WO2023138396A1

WO2023138396A1 - Guidewire delivery apparatus for vascular interventional surgical robot

Info

Publication number: WO2023138396A1
Application number: PCT/CN2023/070799
Authority: WO
Inventors: 王杨; 唐伟; 赵春莹
Original assignee: 微亚医疗科技(苏州)有限公司
Priority date: 2022-01-24
Filing date: 2023-01-06
Publication date: 2023-07-27
Also published as: CN114246676A

Abstract

A guidewire delivery apparatus (500) for a vascular interventional surgical robot. The apparatus comprises: a base plate (501); a wire guide disc (520), comprising a reel (523) and rotatably mounted on the base plate (501), the middle of the wire guide disc (520) being provided with a connecting hole used for connecting to a wire guide disc self-rotating drive shaft; a guide wire, wound on the reel (523), a tail end of the guide wire being secured to the wire guide disc (520) via a guidewire end securing apparatus (550); and a guidewire pressing apparatus, used for pressing the guidewire in a radial direction so as to prevent the wound guidewire from loosening. The guidewire delivery apparatus (500) is provided with a guidewire channel, and the free end of the guidewire extends out from the guidewire delivery apparatus (500) through the guidewire channel. In an assembled state, the connecting hole of the wire guide disc (520) is connected to the wire guide disc self-rotating drive shaft, the wire guide disc (520) is driven by the wire guide disc self-rotating drive shaft so as to rotate relative to the base plate (501), and when the wire guide disc (520) rotates in one direction, the wound guidewire is loosened from the reel (523) and is delivered forward through the guidewire channel; and when the wire guide disc (520) rotates in the other direction, the guide wire is wound around the reel (523) and is retracted through the guidewire channel.

Description

Guidewire delivery device for vascular interventional surgery robot

technical field

The present invention relates to the technical field of medical devices, in particular to a guide wire delivery device for a vascular interventional robot to realize guide wire delivery.

Background technique

Minimally invasive vascular interventional surgery is the basic method for the diagnosis and treatment of cardiovascular and cerebrovascular diseases. Most of the current vascular disease diagnosis and vascular reconstruction operations require the help of this technology. The operation of the guide wire is one of the core contents of minimally invasive vascular interventional surgery, which determines the quality of the operation. Currently, interventional doctors use digital silhouette angiography (DSA) to manually position the guide wire in the patient's blood vessel. The use of robotic devices for guide wire positioning operations is conducive to improving the accuracy and stability of positioning operations, liberating medical staff from radiation, avoiding additional injuries caused by medical staff wearing heavy lead clothing, avoiding unreliable intraoperative operations due to fatigue of medical staff, improving the situation that traditional interventional surgery relies heavily on doctors' personal experience, reducing the learning curve of interventional surgery, and providing more accurate operations for vascular interventional surgery.

The medical catheter is a hollow tubular structure, and the inner cavity is used as a contrast agent injection channel or a medical device delivery channel. Since the rigidity of the catheter makes it difficult to complete the selection of blood vessels, a solid guide wire with strong flexibility is used to guide the catheter into the targeted blood vessel. During the procedure, the doctor punctures a blood vessel in the femoral or radial artery and places a vascular sheath as an entrance for the catheter to enter the blood vessel. The catheter is passed through the vascular sheath into the blood vessel in the patient's body, and the guide wire is passed into the blood vessel through the channel inside the catheter. Usually, the interventional doctor and his deputy complete the control of the advance, retreat and rotation of the guide wire with two hands and four hands.

When robot-assisted vascular interventional surgery is used, it is one of the core functions to use the robot to realize the advance and retreat of the guide wire and the rotation of the guide wire. In order to realize the motion control of the guide wire, the non-destructive clamping of the guide wire must be realized first. Due to the ultra-smooth loach coating on the surface of the guide wire, the traditional clamping method is prone to damage the surface coating of the guide wire due to insufficient clamping or excessive clamping. The rotation of the guide wire cannot be interfered by the clamping device, so the guide wire rotating device must be integrated with the clamping device. At the same time, the guide wire will directly enter the patient's body, which has higher requirements for aseptic conditions.

According to the different sources of driving force for guide wire transportation, the current domestic and foreign guide wire holder schemes can be divided into two categories: friction wheel clamping and direct push conveying schemes. Friction wheel clamping refers to the use of one or more pairs of friction wheels to squeeze and clamp the guide wire. Driven by the driving wheel, the guide wire can move forward or backward. In this case, the rotation of the guide wire requires two friction wheels to move in opposite directions perpendicular to the axial direction of the guide wire to rub the guide wire. Another way is to adopt the direct-push delivery scheme. The delivery of the guide wire is realized by the linear movement of the device holding the guide wire driven by a special driving mechanism. The guide wire clamping device only needs to realize guide wire clamping, and more needs to consider the realization of guide wire rotation. The traditional method is to add an additional driving device to the clamping device to drive the guide wire clamping device so that the guide wire rotates. Thereby, the small-angle rotation of the guide wire is realized, and the efficiency is low.

Contents of the invention

The guide wire delivery of traditional vascular interventional surgery robots has the following problems: due to the ultra-smooth loach coating on the surface of the guide wire, the guide wire is easy to slide when encountering resistance, resulting in a decrease in the accuracy of guide wire delivery; the delivery effect of the guide wire delivery device is unstable; and the aseptic environment is not completely realized.

The present invention aims to overcome the above-mentioned defects in the traditional technology, and its purpose is to provide a guide wire delivery device that can achieve accurate and reliable delivery of the guide wire without causing any damage to the guide wire; moreover, the device and the robot body adopt a separate structure, which can realize the isolation of a sterile environment during the operation.

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

chassis;

A godet, the godet includes a reel and is rotatably mounted on the chassis, a connection hole is formed in the center of the godet, and the connection hole is used to connect with the godet rotation drive shaft that drives the godet to rotate;

a guide wire wound on the spool with the end secured to the godet by a wire end retainer; and

a guide wire pressing device for substantially radially pressing the guide wire wound on the spool to prevent the guide wire from loosening;

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 protrudes out of the guide wire delivery device through the guide wire channel;

In an assembled state, the connection hole of the godet can be connected to the godet rotation drive shaft, and the godet can rotate relative to the chassis under the drive of the godet rotation drive shaft. When the godet rotates in one direction, the guide wire is unwound from the reel and delivered forward through the guide wire channel; when the godet rotates in another direction, the guide wire is wound on the reel and retracted through the guide wire channel.

By adopting the technical solution of the present invention, the following technical effects are achieved:

1. The guide wire delivery device of the present invention is installed in a sterile guide wire rotating device, and is truly separated from the robot, which completely solves the problem of difficult guarantee of a sterile environment caused by incomplete separation of intraoperative delivery and power unit.

2. The guide wire delivery device of the present invention adopts a disc-type self-rotating delivery structure. The guide wire is in coiled contact with the guide wire and the wire pressing wheel device continuously exerts pressure on the wound guide wire. It will not be unstable because the ultra-smooth loach coating on the guide wire significantly reduces the friction between the guide wire and the contact parts under wet conditions. Compared with many claw clamps and surface clamping devices, the guide wire can be reliably clamped, the damage to the guide wire is smaller, and the guide wire delivery is more accurate and reliable.

3. The guide wire delivery device of the present invention is easy and quick to install, because there are multiple limiting and positioning structures in the guide wire rotation device, which minimizes the possibility of wrong installation positions caused by doctors' lack of proficiency in device installation during surgery.

Description of drawings

Below in conjunction with accompanying drawing and embodiment the present invention is described in further detail, wherein

1 is a perspective view illustrating the overall structure of a guide wire delivery device according to a first embodiment of the present invention;

Figure 2 is a perspective view of a godet;

3A is an exploded perspective view of a first embodiment of a guidewire end fixation device;

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

Figure 4A is an exploded perspective view of a second embodiment of a guidewire end fixation device;

4B is a perspective view illustrating the assembled structure of the second embodiment of the wire end fixation device;

Fig. 4C is a partial perspective view, illustrating the state that the guide wire end fixing device is locked on the guide wire disc;

Fig. 5 is a cross-sectional view of a third embodiment of a guidewire end fixation device;

6A is a perspective view of a fourth embodiment of a guidewire end fixation device;

6B is a cross-sectional view of a fourth embodiment of a guidewire end fixation device;

Fig. 7 is a perspective view of the pressing wheel device;

Fig. 8 is a cross-sectional view illustrating the structure for realizing the radial movement and axis rotation of the crimping wheel support;

Fig. 9 is a sectional view, illustrating a state where the buckle part of the locking device is engaged with the slot;

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 preventing the godet from rotating, wherein the brake tooth is in a non-brake state;

Fig. 11B illustrates a stop mechanism for preventing the godet from rotating, wherein the brake teeth are in a braking state;

Figure 12A is a perspective view illustrating a third embodiment of a guidewire delivery device in accordance with the present invention;

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

Figure 12C is a perspective view illustrating a barrier for the guidewire delivery device shown in Figure 12A;

Figure 12D is a perspective view illustrating a cover plate for the guidewire delivery device shown in Figure 12A;

Figure 13A is an exploded perspective view illustrating one embodiment of a stop;

Fig. 13B is a perspective view illustrating two pins of the limiting device shown in Fig. 13A arranged on the annular stopper;

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

14A is a perspective view of a guidewire delivery device according to a fourth embodiment of the present invention with the disc cover mounted on the chassis;

14B is a perspective view of a guidewire delivery device according to a fourth embodiment of the present invention, wherein the disc cover is removed to show the internal structure of the guidewire delivery device;

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

Fig. 16 is a sectional view taken along line A-A in Fig. 14B;

Fig. 17 is a partial cross-sectional view taken along line B-B in Fig. 14B, illustrating the installation structure of the pulley on the chassis;

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

Figure 18B is a perspective view of the belt tensioning mechanism seen from the side away from the tensioning wheel;

Fig. 19 is a partial sectional view taken along line C-C in Fig. 14B, illustrating the installation structure of the belt tensioning mechanism on the chassis;

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

21A is a perspective view of a guidewire delivery device according to a fifth embodiment of the present invention with the disc cover mounted on the chassis;

21B is a perspective view of a guidewire delivery device according to a fifth embodiment of the present invention, wherein the disc cover is removed to show the internal structure of the guidewire delivery device;

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

Fig. 23 is a sectional view taken along line D-D in Fig. 21B;

24A is a perspective view of the pinch wheel assembly of the guide wire delivery device of the fifth embodiment;

Figure 24B is a perspective view of the pinch wheel assembly seen from the side away from the pinch wheel;

Fig. 25 is a partial cross-sectional view taken along line E-E in Fig. 21B, illustrating the installation structure of the crimping wheel device on the chassis;

26 is a perspective view of a godet of a fifth embodiment wire delivery device; and

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

Detailed ways

The guide wire delivery device for a vascular interventional surgery robot of the present invention will be described in detail below. Here, it should be pointed out that the embodiments of the present invention are only illustrative, which are only used to explain the principle of the present invention rather than limit the present invention.

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

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

As shown in Figure 2, the godet 520 includes an upper reel 521, a lower reel 522 and a reel 523, wherein the upper reel, the lower reel and the reel can be integrally formed; one of the upper reel and the lower reel can also be integrally formed with the reel, and when assembled, it is fixedly connected with the other one of the upper reel and the lower reel; or, the upper reel, the lower reel and the reel can be separate components, and are connected together by such as screws when assembled.

A through hole 524 is formed in the center of the godet 520. The through hole is a non-circular hole, such as a polygonal hole or a D-shaped hole, and is used as a connecting hole connected to the godet rotation drive shaft, so that the godet can rotate under the drive of the godet rotation drive shaft.

As a preferred solution, a manual rotating device can be provided on the godet, and the manual rotating device can be arranged on the side of the upper reel or the side of the lower reel. In the illustrated embodiment, as shown in FIG. 2 , the manual rotating device is arranged on one side of the upper reel, and includes two stubs 525 arranged on both sides of the through hole 524 . Preferably, the two short columns are symmetrically arranged relative to the center of the godet. In use, the godet can be rotated by holding the two stubs by hand, for example, to initially wind the guide wire on the godet, or to adjust the length of the portion of the guide wire protruding from the godet. The two studs may be integrally formed with the reel, or may be separate components fixed on the reel during assembly by means of fasteners or by bonding; it will be obvious to those skilled in the art that other structures may be used instead of the two studs, such as an inverted U-shaped piece spanning the through hole, etc., or only one stud, etc. may be used.

Continuing to refer to FIG. 2 , a guide wire inlet 526 is formed on the reel 523 , through which the guide wire end can extend to the guide wire end fixing device disposed on the godet, and be fixed to the guide wire by the guide wire end fixing device. A ramp with gradually shallower groove depth is preferably formed on the side of the guide wire entrance, and gradually and smoothly transitions to the outer circumferential surface of the reel, so that the guide wire can be deflected as smoothly as possible to avoid guide wire breakage.

The wire end securing device can take various forms, and it can be either a wire end securing device fixedly mounted on the godet disc or a separate wire end securing device. 3-6 respectively illustrate four embodiments of guidewire end fixation devices.

Figures 3A and 3B illustrate one embodiment of a guidewire tip fixation device, with Figure 3A being an exploded perspective view and Figure 3B being a cross-sectional view. In this embodiment, the guide wire end fixing device 550 is fixedly installed on the guide wire disc 520, and the guide wire end is fixed by clamping operation during use. As shown in Figures 3A and 3B, the guide wire end fixing device includes a backing plate 551, a fixed pressing plate 552, a guide wire end pressing plate 553, and a spring 554 arranged between the backing plate and the guide wire end pressing plate to bias the guide wire end pressing plate. A groove 555 is formed on one side of the upper reel or the lower reel of the godet, which is convex in plan view. The bottom of the backing plate is installed in the wide end portion of the convex groove. Protrusions 556 are provided at the upper longitudinal ends of the vertical plate of the backing plate. Longitudinal holes 557 are respectively formed on the two protrusions. The upper part of the guide wire end pressing plate 553 is formed with a longitudinally extending through hole 558. The vertical plate is upper, so that the guide wire end platen can pivot relative to the vertical plate. Threaded holes 5550 are formed at the longitudinal ends of the wide end portion of the groove, and through holes 5520 are formed at corresponding positions at the longitudinal ends of the fixing plate. During assembly, the fixed pressing plate 552 is placed on the bottom of the backing plate, and the backing plate is fixedly installed on the wire guide plate by screws 5521. After assembly, the lower end of the guide wire end pressing plate 553 is located in the narrow end portion of the groove. A circular blind hole 5511 is respectively formed on the lower end of the guide wire end pressing plate and the lower part of the backing plate 551, and the two ends of the bias spring 554 are installed in the blind holes respectively, whereby the bias spring applies a bias to the guide wire end pressing plate. In use, when fixing the guide wire end, press the guide wire end pressing plate 553 in the direction of the plate to keep it away from the vertical wall of the groove against which it abuts, place the guide wire end between the vertical wall and the guide wire end pressing plate, then loosen the guide wire end pressing plate, and press the guide wire end tightly, thereby fixing the guide wire end on the wire guide plate.

In the case where a manual rotating device is provided on the godet, the guide wire end fixing device 550 shown in FIGS. 3A and 3B protruding axially from the godet is provided on the same side of the godet as the manual rotating device.

4A and 4B and 4C illustrate another embodiment of a wire end fixation device, FIG. 4A is an exploded perspective view of the end fixation device, FIG. 4B is a perspective view of the wire end fixation device assembled, and FIG. 4C is a perspective view of the wire end fixation device snapped onto the godet. In this embodiment, the wire end retainer 560 is a discrete component, commonly referred to as a medical torque, that is secured to the wire plate after the wire end is secured to the wire end retainer. As shown in Figures 4A, 4B and 4C, the guide wire end fixing device 560 includes a sleeve member 561, a clamping member 562 and a fastener 563. The sleeve member 561 includes a cylindrical part and a tapered part. In transition, the end of the cylindrical portion facing away from the tapered cylindrical portion is open. Internal threads are formed on the inner wall of the cylindrical portion.

The fastener 563 includes a screw part 5631 with an external thread, and the other end is a twist handle 5632, the screw part is used to screw and engage with the internal thread on the sleeve;

In addition, as shown in FIG. 4C , a substantially rectangular locking groove 565 is formed on one side of the upper reel or the lower reel of the godet, and its size matches the fixing device for the end of the guide wire. A buckle part 567 is provided at one end of the groove. The buckle part is integrally formed with the godet or is a separate component and fixed in the groove by screws.

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 through the round hole 564 of the sleeve member 561 and placed between the jaws; then the fastener 563 is manually screwed to move the clamping member 562 forward, and finally the end of the guide wire is clamped and fixed; after that, the end of the guide wire is fixed on the guide wire disc by snapping the end of the guide wire into the buckle.

5 illustrates another embodiment of the guide wire end fixing device. In this embodiment, a threaded hole 565 is formed on the guide wire disc 520. The threaded hole communicates with the guide wire inlet, and the guide wire end inserted through the guide wire inlet is fixed by a screw 566.

6A and 6B illustrate yet another embodiment of the guide wire end fixing device. In this embodiment, the guide wire end fixing device 569 includes a main body 5691 and a spring pressing part 5692 disposed on the main body, and a groove 5693 is formed on the wire guide disc 520 . The guide wire end fixing device 569 is installed in the groove shown. The upper end of the main body 5691 is hinged to the wire guide plate through the pin shaft 5695. The lower end of the spring pressing part 5692 is connected to the lower part of the main body 5691. The spring pressing part 5692 is arranged obliquely relative to the main body 5691 and extends upward. The side wall of the groove 5693 is formed with a groove 5694 for placing the end of the guide wire. In operation, pull the spring pressing part 5692 to leave the groove 5694, then insert the end of the guide wire that has been inserted into the groove 5693 into the groove 5694, then loosen the spring pressing part 5692, and use its elasticity to compress the guide wire so that the end of the guide wire is fixed on the wire guide plate.

Continuing to refer to FIG. 1 , the chassis 501 and the disc cover 530 are circular, and one peripheral edge of the disc cover is hinged to the corresponding edge of the chassis by a hinge 502 , so that the disc cover can pivot between an open position and a closed position. In addition, as shown in FIG. 1 , another circumferential edge of the disc cover is provided with a buckle 503 , preferably, the circumferential edge is as far away from the hinge as possible in the circumferential direction, such as at a position substantially radially opposite to the hinge; and a slot 504 is provided on the chassis, so that when the disc case is closed, the buckle on the disc cover is engaged with the slot on the chassis to act as a locking device, so that the disc cover and the chassis are reliably locked. FIG. 9 shows the buckle 503 and the chassis The state of the card slot 504 after snap-fitting. It is obvious to those skilled in the art that the positions of the buckle part and the slot can be interchanged, and the functions realized are the same.

As shown in FIG. 1 , three press wheel devices 570 arranged at intervals in the circumferential direction are mounted on the chassis, and the press wheel device includes a press wheel bracket 571 and press wheels 572 rotatably installed at both ends of the press wheel bracket. As shown in FIG. 7 , the crimping wheel bracket 571 includes a fan-shaped main body portion 573 and crimping wheel mounting portions 574 located at both circumferential ends of the main body. The crimping wheel installation part includes two mounting plates 5741 extending outward from the main body in the circumferential direction and located at the upper and lower axial ends of the main body respectively. The two mounting plates are respectively formed with axial through holes, and the crimping wheel has a through axial hole. Thus, by means of the pin shaft 575 extending through the axial through hole of the mounting plate and the axial hole of the pressing wheel, the pressing wheel is rotatably mounted on the pressing wheel support. As the pinch roller, a rubber pinch wheel, a pinch wheel covered with rubber, or a pinch wheel of other materials can be used.

As shown in Fig. 1 and Fig. 7, three arc-shaped stoppers 505 arranged at intervals in the circumferential direction are arranged on the peripheral edge of the chassis 501, and the setting positions correspond to the installation positions of the crimping wheel device. A circular blind hole is formed on the radially inner wall of the arc-shaped block, and the circular blind hole is preferably arranged at the circumferential and axial middle positions of the arc-shaped block; correspondingly, a circular blind hole 506 is also formed on the radially outer wall of the main body of the crimping wheel bracket, and the circular blind hole 506 is preferably arranged at the circumferential and axial middle positions of the main body. In the assembled state, the two ends of the biasing spring 507 are arranged respectively in the two blind holes, so as to apply bias to the wire pressing wheel bracket 571, so that the wire pressing wheel can reliably press against the guide wire wound on the spool.

In addition, in order to make the pinch wheel support move radially and avoid circumferential lateral movement, the guide wire delivery device of the present invention is provided with a limiting device. As shown in Figure 7, two circumferentially symmetrical guide grooves 508 parallel to the radial movement direction of the crimping wheel bracket are respectively formed on the two axial end surfaces of the main body of the crimping wheel bracket 571; correspondingly, on the inner surface of the chassis, a guide protrusion matching and engaging with the guide groove 508 is arranged symmetrically on the radially inner side of the arc-shaped stopper relative to the annular stopper; similarly, a guide protrusion 509 matching and engaging with the guide groove is also formed on the inner surface of the disc cover at a corresponding position, see Figure 1 . In the assembled state, when the upper disc cover is closed, the guide protrusions on the chassis and the disc cover respectively cooperate with the guide grooves 508 on the pressing wheel bracket; thus, due to the guiding effect of the guide grooves and the guiding protrusions, the pressing wheel can achieve accurate radial movement and is prevented from moving laterally in the circumferential direction. As an alternative, the number of the guide groove and the guide protrusion can be one; in addition, the positions of the guide groove and the guide protrusion can also be interchanged, for example, the guide groove is arranged on the chassis and the disc cover, and the guide protrusion is arranged on the pressing wheel support.

As a modification of the above-mentioned embodiment, the pinch wheel bracket can be set to move in the radial direction, or to rotate around an axis parallel to the axis of the godet. For this reason, as shown in Figure 8, a centered guide groove 510 parallel to the radial movement direction of the press wheel support is respectively formed on the two axial end surfaces of the main body of the press wheel support; correspondingly, a cylindrical protrusion 511 matching and engaging with the guide groove is arranged on the inner surface of the chassis on the radial inner side of the annular stopper relative to the annular stopper, and a cylindrical protrusion 512 matching and engaging with the guide groove is also formed on the inner surface of the disc cover at a corresponding position. Therefore, when the upper disc cover is closed, the cylindrical protrusions on the chassis and the disc cover respectively cooperate with the guide grooves on the press wheel bracket, so that the press wheel support can either move radially or rotate around an axis parallel to the axis of the godet, thereby ensuring that the two press wheels are reliably pressed against the guide wire. As an optional solution, the arrangement positions of the guide groove and the cylindrical protrusion can also be interchanged, for example, the guide groove is arranged on the chassis and the disc cover, and the cylindrical protrusion is arranged on the wire pressing wheel support.

It is obvious to those skilled in the art that there are various structures to realize that the pinch wheel support can move radially or rotate around an axis parallel to the axis of the godet, which is common in the prior art. Here, an example is only given as an illustration, and the structure adopted is by no means limited. For example, a mounting block can be added. The radially inner end of the mounting block has two mounting plates at the upper and lower ends in the axial direction. The two mounting plates are respectively formed with axial through holes, and the circumferential middle of the press wheel bracket main body has a through axial hole. Thus, by means of the pin shaft extending through the axial through hole of the mounting plate and the axial hole of the main body, the main body of the crimping wheel is rotatably mounted on the mounting block, and the mounting block, the chassis and the disc cover can be equipped with the above-mentioned structure for realizing the radial movement of the crimping wheel support and avoiding lateral lateral movement, and the biasing spring as a biasing device is arranged between the arc-shaped stopper and the mounting block.

In the assembled state, there should be a gap between the chassis and the cover to accommodate the godet and allow the godet to rotate. For this reason, as shown in Figure 1, at the hinged position of the disc cover and the chassis, the disc cover or the chassis is provided with a hinge boss 513 at the outer edge, and the hinge boss is located in the space between two adjacent thread pressing wheel devices, and the hinge is arranged at the radially outer edge of the free end of the hinge boss, whereby a required interval is established between the disc cover and the chassis.

As shown in Fig. 1, in some other interval among the intervals formed by each pair of adjacent pressing wheel devices, a guide wire channel boss 514 is provided, and the boss can be arranged on the chassis or on the disc cover. In the illustrated embodiment, the boss is arranged on the chassis. A horizontal groove 515 extending from the radially outermost end to the radially innermost end is formed on the top surface of the guide wire channel boss 514 , forming a guide wire channel for the guide wire to pass through when the disc cover is closed. As a preferred solution, the radially inner part of the groove is deflected to one side of the circumference, so that when the guide wire is delivered or rolled up, the guide wire is deflected at an obtuse angle, thereby avoiding damage to the guide wire and facilitating the delivery of the guide wire. Corresponding to the groove of the guide wire channel boss, a guide wire channel protrusion 516 is formed at another upper corresponding position of the chassis and the disc cover. In the illustrated embodiment, the guide wire channel protrusion 516 is arranged on the disc cover. Therefore, when the disc cover is closed, the protrusion 516 engages with the groove 515 to form a guide wire channel between the top of the protrusion and the bottom of the groove, see FIG. 10 . Preferably, as shown in FIG. 10 , a groove 517 may be formed at the top of the protrusion, so that when the disc cover is closed, a channel through which the guide wire passes is defined between the groove at the top of the protrusion and the bottom of the groove on the guide wire channel boss.

Preferably, as shown in FIG. 1 , the portion of the chassis and the disc cover that defines the guide wire channel protrudes radially outward, and correspondingly, the guide wire channel protrusion 514 and the guide wire channel protrusion 516 also protrude radially outward, thereby extending the length of the formed guide wire channel. Therefore, when the disc cover is closed, the guide wire device presents a structure with a protruding mouth, and the guide wire channel extends from the outermost end of the protruding mouth to the inner end.

As shown in FIG. 1 , in other intervals among the intervals formed by each pair of adjacent wire pressing wheel devices, other bosses 528 can also be provided on the chassis or the disc cover, and the guide wire channel bosses and/or other bosses can be used as the supporting surface of the disc cover when the disc case is closed, and can be used to increase the strength of the guide wire delivery device and/or to properly position the wire pressing wheel device.

Preferably, the locking groove 504 provided on the chassis or the disc cover is arranged on the radially outer surface of the boss of the guide wire channel or other bosses, where the strength is higher due to the presence of the boss, so as to avoid damage to the chassis or disc cover due to the clamping operation.

In the above embodiment, three crimping wheel devices are provided on the chassis, but it is obvious to those in the industry that the number of crimping wheel devices can be two or more than three; in addition, in the above embodiments, each crimping wheel device is provided with two crimping wheels respectively located at the circumferential ends of the crimping wheel bracket, but each crimping wheel device can be provided with one crimping wheel or more than two crimping wheels.

In the guide wire delivery device of the present invention, in the assembled state, the three pressing wheel devices abut against the guide wire wound on the godet reel through the pressing wheels, and the pressing wheel bracket abuts against the arc-shaped stopper through the spring. The axial length of the pressing wheel is basically equal to the axial distance between the upper and lower coils. Thereby, the godet can be suspended at a predetermined position by means of the three pressing wheel devices; or both the pressing wheel device and the godet can be suspended at a predetermined position, so that the godet can rotate freely. In addition, the godet and/or the pressing wheel bracket can be axially positioned by fitting the inner surface of the chassis and the disc cover to the axial end surface of the pressing wheel bracket and/or the upper and lower windings of the godet; Together, to achieve axial positioning. In this document, the word fit refers to the action of two parts in contact with each other but substantially without force, thereby ensuring that the godet can be rotated by the drive means.

As a preferred solution, in order to prevent the godet from continuing to rotate when the guide wire wound on the godet is exhausted during the forward delivery of the guide wire, causing the guide wire to retreat and be reflexed at an acute angle to cause damage to the guide wire, a stop mechanism can be provided on the godet of the present invention, and the stop mechanism can prevent the godet from further rotation when the guide wire is about to run out.

As shown in FIGS. 11A and 11B , the stopping mechanism 540 includes a brake tooth 541 and a bias spring 542. A fitting groove 529 is formed on the peripheral surface of the guide wire reel 523. The shape and structure of the fitting groove are suitable for placing the brake tooth therein. The position of the fitting groove 529 along the circumferential direction of the reel is not particularly limited. The axial thickness of the braking tooth 541 is basically the same as the axial length of the spool 523, and its tooth tip is tapered so as to snap into the braking groove 543 formed on a certain boss of the chassis or disc cover. The tooth root of the braking tooth is arc-shaped. The upper and lower reels of the godet are respectively formed with axially centered holes, and the roots of the brake teeth are formed with through axial holes. The brake teeth are rotatably installed in the fitting groove 529 by means of the pin shaft 544. After installation, the tooth tips of the brake teeth point to the direction of rotation of the godet when the guide wire is loosely wound. A substantially radially extending hole 545 is formed on the radially inner groove wall of the fitting groove, and a blind hole with approximately the same orientation is formed at a corresponding position on the side wall adjacent to the groove wall of the brake tooth, and the blind hole is located between the brake tooth rotation shaft and the brake tooth tip. In the assembled state, the two ends of the biasing spring are respectively located in the two holes, so that the brake tooth is biased and can rotate around the pin shaft 544 as the rotation axis of the brake tooth.

In order to cooperate with the brake teeth, the structural parts of the chassis or disc cover, such as the radially inner surface of the boss provided thereon, are formed with a brake groove 543 matching the shape of the tip of the brake tooth.

The radially outer end of the braking tooth has an arc shape, and preferably, its radius is the same as that of the spool. When the guide wire is wound on the reel, due to the pressure, the brake tooth rotates inward against the spring pressure, and its outer surface forms a continuous cylindrical surface with the outer surface of the reel. In actual use, when the godet is rotated in the unwinding direction to deliver the guide wire forward, the guide wire is gradually detached from the spool and sent out as the delivery progresses. When the last tap of the guide wire is detached from the detent tooth, the detent tooth 541 is biased by the spring 542 and pivots radially outward around the rotation axis.

As an improved solution, the pressing wheel device can adopt the following structure.

In the pressing wheel device described above, two circumferentially symmetrical guide grooves 508 are respectively formed on the two axial end surfaces of the main body of the pressing wheel support; on the inner surface of the chassis, a guiding protrusion matching and engaging with the guiding groove is provided on the radially inner side of the arc-shaped stopper, and a guiding protrusion 509 matching and engaging with the guiding groove is also formed on the inner surface of the disc cover at a corresponding position.

As shown in Figures 12A, 12B, 12C and 12D, in the improved solution, the disk cover is omitted, but is equipped with three baffles 531 and one cover 532, please refer to Figures 12B, 12C and 12D. The lower surface of the radially inner end of the baffle plate 531 is provided with two guide projections 533, and the radially outer end is provided with two screw holes 534; correspondingly, two threaded holes 555 are provided on the arc-shaped block 505 arranged on the chassis. With such a structure, a separate cover plate 532 corresponding to the shape of the guide wire channel boss 514 can be selected to match the guide wire channel boss on the chassis. A protrusion 536 can be formed on the cover plate 532 , and the cross section of the protrusion coincides with the cross section of the groove 515 on the boss of the guiding wire channel, and the direction of the protrusion is consistent with the groove. In addition, a screw hole 537 is formed on the cover plate 532 , and correspondingly, two screw holes 538 are provided on the guiding wire channel boss 514 . Therefore, when the cover plate 535 is fitted on the guide wire channel boss 514 on the chassis, such as by screws, the protrusion 536 engages with the groove 515 to form a guide wire channel between the top of the protrusion and the bottom of the groove.

As another modification of this improved solution, the baffle 531 can be integrally formed with the annular stopper 505. In this case, one or more of the assemblies formed by the baffle and the arc-shaped stopper are not formed integrally with the chassis, but are fixed to the chassis by fixing devices such as screws, thereby facilitating the assembly of the guide wire delivery device.

Referring now to Figures 13A, 13B and 13C, another embodiment of the present invention is illustrated. In this embodiment, no guide grooves are formed on the two axial end surfaces of the main body of the crimping wheel bracket; no guide protrusions are provided on the inner surface of the chassis, and no guide protrusions are formed at corresponding positions on the inner surface of the disc cover. Instead, as shown in Fig. 13A, Fig. 13B and Fig. 13C, two circumferentially symmetrical through-holes 581 extending along the radial movement direction of the crimping wheel bracket are formed on the main body of the crimping wheel bracket 571; and two pins 582 are arranged circumferentially symmetrically on the radial inner side of the arc-shaped stopper 505 on the edge of the chassis. In the assembled state, the two pins 582 on the arc-shaped block 505 are respectively inserted into the through holes 581 on the main body of the crimping wheel bracket to play a guiding role while preventing the peripheral and axial movement of the crimping wheel bracket. In this case, a biasing spring 583 may be fitted on both pins. Also, in this case, the disk cover can be omitted, and similar to the above-mentioned situation, a separate cover plate corresponding to the boss of the guide wire channel can be selected to match the boss of the guide wire channel on the chassis.

In this improved solution, one or more arc-shaped stoppers may not be integrally formed with the chassis, but fixed to the chassis by fixing means such as screws, thereby facilitating the assembly of the guidewire delivery device.

Referring to Fig. 14A- Fig. 20, the fourth embodiment of the guidewire delivery device of the present invention will be described.

Referring first to FIGS. 14A and 14B , wherein FIG. 14A is a perspective view of the guide wire delivery device of the fourth embodiment, with the disc cover installed on the chassis; FIG. 14B is a perspective view of the guide wire delivery device of the fourth embodiment, wherein the disc cover is removed to show the internal structure of the guide wire delivery device. The guide wire delivery device of the fourth embodiment includes a chassis 591, a guide wire disc 592, a guide wire, a disc cover 593 and a wire pressing belt mechanism 594.

The overall structure of the guide wire delivery device is similar to the above-mentioned embodiments. For the sake of brevity, the description of the same parts, including but not limited to the stop mechanism for preventing the rotation of the guide wire disc and the guide wire end fixing device, etc., will be omitted. Only the different structural parts will be described below.

In the fourth embodiment, as shown in FIG. 16 , a stepped hole 595 is formed in the center of the godet 592, including an upper hole 5951 and a lower hole 5952. The upper hole is a non-circular hole, such as a polygonal hole or a D-shaped hole, and is used as a connection hole connected with the godet rotation drive shaft, so that the godet can rotate under the drive of the godet rotation drive shaft. The lower hole 5952 is a circular hole whose diameter is larger than that of the upper hole, and is used for rotational connection with the chassis 591 .

15 and 16, the center of the chassis 591 is provided with a cylindrical boss 5910, the boss is formed with a central hole 5911, the diameter of the central hole is greater than the maximum diameter of the upper hole 5951 of the godet stepped hole 595, so that the godet rotation drive shaft can pass through and be connected with the connecting hole. The outer diameter of the protrusion 5910 is smaller than the diameter of the lower hole 5952 of the step hole 595 of the godet. In the assembled state of the godet and the chassis, the bearing 596 is installed between the boss 5910 of the chassis and the lower hole 5952 of the step hole of the godet, so that the godet is rotatably mounted on the chassis, and can only rotate relative to the chassis and cannot move radially. By the way, the arrangement that the godet is rotatably mounted on the chassis through bearings can be applied to the embodiments described in conjunction with FIGS. 1-13 .

As shown in FIG. 14B , the wire pressing mechanism 594 includes a wire pressing belt 5941 and a plurality of pulleys 5943 , and each pulley is arranged on the periphery of the godet and spaced apart along the circumferential direction. For this purpose, as shown in FIGS. 15 and 17 , the chassis 591 is provided with a cylindrical wheel shaft 5915 , and each pulley 5943 is rotatably mounted on the corresponding wheel shaft through a bearing 5944 . As a preferred solution, flanges 5916 are provided at both axial ends of each pulley, so that the wire pressing belt 5941 can be axially positioned to prevent the wire pressing belt from being dislocated.

When the wire pressing mechanism is assembled, as shown in FIG. 14B , the annular pressing belt 5941 is wrapped around the reel of the wire godet 592, and the pressing belt extended from the reel first bypasses the pulleys 5943 located on both sides of the guide wire channel 5917 to achieve the reverse direction, and then bypasses other pulleys on its travel path in turn. In this way, the guide wire wound on the godet reel is pressed by the wire pressing belt 5941 to prevent loosening.

In the wire delivery device of this embodiment, the number of pulleys is not particularly limited. As a preferred solution, the pulleys located on both sides of the guide wire channel 5917 in the circumferential direction should be close to the guide wire channel, so as to achieve a large envelope angle and help prevent the guide wire from loosening.

As the crimping belt, a belt with teeth or a flat belt without teeth can be used. If a belt with teeth is used, each pulley is preferably a pulley formed with teeth.

In the above description, each pulley is rotatably mounted on the axle 5915 provided on the chassis, but the pulleys can also be fixedly mounted, especially in the case of using a flat belt without teeth.

As a preferred solution, in order to prevent the reliable delivery of the guide wire from being affected by the slack of the wire pressing band, a band tensioning mechanism may be provided. In the illustrated embodiment, the belt tensioning mechanism is in the form of a tensioning wheel. As shown in Figure 14B, Figure 18A, Figure 18B and Figure 19, the belt tensioning mechanism 5918 is arranged between two circumferentially adjacent pulleys 5943, including a tensioning wheel bracket 5919 and a tensioning wheel 5920. Has a through axial hole 5925. Thus, by means of the pin shaft 5926 extending through the axial through hole of the mounting plate and the axial hole of the tension wheel, the tension wheel 5920 is rotatably mounted on the tension wheel bracket.

As shown in Figure 15, Figure 18B and Figure 20, a surrounding plate 5927 is provided on the peripheral edge of the chassis 591, and a plurality of arc-shaped baffles 5928 arranged at intervals along the circumferential direction are arranged on the surrounding plate, and the setting position corresponds to the installation position of the belt tensioning mechanism. A circular blind hole 5929 is formed on the radially outer wall surface of the main body of the tensioning wheel bracket, and the circular blind hole is preferably arranged at a middle position in the circumferential direction and the axial direction of the main body. In the assembled state, please refer to FIG. 19 , one end of the biasing spring 5930 is disposed in the circular blind hole 5929 of the main body of the tensioning wheel bracket, and the other end abuts against the baffle plate 5928 to apply bias to the tensioning wheel bracket 5919, so that the tensioning wheel can reliably press the ribbon to tension the ribbon.

In order to make the tensioning wheel bracket move radially and avoid circumferential lateral movement as far as possible, the guide wire delivery device of the present invention is provided with a limiting device. As shown in FIG. 20 , guide bosses 5930 are symmetrically arranged on the inner surface of the chassis wall 5927 on the radial inner side of the arc-shaped baffle with respect to the arc-shaped baffle. In the assembled state, the main body of the tensioning wheel bracket is fitted in the guide groove, and can move radially, but is basically restricted from shifting along the circumferential direction; thus, due to the guiding function of the guide groove 5931, the tensioning wheel bracket can move radially and is basically prevented from moving laterally along the circumferential direction.

In addition, as a preferred solution, a protrusion 5932 may be provided at the radially inner end of the guide boss, and a mounting groove 5933 is defined between the protrusion and the surrounding plate of the chassis; correspondingly, as shown in FIG. 18B , support arms 5934 are respectively provided on both sides of the main body of the tensioner bracket in the width direction. The radial thickness of the support arms is smaller than the radial length of the mounting groove 5933, thereby allowing the tensioner bracket to move radially. In the assembled state, the supporting arm 5934 of the main body of the tensioning wheel support is supported on the bottom wall of the installation groove 5933, so that the bottom wall of the main body of the tensioning wheel support is spaced from the inner surface of the chassis, as shown in Figure 19, to reduce frictional resistance; in addition, the protrusion 5932 at the radially inner end of the guide boss 5930 can also limit the radial movement range of the tensioning wheel support.

As a preferred solution, as shown in FIG. 14A , the guidewire delivery device of the fourth embodiment can be equipped with a disc cover 593 . In order to install the disc cover on the chassis 591, as shown in Figure 15, several positions on the radially inner side of the chassis coaming are provided with mounting posts 5935, and threaded holes 5936 are formed on each mounting post; correspondingly, screw holes are formed at corresponding positions on the disc cover, whereby the disc cover can be fixed to the chassis by screws. Other connection structures can also be used between the cover and the chassis, such as a snap-in slot connection structure, like the LocknLock crisper. Therefore, various structures can be adopted for the connection between the disc cover and the chassis, which are not particularly limited in the present invention.

In addition, in the guide wire delivery device of the fourth embodiment, the disk cover may not be used, but a cover plate and a baffle are used as in the embodiment shown in FIGS. 12A-12D . In this case, the baffle is mounted on the circular arc-shaped baffle 5928, and the cover is adapted to the boss 5938 of the guide wire channel on the chassis.

In addition, the structure for moving the tensioning wheel bracket radially and avoiding circumferential lateral movement can also be adopted in conjunction with the structure described in Figs. 13A-13B , that is, two circumferentially symmetrical through holes extending along the radial movement direction of the tensioning wheel bracket are formed on the main body 5921 of the tensioning wheel bracket or the support arm 5934; In the assembled state, the two pins on the arc-shaped baffle 5928 are respectively inserted into the through holes on the main body 5921 of the tensioning wheel bracket or the support arm 5934 to play a guiding role and prevent the circumferential flank and axial movement of the crimping wheel bracket; meanwhile, the bias spring is fitted on the two pins. In this case, the disk cover or the baffle can be omitted. Similar to the above-mentioned situation, a separate cover plate corresponding to the boss of the guide wire channel can be selected to match the boss of the guide wire channel on the chassis.

In addition, the structure for moving the tensioning wheel support radially and avoiding circumferential lateral movement can also be adopted in conjunction with the structure described above in conjunction with the thread pressing wheel support shown in Figure 1 and Figure 7, that is, two circumferentially symmetrical guide grooves parallel to the radial movement direction of the tensioning wheel support are respectively formed on the two mounting plates 5922 located at the upper and lower axial ends of the main body of the tensioning wheel support; correspondingly, the inner surface of the chassis is arranged symmetrically on the radial inner side of the arc-shaped baffle 5928 to match the guide grooves Engaged guide protrusions; similarly, guide protrusions mated and engaged with the guide grooves are formed at corresponding positions on the inner surface of the disk cover or on the inner surfaces of each baffle plate. In the assembled state, when the upper disc cover is closed or the baffle is fixed on the arc-shaped baffle 5928, the guide protrusions on the chassis and the disc cover or the baffle respectively cooperate with the guide grooves on the tensioning wheel bracket. As an alternative, the number of the guide groove and the guide protrusion can be one; in addition, the positions of the guide groove and the guide protrusion can also be interchanged, for example, the guide groove is arranged on the chassis and the disc cover or the baffle plate, and the guide protrusion is arranged on the tensioning wheel bracket.

Referring to Fig. 21A- Fig. 27, the fifth embodiment of the guidewire delivery device of the present invention will be described.

Referring first to FIG. 21A and FIG. 21B , wherein FIG. 21A is a perspective view of a fifth embodiment of the guide wire delivery device, with the disc cover installed on the chassis; FIG. 21B is a perspective view of the fifth embodiment of the guide wire delivery device, wherein the disc cover is removed to show the internal structure of the guide wire delivery device. The guide wire delivery device of the fifth embodiment includes a chassis 5961 , a guide wire disc 5962 , a guide wire, a disc cover 5963 and several wire pressing wheel devices 5960 .

In the fifth embodiment, as shown in FIG. 23 , a stepped hole 5964 is formed in the center of the godet 5962, including an upper hole 5965 and a lower hole 5966. The upper hole is a non-circular hole, such as a polygonal hole or a D-shaped hole, and is used as a connection hole connected to the godet rotation drive shaft, so that the godet can rotate under the drive of the godet rotation drive shaft. The lower hole 5966 is a circular hole whose diameter is larger than that of the upper hole, and is used for being connected with the chassis 5961 in rotation.

22 and 23, the center of the chassis 5961 is provided with a cylindrical boss 5967, and the boss is formed with a central hole 5968. The diameter of the central hole is larger than the maximum diameter of the upper hole 5965 of the godet stepped hole 5964, so that the godet rotation drive shaft can pass through and be connected with the connecting hole. The outer diameter of the protrusion 5967 is smaller than the diameter of the lower hole 5966 of the step hole 5964 of the godet. In the assembled state of the godet and the chassis, as shown in Figure 23, the bearing 5969 is installed between the boss 5967 of the chassis and the lower hole 5966 of the step hole of the godet, so that the godet is rotatably mounted on the chassis, and can only rotate relative to the chassis and cannot move radially.

As shown in FIG. 21B , each press wheel device 5960 is arranged on the periphery of the godet and spaced apart along the circumferential direction. 23, 24A, 24B and 25, the thread pressing wheel device 5960 includes a thread pressing wheel bracket 5970 and a thread pressing wheel 5971. The thread pressing wheel support includes a thread pressing wheel support main body 5972 and two mounting plates 5973 extending radially inward from the main body and located at the upper and lower axial ends of the main body respectively. The two mounting plates are respectively formed with axial through holes 5974. Thus, by means of the pin shaft 5976 extending through the axial through hole 5974 of the mounting plate and the axial hole 5975 of the thread pressing wheel, the thread pressing wheel 5971 is rotatably mounted on the thread pressing wheel bracket.

As shown in Fig. 24A, Fig. 24B and Fig. 25, the thread pressing wheel 5971 includes a thread pressing wheel 5977, and driven gears 5978 located at both ends of the thread pressing wheel in the axial direction. The driven gear 5978 can be integrally formed with the thread pressing wheel, or can be a separate component, which is fixed at both axial ends of the thread pressing wheel when assembled. As shown in Figures 26 and 27, the godet includes a reel 5979 and driving gears 5980 located at both axial ends of the reel. The driving gear 5980 can be integrally formed with the reel 5979, or it can be a separate component, which is fixed at both ends of the reel during assembly. As shown in Figure 27, in the assembled state, the driven gear 5978 of the thread pressing wheel 5971 meshes with the driving gear 5980 of the godet, so that when the driving gear rotates, the driven gear rotates with the driving gear, and then drives the thread pressing wheel 5977 of the thread pressing wheel to rotate together.

By the way, the structure of the pressing wheel of the fifth embodiment can also be used in the embodiments described in conjunction with FIGS. 1-13C , and will not be repeated for the sake of brevity.

As shown in FIG. 22 , a shroud 5981 is provided on the peripheral edge of the chassis 5961 , and a plurality of blind holes 5983 arranged at intervals along the circumferential direction are arranged inside the shroud. As shown in FIG. 24B , a circular blind hole 5984 is formed on the radially outer wall surface of the main body part 5972 of the crimping wheel bracket, and the circular blind hole is preferably arranged at the middle position in the circumferential direction and the axial direction of the main body part. In the assembled state, please refer to FIG. 25 , one end of the biasing spring 5985 is arranged in the circular blind hole 5984 of the main body part 5972 of the thread pressing wheel bracket, and the other end is arranged in the blind hole 5983 inside the shroud, so as to apply bias to the thread pressing wheel support, so that the thread pressing wheel 5977 of the thread pressing wheel reliably presses against the guide wire 5990 wound on the godet.

In order to make the crimping wheel support move radially and avoid circumferential lateral movement as far as possible, the guide wire delivery device of the present invention is provided with a limiting device. As shown in FIG. 22 , guide bosses 5982 are arranged symmetrically on both sides of the blind hole 5983 in the circumferential direction on the inner surface of the chassis wall 5981 . In the assembled state, the crimping wheel bracket is fitted in the guide groove, and can move radially, but is basically restricted from shifting along the circumferential direction; thus, due to the guiding function of the guide groove 5986, the crimping wheel bracket can move radially and is basically prevented from moving laterally along the circumferential direction.

As a preferred solution, as shown in FIG. 21A , the guidewire delivery device of the fifth embodiment can be equipped with a disc cover 5963 . In order to install the disc cover on the chassis 5961, as shown in Figure 21B and Figure 22, threaded holes 5987 are formed on the guide bosses 5982 and guide wire channel bosses 5989 inside the enclosure 5981; correspondingly, screw holes 5988 are formed on the corresponding positions of the disc cover, so that the disc cover can be fixed to the chassis by screws. Other connection structures can also be used between the disc cover and the chassis, such as a snap-in slot connection structure, like the Lock & Lock lock box. Therefore, various structures can be adopted for the connection mode between the disc cover and the chassis, which are not particularly limited in the present invention.

In addition, in the guide wire delivery device of the fourth embodiment, the disk cover may not be used, but a cover plate and a baffle are used as in the embodiment shown in FIGS. 12A-12D . In this case, the baffle is mounted on the enclosure 5981 and the cover fits over the guide wire channel boss 5989 on the chassis.

In addition, the structure for moving the crimping wheel support in the radial direction and avoiding the lateral movement in the circumferential direction can also adopt the structures described in the previous embodiments shown in FIGS. 1-13 , and the description thereof is omitted here for simplicity.

In the assembled state of the guide wire delivery device of the fifth embodiment, see FIG. 25 , two functions need to be realized: first, under the bias of the biasing spring 5985, the press wheel 5977 of the press wheel device presses against the guide wire to prevent the guide wire from loosening, and at the same time, the press wheel device can move a proper distance in the radial direction toward the guide wire disc when the thickness of the guide wire layer is thinned; Therefore, in the assembled state, when the pressing wheel is pressed against the guide wire on the godet under the action of the bias spring, an appropriate meshing gap needs to be reserved between the driven gear and the driving gear, so that on the one hand, the driven gear can be allowed to move a proper distance toward the driving gear, and on the other hand, the meshing transmission relationship between the driven gear and the driving gear can be guaranteed.

The present invention has been described above in conjunction with specific embodiments with reference to the accompanying drawings, but this is only for the purpose of illustration, and the present invention is not limited thereto. Therefore, it is obvious 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 understood as belonging to the scope of the present invention, and the scope of the present invention is limited by the claimed technical solutions and equivalent solutions thereof.

Claims

A guide wire delivery device for a vascular interventional surgery robot, the guide wire delivery device comprising:

chassis;

A godet, the godet includes a reel and is rotatably mounted on the chassis, a connection hole is formed in the center of the godet, and the connection hole is used to connect with the godet rotation drive shaft that drives the godet to rotate;

a guide wire wound on the spool with the end secured to the godet by a wire end retainer; and

a guide wire pressing device for substantially radially pressing the guide wire wound on the spool to prevent the guide wire from loosening;

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 protrudes out of the guide wire delivery device through the guide wire channel;

In an assembled state, the connection hole of the godet can be connected to the godet rotation drive shaft, and the godet can rotate relative to the chassis under the drive of the godet rotation drive shaft. When the godet rotates in one direction, the guide wire is unwound from the reel and delivered forward through the guide wire channel; when the godet rotates in another direction, the guide wire is wound on the reel and withdrawn through the guide wire channel.
The guide wire delivery device for a robot for vascular interventional surgery according to claim 1, wherein the guide wire pressing device comprises several wire pressing wheel devices, and the several wire pressing wheel devices are arranged around the godet, and each wire pressing wheel device includes a wire pressing wheel bracket and a wire pressing wheel installed on the wire pressing wheel bracket, and the wire pressing wheel is rotatably mounted on the wire pressing wheel bracket by using a wheel shaft parallel to the axis of the spool;

The chassis is provided with a stop corresponding to each press wheel device and located at the radially outer end of the press wheel device;

The plurality of press wheel devices are arranged on the chassis, and are installed radially movable between the stop part and the reel on which the guide wire is wound; a bias device is provided between the stop part and the press wheel support, and is used to apply a bias to the press wheel device, so that the press wheel presses against the guide wire;

The guide wire delivery device is also provided with a limiting device, which allows the press wheel support to move radially, but prevents the press wheel support from moving along the circumferential direction of the godet.
The guidewire delivery device for a robot for vascular interventional surgery according to claim 2, wherein the guidewire disc comprises reels located at two axial ends of the reel shaft.
The guide wire delivery device for a robot for vascular interventional surgery according to claim 2, wherein driven gears are provided at both axial ends of the press wheel, and the driven gear is integrally formed with the press wheel, or is an independent element, and fixed to the axial ends of the press wheel when assembled; and a driving gear is provided at both axial ends of the godet reel, and the driving gear is integrally formed with the reel, or is an independent element, and is fixed to the axial ends of the reel when assembled; in the assembled state, the driven gear meshes with the drive gear.
The guide wire delivery device for a vascular interventional surgery robot according to claim 1, further comprising a disc cover fitted on the chassis.
The guide wire delivery device for a robot for vascular interventional surgery according to claim 2, wherein a baffle is arranged above each of the press wheel devices, and the baffle is integrally formed with the stop part at the radially outer end of the corresponding press wheel device, or the baffle is an independent component, and its radially outer end is fixedly connected to the stop part at the radially outer end of the corresponding press wheel device.
The guide wire delivery device for a robot for vascular interventional surgery according to any one of claims 2-4, wherein the guide wire delivery device further comprises a disc cover fitted on the chassis, a circular blind hole is formed on the radially inner wall surface of the stop part, a circular blind hole is formed on the radially outer side of the thread pressing wheel bracket, and the two ends of the cylindrical coil spring used as a biasing device are respectively arranged in the two blind holes;

Two through guide grooves or guide protrusions parallel to the radial movement direction of the press wheel support are respectively formed on the two axial end surfaces of the press wheel bracket; two guide protrusions or guide grooves cooperating with the two through guide slots or guide protrusions are formed on the inner surface of the chassis; The guide grooves or guide protrusions cooperate with the guide protrusions or guide grooves on the chassis and the disc cover respectively, so that the press wheel support is allowed to move radially, but is prevented from moving along the circumferential direction of the godet.
The guide wire delivery device for a robot for vascular interventional surgery according to any one of claims 2-4, wherein a baffle is provided above each of the press wheel devices, and the baffle is formed integrally with the radially outer end of the corresponding press wheel device, or the baffle is an independent component, and its radially outer end is fixedly connected to the radially outer end of the corresponding press wheel device;

A circular blind hole is formed on the radially inner wall of the retaining portion, a circular blind hole is formed on the radially outer side of the pressing wheel bracket, and the two ends of the cylindrical coil spring used as a biasing device are respectively arranged in the two blind holes;

The two axial end surfaces of the press wheel bracket are respectively formed with two through guide grooves or guide protrusions parallel to the radial movement direction of the press wheel support, the inner surface of the chassis is formed with two guide protrusions or guide grooves that cooperate with the two through guide grooves or guide protrusions, and the lower surface of each baffle is also formed with two guide protrusions or guide grooves that cooperate with the through guide grooves or guide protrusions on the press wheel bracket; The base plate cooperates with the guide protrusions or guide grooves on the baffle, so that the press wheel support is allowed to move radially, but is prevented from moving along the circumferential direction of the godet.
The guidewire delivery device for a robot for vascular interventional surgery according to any one of claims 2-6, wherein one or two through holes parallel to the radial movement direction of the wire pressing wheel bracket are arranged centrally on the wire pressing wheel bracket; and one or two pins that can be inserted into the one or two through holes are arranged on the radially inner side wall of the blocking portion; in the assembled state, the pins on the blocking portion are inserted into the through holes on the wire pressing wheel bracket, thereby allowing the wire pressing wheel bracket to move radially , but prevent the press wheel support from moving along the circumferential direction of the godet; the cylindrical coil spring used as a biasing device is sleeved on the pin, and is located between the radially inner wall of the blocking portion and the radially outer wall of the press wheel support.
The guidewire delivery device for a vascular interventional robot according to any one of claims 2-6, wherein a circular blind hole is formed on the radially inner wall of the stopper, a circular blind hole is formed on the radially outer side of the thread pressing wheel bracket, and the two ends of the cylindrical coil spring used as a biasing device are respectively arranged in the two blind holes;

Two guide bosses spaced apart in the circumferential direction are provided on both sides of the stop portion in the circumferential direction, and the two guide bosses form guide grooves. In the assembled state, the press wheel bracket is fitted in the guide grooves and can move radially, but is basically restricted from shifting along the circumferential direction.
The guide wire delivery device for a robot for vascular interventional surgery according to claim 5, wherein the guide wire channel is arranged in one of the intervals formed between each pair of adjacent wire pressing wheel devices, and is formed by one of the following methods:

Mode 1: the chassis or the disk cover is provided with a boss located in the one interval, the axial end surface of the boss is formed with a groove extending from the radially outermost end to the radially innermost end; the other of the chassis and the disk cover is provided with a protrusion at a corresponding position, the cross section of the protrusion coincides with the cross section of the groove on the boss, and is consistent with the groove in the direction. The guidewire channel is formed between the raised top and the bottom of the groove;

Mode 2: the chassis and the disc cover are respectively provided with a chassis boss and a disc cover boss located in the one interval, grooves extending from the radially outermost end to the radially innermost end are respectively formed on the opposite surfaces of the chassis boss and the disc cover boss, the two grooves are in the same direction, and when the disc cover is fitted on the chassis, the two grooves are butted to form the guide wire channel; and

Mode 3: A boss located in the one interval is provided on the chassis or the disc cover, and a channel extending from the radially outermost end to the radially innermost end is formed on the boss, and the channel defines the guide wire channel.
The guide wire delivery device for a robot for vascular interventional surgery according to claim 11, wherein the guide wire channel is formed by way 1, a groove is formed at the top of the protrusion, and when the disc cover is fitted on the chassis, the guide wire channel is defined between the groove at the top of the protrusion and the bottom of the groove on the boss.
The guide wire delivery device for a vascular interventional surgery robot according to claim 6, wherein the guide wire channel is arranged in one of the intervals formed between each pair of adjacent wire pressing wheel devices, and is formed by one of the following methods:

Mode 1: a boss located in the one interval is provided on the chassis, and a groove extending from the radially outermost end to the radially innermost end is formed on the axial end surface of the boss; the guide wire delivery device also includes a cover plate, the cover plate is provided with a protrusion, the cross section of the protrusion coincides with the cross section of the groove on the boss, and is consistent with the groove in direction. When the cover plate is fixed on the boss, the protrusion engages with the groove. The guidewire channel is formed between the bottoms of the

Mode 2: a boss located in the one interval is provided on the chassis, and the guide wire delivery device further includes a cover plate, grooves extending from the radially outermost end to the radially innermost end are respectively formed on the opposite surfaces of the boss and the cover plate, the two grooves are in the same direction, and when the cover plate is fixed on the boss, the two grooves are butted to form a guide wire channel; and

Mode 3: a boss located in the one interval is provided on the chassis, a channel extending from the radially outermost end to the radially innermost end is formed on the boss, and the channel defines the guide wire channel.
The guide wire delivery device for a robot for vascular interventional surgery according to claim 13, wherein the guide wire channel is formed by way 1, a groove is formed at the top of the protrusion, and when the cover plate is installed on the boss, the guide wire channel is defined between the groove at the top of the protrusion and the bottom of the groove on the boss.
The guide wire delivery device for a vascular interventional surgery robot according to any one of claims 2-4, wherein each of the press wheel devices comprises two press wheels, which are symmetrically arranged at two circumferential ends of the press wheel bracket.
The guidewire delivery device for a robot for vascular interventional surgery according to claim 15, wherein the pinch wheel bracket is configured to be rotatable around an axis parallel to the axis of the guidewire disc.
The guide wire delivery device for a robot for vascular interventional surgery according to claim 15, wherein the guide wire delivery device further comprises a disc cover fitted on the chassis, a central radial guide groove is respectively formed on the two axial end surfaces of the press wheel support; a spherical protrusion or a cylindrical protrusion matching and engaging with the radial guide groove is respectively provided on the inner surface of the chassis and the inner surface of the disc cover; or, a central spherical protrusion or cylindrical protrusion is respectively formed on the two axial end surfaces of the press wheel support. Cylindrical protrusions, the inner surface of the chassis and the inner surface of the disc cover are respectively provided with radial guide grooves that match and engage with the radial guide grooves.
The guide wire delivery device for a robot for vascular interventional surgery according to any one of claims 2-4, wherein each of the wire pressing wheel devices comprises a wire pressing wheel.
The guidewire delivery device for a robot for vascular interventional surgery according to claim 2, wherein the guidewire delivery device further comprises a disc cover fitted on the chassis, the chassis and the disc cover are annular, the inner circumferential surface of the chassis is fitted to the adjacent axial end surface of the godet reel shaft and/or the adjacent axial end surface of the press wheel bracket, and/or the inner circumferential surface of the disc cover is fitted to the adjacent axial end surface of the godet coil shaft and/or the adjacent axial end of the press wheel support face fit.
The guidewire delivery device for a robot for vascular interventional surgery according to claim 3, wherein the guidewire delivery device further comprises a disc cover fitted on the chassis, the chassis and the disc cover are annular, the inner peripheral surface of the chassis fits with the adjacent reel of the godet and/or the adjacent axial end surface of the pinch wheel bracket, and/or the inner peripheral surface of the disc cover fits with the adjacent reel of the godet and/or the adjacent axial end face of the pinch wheel bracket.
The guidewire delivery device for a vascular interventional robot according to claim 4, wherein the guidewire delivery device further comprises a disc cover fitted on the chassis, the chassis and the disc cover are annular, the inner peripheral surface of the chassis fits with the adjacent driving gear of the godet and/or the adjacent axial end surface of the pinch wheel bracket, and/or the inner peripheral surface of the disc cover fits with the adjacent driving gear of the godet and/or the adjacent axial end face of the pinch wheel bracket.
The guide wire delivery device for a robot for vascular interventional surgery according to claim 2, wherein a baffle is provided above each of the wire-pressing wheel devices, and the baffle is formed integrally with the radially outer end of the corresponding wire-pressing wheel device, or the baffle is an independent component, and its radially outer end is fixedly connected to the radially outer end of the corresponding wire-pressing wheel device. and/or the radial inner surface of the baffle plate is in contact with the adjacent axial end surface of the godet reel and/or the adjacent axial end surface of the pressing wheel support.
The guide wire delivery device for a robot for vascular interventional surgery according to claim 3, wherein a baffle is provided above each of the wire press wheel devices, and the baffle is integrally formed with the radially outer end of the corresponding wire press wheel device, or the baffle is an independent component, and its radially outer end is fixedly connected to the radially outer end of the corresponding wire press wheel device. , and/or the radial inner surface of the baffle is in contact with the adjacent reel of the godet and/or the adjacent axial end surface of the pinch wheel support.
The guide wire delivery device for a robot for vascular interventional surgery according to claim 4, wherein a baffle is arranged above each of the wire press wheel devices, and the baffle is integrally formed with the radially outer end of the corresponding wire press wheel device, or the baffle is an independent component, and its radially outer end is fixedly connected to the radially outer end of the corresponding wire press wheel device. , and/or the radially inner surface of the baffle is in contact with the adjacent driving gear of the godet and/or the adjacent axial end surface of the press wheel bracket.
The guide wire delivery device for a robot for vascular interventional surgery according to claim 1, wherein the guide wire disc includes reels located at both axial ends of the spool, and the guide wire disc is rotatably mounted on the chassis through bearings; the guide wire pressing device includes a wire pressing mechanism, which includes an annular wire pressing belt and a plurality of pulleys, and each of the pulleys is arranged on the periphery of the guide wire disc and spaced apart along the circumferential direction; When the wire pressing mechanism is assembled, the annular pressing belt is wrapped around the reel of the godet, and the pressing belt extended from the reel first bypasses the pulleys located on both sides of the guide wire channel in the circumferential direction to realize the reverse direction, and then turns around other pulleys on its travel path in turn.
The guide wire delivery device for a vascular interventional surgery robot according to claim 25, wherein the pulleys located on both sides of the guide wire channel in the circumferential direction are arranged close to the guide wire channel.
The guide wire delivery device for a robot for vascular interventional surgery according to claim 25, wherein the pulley is rotatably mounted on the wheel shaft through a bearing.
The guide wire delivery device for a vascular interventional surgery robot according to claim 25, wherein flanges are provided at both axial ends of the pulley.
The guide wire delivery device for a vascular interventional robot according to claim 25, further comprising a belt tensioning mechanism, which is arranged between two circumferentially adjacent pulleys and presses against the pressure wire from the outside.
The guidewire delivery device for a vascular interventional robot according to claim 29, wherein the belt tensioning mechanism comprises a tensioning wheel bracket and a tensioning wheel, and the tensioning wheel is fixedly or rotatably mounted on the tensioning wheel bracket by means of a wheel shaft parallel to the axis of the reel;

The chassis is provided with a stop corresponding to the belt tensioning mechanism and located at the radially outer end of the belt tensioning mechanism;

The belt tensioning mechanism is arranged on the chassis, and is installed radially movable between the abutting part and the pressing ribbon; a biasing device is provided between the abutting part and the tensioning wheel bracket, to apply a bias to the belt tensioning mechanism, so that the tensioning wheel presses against the pressing ribbon;

The guide wire delivery device is also provided with a limiting device, which allows the tension wheel support to move in the radial direction, but prevents the tension wheel support from moving in the circumferential direction of the godet.
The guide wire delivery device for a robot for vascular interventional surgery according to claim 30, wherein the guide wire delivery device further comprises a disc cover fitted on the chassis, a circular blind hole is formed on the radially inner wall surface of the abutment part, a circular blind hole is formed on the radially outer side of the tensioning wheel support, and the two ends of the cylindrical coil spring used as a biasing device are respectively arranged in the two blind holes;

Two penetrating guide grooves or guide protrusions parallel to the radial movement direction of the tensioner support are respectively formed on the two axial end surfaces of the tensioner support. Two guide protrusions or guide grooves are formed on the inner surface of the chassis to cooperate with the two through guide grooves or guide protrusions. The guide grooves or guide protrusions cooperate with the guide protrusions or guide grooves on the chassis and the disc cover respectively, so that the tension wheel bracket is allowed to move radially, but is prevented from moving along the circumferential direction of the godet.
The guidewire delivery device for a robot for vascular interventional surgery according to claim 30, wherein a baffle is arranged above each belt tensioning mechanism, and the baffle is integrally formed with the abutting portion at the radially outer end of the corresponding belt tensioning mechanism, or the baffle is an independent component, and its radially outer end is fixedly connected to the abutting portion at the radially outer end of the corresponding belt tensioning mechanism;

A circular blind hole is formed on the radially inner wall of the abutting portion, and a circular blind hole is formed in the radial direction on the outer side of the tensioning wheel bracket, and the two ends of the cylindrical coil spring used as a biasing device are respectively arranged in the two blind holes;

The two axial end surfaces of the tensioning wheel bracket are respectively formed with two through guide grooves or guide protrusions parallel to the radial movement direction of the tension wheel bracket, and the inner surface of the chassis is formed with two guide protrusions or guide grooves that cooperate with the two through guide grooves or guide protrusions. The chassis cooperates with the guide protrusions or guide grooves on the baffle, so that the tension wheel bracket is allowed to move radially, but is prevented from moving along the circumferential direction of the godet.
The guidewire delivery device for a robot for vascular interventional surgery according to claim 30, wherein the tensioning wheel bracket is centrally provided with one or two through holes parallel to the radial movement direction of the tensioning wheel bracket; and the radial inner wall of the stop part is provided with one or two pins that can be inserted into the one or two through holes; in the assembled state, the pins on the stop part are inserted into the through holes on the tension wheel support, thereby allowing the radial movement of the tension wheel support, but preventing tension The tensioner support moves along the circumferential direction of the godet; the cylindrical coil springs used as biasing devices are respectively sleeved on the two pins, and are located between the radially inner sidewall of the stop part and the radially outer sidewall of the tensioner support.
The guidewire delivery device for a robot for vascular interventional surgery according to claim 30, wherein a circular blind hole is formed on the radially inner wall of the stop part, a circular blind hole is formed on the radially outer side of the tensioning wheel support, and the two ends of the cylindrical coil spring used as a biasing device are respectively arranged in the two blind holes;

Two guide bosses spaced apart in the circumferential direction are provided on both sides of the stop portion in the circumferential direction. The two guide bosses form guide grooves. In the assembled state, the tensioning wheel bracket is fitted in the guide grooves and can move radially, but is basically restricted from shifting along the circumferential direction.
The guide wire delivery device for a robot for vascular interventional surgery according to claim 34, wherein a protrusion is provided at the radially inner end of the guiding boss, and a mounting groove is defined between the protrusion and the surrounding plate or the stop portion of the chassis; support arms are respectively provided on both sides of the main body of the tensioning wheel bracket in the width direction, and the radial thickness of the supporting arms is smaller than the radial length of the mounting groove, so as to limit the radial movement range of the tensioning wheel bracket while allowing the radial movement of the tensioning wheel bracket.
The guide wire delivery device for a robot for vascular interventional surgery according to claim 30, wherein the guide wire delivery device further comprises a disc cover fitted on the chassis, the chassis and the disc cover are annular, the inner peripheral surface of the chassis fits with the adjacent reel of the godet and/or the adjacent axial end surface of the tensioning wheel bracket, and/or the inner peripheral surface of the disc cover fits with the adjacent reel of the godet and/or the adjacent axial end surface of the tensioning wheel bracket.
The guide wire delivery device for a robot for vascular interventional surgery according to claim 30, wherein a baffle is arranged above each of the belt tensioning mechanisms, and the baffle is formed integrally with the radially outer end of the corresponding belt tensioning mechanism, or the baffle is an independent component, and its radially outer end is fixedly connected to the radially outer end of the corresponding belt tensioning mechanism. and/or the radial inner surface of the baffle is in contact with the adjacent reel of the godet and/or the adjacent axial end surface of the idler support.
The guide wire delivery device for a vascular interventional robot according to claim 1, wherein the guide wire disc is rotatably mounted on the chassis through a bearing.
The guide wire delivery device for a vascular interventional surgery robot according to claim 1, wherein the radially inner part of the guide wire channel is deflected to one side in the circumferential direction, so that when the guide wire is delivered or rolled up, the guide wire is deflected at an obtuse angle, thereby avoiding damage to the guide wire and facilitating the delivery of the guide wire.
The guidewire delivery device for a robot for vascular interventional surgery according to claim 1, wherein a manual rotating device is provided on one axial end of the guidewire disc for manually rotating the guidewire disc.
The guidewire delivery device for a robot for vascular interventional surgery according to claim 40, wherein the manual rotation device comprises two short columns arranged symmetrically with respect to the center of the guidewire disc, and arranged on the axial end of the guidewire disc away from the chassis.
The guide wire delivery device for a robot for vascular interventional surgery according to claim 1, wherein the guide wire delivery device is provided with a stop mechanism, and the stop mechanism prevents the guide wire disc from further rotating when the guide wire wound on the reel is about to run out.
The guidewire delivery device for a robot for vascular interventional surgery as claimed in claim 42, wherein the stop mechanism comprises a brake tooth, a bias spring, and a brake groove cooperating with the brake tooth, a fitting groove is formed on the circumferential surface of the godet reel, the axial thickness of the brake tooth is substantially the same as the axial length of the reel, the tip of the brake tooth is tapered, and one end of the tooth root of the brake tooth is rotatably installed in the fitting groove around a shaft parallel to the axis of the spool, and the tip of the brake tooth is installed. The part points to the direction of rotation of the godet when the guide wire is loosely wound; a bias spring is arranged between the groove wall of the fitting groove of the godet reel and the radially inner side wall of the braking tooth, so that the braking tooth is biased and can rotate around the braking tooth shaft;

The chassis is provided with a boss, and the brake groove is formed on the radially inner surface of the boss;

The outline shape of the radially outer end of the brake tooth is arc-shaped, and its radius is basically the same as that of the reel. When the guide wire is wound on the reel, the brake tooth rotates inward against the pressure of the spring, and its outer surface forms a continuous cylindrical surface with the outer surface of the reel.
The guide wire delivery device for vascular interventional surgery robot according to claim 5, characterized in that, the guide wire delivery device is provided with a stop mechanism, and the stop mechanism prevents the guide wire disc from further rotation when the guide wire wound on the reel is about to run out.
The guidewire delivery device for a robot for vascular interventional surgery as claimed in claim 44, wherein the stop mechanism comprises a brake tooth, a bias spring, and a brake groove cooperating with the brake tooth, a fitting groove is formed on the circumferential surface of the godet reel, the axial thickness of the brake tooth is substantially the same as the axial length of the reel, the tooth tip of the brake tooth is tapered, and one end of the tooth root of the brake tooth is rotatably installed in the fitting groove around a shaft parallel to the axis of the spool, and the tip of the brake tooth is mounted after installation The part points to the direction of rotation of the godet when the guide wire is loosely wound; a bias spring is arranged between the groove wall of the fitting groove of the godet reel and the radially inner side wall of the braking tooth, so that the braking tooth is biased and can rotate around the braking tooth shaft;

The chassis or the disc cover is provided with a boss, and the brake groove is formed on the radially inner surface of the boss;

The outline shape of the radially outer end of the brake tooth is arc-shaped, and its radius is substantially the same as that of the reel. When the guide wire is wound on the reel, the brake tooth rotates inward against the pressure of the spring, and its outer surface forms a continuous cylindrical surface with the outer surface of the reel.
The guidewire delivery device for a robot for vascular interventional surgery according to claim 43 or 45, wherein the braking groove is a wedge-shaped groove, the opening end of the wedge-shaped groove is located on the upstream side relative to the rotation direction of the wire guide plate when the guidewire is unwound, and the groove bottom of the wedge-shaped groove is located on the downstream side; a mounting hole is formed on the wall surface of the fitting groove opposite to the radially inner side wall of the braking tooth, and a bias spring in the form of a coil spring is installed in the mounting hole.
The guide wire delivery device for a vascular interventional surgery robot according to claim 1, wherein the guide wire end fixing device is fixed on the guide wire disc, or the guide wire end fixing device is a component independent from the guide wire disc, and is fixed on the guide wire disc after being connected with the guide wire end.
The guide wire delivery device for a vascular interventional surgery robot according to claim 1, wherein a guide wire inlet is formed on the reel, and through the guide wire inlet, the end of the guide wire can extend to the guide wire end fixing device on the guide wire disc.
The guidewire delivery device for a vascular interventional surgery robot according to claim 5, wherein the disc cover is fixed on the chassis by screws, or the disc cover is mounted on the chassis by a buckle and groove structure.
The guidewire delivery device for a vascular interventional surgery robot according to claim 5, wherein the peripheral edge of the disc cover is hinged to the corresponding peripheral edge of the chassis, so that the disc cover can pivot between an open position and a closed position; in the closed position, the disc cover and the chassis are locked in the closed position by a locking device.
The guide wire delivery device for a robot for vascular interventional surgery according to claim 50, wherein the locking device comprises a buckle part provided on one of the disc cover and the chassis, and a locking slot provided on the other of the disc cover and the chassis.
The guidewire delivery device for a robot for vascular interventional surgery according to claim 50, wherein the locking device comprises a magnet member disposed on one of the disc cover and the chassis, and a ferromagnetic material member disposed on the other of the disc cover and the chassis.
The guide wire delivery device for a vascular interventional surgery robot according to claim 1, wherein the guide wire delivery device has a mouth, and the guide wire channel extends through the mouth.