CN114246676A

CN114246676A - Guide wire delivery device for vascular interventional surgical robot

Info

Publication number: CN114246676A
Application number: CN202210076750.1A
Authority: CN
Inventors: 王杨; 唐伟; 赵春莹
Original assignee: Weiya Medical Technology Suzhou Co ltd
Current assignee: Weiya Medical Technology Suzhou Co ltd
Priority date: 2022-01-24
Filing date: 2022-01-24
Publication date: 2022-03-29
Also published as: WO2023138396A1

Abstract

The invention discloses a guide wire delivery device for a vascular intervention surgical robot, which comprises: a chassis; the godet comprises a scroll and is rotatably arranged on the base plate, and a connecting hole is formed in the center of the godet and is used for being connected with a godet self-rotation driving shaft; the guide wire is wound on the reel, and the tail end of the guide wire is fixed on the guide wire disc through a guide wire end fixing device; the guide wire pressing device is used for pressing the guide wire along the radial direction to prevent the guide wire from being loose; the guide wire delivery device is provided with a guide wire channel, and the free end of the guide wire extends out of the guide wire delivery device through the guide wire channel; in an assembly state, a connecting hole of the godet is connected with a godet rotation driving shaft, the godet rotates relative to the chassis under the driving of the godet rotation driving shaft, and when the godet rotates along one direction, the guide wire is loosely wound from the scroll and is delivered forwards through the guide wire channel; when the guide wire disc rotates along the other direction, the guide wire is wound on the reel and is retracted through the guide wire channel.

Description

Guide wire delivery device for vascular interventional surgical robot

Technical Field

The invention relates to the technical field of medical instruments, in particular to a guide wire delivery device for realizing guide wire delivery for a vascular intervention surgical robot.

Background

Minimally invasive vascular interventional surgery is a basic means for diagnosis and treatment of cardiovascular and cerebrovascular diseases, and most of the currently implemented vascular lesion diagnosis and vascular reconstruction surgeries need the help of the technology. The operation of the guide wire is one of the core contents of the minimally invasive vascular interventional surgery, and determines the quality of the surgery. Currently, an interventionalist manually performs the positioning operation of a guide wire in a patient's vessel by means of digital silhouette angiography imaging (DSA). Use the robot device to carry out the location operation of seal wire, be favorable to improving location operation precision and stability, liberate medical personnel from the radiation, avoid medical personnel because of wearing the additional injury that heavy lead clothing brought, avoid medical personnel because of tired cause the unreliable condition of operation in the art, improve the condition that traditional intervention operation extremely relies on doctor's personal experience, reduce the study curve of intervention operation, intervene the operation for the blood vessel and provide more accurate operation.

The medical catheter is a hollow tubular structure, and the inner hollow cavity is used as a contrast agent injection channel or a medical instrument conveying channel. Because the catheter has high hardness and is not convenient for completing the selection of blood vessels, the solid guide wire with high flexibility is adopted to guide the catheter to enter the targeted blood vessels. During the operation, a doctor punctures a blood vessel in a femoral artery or a radial artery and leaves a blood vessel sheath as an entrance of a catheter into the blood vessel. The catheter is advanced through a vascular sheath into a blood vessel within the patient, and the guidewire is advanced from a passageway within the catheter into the blood vessel. Control of guidewire advancement and retraction and rotation is typically accomplished by the interventionalist with his assistant hand, two-handed and four-handed.

When a robot is used for assisting a vascular intervention operation, the robot is used for realizing guide wire advancing and withdrawing and guide wire rotation, which is one of the most central functions. To control the movement of the guide wire, a non-destructive clamping of the guide wire must first be achieved. Because the surface of the guide wire is provided with the ultra-smooth loach coating, the traditional clamping method is easy to damage the coating on the surface of the guide wire due to loose clamping or over-tight clamping. The guide wire rotation cannot be interfered by the clamping device, so the guide wire rotating device is integrated with the clamping device. Meanwhile, the guide wire can directly enter the body of a patient, and has higher requirements on aseptic conditions.

According to different driving force sources for guide wire conveying, the current guide wire clamp holder schemes at home and abroad can be divided into two types: the friction wheel clamping and direct pushing type conveying scheme. The friction wheel clamping means that one or more pairs of friction wheels are used for clamping the guide wire through extrusion, and the guide wire can move forwards or backwards under the driving of the driving wheel. In this case, the rotation of the guide wire requires the two friction wheels to move in opposite directions perpendicular to the axial direction of the guide wire to twist the guide wire. The other mode is a direct push type conveying scheme, and the guide wire is conveyed by a special driving mechanism to drive a device for clamping the guide wire to move linearly. The guide wire clamping device only needs to realize guide wire clamping, and more guide wire rotation needs to be considered. The traditional mode is to add an additional driving device for the clamping device to drive the guide wire clamping device to rotate the guide wire. Thereby realize the small-angle rotation of seal wire, efficiency is lower.

Disclosure of Invention

The guide wire delivery of the traditional vascular interventional surgical robot has the following problems: because the surface of the guide wire is provided with the ultra-smooth loach coating, the guide wire is easy to slide when encountering resistance, so that the guide wire delivery precision is reduced; the guidewire delivery device is not stable in delivery effect; and sterile environments are not completely realized.

The invention aims to overcome the defects of the prior art, and aims to provide a guide wire delivery device which can realize the accurate and reliable delivery of a guide wire without causing any damage to the guide wire; moreover, the device and the robot body adopt a separated structure, and the isolation of the sterile environment in the operation can be realized.

According to the present invention, there is provided a guidewire delivery device for a vascular interventional surgical robot, the guidewire delivery device comprising:

a chassis;

the godet comprises a scroll and is rotatably arranged on the chassis, and a connecting hole is formed in the center of the godet and is used for being connected with a godet rotation driving shaft for driving the godet to rotate;

the guide wire is wound on the reel, and the tail end of the guide wire is fixed on the guide wire disc through a guide wire end fixing device; and

a guide wire pressing device for pressing the guide wire wound on the reel in a substantially radial direction to prevent the guide wire from being unwound;

wherein the guide wire delivery device is provided with a guide wire channel for the guide wire to pass through, and the free end of the guide wire extends out of the guide wire delivery device through the guide wire channel;

in an assembled state, the connecting hole of the godet can be connected with a godet rotation driving shaft, the godet can rotate relative to the chassis under the driving of the godet rotation driving shaft, and when the godet rotates along one direction, the guide wire is unwound from the reel and is delivered forwards through the guide wire channel; when the guide wire disc rotates along the other direction, the guide wire is wound on the reel and is retracted through the guide wire channel.

By adopting the technical scheme of the invention, the following technical effects are realized:

1. the guide wire delivery device is arranged in the sterile guide wire rotating device and is really separated from the robot, so that the problem that the sterile environment is difficult to guarantee due to incomplete separation of delivery and a power unit in the operation is thoroughly solved.

2. The guide wire delivery device adopts a disc type autorotation delivery structure, the guide wire is in coiled contact with the guide wire, the wire pressing wheel device continuously presses the wound guide wire, and the instability caused by obviously reducing the friction force between the guide wire and a contact part under the wet condition of the ultra-smooth loach coating of the guide wire is avoided.

3. The guide wire delivery device is convenient and quick to install, and because the guide wire rotating device is provided with a plurality of limiting and positioning structures, the possibility of installation position errors caused by insufficient installation proficiency of doctors on the device in the operation is reduced to the greatest extent.

Drawings

The invention is explained in more detail below with reference to the drawing and the examples, in which

Fig. 1 is a perspective view illustrating the general structure of a guidewire delivery device according to a first embodiment of the present invention;

FIG. 2 is a perspective view of a godet;

FIG. 3A is an exploded perspective view of a first embodiment of a guidewire end securement device;

FIG. 3B is a cross-sectional view of the first embodiment of the guidewire end securement device;

FIG. 4A is an exploded perspective view of a second embodiment of a guidewire end securement device;

FIG. 4B is a perspective view illustrating the assembled structure of the second embodiment of the guidewire end securement device;

FIG. 4C is a partial perspective view illustrating the state where the guidewire end fixture is snapped onto the guidewire hub;

FIG. 5 is a cross-sectional view of a third embodiment of a guidewire end fixture;

FIG. 6A is a perspective view of a fourth embodiment of a guidewire end securement device;

FIG. 6B is a cross-sectional view of a fourth embodiment of a guidewire end securement device;

FIG. 7 is a perspective view of a wire wheel assembly;

FIG. 8 is a cross-sectional view illustrating the structure for effecting radial movement and axial rotation of the wire wheel support;

FIG. 9 is a cross-sectional view illustrating the snap-fit engagement of the latch portion of the locking device with the card slot;

FIG. 10 is a perspective view illustrating a guidewire delivery device according to a second embodiment of the present invention;

FIG. 11A illustrates a stop mechanism for stopping the rotation of the godet with the braking teeth in a non-braking state;

FIG. 11B illustrates the stop mechanism for stopping the rotation of the godet with the braking teeth in the braking state;

fig. 12A is a perspective view illustrating a third embodiment of a guidewire delivery device according to the present invention;

FIG. 12B is a top view illustrating the chassis structure of the guidewire delivery device shown in FIG. 12A;

FIG. 12C is a perspective view illustrating a baffle for the guidewire delivery device of FIG. 12A;

FIG. 12D is a perspective view illustrating a cover plate for the guidewire delivery device of FIG. 12A;

FIG. 13A is an exploded perspective view illustrating one embodiment of a spacing device;

FIG. 13B is a perspective view illustrating two pins of the stop device of FIG. 13A disposed on a circular ring stop;

fig. 13C is a perspective view illustrating an assembled state of the spacing device shown in fig. 13A;

FIG. 14A is a perspective view of a guidewire delivery device according to a fourth embodiment of the invention, with a tray cover mounted on the chassis;

FIG. 14B is a perspective view of a guidewire delivery device according to a fourth embodiment of the invention, with the cover removed to show the internal structure of the guidewire delivery device;

fig. 15 is a perspective view of a chassis of a guidewire delivery device of a fourth embodiment;

FIG. 16 is a cross-sectional view taken along line A-A of FIG. 14B;

FIG. 17 is a partial cross-sectional view taken along line B-B of FIG. 14B, illustrating a pulley mounting arrangement on the chassis;

fig. 18A is a perspective view of a band tensioning mechanism of the guidewire delivery device of the fourth embodiment;

fig. 18B is a perspective view of the belt tensioning mechanism from the side facing away from the tensioning wheel;

FIG. 19 is a partial cross-sectional view taken along line C-C of FIG. 14B illustrating the mounting arrangement of the belt tensioning mechanism on the chassis;

fig. 20 is a partial perspective view of a chassis of a guidewire delivery device of a fourth embodiment;

FIG. 21A is a perspective view of a guidewire delivery device according to a fifth embodiment of the invention, with a tray cover mounted on the chassis;

FIG. 21B is a perspective view of a guidewire delivery device according to a fifth embodiment of the invention, with the cover removed to show the internal structure of the guidewire delivery device;

fig. 22 is a perspective view of a chassis of the guidewire delivery device of the fifth embodiment;

FIG. 23 is a cross-sectional view taken along line D-D of FIG. 21B;

fig. 24A is a perspective view of a wire wheel device of the guidewire delivery device of the fifth embodiment;

FIG. 24B is a perspective view of the wire wheel assembly from the side facing away from the wire wheel;

FIG. 25 is a partial cross-sectional view taken along line E-E of FIG. 21B, illustrating a mounting structure of the wire pressing wheel assembly on the base plate;

fig. 26 is a perspective view of a godet of the guidewire delivery device of the fifth embodiment; and

fig. 27 is a partial perspective view of a fifth embodiment guidewire delivery device.

Detailed Description

The following provides a detailed description of the guide wire delivery device for a vascular interventional surgical robot according to the present invention. It should be noted herein that the present embodiments are merely exemplary, which are merely illustrative of the principles of the present invention and are not to be construed as limiting the present invention.

Referring first to fig. 1, a guidewire delivery device according to a first embodiment of the present invention is illustrated in a perspective view. As shown in fig. 1, the guidewire delivery device 500 includes a base plate 501, a guidewire disc 520, a guidewire, a disc cover 530, and a number of wire wheel assemblies 570.

For convenience of description, in the assembled state of the guidewire delivery device, the side of the tray cover is referred to as upper, upper or upper, and the side of the tray is referred to as lower, lower or lower.

As shown in fig. 2, the godet 520 includes an upper spool 521, a lower spool 522, and a spool 523, wherein the upper spool, the lower spool, and the spool may be integrally formed; or one of the upper reel plate and the lower reel plate is integrally formed with the reel and is fixedly connected with the other of the upper reel plate and the lower reel plate when being assembled; alternatively, the upper reel, lower reel and spool may be separate components that are assembled together by, for example, screws.

A through hole 524 is formed at the center of the godet 520, and is a non-circular hole, such as a polygonal hole or a D-shaped hole, serving as a connection hole connected to the godet rotation driving shaft, so that the godet can be rotated by the godet rotation driving shaft.

Preferably, a manual rotation device can be arranged on the godet spool, and the manual rotation device can be arranged on the upper spool side or the lower spool side. In the illustrated embodiment, as shown in fig. 2, the manual rotation means are arranged on one side of the upper reel and comprise two studs 525 arranged on either side of said through hole 524. Preferably, the two stubs are arranged in a centrosymmetric manner with respect to the center of the godet. In use, the godet can be rotated by holding the two stubs by hand, for example for initially winding the guide wire onto the godet, or for adjusting the length of the portion of the guide wire extending from the godet, etc. The two studs may be formed integrally with the spool or be separate components which are secured to the spool during assembly by fasteners or by adhesive; it will be apparent to those skilled in the art that other configurations may be used instead of two stubs, such as an inverted U-shaped member spanning the through-hole, or the like, or that only one stub may be used, or the like.

With continued reference to fig. 2, the spool 523 is formed with a guide wire inlet 526 through which the guide wire tip can extend to a guide wire end fixing device disposed on the godet and be fixed to the godet by the guide wire end fixing device. The guide wire inlet side is preferably formed with a ramp with gradually shallower groove depth and gradually and smoothly transits to the outer circumferential surface of the scroll, so that the guide wire deflects as smoothly as possible to avoid the guide wire from being broken.

The guide wire end fixing device can take various forms, and can be a guide wire end fixing device fixedly arranged on the guide wire disc or a separate guide wire end fixing device. Fig. 3-6 illustrate four embodiments of the guidewire end securement devices, respectively.

Fig. 3A and 3B illustrate one embodiment of a guidewire end securement device, with fig. 3A being an exploded perspective view and fig. 3B being a cross-sectional view. In this embodiment, the guide wire end fixture 550 is fixedly mounted to the godet 520, and in use, secures the guide wire end by a clamping operation. As shown in fig. 3A and 3B, the wire end fixing device includes a backup plate 551, a fixing pressure plate 552, a wire end pressure plate 553, and a spring 554 disposed between the backup plate and the wire end pressure plate to bias the wire end pressure plate. A groove 555 is formed in one side of the upper reel disc or the lower reel disc of the yarn guide disc, the upper reel disc or the lower reel disc of the yarn guide disc is in a convex shape in a top view, the bottom of the backup plate is installed in the wide end part of the convex groove, protrusions 556 are arranged at two longitudinal ends of the upper part of the vertical plate of the backup plate, longitudinal holes 557 are formed in the two protrusions respectively, a through hole 558 extending longitudinally is formed in the upper part of the pressure plate 553 at the end part of the yarn guide, and the upper part of the pressure plate at the end part of the yarn guide is hinged to the upper part of the vertical plate of the backup plate by virtue of a pin shaft extending through the longitudinal holes and the through hole, so that the pressure plate at the end part of the yarn guide can pivot relative to the vertical plate. Threaded holes 5550 are formed at the two longitudinal ends of the wide end part of the groove, and through holes 5520 are formed at the corresponding positions of the two longitudinal ends of the fixed pressing plate. In assembly, the stationary platen 552 is placed on the bottom of the backup plate and the backup plate is fixedly mounted on the godet by screws 5521, and after assembly, the lower end of the guide wire end platen 553 is located in the narrow end portion of the groove. Circular blind holes 5511 are formed in the lower end of the guide wire end pressing plate and the lower portion of the backup plate 551, and two ends of a bias spring 554 are respectively installed in the blind holes, whereby the bias spring biases the guide wire end pressing plate. In use, when the end of the guide wire is fixed, the guide wire end pressing plate 553 is pressed by hand in the direction of the backup plate to be away from the standing wall of the groove against which it abuts, the end of the guide wire is placed between the standing wall and the guide wire end pressing plate, and then the guide wire end pressing plate is released to press the end of the guide wire, thereby fixing the end of the guide wire on the guide wire reel.

In the case of a manual rotation device provided on the godet, the guide wire end fixing device 550 shown in fig. 3A and 3B, which projects axially outward from the godet, is provided on the same side of the godet as the manual rotation device.

Fig. 4A and fig. 4B and 4C illustrate another embodiment of the guide wire end fixing device, fig. 4A being an exploded perspective view of the end fixing device, fig. 4B being a perspective view of the guide wire end fixing device after assembly, and fig. 4C being a perspective view of the guide wire end fixing device being clipped on the guide wire reel. In this embodiment, the guide wire end fixture 560 is a separate component, commonly referred to as a medical torque, that is latched to the guide wire spool after the guide wire end is secured to the guide wire end fixture. As shown in fig. 4A, 4B and 4C, the guide wire end fixing device 560 includes a sleeve member 561, a clamp member 562 and a fastener 563, the sleeve member 561 includes a cylindrical portion and a tapered cylindrical portion, the tapered cylindrical portion is tapered in a direction away from the cylindrical portion, a small circular hole 564 is formed at a small diameter end portion for insertion of the guide wire, the tapered cylindrical portion forms a tapered inner cavity, the cylindrical portion forms a cylindrical inner cavity, the tapered inner cavity is smoothly transited to the cylindrical inner cavity, and one end of the cylindrical portion away from the tapered cylindrical portion is open. An internal thread is formed on an inner wall of the cylindrical portion.

The fastener 563 comprises an externally threaded shank portion 5631 at the other end of which is a screw shank 5632 for screw engagement with an internal thread on the sleeve; the end of the clamping member 562 facing the sleeve member 561 is provided with a number of dogs 5621.

As shown in fig. 4C, a substantially rectangular engaging groove 565 is formed on the side of the godet upper spool or the godet lower spool, and has a size corresponding to the guide end fixing device, and a locking portion 567 is provided at one end of the groove, the locking portion being formed integrally with the godet or being a separate member and fixed to the groove by a screw or the like, and an upper portion of the locking portion being open for locking the guide end fixing device to the godet.

The fixing operation of the guide wire end fixing device of the second embodiment is as follows. First, the end of the guide wire is inserted from the circular hole 564 of the sleeve member 561 and placed between the jaws; then, the clamping piece 562 is advanced by screwing the fastener 563 by hand, and finally the end part of the guide wire is clamped and fixed; then, the guide wire end fixing device is clamped in the clamping part, so that the guide wire end is fixed on the guide wire disc.

Fig. 5 illustrates another embodiment of the guide wire end fixing device, in which a threaded hole 565 is formed on the guide wire reel 520, which is communicated with the guide wire inlet, and the guide wire end inserted through the guide wire inlet is fixed by a screw 566.

Fig. 6A and 6B illustrate yet another embodiment of the wire end fixing device, in which the wire end fixing device 569 includes a main body portion 5691 and a biasing portion 5692 provided on the main body portion, and a groove 5693 is formed on the godet 520. The guide end fixing device 569 is mounted in the groove, the upper end of the main body 5691 is hinged to the godet by a pin 5695, the lower end of the spring 5692 is connected to the lower part of the main body 5691, the spring 5692 is inclined relative to the main body 5691 and extends upward, and a groove 5694 for placing the guide end is formed in the side wall of the groove 5693. In operation, the snap 5692 is pulled away from the groove 5694, the end of the guide wire extending into the groove 5693 is inserted into the groove 5694, and then the snap 5692 is released, pressing the guide wire with its resiliency to secure the end of the guide wire to the godet.

With continued reference to fig. 1, the base plate 501 is circular with a cover 530 having one circumferential edge portion hinged to a corresponding edge portion of the base plate by a hinge 502 so that the cover can pivot between an open position and a closed position. Further, as shown in fig. 1, a catch portion 503 is provided at the other circumferential edge portion of the disk cover, preferably as far as possible in the circumferential direction from the hinge portion, such as at a location substantially diametrically opposite the hinge portion; and a catching groove 504 is provided on the base plate so that a catching portion on the cover is engaged with the catching groove on the base plate to serve as a locking means when the disk cartridge is closed, thereby reliably locking the cover and the base plate, and fig. 9 illustrates a state where the catching portion 503 is engaged with the catching groove 504. It is obvious to those skilled in the art that the positions of the locking portion and the locking groove can be interchanged, and the realized functions are the same.

As shown in fig. 1, three wire pressing wheel devices 570 are mounted on the chassis and are spaced apart from each other in the circumferential direction, and each wire pressing wheel device comprises a wire pressing wheel bracket 571 and wire pressing wheels 572 rotatably mounted at two ends of the wire pressing wheel bracket. As shown in fig. 7, the wire wheel holder 571 includes a main body portion 573 in a sector block shape, and wire wheel attachment portions 574 located at both ends in the circumferential direction of the main body portion. The wire pressing wheel mounting part comprises two mounting plates 5741 which extend outwards from the circumferential direction of the main body part and are respectively positioned at the upper end and the lower end of the main body part in the axial direction, axial through holes are respectively formed in the two mounting plates, and the wire pressing wheel is provided with a through axial hole. The wire wheel is thus rotatably mounted on the wire wheel support by means of a pin 575 extending through the mounting plate axial through hole and the wire wheel axial hole. As the wire-pressing wheel, a rubber wire-pressing wheel, a wire-pressing wheel covered with rubber, or a wire-pressing wheel of other material may be used.

As shown in fig. 1 and 7, three circular arc-shaped stoppers 505 arranged at intervals along the circumferential direction are arranged on the circumferential edge of the base plate 501, and the arrangement position corresponds to the installation position of the wire pressing wheel device. A circular blind hole is formed on the radial inner wall surface of the circular arc-shaped stop block, and is preferably arranged at the circumferential and axial middle position of the circular arc-shaped stop block; correspondingly, a circular blind hole 506 is also formed on the radial outer wall surface of the main body part of the wire wheel bracket, and the circular blind hole 506 is preferably arranged at the circumferential and axial middle position of the main body part. In the assembled state, both ends of the biasing spring 507 are respectively disposed in the two blind holes to bias the wire presser bracket 571, so that the wire presser reliably presses the wire wound on the spool.

In addition, in order to ensure that the wire pressing wheel bracket moves along the radial direction and avoid the circumferential lateral movement, the guide wire delivery device is provided with a limiting device. As shown in fig. 7, two guide grooves 508 which are circumferentially symmetrically arranged and are parallel to the radial moving direction of the wire wheel holder are formed on two axial end faces of the main body portion of the wire wheel holder 571, respectively; correspondingly, guide protrusions which are matched and jointed with the guide grooves 508 are symmetrically arranged on the inner surface of the chassis relative to the circular ring-shaped stop block at the radial inner side of the circular arc-shaped stop block; similarly, a guide protrusion 509, which is in mating engagement with the guide groove, is also formed at a corresponding position on the inner surface of the tray cover, see fig. 1. In the assembled state, when the upper disc cover is closed, the guide protrusions on the base disc and the disc cover are respectively matched with the guide grooves 508 on the wire pressing wheel bracket; therefore, due to the guiding function of the guide groove and the guide protrusion, the wire pressing wheel can realize accurate radial movement and is prevented from moving along the circumferential direction. As an alternative, the number of the guide groove and the guide projection may be one; in addition, the arrangement positions of the guide grooves and the guide protrusions can be interchanged, for example, the guide grooves are arranged on the base plate and the plate cover, and the guide protrusions are arranged on the wire pressing wheel bracket.

As a modification of the above-described embodiment, the godet roller holder can be arranged so as to be movable both radially and also rotatably about an axis parallel to the axis of the godet. For this purpose, as shown in fig. 8, a guide groove 510 is formed in the center of the two axial end faces of the main body of the wire wheel holder, parallel to the radial direction of movement of the wire wheel holder; correspondingly, a cylindrical protrusion 511 which is matched and jointed with the guide groove is arranged on the inner surface of the bottom disc in the radial direction of the annular stop and is arranged in the center of the annular stop, and a cylindrical protrusion 512 which is matched and jointed with the guide groove is also formed on the inner surface of the cover disc at the corresponding position. Therefore, when the upper disc cover is closed, the cylindrical bulges on the base disc and the disc cover are respectively matched with the guide grooves on the wire pressing wheel bracket, so that the wire pressing wheel bracket can move along the radial direction and can rotate around an axis parallel to the axis of the wire guiding disc, and the two wire pressing wheels are reliably pressed against the guide wires. Alternatively, the guide grooves and the cylindrical protrusions are arranged interchangeably, for example, the guide grooves are arranged on the base plate and the plate cover, and the cylindrical protrusions are arranged on the wire pressing wheel bracket.

It will be clear to the person skilled in the art that the various configurations for realizing the possibility of the presser wheel support to be moved both radially and also to be rotated about an axis parallel to the axis of the godet are common in the art and are given here only as an example by way of illustration and in no way limiting of the configurations adopted. For example, an installation block can be additionally arranged, two installation plates are arranged at the upper end and the lower end of the radial inner end of the installation block in the axial direction, axial through holes are formed in the two installation plates respectively, and the circumferential middle part of the main body part of the wire pressing wheel support is provided with a through axial hole. The wire-pressing wheel body is thus rotatably mounted on the mounting block by means of a pin extending through the mounting plate axial through hole and the body axial hole, and the mounting block, the chassis and the cover can be provided with the above-described structure for achieving radial movement of the wire-pressing wheel support and preventing circumferential lateral movement, and a biasing spring as biasing means is provided between the circular-arc-shaped stopper and the mounting block.

In the assembled state, a gap is left between the base plate and the cover to accommodate the godet and to allow the godet to rotate. For this purpose, as shown in fig. 1, at the location of the hinge of the cover to the base plate, a hinge projection 513 is provided at the outer edge on the cover or base plate, which hinge projection is located in the space between two adjacently arranged wire-pressing roller arrangements, and a hinge is provided at the radially outer edge of the free end of the hinge projection, whereby the desired space is established between the cover and the base plate.

As shown in fig. 1, in some other of the spaces defined by each pair of adjacent wire-pressing wheel assemblies, a wire-guiding channel boss 514 is provided, which may be provided on the base plate or on the cover, which in the illustrated embodiment is provided on the base plate. The top surface of the guide wire channel boss 514 is formed with a groove 515 which is horizontally arranged and extends from the radial outermost end to the radial innermost end in a penetrating way, and a guide wire channel for the guide wire to pass is formed when the disk cover is closed. Preferably, the radially inner portion of the groove is deflected to one circumferential side, so that the guide wire is deflected at an obtuse angle when the guide wire is delivered or coiled, thereby avoiding damage to the guide wire and facilitating delivery of the guide wire. Corresponding to the groove of the guide wire channel boss, a guide wire channel protrusion 516 is formed at the corresponding position on the other of the base plate and the plate cover, in the embodiment shown in the figure, the guide wire channel protrusion 516 is arranged on the plate cover, the cross section of the guide wire channel protrusion is matched with the cross section of the groove on the guide wire channel boss, and the direction of the guide wire channel protrusion is consistent with the groove. Thus, when the cover is closed, the protrusion 516 engages the groove 515, forming a guide wire channel between the protrusion tip and the groove bottom, see fig. 10. Preferably, as shown in fig. 10, a groove 517 may be formed in the raised tip so that when the cover is closed, the groove of the raised tip and the bottom of the groove on the guide wire channel boss define a channel through which the guide wire passes.

Preferably, as shown in fig. 1, the portions of the base plate and the plate cover defining the guide wire channel project radially outward, and accordingly, the guide wire channel boss 514 and the guide wire channel boss 516 also project radially outward, thereby extending the length of the guide wire channel formed. Thus, when the cover is closed, the guide wire device takes on a structure with a convex mouth, and the guide wire channel extends from the outermost end to the inner end of the convex mouth.

As shown in fig. 1, other bosses 528 may be provided on the base plate or on the cover in other ones of the spaces defined by each pair of adjacent godet assemblies, and the guide wire channel bosses and/or other bosses may serve as bearing surfaces for the cover when the housing is closed, as well as to increase the strength of the guide wire delivery device and/or to properly position the godet assemblies.

Preferably, the snap groove 504 provided on the base plate or the cover plate is provided on the radial outer surface of the guide wire channel boss or other bosses, where the strength is greater due to the presence of the boss, thereby preventing the base plate or the cover plate from being damaged by the snap operation.

In the above embodiment, three wire pressing wheel devices are arranged on the chassis, but it is obvious to those skilled in the art that the number of the wire pressing wheel devices can be two or more than three; further, in the above-described embodiment, each wire-pressing wheel device is provided with two wire-pressing wheels respectively located at the circumferential ends of the wire-pressing wheel support, but each wire-pressing wheel device may be provided with one wire-pressing wheel or more than two wire-pressing wheels.

In the guide wire delivery device, in an assembled state, the three wire pressing wheel devices are abutted to the guide wire wound on the reel of the guide wire disc through the wire pressing wheels, and the wire pressing wheel bracket is abutted to the circular arc-shaped stop block through the spring. The wire pressing wheel has an axial length substantially equal to the axial spacing between the upper and lower reels. Thereby, the godet can be suspended at a predetermined position by means of three godet roller units; alternatively, both the godet and the godet are suspended at predetermined positions so that the godet can rotate freely. In addition, the axial positioning of the godet and/or the godet support can be realized by the inner surfaces of the chassis and the cover being attached to the axial end surfaces of the godet support and/or the upper and lower reels of the godet; axial positioning is achieved either by the guide protrusions provided on the inner surface of the base plate and the guide protrusions 509 provided on the inner surface of the plate cover engaging with the guide grooves 508 provided on the wire wheel holder, or by the guide grooves provided on the inner surface of the base plate and the inner surface of the plate cover engaging with the guide protrusions provided on the wire wheel holder. In this document, the term "contact" means that the two parts are in contact with one another but substantially without the action of force, thereby ensuring that the godet can be rotated by the drive of the drive.

As a preferred option, in order to prevent the godet from continuing to rotate during the forward delivery of the guide wire, which leads to the withdrawal of the guide wire and to damage to the guide wire by the sharp-angled reverse fold when the guide wire wound on the godet is used up, a stop mechanism can be provided on the godet according to the invention, which prevents the godet from further rotating when the guide wire is about to be used up.

As shown in fig. 11A and 11B, the stopper mechanism 540 includes a brake tooth 541 and a biasing spring 542, and the godet spool 523 has a fitting groove 529 formed on a circumferential surface thereof, the fitting groove being shaped and configured to accommodate the brake tooth therein, and the position of the fitting groove 529 in the circumferential direction of the spool is not particularly limited, and may be provided, for example, at an appropriate distance from the guide wire inlet on the side of the guide wire inlet opposite to the guide wire winding direction. The axial thickness of the braking tooth 541 is substantially the same as the axial length of the reel 523, the tip of the tooth is tapered so as to be engaged in a braking groove 543 formed on a certain boss of the chassis or the disk cover, and the root of the tooth of the braking tooth is arc-shaped. The godet spool and the godet spool are respectively provided with an axially aligned hole, the root of the braking tooth is provided with a through axial hole, the braking tooth is rotatably arranged in the assembly groove 529 by means of a pin shaft 544, and the tooth tip of the braking tooth points to the rotating direction of the godet spool when the guide wire is loose and wound. A substantially radially extending hole 545 is formed in the wall of the fitting groove radially inwardly, and a blind hole having substantially the same orientation is formed in the side wall of the brake tooth adjacent to the groove wall at a corresponding position between the brake tooth rotary shaft and the brake tooth tip. In the assembled state, the two ends of the biasing spring are located in two holes, respectively, so that the brake tooth is biased to rotate about a pin 544, which is the axis of rotation of the brake tooth.

In order to cooperate with the brake teeth, a structural part of the chassis or cover, such as a radially inner surface of a boss provided thereon, is formed with a brake groove 543, preferably a wedge groove, matching the shape of the tip of the brake teeth, the open end of the wedge groove being located on the upstream side with respect to the direction of rotation of the godet when unwinding the guide wire, and the bottom of the groove being located on the downstream side.

The profile of the radially outer end of the braking tooth is shaped as a circular arc, preferably with a radius identical to the radius of the reel. In the case of a guide wire wound on a spool, the braking tooth rotates inwardly against the spring pressure as a result of the pressure, the outer surface of which forms a continuous cylindrical surface with the outer surface of the spool. In actual use, as the godet is rotated in the unwinding direction to deliver the guidewire forward, the guidewire is gradually fed off the spool as delivery proceeds, and as the last pound of guidewire disengages from the braking tooth, the braking tooth 541 pivots radially outward about the shaft under the bias of the spring 542, and as the spool is further rotated to drive the braking tooth through the wedge-shaped slot, the braking tooth is inserted into the wedge-shaped slot, thereby preventing further rotation of the godet, as shown in FIG. 11B.

As a modification, the wire-pressing wheel device may adopt a structure as described below.

In the wire-pressing wheel device described above, two guide grooves 508 that are circumferentially symmetrically arranged are formed on two axial end faces of the main body portion of the wire-pressing wheel bracket, respectively; the inner surface of the bottom plate is provided with a guide projection matched and jointed with the guide groove at the radial inner side of the circular arc-shaped stop block, and the inner surface of the cover plate is also provided with a guide projection 509 matched and jointed with the guide groove at a corresponding position.

As shown in fig. 12A, 12B, 12C and 12D, in a modification, the tray cover is omitted and provided with three baffles 531 and a cover plate 532, see fig. 12B, 12C and 12D. The lower surface of the radial inner end of the baffle 531 is provided with two guide protrusions 533, and the radial outer end is provided with two screw holes 534; correspondingly, two threaded holes 555 are provided in the circular arc shaped stop 505 provided on the chassis, on top of which the stop 531 is fastened, for example by means of screws, during assembly, and two guide projections 553 each cooperate with a guide groove 508 in the presser wheel holder. With this arrangement, a separate cover plate 532 corresponding to the shape of the guide wire channel boss 514 may be selected to fit the guide wire channel boss on the chassis. The cover plate 532 may have a protrusion 536 formed thereon that conforms in cross-section to the cross-section of the groove 515 in the guidewire channel boss and that is oriented to conform to the groove. In addition, a screw hole 537 is formed in the cover plate 532, and two screw holes 538 are provided in the guide wire passage boss 514 correspondingly. Thus, when the cover 535 is fitted to the guide wire channel boss 514 on the chassis, such as by screws or the like, the projection 536 engages the groove 515 to form a guide wire channel between the tip of the projection and the bottom of the groove.

As another modification of this modification, the baffle 531 may be formed integrally with the circular ring-shaped stopper 505, in which case one or more of the combination of the baffle and the circular arc-shaped stopper is not formed integrally with the chassis but fixed to the chassis by fixing means such as screws, whereby the assembly of the guide wire delivery device can be facilitated.

Reference is now made to fig. 13A, 13B and 13C, which illustrate another embodiment of the present invention. In this embodiment, no guide groove is formed on both axial end faces of the main body portion of the wire wheel bracket; the inner surface of the chassis is not provided with a guide projection, and the inner surface of the cover is not provided with a guide projection at a corresponding position. Instead, as shown in fig. 13A, 13B and 13C, two through holes 581 which are circumferentially symmetrically arranged and extend in the radial moving direction of the wire sheave holder are formed in the main body portion of the wire sheave holder 571; and two pins 582 are circumferentially symmetrically arranged on the radial inner side of the circular arc-shaped stop 505 on the edge of the chassis. In the assembled state, the two pins 582 of the circular arc stopper 505 are inserted into the through holes 581 of the main body portion of the wire wheel holder, respectively, to play a guiding role and also to prevent the circumferential side wings and the axial movement of the wire wheel holder. In this case, the biasing spring 583 may be fitted over both pins. Also in this case the cover plate can be omitted and, similarly to the above, a separate cover plate corresponding to the guide wire channel boss can be used to fit the guide wire channel boss on the base plate.

In this modification, the one or more circular arc-shaped stoppers may not be formed integrally with the chassis but fixed to the chassis by a fixing means such as a screw, whereby the assembly of the guidewire delivery device can be facilitated.

Referring now to fig. 14A-20, a fourth embodiment of the guidewire delivery device of the present invention is illustrated.

Referring first to fig. 14A and 14B, wherein fig. 14A is a perspective view of a guidewire delivery device of a fourth embodiment, with a tray cover mounted on the chassis; fig. 14B is a perspective view of the guidewire delivery device of the fourth embodiment with the cover removed to show the internal structure of the guidewire delivery device. The guide wire delivery device of the fourth embodiment includes a base plate 591, a guide wire reel 592, a guide wire, a reel cover 593, and a wire pressing belt mechanism 594.

The general construction of the guidewire delivery device is similar to the previous embodiments and, for the sake of brevity, the description of the same parts, including but not limited to the stop mechanism to prevent rotation of the guidewire disc and the guidewire end securement device, etc., is omitted and only the different structural parts will be described below.

In the fourth embodiment, as shown in fig. 16, the godet 592 is formed with a stepped hole 595 including an upper hole 5951 and a lower hole 5952 at the center thereof, the upper hole being a non-circular hole such as a polygonal hole or a D-shaped hole serving as a coupling hole to be coupled to the godet rotation driving shaft so that the godet can be rotated by the godet rotation driving shaft. The lower hole 5952 is a circular hole having a diameter greater than that of the upper hole for rotatably coupling with the base plate 591.

Referring to fig. 15 and 16, a cylindrical boss 5910 is provided at the center of a base plate 591, and a central hole 5911 is formed on the boss, and the diameter of the central hole is larger than the maximum aperture of an upper hole 5951 of a stepped hole 595 of the godet so that the spinning driving shaft of the godet can pass through and be connected with the connection hole. The outer diameter of the convex column 5910 is smaller than the diameter of the lower hole 5952 of the stepped hole 595 of the godet. In the assembled state of the godet and the base plate, the bearing 596 is mounted between the boss 5910 of the base plate and the lower hole 5952 of the godet stepped hole, whereby the godet is rotatably mounted on the base plate and can only rotate relative to the base plate without being radially movable. Incidentally, the arrangement in which the godet is rotatably mounted on the base plate by means of bearings can be adapted to the embodiments described in connection with fig. 1-13.

As shown in fig. 14B, the ribbon pressing mechanism 594 includes a ribbon pressing belt 5941 and a plurality of pulleys 5943 disposed around the godet and spaced apart in the circumferential direction. To this end, as shown in fig. 15 and 17, the chassis 591 is provided with cylindrical axles 5915, on which respective pulleys 5943 are rotatably mounted by means of bearings 5944. Preferably, flanges 5916 are provided at each axial end of the pulley, thereby axially positioning the wire pressing band 5941 and preventing the wire pressing band from dislocating.

In the assembled state of the yarn pressing mechanism, as shown in fig. 14B, the endless yarn pressing belt 5941 is wound around the spool of the yarn guiding reel 592, and the yarn pressing belt extending from the spool first passes around the pulleys 5943 located on both sides of the yarn guiding passage 5917 in the circumferential direction to be reversed and then sequentially passes around the other pulleys on the traveling path thereof. Thereby, the guide wire wound on the godet spool is pressed by the pressing tape 5941 to be prevented from being unwound.

In the guidewire delivery device of this embodiment, the number of pulleys is not particularly limited. Preferably, the pulleys on both sides of the guide wire passage 5917 in the circumferential direction are preferably close to the guide wire passage, so that a large wrap angle can be achieved, which is advantageous for preventing the guide wire from being unwound.

The wire pressing belt may be a toothed belt or a flat belt having no teeth, and if a toothed belt is used, a toothed pulley is preferably used for each pulley.

In the above description the pulleys are rotatably mounted on wheel axles 5915 provided on the chassis, but the pulleys may also be fixedly mounted, especially if a flat belt without teeth is used.

As a preferred option, a band tensioning mechanism may be provided in order to prevent the slack in the compression band from affecting the reliable delivery of the guidewire. In the illustrated embodiment, the belt tensioning mechanism is in the form of a tensioning wheel. As shown in fig. 14B, 18A, 18B, and 19, the belt tightening mechanism 5918 is provided between two circumferentially adjacent pulleys 5943, and includes a tightening pulley holder 5919 including a tightening pulley holder main body 5921 and two mounting plates 5922 extending radially inward from the main body and located at upper and lower ends of the main body in the axial direction, respectively, the two mounting plates being formed with axial through holes 5923, respectively, and a tightening pulley 5920 having a through axial hole 5925. Tensioner 5920 is thus rotatably mounted to the tensioner bracket by pin 5926 extending through the mounting plate axial through bore and the tensioner axial bore.

As shown in fig. 15, 18B and 20, a peripheral edge of the chassis 591 is provided with a surrounding plate 5927, which is provided with a plurality of circular arc-shaped baffles 5928 arranged at intervals along the circumferential direction, and the arrangement position corresponds to the installation position of the belt tensioning mechanism. A circular blind bore 5929 is formed in the radially outer wall surface of the main body portion of the tensioner holder, preferably disposed intermediate the circumferential and axial direction of the main body portion. In the assembled state, referring to fig. 19, one end of a biasing spring 5930 is disposed in a circular blind hole 5929 of the tensioning wheel support body portion, and the other end abuts against a baffle 5928 to bias the tensioning wheel support 5919, so that the tensioning wheel reliably presses the wire pressing belt to tension the wire pressing belt.

In order to ensure that the tension wheel support moves along the radial direction certainly and avoid the circumferential lateral movement as much as possible, the guide wire delivery device is provided with a limiting device. As shown in fig. 20, guide bosses 5930 are provided on the inner surface of the floor shroud 5927 symmetrically with respect to the circular arc-shaped shroud on the radially inner side of the circular arc-shaped shroud, the spacing between the two guide bosses being equal to or slightly larger than the width of the tensioner holder body 5921 and forming guide grooves 5931. In the assembled state, the tensioning wheel holder body is fitted in the guide groove, movable in the radial direction, but substantially restricted from being displaced in the circumferential direction; thereby, the tensioner bracket is radially moved while being substantially prevented from moving laterally in the circumferential direction due to the guiding action of the guide groove 5931.

In addition, as a preferable scheme, the radial inner end of the guide boss can be provided with a projection 5932, and a mounting groove 5933 is defined between the projection and the enclosing plate of the chassis; accordingly, as shown in fig. 18B, support arms 5934 having a radial thickness smaller than the radial length of the mounting groove 5933 are provided on both sides of the tensioner holder main body in the width direction, respectively, so as to allow the tensioner holder to move radially. In the assembled state, the support arm 5934 of the tensioner bracket main body is supported on the bottom wall of the mounting groove 5933, so that the bottom wall of the tensioner bracket main body is spaced from the inner surface of the chassis, see fig. 19, and the effect of reducing the frictional resistance is achieved; in addition, the projection 5932 at the radially inner end of the guide boss 5930 can also function to limit the radial range of movement of the tensioner bracket.

As a preferred option, the guidewire delivery device of the fourth embodiment may be provided with a disc cover 593, as shown in fig. 14A. In order to mount the tray cover on the chassis 591, as shown in fig. 15, mounting posts 5935 are provided at several positions radially inside the chassis enclosure, and each mounting post is formed with a threaded hole 5936; correspondingly, the disk cover is formed with screw holes at corresponding positions, whereby the disk cover can be fixed to the base plate by screws. Other connecting structures can be adopted between the tray cover and the chassis, for example, a buckle and clamping groove connecting structure is adopted, and the structure is like a Lexiao button preservation box. Therefore, the connection mode between the tray cover and the chassis can adopt various structures, and the invention is not particularly limited.

Further, in the guide wire delivery device of the fourth embodiment, instead of the disk cover, a cover plate and a baffle plate may be used as in the embodiment shown in fig. 12A to 12D. In this case, the shield is mounted on a circular arc shaped shield 5928 and the cover fits over a guide wire channel boss 5938 on the chassis.

In addition, the configuration of moving the tension pulley holder in the radial direction and avoiding the circumferential side shift may be the configuration described in connection with the wire presser holder as shown in fig. 13A to 13B, that is, two through holes extending in the radial direction of the tension pulley holder are formed symmetrically in the circumferential direction in the tension pulley holder main body 5921 or the support arm 5934; and two pins are circumferentially symmetrically arranged on the radial inner side of the chassis circular arc baffle 5928. In an assembled state, two pins on the arc-shaped baffle 5928 are respectively inserted into through holes on the tensioning wheel support main body 5921 or the supporting arm 5934, so that the guide effect is achieved, and meanwhile, the circumferential side wings and the axial movement of the wire pressing wheel support can be prevented; meanwhile, a biasing spring is fitted over both pins. In this case, the cover or baffle plate may be omitted and a separate cover plate corresponding to the guide wire channel boss may be used to fit the guide wire channel boss on the base plate, similar to the above.

In addition, the structure that the tension pulley holder moves along the radial direction and avoids the circumferential side movement can also be the structure that is combined with the wire pressing wheel holder and is shown in fig. 1 and fig. 7, namely, two guide grooves which are symmetrically arranged along the circumferential direction and are parallel to the radial movement direction of the tension pulley holder are respectively formed on two mounting plates 5922 of the tension pulley holder, which are positioned at the upper end and the lower end of the main body part in the axial direction; correspondingly, guide protrusions which are matched and jointed with the guide grooves are symmetrically arranged on the inner surface of the chassis relative to the circular arc baffle plate on the radial inner side of the circular arc baffle plate 5928; similarly, a guide projection is formed at a corresponding position on the inner surface of the cover or on the inner surface of each shutter to be in mating engagement with the guide groove. In an assembled state, when the disk cover is closed or the baffle plate is fixed on the circular arc baffle plate 5928, the chassis and the disk cover or the guide protrusions on the baffle plate are respectively matched with the guide grooves on the tension wheel support. As an alternative, the number of the guide groove and the guide projection may be one; in addition, the arrangement positions of the guide grooves and the guide protrusions can be interchanged, for example, the guide grooves are arranged on the chassis and the disk cover or the baffle plate, and the guide protrusions are arranged on the tensioning wheel support.

Referring now to fig. 21A-27, a fifth embodiment of the guidewire delivery device of the present invention is illustrated.

Reference is first made to fig. 21A and 21B, where fig. 21A is a perspective view of a guidewire delivery device of a fifth embodiment, with a tray cover mounted on the chassis; fig. 21B is a perspective view of the guidewire delivery device of the fifth embodiment with the disk cover removed to show the internal structure of the guidewire delivery device. The guide wire delivery device of the fifth embodiment includes a base plate 5961, a guide wire tray 5962, a guide wire, a tray cover 5963, and a plurality of pinch roller devices 5960.

In the fifth embodiment, as shown in fig. 23, the godet 5962 is formed at a central portion thereof with a stepped hole 5964 including an upper hole 5965 and a lower hole 5966, the upper hole being a non-circular hole such as a polygonal hole or a D-shaped hole, serving as a coupling hole to be coupled to the godet rotation drive shaft so that the godet can be rotated by the godet rotation drive shaft. The lower aperture 5966 is a circular aperture having a diameter greater than the diameter of the upper aperture for rotational connection with the chassis 5961.

Referring to fig. 22 and 23, a cylindrical boss 5967 is provided at the center of the base plate 5961, a central hole 5968 is formed on the boss, and the diameter of the central hole is larger than the maximum aperture of the upper hole 5965 of the stepped hole 5964 of the godet, so that the spinning driving shaft of the godet can pass through and connect with the connection hole. The external diameter of the protruding column 5967 is smaller than the aperture of the lower hole 5966 of the godet stepped hole 5964. In the assembled state of the godet and the base plate, as shown in fig. 23, a bearing 5969 is installed between a boss 5967 of the base plate and a lower hole 5966 of the godet stepped hole, whereby the godet is rotatably installed on the base plate and can only rotate relative to the base plate without being radially moved.

As shown in fig. 21B, the godet units 5960 are disposed at the periphery of the godet and spaced apart in the circumferential direction. Referring to fig. 23, 24A, 24B and 25, the wire pressing wheel device 5960 includes a wire pressing wheel support 5970 and a wire pressing wheel 5971, the wire pressing wheel support includes a wire pressing wheel support body 5972 and two mounting plates 5973 extending radially inward from the body and respectively located at the upper and lower ends of the body in the axial direction, the two mounting plates are respectively formed with an axial through hole 5974, and the wire pressing wheel 5971 has a through axial hole 5975. The wire press wheel 5971 is thus rotatably mounted on the wire press wheel bracket by means of a pin 5976 extending through the mounting plate axial through bore 5974 and the wire press wheel axial bore 5975.

As shown in fig. 24A, 24B and 25, the wire-pressing wheel 5971 includes a wire-pressing wheel 5977 and driven gears 5978 respectively located at two axial ends of the wire-pressing wheel, and the driven gears 5978 may be formed integrally with the wire-pressing wheel or may be separate components fixed at two axial ends of the wire-pressing wheel during assembly. As shown in fig. 26 and 27, the godet includes a spool 5979 and drive gears 5980 located at axial ends of the spool, the drive gears 5980 may be integrally formed with the spool 5979 or may be separate components that are fixed to the axial ends of the spool during assembly. As shown in fig. 27, in the assembled state, the driven gear 5978 of the yarn presser wheel 5971 is engaged with the drive gear 5980 of the godet, and when the drive gear rotates, the driven gear rotates together with the drive gear, thereby rotating the yarn presser wheel 5977 of the yarn presser wheel together.

Incidentally, the wire pressing rotating wheel structure of the fifth embodiment can also be used in the embodiments described with reference to fig. 1 to 13C, and details are not repeated for the sake of brevity.

As shown in fig. 22, a surrounding plate 5981 is provided on a circumferential edge of the chassis 5961, a plurality of blind holes 5983 arranged at intervals along the circumferential direction are provided on the inner side of the surrounding plate, and the positions of the blind holes correspond to the installation position of the wire pressing wheel device 5960. As shown in fig. 24B, a circular blind hole 5984 is formed on the radially outer wall surface of the wire wheel holder main body portion 5972, the circular blind hole being preferably provided at a position intermediate in the circumferential direction and the axial direction of the main body portion. In the assembled state, referring to fig. 25, a biasing spring 5985 is disposed at one end in the circular blind hole 5984 of the pinch roller holder main body portion 5972 and at the other end in the blind hole 5983 inside the enclosure to bias the pinch roller holder so that the pinch roller 5977 of the pinch roller reliably presses the guide wire 5990 wound on the godet.

In order to ensure that the wire pressing wheel support moves along the radial direction certainly and avoids the circumferential lateral movement as much as possible, the guide wire delivery device is provided with a limiting device. As shown in fig. 22, guide bosses 5982 are provided on the inner side surface of the floor enclosure 5981 symmetrically on both sides in the circumferential direction of the blind hole 5983, at a distance equal to or slightly larger than the width of the platen bracket main body portion 5972 and forming guide grooves 5986. In the assembled state, the wire-pressing wheel support is fitted in the guide groove, is movable in the radial direction, but is substantially restricted from being displaced in the circumferential direction; thus, the wire-pressing wheel support is radially moved while being substantially prevented from moving laterally in the circumferential direction due to the guiding action of the guide groove 5986.

As a preferred option, the guide wire delivery device of the fifth embodiment can be provided with a tray cover 5963, as shown in fig. 21A. In order to mount the tray cover on the chassis 5961, as shown in fig. 21B and 22, screw holes 5987 are formed in the guide boss 5982 inside the shroud 5981 and the guide wire passage boss 5989; in correspondence to this, the tray cover is formed with screw holes 5988 at corresponding positions, whereby the tray cover can be fixed to the base tray by screws. Other connecting structures can be adopted between the disk cover and the chassis, for example, a buckle and clamping groove connecting structure is adopted, and the connecting structure is like a music button protective box. Therefore, the connection mode between the tray cover and the chassis can adopt various structures, and the invention is not particularly limited.

Further, in the guide wire delivery device of the fourth embodiment, instead of the disk cover, a cover plate and a baffle plate may be used as in the embodiment shown in fig. 12A to 12D. In this case, the baffle is mounted on the shroud 5981 and the shroud fits over the guide wire channel boss 5989 on the chassis.

In addition, the structure for moving the wire pressing wheel bracket in the radial direction and avoiding the circumferential lateral movement can also adopt the structure described in the previous embodiments shown in fig. 1-13, and the description is omitted here for the sake of brevity.

In the assembled state of the guidewire delivery device of the fifth embodiment, see fig. 25, two functions need to be fulfilled: firstly, under the bias action of a bias spring 5985, a wire pressing wheel 5977 of the wire pressing wheel device presses against the guide wire to prevent the guide wire from being loosened, and meanwhile, the wire pressing wheel device can move towards the wire guiding disc for a proper distance along the radial direction when the thickness of the guide wire layer is reduced; secondly, a driven gear of the wire pressing wheel device needs to be meshed with a driving gear on the wire guide disc to realize synchronous rotation. Therefore, in the assembled state, when the wire pressing wheel is pressed against the guide wire on the wire guiding disc under the action of the biasing spring, a proper meshing gap needs to be reserved between the driven gear and the driving gear, so that the driven gear can be allowed to move towards the driving gear by a proper distance on one hand, and the meshing transmission relationship between the driven gear and the driving gear is ensured on the other hand.

The present invention has been described above in connection with the specific embodiments with reference to the accompanying drawings, but this is for illustrative purposes only and the present invention is not limited thereto. Therefore, it is apparent to those skilled in the art that various changes and modifications can be made within the technical spirit and scope of the present invention, and these changes and modifications should also be construed as falling within the scope of the present invention, which is defined by the claims and their equivalents.

Claims

1. A guidewire delivery device for a vascular interventional surgical robot, the guidewire delivery device comprising:

a chassis;

2. A guide wire delivering device for a vascular interventional surgical robot as set forth in claim 1, wherein the guide wire pressing device comprises a plurality of wire pressing wheel devices disposed around the guide wire reel, each wire pressing wheel device comprising a wire pressing wheel support and a wire pressing wheel mounted on the wire pressing wheel support, the wire pressing wheel being rotatably mounted on the wire pressing wheel support by means of a wheel shaft parallel to an axis of the reel;

the chassis is provided with a blocking part which corresponds to each wire pressing wheel device and is positioned at the radial outer end of the wire pressing wheel device;

the wire pressing wheel devices are arranged on the chassis and can be radially and movably arranged between the stop part and the reel wound with the guide wire; a biasing device is arranged between the blocking part and the wire pressing wheel bracket and is used for applying bias to the wire pressing wheel device so that the wire pressing wheel is pressed against a guide wire;

the guide wire delivery device is also provided with a limiting device which allows the wire pressing wheel support to move along the radial direction but prevents the wire pressing wheel support from moving along the circumferential direction of the guide wire disc.

3. The guidewire delivery apparatus for a vascular interventional surgical robot of claim 2, wherein the guidewire spool includes spools located at both axial ends of the spool.

4. The guide wire delivery device for a vascular interventional surgical robot as set forth in claim 2, wherein the wire pressing wheel is provided at both axial ends thereof with driven gears formed integrally with the wire pressing wheel or as separate members fixed to both axial ends of the wire pressing wheel when assembled; driving gears are arranged at two axial ends of the reel of the godet spool, and the driving gears and the reel are integrally formed or are independent elements and are fixed at two axial ends of the reel during assembly; in the assembled state, the driven gear is engaged with the driving gear.

5. A guidewire delivery device for a vascular interventional surgical robot as set forth in claim 1, further comprising a tray cover fitted over the chassis.

6. The guide wire delivery device for a vascular interventional surgical robot as set forth in claim 2, wherein a baffle is provided above each of the wire-pressing wheel devices, the baffle being integrally formed with the stopper corresponding to the radially outer end of the wire-pressing wheel device, or the baffle being a separate member whose radially outer end is fixedly connected to the stopper corresponding to the radially outer end of the wire-pressing wheel device.

7. The guide wire delivery device for a vascular interventional surgical robot as set forth in any one of claims 2 to 4, further comprising a disk cover fitted on the chassis, the radially inner wall surface of the stopper portion being formed with a circular blind hole, the radially outer side of the wire pressing wheel holder being formed with a circular blind hole disposed circumferentially centrally, both ends of a cylindrical coil spring serving as a biasing means being disposed in the two blind holes, respectively;

two penetrating guide grooves or guide bulges which are parallel to the radial moving direction of the wire pressing wheel support are respectively formed on two axial end surfaces of the wire pressing wheel support, two guide bulges or guide grooves which are matched with the two penetrating guide grooves or guide bulges are formed on the inner surface of the chassis, and two guide bulges or guide grooves which are matched with the two penetrating guide grooves or guide bulges on the wire pressing wheel support are also formed on the inner surface of the disk cover; when the disk cover is fitted on the base disk, the through guide groove or the guide projection of the wire-pressing wheel holder is fitted with the guide projection or the guide groove on the base disk and the disk cover, respectively, so that the wire-pressing wheel holder is allowed to move radially but is prevented from moving in the circumferential direction of the wire-guiding disk.

8. The guide wire delivery device for the vascular interventional surgical robot as set forth in any one of claims 2 to 4, wherein a baffle is provided above each of the wire pressing wheel devices, the baffle being integrally formed with the stopper corresponding to the radially outer end of the wire pressing wheel device, or the baffle being a separate member whose radially outer end is fixedly connected with the stopper corresponding to the radially outer end of the wire pressing wheel device;

a circular blind hole is formed in the radial inner wall surface of the blocking and leaning part, a circular blind hole which is circumferentially arranged in the center is formed in the radial outer side of the wire pressing wheel support, and two ends of a cylindrical spiral spring used as a biasing device are respectively arranged in the two blind holes;

two penetrating guide grooves or guide bulges which are parallel to the radial moving direction of the wire pressing wheel support are respectively formed on two axial end surfaces of the wire pressing wheel support, two guide bulges or guide grooves which are matched with the two penetrating guide grooves or guide bulges are formed on the inner surface of the chassis, and two guide bulges or guide grooves which are matched with the penetrating guide grooves or guide bulges on the wire pressing wheel support are also formed on the lower surface of each baffle; in an assembled state, the penetrating guide groove or the guide protrusion of the wire pressing wheel support is matched with the guide protrusion or the guide groove on the base plate and the baffle plate respectively, so that the wire pressing wheel support is allowed to move in the radial direction but is prevented from moving along the circumferential direction of the wire guide disc.

9. The guide wire delivery device for the vascular intervention surgical robot as claimed in any one of claims 2 to 6, wherein the wire pressing wheel support is centrally provided with one or symmetrically provided with two through holes parallel to the radial moving direction of the wire pressing wheel support; one or two pins which can be inserted into the one or two through holes are arranged on the radial inner side wall of the blocking and leaning part; in an assembled state, the pin columns on the blocking and leaning parts are inserted into the through holes on the wire pressing wheel support, so that the wire pressing wheel support is allowed to move in the radial direction, but the wire pressing wheel support is prevented from moving along the circumferential direction of the wire guiding disc; and a cylindrical spiral spring serving as a biasing device is sleeved on the pin and is positioned between the radial inner side wall of the stop part and the radial outer side wall of the wire pressing wheel bracket.

10. The guide wire delivery device for a vascular interventional surgical robot as set forth in any one of claims 2 to 6, wherein the stopper portion is formed with a circular blind hole on a radially inner wall surface thereof, the wire-pressing wheel holder is formed with a circular blind hole circumferentially provided centrally on a radially outer side thereof, and both ends of a cylindrical coil spring serving as a biasing means are respectively fitted in the two blind holes;

the wire pressing wheel support is assembled in the guide groove and can move along the radial direction, but basically is limited to offset along the circumferential direction.

11. A guide wire delivery device for a vascular interventional surgical robot as set forth in claim 5, wherein the guide wire channel is disposed in one of the respective spaces formed between each pair of adjacent wire pressing wheel devices and is formed by one of:

the first method is as follows: a boss positioned in the interval is arranged on the chassis or the disk cover, and a groove which runs through and extends from the radial outermost end to the radial innermost end is formed on the surface of the axial end of the boss; a bulge is arranged at the corresponding position on the other one of the chassis and the chassis cover, the cross section of the bulge is matched with the cross section of the groove on the boss, and the trend of the bulge is consistent with that of the groove, when the chassis cover is assembled on the chassis, the bulge is jointed with the groove, and a guide wire channel is formed between the top end of the bulge and the bottom of the groove;

the second method comprises the following steps: the chassis and the disc cover are respectively provided with a chassis boss and a disc cover boss which are positioned in the interval, the mutually opposite surfaces of the chassis boss and the disc cover boss are respectively provided with a groove which runs through and extends from the radial outermost end to the radial innermost end, the directions of the two grooves are consistent, and when the disc cover is assembled on the chassis, the two grooves are butted to form the guide wire channel; and

the third method comprises the following steps: and a boss positioned in the interval is arranged on the base plate or the plate cover, a channel which extends from the radial outermost end to the radial innermost end in a penetrating way is formed on the boss, and the channel limits the guide wire channel.

12. A guide wire delivery device for a vascular interventional surgical robot as set forth in claim 11, wherein the guide wire channel is formed by a first method, the tip of the protrusion is formed with a groove, and the guide wire channel is defined between the groove of the tip of the protrusion and the bottom of the groove on the boss when the tray cover is fitted on the base tray.

13. A guide wire delivery device for a vascular interventional surgical robot as set forth in claim 6, wherein the guide wire channel is disposed in one of the respective spaces formed between each pair of adjacent wire pressing wheel devices and is formed by one of:

the first method is as follows: a boss positioned in the interval is arranged on the base plate, and a groove which extends from the radial outermost end to the radial innermost end in a penetrating way is formed on the surface of the axial end part of the boss; the guide wire delivery device also comprises a cover plate, wherein a bulge is arranged on the cover plate, the cross section of the bulge is matched with the cross section of the groove on the boss, and the trend of the bulge is consistent with that of the groove, when the cover plate is fixed on the boss, the bulge is connected with the groove, and a guide wire channel is formed between the top end of the bulge and the bottom of the groove;

the second method comprises the following steps: the base plate is provided with a boss positioned in the interval, the guide wire delivery device further comprises a cover plate, grooves which extend from the radial outermost end to the radial innermost end in a penetrating manner are respectively formed on the surfaces, opposite to each other, of the boss and the cover plate, the directions of the two grooves are the same, and when the cover plate is fixed on the boss, the two grooves are in butt joint to form a guide wire channel; and

the third method comprises the following steps: a boss located in the one space is arranged on the base plate, a channel which extends from the radial outermost end to the radial innermost end in a penetrating mode is formed in the boss, and the channel limits the guide wire channel.

14. A guide wire delivery device for a vascular interventional surgical robot as set forth in claim 13, wherein the guide wire channel is formed by a first mode, the tip of the protrusion is formed with a groove, and the guide wire channel is defined between the groove of the tip of the protrusion and a bottom of the groove on the boss when the cover plate is mounted on the boss.

15. A guide wire delivery device for a vascular interventional surgical robot as set forth in any one of claims 2-4, wherein each of the wire-pressing wheel devices includes two wire-pressing wheels symmetrically disposed at both circumferential ends of a wire-pressing wheel stent.

16. A guidewire delivery device for a vascular interventional surgical robot as set forth in claim 15, wherein the wire wheel support is configured to rotate about an axis parallel to the axis of the guidewire disc.

17. A guide wire delivery device for a vascular interventional surgical robot as set forth in claim 15, further comprising a disk cover fitted on the base disk, wherein a centrally disposed radial guide groove is formed on each of both axial end surfaces of the wire-pressing wheel support; the inner surface of the base plate and the inner surface of the plate cover are respectively provided with a spherical bulge or a cylindrical bulge which is matched and jointed with the radial guide groove; or, a centrally arranged spherical bulge or cylindrical bulge is respectively formed on two axial end faces of the wire pressing wheel support, and radial guide grooves which are matched and jointed with the radial guide grooves are respectively arranged on the inner surface of the chassis and the inner surface of the disk cover.

18. A guide wire delivery device for a vascular interventional surgical robot as defined in any one of claims 2-4, wherein each of the wire-pressing wheel devices includes a wire-pressing wheel.

19. A guide wire delivery device for a vascular interventional surgical robot as set forth in claim 2, further comprising a cover fitted on the base plate, the base plate and the cover being annular, an inner circumferential surface of the base plate abutting against an adjacent axial end surface of the godet spool and/or an adjacent axial end surface of the wire pressing wheel support, and/or an inner circumferential surface of the cover abutting against an adjacent axial end surface of the godet spool and/or an adjacent axial end surface of the wire pressing wheel support.

20. A guide wire delivery apparatus for a vascular interventional surgical robot as set forth in claim 3, further comprising a cover fitted on the base plate, the base plate and the cover being circular ring-shaped, an inner circumferential surface of the base plate being fitted with an adjacent axial end surface of the reel spool and/or the wire pressing wheel holder, and/or an inner circumferential surface of the cover being fitted with an adjacent axial end surface of the reel spool and/or the wire pressing wheel holder.

21. A guide wire delivery device for a vascular interventional surgical robot as set forth in claim 4, further comprising a cover fitted on the base plate, wherein the base plate and the cover are annular, and an inner circumferential surface of the base plate is fitted to an adjacent driving gear of the guide plate and/or an adjacent axial end surface of the wire pressing wheel support, and/or an inner circumferential surface of the cover is fitted to an adjacent driving gear of the guide plate and/or an adjacent axial end surface of the wire pressing wheel support.

22. The guide wire delivery device for the vascular interventional surgical robot as set forth in claim 2, wherein a baffle is provided above each wire pressing wheel device, the baffle is integrally formed with the stopper corresponding to the radially outer end of the wire pressing wheel device, or the baffle is a separate element, and the radially outer end of the baffle is fixedly connected with the stopper corresponding to the radially outer end of the wire pressing wheel device; the chassis is the ring shape, the inboard circumferential surface on chassis with the adjacent axial terminal surface of godet spool and/or the laminating of the adjacent axial terminal surface of pressure silk wheel support, and/or the radial inboard surface of baffle with the adjacent axial terminal surface of godet spool and/or the laminating of the adjacent axial terminal surface of pressure silk wheel support.

23. The guide wire delivery device for the vascular interventional surgical robot as set forth in claim 3, wherein a baffle is provided above each wire pressing wheel device, the baffle is integrally formed with the stopper corresponding to the radially outer end of the wire pressing wheel device, or the baffle is a separate element, and the radially outer end of the baffle is fixedly connected with the stopper corresponding to the radially outer end of the wire pressing wheel device; the chassis is the ring shape, the inboard circumference surface on chassis with the adjacent reel of godet and/or the adjacent axial terminal surface laminating of wire pressing wheel support, and/or the radial inboard surface of baffle with the adjacent reel of godet and/or the adjacent axial terminal surface laminating of wire pressing wheel support.

24. The guide wire delivery device for the vascular interventional surgical robot as set forth in claim 4, wherein a baffle is provided above each wire pressing wheel device, the baffle is integrally formed with the stopper corresponding to the radially outer end of the wire pressing wheel device, or the baffle is a separate element, and the radially outer end of the baffle is fixedly connected with the stopper corresponding to the radially outer end of the wire pressing wheel device; the chassis is the ring shape, the inboard peripheral surface on chassis with the adjacent driving gear of godet and/or the adjacent axial terminal surface laminating of wire pressing wheel support, and/or the radial inboard surface of baffle with the adjacent driving gear of godet and/or the adjacent axial terminal surface laminating of wire pressing wheel support.

25. The guidewire delivery apparatus for a vascular interventional surgical robot as set forth in claim 1, wherein the guidewire disc includes reels at both axial ends of the spool, the guidewire disc being rotatably mounted on the base disc by bearings; the guide wire pressing device comprises a guide wire pressing belt mechanism, the guide wire pressing belt mechanism comprises an annular guide wire pressing belt and a plurality of belt wheels, and the belt wheels are arranged on the periphery of the guide wire disc and are arranged at intervals along the circumferential direction; the chassis is provided with an axle, and the belt wheel is arranged on the axle; in the assembled state of the silk ribbon pressing mechanism, the annular silk ribbon pressing is sleeved on the reel of the silk guide disc, the silk ribbon pressing extending out of the reel firstly bypasses belt wheels positioned at two sides of the peripheral direction of the silk guide channel to realize reverse direction, and then sequentially bypasses other belt wheels on the passing path.

26. A guidewire delivery device for a vascular interventional surgical robot as set forth in claim 25, wherein the pulleys on both circumferential sides of the guidewire channel are disposed proximate the guidewire channel.

27. A guidewire delivery device for a vascular interventional surgical robot as set forth in claim 25, wherein the pulley is rotatably mounted on the axle by a bearing.

28. A guidewire delivery device for a vascular interventional surgical robot as set forth in claim 25, wherein the pulley is flanged at both axial ends.

29. The guidewire delivery device for a vascular interventional surgical robot as set forth in claim 25, further comprising a belt tensioning mechanism disposed between two circumferentially adjacent pulleys and pressing against the wire pressing belt from outside.

30. A guidewire delivery device for a vascular interventional surgical robot as set forth in claim 29, wherein the strap tensioning mechanism includes a tensioning wheel bracket and a tensioning wheel fixedly or rotatably mounted on the tensioning wheel bracket with an axle parallel to the spool axis;

the chassis is provided with a blocking and leaning part which corresponds to the belt tensioning mechanism and is positioned at the radial outer end of the belt tensioning mechanism;

the belt tensioning mechanism is arranged on the chassis and can be installed between the baffle part and the wire pressing belt in a radial moving mode; a biasing device is arranged between the blocking and leaning part and the tensioning wheel bracket and used for applying bias to the belt tensioning mechanism so that the tensioning wheel presses against the wire pressing belt;

the guide wire delivery device is further provided with a limiting device which allows the tension wheel support to move along the radial direction, but prevents the tension wheel support from moving along the circumferential direction of the guide wire disc.

31. The guide wire delivery device for a vascular interventional surgical robot as set forth in claim 30, further comprising a disk cover fitted on the chassis, wherein a circular blind hole is formed on a radially inner wall surface of the abutment portion, a circular blind hole disposed circumferentially and centrally is formed on a radially outer side of the tension pulley holder, and both ends of a cylindrical coil spring serving as a biasing means are respectively fitted in the two blind holes;

two penetrating guide grooves or guide bulges which are parallel to the radial moving direction of the tensioning wheel support are respectively formed on two axial end faces of the tensioning wheel support, two guide bulges or guide grooves which are matched with the two penetrating guide grooves or guide bulges are formed on the inner surface of the chassis, and two guide bulges or guide grooves which are matched with the two penetrating guide grooves or guide bulges on the tensioning wheel support are also formed on the inner surface of the disk cover; when the disk cover is assembled on the chassis, the penetrating guide groove or the guide protrusion of the tension wheel support is matched with the guide protrusion or the guide groove on the chassis and the disk cover respectively, so that the tension wheel support is allowed to move in the radial direction but is prevented from moving in the circumferential direction of the wire guide disk.

32. A guide wire delivery device for a vascular interventional surgical robot as set forth in claim 30, wherein a baffle is provided above each of the band tensioning means, the baffle being integrally formed with the abutment portion corresponding to the radially outer end of the band tensioning means, or the baffle being a separate member fixedly connected at its radially outer end to the abutment portion corresponding to the radially outer end of the band tensioning means;

a circular blind hole is formed in the radial inner wall surface of the blocking and leaning part, a circular blind hole which is circumferentially arranged in the center is formed in the radial outer side of the tensioning wheel support, and two ends of a cylindrical spiral spring used as a biasing device are respectively arranged in the two blind holes;

two penetrating guide grooves or guide bulges which are parallel to the radial moving direction of the tensioning wheel support are respectively formed on two axial end faces of the tensioning wheel support, two guide bulges or guide grooves which are matched with the two penetrating guide grooves or guide bulges are formed on the inner surface of the chassis, and two guide bulges or guide grooves which are matched with the penetrating guide grooves or guide bulges on the tensioning wheel support are also formed on the lower surface of each baffle; in an assembled state, the through guide groove or the guide protrusion of the tensioning wheel support is matched with the guide protrusion or the guide groove on the base plate and the baffle plate respectively, so that the tensioning wheel support is allowed to move in the radial direction but is prevented from moving along the circumferential direction of the wire guide disc.

33. A guide wire delivery device for a vascular interventional surgical robot as set forth in claim 30, wherein the tension wheel holder is centrally provided with one or symmetrically provided with two through holes parallel to a radial moving direction of the tension wheel holder; one or two pins which can be inserted into the one or two through holes are arranged on the radial inner side wall of the blocking and leaning part; in an assembled state, the pin on the blocking part is inserted into the through hole on the tensioning wheel support, so that the tensioning wheel support is allowed to move in the radial direction, but the tensioning wheel support is prevented from moving along the circumferential direction of the godet; cylindrical helical springs serving as biasing devices are respectively sleeved on the two pin columns and are positioned between the radial inner side wall of the blocking and leaning part and the radial outer side wall of the tensioning wheel support.

34. The guide wire delivery device for a vascular interventional surgical robot as set forth in claim 30, wherein the stopper portion is formed with a circular blind hole on a radially inner wall surface thereof, the tension pulley holder is formed with a circular blind hole circumferentially provided centrally on a radially outer side thereof, and both ends of a cylindrical coil spring serving as a biasing means are respectively fitted in the two blind holes;

the two circumferential sides of the stop part are provided with guide bosses which are spaced apart in the circumferential direction, the two guide bosses form a guide groove, and in the assembled state, the tensioning wheel support is fitted in the guide groove so as to be movable in the radial direction, but is substantially restricted from being displaced in the circumferential direction.

35. A guide wire delivery device for a vascular interventional surgical robot as set forth in claim 34, wherein the guide boss is provided at a radially inner end thereof with a projection defining a mounting slot between the projection and a shroud or abutment of the chassis; the both sides of take-up pulley support main part width direction are provided with the support arm respectively, and the radial thickness of support arm is less than the radial length of mounting groove, restricts the radial moving range of take-up pulley support when allowing the radial movement of take-up pulley support.

36. A guidewire delivery device for a vascular interventional surgical robot as set forth in claim 30, further comprising a cover fitted on the base, the base and cover being annular in shape, an inner circumferential surface of the base abutting adjacent axial end surfaces of adjacent spools of the guidewire spool and/or the tension pulley holder, and/or an inner circumferential surface of the cover abutting adjacent axial end surfaces of adjacent spools of the guidewire spool and/or the tension pulley holder.

37. A guide wire delivery device for a vascular interventional surgical robot as set forth in claim 30, wherein a baffle is provided above each of the band tensioning means, the baffle being integrally formed with the abutment portion corresponding to the radially outer end of the band tensioning means, or the baffle being a separate member fixedly connected at its radially outer end to the abutment portion corresponding to the radially outer end of the band tensioning means; the chassis is ring shape, the inboard circumference surface on chassis with the adjacent reel of godet and/or the adjacent axial terminal surface laminating of take-up pulley support, and/or the radial inboard surface of baffle with the adjacent reel of godet and/or the adjacent axial terminal surface laminating of take-up pulley support.

38. A guidewire delivery device for a vascular interventional surgical robot as set forth in claim 1, wherein the guidewire disc is rotatably mounted on the chassis by a bearing.

39. A guidewire delivery device for a vascular interventional surgical robot as set forth in claim 1, wherein the radially inner portion of the guidewire channel is deflected to one circumferential side such that the guidewire is deflected at an obtuse angle when the guidewire is delivered or taken up, thereby avoiding damage to the guidewire and facilitating delivery of the guidewire.

40. The guidewire delivery device for a vascular interventional surgical robot as set forth in claim 1, wherein the guidewire disc is provided with a manual rotation device at one axial end thereof for manually rotating the guidewire disc.

41. A guide wire delivery device for a vascular interventional surgical robot as set forth in claim 40, wherein the manual rotation device includes two stubs arranged in central symmetry with respect to the center of the godet and provided on an axial end of the godet facing away from the chassis.

42. A guidewire delivery device for a vascular interventional surgical robot as set forth in claim 1, wherein the guidewire delivery device is provided with a stop mechanism that prevents further rotation of the guidewire spool when the guidewire wound on the spool is about to be used up.

43. The guidewire delivery device for a vascular access surgical robot as set forth in claim 42, wherein the stop mechanism includes a braking tooth, a biasing spring, and a braking groove cooperating with the braking tooth, the guidewire disk spool has a circumferential surface formed with a fitting groove, the braking tooth has an axial thickness substantially equal to an axial length of the spool, a tooth tip of the braking tooth is tapered, a tooth root end of the braking tooth is rotatably mounted in the fitting groove about a rotation axis parallel to an axis of the spool, and the tooth tip of the braking tooth is directed in a rotation direction of the guidewire disk when the guidewire is unwound; a bias spring is arranged between the groove wall of the matching groove of the reel of the godet spool and the radial inner side wall of the brake tooth, so that the brake tooth bears bias and can rotate around the rotating shaft of the movable tooth;

the chassis is provided with a boss, and the radial inner surface of the boss is provided with the brake groove;

the profile of the radially outer end of the braking tooth is arc-shaped, the radius of the braking tooth is basically the same as that of the reel, and under the condition that a guide wire is wound on the reel, the braking tooth overcomes the pressure of the spring to rotate inwards, and the outer surface of the braking tooth and the outer surface of the reel form a continuous cylindrical surface.

44. A guide wire delivery device for a vascular interventional surgical robot as set forth in claim 5, wherein the guide wire delivery device is provided with a stop mechanism that prevents further rotation of the godet spool when the guide wire wound on the spool is about to be used up.

45. The guidewire delivery device for a vascular access surgical robot as set forth in claim 44, wherein the stop mechanism includes a braking tooth, a biasing spring, and a braking groove cooperating with the braking tooth, the guidewire disk spool has a circumferential surface formed with a fitting groove, the braking tooth has an axial thickness substantially equal to an axial length of the spool, a tip portion of the braking tooth is tapered, a root end of the braking tooth is rotatably mounted in the fitting groove about a rotation axis parallel to an axis of the spool, and the tip portion of the braking tooth is directed in a rotation direction of the guidewire disk when the guidewire is unwound; a bias spring is arranged between the groove wall of the matching groove of the reel of the godet spool and the radial inner side wall of the brake tooth, so that the brake tooth bears bias and can rotate around the rotating shaft of the movable tooth;

the chassis or the disk cover is provided with a boss, and the radial inner surface of the boss is provided with the brake groove;

46. The guidewire delivery device for a vascular interventional surgical robot as set forth in claim 43 or 45, wherein the detent groove is a wedge-shaped groove, an open end of the wedge-shaped groove is located on an upstream side with respect to a rotation direction of the guidewire disc when the guidewire is unwound, and a groove bottom of the wedge-shaped groove is located on a downstream side; a mounting hole is formed in a wall surface of the fitting groove opposite to a radially inner side wall of the brake tooth, and a biasing spring in the form of a coil spring is mounted in the mounting hole.

47. The guide wire delivery apparatus for a vascular interventional surgical robot as set forth in claim 1, wherein the guide wire end fixing means is fixed to the guide wire reel, or the guide wire end fixing means is a separate component from the guide wire reel, and is fixed to the guide wire reel after being connected to the guide wire end.

48. A guide wire delivery device for a vascular interventional surgical robot as set forth in claim 1, wherein the spool is formed with a guide wire inlet through which a guide wire tip is extendable to a guide wire end fixture on the guide wire reel.

49. A guide wire delivery device for a vascular interventional surgical robot as defined in claim 5, wherein the tray cover is secured to the chassis with screws or the tray cover is mounted to the chassis with a snap-in-slot arrangement.

50. A guidewire delivery device for a vascular interventional surgical robot according to claim 5, wherein a circumferential edge portion of the tray cover is hinged with a corresponding circumferential edge portion of the chassis such that the tray cover may be pivoted between an open position and a closed position; in the closed position, the tray cover and the chassis are locked in the closed position by a locking device.

51. A guide wire delivery device for a vascular interventional surgical robot as defined in claim 50, wherein the locking device includes a catch disposed on one of the cover and the base plate and a catch disposed on the other of the cover and the base plate.

52. A guidewire delivery device for a vascular interventional surgical robot according to claim 50, wherein the locking device comprises a magnet member disposed on one of the cover and the base plate and a ferromagnetic material member disposed on the other of the cover and the base plate.

53. A guidewire delivery device for a vascular interventional surgical robot as set forth in claim 1, wherein the guidewire delivery device has a nipple through which the guidewire channel extends.