Vascular interventional surgical robot and delivery method

Abstract

A vascular interventional surgical robot and a delivery method. The vascular interventional surgical robot comprises: a first telescopic delivery mechanism (10); a first delivery box assembly (20), arranged at one end of the first telescopic delivery mechanism (10); and a second delivery box assembly (30), arranged at the other end of the first telescopic delivery mechanism (10). The second delivery box assembly (30) is used for being connected to a vascular sheath pre-implanted in a blood vessel so as to deliver an interventional instrument into the vascular sheath. The problem that in the catheter delivery process of an existing vascular interventional surgical robot, the catheter encounters resistance and is bent can be solved.

Description

Vascular interventional surgery robots and delivery methods

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application No. 202410251235.1 filed on March 5, 2024, Chinese patent application No. 202411730705.9 filed on November 28, 2024, and Chinese patent application No. 202411730709.7 filed on November 28, 2024, and cites all the disclosed contents of the above patent applications as part of this application. Technical Field

[0003] The present disclosure relates to the technical field of medical surgical machinery, and in particular to a vascular interventional surgical robot and a delivery method. 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 the delivery of the catheter by the existing vascular interventional surgical robot, there is still a section of the catheter in an under-positioned state between the delivery outlet of the surgical robot and the vascular sheath fixed on the human body (the vascular sheath is implanted into the human blood vessel during surgery and fixed to the human wrist. The catheter must enter the vascular sheath and then enter the human blood vessel). When the catheter encounters resistance during delivery, although the end of the catheter moves toward the patient, the catheter itself is relatively soft and will bend during delivery, resulting in the catheter tip not moving in the human blood vessel. Although the degree of bending of the catheter can be limited by the exoskeleton, the bending of the catheter cannot be completely eliminated, and the structure is complex, and the delivery accuracy of the catheter tip is not high. Summary of the Invention

[0007] The purpose of the embodiments of the present disclosure is to provide a vascular interventional surgical robot and a delivery method to solve the problem that, during the delivery of a catheter by an existing vascular interventional surgical robot, the catheter encounters resistance and bends.

[0008] The above technical objectives of the present disclosure are mainly achieved through the following technical solutions:

[0009] An embodiment of the present disclosure provides a vascular interventional surgical robot, which includes: a first telescopic delivery mechanism; a first delivery box assembly, which is arranged at one end of the first telescopic delivery mechanism; a second delivery box assembly, which is arranged at the other end of the first telescopic delivery mechanism, and the second delivery box assembly is used to be connected to a vascular sheath pre-implanted in a blood vessel to deliver an interventional instrument into the vascular sheath; wherein the first delivery box assembly and the second delivery box assembly are used to connect the interventional instrument and can deliver or withdraw the interventional instrument, and the first telescopic delivery mechanism can move the first delivery box assembly back and forth relative to the second delivery box assembly to deliver or withdraw the interventional instrument.

[0010] In an optional embodiment of the present disclosure, the vascular interventional surgical robot further includes: a third delivery box assembly, which is rotatably connected to one end of the first telescopic delivery mechanism on which the second delivery box assembly is provided, and the third delivery box assembly is located between the first delivery box assembly and the second delivery box assembly; the third delivery box assembly is used to connect the interventional instrument and can deliver or withdraw the interventional instrument, and the first telescopic delivery mechanism can move the first delivery box assembly forward and backward relative to the third delivery box assembly to deliver or withdraw the interventional instrument.

[0011] Compared with the prior art, the technical solution disclosed in this disclosure has the following characteristics and advantages:

[0012] The vascular interventional surgical robot described in the present invention is provided with a second delivery box assembly at the end of the first telescopic delivery mechanism. The second delivery box assembly is used to be connected to a vascular sheath pre-implanted in the blood vessel, and the interventional instrument (usually a catheter) is delivered directly into the vascular sheath through the second delivery box assembly. 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 on the rear side of the tail of the vascular sheath, thereby avoiding bending of the interventional instrument during the delivery process.

[0013] The vascular interventional surgical robot disclosed herein is provided with a third delivery box assembly for cooperating with the first delivery box assembly and the second delivery box assembly. The delivery of coaxial interventional instruments is achieved through the coordinated action of the first delivery box assembly and the third delivery box assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0015] The drawings described herein are for illustrative purposes only and are not intended to limit the scope of the present disclosure in any way. In addition, the shapes and proportional dimensions of the various components in the drawings are merely illustrative and are used to facilitate understanding of the present disclosure. They do not specifically limit the shapes and proportional dimensions of the various components of the present disclosure. Those skilled in the art, under the guidance of the present disclosure, can select various possible shapes and proportional dimensions to implement the present disclosure according to specific circumstances.

[0016] FIG1 is a schematic structural diagram of a vascular interventional surgery robot according to a first embodiment of the present disclosure;

[0017] FIG2 is a schematic structural diagram of a vascular interventional surgery robot according to a second embodiment of the present disclosure;

[0018] FIG3 is another schematic structural diagram of a vascular interventional surgery robot according to the second embodiment of the present disclosure;

[0019] FIG4 is a schematic diagram of a partial structure of a second delivery box assembly according to an embodiment of the present disclosure;

[0020] FIG5 is a partial cross-sectional view of FIG4;

[0021] FIG6 is a schematic structural diagram of a second delivery box mounting plate according to an embodiment of the present disclosure;

[0022] FIG7 is a schematic structural diagram of a second delivery box according to an embodiment of the present disclosure;

[0023] FIG8 is a schematic structural diagram of a first telescopic delivery mechanism in an embodiment of the present disclosure;

[0024] FIG9 is a partial structural diagram of a third delivery box assembly according to an embodiment of the present disclosure;

[0025] FIG10 is a schematic structural diagram of a vascular interventional surgery robot according to a fifth embodiment of the present disclosure;

[0026] FIG11 is a schematic structural diagram of a vascular interventional surgical robot (or coaxial interventional instrument delivery system) according to a sixth embodiment of the present disclosure;

[0027] FIG12 is another schematic structural diagram of a vascular interventional surgery robot according to the sixth embodiment of the present disclosure;

[0028] FIG13 is a schematic structural diagram of a telescopic delivery mechanism, a guide rail telescopic support mechanism, and a drive assembly according to an embodiment of the present disclosure;

[0029] FIG14 is a schematic structural diagram of the vascular interventional surgery robot in a contracted state according to an embodiment of the present disclosure;

[0030] FIG15 is a schematic structural diagram of a drive assembly in an embodiment of the present disclosure;

[0031] FIG16 is a schematic cross-sectional view of the drive assembly in an embodiment of the present disclosure;

[0032] 17 and 18 are schematic structural diagrams of two different examples of a third delivery box according to an embodiment of the present disclosure;

[0033] FIG19 is a schematic diagram of the positional relationship among the catheter, guidewire, and microcatheter in an embodiment of the present disclosure;

[0034] FIG. 20 is a schematic diagram of the first delivery box and the third delivery box used in conjunction with each other in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0035] In order to enable those skilled in the art to better understand the technical solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making any creative efforts should fall within the scope of protection of the present disclosure.

[0036] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may be an element centered thereon. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an element centered thereon. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only embodiments.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this disclosure pertains. The terms used herein in the specification of this disclosure are for the purpose of describing specific embodiments only and are not intended to limit this disclosure. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0038] Implementation method one:

[0039] As shown in FIG1 , an embodiment of the present disclosure provides a vascular interventional surgical robot for delivering rapid-exchange interventional instruments (catheters). The vascular interventional surgical robot includes a first telescopic delivery mechanism 10, a first delivery box assembly 20, and a second delivery box assembly 30. The first delivery box assembly 20 is disposed at one end of the first telescopic delivery mechanism 10; the second delivery box assembly 30 is disposed at the other end of the first telescopic delivery mechanism 10. The second delivery box assembly 30 is used to connect to a vascular sheath pre-implanted in a blood vessel to deliver an interventional instrument into the vascular sheath. The first delivery box assembly 20 and the second delivery box assembly 30 are used to connect the interventional instruments. The first telescopic delivery mechanism 10 enables the first delivery box assembly 20 to move forward and backward relative to the second delivery box assembly 30 to deliver or withdraw the interventional instrument.

[0040] The vascular interventional surgical robot of the disclosed embodiment is provided with a second delivery box assembly 30 at the end of the first telescopic delivery mechanism 10. The second delivery box assembly 30 is used to be connected to a vascular sheath pre-implanted in the blood vessel, and an interventional instrument (usually a catheter) is delivered directly into the vascular sheath through the second delivery box assembly 30. The interventional instrument at the rear end of the vascular sheath is restricted (limited) by the rollers on the delivery box assembly to avoid leaving a section of unrestricted interventional instrument on the rear side of the tail of the vascular sheath, thereby avoiding bending of the interventional instrument during the delivery process.

[0041] The following will describe in detail the specific structure of each part of the vascular interventional surgery robot in this embodiment, as well as the position and connection relationship between the parts.

[0042] As shown in Figures 1 and 8 , the vascular interventional surgical robot of the present embodiment includes a first telescopic delivery mechanism 10. This first telescopic delivery mechanism 10 can utilize existing telescopic structures to achieve the movement of the first delivery box assembly 20 and the second delivery box assembly 30 closer together or further apart by extending or contracting along a straight line. The specific structure and delivery method of the first telescopic delivery mechanism 10 are not limited herein; for example, the first telescopic delivery mechanism 10 of this embodiment can utilize the telescopic delivery mechanism described in Chinese Patent Publication No. CN117814923A, published on April 5, 2024, entitled "Vascular Interventional Surgery Robot and Delivery Method."

[0043] In this embodiment, as shown in Figure 8, the first telescopic delivery mechanism 10 includes a plurality of telescopic parts that are telescopically connected. When each telescopic part is in an extended state, the telescopic part closest to the first delivery box assembly 20 is the final telescopic part 11, and the telescopic part closest to the third delivery box assembly 40 is the first telescopic part 12.

[0044] Exemplarily, each telescopic member can be a telescopic rod, and multiple telescopic rods are sequentially sleeved together from the inside to the outside, and the multiple telescopic rods are threadedly connected. The innermost telescopic rod is the first-stage telescopic rod (i.e., the first-stage telescopic member 12), and the outermost telescopic rod is the final-stage telescopic rod (i.e., the final-stage telescopic member 11). A telescopic rod rotation drive mechanism 130 can be connected to the outside of one end of the final-stage telescopic rod, and the telescopic rod rotation drive mechanism can drive the final-stage telescopic rod to rotate and cause the first telescopic delivery mechanism 10 to extend and retract. For example, the telescopic rod rotation drive mechanism 35 can include a motor and a gear connected in sequence. Both ends of each telescopic rod can be provided with an anti-detachment structure to prevent the telescopic rod from detaching from the first telescopic delivery mechanism 10 after the first telescopic delivery mechanism 10 is extended.

[0045] As shown in Figures 1 and 8, the tail end of the final telescopic member 11 is provided with a first delivery box assembly 20, which can clamp, deliver (forward or backward) and rotate the interventional instrument. The first delivery box assembly 20 can be implemented using any existing delivery device that can be used to deliver interventional instruments (catheters and guidewires), and its specific structure and delivery method are not limited here. For example, the first delivery box assembly 20 can adopt the interventional surgery delivery device in the Chinese patent with publication number CN113893441A, publication date January 7, 2022, and name "An interventional surgery delivery device"; the first delivery box assembly 20 can also adopt the interventional surgery delivery device in the Chinese patent with publication number CN220714019U, publication date April 5, 2024, and name "Interventional surgery instrument delivery device and surgical robot".

[0046] As shown in FIG. 3 , the first delivery box assembly 20 and the tail end of the final telescopic member 11 can both be axially relatively fixedly mounted on the robotic arm 70 .

[0047] In this embodiment, as shown in Figure 3, the first delivery box assembly 20 includes a first delivery wheel group 21, a first delivery box drive mechanism, a second Y-valve mounting slot 22 and a second Y-valve 23; the first delivery box drive mechanism (not shown) is drive-connected to the first delivery wheel group 21; the second Y-valve 23 is detachably mounted in the second Y-valve mounting slot 22, with the inlet of the second Y-valve 23 facing the first delivery wheel group 21, and the outlet of the second Y-valve 23 facing the second delivery box assembly 30. The second Y-valve 23 is used to fix the tail end of the interventional instrument.

[0048] Specifically, as shown in Figure 3, the first delivery wheel assembly 21 is used to deliver a guidewire. It includes a driving roller and twice the number of driven rollers, thereby forming multiple channels between the driving rollers and the driven rollers. The driven rollers in the first delivery wheel assembly 21 are eccentric wheels, which can clamp a slender interventional instrument (usually a guidewire) through rotation. The cooperation between the driving roller and the driven roller enables the delivery of the guidewire. The outlet of the second Y-valve 23 is oriented in the same direction as the delivery outlet of the first delivery box assembly 20, and both are parallel to the telescopic direction of the first telescopic delivery mechanism 10.

[0049] As shown in Figures 1 and 8 , the tip of the primary telescopic member 12 is equipped with a second delivery box assembly 30. This second delivery box assembly 30 can be connected to the tail end of the vascular sheath to assist the first delivery box assembly 20 in delivering the interventional device (catheter). Before delivery begins, the tip of the catheter can be secured within the second delivery box assembly 30 and can be directly inserted into the vascular sheath via the second delivery box 33. During delivery, the portion of the catheter that has not entered the vascular sheath is held in place by the first and second delivery box assemblies 20 and 30, respectively, to prevent this portion of the catheter from bending due to resistance during delivery.

[0050] As shown in Figure 1, the second delivery box assembly 30 is mounted on the head end of the first telescopic member 12 via the first fixing base 13. As shown in Figures 4 to 7, the second delivery box assembly 30 includes a second delivery box mounting plate 31, a second delivery box drive mechanism 32, and a second delivery box 33. The second delivery box drive mechanism 32 is located on one side of the second delivery box mounting plate 31; the second delivery box 33 is detachably connected to the other side of the second delivery box mounting plate 31, and the second delivery box drive mechanism 32 is drivingly connected to the second delivery box 33.

[0051] Specifically, as shown in Figures 1 and 4, the second delivery box mounting plate 31 is connected to the first fixing seat 13 via a first end plate 131. The first fixing seat 13 is a solid shaft and is coaxially arranged with the telescopic axis of the first telescopic delivery mechanism 10. The first end plate 131 extends in a direction perpendicular to the telescopic axis of the first telescopic delivery mechanism 10, thereby causing the second delivery box mounting plate 31 to be axially offset from the first telescopic delivery mechanism 10.

[0052] Furthermore, as shown in Figures 4 to 7, the second delivery box mounting plate 31 is provided with a first magnetic block 311, a positioning protrusion 312 and a first power output connector 313. The second delivery box 33 is magnetically connected to the first magnetic block 311, and the second delivery box 33 is matched and plugged into the positioning protrusion 312. The second delivery box driving mechanism 32 is driven and connected to the second delivery wheel group 331 in the second delivery box 33 through the first power output connector 313. The second delivery wheel group 331 is used to clamp the interventional instrument and deliver or retract the interventional instrument.

[0053] A quick-release structure is designed between the second delivery box 33 and the second delivery box mounting plate 31. Through snap-fit ​​positioning and magnetic fixation, quick disassembly and assembly can be achieved, which is convenient for operation and quick replacement, thereby improving the efficiency of robot-assisted surgery.

[0054] The second delivery box drive mechanism 32 includes a motor and a gear transmission chain connected to the motor. The rotational energy of the motor is transmitted to the first power output connector 313 through the gear transmission chain, thereby driving the first power output connector 313 to rotate. The number of first power output connectors 313 is the same as the number of rollers in the second delivery wheel assembly 331.

[0055] As shown in Figures 3, 6, and 7, the second delivery box 33 comprises a box body, within which is disposed a second delivery wheel assembly 331 comprising two rollers arranged side by side. A power input connector 334 is provided at the bottom of the box body, connected to the rollers, enabling the two rollers to rotate synchronously within the box body. The power input connector 334 is capable of aligning and engaging with the first power output connector 313. A magnetic interface 333 is also provided at the bottom of the box body for magnetically connecting to the first magnetic block 311. A plurality of positioning slots 332 are provided on the side walls of the box body for mating and engaging with the positioning protrusions 312.

[0056] When the second delivery box 33 is installed on the second delivery box mounting plate 31 , the positioning protrusion 312 is inserted into the positioning groove 332 , the first magnetic block 311 is magnetically connected to the magnetic interface 333 , and the first power output connector 313 is snap-fitted to the power input connector 334 .

[0057] Preferably, as shown in FIG1 , the outlet of the second delivery box assembly 30 is connected to a hose connector 34, and the second delivery box assembly 30 is connected to the vascular sheath via the hose connector 34. During the delivery process, the interventional device passes through the second delivery box assembly 30, then through the hose connector 34 and the vascular sheath, and then enters the blood vessel.

[0058] Implementation method 2:

[0059] The present disclosure provides a delivery method, which utilizes the vascular interventional surgical robot described in Embodiment 1. The delivery method is used to deliver a rapid-exchange interventional instrument (catheter) in relatively simple surgeries. The delivery method includes the following steps:

[0060] Step S1: The first telescopic delivery mechanism 10 is extended to a predetermined length, and the second delivery box assembly 30 is connected to the vascular sheath;

[0061] Step S2: Installing the Y-valve connected to the tail end of the catheter on the first delivery box assembly 20, and installing the head end of the catheter on the second delivery wheel assembly 331 in the second delivery box assembly 30;

[0062] Step S3: delivering the guidewire using the first delivery box assembly 20 so that the guidewire is inserted into the catheter and extends out of the tip of the catheter;

[0063] Step S4: delivering the catheter and guidewire by contracting the first telescopic delivery mechanism 10 and rotating the second delivery wheel assembly 331;

[0064] Step S5 : delivering the guidewire using the first delivery box assembly 20 .

[0065] The specific operation process of each step of the above delivery method will be described in detail below.

[0066] In step S1, the device is extended, and the first delivery box assembly 20 is moved away from the second delivery box assembly 30 by the extension of the first telescopic delivery mechanism 10 and moves to the extreme position; then the tail end of the vascular sheath is fixed to the hose connector 34 at the delivery outlet of the second delivery box assembly 30.

[0067] In step S2, the catheter is installed: the tail end of the catheter is connected to the Y-valve, and the Y-valve connected to the catheter is installed in the Y-valve installation groove in the first delivery box assembly 20; at the same time, the head end of the catheter is installed between the two rollers of the second delivery wheel assembly 331 in the second delivery box assembly 30.

[0068] In step S3, the guidewire is installed between the rollers of the first delivery wheel assembly 21 within the first delivery box assembly 20, and the guidewire tip is positioned within the Y-valve. The guidewire is then delivered into the catheter through the rotation of the first delivery wheel assembly 21, where it moves forward until the guidewire tip extends a certain distance beyond the catheter's tip. The guidewire tip has a bend, which allows for subsequent catheter and guidewire delivery by rotating the guidewire.

[0069] In step S4, after the guidewire extends a certain distance from the head end of the catheter, the first delivery wheel group 21 is closed and the guidewire is stopped from being delivered forward alone; thereafter, the first telescopic delivery mechanism 10 contracts, driving the first delivery box assembly 20 to move toward the second delivery box assembly 30, and at the same time, the second delivery wheel group 331 on the second delivery box assembly 30 is opened to deliver the catheter forward, thereby achieving simultaneous forward delivery of the catheter and the guidewire. During the delivery process, the axial relative positions of the catheter and the guidewire remain basically unchanged.

[0070] In step S5, when the catheter reaches the surgical position expected by the doctor, the first telescopic delivery mechanism 10 stops contracting, stops delivering the catheter, starts the first delivery wheel group 21, and continues to deliver the guidewire forward alone until the tip of the guidewire reaches the surgical position expected by the doctor and stops delivering the guidewire.

[0071] Preferably, in step S3, multiple guide wires can be installed between the rollers of the first delivery wheel group 21 in the first delivery box assembly 20, and a guide wire can be delivered by the first delivery wheel group 21 to extend a certain distance from the head end of the catheter for guidance. Then, in step S5, multiple different guide wires can be delivered to multiple intended surgical locations respectively by the first delivery wheel group 21.

[0072] Implementation method three:

[0073] As shown in Figures 2 and 3, an embodiment of the present disclosure provides another vascular interventional surgical robot for delivering rapid-exchange interventional instruments. The vascular interventional surgical robot includes a first telescopic delivery mechanism 10, a first delivery cartridge assembly 20, a second delivery cartridge assembly 30, and a third delivery cartridge assembly 40. The first delivery cartridge assembly 20 is disposed at one end of the first telescopic delivery mechanism 10; the second delivery cartridge assembly 30 is disposed at the other end of the first telescopic delivery mechanism 10. The second delivery cartridge assembly 30 is configured to connect to a vascular sheath pre-implanted within a blood vessel to deliver an interventional instrument into the vascular sheath; the third delivery cartridge assembly 40 is rotatably connected to the end of the first telescopic delivery mechanism 10 where the second delivery cartridge assembly 30 is disposed, and the third delivery cartridge assembly 40 is positioned between the first delivery cartridge assembly 20 and the second delivery cartridge assembly 30. The first, second, and third delivery cartridge assemblies 20, 30, and 40 are configured to connect interventional instruments and are capable of delivering or retracting interventional instruments. The first telescopic delivery mechanism 10 enables the first delivery cartridge assembly 20 to move forward and backward relative to the second, third, and third delivery cartridge assemblies 30, 40 to deliver or retract interventional instruments.

[0074] The vascular interventional surgical robot of the disclosed embodiment is provided with a second delivery box assembly 30 at the end of the first telescopic delivery mechanism 10. The second delivery box assembly 30 is used to be connected to a vascular sheath pre-implanted in the blood vessel, and an interventional instrument (usually a catheter) is delivered directly into the vascular sheath through the second delivery box assembly 30. The interventional instrument at the rear end of the vascular sheath is restricted (limited) by the rollers on the delivery box assembly to avoid leaving a section of unrestricted interventional instrument on the rear side of the tail of the vascular sheath, thereby avoiding bending of the interventional instrument during the delivery process.

[0075] The vascular interventional surgical robot of the disclosed embodiment is provided with a third delivery box assembly 40 for cooperating with the first delivery box assembly 20 and the second delivery box assembly 30. Through the coordinated action of the first delivery box assembly 20 and the third delivery box assembly 40, the delivery of a coaxial interventional instrument (intermediate catheter) is achieved, avoiding the problem of needing to pull out the tail end of the catheter when delivering the intermediate catheter.

[0076] The following will describe in detail the specific structure of each part of the vascular interventional surgery robot described in this embodiment, as well as the position and connection relationship between the parts.

[0077] The structures of the first telescopic delivery mechanism 10, the first delivery box assembly 20, and the second delivery box assembly 30 have already been described in the first embodiment and are not further described here. The following description focuses solely on the differences between this embodiment and the first embodiment, specifically the location, connection relationship, and specific structure of the third delivery box assembly 40.

[0078] As shown in Figures 2 and 3, the second delivery box assembly 30 and the third delivery box assembly 40 are both disposed at the head end of the primary telescopic member 12 in the first telescopic delivery mechanism 10, with the third delivery box assembly 40 being axially closer to the first delivery box assembly 20 than the second delivery box assembly 30. The third delivery box assembly 40 can rotate relative to the first telescopic delivery mechanism 10, thereby changing the orientation of the third delivery box assembly 40. The third delivery box assembly 40 can be rotated to a position offset from the first delivery box assembly 20 to prevent the third delivery box assembly 40 from interfering with the delivery path of the guidewire and balloon.

[0079] The rotation axis of the third delivery box assembly 40 is parallel to the telescopic axis of the first telescopic delivery mechanism 10 ; preferably, the rotation axis of the third delivery box assembly 40 coincides with the telescopic axis of the first telescopic delivery mechanism 10 .

[0080] The first delivery box assembly 20 has a first delivery channel, the second delivery box assembly 30 has a second delivery channel, and the third delivery box assembly 40 has a third delivery channel. The first delivery channel and the second delivery channel are located on the same straight line. The third delivery box assembly 40 can be rotated so that the third delivery channel is located on the same straight line as the first delivery channel. The axis of each delivery channel is parallel to the telescopic axis of the first telescopic delivery mechanism 10.

[0081] To enable rotation of the third delivery box assembly 40, as shown in Figures 2 and 9, the tip of the first telescopic member 12 is connected to a first rotary joint 14 via a flange 17. The rotation axis of the first rotary joint 14 coincides with the telescopic axis of the first telescopic delivery mechanism 10. The first rotary joint 14 comprises a first fixed portion 141 and a first rotating portion 142, which are rotatably connected. The first fixed portion 141 is connected to the first telescopic member 12, and the first rotating portion 142 is connected to the third delivery box assembly 40 via a second end plate 143. The motor within the first rotary joint 14 drives the first rotating portion 142 to rotate relative to the first fixed portion 141, thereby driving the rotation of the third delivery box assembly 40.

[0082] During the delivery of the interventional device, it is necessary to keep the positions of the first delivery box assembly 20 and the second delivery box assembly 30 relatively unchanged, that is, to keep the second delivery box assembly 30 stationary while the third delivery box 43 rotates. This can be achieved through the following two solutions:

[0083] In one embodiment, the second delivery box assembly 30 is connected to the first fixing portion 141 of the first rotary joint 14 via the second fixing base 15. As shown in Figures 2, 4, and 9, the second fixing base 15 is a solid shaft with a third end plate 163 and a fourth end plate 164 at its front and rear ends, respectively. The third end plate 163 is connected to the first fixing portion 141 within the first rotary joint 14. The fourth end plate 164, similar in structure to the first end plate 131 described above, is used to connect to the second delivery box mounting plate 31.

[0084] In another feasible embodiment, as shown in Figures 2, 5 and 9, the second delivery box assembly 30 is connected to the first rotation joint 14 via a second rotation joint 16. The second rotation joint 16 has a second fixed portion 161 and a second rotation portion 162, which are rotatably connected. The second fixed portion 161 is connected to the first rotation portion 142, and the second rotation portion 162 is connected to the second delivery box assembly 30. A third end plate 163 is provided on the second fixed portion 161 of the second rotation joint 16, and a fourth end plate 164 is provided on the second rotation portion 162 of the second rotation joint 16. The third end plate 163 is connected to the first rotation portion 142 in the first rotation seat. The fourth end plate 164 has a similar structure to the first end plate 131 described above and is used to connect to the second delivery box mounting plate 31. The motor in the second rotation joint 16 can drive the second rotation portion 162 to rotate relative to the second fixed portion 161, thereby driving the second delivery box assembly 30 to rotate.

[0085] In this embodiment, the motor in the first rotary joint 14 and the motor in the second rotary joint 16 rotate in opposite directions, thereby maintaining the second delivery box assembly 30 stationary while rotating the third delivery box assembly 40. Furthermore, the provision of the second rotary joint 16 facilitates adjustment of the direction of the second delivery box assembly 30, thereby improving operational flexibility.

[0086] As shown in Figures 8 and 9, the third delivery box assembly 40 includes a third delivery box mounting plate 41, a third delivery box driving mechanism 42 and a third delivery box 43: the third delivery box mounting plate 41 is connected to the first rotating portion 142 of the first rotating joint 14, and the first rotating joint 14 can drive the third delivery box mounting plate 41 to rotate around the telescopic axis of the first telescopic delivery mechanism 10; the third delivery box driving mechanism 42 is provided on one side of the third delivery box mounting plate 41; the third delivery box 43 is detachably connected to the other side of the third delivery box mounting plate 41, and the third delivery box driving mechanism 42 is drivingly connected to the third delivery box 43.

[0087] Specifically, as shown in Figure 9, the third delivery box mounting plate 41 is connected to the first rotating portion 142 of the first rotary joint 14 via a second end plate 143. The second end plate 143 extends in a direction perpendicular to the telescopic axis of the first telescopic delivery mechanism 10, thereby causing the third delivery box mounting plate 41 to be axially offset from the first telescopic delivery mechanism 10. A second magnetic block 411, a positioning hole 412, and a second power output connector 413 are provided on the third delivery box mounting plate 41. The third delivery box 43 is magnetically connected to the second magnetic block 411. The third delivery box 43 is mated and plugged into the positioning hole 412 (as shown in Figure 9) or the positioning protrusion 414 (as shown in Figure 12). The third delivery box drive mechanism 42 is driven and connected to the third delivery wheel assembly 431 within the third delivery box 43 via the second power output connector 413.

[0088] A quick-release structure is designed between the third delivery box 43 and the third delivery box mounting plate 41. Through snap-fit ​​positioning and magnetic fixation, quick disassembly and assembly can be achieved, which is convenient for operation and quick replacement, thereby improving the efficiency of robot-assisted surgery.

[0089] The third delivery box drive mechanism 42 includes a motor and a gear transmission chain connected to the motor. The rotational energy of the motor is transmitted to the second power output connector 413 through the gear transmission chain, thereby driving the second power output connector 413 to rotate. The number of second power output connectors 413 is the same as the number of rollers in the third delivery wheel assembly 431 in the third delivery box 43.

[0090] The third delivery box 43 can be implemented using any existing delivery device that can be used to deliver interventional instruments (catheters and guidewires), and its specific structure and delivery method are not limited herein. For example, the third delivery box 43 can be a coaxial vascular interventional surgical instrument delivery box described in Chinese patent application number CN117838326A, published on April 9, 2024, and entitled "Coaxial Vascular Interventional Surgical Instrument Delivery Box, Delivery System, and Delivery Method."

[0091] In this embodiment, as shown in Figure 3, the third delivery box 43 includes: a shell, a third delivery wheel group 431, a first Y-valve mounting groove 432 and a first Y-valve 433; the third delivery wheel group 431 is arranged in the shell, and the second power output connector 413 is connected to the third delivery wheel group 431. The third delivery wheel group 431 is used to clamp the interventional instrument and deliver or retract the interventional instrument; the first Y-valve mounting groove 432 is arranged in the shell; the first Y-valve 433 is detachably mounted in the first Y-valve mounting groove 432, the inlet of the first Y-valve 433 faces the third delivery wheel group 431, and the outlet of the first Y-valve 433 faces the second delivery box assembly 30. The first Y-valve 433 is used to fix the tail end of the interventional instrument.

[0092] Implementation method four:

[0093] The present disclosure also provides another delivery method, which uses the vascular interventional surgical robot described in Embodiment 3. The delivery method is used to deliver a coaxial interventional instrument (intermediate catheter). The delivery method includes the following steps:

[0094] Step S01: The first telescopic delivery mechanism 10 is extended to a predetermined length, the second delivery box assembly 30 is connected to the vascular sheath, and the third delivery box assembly 40 is rotated to be offset from the first delivery box assembly 20;

[0095] Step S02: Installing the first Y-valve 433 connected to the tail end of the catheter on the first delivery box assembly 20, and installing the head end of the catheter on the second delivery wheel assembly 331 in the second delivery box assembly 30;

[0096] Step S03: delivering the guidewire using the first delivery box assembly 20 so that the guidewire is inserted into the catheter and extends out of the tip of the catheter;

[0097] Step S04: delivering the catheter and guidewire by contracting the first telescopic delivery mechanism 10 and rotating the second delivery wheel assembly 331;

[0098] Step S05: using the first delivery box assembly 20 to withdraw the guidewire so as to remove the guidewire from the catheter;

[0099] Step S06: Maintaining the axial position of the catheter, removing the first Y-valve 433, and utilizing the first telescopic delivery mechanism 10 to extend and retract the first delivery box assembly 20;

[0100] Step S07: Rotate the third delivery box assembly 40 to be coplanar with the first delivery box assembly 20, and install the first Y-valve 433 on the third delivery wheel assembly 431 in the third delivery box assembly 40;

[0101] Step S08: Installing the second Y-valve 23 connected to the tail end of the intermediate conduit on the first delivery box assembly 20, and installing the head end of the intermediate conduit in the third delivery box assembly 40;

[0102] Step S09: delivering the guidewire using the first delivery box assembly 20 so that the guidewire passes through the intermediate catheter and the rear catheter in sequence and extends out of the tip of the catheter;

[0103] Step S10: delivering the intermediate catheter by contracting the first telescopic delivery mechanism 10 and rotating the third delivery wheel assembly 431, while retracting the guidewire by the first delivery box assembly 20 to maintain the axial position of the guidewire until the tip of the intermediate catheter is located between the tip of the guidewire and the tip of the catheter;

[0104] Step S11 : Deliver the intermediate catheter and the guidewire by contracting the first telescopic delivery mechanism 10 .

[0105] The specific operation process of each step of the above delivery method will be described in detail below.

[0106] In step S01, the device is extended, and the first telescopic delivery mechanism 10 is extended to move the first delivery box assembly 20 in a direction away from the second delivery box assembly 30 and to the extreme position; then the tail end of the vascular sheath is fixed to the hose connector 34 at the delivery outlet of the second delivery box assembly 30; then it is necessary to drive the third delivery box assembly 40 to rotate through the first rotary joint 14, so that the third delivery box assembly 40 is staggered with the first delivery box assembly 20.

[0107] In step S02, the catheter is installed: the tail end of the catheter is connected to the first Y-valve 433, and the first Y-valve 433 connected with the catheter is installed in the second Y-valve installation groove 22 in the first delivery box assembly 20; at the same time, the head end of the catheter is installed between the two rollers of the second delivery wheel assembly 331 in the second delivery box assembly 30.

[0108] In step S03, a guidewire is installed between the rollers of the first delivery wheel assembly 21 within the first delivery box assembly 20, with the guidewire's tip entering the interior of the first Y-valve 433. The guidewire is then delivered into the catheter through the rotation of the first delivery wheel assembly 21, where it moves forward until the guidewire's tip extends a certain distance beyond the catheter's tip. The guidewire's tip has a bend, which allows for subsequent guidance during catheter and guidewire delivery.

[0109] In step S04, after the guidewire extends a certain distance from the head end of the catheter, the first delivery wheel group 21 is closed and the guidewire is stopped from being delivered forward alone; thereafter, the first telescopic delivery mechanism 10 contracts, driving the first delivery box assembly 20 to move toward the second delivery box assembly 30, and at the same time, the second delivery wheel group 331 is opened to deliver the catheter forward, thereby achieving simultaneous forward delivery of the catheter and the guidewire. During the delivery process, the axial relative positions of the catheter and the guidewire remain basically unchanged.

[0110] In step S05, when the catheter in step S04 reaches the surgical position expected by the doctor, the first telescopic delivery mechanism 10 stops contracting, stops delivering the catheter, starts the first delivery wheel group 21, retracts the guidewire, and extracts the guidewire from the catheter.

[0111] In step S06, after the guidewire is withdrawn, the first Y-valve 433 is first removed from the second Y-valve mounting slot 22 in the first delivery box assembly 20, and then the first telescopic delivery mechanism 10 is extended to move the first delivery box assembly 20 away from the second delivery box assembly 30 to make way for the third delivery box assembly 40.

[0112] In step S07, after the first delivery box assembly 20 in step S06 is retracted into position, the third delivery box assembly 40 is driven to rotate by the first rotary joint 14 so that the third delivery box assembly 40 is coplanar with the first delivery box assembly 20, that is, the delivery outlet of the first delivery box assembly 20 and the delivery outlet of the third delivery box assembly 40 are located on the same straight line; after the third delivery box assembly 40 is rotated into position, the first Y-valve 433 is installed in the first Y-valve installation groove 432 of the third delivery box 43.

[0113] In step S08, the intermediate conduit is installed: the tail end of the intermediate conduit is connected to the second Y-valve 23, and the second Y-valve 23 connected to the intermediate conduit is installed in the second Y-valve installation groove 22 in the first delivery box assembly 20; at the same time, the head end of the intermediate conduit is installed between the two rollers of the third delivery wheel assembly 431 in the third delivery box assembly 40.

[0114] In step S09, the guidewire is installed and delivered: the guidewire is installed between the rollers of the first delivery wheel group 21 in the first delivery box assembly 20, and the head end of the guidewire is allowed to enter the second Y-valve 23; then, the guidewire is delivered into the intermediate catheter by the rotation of the first delivery wheel group 21 and moves forward in the intermediate catheter. After passing through the first Y-valve 433, the guidewire enters the catheter and continues to be delivered forward until the head end of the guidewire extends a certain distance from the head end of the catheter.

[0115] In step S10, the intermediate catheter is delivered: the first telescopic delivery mechanism 10 contracts, driving the first delivery box assembly 20 toward the third delivery box assembly 40. Simultaneously, the third delivery wheel assembly 431 on the third delivery box assembly 40 is activated to advance the intermediate catheter. To ensure the axial position of the guidewire, the first delivery wheel assembly 21 within the first delivery box assembly 20 is activated as the first telescopic delivery mechanism 10 contracts to retract the guidewire. During the delivery process, the guidewire is positioned within the intermediate catheter, and the intermediate catheter is positioned within the catheter. The intermediate catheter is continuously advanced until the tip of the intermediate catheter is positioned between the tip of the guidewire and the tip of the catheter.

[0116] In step S11, the intermediate catheter and the guidewire are continued to be delivered. After the intermediate catheter in step S10 is delivered into place, the first delivery wheel group 21 in the first delivery box assembly 20 is closed, the first telescopic delivery mechanism 10 continues to contract, and the third delivery wheel group 431 on the third delivery box assembly 40 remains open, thereby achieving simultaneous delivery of the intermediate catheter and the guidewire until the guidewire and the intermediate catheter reach the surgical position expected by the doctor, and the delivery is stopped.

[0117] In addition to being used to complete the delivery method in embodiment 4, the vascular interventional surgery robot in embodiment 3 can also be used to complete the delivery method in embodiment 2 when the third delivery box assembly 40 is not used (rotated to a staggered position).

[0118] Implementation method five:

[0119] As shown in FIG10 , the embodiment of the present disclosure further provides another vascular interventional surgical robot for delivering rapid-exchange interventional instruments, the vascular interventional surgical robot comprising a first telescopic delivery mechanism 10, a second telescopic delivery mechanism 50, a first delivery box assembly 20, a second delivery box assembly 30, and a third delivery box assembly 40. The first delivery box assembly 20, the second delivery box assembly 30, and the third delivery box assembly 40 are used to connect interventional instruments and deliver or retract interventional instruments; the first delivery box assembly 20 and the third delivery box assembly 40 are respectively arranged at both ends of the first telescopic delivery mechanism 10, and the first telescopic delivery mechanism 10 can move the first delivery box assembly 20 forward and backward relative to the third delivery box assembly 40 to deliver or retract the interventional instrument; the third delivery box assembly 40 and the second delivery box assembly 30 are respectively arranged at both ends of the second telescopic delivery mechanism 50, and the second telescopic delivery mechanism 50 can move the third delivery box assembly 40 forward and backward relative to the second delivery box assembly 30 to deliver or retract the interventional instrument.

[0120] The telescopic axis of the first telescopic delivery mechanism 10 is parallel to the telescopic axis of the second telescopic delivery mechanism 50; preferably, the two coincide.

[0121] In this embodiment, a second telescopic delivery mechanism 50 is provided between the second delivery box assembly 30 and the third delivery box assembly 40, so that the second delivery box assembly 30 and the third delivery box assembly 40 can be moved closer to or farther away from each other, thereby enabling the axial position of the second delivery box assembly 30 to be flexibly controlled, thereby facilitating the connection of the second delivery box assembly 30 to the vascular sheath.

[0122] The structures of the first delivery box assembly 20, the second delivery box assembly 30, the third delivery box assembly 40, and the first telescopic delivery mechanism 10 have been described above and will not be repeated here. The second telescopic delivery mechanism 50 can employ an existing telescopic structure to move the second delivery box assembly 30 and the third delivery box assembly 40 closer together or further apart by extending or contracting along a straight line. The second telescopic delivery mechanism 50 can employ the same structure as the first telescopic delivery mechanism 10.

[0123] Implementation method six:

[0124] The disclosed embodiments also provide another vascular interventional surgical robot, as shown in Figures 11 to 16 . This robot differs from the vascular interventional surgical robot of the fifth embodiment primarily in that the second telescopic delivery mechanism 50 of the fifth embodiment is eliminated, and a drive assembly 60 is added. The third delivery box assembly 40 is movably and rotatably connected to the primary telescopic member 12 via the drive assembly 60. The drive assembly 60 and its connection structure with the primary telescopic member 12 and the third delivery box assembly 40 are described below.

[0125] First, the telescopic guide rail support mechanism 200 is introduced. The vascular interventional surgery robots of the first embodiment, the third embodiment, the fifth embodiment and the sixth embodiment may all include the telescopic guide rail support mechanism 200.

[0126] As shown in Figures 11-13, the telescopic rail support mechanism 200 is arranged parallel to the first telescopic delivery mechanism 10. The telescopic rail support mechanism 200 can support the first telescopic delivery mechanism 10 and extend and retract along with the first telescopic delivery mechanism 10. The telescopic rail support mechanism 200 can extend and retract along the extension and retraction direction of the first telescopic delivery mechanism 10. The ends of the telescopic rail support mechanism 200 are respectively connected to the final telescopic component 11 (e.g., the final telescopic rod) and the first telescopic component 12 (e.g., the first telescopic rod) of the first telescopic delivery mechanism 10 to support each telescopic component.

[0127] The telescopic rail support mechanism 200 can utilize an existing telescopic rail structure, achieving telescopic extension through a plurality of rails stacked one above the other. The specific structure and delivery method of the telescopic rail support mechanism 200 are not limited herein; for example, the telescopic rail support mechanism 200 in this embodiment can utilize the telescopic rail support mechanism described in Chinese Patent Publication No. CN117814923A, published on April 5, 2024, entitled "Vascular Interventional Surgery Robot and Delivery Method."

[0128] In this embodiment, as shown in FIG13 , the telescopic guide rail support mechanism 200 comprises a plurality of guide rail units arranged sequentially from top to bottom. The topmost guide rail unit is a primary guide rail unit 201, which comprises a primary extension plate, a primary slider, and a primary guide rail connected sequentially from top to bottom. One end of the primary extension plate is fixedly connected to a primary telescopic rod. The bottommost guide rail unit is a final guide rail unit 202, which comprises a final extension plate, a final slider, and a final guide rail connected sequentially from top to bottom. The final guide rail is stationary relative to the first delivery box assembly 20. In two adjacent guide rail units, the guide rail of the upper guide rail unit is fixedly connected to the extension plate of the lower guide rail unit, and the two can be an integrated structure.

[0129] As shown in Figure 13, one end of the primary rail unit 201 is fixedly connected to the primary telescopic member 12 via a flange 140. One end of the final rail unit 202 is fixedly connected to the telescopic rod rotation drive mechanism 130. A slide rail is provided on the primary extension plate within the primary rail unit 201 for sliding connection with the drive assembly 60. The second delivery box assembly 30 is fixedly connected to the flange 140 via an end plate 131.

[0130] Next, the drive assembly 60 will be described.

[0131] As shown in Figures 15 and 16, the first-level telescopic member 12 is inserted into the drive assembly 60 and is threadedly connected to the drive assembly 60. The drive assembly 60 is slidably connected to the telescopic guide rail support mechanism 200 through a slider. The drive assembly 60 is connected to the third delivery box assembly 40. The drive assembly 60 is used to drive the third delivery box assembly 40 to move.

[0132] Specifically, as shown in Figures 15 and 16, the drive assembly 60 includes a sliding seat 61, a nut 62, a motor 63, a rotating sleeve 64, and a locking device. The sliding seat 61 is slidably connected to the telescopic guide rail support mechanism 200 via a slider; the nut 62 is rotatably mounted within the sliding seat 61 via a first bearing 67. The outer periphery of the primary telescopic rod is provided with an external thread, and the nut 62 is threadedly connected to the primary telescopic rod; the motor 63 is mounted on the sliding seat 61, and the output shaft of the motor 63 is drivingly connected to the nut 62 via a gear transmission chain, and the motor 63 is used to drive the nut 62 to rotate; the rotating sleeve 64 is rotatably mounted within the sliding seat 61 via a second bearing 68. The rotating sleeve 64 is sleeved on the primary telescopic member 12 with a gap therebetween. The rotating sleeve 64 and the nut 62 are axially adjacent and connected to the third delivery box assembly 40 via an adapter plate 160; and the locking device is used to drive the rotating sleeve 64 to lock with the sliding seat 61 or the nut 62. The adapter plate 160 is connected to the third delivery box mounting plate 41 .

[0133] When the locking device locks the rotating sleeve 64 and the sliding seat 61, since the sliding seat 61 is connected to the guide rail in the telescopic guide rail support mechanism 200 through the slider, the sliding seat 61 can only move along the axial direction of the first-stage telescopic member 12, and the rotating sleeve 64 is locked with the sliding seat 61, that is, the rotating sleeve 64 can only move with the sliding seat 61. Accordingly, the third delivery box assembly 40 connected to the sliding seat 61 through the adapter plate 160 can also only move along the axial direction of the first-stage telescopic rod.

[0134] When the locking device secures the rotating sleeve 64 to the nut 62, the motor 63 drives the nut 62 to rotate, causing it to move along the axis of the primary telescopic rod. Because the rotating sleeve 64 and nut 62 are locked, they rotate and move synchronously. Accordingly, the third delivery box assembly 40, connected to the sliding seat 61 via the adapter plate 160, can simultaneously move along the axis of the primary telescopic rod and rotate about it. In a ball screw transmission pair, since the distance the nut moves is negligible relative to the angle of its rotation, it can be assumed that the third delivery box assembly 40 can rotate about the axis of the primary telescopic rod.

[0135] By switching the locking device between the two locking states, the third delivery box assembly 40 can be moved and rotated simultaneously by only one driving device (one motor). The design is relatively clever and can significantly reduce the complexity of the driving assembly 60.

[0136] Furthermore, as shown in Figures 15 and 16, the locking device includes an armature plate 65, an electromagnetic coil 66, and a spring. The armature plate 65 is sleeved onto the outer periphery of the rotating sleeve 64 via a third bearing 69. One side of the armature plate 65 is axially engaged with the sliding seat 61, allowing the armature plate 65 to move only axially relative to the sliding seat 61. The other side of the armature plate 65 abuts and locks against the adapter plate 160, thereby locking the third delivery box assembly 40 connected to the adapter plate 160 and preventing the third delivery box assembly 40 from rotating about the axis of the primary telescopic member 12. The electromagnetic coil 66 is disposed within the sliding seat 61 and is configured to drive the armature plate 65 to move along the axis of the rotating sleeve 64. When energized, the electromagnetic coil 66 drives the armature plate 65 toward the nut 62, correspondingly driving the rotating sleeve 64 connected thereto toward the nut 62. This results in axial engagement between the rotating sleeve 64 and the nut 62, locking them together through friction and allowing them to rotate synchronously. A spring (not shown) is provided between the armature plate 65 and the sliding seat 61. The spring can provide the armature plate 65 with a thrust in the direction away from the nut 62. When the electromagnetic coil 66 loses power, the nut 62 and the rotating sleeve 64 are disengaged under the action of the spring force, and the armature plate 65 can be pushed to axially abut against the adapter plate 160. The two are locked by friction and rotate synchronously.

[0137] When the electromagnetic coil 66 is de-energized, the spring pushes the armature plate 65 and the adapter plate 160 to be pressed against and locked, and the third delivery box assembly 40 moves along the axial direction of the first-stage telescopic member 12 together with the sliding seat 61; when the electromagnetic coil 66 is energized, the electromagnetic force pushes the armature plate 65 to overcome the spring force, so as to drive the rotating sleeve 64 to move toward the nut 62 and press against and lock with the nut 62, and the third delivery box assembly 40 rotates around the axial direction of the first-stage telescopic rod together with the nut 62.

[0138] In this embodiment, since the third delivery box assembly 40 is rotatably disposed on the first-level telescopic member 12, in some relatively simple operations, only a rapid exchange interventional instrument (catheter) needs to be delivered, and no intermediate catheter is needed, that is, the third delivery box assembly 40 is not needed. At this time, the third delivery box assembly 40 can be rotated by the driving assembly 60 to stagger its position with the first delivery box assembly 20. When the catheter is delivered through the first delivery box assembly 20, the first delivery box assembly 20 can be fully retracted to the rear end of the second delivery box 33, as shown in Figure 4, which will not affect the delivery stroke of the catheter.

[0139] The following describes a method for delivering an interventional instrument using a vascular interventional surgical robot according to Embodiment 6. This method is used to deliver a rapid-exchange interventional instrument (catheter) in relatively simple surgeries. The method includes the following steps:

[0140] Step S1: The first telescopic delivery mechanism 10 is extended to a predetermined length, the second delivery box assembly 30 is connected to the vascular sheath, and the third delivery box assembly 40 is rotated to be offset from the first delivery box assembly 20;

[0141] Step S2: Installing the Y-valve connected to the tail end of the catheter on the first delivery box assembly 20, and installing the head end of the catheter on the second delivery wheel assembly 331 in the second delivery box assembly 30;

[0142] Step S3: delivering the catheter into the vascular sheath by contracting the first telescopic delivery mechanism 10 and rotating the second delivery wheel assembly 331, while keeping the tip of the catheter within the vascular sheath;

[0143] Step S4: delivering the guidewire using the first delivery box assembly 20;

[0144] Step S5 : delivering the catheter by contracting the first telescopic delivery mechanism 10 and rotating the second delivery wheel assembly 331 , and maintaining the axial position of the guidewire by using the first delivery box assembly 20 .

[0145] The specific operation process of each step of the above delivery method will be described in detail below.

[0146] In step S1, the device is extended, and the first telescopic delivery mechanism 10 is extended to move the first delivery box assembly 20 in a direction away from the second delivery box assembly 30 and to the extreme position; then the tail end of the vascular sheath is fixed at the delivery outlet of the second delivery box assembly 30; and then the third delivery box assembly 40 needs to be driven to rotate by the driving assembly 60 so that the third delivery box assembly 40 is staggered with the first delivery box assembly 20.

[0147] In step S2, the catheter is installed: the tail end of the catheter is connected to the second Y-valve 23, and the second Y-valve 23 connected with the catheter is installed in the second Y-valve installation groove 22 in the first delivery box assembly 20; at the same time, the head end of the catheter is installed between the two rollers of the second delivery wheel assembly 331 in the second delivery box assembly 30.

[0148] In step S3, the catheter is delivered: the first telescopic delivery mechanism 10 is contracted, the first delivery box assembly 20 moves toward the second delivery box assembly 30 to deliver the catheter forward, and at the same time, the second delivery wheel assembly 331 in the second delivery box assembly 30 is turned on, so that the tip of the catheter enters the guide blood sheath, and the delivery of the catheter is stopped when the tip of the catheter does not extend out of the blood sheath.

[0149] In step S4, the guidewire is delivered: the guidewire is installed between the rollers of the first delivery wheel assembly 21 within the first delivery box assembly 20, and the guidewire tip is positioned within the second Y-valve 23. The first delivery wheel assembly 21 then rotates, delivering the guidewire into the catheter and moving it forward within the catheter until the guidewire tip reaches the surgeon's desired surgical location, at which point delivery is stopped. The guidewire tip has a bend, which allows for guidance during delivery by rotating the guidewire.

[0150] In step S5, the catheter continues to be delivered: the first telescopic delivery mechanism 10 contracts, the first delivery box assembly 20 moves toward the second delivery box assembly 30 to advance the catheter, and the second delivery wheel assembly 331 within the second delivery box assembly 30 is activated. The catheter continues to be delivered forward, following the guidewire to the surgeon's desired surgical location, and then delivery of the catheter is stopped. During the delivery process, to ensure that the axial position of the guidewire remains unchanged, the first telescopic delivery mechanism 10 contracts while the first delivery wheel assembly 21 is activated to retract the guidewire, ensuring that the guidewire's position relative to the second delivery box assembly 30 remains unchanged.

[0151] Another method for delivering a coaxial interventional device using the vascular interventional surgical robot of embodiment 6 is described below. This method is used to deliver a coaxial interventional device (intermediate catheter). The method includes the following steps:

[0152] Step S01: The first telescopic delivery mechanism 10 is extended to a predetermined length, the second delivery box assembly 30 is connected to the vascular sheath, and the third delivery box assembly 40 is rotated to be coplanar with the first delivery box assembly 20;

[0153] Step S02: The third delivery box assembly 40 moves away from the second delivery box assembly 30 along the telescopic section;

[0154] Step S03: Install the first Y-valve 433 connected to the tail end of the catheter on the third delivery box assembly 40, and install the head end of the catheter on the second delivery wheel assembly 331 in the second delivery box assembly 30; install the second Y-valve 23 connected to the tail end of the intermediate catheter on the first delivery box assembly 20, and install the head end of the intermediate catheter on the third delivery wheel assembly 431 in the third delivery box assembly 40;

[0155] Step S04: The third delivery box assembly 40 moves along the telescopic section close to the second delivery box assembly 30, while rotating the second delivery wheel assembly 331 to deliver the catheter into the vascular sheath;

[0156] Step S05: delivering the intermediate conduit into the conduit by contracting the first telescopic delivery mechanism 10 and rotating the third delivery wheel assembly 431;

[0157] Step S06: delivering the guidewire using the first delivery box assembly 20;

[0158] Step S07: When the guidewire is blocked during delivery, stop delivering the guidewire, and use the contraction of the first telescopic delivery mechanism 10 and the rotation of the third delivery wheel group 431 to deliver the intermediate catheter following the guidewire;

[0159] Step S08: alternately delivering the guide wire and the intermediate catheter to pass through the obstructed location;

[0160] Step S09: retracting the intermediate conduit by extending the first telescopic delivery mechanism 10 and rotating the third delivery wheel assembly 431 to extract the intermediate conduit from the conduit;

[0161] Step S10: The third delivery box assembly 40 moves along the telescopic section close to the second delivery box assembly 30, while rotating the second delivery wheel assembly 331 to continue delivering the catheter to follow the guidewire.

[0162] The specific operation process of each step of the above delivery method will be described in detail below.

[0163] In step S01, the device is extended, and the first telescopic delivery mechanism 10 is extended to move the first delivery box assembly 20 in a direction away from the second delivery box assembly 30 and to the extreme position; then the tail end of the vascular sheath is fixed at the delivery outlet of the second delivery box assembly 30; and then the third delivery box assembly 40 needs to be driven to rotate by the drive assembly 60 so that the third delivery box assembly 40 is coplanar with the first delivery box assembly 20.

[0164] In step S02 , the driving assembly 60 drives the third delivery box assembly 40 to move along the axis of the primary telescopic member 12 , so that the third delivery box assembly 40 moves away from the second delivery box assembly 30 to an extreme position.

[0165] In step S03, the conduit is installed by connecting the tail end of the conduit to the first Y-valve 433 and installing the first Y-valve 433 with the conduit connected thereto into the first Y-valve mounting slot 432 in the third delivery box assembly 40. The leading end of the conduit is simultaneously installed between the two rollers of the second delivery wheel assembly 331 in the second delivery box assembly 30. The intermediate conduit is installed by connecting the tail end of the intermediate conduit to the second Y-valve 23 and installing the second Y-valve 23 with the intermediate conduit connected thereto into the second Y-valve mounting slot 22 in the first delivery box assembly 20. The leading end of the intermediate conduit is simultaneously installed between the two rollers of the third delivery wheel assembly 431 in the third delivery box assembly 40.

[0166] In step S04, the delivery catheter is driven by the drive assembly 60, which drives the third delivery box assembly 40 along the axis of the primary telescopic rod, causing the third delivery box assembly 40 to move toward the second delivery box assembly 30. Simultaneously, the second delivery wheel assembly 331 is activated to deliver the catheter tip into the vascular sheath. Delivery of the catheter stops when the catheter tip does not extend out of the sheath. During the delivery process, the first telescopic delivery mechanism 10 is required to retract to maintain a constant distance between the first delivery box assembly 20 and the third delivery box assembly 40 (an intermediate catheter is connected between the two).

[0167] In step S05, the intermediate catheter is delivered: the first telescopic delivery mechanism 10 continues to contract, and at the same time, the third delivery wheel assembly 431 in the third delivery box assembly 40 is opened to deliver the intermediate catheter into the catheter through the first Y-valve 433, and the delivery of the intermediate catheter is stopped when the head of the intermediate catheter does not extend out of the vascular sheath.

[0168] In step S06, the guidewire is delivered: the guidewire is installed between the rollers of the first delivery wheel assembly 21 in the first delivery box assembly 20, and the head end of the guidewire enters the interior of the second Y-valve 23; then the guidewire is delivered into the intermediate conduit through the rotation of the first delivery wheel assembly 21 and moves forward in the intermediate conduit.

[0169] In step S07, if the guidewire is blocked during delivery, the guidewire delivery is stopped, the first telescopic delivery mechanism 10 contracts, and the first delivery box assembly 20 moves toward the third delivery box assembly 40 to continue delivering the intermediate catheter following the guidewire; in order to avoid the guidewire from bending in the blood vessel during the delivery process, the first delivery wheel assembly 21 needs to retract the guidewire while the first telescopic delivery mechanism 10 contracts to keep the axial position of the guidewire unchanged.

[0170] In step S08, after the obstruction position described in step S07 is passed by the intermediate catheter, the guide wire is continued to be delivered (step S06); the guide wire and the intermediate catheter are delivered alternately to pass the obstruction position.

[0171] In step S09, when the tip of the guidewire is delivered to the surgical position expected by the doctor, the guidewire delivery is stopped; the first telescopic delivery mechanism 10 is extended, the first delivery box assembly 20 and the third delivery box assembly 40 move away from each other, and at the same time, the third delivery wheel group 431 is turned on to retract the intermediate catheter to pull the intermediate catheter out of the catheter; during the retraction process of the intermediate catheter, the first telescopic delivery mechanism 10 is extended and the first delivery wheel group 21 needs to be turned on to deliver the guidewire forward to ensure that the axial position of the guidewire remains unchanged.

[0172] In step S10, the delivery catheter is continued: after the intermediate catheter is pulled out, the third delivery box assembly 40 is driven by the drive assembly 60 to move forward along the axial direction of the first-level telescopic member 12, so that the third delivery box assembly 40 moves toward the second delivery box assembly 30, and at the same time, the second delivery wheel assembly 331 is turned on to continue to deliver the catheter following the guide wire until the tip of the catheter reaches the surgical position expected by the doctor, and then the delivery of the catheter is stopped.

[0173] Two exemplary embodiments are provided below for the third delivery box 43 of the third delivery box assembly 40 in the first, third, fifth, and sixth embodiments of the present disclosure.

[0174] FIG17 illustrates a first exemplary embodiment of a third delivery box 43. As shown in FIG17 , a third delivery wheel assembly 431 of the third delivery box 43 may include a first delivery wheel 231 and a second delivery wheel 232. A main delivery channel 234 for delivering the interventional device can be formed between the first delivery wheel 231 and the second delivery wheel 232, and the head interface of the first Y-valve 433 can be positioned adjacent to the main delivery channel 234. The interventional device 7 may include at least one of the catheter 71, guidewire 72, and microcatheter 73 (also referred to as an intermediate catheter), as shown in FIG19 .

[0175] The delivery box in this embodiment is provided with a first delivery wheel 231 and a second delivery wheel 232 to form a main delivery channel 234 that can be close to the head interface of the first Y-valve 433. Since the first Y-valve 433 is close to the main delivery channel 234, the section of the microcatheter 73 between the main delivery channel 234 and the head interface of the first Y-valve 433 will basically not bend, and the two delivery wheels can continuously clamp the microcatheter 73 for continuous delivery, which makes the delivery of the microcatheter 73 in its axial position more precise, and can achieve millimeter-level delivery accuracy. With higher delivery accuracy, precise delivery of coaxial interventional instruments (microcatheter 73) is achieved. This precise delivery capability is of great significance when the instrument passes through completely occluded lesions or extremely tortuous blood vessels.

[0176] During processing and design, the positional relationship between the first Y-valve mounting groove 432 and the two delivery wheels should ensure that after the first Y-valve 433 is installed, the head interface of the first Y-valve 433 is close to the tangent point between the first delivery wheel 231 and the second delivery wheel 232. The specific size is determined according to actual needs to avoid bending of the section of microcatheter 73 located between the head interface of the first Y-valve 433 and the two delivery wheels as much as possible, thereby improving delivery accuracy.

[0177] To further improve delivery accuracy, as shown in FIG17 , a main delivery guide groove 222 is provided between the first Y-valve mounting groove 432 and the main delivery channel 234. The microcatheter 73 can be inserted into the main delivery guide groove 222. The main delivery guide groove 222 can guide the portion of the microcatheter 73 between the head interface of the first Y-valve 433 and the main delivery channel 234, further reducing bending of the microcatheter 73.

[0178] As shown in FIG17 , the third delivery box 43 further includes a cover 210 and a bottom shell 220 that can cover each other; the first delivery wheel 231, the second delivery wheel 232, the first Y-valve mounting groove 432 and the main delivery guide groove 222 are all arranged in the bottom shell 220, and a main pressing rib 211 is provided on the cover 210. The main pressing rib 211 can be pressed against the notch of the main delivery guide groove 222 after the cover 210 is covered on the bottom shell 220, so as to enclose the main delivery guide groove 222 to form a circumferentially closed closed channel. The head interface of the first Y-valve 433 is relatively close to the main delivery channel 234, so that the delivery area between the main delivery channel 234 and the head interface of the first Y-valve 433 forms a nearly 360-degree enclosed space (i.e., this delivery area is completely enclosed in all directions, forming a closed channel). This effectively guides the microcatheter 73 in this delivery area in all directions, preventing the microcatheter 73 from bending away from the main delivery guide groove 222 during delivery, and greatly improving the delivery accuracy of the microcatheter 73. In actual design, the diameter of this closed channel should be close to the outer diameter of the microcatheter 73 to minimize bending of the microcatheter 73.

[0179] As shown in FIG17 , a rear guide groove 224 is provided on the side wall of the delivery wheel mounting groove 223 opposite the main delivery guide groove 222, extending through the corresponding side wall of the bottom shell 220 to accommodate the microcatheter 73. The rear guide groove 224 is coaxial with the main delivery channel 234 and the main delivery guide groove 222. A rear pressure rib 213 is also provided on the cover 210. When the cover 210 is closed on the bottom shell 220, it presses against the rear guide groove 224, forming a circumferentially closed channel with the rear guide groove 224, thereby improving delivery accuracy.

[0180] In order to avoid affecting the guide wire 72 when delivering the microcatheter 73 , the hardness of the outer surface of the first delivery wheel 231 and the hardness of the outer surface of the second delivery wheel 232 are both smaller than the hardness of the microcatheter 73 .

[0181] In this way, when the first delivery wheel 231 and the second delivery wheel 232 clamp the microcatheter 73, friction is generated between the two delivery wheels and the microcatheter 73, causing the microcatheter 73 to advance or retreat axially. However, the two delivery wheels do not deform the microcatheter 73, thereby preventing the position of the guidewire 72 from being affected. The specific material of the delivery wheels 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. Of course, depending on the installation requirements, the delivery wheels can be made of soft rubber material entirely or only on the outer surface.

[0182] Furthermore, as shown in Figure 17, a Y-valve fixing seat 250 is fixed in the first Y-valve mounting groove 432, and the Y-valve rotating mechanism 262 is sleeved on the outside of the first Y-valve 433. The Y-valve rotating mechanism 262 and the Y-valve fixing seat 250 are detachably connected (such as plugging or snapping), and the Y-valve rotating mechanism 262 can drive the first Y-valve 433 to rotate.

[0183] Furthermore, as shown in FIG17 , the cover 210 is provided with an elastically extendable and retractable telescopic shaft 212. The telescopic shaft 212 can press against the side tube of the first Y-valve 433 when the cover 210 is closed on the bottom shell 220. The elastic extension and retraction of the telescopic shaft 212 can be achieved, for example, by providing a mounting slot on the cover 210, into which the telescopic shaft 212 can be slidably inserted, with the end of the telescopic shaft 212 extending out of the mounting slot. A spring is sandwiched between the telescopic shaft 212 and the bottom of the mounting slot, and a stopper is provided at the notch of the mounting slot to limit the telescopic shaft 212, thereby preventing the telescopic shaft 212 from falling out of the mounting slot.

[0184] FIG18 illustrates a second exemplary embodiment of a third delivery box 43. This embodiment differs from the embodiment shown in FIG17 in that the third delivery box 43 further includes at least one third delivery wheel 233. At least one auxiliary delivery channel 235 for delivering interventional surgical instruments can be formed between the third delivery wheel 233 and one of the first delivery wheel 231 and the second delivery wheel 232, and / or between two adjacent third delivery wheels 233. Auxiliary delivery channels 235 are primarily used to deliver interventional surgical instruments such as microcatheters 73, guidewires 72, balloon catheters, or stent catheters. The specific number of third delivery wheels 233 can be determined based on the desired number of auxiliary delivery channels 235. For example, in this embodiment, a third delivery wheel 233 is provided, and the third delivery wheel 233 and the second delivery wheel 232 are respectively located on both sides of the first delivery wheel 231. The first delivery wheel 231 is a driving wheel, and the second delivery wheel 232 and the third delivery wheel 233 are both driven wheels, forming a dual-channel delivery form. The main delivery channel 234 is used to deliver the microcatheter 73, and the auxiliary delivery channel 235 can be used to deliver the interventional surgical instrument into the catheter 71 in a tangential manner according to the microcatheter 73 delivered by the main delivery channel 234 when the delivery box is used, thereby realizing complex surgical usage scenarios such as "double microcatheters 73" or "microcatheter 73 + auxiliary instruments", which can provide doctors with more operation methods.

[0185] As shown in FIG18 , the auxiliary delivery channel 235 is also arranged near the head interface of the first Y-valve 433, with a relatively close distance between the two. An auxiliary delivery guide groove 225 is provided between each auxiliary delivery channel 235 and the first Y-valve mounting groove 432. At least one auxiliary pressure rib is provided on the cover 210. This auxiliary pressure rib can press against the notch of the auxiliary delivery guide groove 225 after the cover 210 is closed on the bottom shell 220, effectively improving the delivery accuracy of interventional surgical instruments. Similarly, a rear guide groove 224 is provided on the other side of the delivery wheel mounting groove 223, opposite the auxiliary delivery guide groove 225, extending through the corresponding side wall of the bottom shell 220 to facilitate the accommodation of microcatheter interventional surgical instruments. A corresponding rear pressure rib is also provided on the cover 210, so that it presses against the rear guide groove 224 after the cover 210 is closed on the bottom shell 220.

[0186] During use, as shown in Figure 20, the third delivery box 43 cooperates with the first delivery box 24 of the first delivery box assembly 20. The first delivery box 24 can be used to deliver the catheter 71 and the guidewire 72. The rear end of the microcatheter 73 can be clamped by the first delivery box 24 and driven to rotate by the first delivery box 24. During the operation, after the catheter 71 and the guidewire 72 are delivered using the first delivery box 24, if the guidewire 72 cannot pass through the lesion smoothly and a microcatheter 73 needs to be used, the microcatheter 73 is put on the guidewire 72 and inserted into the catheter 71, and the microcatheter 73 is inserted into the main delivery channel 234 of the third delivery box 43 and is clamped by the first delivery wheel 231 and the second delivery wheel 232 of the third delivery box 43. The rotation of these two delivery wheels drives the microcatheter 73 to move along its axial direction to achieve forward or backward delivery; during this process, the first delivery box 24 clamps the rear end of the microcatheter 73 and can realize the rotation of the microcatheter 73, and the delivery of the guidewire 72 is realized by the first delivery box 24; until the guidewire 72 passes through the lesion and reaches the target position, the microcatheter 73 is withdrawn.

[0187] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A vascular interventional surgery robot, wherein: include: a first telescopic delivery mechanism (10); a first delivery box assembly (20) disposed at one end of the first telescopic delivery mechanism (10); a second delivery box assembly (30), provided at the other end of the first telescopic delivery mechanism (10), the second delivery box assembly (30) being used to connect to a vascular sheath pre-implanted in a blood vessel to deliver an interventional device into the vascular sheath; The first delivery box assembly (20) and the second delivery box assembly (30) are used to connect the interventional instrument, and the first telescopic delivery mechanism (10) can move the first delivery box assembly (20) forward and backward relative to the second delivery box assembly (30) to deliver or withdraw the interventional instrument.

2. The vascular interventional surgery robot according to claim 1, wherein: The vascular interventional surgery robot further includes: a third delivery box assembly (40) rotatably disposed at one end of the first telescopic delivery mechanism (10) where the second delivery box assembly (30) is disposed, the third delivery box assembly (40) being located between the first delivery box assembly (20) and the second delivery box assembly (30); The third delivery box assembly (40) is used to connect the interventional instrument, and the first telescopic delivery mechanism (10) can move the first delivery box assembly (20) forward and backward relative to the third delivery box assembly (40) to deliver or withdraw the interventional instrument.

3. The vascular interventional surgery robot according to claim 1 or 2, wherein: The outlet of the second delivery box assembly (30) is connected to a hose connector (34), and the second delivery box assembly (30) is connected to the vascular sheath via the hose connector (34).

4. The vascular interventional surgery robot according to claim 2, wherein: The rotation axis of the third delivery box assembly (40) is parallel to the telescopic axis of the first telescopic delivery mechanism (10).

5. The vascular interventional surgery robot according to claim 2, wherein: The first delivery box assembly (20) has a first delivery channel, the second delivery box assembly (30) has a second delivery channel, and the third delivery box assembly (40) has a third delivery channel. The first delivery channel and the second delivery channel are located on the same straight line, and the third delivery box assembly (40) can be rotated until the third delivery channel and the first delivery channel are located on the same straight line. The axes of the delivery channels are parallel to the telescopic axis of the first telescopic delivery mechanism (10).

6. The vascular interventional surgery robot according to claim 2, wherein: The first telescopic delivery mechanism (10) includes a plurality of telescopic parts that are telescopically connected. When each of the telescopic parts is in an extended state, the telescopic part adjacent to the first delivery box assembly (20) is a final telescopic part (11), and the telescopic part adjacent to the third delivery box assembly (40) is a first telescopic part (12).

7. The vascular interventional surgery robot according to claim 6, wherein: The end of the first telescopic member (12) is connected to a first rotary joint (14), and the first rotary joint (14) has a first fixed portion (141) and a first rotating portion (142) that are rotatably connected to each other, the first fixed portion (141) is connected to the first telescopic member (12), and the first rotating portion (142) is connected to the third delivery box assembly (40).

8. The vascular interventional surgery robot according to claim 7, wherein: The second delivery box assembly (30) is connected to the first fixing portion (141) of the first rotary joint (14) via a fixing seat.

9. The vascular interventional surgery robot according to claim 7, wherein: The second delivery box assembly (30) is connected to the first rotary joint (14) via a second rotary joint (16); The second rotary joint (16) comprises a second fixed portion (161) and a second rotating portion (162) which are rotatably connected to each other, wherein the second fixed portion (161) is connected to the first rotating portion (142), and the second rotating portion (162) is connected to the second delivery box assembly (30).

10. The vascular interventional surgery robot according to claim 9, wherein: The second delivery box assembly (30) comprises: a second delivery box mounting plate (31) connected to the second rotating portion (162) of the second rotating joint (16); A second delivery box driving mechanism (32) is provided on one side of the second delivery box mounting plate (31); The second delivery box (33) is detachably connected to the other side of the second delivery box mounting plate (31), and the second delivery box driving mechanism (32) is drivingly connected to the second delivery box (33).

11. The vascular interventional surgery robot according to claim 10, wherein: The second delivery box mounting plate (31) is provided with a first magnetic block (311), a positioning protrusion (312) and a first power output connector (313); the second delivery box (33) is magnetically connected to the first magnetic block (311); the second delivery box (33) is matched and plugged with the positioning protrusion (312); the second delivery box driving mechanism (32) is driven and connected to the second delivery wheel group (331) in the second delivery box (33) through the first power output connector (313); the second delivery wheel group (331) is used to clamp the interventional instrument and deliver or withdraw the interventional instrument.

12. The vascular interventional surgery robot according to claim 7, wherein: The third delivery box assembly (40) comprises: a third delivery box mounting plate (41) connected to the first rotating portion (142) of the first rotating joint (14), wherein the first rotating joint (14) can drive the third delivery box mounting plate (41) to rotate around the telescopic axis of the first telescopic delivery mechanism (10); A third delivery box driving mechanism (42) is provided on one side of the third delivery box mounting plate (41); The third delivery box (43) is detachably connected to the other side of the third delivery box mounting plate (41), and the third delivery box driving mechanism (42) is drivingly connected to the third delivery box (43).

13. The vascular interventional surgery robot according to claim 12, wherein: The third delivery box mounting plate (41) is provided with a second magnetic block (411), a positioning hole (412) and a second power output connector (413); the third delivery box (43) is magnetically connected to the second magnetic block (411); the third delivery box (43) is matched and plugged into the positioning hole (412); and the third delivery box driving mechanism (42) is drivingly connected to the third delivery box (43) via the second power output connector (413).

14. The vascular interventional surgery robot according to claim 13, wherein: The third delivery box (43) comprises: case; A third delivery wheel assembly (431) is disposed in the housing, the second power output connector (413) is connected to the third delivery wheel assembly (431), and the third delivery wheel assembly (431) is used to clamp the interventional instrument and deliver or retract the interventional instrument; A first Y-valve mounting groove (432) is provided in the housing; The first Y-valve (433) is detachably mounted in the first Y-valve mounting groove (432), the inlet of the first Y-valve (433) faces the third delivery wheel assembly (431), and the outlet of the first Y-valve (433) faces the second delivery box assembly (30), and the first Y-valve (433) is used to fix the tail end of the interventional instrument.

15. The vascular interventional surgery robot according to claim 1, wherein: The first delivery box assembly (20) comprises: a first delivery wheel set (21); a first delivery box driving mechanism, drivingly connected to the first delivery wheel set (21); Second Y-valve mounting groove (22); The second Y-valve (23) is detachably mounted in the second Y-valve mounting groove (22), the inlet of the second Y-valve (23) faces the first delivery wheel assembly (21), and the outlet of the second Y-valve (23) faces the second delivery box assembly (30), and the second Y-valve (23) is used to fix the tail end of the interventional instrument.

16. The vascular interventional surgery robot according to claim 2, wherein: The vascular interventional surgery robot further includes: a second telescopic delivery mechanism (50), wherein the second delivery box assembly (30) and the third delivery box assembly (40) are respectively provided at two ends of the second telescopic delivery mechanism (50); The second telescopic delivery mechanism (50) can move the third delivery box assembly (40) forward and backward relative to the second delivery box assembly (30) to deliver or withdraw the interventional instrument.

17. The vascular interventional surgery robot according to claim 16, wherein: The telescopic axis of the first telescopic delivery mechanism (10) is parallel to the telescopic axis of the second telescopic delivery mechanism (50).

18. The vascular interventional surgery robot according to claim 2, wherein: The first telescopic delivery mechanism (10) has a plurality of telescopic segments connected in sequence; The third delivery box assembly (40) is provided on one of the telescopic sections and is configured to be rotatable around the axis of the telescopic section and movable along the axis of the telescopic section.

19. The vascular interventional surgery robot according to claim 18, wherein: When the telescopic sections of the first telescopic delivery mechanism (10) are in an extended state, the telescopic section adjacent to the second delivery box assembly (30) is a first-level telescopic section, and the third delivery box assembly (40) is arranged on the first-level telescopic section; The first telescopic delivery mechanism (10) comprises a plurality of telescopic rods which are sequentially sleeved from the inside to the outside, wherein the plurality of telescopic rods are threadedly connected to each other, wherein the innermost telescopic rod is a first-stage telescopic rod, and the end of the first-stage telescopic rod is connected to the second delivery box assembly (30), and the third delivery box assembly (40) is arranged on the first-stage telescopic rod; The outermost telescopic rod is a final telescopic rod, one end of which is externally connected to a telescopic rod rotation drive mechanism (130). The telescopic rod rotation drive mechanism (130) can drive the final telescopic rod to rotate and cause the first telescopic delivery mechanism (10) to extend and retract.

20. The vascular interventional surgery robot according to claim 19, wherein: The coaxial interventional instrument delivery system further comprises a telescopic guide rail support mechanism (200), wherein the first telescopic delivery mechanism (10) is arranged in parallel with the telescopic guide rail support mechanism (200), and the telescopic guide rail support mechanism (200) can support the first telescopic delivery mechanism (10) and telescope along with the first telescopic delivery mechanism (10).

21. The vascular interventional surgery robot according to claim 20, wherein: The coaxial interventional instrument delivery system further comprises a drive assembly (60), wherein the primary telescopic rod is disposed in the drive assembly (60) and is threadedly connected to the drive assembly (60), wherein the drive assembly (60) is slidably connected to the telescopic guide rail support mechanism (200) via a slider, and wherein the drive assembly (60) is connected to the third delivery box assembly (40), and wherein the drive assembly (60) is used to drive the third delivery box assembly (40) to move.

22. The vascular interventional surgery robot according to claim 21, wherein: The drive assembly (60) comprises: A sliding seat (61) is slidably connected to the telescopic guide rail support mechanism (200) via the slider; a nut (62) rotatably disposed in the sliding seat (61) via a bearing, the nut (62) being threadedly connected to the primary telescopic rod; a motor (63) disposed on the sliding seat (61) and drivingly connected to the nut (62), wherein the motor (63) is used to drive the nut (62) to rotate; A rotating sleeve (64) is rotatably disposed in the sliding seat (61) via a bearing, the rotating sleeve (64) is sleeved on the first-stage telescopic rod, and the rotating sleeve (64) is connected to the third delivery box assembly (40) via an adapter plate (16); A locking device is used to drive the rotating sleeve (64) to lock with the sliding seat (61) or the nut (62).

23. The vascular interventional surgery robot according to claim 20, wherein: The locking device comprises: An armature plate (65) is rotatably sleeved on the outer periphery of the rotating sleeve (64) via a bearing, one side of the armature plate (65) is axially plugged into the sliding seat (61), and the other side of the armature plate (65) can be abutted and locked with the adapter plate (16); an electromagnetic coil (66) disposed in the sliding seat (61), the electromagnetic coil (66) being used to drive the armature plate (65) to move along the axis of the rotating sleeve (64); a spring disposed between the armature plate (65) and the sliding seat (61); When the electromagnetic coil (66) is de-energized, the spring pushes the armature plate (65) and the adapter plate (16) to abut and lock, and the third delivery box assembly (40) moves with the sliding seat (61); When the electromagnetic coil (66) is energized, the armature plate (65) drives the rotating sleeve (64) to move toward the nut (62) and abuts against and locks the nut (62), and the third delivery box assembly (40) rotates with the nut (62).

24. The vascular interventional surgery robot according to claim 6, wherein: The plurality of telescopic members are threadedly connected, and one end of the final telescopic member (11) is externally connected to a telescopic rod rotation driving mechanism (130). The telescopic rod rotation driving mechanism (130) can drive the final telescopic member (11) to rotate and cause the first telescopic delivery mechanism (10) to extend and retract.

25. The vascular interventional surgery robot according to claim 14, wherein: The third delivery wheel group (431) includes a first delivery wheel (231) and a second delivery wheel (232), wherein a main delivery channel (234) can be formed between the first delivery wheel (231) and the second delivery wheel (232); The head of the first Y-valve (433) faces the main delivery channel (234), and the tail of the first Y-valve (433) faces the delivery outlet of the third delivery box (43). A main delivery guide groove (222) for the interventional instrument (7) to pass through is provided between the first Y-valve mounting groove (432) and the main delivery channel (234).

26. The vascular interventional surgery robot according to claim 25, wherein: The third delivery box (43) further includes at least one third delivery wheel (233), and an auxiliary delivery channel (235) for delivering the interventional instrument (7) can be formed between the third delivery wheel (233) and one of the first delivery wheel (231) and the second delivery wheel (232), or between two adjacent third delivery wheels (233).

27. A method of delivery, wherein: The delivery method is implemented using the vascular interventional surgery robot described in claim 1, and the delivery method includes: Installing a Y-valve connected to the tail end of the catheter on a first delivery box assembly (20), and installing the head end of the catheter in a second delivery box assembly (30); delivering a guide wire using the first delivery box assembly (20) so that the guide wire passes through the catheter and extends out of the tip of the catheter; delivering the catheter and the guidewire by contraction of the first telescopic delivery mechanism (10); The guidewire is delivered using the first delivery cartridge assembly (20).

28. A method of delivery, wherein: The delivery method is implemented using the vascular interventional surgery robot described in claim 2, and the delivery method includes: rotating the third delivery box assembly (40) so as to be offset from the first delivery box assembly (20); Installing a first Y-valve (433) connected to the tail end of the catheter on the first delivery box assembly (20), and installing the head end of the catheter in the second delivery box assembly (30); The catheter and the guide wire disposed in the catheter are delivered by contraction of the first telescopic delivery mechanism (10); retracting the guidewire using the first delivery box assembly (20) to remove the guidewire from the catheter; Maintaining the axial position of the catheter, removing the first Y-valve (433), and retracting the first delivery box assembly (20) by extending the first telescopic delivery mechanism (10); Rotating the third delivery box assembly (40) so that it is coplanar with the first delivery box assembly (20), and installing the first Y-valve (433) in the third delivery box assembly (40); Installing a second Y-valve (23) connected to the tail end of the intermediate conduit on the first delivery box assembly (20), and installing the head end of the intermediate conduit in the third delivery box assembly (40); delivering the intermediate catheter by contracting the first telescopic delivery mechanism (10); The intermediate catheter and the guide wire inserted into the intermediate catheter are delivered by contraction of the first telescopic delivery mechanism (10).