[go: up one dir, main page]

WO2024140719A1 - Dispositif de mise en place et système de robot chirurgical - Google Patents

Dispositif de mise en place et système de robot chirurgical Download PDF

Info

Publication number
WO2024140719A1
WO2024140719A1 PCT/CN2023/142061 CN2023142061W WO2024140719A1 WO 2024140719 A1 WO2024140719 A1 WO 2024140719A1 CN 2023142061 W CN2023142061 W CN 2023142061W WO 2024140719 A1 WO2024140719 A1 WO 2024140719A1
Authority
WO
WIPO (PCT)
Prior art keywords
clamping
assembly
along
conveying
base
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2023/142061
Other languages
English (en)
Chinese (zh)
Inventor
汪四新
王振飞
张一�
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhicheng Medical Technology Jiaxing Co Ltd
Original Assignee
Zhicheng Medical Technology Jiaxing Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202211740898.7A external-priority patent/CN118303999A/zh
Priority claimed from CN202211739223.0A external-priority patent/CN118303998A/zh
Priority claimed from CN202211730809.0A external-priority patent/CN118304547A/zh
Priority claimed from CN202211731976.7A external-priority patent/CN118303995A/zh
Priority claimed from CN202211728646.2A external-priority patent/CN118303994A/zh
Priority claimed from CN202211731843.XA external-priority patent/CN118304548A/zh
Application filed by Zhicheng Medical Technology Jiaxing Co Ltd filed Critical Zhicheng Medical Technology Jiaxing Co Ltd
Publication of WO2024140719A1 publication Critical patent/WO2024140719A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots

Definitions

  • the present application generally relates to the technical field of implantable surgical instruments, and more particularly to a delivery device for delivering a guide wire and/or a catheter and a surgical robot system having the same.
  • Vascular implant interventional surgery is widely used at home and abroad for cardiovascular and cerebrovascular diseases with the characteristics of less trauma, faster patient recovery and shorter operation time.
  • doctors are exposed to DSA rays for a long time, and their physical strength, concentration and stability decline rapidly, making them prone to operating errors and causing medical accidents; secondly, long-term radiation will increase the risk of doctors suffering from leukemia and cancer, seriously threatening their health. Therefore, related vascular implant interventional surgery robots will definitely be a development trend, and the guidewire catheter delivery device as the slave end is indispensable.
  • the first aspect of the present application provides a delivery device for delivering a guide wire and/or a catheter, comprising:
  • Two clamping assemblies are arranged on the base assembly, the clamping assembly comprises a clamping channel for clamping a guide wire and/or a catheter, the clamping channel extends along the conveying direction of the guide wire and/or the catheter, the clamping assembly has a closed state for clamping the guide wire and/or the catheter and an open state for releasing the guide wire and/or the catheter, the width of the clamping channel in the closed state is smaller than the width in the open state, the width direction of the clamping channel is perpendicular to the conveying direction, the clamping assembly can reciprocate relative to the base assembly along the conveying direction, and the two clamping assemblies are arranged at intervals along the conveying direction;
  • a first transmission body is provided to the base assembly, and the first transmission body is connected to the two
  • the clamping assembly is used to open and close the two clamping assemblies and reciprocate along the conveying direction.
  • the conveying device is configured so that the two clamping assemblies can reciprocate toward and away from each other along the conveying direction;
  • the clamping assembly can complete the work of conveying the guidewire by moving only a short distance (relative to the length of the guidewire or catheter), thereby reducing the size of the conveying device.
  • Two clamping assemblies are provided at the same time, so that the two clamping assemblies are alternately opened and closed and advanced and retreated, so that the guidewire and/or catheter can be continuously conveyed, thereby improving the conveying efficiency of the guidewire and/or catheter.
  • the cooperative movement of the two clamping assemblies is completely realized by the first transmission body, and the structure of the conveying device is compact.
  • the first transmission body includes two conveying transmission components, and the two conveying transmission components are respectively arranged corresponding to the two clamping components, and the conveying transmission components include:
  • a first conveying transmission part used to enable the clamping assembly to be opened and closed
  • the second conveying transmission part is connected to the clamping assembly and is used to enable the clamping assembly to move relative to the base assembly along the conveying direction.
  • the conveying transmission assembly by designing the conveying transmission assembly to have a first conveying transmission part and a second conveying transmission part that are different from each other, the driving force of the first driving assembly can be transmitted in different transmission modes to achieve different movements of the clamping assembly, which can simplify the design of the first driving assembly.
  • the extending direction of one of the inclined grooves of the two conveying transmission assemblies forms a first acute angle with the advancing direction of the guide wire and/or the catheter, and the extending direction of the other of the inclined grooves of the two conveying transmission assemblies forms a second acute angle with the retreating direction of the guide wire and/or the catheter;
  • the method for the first transmission body to control the advance and retreat of the clamping assembly is simple and effective.
  • the first rotating shaft rotates, since the extension direction of the inclined slot is not perpendicular to the first rotation axis, the position of the inclined slot facing the side of the clamping assembly moves relative to the base assembly along the conveying direction, thereby driving the connecting assembly to move relative to the base assembly along the conveying direction, and then driving the clamping assembly seat to move relative to the base assembly along the conveying direction, and finally driving the entire clamping assembly to move relative to the base assembly along the conveying direction.
  • the first transmission body coordinates the advance and retreat movement and opening and closing movement of the two clamping assemblies at the same time.
  • the inclined slots of the two conveying transmission assemblies are located in the middle of the first conveying transmission parts of the two conveying transmission assemblies;
  • the connecting component is designed as a bearing, which can reduce the friction between the connecting component and the inclined groove.
  • one of the first guide member and the second guide member is configured as a guide rail
  • the other of the first guide member and the second guide member is configured as a slide groove, and the guide rail is accommodated in the slide groove.
  • the first guide member and the second guide member enable the clamping assembly to move smoothly relative to the base assembly along the guide wire delivery direction.
  • a first clamping mechanism arranged on the clamping assembly seat, the first clamping mechanism and the clamping assembly seat move synchronously relative to the base assembly along the conveying direction, the first clamping mechanism comprising the clamping channel and being movable relative to the clamping assembly seat along the width direction of the clamping channel to change the width of the clamping channel;
  • a second clamping mechanism which is disposed on the clamping assembly seat and is movable relative to the first clamping mechanism in a direction perpendicular to the conveying direction, and is used to squeeze the first clamping mechanism to reduce the width of the clamping channel
  • the conveying device is configured such that the first conveying transmission part acts on the second clamping mechanism so that the second clamping mechanism moves relative to the first clamping mechanism in a direction perpendicular to the conveying direction.
  • the first clamping mechanism directly contacts and clamps the guide wire and/or the catheter.
  • the second clamping mechanism applies an extrusion force to the first clamping mechanism so that the first clamping mechanism clamps the guide wire and/or the catheter.
  • the first conveying transmission part acts on the second clamping mechanism so that the second clamping mechanism.
  • the second clamping mechanism moves relative to the first clamping mechanism in a direction perpendicular to the conveying direction, thereby changing the squeezing force of the second clamping mechanism on the first clamping mechanism, so that the first clamping mechanism clamps or releases the guide wire and/or catheter.
  • the first clamping mechanism comprises:
  • a second clamping portion is connected to the clamping assembly seat and is arranged opposite to the first clamping portion, and a gap between the first clamping portion and the second clamping portion forms the clamping channel.
  • the second transmission assembly comprises:
  • the second clamping mechanism When the second clamping mechanism contracts, the second clamping mechanism applies a squeezing force to the first clamping mechanism along the radial direction to reduce the width of the clamping channel; when the second clamping mechanism expands, the second clamping mechanism cancels the squeezing force to increase the width of the clamping channel.
  • a clamping base arranged on the clamping assembly seat
  • the clamping mechanism further includes a second elastic component, the second elastic component is connected to the second clamping mechanism, the direction of the elastic force of the second elastic component is parallel to the radial direction, and the second elastic component is connected between the clamping transmission part, at least one of the third clamping part and the fourth clamping part and the clamping base, and is used to make the third clamping part and the fourth clamping part approach each other along the radial direction.
  • the conveying device is constructed so that the additional groove and the inclined groove match the third guide groove and the fourth guide groove, so that when the inclined groove drives the clamping assembly seat to advance relative to the base assembly along the conveying direction, the third clamping portion and the fourth clamping portion approach each other along the radial direction, and when the inclined groove drives the clamping assembly seat to move forward along the conveying direction relative to the base assembly, the third clamping portion and the fourth clamping portion approach each other along the radial direction.
  • the conveying direction moves backward relative to the base assembly, the third clamping portion and the fourth clamping portion move away from each other along the radial direction.
  • a fourth guide groove second portion the fourth guide groove second portion being communicated with the fourth guide groove first portion, the fourth guide groove second portion comprising a fourth guide groove second portion first end and a fourth guide groove second portion; the first end of the second portion of the fourth guide groove is connected to the first portion of the fourth guide groove, the first end of the second portion of the fourth guide groove is connected to the first portion of the fourth guide groove, and the first end of the second portion of the fourth guide groove and the second end of the second portion of the fourth guide groove are spaced apart along the conveying direction and the radial direction;
  • the third guide groove is provided to the clamping assembly seat, and the first end of the second portion of the third guide groove is located inside relative to the second end of the second portion of the third guide groove along the radial direction;
  • the fourth guide groove is provided to the clamping assembly seat, and the first end of the second portion of the fourth guide groove is located inside relative to the second end of the second portion of the fourth guide groove along the radial direction.
  • the designs of the third guide groove and the fourth guide groove are simple and effective.
  • the extension direction of the additional groove is parallel to the extension direction of the inclined groove
  • the cross-section of the additional groove is a second ellipse
  • the parts of the additional groove located on both sides of the major axis of the second ellipse along the radial direction of the first rotating shaft are staggered along the conveying direction.
  • the design of the additional slot is simple and effective.
  • the clamping assembly also includes a first clamping guide and a second clamping guide, the first clamping guide is arranged to the clamping base, the second clamping guide is arranged to the clamping assembly seat and extends along the conveying direction, the first clamping guide is connected to the second clamping guide and is movable relative to the second clamping guide along the conveying direction.
  • the first clamping guide and the second clamping guide can enable the second clamping mechanism to stably move relative to the first clamping mechanism along the conveying direction.
  • the clamping connection assembly comprises:
  • the clamping connection assembly is configured as a bearing to reduce friction.
  • the second clamping mechanism further includes:
  • first pin shaft provided to the clamping base and extending in the radial direction, wherein the third clamping portion is connected to the first pin shaft and is movable relative to the first pin shaft in the radial direction;
  • a second pin shaft is provided to the clamping base and extends along the radial direction, wherein the fourth clamping portion is connected to the second pin shaft and is movable relative to the second pin shaft along the radial direction.
  • the first pin shaft can enable the third clamping part to move stably in the radial direction
  • the second pin shaft can enable the fourth clamping part to move stably in the radial direction
  • the first conveying transmission part is configured as a cam part on the first rotating shaft, and the cam part includes:
  • the second half wheel is a second semicircle with a second radius in the cross section of the cam portion.
  • first radius is greater than the second radius
  • center of the first semicircle coincides with the center of the second semicircle
  • the center is located on the first rotation axis
  • the forward point and the backward point of the inclined slot are located in the plane where the contact surface of the first half wheel and the second half wheel are located
  • the cam portions of the two conveying transmission assemblies are 180 degrees apart on the first rotating shaft
  • the second clamping portion is arranged side by side with the first clamping portion along the opening and closing direction to the clamping assembly seat, and is used to clamp the guide wire and/or catheter together with the first clamping portion, and a clamping channel is formed between the first clamping portion and the second clamping portion, wherein the opening and closing direction is perpendicular to the conveying direction, the second clamping portion is rotatable relative to the clamping assembly seat around a second pivot axis so that the width of the clamping channel can be changed, and the second pivot axis extends along the conveying direction, and
  • a biasing element connecting the first clamping portion and the second clamping portion, and used to bias the second clamping portion toward the first clamping portion to narrow the clamping channel
  • the conveying device is constructed such that when the first half wheel is facing the clamping assembly, the cam portion contacts the second clamping portion, so that the clamping assembly is in the open state; when the second half wheel is facing the clamping assembly, the cam portion is released from contact with the second clamping portion, so that the clamping assembly is in the closed state.
  • the first conveying transmission part as a cam part composed of a large semicircle and a small semicircle
  • the first conveying transmission part contacts the second clamping part in half a cycle and does not contact the second clamping part in the other half a cycle, so that the second clamping part rotates relative to the first clamping part in the opening and closing direction perpendicular to the guide wire conveying direction, thereby changing the relative position of the second clamping part and the first clamping part in the opening and closing direction, thus changing the width of the clamping channel, so that the clamping assembly clamps the guide wire (catheter) or releases the guide wire (catheter).
  • the biasing element is used to keep the clamping assembly in a closed state when the cam part does not contact the second clamping part.
  • the second clamping portion includes a second protrusion protruding from a side of the clamping assembly seat toward the cam portion,
  • the conveying device is constructed such that when the first half wheel is facing the clamping assembly, the cam portion contacts the second protrusion, so that the clamping assembly is in the open state; when the second half wheel is facing the clamping assembly, the cam portion releases contact with the second protrusion, so that the clamping assembly is in the closed state.
  • the clamping assembly seat is used to support the first clamping part and the second clamping part.
  • the cam part acts on the second protrusion of the second clamping part.
  • the clamping assembly seat is configured as a hollow structure, so that the clamping assembly seat includes an assembly seat inner cavity;
  • the clamping assembly also includes:
  • a second pivot shaft the second pivot shaft is arranged in the inner cavity of the component seat, the first The second pivot shaft extends along the conveying direction, wherein the second clamping portion is sleeved on the second pivot shaft, and the axis of the second pivot shaft is the second pivot axis.
  • first opening and closing gear being sleeved on the first pivot shaft, the first opening and closing gear being connected to the first clamping portion, so that the first clamping portion and the first opening and closing gear can rotate synchronously around the first pivot shaft relative to the clamping assembly seat,
  • the second opening and closing gear being sleeved on the second pivot shaft, the second opening and closing gear being connected to the second clamping portion, so that the second clamping portion and the second opening and closing gear can rotate synchronously around the second pivot shaft relative to the clamping assembly seat,
  • first opening and closing gear is meshed with the second opening and closing gear
  • the biasing element is configured as a torsion spring, a coil portion of the torsion spring is sleeved on the first pivot shaft or the second pivot shaft, and two arms of the torsion spring abut against the first clamping portion and the second clamping portion respectively.
  • the first clamping portion when the second clamping portion rotates relative to the clamping assembly seat, the first clamping portion simultaneously rotates in the opposite direction relative to the clamping assembly seat, so that the opening or closing effect of the clamping assembly is better.
  • the base assembly includes a first base and a second base, the second base is arranged on the first base, the clamping assembly and the first transmission body are arranged on the second base, and the clamping assembly is movable relative to the second base along the conveying direction;
  • the conveying device also includes:
  • a first driving assembly arranged on the first base, for providing a driving force to open and close the clamping assembly and to move the clamping assembly along the conveying direction
  • a first transmission assembly is at least partially disposed on the second base and is used to connect the first drive assembly and the clamping assembly.
  • the first transmission assembly includes the first transmission body.
  • a second driving assembly provided to the first base, for providing a driving force to rotate the second base relative to the first base around a second rotation axis, so that the clamping assembly rotates synchronously with the second base around the second rotation axis relative to the first base, wherein the second rotation axis extends along the conveying direction and is located at the position of the axis of the guide wire and/or catheter, and
  • the second transmission assembly is used to connect the second drive assembly and the second base, and to transmit the driving force of the second drive assembly to the second base.
  • the second drive assembly includes a second motor
  • the second transmission assembly includes a second gear
  • the second gear is set to the second base
  • the conveying device is configured so that the second motor drives the second gear to rotate around the second rotation axis relative to the first base, so that the second base and the second gear rotate synchronously around the second rotation axis relative to the first base.
  • the second drive assembly and the second transmission assembly are simple to control and have stable performance.
  • the first drive assembly includes a first motor
  • the first transmission assembly also includes:
  • the conveying device being configured such that the first gear is rotatable relative to the first base around the second rotation axis under the drive of the first motor, and the second base is rotatable relative to the first gear around the second rotation axis, and
  • the first drive assembly and the first transmission assembly are simple to control and have stable performance.
  • the first driving assembly further comprises a first additional gear, the first additional gear is coaxially connected to the output shaft of the first motor and meshes with the first gear; and/or
  • the second driving assembly further includes a second additional gear, which is coaxially connected to the output shaft of the second motor and meshes with the second gear.
  • first gear and the second gear have the same number of teeth, and the first gear and the second gear have the same pitch circle diameter; and/or
  • the first additional gear and the second additional gear have the same number of teeth, and the first additional gear and the second additional gear have the same pitch circle diameter.
  • the corresponding transmission gears are designed to have the same number of teeth and pitch circle diameter, so that the operating frequency of the clamping assembly can be more easily controlled.
  • first gear and the second gear are arranged opposite to each other on both sides of the second base along the conveying direction.
  • the conveying device when the first gear and the second gear are on both sides of the second base along the conveying direction When relatively arranged, the first motor and the second motor are also relatively arranged on both sides of the conveying direction to be close to the corresponding transmission gears, so that the conveying device has a generally symmetrical structure, which is conducive to maintaining a stable center of gravity of the conveying device and also simplifies the structure of the parts to a certain extent.
  • the first gear, the second gear, the first base and the second base are provided with a through groove for accommodating the guide wire and/or the catheter.
  • the first gear, the second gear, the first base and the second base do not affect the straight extension of the guide wire and/or the catheter.
  • the conveying device further comprises a locking shaft, wherein the locking shaft is provided with a through groove extending in the axial direction;
  • the first base is also provided with a locking hole extending along the conveying direction for accommodating the locking shaft;
  • the locking shaft is used to prevent the guide wire and/or catheter from slipping out of the clamping channel.
  • FIG2 is a top view of the conveying device shown in FIG1 ;
  • Fig. 5 is a cross-sectional view along line E-E in Fig. 3;
  • FIG6 is a perspective view of the clamping assembly of the conveying device shown in FIG1 ;
  • FIG7 is a side view of the clamping assembly shown in FIG6;
  • Fig. 8 is a cross-sectional view along line H-H in Fig. 7;
  • FIG9 is a schematic diagram of the first transmission assembly of the conveying device shown in FIG1 driving the clamping assembly to move;
  • FIG10 is a schematic diagram of the delivery device shown in FIG1 delivering a guidewire and/or a catheter, wherein two clamping assemblies are close to each other, the clamping assembly advancing along the delivery direction of the guidewire and/or the catheter is in a closed state, and the clamping assembly retreating along the delivery direction of the guidewire and/or the catheter is in an open state;
  • FIG11 is a schematic diagram of the delivery device shown in FIG1 delivering a guidewire and/or a catheter, wherein two clamping assemblies are separated from each other, the clamping assembly advancing along the delivery direction of the guidewire and/or the catheter is in a closed state, and the clamping assembly retreating along the delivery direction of the guidewire and/or the catheter is in an open state;
  • Fig. 12 is a cross-sectional view along line L-L in Fig. 2;
  • FIG13 is a perspective schematic diagram of a conveying device according to a second embodiment of the present application.
  • FIG14 is a schematic top view of the conveying device shown in FIG13 ;
  • FIG15 is a schematic diagram of some components of the conveying device shown in FIG13 , showing a base assembly, a first drive assembly, and a second drive assembly;
  • FIG16 is a perspective schematic diagram of one of the two clamping assemblies of the conveying device shown in FIG13 ;
  • FIG17 is a perspective schematic diagram of the clamping assembly shown in FIG16 from another angle
  • FIG18 is an exploded perspective schematic diagram of the clamping assembly shown in FIG16 ;
  • FIG19 is a perspective exploded schematic diagram of the first clamping mechanism of the clamping assembly shown in FIG18 ;
  • FIG20 is a cross-sectional view of the first clamping mechanism shown in FIG19;
  • FIG21 is a perspective schematic diagram of another one of the two clamping assemblies of the conveying device shown in FIG13;
  • FIG22 is a perspective schematic diagram of the first clamping mechanisms of the two clamping assemblies of the conveying device shown in FIG13 before being connected;
  • FIG23 is a three-dimensional schematic diagram of the first clamping mechanisms of the two clamping assemblies of the conveying device shown in FIG13 after being connected;
  • FIG24 is a perspective exploded schematic diagram of the second clamping mechanism of the clamping assembly shown in FIG18;
  • FIG. 25 is a bottom view schematically showing the second clamping mechanism shown in FIG. 24 .
  • FIG26 is a perspective schematic diagram of a conveying device according to a third embodiment of the present application.
  • FIG. 27 is a schematic top view of a conveying device according to a third embodiment of the present application, wherein the The third connecting member and the fourth connecting member are shown to clearly illustrate the first clamping mechanism;
  • FIG28 is a perspective schematic diagram of one of the two clamping assemblies of the conveying device shown in FIG27;
  • FIG29 is a perspective schematic diagram of another one of the two clamping assemblies of the conveying device shown in FIG27 ;
  • FIG30 is an exploded perspective schematic diagram of the clamping assembly shown in FIG28;
  • FIG31 is a perspective exploded schematic diagram of the second clamping mechanism of the clamping assembly shown in FIG30 ;
  • 32 and 33 are schematic side views of the first transmission body of the conveying device shown in FIG. 27 .
  • the present application provides a delivery device for delivering a guide wire and/or a catheter and a surgical robot system having the same.
  • the conveying device 100 includes a first base 10, a second base 20 and at least one clamping assembly 50.
  • the second base 20 is arranged to the first base 10.
  • the clamping assembly 50 includes a clamping channel 74 for clamping the guide wire.
  • the clamping assembly 50 is arranged to the second base 20 and can reciprocate relative to the second base 20 along the conveying direction DF of the guide wire.
  • the clamping assembly 50 has a closed state for clamping the guide wire and an open state for releasing the guide wire.
  • the width of the clamping channel 74 is narrowed (also referred to as the clamping assembly 50 is closed), so that the clamping assembly 50 clamps the guide wire; in the open state, the width of the clamping channel 74 is widened (also referred to as the clamping assembly 50 is opened), so that the clamping assembly 50 releases the guide wire.
  • the conveying device 100 is constructed such that when the clamping assembly 50 moves forward along the conveying direction DF of the guide wire, the clamping assembly 50 is in a closed state, and when the clamping assembly 50 moves backward along the conveying direction DF of the guide wire, the clamping assembly 50 is in an open state.
  • the clamping assembly 50 can reciprocate along the conveying direction DF, when the clamping assembly advances along the conveying direction DF, it clamps the guide wire so that the guide wire advances synchronously with it, thereby conveying the guide wire.
  • the clamping assembly retreats along the conveying direction DF, it releases the guide wire and retreats alone, or in other words, it moves relative to the guide wire.
  • the clamping assembly 50 clamps the guide wire again, it starts the next forward movement, and at this time the clamping assembly 50 clamps the rear part of the guide wire, so the guide wire can be transported again.
  • the delivery device 100 coordinates the opening and closing action of the clamping assembly 50 with the reciprocating motion along the guide wire delivery direction DF, so that the clamping assembly 50 can complete the work of transporting the guide wire by moving only a short distance (relative to the length of the guide wire), thereby reducing the size of the delivery device 100.
  • the clamping assembly 50 includes a clamping assembly seat 51 and a clamping mechanism 101.
  • the clamping assembly seat 51 is provided to the second base 20 and can reciprocate relative to the second base 20 along the conveying direction DF.
  • the clamping mechanism 101 is provided to the clamping assembly seat 51. At least a portion of the clamping mechanism 101 moves synchronously with the clamping assembly seat 51 along the conveying direction DF relative to the second base 20.
  • the clamping mechanism 101 includes a clamping channel 74 and has a closed state and an open state. In the first embodiment, all portions of the clamping mechanism 101 move synchronously with the clamping assembly seat 51 along the conveying direction DF relative to the second base 20.
  • the clamping mechanism 101 includes a first clamping portion 52 and a second clamping portion 53.
  • the first clamping portion 52 and the second clamping portion 53 are both arranged on the clamping assembly seat 51.
  • a clamping channel 74 is formed between the first clamping portion 52 and the second clamping portion 53.
  • the length direction of the clamping channel 74 is also the conveying direction DF, in other words, the clamping channel 74 extends along the conveying direction DF.
  • the second clamping portion 53 is arranged side by side with the first clamping portion 52 in a direction perpendicular to the conveying direction DF, and is used to clamp the guide wire together with the first clamping portion 52.
  • the direction DO perpendicular to the conveying direction DF is also referred to as the opening and closing direction, that is, the width direction of the clamping channel 74.
  • the second clamping portion 53 and the first clamping portion 52 move synchronously relative to the second base 20 along the conveying direction DF, that is, the relative positions of the first clamping portion 52 and the second clamping portion 53 in the conveying direction DF remain unchanged.
  • the relative positions of the first clamping portion 52 and the second clamping portion 53 in the opening and closing direction DO change periodically, so that the width of the clamping channel 74 changes periodically, that is, the clamping assembly 50 is alternately in a closed state and an open state.
  • the conveying device 100 further includes a first drive assembly 30 and a first transmission assembly 40.
  • the first drive assembly 30 is used to provide a driving force for opening and closing the clamping assembly 50 and moving the clamping assembly 50 along the conveying direction DF.
  • the first drive assembly 30 is arranged on the first base 10.
  • the first transmission assembly 40 is at least partially arranged on the second base 20.
  • the first transmission assembly 40 is connected between the first drive assembly 30 and the clamping assembly 50, that is, it is used to connect the first drive assembly 30 and the clamping assembly 50 to transmit the driving force of the first drive assembly 30 to the clamping assembly 50.
  • the first transmission assembly 40 includes a first transmission body 42 and at least one conveying transmission assembly 43.
  • the first transmission body 42 is provided to the second base 20 and is connected to the first drive assembly 30, so that it can move relative to the second base 20 under the drive of the first drive assembly 30, that is, it receives the driving force of the first drive assembly 30.
  • the conveying transmission assembly 43 is provided to the first transmission body 42, so that it also receives the driving force of the first drive assembly 30.
  • the conveying transmission assembly 43 is provided corresponding to the clamping assembly 50, and is used to transmit the driving force of the first drive assembly 30 to the clamping assembly 50.
  • the conveying transmission assembly 43 includes a first conveying transmission part 44 and a second conveying transmission part 47.
  • the first conveying transmission part 44 is provided to the first transmission body 42, and is used to transmit the driving force of the first driving assembly 30 to the clamping assembly 50, so that the clamping assembly 50 can be opened and closed.
  • the second conveying transmission part 47 is also provided to the first transmission body 42, and is used to transmit the driving force of the first driving assembly 30 to the clamping assembly 50, so that the clamping assembly 50 can be moved relative to the second base 20 along the conveying direction DF.
  • the conveying transmission assembly 43 by designing the conveying transmission assembly 43 to have the first conveying transmission part 44 and the second conveying transmission part 47 which are different from each other, the driving force of the first driving assembly 30 can be transmitted in different transmission modes, and different movements of the clamping assembly 50 can be realized, which can simplify the design of the first driving assembly 30.
  • the first drive assembly 30 includes a first motor 31, and the first motor 31 is used to provide a driving force for opening and closing and moving the clamping assembly 50.
  • the first transmission body 42 is configured as a first rotating shaft (in the present application, the first transmission body 42 is also referred to as the first rotating shaft 42), and the first rotating shaft 42 is provided to the second base 20 and connected to the first motor 31.
  • the conveying device 100 is configured so that the first rotating shaft 42 is rotatable relative to the second base 20 around the first rotation axis PR1 under the drive of the first motor 31. Among them, the first rotating shaft extends along the conveying direction DF, and the first rotation axis PR1 extends along the conveying direction DF.
  • the third gear 41B is coaxially connected to the first rotating shaft 42, and therefore, the third gear 41B is configured to rotate synchronously with the first rotating shaft 42 around the first rotation axis PR1 relative to the second base 20 under the drive of the first motor 31. Therefore, the first conveying transmission part 44 and the second conveying transmission part 47 are driven by the first motor 31 to rotate synchronously with the first rotating shaft 42 around the first rotation axis PR1 relative to the second base 20.
  • the first motor 31 and the first additional gear 32 are provided to the first base 10.
  • the first driving assembly 30 is provided to the first base 10.
  • the first gear 41A is provided to the first base 10.
  • the first conveying transmission part 44 and the second conveying transmission part 47 are respectively matched to act on different components of the clamping assembly 50 .
  • the second conveying transmission part 47 is configured as an inclined groove (hereinafter, the second conveying transmission part 47 is also referred to as the inclined groove 47).
  • the inclined groove 47 is configured as an annular through groove provided on the outer peripheral surface of the first rotating shaft 42, and the extending direction of the inclined groove 47 is not perpendicular to the first rotation axis PR1.
  • the clamping assembly 50 further includes a connecting assembly 54. One end of the connecting assembly 54 is connected to the clamping assembly seat 51, and the other end of the connecting assembly 54 is accommodated in the inclined groove 47.
  • the connecting assembly 54 includes a connecting shaft 58 and a miniature bearing 59.
  • the connecting shaft 58 extends in a direction perpendicular to the first rotation axis PR1, one end of the connecting shaft 58 is connected to the clamping assembly seat 51, and the other end of the connecting shaft 58 is accommodated in the inclined groove 47.
  • the miniature bearing 59 is sleeved on the connecting shaft 58, and the outer ring of the miniature bearing 59 is used to contact the groove wall of the inclined groove 47, thereby reducing the friction between the connecting assembly 54 and the inclined groove 47.
  • the conveying device 100 further includes a first guide member 71 and a second guide member 72.
  • the first guide member 71 is provided to the second base 20 and extends along the conveying direction DF.
  • the second guide member 72 is provided to the clamping assembly seat 51.
  • the second guide member 72 is connected to the first guide member 71 and is movable relative to the first guide member 71 along the conveying direction DF.
  • the first guide member 71 and the second guide member 72 play a guiding role, so that the movement of the clamping assembly seat 51 is more stable.
  • the first guide member 71 can also play a role in supporting the clamping assembly seat 51.
  • one of the first guide member 71 and the second guide member 72 is configured as a guide rail extending along the conveying direction DF, and the other of the first guide member 71 and the second guide member 72 is configured as a slide groove extending along the conveying direction DF, and the guide rail is accommodated in the slide groove.
  • the first guide member 71 is configured as a guide rail
  • the second guide member 72 is configured as a slide groove.
  • the clamping assembly 50 also includes a second pivot shaft 57B.
  • the second pivot shaft 57B is arranged in the inner cavity 51A of the assembly seat.
  • the second pivot shaft 57B extends along the conveying direction DF.
  • the second clamping portion 53 is sleeved on the second pivot shaft 57B, so that the second clamping portion 53 can rotate relative to the clamping assembly seat 51 and the first clamping portion 52 around the second pivot shaft 57B.
  • the axis of the second pivot shaft 57B is the second pivot axis PP2, and the second clamping portion 53 can rotate relative to the clamping assembly seat 51 around the second pivot axis PP2.
  • the second clamping portion 53 can rotate relative to the first clamping portion 52 around the second pivot axis PP2. It can be understood that when the second clamping portion 53 rotates around the second pivot axis PP2, the relative position of the second clamping portion 53 and the first clamping portion 52 in the opening and closing direction DO changes, so that the width of the clamping channel 74 changes.
  • the far point 49 is located at the position of the forward clamping assembly 50, and the clamping assembly 50 is in the extreme position of moving to the right.
  • the first rotating shaft 42 continues to rotate, becoming the second half wheel 46 toward the second clamping part 53, and continues for half a cycle, that is, the clamping assembly 50 maintains a closed state for half a cycle.
  • the near point 48 of the inclined slot 47 gradually turns to the position of the positive clamping assembly 50, that is, the position of the side of the inclined slot 47 facing the clamping assembly 50 keeps moving in the other direction of the conveying direction DF (for example, moving to the left in the figure), so that the clamping assembly 50 also keeps moving to the left.
  • the clamping assembly 50 also includes a first pivot shaft 57A, a first opening and closing gear 55A and a second opening and closing gear 55B.
  • the first pivot shaft 57A is arranged in the inner cavity 51A of the assembly seat.
  • the first pivot shaft 57A extends along the conveying direction DF.
  • the first clamping portion 52 is sleeved on the first pivot shaft 57A, so that the first clamping portion 52 can rotate relative to the clamping assembly seat 51 around the first pivot shaft 57A.
  • the first opening and closing gear 55A and the second opening and closing gear 55B are the same gear.
  • the second driving assembly 60 further includes a second additional gear 62.
  • the second additional gear 62 is coaxially connected to the output shaft of the second motor 61 and meshes with the second gear 81, so that the second additional gear 62 transmits the driving force of the second motor 61 to the second gear 81.
  • the second driving assembly 60 is provided to the first base 10.
  • the second motor 61 and the second additional gear 62 are provided to the first base 10.
  • the first rotating shaft 42 and the clamping assembly 50 have a matching interactive structure.
  • the clamping assembly 50 rotates with the second base 20
  • the first rotating shaft 42 also rotates with the second base 20.
  • the third gear 41B is used to drive the first rotating shaft 42 to rotate, and the third gear 41B is driven by the first gear 41A. Therefore, the conveying device 100 is constructed so that the first gear 41A can rotate relative to the first base 10 around the second rotation axis PR2 under the drive of the first motor, and the second base 20 can rotate relative to the first gear 41A around the second rotation axis PR2. Thereby, the third gear 41B can rotate relative to the first gear 41A around the second rotation axis PR2.
  • first gear 41A and the second base 20 are rotatable relative to the first connection part 13 around the second rotation axis PR2.
  • the second connection part 14 is used to connect the second base 20 on the side of the second base where the second gear 81 is set.
  • the second gear 81 and the second base 20 are rotatable relative to the second connection part 14 around the second rotation axis PR2.
  • the first additional connection part 23 is used to connect the first connection part 13.
  • the first additional connection part 23 is rotatable relative to the first connection part 13 around the second rotation axis PR2.
  • the second additional connection part 24 is used to connect the second connection part 14.
  • the second additional connection part 24 is rotatable relative to the second connection part 14 around the second rotation axis PR2.
  • the second gear 82 is set to the second additional connection part 24.
  • the locking shaft 73 Before installing the guide wire, the locking shaft 73 is first rotated so that the locking shaft through groove 73C is aligned with the above-mentioned through grooves 41C, 81C, 13C, 23C, 14C and 24C, that is, aligned with the clamping channel 74, and then the guide wire can be easily placed in the complete channel composed of the clamping channel 74 and all the through grooves. After the guide wire is placed, the locking shaft 73 is rotated again so that the locking shaft slot 73C is not aligned with the above-mentioned slots 41C, 81C, 13C, 23C, 14C and 24C (for example, rotated 90 degrees or 180 degrees, as shown in FIG. 14 ).
  • the guide wire is in the delivery device 100
  • the two ends of the guide wire are locked in the channel (specifically, locked in the first connecting portion through groove 13C and/or the second connecting portion through groove 14C), so that the guide wire cannot be removed. This can ensure that the guide wire will not escape from the delivery device 100 during the rotation of the second base 20. If the guide wire needs to be removed, it is only necessary to rotate the locking shaft 73 again so that the locking shaft through groove 73C is aligned with the other through grooves 41C, 81C, 13C, 23C, 14C and 24C.
  • the conveying device 400 includes two clamping assemblies 450 (e.g., 450A and 450B), and the two clamping assemblies 450 are arranged at intervals along the conveying direction DF of the guide wire.
  • the conveying device 400 is constructed so that the two clamping assemblies can reciprocately approach and move away from each other along the conveying direction DF.
  • the first transmission assembly 40 is used to enable the clamping assembly 450 to open and close, and to enable the clamping assembly 450 to move relative to the base assembly 410 along the conveying direction DF, so that the structure of the conveying device 400 is more compact.
  • the first transmission assembly 40 is used to enable the two clamping assemblies 450A and 450B to open and close alternately, and to enable the two clamping assemblies 450A and 450B to reciprocately approach and move away from each other relative to the base assembly 410 along the conveying direction DF.
  • the clamping assembly 450, the first transmission assembly 40 and the second transmission assembly 80 are arranged on one side of the base assembly 410, and the first drive assembly 30 and the second drive assembly 60 are arranged on the base assembly 410. The other side of the component 410.
  • the clamping assembly 450 includes a clamping assembly seat 420 and a clamping mechanism 401.
  • the clamping assembly seat 420 is provided with a base assembly 410 and can reciprocate relative to the base assembly 410 along the conveying direction DF.
  • the clamping mechanism 401 is provided to the clamping assembly seat 420. At least part of the clamping mechanism 401 moves synchronously with the clamping assembly seat 420 relative to the base assembly 410 along the conveying direction DF.
  • the clamping mechanism 401 includes a clamping channel 74 and has a closed state and an open state. In a second embodiment, all parts of the clamping mechanism 401 move synchronously with the clamping assembly seat 420 relative to the base assembly 410 along the conveying direction DF.
  • the second clamping mechanism 440 is reciprocatable relative to the first clamping mechanism 430 in a direction perpendicular to the conveying direction DF, and is used to apply a squeezing force to the first clamping mechanism 430 to reduce the width of the clamping channel 74, or to cancel the squeezing force to increase the width of the clamping channel 74.
  • the conveying device 400 is constructed so that the first conveying transmission part 44 acts on the second clamping mechanism 440 to move the second clamping mechanism 440 relative to the first clamping mechanism 430 in a direction perpendicular to the conveying direction DF to change the squeezing force of the second clamping mechanism 440 on the first clamping mechanism 430.
  • the first clamping mechanism 430 is generally cylindrical in shape, and the axis of the cylinder is the first The second rotation axis PR2.
  • the second clamping mechanism 440 is located at the periphery of the first clamping mechanism 430.
  • the second clamping mechanism 440 is configured to be contractible and expandable relative to the first clamping mechanism 430 along the radial direction DR of the first clamping mechanism 430, wherein the radial direction DR is perpendicular to the conveying direction DF.
  • the first conveying transmission part 44 is used to move the second clamping mechanism 440 relative to the first clamping mechanism 430 along the radial direction DR.
  • the second clamping mechanism 440 contracts relative to the first clamping mechanism 430, the second clamping mechanism 440 applies a squeezing force to the first clamping mechanism 430 along the radial direction DR of the first clamping mechanism 430 to reduce the width of the clamping channel 74, so that the first clamping mechanism 430 is in a closed state; when the second clamping mechanism 440 expands relative to the first clamping mechanism 430, the second clamping mechanism 440 cancels the squeezing force to increase the width of the clamping channel 74, so that the first clamping mechanism 430 is in an open state.
  • the clamping assembly 450 further includes a first elastic component 433 and a second elastic component 442.
  • the first elastic component 433 is connected to the first clamping mechanism 430.
  • the direction of the elastic force of the first elastic component 433 is parallel to the width direction of the clamping channel 74, and is used to increase the width of the clamping channel 74.
  • the first clamping mechanism 430 can be radially expanded under the action of the first elastic component 433, so that the width of the clamping channel 74 is increased.
  • the second elastic component 442 is connected to the second clamping mechanism 440.
  • the direction of the elastic force of the second elastic component 440 is perpendicular to the conveying direction DF, and is used to make the second clamping mechanism 440 apply an extrusion force to the first clamping mechanism 430 along a direction perpendicular to the conveying direction DF to reduce the width of the clamping channel 74.
  • the direction of the elastic force of the second elastic component 440 is parallel to the radial direction DR, so that the second clamping mechanism 440 applies an extrusion force to the first clamping mechanism 430 along the radial direction DR.
  • the first clamping mechanism 430 (430A) includes a first clamping portion 431 and a second clamping portion 432.
  • the first clamping portion 431 and the second clamping portion 432 are connected to the clamping assembly seat 420.
  • the first clamping portion 431 and the second clamping portion 432 both extend along the conveying direction DF.
  • the second clamping portion 432 is arranged opposite to the first clamping portion 431, and the gap between the two forms a clamping channel 74.
  • the first clamping portion 431 and the second clamping portion 432 are both generally configured as semi-cylinders, and the plane side surfaces of the two semi-cylinders passing through the center of the circle are opposite.
  • the two plane side surfaces are parallel to each other, and the direction perpendicular to the plane side surface is the width direction of the clamping channel 74.
  • the first elastic component 433 acts on the first clamping portion 431 and/or the second clamping portion 432 to keep the first clamping portion 431 away from the second clamping portion 432.
  • the first clamping mechanism 430 further includes two ferrule caps 435, which are arranged on the clamping assembly seat 420 and spaced apart along the conveying direction DF.
  • the two clamping side seats 422 are provided with through holes 424 for accommodating the ferrule caps 435
  • the shaft sleeve 423 is sleeved on the outer periphery of the ferrule caps 435.
  • the shaft sleeve 423 and the ferrule cap 435 are installed in the through hole 424.
  • the two ends of the first clamping portion 431 along the conveying direction DF are respectively located in the two ferrule caps 435.
  • the two ends of the second clamping portion 432 along the conveying direction DF are also respectively located in the two ferrule caps 435.
  • the two ferrule caps 435C and 435D relatively connect the first clamping portion 431 and the second clamping portion 432 into a whole.
  • the shaft sleeve 423 is also regarded as a part of the
  • the first elastic component 433 includes at least one torsion spring 433, one torsion arm of the torsion spring 433 abuts against the collar cap 435, and the other torsion arm abuts against the side of the first clamping portion 431 that faces the second clamping portion 432 or the side of the second clamping portion 432 that faces the first clamping portion 431, so as to make the first clamping portion 431 away from the second clamping portion 432.
  • the first elastic component 433 includes four torsion springs 433B, 433C, 433D and 433E, and the four torsion springs 433 are respectively mounted to the collar cap 435 through torsion spring shafts 433A.
  • the torsion spring 433B is mounted to the collar cap 435C, one torsion arm of the torsion spring 433B abuts against the collar cap 435C (e.g., the end wall of the collar cap 435C), and the other torsion arm abuts against the first clamping portion 431.
  • the torsion spring 433C is mounted to the ferrule cap 435C, with one torsion arm against the ferrule cap 435C (e.g., the end wall of the ferrule cap 435C) and the other torsion arm against the second clamping portion 432.
  • the first clamping portion 431 includes a first clamping member 436 and a first key 437.
  • the two ends of the first clamping member 436 along the conveying direction DF are respectively located in the two ferrule caps 435.
  • the surface of the first clamping member 436 for facing the second clamping portion 432 is provided with a first key groove 436A extending along the conveying direction DF.
  • the first key 437 is provided in the first key groove 436A.
  • the first key 437 includes an elastic member.
  • the second clamping portion 432 includes a second clamping member 438 and a second key 439. The two ends of the second clamping member 438 along the conveying direction DF are respectively located in the two ferrule caps 435.
  • the second clamping member 438 is arranged opposite to the first clamping member 436.
  • the surface of the second clamping member 438 for facing the first clamping portion 431 is provided with a second key groove 438A extending along the conveying direction DF.
  • the second key 439 is provided in the second key groove 438A.
  • the second key 439 includes an elastic member.
  • the second keyway 438A is disposed opposite to the first keyway 436A, so that the first key 437 is disposed opposite to the second key 439, and the gap between the first key 437 and the second key 439 forms the clamping channel 74.
  • the first clamping member 436 and the second clamping member 438 are generally configured as semi-cylinders.
  • the first clamping mechanism 430 further includes an additional spring 434.
  • the additional spring 434 is disposed in the first key slot 436A and is located on the side of the first key 437 facing away from the second key 439.
  • the additional spring 434 extends in the depth direction of the first key slot 436A.
  • the sum of the free height of the additional spring 434 and the height of the first key 437 is less than or equal to the depth of the first key slot 436A.
  • the additional spring 434 is disposed in the second key slot 438A and is located on the side of the second key 439 facing away from the first key 437.
  • the additional spring 434 extends in the depth direction of the second key slot 438A.
  • the sum of the free height of the additional spring 434 and the height of the second key 439 is less than or equal to the depth of the second key slot 438A.
  • the squeezing force overcomes the elastic force of the first elastic component 433, so that the first clamping portion 431 and the second clamping portion 432 are close to each other.
  • the elastic deformability of the first key 437 and the second key 439, as well as the design of the additional spring 434, can enable the first key 437 and the second key 439 to clamp guide wires of different thicknesses.
  • the first clamping mechanism 430 is configured to rotate around the second rotation axis PR2 to achieve twisting of the guide wire.
  • the delivery device 400 is configured to connect the first clamping mechanisms 430 of the two clamping assemblies 450, so that one of the two first clamping mechanisms 430 can rotate around the second rotation axis PR2 relative to the base assembly 410 and the clamping assembly seat 420, thereby driving the other of the two first clamping mechanisms 430 to rotate synchronously around the second rotation axis PR2 relative to the base assembly 410 and the clamping assembly seat 420.
  • the delivery device 400 is configured so that the plug 435A or the socket 435B is rotatable around the second rotation axis PR2 relative to the base assembly 410 and the clamp assembly seat 420.
  • the delivery device 400 is configured so that the socket 435B is rotatable around the second rotation axis PR2 relative to the base assembly 410 and the clamp assembly seat 420.
  • the second drive assembly 60 includes a second motor 61.
  • the second transmission assembly 80 includes a second gear assembly 82 and a fourth gear assembly 84.
  • the second gear assembly 82 is connected to the socket 435B (for example, it is sleeved on the outer periphery of the socket 435B).
  • the fourth gear assembly 84 is connected to the output shaft of the second motor 61 and rotates synchronously with the output shaft of the second motor 61.
  • the fourth gear assembly 84 is meshed with the second gear assembly 82.
  • the second gear assembly 82 and the socket 435B rotate synchronously with the base assembly 410 and the clamping assembly seat 420 around the second rotation axis PR2.
  • the socket 435B is rotatable relative to the base assembly 410 and the clamping assembly seat 420 around the second rotation axis PR2 under the drive of the second motor 61, so that the two first clamping mechanisms 430 rotate synchronously with the base assembly 410 and the clamping assembly seat 420 around the second rotation axis PR2.
  • the second gear assembly 82 is provided with a second gear assembly channel 82C for passing the guide wire.
  • the plug 435A is provided with a plug channel 435E for passing the guide wire.
  • the socket 435B is provided with a socket channel 435F for passing the guide wire.
  • the guide wire can extend through the two clamping assemblies 450 in a straight line.
  • the first clamping mechanism 430 has a symmetrical structure.
  • the second clamping mechanism 440 includes a clamping base 441, a third clamping portion 443, a fourth clamping portion 444 and a clamping transmission portion 470.
  • the clamping base 441 is provided to the clamping assembly seat 420.
  • the third clamping portion 443, the fourth clamping portion 444 and the clamping transmission portion 470 are all provided to the clamping base 441.
  • the third clamping portion 443 is movable relative to the clamping base 441 along the radial direction DR of the first clamping mechanism 430.
  • the clamping base 441 is provided with a first pin 443A, and the first pin 443A extends along the radial direction DR.
  • the third clamping portion 443 is connected to (sleeved on) the first pin 443A and is movable relative to the first pin 443A along the radial direction DR, so that the third clamping portion 443 is movable relative to the clamping base 441 along the radial direction DR.
  • the third clamping portion 443 is located on one side of the first clamping mechanism 430 along the radial direction DR (refer to FIGS. 16 to 18 and 21).
  • the fourth clamping portion 444 is also movable relative to the clamping base 441 in the radial direction DR.
  • the clamping base 441 is provided with a second pin 444A, and the second pin 444A extends in the radial direction DR.
  • the fourth clamping portion 444 is connected to (sleeved on) the second pin 444A and is movable relative to the second pin 444A in the radial direction DR, so that the fourth clamping portion 444 is movable relative to the clamping base 441 in the radial direction DR.
  • the fourth clamping portion 444 is located on the other side of the first clamping mechanism 430 in the radial direction DR (refer to Figures 16 to 18 and Figure 21).
  • the clamping transmission part 470 is movable relative to the clamping base 441 in the radial direction DR.
  • the clamping transmission part 470 is connected to the third clamping part 443 and the fourth clamping part 444 at the same time, and is used to control the third clamping part 443 and the fourth clamping part 444 to approach or move away from each other in the radial direction DR.
  • the clamping transmission part 470 is connected to the first transmission assembly 40, so that the first transmission assembly 40 controls the third clamping part 443 and the fourth clamping part 444 to approach or move away from each other in the radial direction DR through the clamping transmission part 470.
  • the first transmission assembly 40 controls the second clamping mechanism 440 to contract or expand relative to the first clamping mechanism 430 in the radial direction DR through the clamping transmission part 470.
  • the first conveying transmission part 44 is used to make the third clamping part 443 and the fourth clamping part 444 move away from or approach each other in the radial direction DR.
  • the second elastic component 442 is connected between the clamping base 441 and at least one of the clamping transmission portion 470 , the third clamping portion 443 and the fourth clamping portion 444 .
  • the clamping base 441 includes a radial beam 449 extending in the radial direction DR, and the radial beam 449 is provided with a radial groove 449A extending in the radial direction DR.
  • the third clamping portion 443 includes a third rack 445, and the third rack 445 extends in the radial direction DR.
  • the fourth clamping portion 444 includes a fourth rack 446, and the fourth rack 446 extends in the radial direction DR.
  • the third rack 445 and the fourth rack 446 extend through the radial groove 449A and are movable in the radial groove 449A in the radial direction DR.
  • the third clamping portion 443 moves to the right, and the fourth clamping portion 444 moves to the left, and the third clamping portion 443 and the fourth clamping portion 444 approach each other in the radial direction DR, that is, the second clamping mechanism 440 contracts in the radial direction DR, and the second clamping mechanism 440 applies a squeezing force to the first clamping mechanism 430 in the radial direction DR.
  • the clamping rack 471 moves along the radial direction DR toward the second end 476 of the clamping rack (to the right), so that the second spring 442B is compressed.
  • the clamping rack 471 drives the third clamping gear 473 to rotate (clockwise in FIG. 25 ).
  • the third clamping gear 473 drives the third rack 445 to move along the radial direction DR toward the first end 475 of the clamping rack (to the left in FIG. 25 ).
  • the third clamping gear 473 also drives the fourth clamping gear 474 to rotate (counterclockwise in FIG. 25 ).
  • the fourth clamping gear 474 drives the fourth rack 446 to move along the radial direction DR toward the second end 476 of the clamping rack (to the right).
  • the third clamping portion 443 moves to the left and the fourth clamping portion 444 moves to the right, and the third clamping portion 443 and the fourth clamping portion 444 move away from each other along the radial direction DR, that is, the second clamping mechanism 440 expands along the radial direction DR, and the squeezing force applied by the second clamping mechanism 440 to the first clamping mechanism 430 disappears.
  • first radius R1 is greater than the distance between the first rotation axis PR1 and the second protrusion 53A
  • the second radius R2 is less than the distance between the first rotation axis PR1 and the second protrusion 53A.
  • the second elastic component 442 also includes a third spring 447.
  • the third spring 447 extends in the radial direction DR.
  • the third spring 447 is arranged between the third clamping portion 443 and the clamping base 441.
  • the clamping base 441 is provided with a third spring seat 447A, and the third spring 447 is arranged between the third clamping portion 443 and the third spring seat 447A.
  • the second elastic component 442 also includes a fourth spring 448.
  • the fourth spring 448 extends in the radial direction DR.
  • the fourth spring 448 is arranged between the fourth clamping portion 444 and the clamping base 441.
  • the clamping base 441 is provided with a fourth spring seat 448A, and the fourth spring 448 is arranged between the fourth clamping portion 444 and the fourth spring seat 448A.
  • the third spring 447 and the fourth spring 448 are both in a compressed state, which act on the second spring 442.
  • the third clamping portion 443 and the fourth clamping portion 444 are brought close to each other along the radial direction DR, that is, the second clamping mechanism 440 is contracted along the radial direction DR, thereby applying an extrusion force to the first clamping mechanism 430, so that the first clamping mechanism 430 is in a closed state, that is, the clamping assembly 450 is in a closed state.
  • the second spring 442B, the third spring 447 and the fourth spring 448 can be provided separately, or any two of them can be provided, or all three can be provided. That is, the second elastic component 442 includes at least one of the second spring 442B, the third spring 447 and the fourth spring 448.
  • the second elastic component 442 is used to make the third clamping portion 443 and the fourth clamping portion 444 approach each other in the radial direction DR, and the first conveying transmission portion 44 is used to act on (compress) the second elastic component 442 to make the third clamping portion 443 and the fourth clamping portion 444 move away from each other in the radial direction.
  • a guide bevel 443B is provided at the end of the third clamping portion 443 on the side facing the fourth clamping portion 444, and a guide bevel 444B is provided at the end of the fourth clamping portion 444 on the side facing the third clamping portion 443.
  • the two guide bevels are opposite to each other, and a channel with a wide outside and a narrow inside (narrow at the end close to the first clamping mechanism 430 and wide at the opposite end) is formed therebetween, thereby providing a guiding effect when installing the guide wire.
  • the two inclined slots 47 match the two cam portions 44 , thereby achieving the alternate opening and closing and alternate advancing and retreating of the two clamping assemblies 450 .
  • the first transmission assembly 40 periodically acts on the clamping assembly seat 420, so that the clamping assembly seat 420 can move forward and backward reciprocally along the conveying direction DF, and the forward and backward timings of the clamping assembly seats 420 of the two clamping assemblies 450A and 450B are opposite.
  • the conveying device 400 is configured such that when the clamping assembly seat 420 moves forward along the conveying direction DF, the first clamping mechanism 430 is in a closed state; when the clamping assembly seat 420 moves backward along the conveying direction DF, the first clamping mechanism 430 is in an open state.
  • the first clamping mechanism 430 moves synchronously with the clamping assembly seat 420 relative to the base assembly 410 along the conveying direction DF.
  • the conveying device 500 includes two clamping assemblies 550 (e.g., 550A and 550B), and the two clamping assemblies 550 are arranged at intervals along the conveying direction DF of the guide wire.
  • the conveying device 500 is constructed so that the two clamping assemblies can reciprocately approach and move away from each other along the conveying direction DF.
  • the clamping assembly e.g., 550A
  • the clamping assembly e.g., 550B
  • the clamping assembly e.g., 550A
  • the clamping assembly e.g., 550A
  • the clamping assembly 550 includes a clamping assembly seat 520 and a clamping mechanism 501.
  • the clamping assembly seat 520 is provided with a base assembly 510 and is disposed relative to the base assembly 510 along the conveying direction DF.
  • the clamping mechanism 501 is provided to the clamping assembly seat 520. At least part of the clamping mechanism 501 moves synchronously with the clamping assembly seat 520 along the DF conveying direction relative to the base assembly 510.
  • the clamping mechanism 501 includes a clamping channel 74 and has the closed state and the open state.
  • the second drive assembly 60 is used to provide a driving force for rotating the two first clamping mechanisms 430 relative to the base assembly 510 and the clamping assembly seat 520.
  • the second transmission assembly 80 is used to connect the second drive assembly 60 and the socket 435B, and is used to transmit the driving force of the second drive assembly 60 to the socket 435B, so that the two first clamping mechanisms 430 rotate relative to the base assembly 510 around the second rotation axis PR2.
  • the third clamping portion 543 is movable relative to the clamping base 541 along the radial direction DR of the first clamping mechanism 430.
  • the clamping base 541 is provided with a first pin 543A, and the first pin 543A extends along the radial direction DR.
  • the third clamping portion 543 is connected to (sleeved on) the first pin 543A and is movable relative to the first pin 543A along the radial direction DR, so that the third clamping portion 543 is movable relative to the clamping base 541 along the radial direction DR.
  • the third clamping portion 543 is located on one side of the first clamping mechanism 430 along the radial direction DR (refer to Figures 28 to 30).
  • the fourth clamping portion 544 is arranged opposite to the third clamping portion 543, so as to surround the first clamping mechanism together with the third clamping portion 543 on the periphery of the first clamping mechanism 430.
  • the third clamping portion 543 and the fourth clamping portion 544 are both provided with a semi-cylindrical groove for matching the outer peripheral shape of the first clamping mechanism 430.
  • the third clamping portion 543 and the fourth clamping portion 544 are equivalent to surrounding the first clamping mechanism 430 as a whole at the outer periphery of the first clamping mechanism 430 .
  • the clamp connection assembly 575 is provided to the clamp base 541 .
  • the fourth pin 574E is movable in the fourth guide groove 574, so that the fourth clamping portion 544 is movable relative to the clamping assembly seat 520 along the extending direction of the fourth guide groove 574, that is, the fourth clamping portion 544 is movable relative to the clamping assembly seat 520 along the conveying direction DF and the radial direction DR.
  • the clamping assembly 550 further includes a first clamping guide 551 and a second clamping guide 552.
  • the first clamping guide 551 is provided to the clamping base 541, and the second clamping guide 552 is provided to the clamping assembly seat 520 and extends along the conveying direction DF.
  • the first clamping guide 551 is connected to the second clamping guide 552 and is movable relative to the second clamping guide 552 along the conveying direction DF, so that the clamping base 541 is movable relative to the clamping assembly seat 520 along the conveying direction DF, that is, the clamping base 541 is movable relative to the base assembly 510 along the conveying direction DF.
  • first clamping guide 551 and the second clamping guide 552 is configured as a slide rail extending along the conveying direction DF
  • the other of the first clamping guide 551 and the second clamping guide 552 is configured as a slide groove extending along the conveying direction DF
  • the slide rail is arranged in the slide groove and is movable relative to the slide groove along the conveying direction DF.
  • the first clamping guide 551 is configured as a slide groove
  • the second clamping guide 552 is configured as a slide rail.
  • the connecting seat 553 is installed to the slide groove opening of the first clamping guide 551, so that the side walls around the slide groove form a closed structure, so that the second clamping guide 552 will not fall out of the first clamping guide 551 in a direction perpendicular to the conveying direction DF after being inserted into the first clamping guide 551.
  • the clamping connection assembly 575 drives the clamping base 541 to move relative to the clamping assembly seat 520 along the conveying direction DF, and the clamping base 541 drives the third clamping portion 543 and the fourth clamping portion 544 to move relative to the clamping assembly seat 520 (that is, relative to the first clamping mechanism 430) along the conveying direction DF.
  • the third clamping portion 543 moves relative to the clamping assembly seat 520 along the conveying direction DF and also moves relative to the clamping assembly seat 520 along the radial direction DR, that is, the third clamping portion 543 moves relative to the first clamping mechanism 430 along the conveying direction DF and also moves relative to the first clamping mechanism 430 along the radial direction DR.
  • the fourth clamping portion 544 moves relative to the clamping assembly seat 520 along the conveying direction DF, and also moves relative to the clamping assembly seat 520 along the radial direction DR. That is, the fourth clamping portion 544 moves relative to the first clamping mechanism 430 along the conveying direction DF, and also moves relative to the first clamping mechanism 430 along the radial direction DR.
  • the third guide groove 573, the third pin 573E, the fourth guide groove 574 and the fourth pin 574E can be matched in their positions and directions (specifically, the directions of the third guide groove 573 and the fourth guide groove 574), so that when the clamping connection assembly 575 moves relative to the clamping assembly seat 520 (that is, relative to the base assembly 510 and the first clamping mechanism 430) along the conveying direction DF, the third clamping portion 543 and the fourth clamping portion 544 approach each other or move away from each other along the radial direction DR, thereby achieving the clamping or loosening of the first clamping mechanism 430 by the second clamping mechanism 540.
  • the second clamping mechanism 540 switches the clamping or loosening action on the first clamping mechanism 430 (from clamping to loosening, or from loosening to clamping).
  • the clamping assembly seat 520 further includes a third connecting member 571 and a fourth connecting member 572.
  • the third guide groove 573 is provided to the third connecting member 571.
  • the fourth guide groove 574 is provided to the fourth connecting member 572.
  • the third connecting member 571 and the fourth connecting member 572 are arranged side by side along the radial direction DR.
  • the two ends of the third connecting member 571 along the conveying direction DF are respectively clamped in the connecting grooves 527 of the two clamping side seats 422.
  • the two ends of the fourth connecting member 572 along the conveying direction DF are also respectively clamped in the connecting grooves 527 of the two clamping side seats 422.
  • the third guide groove 573 includes a third guide groove first portion 573A and a third guide groove second portion 573B.
  • the third guide groove first portion 573A extends along the conveying direction DF.
  • the third guide groove second portion 573B is connected to the third guide groove first portion 573A.
  • the third guide groove second portion 573B includes a third guide groove second portion first end 573C and a third guide groove second portion second end 573D.
  • the third guide groove second portion first end 573C is connected to the third guide groove first portion 573A.
  • the third guide groove second portion first end 573C and the third guide groove second portion second end 573D are spaced apart along the conveying direction DF and the radial direction DR.
  • the third guide groove second portion first end 573C is located on the inner side relative to the third guide groove second portion second end 573D along the radial direction DR, that is, the third guide groove second portion first end 573C is closer to the second rotation axis PR2 than the third guide groove second portion second end 573D along the radial direction DR.
  • the fourth guide groove 574 includes a fourth guide groove first portion 574A and a fourth guide groove second portion 574B.
  • the fourth guide groove first portion 574A extends along the conveying direction DF.
  • the fourth guide groove second portion 574B is connected to the fourth guide groove first portion 547A.
  • the fourth guide groove second portion 574B includes a fourth guide groove second portion first end 574C and a fourth guide groove second portion second end 574D.
  • the fourth guide groove second portion first end 574C is connected to the fourth guide groove first portion 574A.
  • the fourth guide groove second portion first end 547C and the fourth guide groove second portion second end 574D are spaced apart along the conveying direction DF and the radial direction DR.
  • the fourth guide groove second portion first end 574C is located on the inner side relative to the fourth guide groove second portion second end 574D along the radial direction DR, that is, the fourth guide groove second portion first end 574C is closer to the second rotation axis PR2 than the fourth guide groove second portion second end 574D along the radial direction DR.
  • the third guide groove second part 573B is located on the same side along the conveying direction DF relative to the third guide groove first part 573A and the fourth guide groove second part 574B is located on the same side along the conveying direction DF relative to the fourth guide groove first part 574A.
  • the third guide groove second part 573B is located on the left side along the conveying direction DF relative to the third guide groove first part 573A
  • the fourth guide groove second part 574B is also located on the left side along the conveying direction DF relative to the fourth guide groove first part 574A.
  • the third guide groove second part first end 573C is aligned with the fourth guide groove second part first end 574C along the conveying direction DF.
  • the third guide groove 573 and the fourth guide groove 574 are radially symmetrical about the second rotation axis PR2 (see Figures 28 and 29).
  • the fourth pin shaft 574E is located in the first portion 574A of the fourth guide groove, and the third pin shaft 573E and the fourth pin shaft 574E have a first radial distance along the radial direction DR (it can also be understood that the third clamping portion 543 and the fourth clamping portion 544 have a first radial distance along the radial direction DR);
  • the third clamping portion 543 and the fourth clamping portion 544 are in the second portion 573B of the guide groove
  • the fourth pin shaft 574E is in the second portion 574B of the fourth guide groove, and the third pin shaft 573E and the fourth pin shaft 574E have a second radial distance along the radial direction DR (it can also be understood that the third clamping portion 543 and the fourth clamping portion 544 have a second radial distance along the radial direction DR).
  • the first radial distance is not equal to the second radial distance, for example, the first radial distance is less than the second radial distance. It can be understood that at the first radial distance, the third clamping portion 543 and the fourth clamping portion 544 are close to each other along the radial direction DR, and the second clamping mechanism 540 squeezes the first clamping mechanism 430; at the second radial distance, the third clamping portion 543 and the fourth clamping portion 544 are away from each other along the radial direction DR, and the second clamping mechanism 540 releases the first clamping mechanism 430.
  • the conveying device 500 is constructed so that the clamping base 541 is movable relative to the first clamping mechanism 430 along the conveying direction DF, and when the clamping base 541 moves relative to the first clamping mechanism 430 along the conveying direction DF, the third clamping portion 543 and the fourth clamping portion 544 are close to each other or away from each other along the radial direction DR. That is, when the clamping base 541 moves relative to the first clamping mechanism 430 along the conveying direction DF, the distance between the third clamping portion 543 and the fourth clamping portion 544 along the radial direction DR changes.
  • the position of the clamping base 541 relative to the first clamping mechanism 430 along the conveying direction DF changes, so that the distance between the third clamping portion 543 and the fourth clamping portion 544 along the radial direction DR changes.
  • the clamping base 541 is movable between a first axial position and a second axial position relative to the first clamping mechanism 430 along the conveying direction DF (the first axial position is different from the second axial position), and the distance between the third clamping portion 543 and the fourth clamping portion 544 along the radial direction DR is changeable between a first radial distance and a second radial distance (the first radial distance is different from the second radial distance).
  • the clamping base 541 When the clamping base 541 is adapted from one of the first axial position and the second axial position to the other relative to the first clamping mechanism 430 along the conveying direction DF, the distance between the third clamping portion 543 and the fourth clamping portion 544 along the radial direction DR is changed from one of the first radial distance and the second radial distance to the other.
  • the pin shaft (the third pin shaft 573E and the fourth pin shaft 574E) can be set on the connecting member (the third connecting member 571 and the fourth connecting member 572), and the guide groove (the third guide groove 573 and the fourth guide groove 574) can be set on the clamping part (the third clamping part 543 and the fourth clamping part 544); or one pin shaft can be set on the connecting member and the corresponding guide groove can be set on the clamping part, and the other pin shaft can be set on the clamping part and the corresponding guide groove can be set on the connecting member.
  • the conveying device 500 is configured so that the two clamping assemblies 550 can reciprocate away from and approach each other along the conveying direction DF.
  • the third clamping portion 543 and the fourth clamping portion 544 of the clamping assembly 550 advancing along the conveying direction DF are The third clamping portion 543 and the fourth clamping portion 544 of the clamping assembly 550 approach each other along the radial direction DR and move away from each other along the radial direction DR while retreating along the conveying direction DF;
  • the third clamping portion 543 and the fourth clamping portion 544 of the clamping assembly 550 advancing along the conveying direction DF approach each other along the radial direction DR while the third clamping portion 543 and the fourth clamping portion 544 of the clamping assembly 550 retreating along the conveying direction DF move away from each other along the radial direction DR.
  • the first transmission assembly 40 is used to enable the two clamping assemblies 550A and 550B to open and close alternately, and to enable the two clamping assemblies 550A and 550B to move back and forth toward and away from each other relative to the base assembly 510 along the conveying direction DF.
  • the first transmission assembly 40 periodically acts on the clamping connection assembly 575 of the second clamping mechanism 540, so that the third clamping portion 543 and the fourth clamping portion 544 move back and forth toward and away from each other along the radial direction DR, and the contraction and expansion timings of the second clamping mechanisms 540 of the two clamping assemblies 550A and 550B are opposite.
  • the conveying device 500 is configured such that when the clamping assembly seat 520 moves forward along the conveying direction DF, the first clamping mechanism 430 is in a closed state; when the clamping assembly seat 520 moves backward along the conveying direction DF, the first clamping mechanism 430 is in an open state.
  • the first clamping mechanism 430 moves synchronously with the clamping assembly seat 520 relative to the base assembly 510 along the conveying direction DF.
  • the first transmission assembly 40 includes a first transmission body 42A, which is provided to the base assembly 510.
  • the first transmission body 42A is simultaneously connected to the two clamping assemblies 550 so that the two clamping assemblies 550 are alternately opened and closed and reciprocally moved away from and close to each other along the conveying direction DF.
  • the first transmission body 42A is simultaneously connected to and acts on the two clamping assemblies 550.
  • the clamping connection component 575 is connected to the first conveying transmission part 44A, and the conveying device 500 is constructed so that the clamping connection component 575 can move back and forth relative to the clamping component seat 520 along the conveying direction DF under the action of the first conveying transmission part 44A, thereby driving the clamping base 541 to move synchronously relative to the clamping component seat 520 and the first clamping mechanism 430 along the conveying direction DF.
  • the second conveying transmission part 47 acts on the clamping component seat 520, which is used to make the clamping component seat 520 reciprocate relative to the base assembly 510 along the conveying direction DF.
  • the second conveying transmission part 47 is configured as an inclined groove, which is exactly the same as in the first and second embodiments.
  • the inclined groove 47 is configured as an annular through groove provided on the outer peripheral surface of the first rotating shaft 42A, and the extending direction of the inclined groove 47 is not perpendicular to the first rotation axis PR1.
  • the inclined groove 47 is connected to the clamping assembly seat 520.
  • the clamping assembly 550 also includes a connecting assembly 54. One end of the connecting assembly 54 is connected to the clamping assembly seat 520, and the other end of the connecting assembly 54 is accommodated in the inclined groove 47.
  • the second clamping mechanism 540 is relatively to the left relative to the first clamping mechanism 430 along the conveying direction DF, and the third clamping part 543 and the fourth clamping part 544 are relatively far away from each other along the radial direction DR.
  • the conveying device 500 is constructed so that the relative positions of the additional groove 44A and the inclined groove 47 along the conveying direction DF match the third guide groove 573 and the fourth guide groove 574 (specifically, the shape of the guide groove, such as the positional relationship between the first portion and the second portion), so that when the first circumferential portion of the first rotating shaft 42A is toward the clamping assembly 550, the distance between the third clamping portion 543 and the fourth clamping portion 544 along the radial direction DR is different from the distance between the third clamping portion 543 and the fourth clamping portion 544 along the radial direction DR when the second circumferential portion of the first rotating shaft 42A is toward the clamping assembly 550.
  • the third guide groove 573 and the fourth guide groove 574 specifically, the shape of the guide groove, such as the positional relationship between the first portion and the second portion
  • the inclined grooves 47 of the two conveying transmission components 43A are located in the middle of the additional grooves 44A of the two conveying transmission components 43A, so that when the clamping component 550 is moved the same distance along the conveying direction DF, the entire length of the first rotating shaft 42A can be reduced, that is, the size of the conveying device 500 can be reduced.
  • the additional grooves 44A of the two conveying transmission components 43A are located in the middle of the inclined grooves 47 of the two conveying transmission components 43A. In this way, the first rotating shaft 42A can have a symmetrical structure, and the two clamping components 550 can have mutually symmetrical structures, so that the product processing is simple.
  • the clamping connection assembly 575 includes a clamping connection shaft 576 and a clamping bearing 577.
  • the clamping connection shaft 576 is provided to the clamping base 541 and extends in a direction perpendicular to the first rotation axis PR1 (e.g., extends in a radial direction DR).
  • the clamping bearing 577 is sleeved on the clamping connection shaft 576, and the outer ring of the clamping bearing 577 is used to contact the groove wall of the additional groove 44A, thereby reducing the friction between the clamping connection assembly 575 and the additional groove 44A.

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un dispositif de mise en place et un système de robot chirurgical. Le dispositif de mise en place comprend deux ensembles de serrage et un premier corps de transmission. Les ensembles de serrage présentent un état fermé de serrage d'un fil-guide et/ou d'un cathéter et un état ouvert de libération de fil-guide et/ou de cathéter. Le premier corps de transmission est relié aux deux ensembles de serrage, de sorte que ces derniers peuvent s'ouvrir et se fermer et effectuer un mouvement de va-et-vient dans le sens de l'acheminement du fil-guide et/ou du cathéter. Les deux ensembles de serrage se rapprochent et s'éloignent l'un de l'autre dans un mouvement de va-et-vient dans la direction de la mise en place, les ensembles de serrage étant à l'état fermé lorsqu'ils avancent dans la direction de la mise en place, et à l'état ouvert lorsqu'ils reculent dans la direction de la mise en place.
PCT/CN2023/142061 2022-12-30 2023-12-26 Dispositif de mise en place et système de robot chirurgical Ceased WO2024140719A1 (fr)

Applications Claiming Priority (12)

Application Number Priority Date Filing Date Title
CN202211740898.7 2022-12-30
CN202211740898.7A CN118303999A (zh) 2022-12-30 2022-12-30 输送装置和手术机器人系统
CN202211728646.2 2022-12-30
CN202211739223.0A CN118303998A (zh) 2022-12-30 2022-12-30 输送装置和手术机器人系统
CN202211730809.0A CN118304547A (zh) 2022-12-30 2022-12-30 输送装置和手术机器人系统
CN202211731976.7A CN118303995A (zh) 2022-12-30 2022-12-30 输送装置和手术机器人系统
CN202211728646.2A CN118303994A (zh) 2022-12-30 2022-12-30 输送装置和手术机器人系统
CN202211731843.X 2022-12-30
CN202211731843.XA CN118304548A (zh) 2022-12-30 2022-12-30 输送装置和手术机器人系统
CN202211730809.0 2022-12-30
CN202211731976.7 2022-12-30
CN202211739223.0 2022-12-30

Publications (1)

Publication Number Publication Date
WO2024140719A1 true WO2024140719A1 (fr) 2024-07-04

Family

ID=91716516

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2023/142061 Ceased WO2024140719A1 (fr) 2022-12-30 2023-12-26 Dispositif de mise en place et système de robot chirurgical

Country Status (1)

Country Link
WO (1) WO2024140719A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN119950927A (zh) * 2025-01-27 2025-05-09 哈尔滨工业大学 一种支持快速更换的导管输送机构及使用该机构的力感知气管插管机器人

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103157170A (zh) * 2013-02-25 2013-06-19 中国科学院自动化研究所 一种基于两点夹持的血管介入手术导管或导丝操纵装置
CN107822711A (zh) * 2017-09-28 2018-03-23 济南大学 一种微创介入手术机器人的导丝介入装置
US20190070391A1 (en) * 2017-09-05 2019-03-07 Andrew DYALL Catheter and guidewire advancement device
CN113545853A (zh) * 2021-07-20 2021-10-26 深圳睿心智能医疗科技有限公司 介入手术机器人及其器械递送模块
CN114146291A (zh) * 2021-12-08 2022-03-08 上海神玑医疗科技有限公司 血管用导丝介入装置
CN114191092A (zh) * 2021-11-10 2022-03-18 深圳市爱博医疗机器人有限公司 一种介入手术机器人从端递送装置
CN115429443A (zh) * 2022-09-30 2022-12-06 上海暖阳医疗器械有限公司 一种介入手术机器人系统

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103157170A (zh) * 2013-02-25 2013-06-19 中国科学院自动化研究所 一种基于两点夹持的血管介入手术导管或导丝操纵装置
US20190070391A1 (en) * 2017-09-05 2019-03-07 Andrew DYALL Catheter and guidewire advancement device
CN107822711A (zh) * 2017-09-28 2018-03-23 济南大学 一种微创介入手术机器人的导丝介入装置
CN113545853A (zh) * 2021-07-20 2021-10-26 深圳睿心智能医疗科技有限公司 介入手术机器人及其器械递送模块
CN114191092A (zh) * 2021-11-10 2022-03-18 深圳市爱博医疗机器人有限公司 一种介入手术机器人从端递送装置
CN114146291A (zh) * 2021-12-08 2022-03-08 上海神玑医疗科技有限公司 血管用导丝介入装置
CN115429443A (zh) * 2022-09-30 2022-12-06 上海暖阳医疗器械有限公司 一种介入手术机器人系统

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN119950927A (zh) * 2025-01-27 2025-05-09 哈尔滨工业大学 一种支持快速更换的导管输送机构及使用该机构的力感知气管插管机器人

Similar Documents

Publication Publication Date Title
WO2024140719A1 (fr) Dispositif de mise en place et système de robot chirurgical
US20080023974A1 (en) Joint apparatus and hand apparatus for robot using the same
AU2001276878B2 (en) Method and apparatus for forming a heart valve wireform
US12343096B2 (en) Surgical instrument and operation robot
JP2021053368A (ja) 内視鏡用装置
JPH0573940B2 (fr)
US6263755B1 (en) Robotic manipulator and method
US9918801B2 (en) Treatment device
CN103009376A (zh) 一种空间三转动并联机构
US8858572B2 (en) Endoscopic stitching machine
CN118529172A (zh) 下肢组件及人形机器人
CN118304548A (zh) 输送装置和手术机器人系统
CN118304547A (zh) 输送装置和手术机器人系统
CN118303999A (zh) 输送装置和手术机器人系统
CN214565781U (zh) 四足机器人通用的限位机构及四足机器人
CN118303995A (zh) 输送装置和手术机器人系统
CN116370032B (zh) 多自由度手术器械活动关节、转向机构、手术器械及方法
CN115227946B (zh) 基于并联机构介入手术导丝推进装置
WO2024114468A1 (fr) Mécanisme de transmission
JPS59113322A (ja) ２軸端部間のボ−ル型伝動装置
CN216104548U (zh) 输送装置和具有其的介入设备
CN118303998A (zh) 输送装置和手术机器人系统
CN112503070B (zh) 一种弹性连接件的加工方法
CN214549586U (zh) 一种闭合器镊体推拉杆双连杆动力组件
EA032241B1 (ru) Скручивающее устройство для проволоки для изготовления мюзле, предназначенных для бутылок для игристых вин, и станок для изготовления мюзле

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 23910642

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE