CN222091820U

CN222091820U - Multi-channel interventional surgical instrument delivery device

Info

Publication number: CN222091820U
Application number: CN202420423533.XU
Authority: CN
Inventors: 奉振球; 杨聪
Original assignee: Beijing Zhongke Hongtai Medical Technology Co ltd
Current assignee: Beijing Zhongke Hongtai Medical Technology Co ltd
Priority date: 2024-03-05
Filing date: 2024-03-05
Publication date: 2024-12-03
Anticipated expiration: 2034-03-05

Abstract

The utility model relates to a multichannel interventional surgical instrument delivery device which comprises a delivery wheel set, at least one passive clamping channel and a first clamping component, wherein the delivery wheel set comprises a plurality of delivery wheels, at least two active delivery channels for delivering at least two interventional surgical instruments can be formed between the delivery wheels, the at least one passive clamping channel is used for placing the interventional surgical instruments, and the first clamping component can clamp and fix the interventional surgical instruments when the interventional surgical instruments are placed in the passive clamping channels. The utility model can realize the cooperative delivery operation of at least two interventional surgical instruments, can clamp and fix at least one interventional surgical instrument which is not used any more or is not used temporarily, meets the complex surgical operation of a plurality of or a plurality of interventional surgical instruments, and has simple and convenient operation.

Description

Multichannel interventional surgical instrument delivery device

Technical Field

The utility model relates to the field of medical instruments, in particular to a multichannel interventional surgical instrument delivery device.

Background

The vascular intervention operation is an operation mode that under the guidance of medical imaging equipment, interventional instruments such as a puncture needle, a catheter, a guide wire, a balloon, a bracket and the like are operated by an interventional doctor, and a specified instrument is delivered to a corresponding lesion part along a vascular access of a human body after percutaneous puncture, so that treatment is performed. As a minimally invasive treatment means, vascular interventional procedures have been widely used in interventional therapy of cardiovascular diseases, cerebrovascular diseases, peripheral vascular diseases and tumors.

In the existing operation mode, an interventional doctor wears a lead coat with weight of twenty-thirty jin and stands at an operation table for a long time to operate interventional instruments such as a catheter and a guide wire, the lead coat cannot completely shield the radiation of X rays, and arms and heads are directly exposed to the X rays. The interventional doctor works in the X-ray radiation environment for a long time and a month, and the occupational diseases such as cataract, spinal curvature, brain tumor and the like are extremely easy to occur. The interventional doctor uses the robot system to control the delivery of the interventional instruments such as the catheter, the guide wire and the like, so that the working condition of the doctor can be effectively improved, the physical consumption is reduced, the occupational hazard is reduced, the doctor is fully focused on the surgical treatment, and a better surgical treatment effect is brought to the patient.

In vascular intervention, the number of interventional instruments used by an interventional physician varies according to the type of lesion. In the interventional treatment of coronary artery, the interventional treatment of simple lesions usually can be completed by delivering one guide wire, one balloon catheter and one stent catheter, but in the interventional treatment of a large number of complex vascular lesions (such as bifurcation lesions, total occlusion lesions, opening lesions, diffuse long lesions and the like), the complex operation of two guide wires, two balloon catheters or two stent catheters is required to be carried out in the operation according to the operation requirement so as to realize the protection of the side branch vessels, the enhancement of supporting force or the operation of implanting double stents and the like.

The existing vascular intervention operation robot only has a single active delivery channel, other channels can only realize passive clamping of a guide wire, cannot realize active delivery, cannot cooperatively operate a double guide wire, a double balloon catheter and a double stent catheter, and therefore cannot meet urgent clinical requirements for complicated vascular lesion interventional treatment.

Accordingly, the present inventors have developed a multi-channel interventional surgical instrument delivery device to overcome the shortcomings of the prior art by years of experience and practice in the relevant industry.

Disclosure of utility model

The utility model aims to provide a multichannel interventional surgical instrument delivery device which can realize cooperative delivery operation of at least two interventional surgical instruments, can clamp and fix at least one interventional surgical instrument which is not used any more or is temporarily used, meets complex surgical operation of a plurality of or a plurality of interventional surgical instruments, and is simple and convenient to operate.

The object of the utility model is achieved by a multi-channel interventional surgical instrument delivery device comprising:

A delivery wheel set comprising a plurality of delivery wheels between which at least two active delivery channels for delivering at least two interventional surgical instruments can be formed;

The device comprises at least one passive clamping channel, a first clamping component and a second clamping component, wherein the passive clamping channels are used for placing interventional surgical instruments, and the first clamping component is arranged on one side of each passive clamping channel and can clamp and fix the interventional surgical instruments when the interventional surgical instruments are placed in the passive clamping channels.

In a preferred embodiment of the present utility model, the multichannel interventional surgical device delivery apparatus further includes a bottom shell, a Y valve installation groove and at least one clamping guide groove are formed in the bottom shell, the Y valve installation groove is used for installing a Y valve, two ends of the clamping guide groove are respectively communicated with the Y valve installation groove and one side wall of the bottom shell, and the clamping guide groove forms a passive clamping channel.

In a preferred embodiment of the utility model, a first mounting groove is communicated with the groove wall at one side of the clamping guide groove, the first clamping assembly comprises a clamping poking stop block and a compression reset spring which are arranged in the first mounting groove, the compression reset spring is clamped between the clamping poking stop block and the groove wall, far away from the clamping guide groove, of the first mounting groove, one end of the clamping poking stop block is rotatably connected with the bottom shell through a rotating shaft, the clamping poking stop block can swing around the rotating shaft, and an interventional surgical instrument placed in the clamping guide groove can be abutted against the groove wall at the other side of the clamping guide groove.

In a preferred embodiment of the present utility model, a second clamping assembly is disposed along a rear of the delivery direction of each active delivery channel, and when one of the active delivery channels delivers an interventional surgical instrument, the remaining second clamping assemblies corresponding to the remaining active delivery channels can clamp the remaining interventional surgical instruments located in the remaining active delivery channels.

In a preferred embodiment of the present utility model, the second clamping assembly includes a clamping wheel and a clamping block, the clamping wheel is an eccentric wheel, the clamping wheel can be close to or far from the clamping block, and in a state that the clamping wheel is close to the clamping block, the clamping wheel can be matched with the clamping block to clamp the interventional surgical instrument located in the corresponding active delivery channel.

In a preferred embodiment of the utility model, the plurality of delivery wheels comprise a driving wheel and two driven wheels, the driving wheel is a concentric wheel, the driven wheels are eccentric wheels and can approach or deviate from the driving wheel, an active delivery channel is formed between the driving wheel and the driven wheels in a state that the driven wheels approach to the driving wheel, the driving wheel can drive the driven wheels to rotate by virtue of friction force, and the driving wheel and the driven wheels can also generate dislocation motion in opposite directions.

In a preferred embodiment of the utility model, the clamping wheel and the delivery wheel are connected with corresponding wheel shafts, a plurality of bulges are arranged at the end parts of the wheel shafts, and the bulges on the wheel shafts can be clamped with a plurality of positioning grooves formed at the end parts of a rotary driving shaft.

In a preferred embodiment of the utility model, the projections or the ends of the projections are hemispherical, and the side portions of the clamping wheel are provided with relief grooves.

In a preferred embodiment of the utility model, at least two delivery guide grooves are formed in the bottom shell, two ends of each delivery guide groove are respectively communicated with the Y valve installation groove and one side wall of the bottom shell, the active delivery channel forms a part of the corresponding delivery guide groove, a second installation groove which can be communicated with one side wall of each delivery guide groove is formed between two adjacent delivery guide grooves, the second installation groove is positioned between the Y valve installation groove and the active delivery channel, a flexible guide block is detachably arranged in the second installation groove, and two side walls of the flexible guide block can form two flexible guide grooves which can be matched with the diameter of an interventional surgical instrument with the other side wall of each delivery guide groove.

In a preferred embodiment of the utility model, a guide block preset groove is further formed in the bottom shell, the flexible guide block can be installed in the guide block preset groove or in the second installation groove, first metal blocks are arranged at the bottom of the guide block preset groove and the bottom of the second installation groove, first magnetic attraction blocks are arranged at the bottoms of the flexible guide blocks, and the first magnetic attraction blocks can be magnetically connected with the first metal blocks.

In a preferred embodiment of the present utility model, the multi-channel interventional surgical device delivery apparatus further includes a cover body capable of being covered with the bottom case, and a plurality of pressing ribs are provided on the cover body, and the pressing ribs can be pressed against the notch of the clamping guide groove, the notch of the delivery guide groove and/or the notch of the flexible guide groove after the cover body is covered with the bottom case.

In a preferred embodiment of the utility model, two limit grooves which can be communicated with the groove walls of the two sides of the corresponding guide groove are arranged on the two sides of the clamping guide groove, the delivery guide groove and the two sides and/or the two sides of the flexible guide groove, the groove depth of the limit groove is smaller than that of the corresponding guide groove, and the two sides of the pressing rib can be clamped in the corresponding two limit grooves.

In a preferred embodiment of the utility model, a Y valve fixing seat is arranged in a Y valve mounting groove, a Y valve rotating mechanism is detachably arranged on the Y valve fixing seat, the Y valve rotating mechanism comprises a gear fixing seat, a hand wheel and a first gear which are coaxially connected, the first gear can be rotatably arranged in the gear fixing seat in a penetrating manner, the gear fixing seat can be clamped on the Y valve fixing seat, a second gear is arranged on the Y valve fixing seat, the second gear can be meshed with the first gear and can drive the first gear to rotate, and the Y valve can be inserted into the hand wheel and the first gear.

In a preferred embodiment of the utility model, a flexible ring is arranged in the hand rotating wheel, the flexible ring can be in interference insertion connection with the Y valve, the Y valve fixing seat comprises an upper fixing seat and a lower fixing seat, one side of the upper fixing seat, which is far away from the active delivery channel, is hinged with one side of the lower fixing seat, and the upper fixing seat can swing around a hinge axis of a hinge position.

In a preferred embodiment of the present utility model, a telescopic shaft capable of elastically stretching is further provided on the cover, and the telescopic shaft can be pressed against the side tube of the Y valve after the cover is covered on the bottom shell.

In a preferred embodiment of the present utility model, a plurality of positioning columns and a plurality of second magnetic attraction blocks are disposed on the bottom surface of the bottom shell, the plurality of second magnetic attraction blocks can be magnetically connected with a plurality of second metal blocks on a supporting plate, and the plurality of positioning columns can be inserted into a plurality of positioning holes on the supporting plate in a matching manner.

According to the multichannel interventional surgical instrument delivery device, at least two active delivery channels and at least one passive clamping channel are arranged and are multichannel devices, at least two active delivery channels are formed by utilizing a plurality of delivery wheels, cooperative delivery operation of at least two interventional surgical instruments can be achieved, clamping and fixing of at least one interventional surgical instrument which is not used any more or is temporarily not used can be achieved through the arrangement of the at least one passive clamping channel, further coaxial delivery of a catheter and a guide wire, a catheter and a balloon catheter and coaxial delivery of a catheter and a stent catheter can be achieved, the number of the guide wires is not limited, coaxial delivery of the catheter and a plurality of guide wires can be achieved, the requirement of cooperative delivery operation of a plurality of interventional instruments in a complex vascular lesion interventional operation is met, the limitation that an existing vascular interventional surgical robot can only be suitable for simple lesions is solved, the clinical application range is greatly improved, and the multichannel interventional surgical instrument delivery device has extremely important clinical value.

Drawings

The following drawings are only for purposes of illustration and explanation of the present utility model and are not intended to limit the scope of the utility model. Wherein:

FIG. 1 is an overall view of a multi-channel interventional surgical instrument delivery device provided by the present utility model.

Fig. 2 is a schematic structural view of the multi-channel interventional surgical instrument delivery device provided by the utility model after the cover is opened.

FIG. 3 is a schematic view of the bottom of the multi-channel interventional surgical instrument delivery device provided by the utility model.

FIG. 4 is a schematic view of the structure of the rotary drive shaft according to the present utility model.

Fig. 5 is an enlarged view of a portion of the first clamping assembly of fig. 2.

FIG. 6 is a schematic view of a bottom shell portion of a multi-channel interventional surgical instrument delivery device according to the present utility model.

FIG. 7 is a partial cross-sectional view of FIG. 6.

Fig. 8 is a perspective view of the clamping wheel and the wheel shaft provided by the utility model.

Fig. 9 is a front perspective view of a flexible guide block provided by the utility model.

Fig. 10 is a rear perspective view of a flexible guide block provided by the present utility model.

FIG. 11 is a partial cross-sectional view of a multi-channel interventional surgical instrument delivery device provided by the present utility model.

FIG. 12 is a schematic view of a portion of a multi-channel interventional surgical instrument delivery device according to the present utility model.

FIG. 13 is a schematic view of the Y-valve rotating mechanism of the present utility model clamped on the Y-valve fixing seat.

FIG. 14 is a schematic view showing the Y-valve rotating mechanism provided by the utility model not clamped on the Y-valve fixing seat.

FIG. 15 is a schematic view of the upper fixing base of the present utility model after being lifted upwards.

Fig. 16 is a schematic view of a delivery first guidewire provided by the present utility model.

FIG. 17 is a schematic illustration of the fixation of a first guidewire and delivery of a second guidewire provided by the present utility model.

FIG. 18 is a schematic view showing the second guide wire fixing and readjustment of the first guide wire according to the present utility model.

FIG. 19 is a schematic view showing the fixation of the first guide wire and readjustment of the second guide wire according to the present utility model.

FIG. 20 is a schematic view of the cooperation of three guidewires provided by the present utility model.

FIG. 21 is a schematic view of the cooperation of a plurality of guide wires provided by the present utility model.

Fig. 22 is a schematic view of a delivery first balloon catheter provided by the present utility model.

FIG. 23 is a schematic illustration of the fixation of a first balloon catheter and delivery of a second balloon catheter provided by the present utility model.

FIG. 24 is a schematic view showing the second balloon catheter of the present utility model being secured and the first balloon catheter being readjusted.

FIG. 25 is a schematic view showing the fixation of the first balloon catheter and readjustment of the second balloon catheter according to the present utility model.

Reference numerals illustrate:

1. The device comprises a cover body, 11, a pressing rib, 12, a telescopic shaft, 13, a Y-shaped cover body, 14 and a delivery wheel cover body;

2. A bottom case; 21, a Y valve mounting groove, 22, a first mounting groove, 23, a delivery guide groove, 24, a flexible guide groove, 25, a guide block preset groove, 26, a limit groove, 27, a positioning column, 28, a second magnetic suction block and 29, a blood leakage hole;

3. a delivery wheel set; 31, a driving wheel, 32, a first driven wheel, 33, a second driven wheel;

4. A passive clamping channel 41, clamping guide slots;

5. the first clamping component, 51, a clamping poking stop block, 52, a compression return spring, 53 and a rotating shaft;

6. The second clamping assembly, 61, clamping wheels, 611, avoiding grooves, 62, clamping blocks;

7. Axle, 71, bulge;

8. 81, a first magnetic attraction block;

91. y valve fixing seat, 911, upper fixing seat, 9111, clamping groove, 9112, straight pipe accommodating groove, 912, lower fixing seat, 9121, second gear, 9122 and limiting block;

92. The device comprises a Y valve rotating mechanism, 921 a gear fixing seat, 922 a hand rotating wheel, 923 a first gear;

100. A Y valve;

200. a conduit;

300. Guide wires, 301, a first guide wire, 302, a second guide wire, 303, a third guide wire, 304, a fourth guide wire;

400. A balloon catheter, 401, a first balloon catheter, 402, a second balloon catheter;

500. The rotary driving shaft, 501, the protruding block, 502 and the positioning groove.

Detailed Description

For a clearer understanding of technical features, objects, and effects of the present utility model, a specific embodiment of the present utility model will be described with reference to the accompanying drawings.

As shown in fig. 1 to 25, the present embodiment provides a multi-channel interventional surgical instrument delivery device, including:

a delivery wheel set 3 comprising a plurality of delivery wheels between which at least two active delivery channels for delivering at least two interventional surgical instruments can be formed;

At least one passive clamping channel 4 for placing interventional surgical instruments, a first clamping assembly 5 is arranged on one side of each passive clamping channel 4, and the first clamping assembly 5 can clamp and fix the interventional surgical instruments when placed in the passive clamping channels 4.

The active delivery channel may be used for delivering an interventional surgical instrument such as a guide wire 300, a balloon catheter 400 or a stent catheter, and the passive clamping channel 4 is mainly used for clamping and fixing the guide wire 300, and one passive clamping channel 4 may be used for clamping at least one interventional surgical instrument. In operation, the interventional surgical instrument to be actively delivered is placed in one of the active delivery channels for delivery, and if the interventional surgical instrument is placed between the two delivery wheels corresponding to the other active delivery channels, the two corresponding delivery wheels do not clamp the interventional surgical instrument. The intervention surgical instrument which is not used any more or is not used temporarily can be placed in the corresponding passive clamping channel 4 to be clamped and fixed, and if the intervention surgical instrument placed in the passive clamping channel 4 needs to be delivered again, the intervention surgical instrument can be taken out and switched to the corresponding active delivery channel, so that the operation is more flexible.

The delivery device in this embodiment is provided with at least two active delivery channels and at least one passive clamping channel 4, is a multi-channel device, forms at least two active delivery channels by utilizing a plurality of delivery wheels, can realize the cooperative delivery operation of at least two interventional surgical instruments (such as at least two guide wires 300, at least two balloon catheters 400, at least two stent catheters and the like), can clamp and fix at least one interventional surgical instrument (such as a guide wire 300) which is not used or is temporarily not used any more by arranging at least one passive clamping channel 4, can realize the coaxial delivery of the catheter 200 and the guide wire 300, the catheter 200 and the balloon catheters 400 and the catheter 200 and the stent catheters, has no limit on the use number of the guide wire 300, can realize the coaxial delivery of the catheter 200 and the plurality of guide wires 300, meets the requirement of the cooperative delivery operation of the plurality of interventional instruments in the interventional surgery of complex vascular surgery, solves the limitation that the existing vascular interventional surgical robot can only be suitable for simple lesions, greatly improves the clinical application range, and has extremely important clinical value.

Further, referring to fig. 2, the multi-channel interventional surgical instrument delivery device further includes a bottom case 2, a Y valve mounting groove 21 and at least one clamping guide groove 41 are formed in the bottom case 2, the Y valve mounting groove 21 is used for mounting the Y valve 100, two ends of the clamping guide groove 41 are respectively communicated with one side wall (the side wall may be a side wall opposite to the Y valve mounting groove 21 or a side wall located at two sides of the Y valve mounting groove 21) of the Y valve mounting groove 21 and one side wall of the bottom case 2, and the clamping guide groove 41 forms the passive clamping channel 4.

The passive clamping channel 4 is formed by a groove structure formed on the bottom shell 2, and the first clamping component 5 is used for clamping the interventional surgical instrument placed in the passive clamping channel 4, so that the operation is simpler and more convenient.

Typically a passive gripping channel 4 is provided on one side of the delivery wheel set 3. The number of the passive clamping channels 4 can be determined according to the needs, and in this embodiment, the number of the passive clamping channels 4 is preferably two and is arranged at two sides of the delivery wheel set 3, so that the stable clamping requirement of two or more guide wires 300 can be met, and the doctor can better distinguish the guide wires 300 during operation. The passive clamping channel 4 avoids the position of the delivery wheel for pushing and twisting the interventional surgical instruments such as the guide wire 300, and avoids the problem of mutual interference caused by overlapping of a plurality of instrument positions of the interventional surgical instruments such as the guide wire 300 or the balloon/stent catheter which enter later and the position of the interventional surgical instruments such as the delivery guide wire 300 of the original clamped guide wire 300.

The specific structure of the first clamping assembly 5 can be realized by connecting the first mounting groove 22 with the groove wall on one side of the clamping guide groove 41 with reference to fig. 2 and 5, the first clamping assembly 5 comprises a clamping poking block 51 and a compression return spring 52 which are arranged in the first mounting groove 22, the compression return spring 52 is clamped between the clamping poking block 51 and the groove wall, far away from the clamping guide groove 41, of the first mounting groove 22, one end of the clamping poking block 51 is rotatably connected with the bottom shell 2 through a rotating shaft 53, the clamping poking block 51 can swing around the rotating shaft 53, and an interventional surgical instrument placed in the clamping guide groove 41 can be pressed against the groove wall on the other side of the clamping guide groove 41.

The axial direction of the rotating shaft 53 is perpendicular to the plate surface of the bottom shell 2, and the axial direction is vertical in use. The first side groove wall of the first mounting groove 22 is communicated with the clamping guide groove 41, a compression return spring 52 is clamped between the clamping poking stop block 51 and the second side groove wall of the first mounting groove 22, and the clamping poking stop block 51 can be pressed against the other side groove wall of the clamping guide groove 41 under the action of the elastic force of the compression return spring 52. When the clamping and poking block 51 is manually poked in use, the interventional surgical instrument is placed in the clamping guide groove 41, then the clamping and poking block 51 is loosened, and the interventional surgical instrument can be tightly pressed and fixed under the action of elastic force by the clamping and poking block 51.

For example, in vascular interventions, particularly cardiac coronary interventions, a rapid exchange balloon catheter 400 and a stent catheter are often employed. In the operation process, after the head end of the guide wire 300 passes through a narrow vascular lesion site, the balloon catheter 400 and the stent catheter need to be delivered to the lesion site along the guide wire 300 at a time, and the guide wire 300 needs to be clamped very stably in the process of delivering the balloon catheter 400 and the stent catheter, so that the risk of puncturing the vascular wall caused by forward movement of the head end of the guide wire 300 is avoided. By using the first clamping assembly 5 of this embodiment, when the head end of the guide wire 300 does not need to be manipulated by a doctor after passing through the stenotic lesion, the guide wire 300 is fixed at the position, and at this time, the guide wire 300 is placed into the clamping guide groove 41 at the outer side of the delivery wheel set 3, and the clamping and poking block 51 is poked, so that the guide wire 300 can be clamped, the structure of rapidly and stably clamping the guide wire 300 is realized, the guide wire 300 is ensured not to accidentally move in the pushing process of the balloon catheter 400 and the stent catheter, and the safety of the operation is improved.

Further, referring to fig. 2, a second clamping assembly 6 is provided along the rear of the delivery direction of each active delivery channel, and when one of the active delivery channels delivers an interventional surgical instrument, the remaining second clamping assemblies 6 corresponding to the remaining active delivery channels can clamp the remaining interventional surgical instrument located in the remaining active delivery channel.

The second clamping assembly 6 can perform clamping and fixing or loosening actions on the interventional surgical instrument in the corresponding active delivery channel. When one of the active delivery channels delivers an interventional surgical instrument located therein, the corresponding second clamping assembly 6 releases the interventional surgical instrument to ensure a smooth delivery of the interventional surgical instrument. In the rest active delivery channels, if the corresponding interventional surgical instruments are placed, the second clamping assemblies 6 corresponding to the active delivery channels clamp and fix the interventional surgical instruments so as to ensure the position fixation of the interventional surgical instruments, and if the interventional surgical instruments are not placed, the second clamping assemblies 6 corresponding to the active delivery channels are in a loosening state.

The specific structure of the second clamping assembly 6 described above may be implemented by referring to fig. 2, 6 and 7, in which the second clamping assembly 6 includes a clamping wheel 61 and a clamping block 62, the clamping wheel 61 is an eccentric wheel, the clamping wheel 61 can be close to or far from the clamping block 62, and the clamping wheel 61 can be matched with the clamping block 62 to clamp an interventional surgical instrument located in a corresponding active delivery channel in a state that the clamping wheel 61 is close to the clamping block 62.

The clamping block 62 may be, for example, a rectangular block, or may be of any other shape as desired. In actual use, the clamping wheel 61 is connected with a corresponding driving device, the driving device is used for driving the clamping wheel 61 to rotate so as to adjust the distance between the clamping wheel 61 and the clamping block 62, so that the clamping wheel 61 is close to or deviated from the clamping block 62, the clamping or loosening of the second clamping assembly 6 is controlled in an electric control mode, and the remote operation is facilitated.

In one embodiment, referring to fig. 8, a relief groove 611 is provided at a side portion of the pinch wheel 61. Because the tail structure size of the balloon catheter 400 and the stent catheter is relatively large, the part of the head of the clamping wheel 61, which clamps the balloon catheter 400 or the stent catheter, is provided with a design of avoiding the feeding direction position, and the purpose is that under the condition of the lesion of the distal end of a blood vessel, the head end of the balloon catheter 400 or the stent catheter has enough travel to reach the lesion part, so that the lengths of the balloon catheter 400 and the stent catheter are fully utilized.

Other configurations for the first clamping assembly 5 and the second clamping assembly 6 are possible, and the present embodiment is merely illustrative.

The number of the delivery wheels in the delivery wheel set 3 depends on the number of the required active delivery channels, in a specific embodiment, referring to fig. 2 and 16, the multiple delivery wheels include a driving wheel 31 and two driven wheels, the driving wheel 31 is a concentric wheel, the driven wheels are eccentric wheels and can approach or deviate from the driving wheel 31, the active delivery channels are formed between the driving wheel 31 and the driven wheels in a state that the driven wheels approach the driving wheel 31, and the driving wheel 31 can drive the driven wheels to rotate by virtue of friction force so as to push the interventional surgical instrument in the active delivery channels to move along the axial direction of the interventional surgical instrument, so that the axial delivery of the interventional surgical instrument is realized. The drive wheel 31 and the driven wheel can also produce a staggering motion in opposite directions to twist the interventional surgical instrument in the active delivery channel for rotation.

The delivery wheels are axially arranged in parallel (the axial direction is vertical when in use), and the driving wheel 31 and the driven wheel specifically generate a dislocation motion in the axial direction of the delivery wheels, and the two are tangentially rubbed in the up-down opposite direction so as to realize the rotation of the clamped interventional surgical instruments such as the guide wire 300. When the surgical instrument is used, the driving wheel 31 and the driven wheel are respectively connected with corresponding driving devices, and the driven wheel is driven to eccentrically rotate by utilizing the corresponding driving devices so as to adjust the distance between the driven wheel and the driving wheel 31, so that the interventional surgical instrument is clamped or unclamped by the driven wheel and the driving wheel 31. And then the corresponding driving device of the driven wheel does not work, and the driven wheel 31 is driven by the corresponding driving device to drive the driven wheel to rotate around the eccentric axis of the driven wheel by virtue of friction force. The up-and-down dislocation and lifting of the driving wheel 31 and the driven wheel are realized by corresponding driving devices, and any conventional method can be adopted specifically, and the method is not limited herein.

Because the driven wheel is an eccentric wheel, before the interventional surgical instrument is placed between the driving wheel 31 and the driven wheel, the driven wheel rotates to the side far away from the driving wheel 31, and at the moment, the minimum gap between the two wheels reaches the maximum value, so that the interventional surgical instrument is placed. After the interventional surgical instrument is placed, the eccentric wheel rotates, so that the driving wheel 31 and the driven wheel clamp the interventional surgical instrument, the driving wheel 31 actively rotates at the moment and drives the driven wheel to rotate by virtue of friction force, and the interventional surgical instrument is delivered to advance and retreat.

When the delivery wheelset 3 comprises a driving wheel 31 and two driven wheels, and the number of the passive clamping channels 4 is two, the whole delivery device is provided with two active delivery channels and two passive clamping channels 4, and is a multi-channel consumable box, so that the cooperative operation of the double guide wires 300, the double balloon catheter 400 and the double stent catheter can be realized, the passive clamping of more than two guide wires 300 can be satisfied, the clinical application range of the vascular interventional operation robot is greatly expanded, and the use scenes of complex vascular lesion interventional operations such as the double guide wires 300 (the fixed clamping of more than two guide wires 300), the double balloon catheter 400, the cooperative delivery of the double stent catheter and the like can be realized.

Further, referring to fig. 4, 7 and 8, the clamping wheel 61 and the delivery wheel are connected with corresponding wheel shafts 7, the end parts of the wheel shafts 7 (the end parts far away from the clamping blocks 62 or the delivery wheel) are provided with a plurality of protrusions 71, and the protrusions 71 on the wheel shafts 7 can be clamped with a plurality of positioning grooves 502 formed in the end parts of a rotary driving shaft 500, so that the wheel shafts 7 and the rotary driving shaft 500 are circumferentially fixed, and the rotary driving shaft 500 is convenient to drive the corresponding clamping wheel 61 or the delivery wheel to rotate.

In use, the delivery device is coupled to a respective drive device, such as a rotary motor, the motor shaft of which constitutes the rotary drive shaft 500 described above, to drive the respective rotation of the delivery wheels and the respective pinch wheels 61. In order to avoid cross contamination during surgery, the delivery device should be a disposable component, and the driving device can be used repeatedly, and by arranging the protrusions 71 at the end of each wheel axle 7 and arranging the positioning slots 502 at the end of the rotating driving shaft 500 of the driving device, the quick connection and quick disassembly of the wheel axle 7 and the rotating driving shaft 500 can be realized, and the device is simple and convenient. The delivery wheels and the clamping wheels 61 are driven to rotate in an electric control mode, so that remote operation is facilitated.

Preferably, the protrusion 71 or the end of the protrusion 71 is hemispherical.

In order to match the shape of the protrusion 71, referring to fig. 4, the end surface of the rotary driving shaft 500 used in cooperation with the protrusion is provided with a protruding block 501, and a plurality of positioning grooves 502 are spherical grooves and are circumferentially spaced apart from the protruding block 501. When the wheel axle 7 is in butt joint with the rotary driving shaft 500, as the end part of the bulge 71 or the whole bulge 71 is hemispherical, the bulge 71 can automatically slide into the corresponding positioning groove 502 only by pressing the wheel axle 7 downwards, manual alignment is not needed, the automatic butt joint is convenient and rapid, and automatic butt joint is convenient to realize during assembly.

The number of the protrusions 71 is the same as that of the positioning grooves 502, and the number is specific to the need. For example, in this embodiment, as shown in fig. 3 and 4, the end of the protrusion 71 is hemispherical, and integrally forms a spherical column structure, the number of the protrusions 71 and the positioning slots 502 is five, and the protrusions 501 are uniformly distributed at intervals circumferentially, and the entire protrusion 501 is in a pentagon shape, and the five protrusions 71 are correspondingly distributed at five vertex angles of the pentagon, so as to ensure the stability of the wheel axle 7 after being docked with the rotary driving shaft 500.

Further, the catheter 200, which is an intra-luminal image such as OCT, is more flexible than the guidewire 300 during vascular interventional procedures. When the OCT catheter is delivered, the flexible guide block 8 which is very convenient to install and detach is provided in this embodiment for providing effective delivery guidance for the soft catheter and the soft guide wire because the structural rigidity of the material is insufficient, and the flexible guide block is more easily subjected to the resistance of vascular lesions in the delivery process and is bent in the delivery guide groove 23, so as to solve the problem that the catheter 200 cannot be delivered accurately.

Specifically, referring to fig. 2 and 6, at least two delivery guide grooves 23 are formed on the bottom shell 2, two ends of the delivery guide grooves 23 are respectively communicated with the Y valve mounting groove 21 and one side wall of the bottom shell 2, the active delivery channel forms a part of the corresponding delivery guide groove 23, a second mounting groove which can be communicated with one side groove wall of the delivery guide groove 23 at two sides is formed between two adjacent delivery guide grooves 23, the second mounting groove is positioned between the Y valve mounting groove 21 and the active delivery channel, a flexible guide block 8 is detachably mounted in the second mounting groove, and two side walls of the flexible guide block 8 can form two flexible guide grooves 24 which can be matched with the diameter of an interventional surgical instrument with the other side groove wall of the delivery guide groove 23 at two sides.

The flexible guide block 8 is made of flexible material, for example, soft rubber material. Taking the number of delivery wheels as three as an example, a second installation groove is arranged between the two delivery guide grooves 23, after the flexible guide block 8 is installed in the second installation groove, the groove wall of the first side of the flexible guide block 8 and the groove wall of the other side of the delivery guide groove 23 on the same side form a flexible guide groove 24, and the groove wall of the second side of the flexible guide block 8 and the groove wall of the other side of the delivery guide groove 23 on the same side form another flexible guide groove 24. The flexible guide channel 24 should be sized to match the diameter of the flexible interventional surgical instrument (e.g., flexible guide wire 300 or flexible catheter 200) such that its free clearance within the flexible guide channel 24 is small, and the flexible guide channel 24 provides better guiding without risk of bending when the delivery procedure is subject to external resistance.

The flexible guide block 8 is mainly used in the use scenario of a flexible catheter such as OCT, and for other hard interventional surgical instruments such as other guide wires 300, the head interface of the Y valve 100 needs to be inserted into a steel wire guide needle, and if the flexible guide block 8 is still installed in the second installation groove at this time, the flexible guide block will interfere with the guide needle. Therefore, in this embodiment, the bottom case 2 is further provided with a guide block preset groove 25, and the flexible guide block 8 can be installed in the guide block preset groove 25 or in the second installation groove. In addition, in order to realize convenient quick assembly disassembly, all be equipped with first metal piece at the tank bottom of guide block preset groove 25 and the tank bottom of second mounting groove, the bottom of flexible guide block 8 is equipped with first magnetism and inhales piece 81, and first magnetism is inhaled piece 81 and first metal piece magnetic connection.

The bottom of the flexible guide block 8 is embedded with a magnetic attraction and is fixed with the disposable bottom shell 2, the flexible guide block 8 is installed in the second installation groove when being needed, and the flexible guide block 8 is installed in the guide block preset groove 25 when not needed, so that the flexible guide block is convenient to use at any time, the flexible guide block can be quickly installed in place when delivering the flexible guide pipe, the accurate delivery of the flexible guide pipe is realized, interference with other instruments when not delivering the flexible guide pipe is avoided, and the problem of the accurate delivery of the flexible guide pipe is effectively solved.

In the process of delivering or withdrawing the flexible interventional surgical instrument (the guide wire 300) from the blood vessel through the delivery twisting component, the head end is contacted with the wall of the blood vessel to receive a certain resistance, so that the risk of bending occurs in the conveying channel of the delivery device, and the head end of the instrument is separated from the conveying channel of the delivery device, so that the head end of the instrument cannot accurately reach the designated part of the blood vessel. In order to solve the problem, referring to fig. 2, 6 and 7, the multi-channel interventional surgical instrument delivery device further comprises a cover body 1 capable of being covered with the bottom shell 2, a plurality of pressing ribs 11 are arranged on the cover body 1, the pressing ribs 11 can be pressed against the notch of the clamping guide groove 41, the notch of the delivery guide groove 23 and/or the notch of the flexible guide groove 24 after the cover body 1 is covered with the bottom shell 2, a circumferentially closed channel is formed by surrounding the corresponding guide groove, a closed space close to 360 degrees is formed, the interventional surgical instrument in the channel can be effectively guided in an omnibearing manner, the interventional surgical instrument is prevented from being bent away from the guide groove in the delivery process, and the delivery precision of the interventional surgical instrument is greatly improved.

The cover body 1 and the bottom shell 2 can be opened and closed in any mode, for example, in the embodiment, one side of the cover body 1 is hinged with one side of the bottom shell 2 through a hinge shaft, and opening and closing can be realized by turning over the cover body 1, so that the cover is simple and convenient. The shape of the cover 1 and the bottom case 2 is also determined as required, and for example, both are rectangular in this embodiment.

Preferably, two limit grooves 26 which can be communicated with groove walls of two sides of the corresponding guide groove are arranged on two sides of the clamping guide groove 41, the delivery guide groove 23 and two sides and/or two sides of the flexible guide groove 24, the groove depth of the limit groove 26 is smaller than that of the corresponding guide groove, and two sides of the pressing rib 11 can be clamped in the corresponding two limit grooves 26. After the pressing rib 11 is clamped in the limit groove 26, a certain fall exists between the pressing rib 11 and the corresponding guide groove in the height direction, so that the thinner interventional surgical instrument (such as the guide wire 300) can be effectively controlled to be separated from the guide groove, and the accurate delivery of the flexible instrument such as the guide wire 300 is further effectively ensured.

It will be appreciated that the limit grooves 26 on both sides of the clamping guide groove 41 and the delivery guide groove 23 are provided on the top surface of the bottom case 2, while one of the two limit grooves 26 on both sides of the flexible guide groove 24 is provided on the top surface of the bottom case 2, and the other is provided on the flexible guide block 8. In addition, a delivery wheel mounting groove is formed in the bottom shell 2 for mounting the delivery wheel set 3.

Further, referring to fig. 2, a Y valve fixing seat 91 is provided in the Y valve mounting groove 21, a Y valve rotating mechanism 92 is detachably mounted on the Y valve fixing seat 91, and the Y valve rotating mechanism 92 can be connected to the Y valve 100 to rotate the Y valve 100.

The Y valve 100 rotation fixing assembly formed by the Y valve fixing seat 91 and the Y valve rotation mechanism 92 is mainly used for rapidly installing the Y valve 100, and the Y valve 100 provides two inlets for the instrument entering the catheter 200 and the contrast agent injection in the vascular intervention operation, and can also play a role in sealing blood outflow. The Y valve 100 is constructed in the prior art with straight and side pipes connected, with the two ends of the straight pipe forming a head interface and a tail interface. The straight pipe of the Y valve 100 is provided with a fixed part and a rotating part which are rotationally connected, the side pipe of the Y valve 100 is connected with the fixed part, the rotating part is fixedly penetrated in the Y valve rotating mechanism 92 during installation, and the Y valve rotating mechanism 92 is utilized to drive the Y valve 100 to rotate so as to meet the condition of rotating the Y valve 100.

In a specific embodiment, referring to fig. 13 and 14, the Y valve rotating mechanism 92 includes a gear fixing base 921, a hand rotating wheel 922 and a first gear 923 which are coaxially connected, the first gear 923 is rotatably inserted into the gear fixing base 921, the gear fixing base 921 can be clamped on the Y valve fixing base 91, a second gear 9121 is provided on the Y valve fixing base 91, the second gear 9121 can be meshed with the first gear 923 and can drive the first gear 923 to rotate, and the Y valve 100 can be inserted into the hand rotating wheel 922 and the first gear 923.

The Y valve fixing seat 91 is generally provided with a corresponding clamping groove 9111, and the gear fixing seat 921 can be clamped in the clamping groove 9111, so as to realize quick assembly and disassembly. The gear fixing base 921 is an annular base body, the first gear 923 can be connected with the gear fixing base 921 through corresponding bearings, the first gear 923 and the hand rotating wheel 922 are coaxially arranged side by side, and the first gear 923 and the hand rotating wheel 922 can be fixedly connected through fasteners (such as screws). The axial direction of the first gear 923 is perpendicular to the axial direction of the second gear 9121, the axial direction of the second gear 9121 is in a vertical placement state during operation, the axial direction of the first gear 923 is in a horizontal placement state, for example, bevel gears can be adopted for the two gears, and the power transmission direction can be changed by adopting the bevel gears, so that the first gear 923 and the second gear 9121 can be configured in different directions, the installation space is saved, and the structure is more compact. The diameter of the first gear 923 should be larger than the second gear 9121, i.e., the first gear 923 is a large gear and the second gear 9121 is a small gear, thereby achieving deceleration.

In use, the Y-valve 100 is inserted into the inner bore of the hand runner 922, and the hand runner 922 and the first gear 923 are axially inserted and fixed with the tail of the Y-valve 100. The Y valve 100 may be rotated in a manual mode or may be mechanically driven to rotate the Y valve 100 as needed. When the manual mode is selected for rotation, the Y-valve rotating mechanism 92 is not installed in the Y-valve fixing seat 91, and a doctor can drive the Y-valve 100 to rotate by manually pulling the manual wheel 922, so as to drive the interventional surgical instrument connected with the Y-valve 100 to rotate. When the Y-valve rotating mechanism 92 is arranged in the Y-valve fixing seat 91 in a mechanical driving mode, the second gear 9121 is driven to rotate by a bottom mechanical motor, and then the first gear 923 is driven to rotate together, and the Y-valve 100 is synchronously driven to rotate, so that the tail of the Y-valve 100 is connected with an interventional surgical instrument, and the interventional surgical instrument is driven to rotate together.

Preferably, a flexible ring is provided within the hand wheel 922, which can be interference fit with the Y valve 100. The flexible ring is made of flexible material, such as soft rubber, so as to be compatible with Y-valve 100 with different diameter mouth characteristics. When the Y valve 100 is installed, the tail part (tail interface) of the straight pipe of the Y valve 100 can be directly inserted into the flexible ring in sequence and stretches into the first gear 923, the end part of the inner hole of the first gear 923 is provided with a stop part capable of axially limiting the Y valve 100, a gap is reserved between the outer peripheral wall of the tail part of the straight pipe and the wall of the inner hole of the first gear 923, the tail part of the straight pipe can be abutted against the stop part, and the straight pipe is in interference fit with the flexible ring, so that the axial fixation of the Y valve 100 is realized.

Further, after the Y-gear fixing base 921 is snapped onto the Y-valve fixing base 91, the head interface of the Y-valve 100 needs to be lifted up properly to make the operation of the doctor more convenient for faster switching of the instrument. In order to facilitate the lifting of the Y valve 100, referring to fig. 15, the Y valve holder 91 includes an upper holder 911 and a lower holder 912, one side of the upper holder 911 away from the active delivery passage is hinged to one side of the lower holder 912, and the upper holder 911 can swing about a hinge axis at the hinge.

The slot 9111 is formed on the upper fixed seat 911, and the second gear 9121 is mounted on the lower fixed seat 912. The upper and lower fixing bases 912 are connected at the hinge position through the rotating shaft 53, the axis of the rotating shaft 53 is vertical to the straight pipe of the Y valve 100, and after the upper fixing base rotates and swings upwards around the rotating shaft 53 for a certain angle, the upper module part Y valve 100 can be driven to realize angle turnover, namely the head interface of the Y valve 100 is lifted upwards, so that a doctor is more convenient to penetrate interventional surgical instruments such as a guide wire 300 into the Y valve 100, and interference of other structures on the bottom shell 2 can be avoided.

In a specific embodiment, a plurality of fixing blocks are disposed at a position of the bottom of the upper fixing base 911 far from the rotating shaft 53, a plurality of fixing grooves are disposed at a position of the top surface of the lower fixing base 912 far from the rotating shaft 53, each fixing block can be blocked in a corresponding fixing groove, a limiting block 9122 is disposed at a position of the top surface of the lower fixing base 912 near to the rotating shaft 53, the limiting block 9122 can limit the upper fixing base 911 after swinging for a certain angle, and a compression spring is clamped between the upper fixing base 911 and the lower fixing base 912.

Normally, each fixing block is clamped in each fixing groove, and the upper fixing base 911 is abutted against the lower fixing base 912. When the Y valve 100 is required to be lifted, the upper fixed seat 911 is lifted by a human hand to separate each fixed block from each fixed groove, and the upper fixed seat 911 automatically swings around the rotation shaft 53 under the action of the elastic force of the compression spring to a position limited by the limiting block 9122, for example, as shown in fig. 15, at this time, the upper fixed seat 911 swings upward by an angle β with respect to the lower fixed seat 912. Of course, the swing of the upper fixing base 911 may be implemented in other manners, and this embodiment is merely illustrative.

Further, referring to fig. 2, the cover 1 is further provided with a telescopic shaft 12 which can be elastically telescopic, and the telescopic shaft 12 can be pressed against the side pipe of the Y valve 100 after the cover 1 is covered on the bottom case 2.

The elastic expansion and contraction of the telescopic shaft 12 can be realized, for example, by providing a third mounting groove on the cover body 1, slidably inserting the telescopic shaft 12 in the third mounting groove, extending the end of the telescopic shaft 12 out of the third mounting groove, sandwiching a spring between the telescopic shaft 12 and the bottom of the third mounting groove, and providing a limit part for limiting the telescopic shaft 12 at the notch of the third mounting groove, so as to prevent the telescopic shaft 12 from separating from the third mounting groove.

In order to adapt to the different angles of the side tube and the straight tube of the Y valve 100, in this embodiment, only the straight tube accommodating groove 9112 is formed in the Y valve fixing seat 91 (specifically, on the upper fixing seat 911) and the side tube accommodating groove matched with the side tube is not specially formed, after the Y valve rotating mechanism 92 is clamped in the Y valve fixing seat 91, the straight tube of the Y valve 100 is placed in the straight tube accommodating groove 9112 and the side tube is supported on the upper surface of the upper fixing seat 911, after the cover body 1 is covered on the bottom shell 2, the telescopic shaft 12 is opposite to the side tube of the Y valve 100 and always compresses the side tube under the elastic force of the spring, so that the fixed part of the straight tube in the Y valve 100 and the circumferential direction of the side tube are fixed, and rotation of the fixed part of the Y valve 100 and the side tube is prevented, but rotation of the rotating part of the Y valve 100 is not affected.

In this embodiment, the connection between the axial direction of the Y valve 100 and the Y valve rotating mechanism 92 is realized by connecting the hand rotating wheel 922, and the Y valve 100 with different diameter mouth characteristics can be compatible by arranging a flexible ring in the hand rotating wheel 922, and by arranging the telescopic shaft 12 on the cover 1, the side tube of the Y valve 100 can be pressed and held after the cover 1 is covered, so that the Y valve 100 rotating and fixing assembly can be compatible to assemble Y valves 100 with various forms, and the adaptability is stronger.

Further, referring to fig. 3, a plurality of positioning posts 27 and a plurality of second magnetic attraction blocks 28 are disposed on the bottom surface of the bottom shell 2, the plurality of magnetic attraction blocks can be magnetically connected with a plurality of metal blocks (such as magnets) on a supporting plate, and the plurality of positioning posts 27 can be in fit connection with a plurality of positioning holes on the supporting plate.

The quick connection and fixation are completed by utilizing magnetic attraction, the positioning column 27 is used for completing effective and precise installation and positioning, the quick installation and fixation of the delivery device on a supporting plate can be realized during use, and the quick connection and conduction of power can be realized by utilizing the spherical bulge 71 on the wheel shaft 7, so that the quick connection and fixation device is simple and convenient.

Referring to fig. 1, the cover 1 generally includes a Y-shaped cover 13 and a delivery wheel cover 14, the telescopic shaft 12 is disposed on the Y-shaped cover 13, the bead 11 is disposed on the delivery wheel cover 14, the Y-shaped valve mounting groove 21 is disposed corresponding to the Y-shaped cover 13, and the delivery wheel set 3, the first clamping assembly 5, the second clamping assembly 6 and the flexible guide block 8 are disposed corresponding to the delivery wheel cover 14.

In an alternative embodiment, referring to fig. 1, a blood leakage hole 29 capable of communicating with the Y valve installation groove 21 is provided in a side wall of the bottom case 2. The operation is such that a hose is connected to the blood leakage hole 29 so as to flow out the blood around the Y valve 100.

Further, the following takes three delivery wheels as the driving wheel 31, the first driven wheel 32 and the second driven wheel 33, and two clamping guide grooves 41 as two clamping guide grooves 41 and two clamping guide grooves 41 as the first clamping guide grooves 41 and the second clamping guide grooves 41 respectively as an example, and the delivery device comprises two active delivery channels and two passive clamping channels 4, which can be used for cooperatively operating the double guide wire 300, the double balloon catheter 400 and the double stent catheter, and can also meet the passive clamping of more than two guide wires 300. Referring to fig. 16 to 25, the specific usage method is as follows:

(1) The combination of the three delivery wheels at the front end and the two groups of second clamping assemblies 6 at the rear end can realize the cooperative and alternate delivery of the two guide wires 300, can randomly switch channels to realize the position adjustment of the first guide wire 301 or the second guide wire 302, and can also meet the requirement of using more than two guide wires 300. Schematic of the coordinated alternating operation of two guidewires 300 is specifically referenced in fig. 16-19.

Referring to fig. 16, the first guide wire 301 is delivered, the driving wheel 31 and the first driven wheel 32 clamp and deliver the first guide wire 301, the second clamping assembly 6 corresponding to the first active delivery channel is loosened, and the second clamping assembly 6 corresponding to the second active delivery channel is loosened because no interventional surgical instrument is placed in the second active delivery channel.

Referring to fig. 17, the first guide wire 301 is fixed, the second guide wire 302 is delivered, the driving wheel 31 and the second driven wheel 33 clamp and deliver the second guide wire 302, the second clamping assembly 6 corresponding to the second active delivery channel is loosened, and the second clamping assembly 6 corresponding to the first active delivery channel clamps the first guide wire 301.

Referring to fig. 18, the second guide wire 302 is fixed, and the position of the first guide wire 301 is adjusted again, that is, the driving wheel 31 and the first driven wheel 32 clamp to continue to deliver the first guide wire 301, so as to adjust the axial position of the first guide wire 301, the second clamping assembly 6 corresponding to the first active delivery channel is loosened, and the second clamping assembly 6 corresponding to the second active delivery channel clamps the second guide wire 302.

Referring to fig. 19, the first guide wire 301 is fixed, the position of the second guide wire 302 is adjusted again, that is, the driving wheel 31 and the second driven wheel 33 clamp to continue to deliver the second guide wire 302, so as to adjust the axial position of the second guide wire 302, the second clamping assembly 6 corresponding to the second active delivery channel is loosened, and the second clamping assembly 6 corresponding to the first delivery channel clamps the first guide wire 301.

The delivery device also satisfies the cooperative operation of multiple guide wires 300. The guide wire 300, which is secured in place, may be secured by the first clamping assembly 5 with a coordinated cooperation of the delivery wheel set 3 and the second clamping assembly. The guide wire 300, through the delivery wheel, continues to operate, with adjustments in different positions. With particular reference to fig. 20 and 21.

Referring to fig. 20, a coordinated operation of three guide wires 300 may be achieved, for example, requiring delivery of a second guide wire 302. When the first guide wire 301 is delivered to a target location or the first guide wire 301 is temporarily not in use, the first guide wire 301 may be placed in the first clamping guide groove 41 and the first guide wire 301 is compressed and secured by the first clamping assembly 5 on one side of the first clamping guide groove 41. The driving wheel 31 and the first driven wheel 32 clamp and deliver the second guide wire 302, the second clamping assembly 6 corresponding to the first driving delivery channel is loosened, the third guide wire 303 is placed between the driving wheel 31 and the second driven wheel 33, and the second clamping assembly 6 corresponding to the second driving delivery channel clamps the third guide wire 303.

Referring to fig. 21, a cooperative work of a plurality of guide wires 300 may be achieved, for example, a third guide wire 303 needs to be delivered, a driving wheel 31 and a second driven wheel 33 clamp and deliver the third guide wire 303, a second clamping assembly 6 corresponding to a second active delivery channel is loosened, a second guide wire 302 is placed between the driving wheel 31 and the first driven wheel 32, and a second clamping assembly 6 corresponding to a first active delivery channel clamps the second guide wire 302. The first guide wire 301, the fourth guide wire 304, and the remaining guide wire 300, which are delivered to the target site or are temporarily not used, are placed in one of the clamping guide grooves 41, and the fourth guide wire 304 is placed in the second clamping guide groove and is pressed and fixed by the corresponding first clamping assembly 5, and the first guide wire 301 and the remaining guide wire 300 are placed in the first clamping guide groove and are pressed and fixed by the corresponding first clamping assembly 5, for example, as shown in fig. 21.

(2) When the double guide wires 300 are in place, the first clamping assemblies 5 clamp the guide wires 300 without displacement, so that the three delivery wheels at the front end and the second clamping assemblies 6 at the rear end are combined in a clamping or loosening mode, the two balloon/stent catheters are delivered in a coordinated and alternative mode, and the channels can be switched at will to adjust the positions of the two balloon catheters 400 or the two stent catheters. The device can realize stable clamping of part of devices in the vascular interventional operation process, can realize adjustment of the position of one device in a very convenient mode, and simultaneously can keep the device of the other channel from moving back and forth in the operation, so that the inner wall of the blood vessel is not accidentally damaged, and the safety of the operation is improved. The design greatly improves the accurate, efficient and convenient operation of a plurality of instruments in complex vascular lesion surgery, has very high clinical value, and cannot be realized by other vascular intervention surgery robots at present.

Specifically, fixation is performed after the dual guidewire 300 surgical site determination, delivering the dual balloon/stent catheter sequentially and achieving coordinated alternating delivery. Taking the delivery dual balloon catheter 400 as an example, refer specifically to fig. 22-25.

Referring to fig. 22, a first balloon catheter 401 is delivered with a first guide wire 301 and a second guide wire 302 positioned within a first clamping guide groove 41 and a second clamping guide groove 41, respectively, and held in compression by a corresponding first clamping assembly 5, respectively. The driving wheel 31 and the first driven wheel 32 clamp and deliver the first balloon catheter 401, the second clamping assembly 6 corresponding to the first active delivery channel is loosened, and the second clamping assembly 6 corresponding to the second active delivery channel is loosened because no interventional surgical instrument is placed in the second active delivery channel.

Referring to fig. 23, the first balloon catheter 401 is fixed, and the second balloon catheter 402 is delivered, wherein the driving wheel 31 and the second driven wheel 33 clamp and deliver the second balloon catheter 402, the second clamping assembly 6 corresponding to the second active delivery channel is loosened, and the second clamping assembly 6 corresponding to the first active delivery channel clamps the first balloon catheter 401.

Referring to fig. 24, the second balloon catheter 402 is fixed, and the position of the first balloon catheter 401 is adjusted again, that is, the driving wheel 31 and the first driven wheel 32 are clamped to continuously deliver the first balloon catheter 401, so as to adjust the axial position of the first balloon catheter 401, the second clamping assembly 6 corresponding to the first active delivery channel is loosened, and the second clamping assembly 6 corresponding to the second active delivery channel clamps the second balloon catheter 402.

Referring to fig. 25, the first balloon catheter 401 is fixed, and the position of the second balloon catheter 402 is adjusted again, namely, the driving wheel 31 and the second driven wheel 33 are clamped to continuously deliver the second balloon catheter 402, so that the axial position of the second balloon catheter 402 is adjusted, the second clamping assembly 6 corresponding to the second active delivery channel is loosened, and the second clamping assembly 6 corresponding to the first delivery channel clamps the first balloon catheter 401.

Of course, the above-mentioned use method is only illustrative, and can be flexibly adjusted in practical application.

In summary, the multi-channel interventional surgical instrument delivery device in the present embodiment has the following advantages:

(1) The requirement of the cooperative delivery operation of a plurality of interventional instruments in the complex vascular lesion interventional operation is met, and the operation of a plurality of instruments can be accurately, conveniently and efficiently realized. Solves the limitation that the existing vascular intervention operation robot can only be suitable for simple lesions, greatly improves the clinical application range and has extremely important clinical value. For example, when the two active delivery channels and the two passive clamping channels 4 are arranged, the clinical requirements of collaborative delivery of the two guide wires 300, the two balloon catheters 400 and the two stent catheters can be met, the passive clamping of one or more guide wires 300 can be met, the clinical application range of the existing vascular interventional operation robot is greatly expanded, and the treatment requirements of complex lesions in vascular interventional operation are met.

(2) The accuracy of instrument delivery is improved, and the accuracy of delivery of different interventional instruments such as the guide wire 300 and the flexible catheter 200 is ensured through a plurality of structural designs (including the first clamping component 5, the second clamping component 6, the flexible guide block 8, the pressing rib 11, the telescopic shaft 12 and the like).

(3) The delivery device is designed as a disposable sterile part, and is provided for doctors to directly use after sterilization, so that the safety of operation is ensured, the problem of cross infection is effectively solved, and the risk of complications of operation is reduced, namely, the whole delivery device comprises a bottom shell 2, a cover body 1, a telescopic shaft 12 and a pressing rib 11 on the cover body 1, delivery wheels, a wheel shaft 7 connected with the delivery wheels, a first clamping assembly 5, a second clamping assembly 6, a flexible guide block 8, a Y valve fixing seat 91 and a Y valve rotating mechanism 92. Also, the Y valve 100 is a disposable component for use with the kit.

(4) For realizing quick installation and change of delivery device in the operation process, the design has quick detach structure between delivery device and the backup pad, through set up reference column 27 and second magnetism piece 28 on drain pan 2 for with locating hole and the cooperation of second metal piece in the backup pad, can realize quick assembly disassembly, facilitate the use operation and quick replacement have improved the efficiency of robot assisted surgery.

(5) The delivery device is provided with relevant functional modules (specifically comprises a roller module formed by the delivery wheel set 3, a module formed by the Y valve fixing seat 91, a module formed by the Y valve rotating mechanism 92 and a module formed by a Y valve 100 fixing component formed by the Y valve rotating mechanism 92 and the Y valve fixing seat 91 after being clamped) matched with the operation flow, so that the integration level is high, the man-machine interaction is more suitable for doctors, and the installation and the replacement of instruments are convenient.

(6) The safety of the operation is improved, and the risk of damage and even puncture to the inner wall of a blood vessel caused by the fact that a certain instrument is not fixed in the existing freehand intervention operation is avoided through stable clamping of the delivery device to the corresponding instrument.

The foregoing is illustrative of the present utility model and is not to be construed as limiting the scope of the utility model. Any equivalent changes and modifications can be made by those skilled in the art without departing from the spirit and principles of this utility model, and are intended to be within the scope of this utility model.

Claims

1. A multi-channel interventional surgical instrument delivery device, comprising:

The device comprises at least one passive clamping channel, wherein the passive clamping channels are used for placing interventional surgical instruments, a first clamping assembly is arranged on one side of each passive clamping channel, and the first clamping assemblies can clamp and fix the interventional surgical instruments when the interventional surgical instruments are placed in the passive clamping channels.

2. The multi-channel interventional surgical instrument delivery device of claim 1,

The multichannel intervention surgical instrument delivery device further comprises a bottom shell, a Y valve installation groove and at least one clamping guide groove are formed in the bottom shell, a Y valve is installed in the Y valve installation groove, two ends of the clamping guide groove are respectively communicated with the Y valve installation groove and one side wall of the bottom shell, and the clamping guide groove forms the passive clamping channel.

3. The multi-channel interventional surgical instrument delivery device of claim 2,

The clamping guide groove comprises a clamping guide groove, a first mounting groove is communicated with the groove wall on one side of the clamping guide groove, the first clamping assembly comprises a clamping poking stop block and a compression reset spring which are arranged in the first mounting groove, the compression reset spring is clamped between the clamping poking stop block and the groove wall, far away from the clamping guide groove, in the first mounting groove, one end of the clamping poking stop block is rotatably connected with the bottom shell through a rotating shaft, the clamping poking stop block can swing around the rotating shaft, and interventional surgical instruments placed in the clamping guide groove can be propped against the groove wall on the other side of the clamping guide groove.

4. The multi-channel interventional surgical instrument delivery device of claim 2,

And a second clamping assembly is arranged behind the delivery direction of each active delivery channel, and when one of the active delivery channels delivers an interventional surgical instrument, the other second clamping assemblies corresponding to the other active delivery channels can clamp the other interventional surgical instruments in the other active delivery channels.

5. The multi-channel interventional surgical instrument delivery device of claim 4,

The second clamping assembly comprises a clamping wheel and a clamping block, the clamping wheel is an eccentric wheel, the clamping wheel can be close to or far away from the clamping block, and in the state that the clamping wheel is close to the clamping block, the clamping wheel can be matched with the clamping block to clamp the interventional surgical instrument positioned in the corresponding active delivery channel.

6. The multi-channel interventional surgical instrument delivery device of claim 5,

The delivery wheels comprise a driving wheel and two driven wheels, the driving wheel is a concentric wheel, the driven wheels are eccentric wheels and can approach or deviate from the driving wheel, an active delivery channel is formed between the driving wheel and the driven wheels in the state that the driven wheels approach to the driving wheel, the driving wheel can drive the driven wheels to rotate by means of friction force, and the driving wheel and the driven wheels can also generate dislocation motion in opposite directions.

7. The multi-channel interventional surgical instrument delivery device of claim 6,

The clamping wheel and the delivery wheel are connected with corresponding wheel shafts, a plurality of bulges are arranged at the end parts of the wheel shafts, and a plurality of bulges on the wheel shafts can be clamped with a plurality of positioning grooves formed in the end parts of a rotary driving shaft.

8. The multi-channel interventional surgical instrument delivery device of claim 7,

The bulge or the end part of the bulge is hemispherical, and the side part of the clamping wheel is provided with an avoidance groove.

9. The multi-channel interventional surgical instrument delivery device of claim 4,

The automatic delivery device comprises a bottom shell, at least two delivery guide grooves, a second installation groove, a flexible guide block, a first guide block, a second guide block and a first guide block, wherein the bottom shell is provided with at least two delivery guide grooves, two ends of each delivery guide groove are respectively communicated with the Y valve installation groove and one side wall of the bottom shell, and the active delivery channel forms a part of the corresponding delivery guide groove;

The two side walls of the flexible guide block can form two flexible guide grooves matched with the diameter of the interventional surgical instrument with the other side wall of the delivery guide groove.

10. The multi-channel interventional surgical instrument delivery device of claim 9,

The bottom shell is also provided with a guide block preset groove, and the flexible guide block can be arranged in the guide block preset groove or in the second installation groove;

The bottom of the guide block preset groove and the bottom of the second installation groove are both provided with first metal blocks, the bottom of the flexible guide block is provided with first magnetic attraction blocks, and the first magnetic attraction blocks can be magnetically connected with the first metal blocks.

11. The multi-channel interventional surgical instrument delivery device of claim 9,

The multichannel interventional surgical instrument delivery device further comprises a cover body which can be covered with the bottom shell, wherein a plurality of pressing ribs are arranged on the cover body, and the pressing ribs can be pressed against the notch of the clamping guide groove, the notch of the delivery guide groove and/or the notch of the flexible guide groove after the cover body is covered with the bottom shell.

12. The multi-channel interventional surgical instrument delivery device of claim 11,

Two limiting grooves which can be communicated with groove walls of two sides of the corresponding guide groove are formed in two sides of the clamping guide groove, the delivery guide groove and two sides of the flexible guide groove and/or two sides of the flexible guide groove, the groove depth of each limiting groove is smaller than that of the corresponding guide groove, and two sides of the pressing rib can be clamped in the corresponding two limiting grooves.

13. The multi-channel interventional surgical instrument delivery device of claim 2,

The Y valve mounting groove is internally provided with a Y valve fixing seat, a Y valve rotating mechanism is detachably arranged on the Y valve fixing seat, the Y valve rotating mechanism comprises a gear fixing seat, a hand wheel and a first gear, the hand wheel and the first gear are coaxially connected, the first gear can be rotatably arranged in the gear fixing seat in a penetrating mode, the gear fixing seat can be clamped on the Y valve fixing seat, the Y valve fixing seat is provided with a second gear, the second gear can be meshed with the first gear and can drive the first gear to rotate, and the Y valve can be inserted into the hand wheel and the first gear.

14. The multi-channel interventional surgical instrument delivery device of claim 13,

A flexible ring is arranged in the hand rotating wheel, and can be in interference insertion connection with the Y valve;

the Y valve fixing seat comprises an upper fixing seat and a lower fixing seat, one side, far away from the active delivery channel, of the upper fixing seat is hinged with one side of the lower fixing seat, and the upper fixing seat can swing around a hinge axis of a hinge position.

15. The multi-channel interventional surgical instrument delivery device of claim 11,

The cover body is also provided with a telescopic shaft which can elastically stretch and retract, and the telescopic shaft can be propped against a side pipe of the Y valve after the cover body is covered on the bottom shell.

16. The multi-channel interventional surgical instrument delivery device of claim 2,

The bottom surface of the bottom shell is provided with a plurality of positioning columns and a plurality of second magnetic attraction blocks, the second magnetic attraction blocks can be magnetically connected with a plurality of second metal blocks on a supporting plate, and the positioning columns can be matched and spliced with a plurality of positioning holes on the supporting plate.