 2122. The primary delivery guide groove 2122 guides the portion of the microcatheter 2600 between the head interface of the first Y-valve 2200 and the primary delivery channel 21321, further reducing bending of the microcatheter 2600.

[0176] Further exemplarily, the coaxial vascular interventional surgical instrument delivery box 2100 also includes a second cover body 211 and a second bottom shell 2 that can cover each other; the first delivery wheel 2131, the second delivery wheel 2132, the first Y-valve mounting groove 2121 and the main delivery guide groove 2122 are all arranged in the second bottom shell 2, and a main pressure rib 2111 is provided on the second cover body 211. The main pressure rib 2111 can be pressed against the notch of the main delivery guide groove 2122 after the second cover body 211 is covered with the second bottom shell 2, so as to enclose the main delivery guide groove 2122 to form a circumferentially closed closed channel. Furthermore, the proximity of the head interface of the first Y-valve 2200 to the main delivery channel 21321 creates a nearly 360-degree enclosed space within the delivery region between the main delivery channel 21321 and the head interface of the first Y-valve 2200. This effectively guides the microcatheter 2600 in all directions within this delivery region, preventing the microcatheter 2600 from bending away from the main delivery guide groove 2122 during delivery, and significantly improving the delivery accuracy of the microcatheter 2600. In actual design, the diameter of this enclosed channel should be close to the outer diameter of the microcatheter 2600 to minimize bending.

[0177] During the surgical operation, the delivery of the microcatheter 2600 is achieved by the delivery box, while the delivery of the guidewire 300 (2500) is achieved by the delivery device 2300. The delivery of the two is relatively independent. In order to avoid affecting the guidewire 300 (2500) when delivering the microcatheter 2600, the hardness of the outer surface of the first delivery wheel 2131 and the hardness of the outer surface of the second delivery wheel 2132 are both less than the hardness of the microcatheter 2600.

[0178] When the first delivery wheel 2131 and the second delivery wheel 2132 clamp the microcatheter 2600, a friction force can be generated between the two delivery wheels and the microcatheter 2600 to make the microcatheter 2600 move forward or backward axially, but the two delivery wheels will not deform the microcatheter 2600, and thus will not affect the position of the guide wire 300 (2500). The specific material of the delivery wheel can be determined according to actual needs. For example, in this embodiment, the outer surfaces of the two delivery wheels are made of soft rubber material. Of course, according to the installation needs, the delivery wheel can be made of soft rubber material as a whole, or only the outer surface can be made of soft rubber material.

[0179] Further, referring to Figures 30, 31 and 33 to 35, the first delivery wheel 2131 and the second delivery wheel 2132 are both connected to corresponding second wheel axles 214, and a plurality of second protrusions 2141 are provided at the end of the second wheel axle 214 away from the corresponding delivery wheel. The plurality of second protrusions 2141 on the second wheel axle 214 can be engaged with a plurality of second positioning grooves 2802 opened at the end of a second rotating drive shaft 2800 to achieve circumferential fixation of the second wheel axle 214 and the second rotating drive shaft 2800, thereby facilitating the use of the second rotating drive shaft 2800 to drive the corresponding delivery wheel to rotate.

[0180] During use, the delivery box is connected to a corresponding drive device to drive the rotation of the first delivery wheel 2131 and the second delivery wheel 2132. The drive device can be, for example, a rotary motor, whose motor shaft constitutes the aforementioned second rotary drive shaft 2800. To avoid cross-contamination during surgery, the delivery box is disposable, while the drive device is reusable. By providing a second protrusion 2141 at the end of each second wheel shaft 214 and a second positioning groove 2802 at the end of the second rotary drive shaft 2800 of the drive device, the second wheel shaft 214 and the second rotary drive shaft 2800 can be quickly connected and disconnected, making it simple and convenient.

[0181] Illustratively, the second protrusion 2141 or the end of the second protrusion 2141 is hemispherical.

[0182] To align with the shape of the second protrusion 2141, as shown in Figure 4 , a positioning block 2801 is provided on the end surface of the second rotary drive shaft 2800 used therewith. A plurality of second positioning grooves 2802 are spherical grooves and are circumferentially spaced apart on the outer circumference of the positioning block 2801. When docking the second axle 214 with the second rotary drive shaft 2800, due to the hemispherical shape of the end or the entire second protrusion 2141, simply pressing down on the second axle 214 will cause each second protrusion 2141 to automatically slide into the corresponding second positioning groove 2802, eliminating the need for manual alignment. This is quick and convenient, facilitating automatic docking and mating during assembly.

[0183] The number of the aforementioned second protrusions 2141 and second positioning grooves 2802 is the same, and the number can be determined based on specific needs. For example, in this embodiment, as shown in Figures 30, 31, and 35, the ends of the second protrusions 2141 are hemispherical, forming a spherical cylindrical structure. The number of second protrusions 2141 and second positioning grooves 2802 is five, and they are evenly spaced around the circumference. The entire positioning block 2801 is in the shape of a five-pointed star, with five positioning bosses corresponding to the five corners of the pentagon, to ensure stability after the second wheel axle 214 and the second rotating drive shaft 2800 are connected.

[0184] Furthermore, the first delivery wheel 2131 is a driving wheel, and the second delivery wheel 2132 is a driven wheel. The driving wheel is a concentric wheel, and the driven wheel is an eccentric wheel. The eccentric wheel can approach or deviate from the driving wheel; when the driven wheel is close to the driving wheel, a main delivery channel 21321 is formed between the driving wheel and the driven wheel, and the driving wheel can drive the driven wheel to rotate by friction.

[0185] Because the driven wheel is an eccentric wheel, before placing microcatheter 2600 between the driving wheel and the driven wheel, the driven wheel first rotates to the side away from the driving wheel. At this time, the minimum gap between the two wheels reaches its maximum value, which is used to place microcatheter 2600. After microcatheter 2600 is placed, the eccentric wheel rotates, and the driving wheel and the driven wheel clamp microcatheter 2600. The driving wheel is now actively rotating, and the friction force drives the driven wheel to rotate, realizing the forward and backward delivery of microcatheter 2600.

[0186] In one specific embodiment, referring to FIG33 , the second axles 214 connecting the driving wheel and the driven wheel are designated as driving wheel axles 21401 and driven wheel axles 21402, respectively. Each second axle 214 is arranged in parallel and spaced apart. During surgical operation, each second axle 214 is placed vertically. The driven wheel axle 21402 includes an eccentric shaft 214021 and a central shaft 214022, which are connected (integrally formed). The axis of the eccentric shaft 214021 is offset from the axis of the central shaft 214022. The driven wheel is rotatably mounted on the eccentric shaft 214021 (with a bearing interposed between the driven wheel and the eccentric shaft 214021). The driving wheel axle 21401 does not have an eccentric portion, and the driving wheel is directly coaxially mounted on the driving wheel axle 21401.

[0187] During use, the driving wheel shaft 21401 is connected to the second rotating drive shaft 2800 of the driving wheel drive device, so that the driving wheel is driven by the driving wheel drive device to rotate. The driven wheel shaft 21402 is connected to the second rotating drive shaft 2800 of the driven wheel drive device, and the driven wheel drive device drives the driven wheel to rotate eccentrically, thereby adjusting the distance between the driven wheel and the driving wheel, causing the driven wheel to move closer to or away from the driving wheel, thereby causing the driven wheel and the driving wheel to clamp or release the microcatheter 2600. When the driven wheel is close to the driving wheel, the main delivery channel 21321 is formed between the driving wheel and the driven wheel, and the driven wheel and the driving wheel jointly clamp the microcatheter 2600. Then, the driven wheel drive device is inoperative, and the driving wheel, driven by the driving wheel drive device, drives the driven wheel to rotate around the eccentric shaft 214021 by friction, and the above-mentioned bearings support this rotation.

[0188] Of course, the specific structures of the driving wheel, the driven wheel and the second wheel shaft 214 may also adopt other structural methods, and this embodiment is only for illustration.

[0189] Furthermore, since no bearings need to be installed between the driving wheel and the driving wheel shaft 21401, while bearings need to be installed between the driven wheel and the driven wheel shaft 21402, the overall hardness of the driving wheel can be less than the hardness of the microcatheter 2600, for example, the driving wheel is made of soft rubber material as a whole; the driven wheel includes an inner wheel body and an outer wheel body arranged in an inner sleeve, and the hardness of the outer wheel body should be less than the hardness of the microcatheter 2600, for example, the outer wheel body is made of soft rubber material.

[0190] It will be appreciated that the second bottom shell 2 also includes a second delivery wheel mounting groove 2123 for mounting the first delivery wheel 2131 and the second delivery wheel 2132. This second delivery wheel mounting groove 2123 is positioned adjacent to the first Y-valve mounting groove 2121. The aforementioned main delivery guide groove 2122 is formed on the groove wall portion between the second delivery wheel mounting groove 2123 and the first Y-valve mounting groove 2121 and penetrates this groove wall to connect the second delivery wheel mounting groove 2123 and the first Y-valve mounting groove 2121. A first rear guide groove 2124 is formed on the groove wall of the second delivery wheel mounting groove 2123 opposite the main delivery guide groove 2122 and penetrates the corresponding side wall of the second bottom shell 2 to facilitate accommodating the microcatheter 2600. This first rear guide groove 2124 is coaxial with the main delivery channel 21321 and the main delivery guide groove 2122. The second cover 211 is also provided with a rear pressure rib 2113, which presses against the first rear guide groove 2124 when the second cover 211 is closed over the second bottom shell 212, thereby forming a circumferentially closed channel with the first rear guide groove 2124, thereby improving delivery accuracy. The bottom of the second delivery wheel mounting groove 2123 is also provided with mounting holes extending through the bottom surface of the second bottom shell 212. The number of mounting holes is the same as the number of second axles 214. The second axles 214 are rotatably mounted in the corresponding mounting holes via corresponding bearings. The ends of the second axles 214 extend beyond the bottom surface of the second bottom shell 212 to facilitate docking with the second rotating drive shaft 2800 of the corresponding drive device.

[0191] The second cover 211 and the second bottom shell 212 can be opened and closed in any manner. For example, in this embodiment, one side of the second cover 211 is hinged to one side of the second bottom shell 212 via a hinge axis, and opening and closing can be achieved by flipping the second cover 211, which is simple and convenient. The shapes of the second cover 211 and the second bottom shell 212 can also be determined according to needs. For example, in this embodiment, both are rectangular.

[0192] Further, referring to Figure 2, a first Y-valve fixing seat 215 is provided in the first Y-valve mounting groove 2121, and a first Y-valve rotating mechanism 216 can be detachably mounted on the first Y-valve fixing seat 215. The first Y-valve rotating mechanism 216 can be connected to the first Y-valve 2200 to drive the first Y-valve 2200 to rotate.

[0193] The first Y-valve fixing seat 215 and the first Y-valve rotating mechanism 216 constitute the first Y-valve rotating fixing assembly mainly for quickly installing the first Y-valve 2200. The first Y-valve 2200 provides two entrances for the instrument to enter the catheter 200 (2400, 3200) and the contrast agent injection during vascular intervention surgery, and can also play a role in blocking blood outflow. The structure of the first Y-valve 2200 has a straight tube and a side tube connected to each other, and the two ends of the straight tube constitute a head interface and a tail interface. The straight tube of the first Y-valve 2200 has a fixed part and a rotating part that are rotatably connected. The side tube of the first Y-valve 2200 is connected to the fixed part. When installed, the rotating part is fixed in the first Y-valve rotating mechanism 216, and the first Y-valve rotating mechanism 216 is used to drive the first Y-valve 2200 to rotate to meet the need to rotate the first Y-valve 2200.

[0194] In a specific embodiment, referring to Figures 36 and 37, the first Y-valve rotating mechanism 216 includes a second gear fixing seat 2161 and a coaxially connected second hand-turned wheel 2162 and a third gear 2163. The third gear 2163 can be rotatably inserted into the second gear fixing seat 2161, and the second gear fixing seat 2161 can be clamped on the first Y-valve fixing seat 215; a fourth gear 21521 is provided on the first Y-valve fixing seat 215, and the fourth gear 21521 can mesh with the third gear 2163 and can drive the third gear 2163 to rotate; the first Y-valve 2200 can be inserted into the second hand-turned wheel 2162 and the third gear 2163.

[0195] Generally, a corresponding second slot 21511 is provided on the first Y-valve fixing seat 215, and the second gear fixing seat 2161 can be clamped in the second slot 21511 to achieve quick disassembly and assembly. The second gear fixing seat 2161 is an annular seat body, and the third gear 2163 can be connected to the second gear fixing seat 2161 through corresponding bearings. The third gear 2163 and the second hand wheel 2162 are coaxially arranged side by side, and the two can be fixedly connected by fasteners (such as screws). The axial direction of the third gear 2163 is perpendicular to the axial direction of the fourth gear 21521. During the surgical operation, the axial direction of the fourth gear 21521 is in a vertical position, and the axial direction of the third gear 2163 is in a horizontal position; the two gears can be, for example, bevel gears. The use of bevel gears can change the direction of power transmission, so that the third gear 2163 and the fourth gear 21521 can be configured in different directions, saving installation space and making the structure more compact. The diameter of the third gear 2163 should be larger than that of the fourth gear 21521 , that is, the third gear 2163 is a large gear and the fourth gear 21521 is a small gear, thereby achieving speed reduction.

[0196] During use, the first Y-valve 2200 is inserted into the inner hole of the second hand wheel 2162. The second hand wheel 2162 and the third gear 2163 are axially inserted and fixed to the rear end of the first Y-valve 2200. The first Y-valve 2200 can be rotated manually or mechanically, as needed. When rotating in manual mode, the first Y-valve rotating mechanism 216 is not installed in the first Y-valve fixing seat 215. The doctor manually rotates the second hand wheel 2162 to rotate the first Y-valve 2200, thereby rotating the interventional surgical instrument connected to the first Y-valve 2200. When mechanical drive is selected for rotation, the first Y-valve rotating mechanism 216 is installed in the first Y-valve fixing seat 215, and the fourth gear 21521 is driven to rotate by the bottom mechanical motor, thereby driving the third gear 2163 to rotate together, and synchronously driving the first Y-valve 2200 to rotate; since the tail of the first Y-valve 2200 is connected to the interventional surgical instrument, it drives the interventional surgical instrument to rotate together.

[0197] As an example, a second flexible ring is provided within the second hand-turned wheel 2162, which can be inserted into the first Y-valve 2200 with an interference fit. The second flexible ring is made of a flexible material, such as soft rubber, to facilitate compatibility with first Y-valves 2200 having different diameter mouth characteristics. When installing the first Y-valve 2200, the straight tube tail (tail interface) of the first Y-valve 2200 can be directly inserted into the second flexible ring and then extended into the third gear 2163. The inner hole end of the third gear 2163 is provided with a stopper that can axially limit the first Y-valve 2200. A gap is left between the outer peripheral wall of the tail of the straight tube and the inner hole wall of the third gear 2163. The tail of the straight tube can abut against this stopper, and the straight tube and the second flexible ring have an interference fit, thereby achieving axial fixation of the first Y-valve 2200.

[0198] Furthermore, after the second Y-gear mounting base 2161 is secured to the first Y-valve mounting base 215, the head interface of the first Y-valve 2200 needs to be appropriately raised to facilitate faster instrument switching, making it easier for the doctor to operate. To facilitate raising the first Y-valve 2200, referring to FIG38 , the first Y-valve mounting base 215 includes a second upper mounting base 2151 and a second lower mounting base 2152. The side of the second upper mounting base 2151 away from the main delivery channel 21321 is hingedly connected to the side of the second lower mounting base 2152, and the second upper mounting base 2151 can swing about the hinge axis of the hinge.

[0199] The second slot 21511 is provided on the second upper fixing seat 2151, and the fourth gear 21521 is mounted on the second lower fixing seat 2152. The upper and lower fixing seats are connected at the hinge by a rotating shaft, the axis of which should be perpendicular to the straight tube of the first Y-valve 2200. After the upper fixing seat rotates and swings upward around the rotating shaft to a certain angle, it can drive the upper module component, the first Y-valve 2200, to also achieve an angle fold, that is, the head interface of the first Y-valve 2200 is lifted upward, making it easier for doctors to insert the microcatheter 2600, guidewire 300 (2500), etc. into the first Y-valve 2200 without interference from other structures on the second bottom shell 212.

[0200] In a specific embodiment, a plurality of second fixed blocks are provided at a position away from the rotating shaft at the bottom of the second upper fixed seat 2151, and a plurality of second fixed grooves are provided on a top surface of the second lower fixed seat 2152 at a position away from the rotating shaft, and each second fixed block can be clamped in a corresponding second fixed groove; a second limit block 21522 is provided on the top surface of the second lower fixed seat 2152 close to the rotating shaft, and the second limit block 21522 can limit the second upper fixed seat 2151 after it swings to a certain angle; and a second compression spring is clamped between the second upper fixed seat 2151 and the second lower fixed seat 2152.

[0201] Under normal circumstances, each second fixing block is locked in its respective second fixing slot, and the second upper fixing seat 2151 rests against the second lower fixing seat 2152. When the first Y-valve 2200 needs to be lifted, the second upper fixing seat 2151 is manually lifted, disengaging each second fixing block from its respective second fixing slot. Under the elastic force of the second compression spring, the second upper fixing seat 2151 automatically swings about the rotation axis and swings to a position limited by the second limiting block 21522, as shown in FIG. 38 . At this point, the second upper fixing seat 2151 swings upward by an angle β relative to the second lower fixing seat 2152. Of course, the swinging of the second upper fixing seat 2151 can also be achieved using other methods; this embodiment is merely an example.

[0202] 28 and 32 , a second telescopic shaft 2112 that can elastically extend and retract is further provided on the second cover 211 . The second telescopic shaft 2112 can be pressed against the side tube of the first Y-valve 2200 after the second cover 211 is covered with the second bottom shell 212 .

[0203] The elastic extension and retraction of the second telescopic shaft 2112 can be achieved, for example, as follows: a fourth mounting groove is provided on the second cover body 211, the second telescopic shaft 2112 can be slidably inserted into the fourth mounting groove and the end of the second telescopic shaft 2112 extends out of the fourth mounting groove, a spring is clamped between the second telescopic shaft 2112 and the bottom of the fourth mounting groove, and a limiting portion for limiting the second telescopic shaft 2112 is provided at the groove opening of the fourth mounting groove to prevent the second telescopic shaft 2112 from escaping from the fourth mounting groove.

[0204] Since different forms of the first Y-valve 2200 have different angles between the side tube and the straight tube, in order to adapt to the first Y-valve 2200 with different angles, in this embodiment, only the second straight tube accommodating groove 21512 is provided on the first Y-valve fixing seat 215 (specifically, on the second upper fixing seat 2151), and no second side tube accommodating groove with a shape matching the side tube is specially provided; after the first Y-valve rotating mechanism 216 is clamped on the first Y-valve fixing seat 215, the straight tube of the first Y-valve 2200 is placed on the second straight tube. In the accommodating groove 21512, the side tube is supported on the upper surface of the second upper fixed seat 2151; after the second cover body 211 is covered on the second bottom shell 212, the second telescopic shaft 2112 is opposite to the side tube position of the first Y-valve 2200, and under the action of the elastic force of the spring, the side tube is always pressed tightly, thereby realizing the circumferential fixation of the fixed part of the straight tube in the first Y-valve 2200 and the side tube, preventing the fixed part and the side tube of the first Y-valve 2200 from rotating, but does not affect the rotation of the rotating part of the first Y-valve 2200.

[0205] In this embodiment, the axial connection between the first Y-valve 2200 and the first Y-valve rotating mechanism 216 is achieved through a second hand-turned wheel 2162. By providing a second flexible ring in the second hand-turned wheel 2162, it can be compatible with first Y-valves 2200 with different diameter mouth characteristics; by providing a second telescopic shaft 2112 in the second cover body 211, the side tube of the first Y-valve 2200 can be pressed after the second cover body 211 is closed, so that the first Y-valve 2200 at different angles can be pressed; thereby, the first Y-valve rotating and fixing assembly can be compatible with the assembly of various forms of first Y-valves 2200, and has stronger adaptability.

[0206] Further, referring to Figures 30 and 35, a plurality of second positioning columns 2125 and a plurality of third magnetic blocks 2126 are provided on the bottom surface of the second bottom shell 2. The plurality of third magnetic blocks 2126 can be magnetically connected to a plurality of metal blocks (such as magnets) on a second support plate 2701, and the plurality of second positioning columns 2125 can be plugged into the plurality of positioning holes on the second support plate 2701.

[0207] Magnetic attraction is used to achieve quick connection and fixation, and the second positioning column 2125 completes effective and precise installation and positioning. When in use, the delivery box can be quickly installed and fixed to a second support plate 2701, which is simple and convenient.

[0208] Multiple metal blocks and positioning holes are provided on the second support plate 2701. The delivery box can be quickly mounted on the second support plate 2701 using the third magnetic block 2126 and second positioning post 2125 at its bottom. The aforementioned drive devices are also mounted on the bottom of the second support plate 2701. The second rotary drive shafts 2800 of the drive devices extend through holes in the second support plate 2701 to facilitate docking with the corresponding second axles 214.

[0209] Further, as needed, referring to Figure 32, the coaxial vascular interventional surgical instrument delivery box 2100 also includes at least one third delivery wheel 2133, and at least one auxiliary delivery channel 21331 for delivering interventional surgical instruments can be formed between the third delivery wheel 2133 and one of the first delivery wheel 2131 and the second delivery wheel 2132, and / or between two adjacent third delivery wheels 2133.

[0210] The auxiliary delivery channel 21331 is mainly used to deliver interventional surgical instruments such as the microcatheter 2600, the guidewire 300 (2500), the balloon catheter or the stent catheter. The specific number of the third delivery wheels 2133 depends on the number of auxiliary delivery channels 21331 required. For example, in this embodiment, a third delivery wheel 2133 is provided, and the third delivery wheel 2133 and the second delivery wheel 2132 are respectively located on both sides of the first delivery wheel 2131. The first delivery wheel 2131 is a driving wheel, and the second delivery wheel 2132 and the third delivery wheel 2133 are both driven wheels, forming a dual-channel delivery form. The main delivery channel 21321 is used to deliver the microcatheter 2600, and the auxiliary delivery channel 21331 can be used to deliver the interventional surgical instrument to the catheter 200 (2400, 3200) in a tangential manner according to the microcatheter 2600 delivered by the main delivery channel 21321 when using the delivery box, thereby realizing complex surgical usage scenarios such as "double microcatheters 2600" or "microcatheter 2600 + auxiliary instruments", which can provide doctors with more operation methods.

[0211] Of course, more third delivery wheels 2133 can be provided. When more third delivery wheels 2133 are provided, the specific arrangement and the transmission relationship between the wheels can be designed according to the actual function. Each third delivery wheel 2133 will also be connected to the corresponding second wheel axle 214, and the bottom of the second wheel axle 214 will also be provided with the above-mentioned second protrusion 2141 to facilitate the docking with the second rotating drive shaft 2800 on the corresponding driving device; when the third delivery wheel 2133 adopts a driving wheel, the specific connection between the third delivery wheel 2133 and the corresponding second wheel axle 214 is similar to the above-mentioned first delivery wheel 2131; when the third delivery wheel 2133 adopts a driven wheel, the specific connection between the third delivery wheel 2133 and the corresponding second wheel axle 214 is similar to the above-mentioned second delivery wheel 2132, and will not be repeated here.

[0212] Furthermore, the auxiliary delivery channel 21331 is also positioned near the head interface of the first Y-valve 2200, with a relatively close distance between them. An auxiliary delivery guide groove 2127 is provided between each auxiliary delivery channel 21331 and the first Y-valve mounting groove 2121. At least one auxiliary pressure rib is provided on the second cover 211. This auxiliary pressure rib can press against the notch of the auxiliary delivery guide groove 2127 after the second cover 211 is closed over the second bottom shell 2, effectively improving the delivery accuracy of interventional surgical instruments. Similarly, a second rear guide groove 2128 is provided on the side wall of the second delivery wheel mounting groove 2123, opposite the auxiliary delivery guide groove 2127, extending through the corresponding side wall of the second bottom shell 2 to facilitate the accommodation of microcatheter interventional surgical instruments. A corresponding rear pressure rib is also provided on the second cover 211, so that it can press against the second rear guide groove 2128 after the second cover 211 is closed over the second bottom shell 2.

[0213] In summary, the coaxial vascular interventional surgical instrument delivery box 2100 in this embodiment has the following advantages:

[0214] (1) The precise delivery of coaxial interventional devices (microcatheter 2600) is achieved. This precise delivery capability is of great significance when the device passes through completely occluded lesions or extremely tortuous blood vessels.

[0215] (2) It is a disposable component of the surgical robot, provided to the doctor in a sterile manner for direct use and replaced after each operation. Disposable use effectively solves the problem of cross-infection and ensures safe and cross-infection-free surgery. In other words, the entire delivery box, including the second bottom shell 2, the second cover 211 and the second telescopic shaft 2112 and pressure ribs on the second cover 211, the delivery wheels and the second wheel shaft 214 connected to the delivery wheels, the first Y-valve fixing seat 215, the first Y-valve rotating mechanism 216, and the first Y-valve 2200 used in conjunction with it, are all disposable components.

[0216] (3) A quick-release structure is designed between the delivery box and a second support plate 2701. By setting a second positioning column 2125 and a third magnetic block 2126 on the second bottom shell 2, which are used to cooperate with the positioning holes and metal blocks on the second support plate 2701, quick disassembly and assembly can be achieved, which is convenient for use and operation and quick replacement, thereby improving the efficiency of robot-assisted surgery.

[0217] (4) The delivery box components that require mechanical transmission to output power, specifically the second axles 214 connected to the aforementioned delivery wheels, are designed with a spherical connection structure at the bottom of each second axle 214, which allows for quick installation and removal. The separate design of the power unit and the delivery box makes it easier to replace disposable delivery boxes.

[0218] (5) The delivery box is designed with relevant functional modules that cooperate with the surgical process (specifically including a roller module composed of each delivery wheel, a module composed of the first Y-valve fixing seat 215, a module composed of the first Y-valve rotating mechanism 216, and a module composed of the first Y-valve fixing assembly formed by the first Y-valve rotating mechanism 216 and the first Y-valve fixing seat 215 being snapped together). It has a high degree of integration, making human-computer interaction more suitable for doctors to use.

[0219] (6) The delivery box can be designed as a multi-channel delivery form. For example, in this embodiment, it can be designed as a dual-channel delivery form to realize complex surgical usage scenarios such as "dual microcatheters 2600" or "microcatheters 2600+auxiliary instruments".

[0220] Furthermore, existing surgical robots struggle to deliver and remove the catheter throughout its entire journey. The delivery rate is also inconsistent and the delivery accuracy is low. Furthermore, the catheter can easily bend during delivery, entering the vascular sheath and causing localized bending stress.

[0221] Existing interventional surgical robots deliver catheters by fixing one end of the catheter and physically pushing the other end, shortening the distance between the two points of support. To prevent the catheter from bending during delivery, a closed channel with a physical sheath is used to physically advance the microcatheter to prevent bending. However, this delivery method has low delivery accuracy. Furthermore, during delivery, due to the gap between the outer anti-bending guide sheath and the outer diameter of the microcatheter, the microcatheter will bend when encountering travel resistance due to its inherent flexibility and lack of rigidity, ultimately resulting in insufficient delivery accuracy.

[0222] To solve the above problems, in one embodiment of the present application, as shown in Figures 39-47, the multi-channel interventional surgical instrument delivery device further includes an interventional surgical catheter delivery device, wherein the interventional surgical catheter delivery device is provided at one end of a telescopic delivery mechanism 2700, and a coaxial vascular interventional surgical instrument delivery box is located between the delivery device and the interventional surgical catheter delivery device. The telescopic delivery mechanism 2700 can enable the delivery device to move forward and backward relative to the interventional surgical catheter delivery device and the coaxial vascular interventional surgical instrument delivery box to deliver or withdraw the interventional surgical instrument.

[0223] Among them, interventional surgery catheter delivery devices include:

[0224] The catheter delivery box is hollow and has a receiving cavity. An inlet and an outlet are respectively provided at opposite ends of the catheter delivery box. The catheter passes through the inlet, the receiving cavity, and the outlet in sequence. A quick positioning connection structure is provided on the catheter delivery box.

[0225] a catheter delivery mechanism disposed in the accommodating cavity, the catheter delivery mechanism driving the catheter to move along its length direction to achieve delivery and withdrawal of the catheter;

[0226] The vascular sheath connector includes a vascular sheath fixing seat and a connecting hose. One end of the connecting hose is detachably connected to the vascular sheath fixing seat through a first quick-connect structure, and the other end of the connecting hose is detachably connected to the guide outlet through a second quick-connect structure.

[0227] It should be noted that the telescopic delivery mechanism 2700 includes a first rotary joint 2701 connected to the head end of the telescopic delivery mechanism 2700 via a flange, and the rotation axis of the first rotary joint 2701 coincides with the telescopic axis of the telescopic delivery mechanism 2700. The interventional catheter delivery device 3100 is connected to the first rotary joint 2701 via a second rotary joint 2702.

[0228] In the embodiment disclosed in the present application, an interventional surgical catheter delivery device is provided at the end of the delivery device. The interventional surgical catheter delivery device is used to be connected to a vascular sheath pre-implanted in a blood vessel. An interventional instrument (usually a catheter) is delivered directly into the vascular sheath through the interventional surgical catheter delivery device. The interventional instrument at the rear end of the vascular sheath is limited by the rollers on the delivery box assembly to avoid leaving a section of unrestricted interventional instrument at the rear side of the tail of the vascular sheath, thereby avoiding bending of the interventional instrument during the delivery process.

[0229] The interventional surgical catheter delivery device of the present application integrates the delivery mechanism and the vascular sheath connector through a catheter delivery box, and has both the connection function of the vascular sheath 3400 and the delivery function of the catheter. Before the operation, the interventional surgical catheter delivery device is provided as a whole to the doctor for direct use, and after the operation, the interventional surgical catheter delivery device is replaced as a whole, which reduces the preparation time of the surgical robot and improves the work efficiency of medical staff.

[0230] The interventional surgical catheter delivery device proposed in this application integrates the delivery mechanism and the vascular sheath connector through a catheter delivery box, and is provided to doctors in a sterile manner as a disposable consumable of the surgical robot, effectively solving the problem of cross infection.

[0231] The interventional surgical catheter delivery device proposed in this application has a catheter delivery box provided with a quick positioning connection structure, which can quickly install the catheter delivery box on the corresponding component of the interventional surgical robot through the quick positioning connection structure, facilitating the doctor's operation.

[0232] Specifically, as shown in Figures 40-47, an interventional surgery catheter delivery device 3100 is provided, which includes at least a catheter delivery box 310, a catheter delivery mechanism 320 and a vascular sheath connector 330. The interior of the catheter delivery box 310 is hollow and formed with a accommodating cavity. The opposite ends of the catheter delivery box 310 are respectively provided with an inlet 311 and an outlet 312. The catheter 200 passes through the inlet 311, the accommodating cavity and the outlet 312 in sequence. The catheter delivery box is provided with a quick positioning connection structure; the catheter delivery mechanism 320 is provided in the accommodating cavity, and the catheter delivery mechanism 320 drives the catheter 200 to move along the length direction of the catheter 200 to achieve delivery and withdrawal of the catheter 200; the vascular sheath connector 330 includes a vascular sheath fixing seat 331 and a connecting hose 332. One end of the connecting hose 332 is detachably connected to the vascular sheath fixing seat 331 by a first quick-connect structure, and the other end of the connecting hose 332 is detachably connected to the outlet 312 by a second quick-connect structure.

[0233] The interventional surgery catheter delivery device 3100 proposed in this application features a quick-connect mechanism on its delivery box 310, enabling rapid installation of the box 310 onto the corresponding component of an interventional surgery robot, facilitating operation for the physician. Furthermore, a first quick-connect mechanism is provided between the connecting hose 332 and the vascular sheath holder 331, and a second quick-connect mechanism is provided between the connecting hose 332 and the delivery box 310, facilitating installation of the connecting hose 332.

[0234] In an optional embodiment of the present application, the catheter delivery mechanism 320 includes a co-ordinated concentric wheel 321 and an eccentric wheel 322. The concentric wheel 321 and the eccentric wheel 322 are rotatably mounted within the accommodating chamber, and a clamping opening 323 is formed between the concentric wheel 321 and the eccentric wheel 322 for the catheter 200 to pass through. The coordinated rolling of the concentric wheel 321 and the eccentric wheel 322 enables the full delivery and withdrawal of the catheter 200.

[0235] Specifically, before the catheter 200 is placed in the clamping opening 323 between the concentric wheel 321 and the eccentric wheel 322, the eccentric wheel 322 rotates to a side away from the concentric wheel 321, so that the gap between the two wheels (i.e., the width of the clamping opening 323) reaches its maximum value, facilitating the placement of the catheter 200. After the catheter 200 is placed, the eccentric wheel 322 rotates, so that the eccentric wheel 322 and the concentric wheel 321 clamp the catheter 200. At this time, the concentric wheel 321 actively rotates, while the eccentric wheel 322 does not move, thereby achieving the forward and backward delivery of the catheter 200.

[0236] In an optional example of this embodiment, the concentric wheel 321 has a first rotation axis 3211, the eccentric wheel 322 has a second rotation axis 3221, and the catheter delivery box 310 has a first connection port 313 aligned with the first rotation axis 3211 and a second connection port 314 aligned with the second rotation axis 3221. One end of the first rotation axis 3211 extends through the first connection port 313, and one end of the second rotation axis 3221 extends through the second connection port 314 to extend outside the catheter delivery box 310. The ends of the first rotation axis 3211 and the second rotation axis 3221 extending from the catheter delivery box 310 are each detachably connected to a drive mechanism. Furthermore, the drive mechanism can be mounted on a surgical robot and reused. The interventional surgery catheter delivery device 3100 is detachably connected to the drive mechanism via the first rotation axis 3211 and the second rotation axis 3221, facilitating replacement of the interventional surgery catheter delivery device 3100.

[0237] In an optional example, the first rotating shaft 3211 and the second rotating shaft 3221 are respectively connected via a third quick-connect structure, so as to further facilitate the installation of the interventional surgery catheter delivery device 3100 .

[0238] Optionally, the third quick-connect structure includes a plurality of spherical protrusions 341 disposed at the end of the first rotating shaft 3211 (or the end of the second rotating shaft 3221) and a plurality of spherical grooves 342 disposed on the drive mechanism and aligned with the plurality of spherical protrusions 341. Once the spherical protrusions 341 are aligned and inserted into the spherical grooves 342, the first rotating shaft 3211 (or the second rotating shaft 3221) and the drive mechanism are quickly connected.

[0239] Furthermore, the third quick-connect structure may also adopt other forms, such as triangular protrusions and triangular grooves that match each other.

[0240] In an optional embodiment of the present application, the catheter delivery box 310 includes a box body 315 and a box cover 316 . The box cover 316 is openably and closably mounted on the box body 315 . The first connection port 313 and the second connection port 314 are located on the bottom surface of the box body 315 .

[0241] In an optional example of this embodiment, the quick positioning connection structure is a magnetic block, a positioning groove, a positioning protrusion or a Velcro provided on the box body 315 .

[0242] In an optional example, a fourth magnetic block 317 is provided on the bottom surface of the box body 315, and correspondingly, a fifth magnetic block 3310 is provided on the mounting and fixing plate 3300 of the driving mechanism. The catheter delivery box 310 is fixed by magnetic attraction, so that the interventional surgery catheter delivery device 3100 can be quickly installed on the driving mechanism.

[0243] Optionally, the fourth magnetic block 317 is a magnetic stainless steel block, and two fourth magnetic blocks 317 are respectively embedded on both sides of the first connecting port 313 and the second connecting port 314 .

[0244] In an optional example, a positioning hole 318 is further provided on the bottom surface of the box body 315, and a corresponding third positioning column is provided on the driving mechanism.

[0245] During installation, the third positioning post is correspondingly inserted into the positioning hole 318 to achieve positioning and installation of the catheter delivery box 310, further ensuring the rapid connection and smooth operation of the spherical transmission structure.

[0246] In an optional embodiment of the present application, the driving mechanism is a driving motor, and the rotation speed of the driving motor can be adjusted arbitrarily, so as to achieve uninterrupted and continuous stepless rotation, thereby achieving stepless delivery of the catheter 200 (2400, 3200). Compared with the devices in the prior art that require manual delivery by the doctor, the concentric wheel 321 and the eccentric wheel 322 are driven by the driving motor to rotate, and the concentric wheel 321 and the eccentric wheel 322 can rotate continuously to achieve uninterrupted delivery of the catheter 200 (2400, 3200); in addition, by changing the speed of the driving motor, the speed of the concentric wheel 321 and the eccentric wheel 322 can also be changed, thereby adjusting the delivery speed of the catheter 200 (2400, 3200), further improving the convenience of the doctor's operation.

[0247] In an optional embodiment of the present application, the difference between the inner diameter of the connecting hose 332 and the outer diameter of the catheter 200 (2400, 3200) is less than 1 mm. During the process of delivering the catheter 200 (2400, 3200) into the vascular sheath, the connecting hose 332 can form a fixed sealed channel, and the connecting hose 332 can have a certain degree of deformation toughness. After the catheter 200 (2400, 3200) penetrates the connecting hose 332, the gap between the connecting hose 332 and the catheter 200 (2400, 3200) is less than 1 mm. The bending clearance of the catheter 200 (2400, 3200) is small, which can effectively guide the delivery of the catheter 200 (2400, 3200) to ensure that the catheter 200 (2400, 3200) does not bend when it is delivered into the vascular sheath connector 330, making it easier for doctors to operate the surgical robot.

[0248] In an optional example of this embodiment, one end of the connecting hose 332 is connected to the vascular sheath holder 331 via a first quick-connect structure. Using the first quick-connect structure, the connecting hose 332 can be quickly connected to and disconnected from the vascular sheath holder 331. In an optional example, the first quick-connect structure is a threaded connection structure.

[0249] Furthermore, the vascular sheath fixing seat 331 is formed by fastening a vascular sheath fixing seat upper cover 3311 and a vascular sheath fixing seat lower cover 3312 .

[0250] In an optional example, the other end of the connecting hose 332 passes through the outlet 312 and extends into the accommodating cavity. A second quick-connect structure for fixing the connecting hose 332 is provided in the accommodating cavity. The second quick-connect structure is a snap-connect structure 333. The snap-connect structure 333 can avoid local hard contact and stress when adjusting the connecting hose 332 to be fixedly matched with the catheter delivery box 310.

[0251] In the present application, the first quick-connect structure and the second quick-connect structure can adopt various forms as long as they can achieve quick connection.

[0252] The above is only an illustrative embodiment of the present application and is not intended to limit the scope of the present application. Any equivalent changes and modifications made by any person skilled in the art without departing from the concept and principle of the present application shall fall within the scope of protection of the present application.

Claims

1. A multi-channel interventional surgical instrument delivery device, characterized in that: include: A delivery device, wherein the delivery device comprises: a delivery wheel assembly, comprising a plurality of fourth delivery wheels, wherein at least two active delivery channels for delivering at least two interventional surgical instruments can be formed between the plurality of fourth delivery wheels; At least one passive clamping channel is used to place interventional surgical instruments. A first clamping assembly is provided on one side of each passive clamping channel. The first clamping assembly can clamp and fix the interventional surgical instrument when it is placed in the passive clamping channel.

2. The multi-channel interventional surgical instrument delivery device according to claim 1, wherein: The multi-channel interventional surgical instrument delivery device also includes a first bottom shell, on which a second Y-valve mounting groove and at least one clamping guide groove are provided. The second Y-valve mounting groove is used to install the second Y-valve. The two ends of the clamping guide groove are respectively connected to the second Y-valve mounting groove and a side wall of the first bottom shell. The clamping guide groove constitutes the passive clamping channel.

3. The multi-channel interventional surgical instrument delivery device according to claim 2, wherein: A first mounting groove is connected to a groove wall on one side of the clamping guide groove, and the first clamping assembly includes a clamping block and a compression return spring arranged in the first mounting groove, and the compression return spring is clamped between the clamping block and the groove wall of the first mounting groove away from the clamping guide groove, and one end of the clamping block is rotatably connected to the first bottom shell via a rotating shaft; the clamping block can swing around the rotating shaft and can press the interventional surgical instrument placed in the clamping guide groove against the groove wall on the other side of the clamping guide groove.

4. The multi-channel interventional surgical instrument delivery device according to claim 2, wherein: A second clamping assembly is provided behind the delivery direction of each active delivery channel. When one of the active delivery channels delivers an interventional surgical instrument, the remaining second clamping assemblies corresponding to the remaining active delivery channels can clamp the remaining interventional surgical instruments located in the remaining active delivery channels.

5. The multi-channel interventional surgical instrument delivery device according to claim 4, wherein: The second clamping assembly includes a clamping wheel and a clamping block. The clamping wheel is an eccentric wheel. The clamping wheel can approach or move away from the clamping block. When the clamping wheel is close to the clamping block, the clamping wheel can cooperate with the clamping block to clamp the interventional surgical instrument located in the corresponding active delivery channel.

6. The multi-channel interventional surgical instrument delivery device according to claim 5, wherein: The plurality of fourth delivery wheels include a driving wheel and two driven wheels, wherein the driving wheel is a concentric wheel, and the driven wheel is an eccentric wheel and can approach or deviate from the driving wheel; when the driven wheel approaches the driving wheel, the active delivery channel is formed between the driving wheel and the driven wheel, the driving wheel can drive the driven wheel to rotate by friction, and the driving wheel and the driven wheel can also generate staggered motion in opposite directions.

7. The multi-channel interventional surgical instrument delivery device according to claim 6, wherein: The clamping wheel and the fourth delivery wheel are both connected to corresponding wheel axles, and the ends of the wheel axles are provided with multiple protrusions. The multiple protrusions on the wheel axles can be engaged with multiple positioning grooves opened at the end of a rotating drive shaft.

8. The multi-channel interventional surgical instrument delivery device according to claim 7, wherein: The protrusion or the end of the protrusion is hemispherical, and an avoidance groove is provided on the side of the clamping wheel.

9. The multi-channel interventional surgical instrument delivery device according to claim 4, wherein: At least two delivery guide grooves are formed on the first bottom shell, with the two ends of the delivery guide grooves respectively connected to the second Y-valve mounting groove and a side wall of the first bottom shell, and the active delivery channel constitutes a portion of the corresponding delivery guide grooves; a second mounting groove is formed between two adjacent delivery guide grooves, which can be connected to the side groove walls of the delivery guide grooves on both sides, and the second mounting groove is located between the second Y-valve mounting groove and the active delivery channel. A flexible guide block is detachably installed in the second mounting groove; The two side walls of the flexible guide block can form two flexible guide grooves that can match the diameter of the interventional surgical instrument with the other side walls of the delivery guide groove on both sides.

10. The multi-channel interventional surgical instrument delivery device according to claim 9, wherein: A guide block preset groove is further provided on the first bottom shell, and the flexible guide block can be installed in the guide block preset groove or in the second installation groove; A first metal block is provided at the bottom of the guide block preset groove and the bottom of the second installation groove, and a first magnetic block is provided at the bottom of the flexible guide block. The first magnetic block can be magnetically connected to the first metal block.

11. The multi-channel interventional surgical instrument delivery device according to claim 9, wherein: The multi-channel interventional surgical instrument delivery device also includes a first cover body that can be covered with the first bottom shell. A plurality of pressure ribs are provided on the first cover body. The pressure ribs can be pressed against the notch of the clamping guide groove, the notch of the delivery guide groove and / or the notch of the flexible guide groove after the first cover body is covered with the first bottom shell.

12. The multi-channel interventional surgical instrument delivery device according to claim 11, wherein: Two limiting grooves that can be connected with the two side groove walls of the corresponding guide groove are provided on both sides of the clamping guide groove, the delivery guide groove and both sides and / or the flexible guide groove. The groove depth of the limiting groove is smaller than the groove depth of the corresponding guide groove, and the two sides of the pressure rib can be clamped in the corresponding two limiting grooves.

13. The multi-channel interventional surgical instrument delivery device according to claim 2, wherein: A second Y-valve fixing seat is provided in the second Y-valve mounting groove, and a second Y-valve rotating mechanism is detachably mounted on the second Y-valve fixing seat. The second Y-valve rotating mechanism includes a gear fixing seat and a coaxially connected hand wheel and a first gear. The first gear is rotatably inserted into the gear fixing seat, and the gear fixing seat can be clamped on the second Y-valve fixing seat; a second gear is provided on the second Y-valve fixing seat, and the second gear can mesh with the first gear and drive the first gear to rotate; the second Y-valve can be inserted into the hand wheel and the first gear.

14. The multi-channel interventional surgical instrument delivery device according to claim 13, wherein: A flexible ring is provided inside the hand-rotating wheel, and the flexible ring can be inserted into the second Y-valve through interference fit; The second Y-valve fixing seat includes an upper fixing seat and a lower fixing seat. The side of the upper fixing seat away from the active delivery channel is hinged to one side of the lower fixing seat, and the upper fixing seat can swing around the hinge axis of the hinge.

15. The multi-channel interventional surgical instrument delivery device according to claim 11, wherein: An elastically retractable telescopic shaft is further provided on the first cover body. The telescopic shaft can be pressed against the side tube of the second Y valve after the first cover body is covered on the first bottom shell.

16. The multi-channel interventional surgical instrument delivery device according to claim 2, wherein: A plurality of positioning posts and a plurality of second magnetic blocks are provided on the bottom surface of the first bottom shell. The plurality of second magnetic blocks can be magnetically connected to a plurality of second metal blocks on a support plate, and the plurality of positioning posts can be plugged into the plurality of positioning holes on the support plate.

17. The multi-channel interventional surgical instrument delivery device according to claim 1, wherein: Also includes: A telescopic delivery mechanism and a coaxial vascular interventional surgical instrument delivery box, wherein the telescopic delivery mechanism can move the delivery device closer to or farther from the coaxial vascular interventional surgical instrument delivery box, and the delivery device can deliver a catheter and a guidewire. The coaxial vascular interventional surgical instrument delivery box includes a first delivery wheel, a second delivery wheel, a first Y-valve mounting slot, and a second cover and a second bottom shell that can cover each other. A main delivery channel for delivering microcatheters can be formed between the first delivery wheel and the second delivery wheel; the first Y-valve mounting groove is used to mount the first Y-valve; the head interface of the first Y-valve can be arranged close to the main delivery channel; and the end of the microcatheter can rotate; a main delivery guide groove is provided between the first Y-valve mounting groove and the main delivery channel; the microcatheter can be passed through the main delivery guide groove; the first delivery wheel, the second delivery wheel, the first Y-valve mounting groove and the main delivery guide groove are all provided in the second bottom shell; a main pressure rib is provided on the second cover body, and the main pressure rib can be pressed against the notch of the main delivery guide groove after the second cover body is covered on the second bottom shell.

18. The multi-channel interventional surgical instrument delivery device according to claim 17, wherein: A first Y-valve fixing seat is provided in the first Y-valve installation groove, and a first Y-valve rotating mechanism is detachably mounted on the first Y-valve fixing seat. The first Y-valve rotating mechanism can be connected to the first Y-valve to drive the first Y-valve to rotate.

19. The multi-channel interventional surgical instrument delivery device according to claim 18, wherein: The first Y-valve rotation mechanism includes a gear fixing seat and a coaxially connected hand wheel and a first gear. The first gear can be rotatably inserted into the gear fixing seat, and the gear fixing seat can be clamped on the first Y-valve fixing seat; a second gear is provided on the first Y-valve fixing seat, and the second gear can mesh with the first gear and drive the first gear to rotate; the first Y-valve can be inserted into the hand wheel and the first gear.

20. The multi-channel interventional surgical instrument delivery device according to claim 17, wherein: The invention also includes an interventional surgery catheter delivery device, wherein the interventional surgery catheter delivery device is arranged at one end of the telescopic delivery mechanism, and the coaxial vascular interventional surgery instrument delivery box is located between the delivery device and the interventional surgery catheter delivery device. The telescopic delivery mechanism can move the delivery device forward and backward relative to the interventional surgery catheter delivery device and the coaxial vascular interventional surgery instrument delivery box to deliver or withdraw the interventional surgery instrument. Wherein, the interventional surgery catheter delivery device comprises: The catheter delivery box is hollow and has a receiving cavity. The opposite ends of the catheter delivery box are respectively provided with an inlet and an outlet. The catheter passes through the inlet, the receiving cavity, and the outlet in sequence. The catheter delivery box is provided with a quick positioning connection structure. a catheter delivery mechanism, disposed in the accommodating cavity, the catheter delivery mechanism driving the catheter to move along its length direction to achieve delivery and withdrawal of the catheter; The vascular sheath connector includes a vascular sheath fixing seat and a connecting hose, one end of the connecting hose is detachably connected to the vascular sheath fixing seat through a first quick-connect structure, and the other end of the connecting hose is detachably connected to the guide outlet through a second quick-connect structure.

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