WO2025001426A1 - Clamping system - Google Patents

Abstract

The present invention provides a clamping system, comprising a clamping mechanism, wherein the clamping mechanism comprises a first clamping block, a second clamping block and a first elastic member; a first through groove extending in a first direction is formed in the first clamping block; the second clamping block can undergo relative motion in a second direction perpendicular to the first direction with respect to the first clamping block; a second through groove extending through in the first direction is formed in the second clamping block; the first elastic member is located between the first clamping block and the second clamping block. When the second clamping block moves in the positive direction of the second direction, the overlapping area of the second through groove and the first through groove increases, and the first elastic member stores elastic potential energy; and when the first elastic member releases the elastic potential energy, the first elastic member drives the second clamping block to move in the negative direction of the second direction, and the overlapping area of the second through groove and the first through groove is reduced. The clamping system can clamp a delivery system in the medical field, is easy and convenient to operate, takes little time, and does not cause angular deviation of the delivery system.

Description

A clamping system Technical Field

The invention belongs to the technical field of medical devices, and in particular relates to a clamping system.

Background Art

In recent years, the incidence of valvular regurgitation has been increasing. The methods for treating valvular regurgitation mainly include open-chest surgery and minimally invasive interventional surgery. Open-chest surgery is very traumatic to patients, while minimally invasive interventional surgery is less traumatic and patients recover faster after surgery. Therefore, minimally invasive interventional surgery is increasingly widely used.

At present, the research and development of minimally invasive interventional surgery is mostly focused on the delivery system for valve repair, and not much attention is paid to the clamping device for fixing the delivery system. The optimization of the clamping device also has an important effect on improving the effect of minimally invasive interventional surgery. This is because the delivery system generally includes a multi-layer catheter and multiple control handles. When the delivery system delivers the implant to the heart valve position via the vein, the control handle is required to control the catheter in multiple planes and angles so that the implant can be accurately positioned. In this process, a clamping device is required to clamp the delivery system to maintain the position and angle of the delivery system when necessary.

The clamping device and delivery system used in the prior art generally adopt a fixing solution of screwing, which means that every time the angle of the delivery system needs to be adjusted, the screw needs to be loosened, then adjusted, and then screwed again after the adjustment is completed. The operation is complicated and time-consuming, and it is easy to miss the capture time of the implant. In addition, the angle of the delivery system may be offset during the process of re-tightening the screw, making it difficult for the implant to accurately reach the lesion site. In addition, due to the structural limitations of the delivery system, the current clamping device cannot clamp the delivery system at any position of the system, which in turn causes the delivery system to be unable to be fixed at any position.

Summary of the invention

The object of the present invention is to provide a clamping system, which aims to simplify the operation steps of the conveying system when adjusting the angle, shorten the operation time, and avoid the angle deviation of the conveying system after the angle adjustment.

To achieve the above-mentioned object, the present invention provides a clamping system, including a clamping mechanism, wherein the clamping mechanism includes: a first clamping block having an inner cavity; a first through groove extending through along a first direction is provided on the first clamping block, and the first through groove partially overlaps with the inner cavity; a second clamping block is at least partially disposed in the inner cavity and can generate relative movement with the first clamping block along a second direction, and the second direction is perpendicular to the first direction; and a first through groove is provided on the second clamping block. A second through groove extending through the first direction, the second through groove being capable of at least partially overlapping with the first through groove; and a first elastic member being arranged between the first clamping block and the second clamping block; the clamping mechanism being configured such that when the second clamping block moves relative to the first clamping block along the positive direction of the second direction under the driving force of an external force, the overlapping area between the second through groove and the first through groove increases, and the first elastic member stores elastic potential energy; when the first elastic member releases the elastic potential energy, the first elastic member drives the second clamping block to move relative to the first clamping block along the negative direction of the second direction, and reduces the overlapping area between the second through groove and the first through groove.

Optionally, the first through groove includes a first clamping portion and a first opening portion located on one side of the first clamping portion, the first opening portion and the first clamping portion are arranged along a third direction, and the first opening portion extends through along the third direction, and the third direction is perpendicular to the first direction and the second direction; the second through groove includes a second clamping portion and a second opening portion located on one side of the second clamping portion, the second opening portion and the second clamping portion are arranged along the third direction, and the second opening portion extends through along the third direction; the second clamping portion is used to at least partially overlap with the first clamping portion, and the second opening portion is used to at least partially overlap with the first opening portion.

Optionally, the clamping mechanism is used to be connected to a guiding mechanism, and the clamping mechanism also includes a locking member, which is used to selectively lock the clamping mechanism and the guiding mechanism or release the lock between the clamping mechanism and the guiding mechanism; when the locking member locks the clamping mechanism and the guiding mechanism, the clamping mechanism is prevented from moving along the first direction on the guiding mechanism, and when the locking member releases the lock between the clamping mechanism and the guiding mechanism, the clamping mechanism is allowed to move along the first direction on the guiding mechanism.

Optionally, the clamping mechanism also includes a connecting part, which includes a base, a first limiting protrusion and a second limiting protrusion. The base is connected to the first clamping block, and the first limiting protrusion and the second limiting protrusion are respectively located on opposite sides of the base in a third direction. The first limiting protrusion and the second limiting protrusion are used to limit the clamping mechanism to the guide mechanism.

Optionally, the locking member includes a pressure block, a first driving portion and a second elastic member; the pressure block is movably arranged on the base, the first driving portion is arranged on the base, and is used to drive the pressure block to move to a locking position along the positive direction of the second direction; the second elastic member is arranged between the pressure block and the base, and is configured to store elastic potential energy when the pressure block moves in the positive direction of the second direction; the second elastic member is also configured to drive the pressure block to move to an unlocking position along the negative direction of the second direction when releasing the elastic potential energy; when the pressure block is in the locking position, the pressure block protrudes from the base, and the locking member can lock the clamping mechanism and The guiding mechanism.

Optionally, the first driving part is located on a side of the pressing block close to the first clamping block, and the first driving part is movably connected to the base. The first driving part is configured to move under the action of an external force and drive the pressing block to move in a positive direction of the second direction, or allow the second elastic member to release elastic potential energy.

Optionally, the axis of the first driving part extends along a third direction, and the third direction is perpendicular to the first direction and the second direction; the first driving part is configured to be able to rotate around its axis, and a driving groove is provided on the side wall of the first driving part, and the groove wall of the driving groove contacts one end of the pressure block close to the first clamping block; when the first driving part rotates along a fourth direction under the action of an external force, the first driving part drives the pressure block to move in the positive direction of the second direction, and when the first driving part rotates along a fifth direction under the action of an external force, the second elastic member releases elastic potential energy, and the fifth direction is opposite to the fourth direction.

Optionally, a transmission ramp is provided at one end of the pressure block close to the first clamping block, and the distance from the transmission ramp to the first clamping block gradually decreases along the positive direction of the third direction, and the third direction is perpendicular to the first direction and the second direction; the first driving part is configured to be able to perform reciprocating linear motion along the third direction relative to the base; a driving ramp is provided on the first driving part, and the distance from the driving ramp to the first clamping block gradually decreases along the positive direction of the third direction, and the driving ramp is partially in contact with the transmission ramp; when the first driving part moves along the positive direction of the third direction under the action of external force, the first driving part drives the pressure block to move along the positive direction of the second direction, and when the first driving part moves along the negative direction of the third direction under the action of external force, the second elastic member releases elastic potential energy.

Optionally, the first limiting protrusion is connected to the base and remains relatively stationary with the base, and the second limiting protrusion can move relative to the base; the clamping mechanism also includes an adjusting member, which is connected to the second limiting protrusion; the adjusting member is configured to drive the second limiting protrusion to move relative to the base, and to make the end of the second limiting protrusion away from the first limiting protrusion approach or move away from the base, so as to change the maximum distance between the second limiting protrusion and the first limiting protrusion.

Optionally, the clamping mechanism also includes a shell, which wraps a partial structure of the connecting part, and the adjusting member includes a second driving part and a third elastic member, and the second driving part is movably connected to the shell; the third elastic member connects the base and the second limiting protrusion, and the second driving part is connected to the second limiting protrusion; or, the third elastic member connects the second driving part and the second limiting protrusion; when the second driving part moves under the action of external force, the second driving part drives the second limiting protrusion to move and causes the second limiting protrusion to deviate from the One end of the first limiting protrusion is close to the base so that the maximum distance between the second limiting protrusion and the first limiting protrusion is reduced, and the third elastic member stores elastic potential energy; when the third elastic member releases the elastic potential energy, the third elastic member drives the second limiting protrusion to move, and makes the end of the second limiting protrusion away from the first limiting protrusion away from the base, and also drives the second driving part to move in the opposite direction and reset.

Optionally, the third elastic member connects the base and the second limiting protrusion; the second driving portion is connected to the second limiting protrusion, and the second driving portion is slidably connected to the shell, and the second driving portion is configured to be able to move in the third direction relative to the shell in a direction close to or away from the base; when the second driving portion moves in a direction close to the base under the drive of an external force, the second driving portion drives the second limiting protrusion to move in a direction close to the base; when the third elastic member releases its elastic potential energy, the third elastic member drives the second limiting protrusion to move in a direction away from the first limiting protrusion, and drives the second driving portion to move in a direction away from the first limiting protrusion.

Optionally, the third elastic member connects the base and the second limiting protrusion; the second driving part includes a force-bearing rod and a transmission rod connected at an angle, the second driving part is rotatably connected to the shell through a central axis at the junction of the force-bearing rod and the transmission rod, and the transmission rod is connected to the second limiting protrusion; when the second driving part rotates around the central axis along a sixth direction under the action of an external force, the second driving part drives the second limiting protrusion to rotate around the central axis along the sixth direction, and makes the end of the second limiting protrusion away from the first limiting protrusion move in a direction close to the base, and makes the third elastic member store elastic potential energy; when the third elastic member releases the elastic potential energy, the third elastic member drives the second limiting protrusion and the second driving part to rotate around the central axis along a seventh direction, and makes the end of the second limiting protrusion away from the first limiting protrusion move in a direction away from the base; the seventh direction is opposite to the sixth direction.

Optionally, the third elastic member connects the second driving portion and the second limiting protrusion, and the second limiting protrusion is rotatably connected to the shell; the second driving portion is rotatably connected to the shell; when the second driving portion rotates along the sixth direction under the action of external force, the second driving portion drives the second limiting protrusion to rotate along the sixth direction so that the end of the second limiting protrusion away from the first limiting protrusion moves in a direction close to the base, and the third elastic member stores elastic potential energy; when the third elastic member releases the elastic potential energy, the third elastic member drives the second limiting protrusion and the second driving portion to rotate along the seventh direction, and the end of the second limiting protrusion away from the first limiting protrusion moves in a direction away from the base; the seventh direction is opposite to the sixth direction.

Optionally, the clamping system also includes the guide mechanism, which includes a guide seat and two limit blocks, and the guide seat is provided with a guide groove extending along the first direction; the two limit blocks both extend along the first direction, the two limit blocks are arranged at intervals in the third direction, and each of the limit blocks is connected to a groove wall of the guide groove; the maximum dimension of the guide groove in the third direction is greater than or equal to the maximum width of the connecting portion, and the distance between the two limit blocks is less than the maximum width of the connecting portion; the width of the base is equal to the maximum distance between the first limit protrusion and the second limit protrusion; when the locking member locks the clamping mechanism and the guide mechanism, the first limit protrusion abuts against one limit block, the second limit protrusion abuts against the other limit block, and the pressing block abuts against the groove bottom of the guide groove; when the locking member releases the locking between the clamping mechanism and the guide mechanism, the connecting portion and the guide groove are clearance-matched.

Compared with the prior art, the clamping system of the present invention has the following advantages:

The aforementioned clamping system includes a clamping mechanism, which includes a first clamping block, a second clamping block and a first elastic member; the first clamping block has an inner cavity, and the first clamping block is provided with a first through groove extending through in a first direction, and the first through groove partially overlaps with the inner cavity; the second clamping block is at least partially arranged in the inner cavity, and can generate relative movement with the first clamping block along a second direction, and the second direction is perpendicular to the first direction; the second clamping block is provided with a second through groove extending through in the first direction, and the second through groove can overlap with the first through groove at least partially; the first elastic member is arranged between the first clamping block and the second clamping block; the clamping mechanism is configured so that when the second clamping block moves relative to the first clamping block along the positive direction of the second direction under the driving of an external force, the overlapping area of the second through groove and the first through groove increases, and the first elastic member stores elastic potential energy, and when the first elastic member releases the elastic potential energy, the first elastic member drives the second clamping block to move relative to the first clamping block along the negative direction of the second direction, and reduces the overlapping area of the second through groove and the first through groove. The clamping system can be used to clamp the delivery system in the medical field, and the delivery system is used to load implants and deliver the implants to a predetermined position in the patient's body, such as a heart valve. During operation, by adjusting the overlapping area of the first through-groove and the second through-groove, the delivery system is placed at the overlap of the two through-grooves, and the delivery system is clamped by the groove walls of the two through-grooves, and the clamping force is provided by the first elastic member. When adjusting the angle of the delivery system, the operator can directly apply force to the delivery system to overcome part of the elastic potential energy of the first elastic member to rotate the delivery system. The operation is simple, convenient and time-saving. When the angle adjustment is completed, the operator stops applying force to the delivery system, and the delivery system immediately stops rotating. At the same time, the clamping mechanism re-clamps the delivery system, and no movement of the components of the clamping mechanism occurs. This causes the conveying system to have an angular deviation.

Furthermore, the clamping system further comprises a guide mechanism, the clamping mechanism is used to be connected to the guide mechanism, and the clamping mechanism further comprises a locking member, the locking member is used to selectively lock the clamping mechanism and the guide mechanism. The guide mechanism or releases the lock between the clamping mechanism and the guide mechanism; when the locking member locks the clamping mechanism and the guide mechanism, the clamping mechanism is prevented from moving along the first direction on the guide mechanism, and when the locking member releases the lock between the clamping mechanism and the guide mechanism, the clamping mechanism is allowed to move along the first direction on the guide mechanism. The guide mechanism is fixed at a specified position, and once the clamping mechanism and the guide mechanism are locked, the position of the clamping mechanism is fixed. In this way, the clamping mechanism can first clamp the position of the conveying system that can be clamped, and then when the locking member releases the lock between the clamping mechanism and the guide mechanism, the clamping mechanism is controlled to move in the first direction to adjust the axial position of the conveying system, thereby achieving the effect of fixing the conveying system at any suitable position in the axial direction.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings are used to better understand the present invention and do not constitute an improper limitation of the present invention.

FIG1 is a schematic structural diagram of a clamping mechanism of a clamping system provided according to an embodiment of the present invention;

FIG2 is a cross-sectional view of the clamping mechanism of the clamping system shown in FIG1 ;

3 is a schematic diagram of a first state of a clamping mechanism of a clamping system provided by an embodiment of the present invention;

4 is a schematic diagram of a second state of a clamping mechanism of a clamping system provided by an embodiment of the present invention;

5 is a schematic diagram of a clamping mechanism clamping and conveying system of a clamping system provided by an embodiment of the present invention;

6 is a schematic structural diagram of a guide mechanism of a clamping system provided according to an embodiment of the present invention;

7 is a cross-sectional view of a guide mechanism of a clamping system provided according to an embodiment of the present invention;

8 is a partial structural schematic diagram of a clamping mechanism of a clamping system provided according to an embodiment of the present invention, in which the first driving portion is rotatably connected to the base, and the pressing block is in an unlocked position;

9 is a partial structural schematic diagram of a clamping mechanism of a clamping system provided according to an embodiment of the present invention, showing that when the first driving portion rotates along the fourth direction, the first driving portion applies a force to the pressing block through the groove wall of the driving groove;

10 is a partial structural schematic diagram of a clamping mechanism of a clamping system provided according to an embodiment of the present invention, in which the first driving portion is rotatably connected to the base, and the pressing block is in a locking position;

FIG11 is a schematic diagram of a partial structure of a clamping mechanism of a clamping system provided according to an embodiment of the present invention, in which the first driving part is slidably connected to the base, and the pressing block is in an unlocking position;

12 is a partial structural schematic diagram of a clamping mechanism of a clamping system provided according to an embodiment of the present invention, in which the first driving portion is slidably connected to the base, and the pressing block is in a locking position;

13 is a partial structural schematic diagram of a clamping system provided according to an embodiment of the present invention, in which the clamping mechanism and the guide mechanism are locked;

14 is a partial structural schematic diagram of a clamping system provided according to an alternative embodiment of the present invention, in which the stopper of the pressing block is located at one end of the pressing block body close to the first clamping block;

15 is a partial structural schematic diagram of a clamping mechanism of a clamping system provided according to an embodiment of the present invention, in which the second driving portion is rotatably connected to the housing, and the third elastic member is connected to the base and the second limiting protrusion;

16 is a partial structural schematic diagram of a clamping mechanism of a clamping system provided according to an embodiment of the present invention, in which the second driving part is rotatably connected to the housing, and the third elastic member is connected to the base and the second limiting protrusion, and the second driving part is rotated in a clockwise direction by an external force;

FIG. 17 is a schematic diagram of a partial structure of a clamping mechanism of a clamping system provided according to an embodiment of the present invention. In the figure, the second driving portion and the second limiting protrusion are both rotatably connected to the housing.

[Description of reference numerals is as follows]:
10-Conveying system;
100-clamping mechanism, 1000-first clamping block, 1010-first through slot, 1011-first clamping portion,
1012-first opening, 2000-second clamping block, 2010-second through groove, 2011-second clamping portion, 2012-second opening, 3000-first elastic member, 4000-pressing block, 5000-locking member, 5100-pressing block, 5110-pressing block body, 5120-stopper, 5101-transmission inclined plane, 5200-first driving portion, 5201-driving groove, 5202-driving inclined plane, 5300-second elastic member, 6000-connecting portion, 6100-base Seat, 6200-first limiting protrusion, 6300-second limiting protrusion, 6310-protrusion body, 6320-engaging block, 7000-adjusting member, 7100-second driving portion, 7110-force rod, 7120-transmission rod, 7130-central axis, 7200-third elastic member, 8000 shell, 9000-fixed axis, 200-guide mechanism, 210-guide seat, 211-guide groove, 220-limiting baffle, 220a-first limiting baffle, 220b-second limiting baffle,

DETAILED DESCRIPTION

The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in this embodiment are only used to illustrate the basic concept of the present invention in a schematic manner. Therefore, the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

In addition, each embodiment of the following description has one or more technical features, but this does not mean that the user of the present invention must implement all the technical features in any embodiment at the same time, or can only implement part or all of the technical features in different embodiments separately. In other words, under the premise that implementation is possible, those skilled in the art can selectively implement part or all of the technical features in any embodiment according to the disclosure of the present invention and according to the design specifications or implementation requirements, or selectively implement a combination of part or all of the technical features in multiple embodiments, thereby increasing the flexibility of the implementation of the present invention.

As used in this specification, the singular forms "one", "an", and "the" include plural objects, and the plural form "a plurality" includes more than two objects, unless the content clearly indicates otherwise. As used in this specification, the term "or" is generally used in a sense that includes "and/or", unless the content clearly indicates otherwise, and the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediate medium, and it can be a connection between two elements or an interactive relationship between two elements. Relational terms such as the terms "first", "second", etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations, nor do they indicate or imply relative importance or implicitly indicate the number of technical features indicated. It should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

The purpose of the present invention is to provide a clamping system, which can clamp a delivery system used to deliver implants in the medical field. After the clamping system is used, the orientation or angle of the delivery system can be directly adjusted in the clamping state. The operation is simple and convenient, and no angle deviation will occur after the angle of the delivery system is adjusted, so that the delivery system can accurately deliver the implant to a predetermined position.

In order to make the purpose, advantages and features of the present invention more clear, the present invention is further described below with reference to the accompanying drawings. It should be noted that the drawings are in very simplified form and in non-precise proportions, and are only used to facilitate and clearly illustrate the purpose of the embodiments of the present invention. The same or similar reference numerals in the drawings represent the same or similar components.

The clamping system includes a clamping mechanism 100 (as marked in Figures 1 to 3). Figure 1 shows a schematic diagram of the structure of the clamping mechanism 100 of the clamping system provided by an embodiment of the present invention, Figure 2 shows a cross-sectional view of the clamping mechanism 100, and Figures 3 and 4 show schematic diagrams of the clamping mechanism 100 in different states. Referring to Figures 1 to 4, the clamping mechanism 100 includes a first clamping block 1000, a second clamping block 2000 and a first elastic member 3000. The first clamping block 1000 has an inner cavity (not marked in the figure). The first clamping block 1000 is also provided with a first through groove 1010 extending through in a first direction, and the first through groove 1010 partially overlaps with the inner cavity. The second clamping block 2000 is at least partially disposed in the inner cavity, and can produce relative movement with the first clamping block 1000 along a second direction, and the second direction is perpendicular to the first direction. The second clamping block 2000 is provided with a second through groove 2010 extending through along the first direction, and the second through groove 2010 can overlap with the first through groove 1010 at least partially. The first elastic member 3000 is arranged between the first clamping block 1000 and the second clamping block 2000. The clamping mechanism 100 is configured such that when the second clamping block 2000 moves relative to the first clamping block 1000 along the positive direction of the second direction under the driving of an external force, the overlapping area of the second through groove 2010 and the first through groove 1010 increases, and the first elastic member 3000 stores elastic potential energy. When the external force is canceled, the first elastic member 3000 releases the elastic potential energy, and drives the second clamping block 2000 to move relative to the first clamping block 1000 along the negative direction of the second direction, and reduces the overlapping area of the second through groove 2010 and the first through groove 1010.

The clamping system is used to clamp a delivery system 10 in the medical field. The delivery system 10 is used to deliver an implant to a predetermined position in a patient's body. In some embodiments, the implant is an artificial heart valve, and the predetermined position is a valve with regurgitation, such as a mitral valve, a tricuspid valve, or an aortic valve. In practice, the clamping mechanism 100 may have a first state as shown in FIG. 3, a second state as shown in FIG. 4, and a clamping state as shown in FIG. 5. The first state may be the initial state of the clamping mechanism 100, in which the second through-groove 2010 partially overlaps with the first through-groove 1010. Then, by applying an external force to the second clamping block 2000, the second clamping block 2000 moves relative to the first clamping block 1000 along the positive direction of the second direction to the second state, and the first elastic member 3000 stores elastic potential energy. When the clamping mechanism 100 is in the second state, the second through-groove 2010 completely overlaps with the first through-groove 1010. At this time, the delivery system 10 can be inserted into the through-groove. Then the external force is canceled, the first elastic member 3000 starts to release elastic potential energy and drives the second clamping block 2000 to move along the negative direction of the second direction. Until the conveying system 10 abuts against the groove wall of the second through groove 2010 and the groove wall of the first through groove 1010 at the same time. It can be understood that when the conveying system 10 abuts against the groove wall of the second through groove 2010 and the first through groove 1010 at the same time, the conveying system 10 hinders the movement of the second clamping block 2000 along the negative direction of the second direction, thereby hindering the first elastic member 3000 from continuing to release elastic potential energy. This prevents the second clamping block 2000 from returning to the initial position, and the first elastic member 3000 still stores elastic potential energy, so the first elastic member 3000 can provide a clamping force and abut against the second clamping block 2000, thereby enabling the second clamping block 2000 and the first clamping block 1000 to clamp the conveying system 10. Since the first elastic member 3000 is a flexible component, when the clamping mechanism 100 clamps the delivery system, if the delivery system 10 needs to be rotated to adjust the angle, the operator can directly apply a force to the delivery system 10 and rotate it. That is to say, the clamping mechanism 100 of the clamping system can allow the delivery system 10 to directly rotate under the action of an external force to achieve angle adjustment when the delivery system 10 is clamped. There is no need to release the clamping mechanism 100 from the delivery system 10, and there is no need to clamp the delivery system 10 again after the angle adjustment, which has the advantage of simple and convenient operation. In addition, once the external force controlling the rotation of the delivery system 10 is cancelled, the delivery system 10 stops rotating immediately. Since the operator will not perform other operations on the clamping mechanism 100, the delivery system 10 will not rotate by mistake under other operations, resulting in the deviation of the adjusted angle. In other words, the application of the clamping system is conducive to the delivery system 10 accurately delivering the implant to the predetermined position and improving the treatment effect.

It is worth noting that the "external force" refers to the force from people or objects other than the components of the clamping system itself, generally the force from the operator. The specific directions of the first direction and the second direction are determined according to actual conditions. Taking the orientation shown in Figure 1 as an example, the first direction is the front-to-back direction, that is, the X direction shown in the figure, and the second direction is the up-and-down direction, that is, the Z direction shown in the figure. Optionally, the first elastic member 3000 is a spring, and the upper end of the spring is connected to the second clamping block 2000, and the lower end of the spring is connected to the first clamping block 1000, so the positive direction of the second direction is the downward direction, and the negative direction of the second direction is the upward direction.

Optionally, a first accommodating cavity is provided at the lower end of the second clamping block 2000. The upper end of the first elastic member 3000 is disposed in the first accommodating cavity, and the lower end of the first elastic member is disposed in the inner cavity. The number of the first elastic members 3000 may be multiple. When the clamping mechanism 100 is in the first state, the bottom of the second clamping block 2000 is placed in the inner cavity, and when the clamping mechanism 100 is in the second state, the bottom of the second clamping block 2000 abuts against the bottom of the inner cavity.

Preferably, please continue to refer to FIG. 1 to FIG. 5 , the first through groove 1010 includes interconnected The first clamping portion 1011 and the first opening portion 1012 are arranged along a third direction. The first opening portion 1012 is arranged at one side of the first clamping portion 1011. Correspondingly, the second through groove 2010 includes a second clamping portion 2011 and a second opening portion 2012 that are interconnected, and the second opening portion 2012 and the second clamping portion 2011 are arranged along the third direction, and the second opening portion 2012 is located at one side of the second clamping portion 2011. The third direction is perpendicular to the first direction and the second direction. In the orientation shown in FIG. 1, the third direction is the left-right direction, that is, the Y direction in the figure. The second clamping portion 2011 is used to at least partially overlap with the first clamping portion 1011, and the second opening portion 2012 is used to at least partially overlap with the first opening portion 1012. Preferably, when the clamping mechanism 100 is in the second state, the second clamping portion 2011 completely overlaps with the first clamping portion 1011, and the second opening portion 2012 completely overlaps with the first opening portion 1012. In this way, when the conveying system 10 is inserted into the clamping mechanism 100, the conveying system 10 can smoothly enter the two clamping portions in the overlapping state from the two opening portions in the overlapping state. When the clamping mechanism 100 clamps the conveying system 10, the conveying system 10 actually abuts against the lower groove bottom of the second clamping portion 2011 and the upper groove bottom of the first clamping portion 1011.

Optionally, one end of the inner cavity away from the first elastic member 3000 is formed as a third opening (not marked in the figure), and a part of the structure of the second clamping block 2000 can enter and exit the inner cavity from the third opening. The clamping mechanism 100 also includes a pressing block 4000, which is placed on one end of the second clamping block 2000 away from the first elastic member 3000 and is located outside the first clamping block 1000. The operator applies a force to the pressing block 4000 to drive the second clamping block 2000 to move in the positive direction of the second direction. The pressing block 4000 has a larger surface, and the operator can have a better hand feel when operating.

Furthermore, the clamping mechanism 100 of the clamping system provided in the embodiment of the present invention can be arranged on a guide mechanism 200 (as marked in Figures 6 and 7), and the clamping mechanism 100 also includes a locking member 5000 (as shown in Figure 8), and the locking member 5000 is used to selectively lock the clamping mechanism 100 and the guide mechanism 200, or release the lock between the clamping mechanism 100 and the guide mechanism 200. When the locking member 5000 releases the clamping mechanism 100 and the guide mechanism 200 (that is, the locking member 5000 does not lock the clamping mechanism 100 and the guide mechanism 200), the clamping mechanism 100 is allowed to move along the first direction on the guide mechanism 200, and when the locking member 5000 locks the clamping mechanism 100 and the guide mechanism 200, the clamping mechanism 100 is prevented from moving along the first direction on the guide mechanism 200, that is, the clamping mechanism 100 is fixed on the guide mechanism 200. In practice, the guide mechanism 200 is fixed at a specified position. In other words, when the clamping mechanism 100 is fixed on the guide mechanism 200, The position of the clamping mechanism 100 in space is fixed. Therefore, after the clamping mechanism 100 clamps the conveying system 10 at the position of the conveying system 10 that allows clamping, the position of the conveying system 10 in space can be adjusted by moving the clamping mechanism 10 on the guide mechanism 200, so that the conveying system 10 can be fixed at any position.

Preferably, the clamping system further comprises the guide mechanism 200. In an optional embodiment, as shown in FIG6 and FIG7 , the guide mechanism 200 comprises a guide seat 210 and two limit baffles 220. The guide seat 210 is provided with a guide groove 211, and the guide groove 211 extends along the first direction. The two limit baffles 220 both extend along the first direction. The two limit baffles 220 are arranged at intervals in the third direction, and each of the limit baffles 220 is connected to a groove wall of the guide groove 211.

It should be noted that, the “the guide groove 211 extends along the first direction” mentioned here means that when the clamping mechanism 100 is arranged on the guide mechanism 200, the extension direction of the guide groove 211 is the first direction. Similarly, the “two limit blocking pieces 220 are arranged at intervals in the third direction” means that when the clamping mechanism 100 is arranged on the guide mechanism 200, the arrangement direction of the two limit blocking pieces 220 is the third direction.

Matching with the guide mechanism 200, as shown in FIGS. 2, 8, 10 to 13, the clamping mechanism 100 further includes a connecting portion 6000, and the connecting portion 6000 includes a base 6100, a first limiting protrusion 6200, and a second limiting protrusion 6300. The base 6000 is connected to the first clamping block 1000, specifically connected to an end of the first clamping block 1000 away from the third opening. The first limiting protrusion 6200 and the second limiting protrusion 6300 are respectively located on two opposite sides of the base 6100 in the third direction. The first limiting protrusion 6200 and the second limiting protrusion 6300 are used to be arranged in the guide groove 211 of the guide mechanism 200, and cooperate with the two limiting blocking pieces 220 to limit the clamping mechanism 100 on the guide mechanism 200.

Specifically, the maximum dimension _L1 of the guide groove 211 in the third direction is greater than or equal to the maximum width of the connecting portion 6000, and the distance _L2 between the two limiting blocks 220 is less than the maximum width of the connecting portion 6000. The width of the connecting portion 6000 is equal to the maximum distance between the first limiting protrusion 6200 and the second limiting protrusion 6300, and the maximum distance between the first limiting protrusion 6200 and the second limiting protrusion 6300 refers to the distance L3 between the surface of the first limiting protrusion 6200 away from the base 6100 and the surface of the second limiting protrusion 6300 away from the base 6100, that is, the width of the connecting portion 6000 is the maximum distance between the first limiting protrusion 6200 and the second limiting protrusion 6300, and refers to the distance _L3 between the surfaces of the first limiting protrusion 6200 and the second limiting protrusion 6300 that are away from each _other . Therefore, after the first limiting protrusion 6200 and the second limiting protrusion 6300 are inserted into the guide groove 211, the two limiting baffles 220 This will prevent the two limiting protrusions from being separated from the guide slot 211, thereby preventing the clamping mechanism 100 from being separated from the guide mechanism 200. The method of inserting the two limiting protrusions into the guide slot 211 will be described in detail later.

Please continue to refer to Figures 8, 10 to 17, the locking member 5000 includes a pressing block 5100, a first driving part 5200 and a second elastic member 5300. The pressing block 5100 is movably arranged on the base 6100, and the pressing block 5100 has a locking position and an unlocking position. The first driving part 5200 is arranged on the base 6100, and is configured to drive the pressing block 5100 to move to the locking position along the positive direction of the second direction. The second elastic member 5300 is arranged between the pressing block 5100 and the base 6000, and is configured to store elastic potential energy when the pressing block 5100 moves along the positive direction of the second direction, and the second elastic member 5300 is also configured to drive the pressing block 5100 to move to the unlocking position along the negative direction of the second direction when releasing the elastic potential energy. The second elastic member 5300 is, for example, a spring.

When the pressing block 5100 is in the locking position, the pressing block 5100 protrudes from the bottom of the base 6000 and can lock the clamping mechanism 100 and the guide mechanism 200. When the pressing block 5100 is in the unlocking position, at the end away from the first clamping block 1000, the pressing block 5100 preferably does not protrude from the bottom of the base 6000, for example, the two are flush.

Please refer to FIG. 13 , when the locking member 5000 locks the clamping mechanism 100 and the guide mechanism 200, the pressing block 5100 abuts against the bottom of the guide groove 211, and the first limiting protrusion 6200 abuts against one of the limiting blocking pieces 220, and the second limiting protrusion 6300 abuts against another of the limiting blocking pieces 220. When the locking member 5000 releases the locking between the clamping mechanism 100 and the guide mechanism 200, the connecting portion 6000 and the guide groove 211 are loosely matched.

Here, the limit block 220 used to abut against the first limit protrusion 6200 is called the first limit block 220a (as marked in Figures 7 and 13), and the limit block 220 used to abut against the second limit protrusion 6300 is called the second limit block 220b (as marked in Figures 7 and 13). To achieve the above purpose, when the end of the first limiting protrusion 6200 away from the first clamping block 1000 is flush with the base 6100, and the end of the second limiting protrusion 6300 away from the first clamping block 1000 is flush with the base 6100, the distance _h1 from the first limiting blocking piece 220a to the guide groove 221 should be greater than the dimension _d1 of the first limiting protrusion 6200 in the second direction, the distance _h2 from the second limiting blocking piece 220b to the guide groove 221 should be greater than the dimension _d2 of the second limiting protrusion 6300 in the second direction, and when the pressing block 5100 is in the locking position, the dimension _d3 of the portion of the pressing block 5100 protruding from the base 6100 in the second direction is equal to the difference between the distance _h1 from the first limiting blocking piece 220a to the guide groove 221 and the dimension _d1 of the first limiting protrusion 6200 in the second direction.

Between the various components of the locking member 5000, and between the various components and the base 6100 Any suitable configuration may be used as long as the aforementioned functions can be achieved.

In a non-limiting embodiment, as shown in FIGS. 8, 10 to 17, the first driving portion 5200 is located on a side of the pressing block 5100 close to the first clamping block 1000, and the first driving portion 5200 is movably connected to the base 6100. The first driving portion 5200 is configured to move under the action of an external force, and drives the pressing block 5100 to move in the positive direction of the second direction, or allows the second elastic member 5300 to release elastic potential energy.

Optionally, as shown in FIGS. 8 to 10 , the axis of the first driving part 5200 extends along the third direction, and the first driving part 5200 is configured to be able to rotate around its axis. A driving groove 5201 is provided on the side wall of the first driving part 5200, and the groove wall of the driving groove 5201 contacts one end of the pressing block 5100 close to the first clamping block 1000. The cross section of the driving groove 5201 is rectangular. In the initial state, the cross section of the driving groove 5201 is in a horizontal state with the long side. When the first driving part 5200 rotates along the fourth direction under the action of an external force, the first driving part 5200 applies a force F to the pressing block 5100 through the groove wall of the driving groove 5201, and the force F has a component force f1 along the positive direction of the second direction, and the cross section of the driving groove 5201 gradually switches from a horizontal state with the long side to a horizontal state with the wide side. Therefore, the first driving part 5200 can drive the pressing block 5100 to move along the positive direction of the second direction until the pressing block 5100 reaches the locking position. At this time, the cross section of the driving groove 5201 is in a horizontal state with the wide side. During this process, the pressing block 5100 applies a force to the second elastic member 5300 and causes the second elastic member 5300 to store elastic potential energy. When the first driving part 5200 rotates along the fifth direction under the action of an external force, the first driving part 5200 stops applying a force F to the pressing block 5100 and causes the second elastic member 5300 to release elastic potential energy. The fifth direction is opposite to the fourth direction, that is, one of the fourth direction and the fifth direction is a clockwise direction, and the other is a counterclockwise direction.

Alternatively, as shown in FIG. 11 and FIG. 12 , a transmission slope 5101 is provided at one end of the pressing block 5100 close to the first clamping block 1000, and the distance from the transmission slope 5101 to the first clamping block 1000 gradually decreases along the positive direction of the third direction. Correspondingly, a driving slope 5202 is provided on the first driving part 5200, and the distance from the driving slope 5202 to the first clamping block 1000 gradually decreases along the positive direction of the third direction, and the driving slope 5202 partially abuts against the transmission slope 5101. The first driving part 5200 is configured to be able to perform reciprocating linear motion relative to the base 6100 along the third direction under the action of an external force. Therefore, when the first driving part 5200 moves along the positive direction of the third direction under the action of an external force, the first driving part 5200 applies a force to the transmission slope 5101 through the driving slope 5202, and drives the pressing block 5100 to move along the positive direction of the second direction. When the first driving part 5200 moves along the negative direction of the third direction under the action of an external force, the first driving part 5200 no longer applies a force to the transmission slope 5101. The transmission slope 5101 applies a force to allow the second elastic member 5300 to release elastic potential energy. In this embodiment, taking the orientation shown in Figures 11 and 12 as an example, the positive direction of the third direction is the horizontal right direction, and the negative direction of the third direction is the horizontal left direction. Among them, the driving slope 5202 and the transmission slope 5101 are both rough surfaces, and there is an interactive friction force between the two. Therefore, only under the action of external force, the first driving part 5200 can move in the third direction, thereby controlling the movement of the pressing block 5100 in the second direction.

Optionally, a second accommodating cavity (not marked in the figure) and a third accommodating cavity (not marked in the figure) are provided on the base 6100, the second accommodating cavity extends along the third direction, and the third accommodating cavity extends along the second direction. The first driving part 5200 is partially accommodated in the second accommodating cavity, and the pressing block 5100 is at least partially disposed in the third accommodating cavity.

In addition, in this embodiment, the second elastic member 5300 may be a spring. As shown in FIGS. 8 to 12 , the pressing block 5100 may include a pressing block body 5110 and a stopper 5120 disposed at one end of the pressing block body 5110 away from the first clamping block 1000, and the stopper 5120 extends along the circumference of the pressing block body 5110. There are multiple second elastic members 5300, and multiple second elastic members 5300 are arranged at intervals along the circumference of the pressing block body 5110, and the lower end of each second elastic member 5300 is connected to the stopper 5120, and the upper end is connected to the cavity wall of the third accommodating cavity. When the pressing block 5100 moves in the positive direction of the second direction, the pressing block 5100 applies a tensile force to the second elastic member 5300, so that the second elastic member 5300 is stretched and deformed and stores elastic potential energy. In some alternative embodiments, as shown in FIG. 13 , the stopper 5120 is disposed at one end of the pressing block body 5110 close to the first clamping block, so that the lower end of the second elastic member 5300 is connected to the cavity wall of the third accommodating cavity and the upper end is connected to the stopper 5120. In some other alternative embodiments, the pressing block only includes the body but does not include the stopper, so that the number of the second elastic member can be one and is sleeved on the body. When the end of the second elastic member close to the first clamping block is connected to the body, and the end of the second elastic member away from the first clamping block is connected to the cavity wall of the third accommodating cavity (not shown in the figure), if the pressing block moves in the positive direction of the second direction, the pressing block applies pressure to the second elastic member to compress and deform the second elastic member and store elastic potential energy. When the end of the second elastic member away from the first clamping block is connected to the main body, and the end of the second elastic member close to the first clamping block is connected to the cavity wall of the third accommodating cavity (not shown in the figure), if the pressure block moves along the positive direction of the second direction, the pressure block applies a pulling force to the second elastic member, causing the second elastic member to stretch and deform and store elastic potential energy.

Next, an optional implementation method of placing the first limiting protrusion 6200 and the second limiting protrusion 6300 into the guide groove 211 is introduced.

Please refer to Figures 8 and 10 to 17, the first limiting protrusion 6200 is connected to the base 6100 and remains relatively still with the base 6100, and the second limiting protrusion 6300 can move relative to the base 6100. The clamping mechanism 1000 also includes an adjusting member 7000, which is connected to the second limiting protrusion 6300 and is configured to drive the second limiting protrusion 6300 to move relative to the base 6100 to change the maximum distance between the second limiting protrusion 6300 and the first limiting protrusion 6200, thereby changing the width of the connecting portion 6000. In other words, the width of the connecting portion 6000 is variable, and as mentioned above, the distance _L2 between the two limiting baffles 220 of the guiding mechanism 200 is smaller than the maximum width of the connecting portion 6000. Then, when the second limiting protrusion 6300 is driven to move by the adjusting member 7000 to reduce the width of the connecting portion 6000 to less than the distance _L2 between the two limiting baffles 220, the first limiting protrusion 6200 and the second limiting protrusion 6300 can be placed in the guiding groove 211, and then the second limiting protrusion 6300 is driven to move by the adjusting member 7000 to increase the width of the connecting portion 6000 and clamp the guiding groove 211.

Optionally, as shown in FIG. 1 and FIG. 10 to FIG. 17, the clamping mechanism 100 further includes a housing 8000, and the housing 8000 encloses a part of the structure of the connecting portion 6000. The adjusting member 7000 includes a second driving portion 7100 and a third elastic member 7200, and the second driving portion 7100 is movably connected to the housing 8000. When the second driving portion 7100 moves under the driving of an external force, the second driving portion 7100 drives the end of the second limiting protrusion 6300 away from the first limiting protrusion 6200 to move in a direction close to the base 6100, so that the distance between the surface of the second limiting protrusion 6300 away from the base 6100 and the surface of the first limiting protrusion 6200 away from the base 6100 is reduced, and the third elastic member 7200 stores elastic potential energy. When the third elastic member 7200 releases its elastic potential energy, the third elastic member 7200 drives the end of the second limiting protrusion 6300 away from the first limiting protrusion 6200 to move in a direction away from the base 6100 so as to increase the distance between the surface of the second limiting protrusion 6300 away from the base 6100 and the surface of the first limiting protrusion 6200 away from the base 6100, and also drives the second driving part 7100 to move in the opposite direction and reset.

Optionally, as shown in FIG. 15 and FIG. 16 , the second limiting protrusion 6300 is movably connected to the base 6100 through the third elastic member 7200. The second driving portion 7100 includes a force-bearing rod 7110 and a transmission rod 7120 connected at an angle, and the second driving portion 7100 is rotatably connected to the shell 8000 through a central axis 7130 at the junction of the force-bearing rod 7110 and the transmission rod 7120, and the transmission rod 7120 is also connected to the second limiting protrusion 6300. Optionally, the central axis 7130 is rotatably connected to the shell 8000, and the second driving portion 7100 and the central axis 7130 remain relatively stationary. In this way, when the second driving portion 7100 rotates around the central axis 7130 in the sixth direction under the action of an external force, the second driving portion 7100 drives the second limiting protrusion 6300 rotates around the central axis 7130 along the sixth direction, so that the end of the second limiting protrusion 6300 away from the first limiting protrusion 6200 gradually approaches the base 6100, and the third elastic member 7200 is compressed to store elastic potential energy. When the external force is cancelled, the third elastic member 7200 releases the elastic potential energy and drives the second limiting protrusion 6300 and the second driving part 7100 to rotate around the central axis 7130 along the seventh direction. The seventh direction is opposite to the sixth direction. In practice, one of the seventh direction and the sixth direction is clockwise and the other is counterclockwise. Taking the orientation shown in Figures 15 and 16 as an example, the sixth direction is clockwise and the seventh direction is counterclockwise.

In an alternative embodiment, please refer to FIG. 8, FIG. 10 to FIG. 12, the second limiting protrusion 6300 is movably connected to the base 6100 through the third elastic member 7200, and the second limiting protrusion 6300 is connected to the second driving part 7100. The second driving part 7100 is slidably connected to the housing 8000, and the second driving part 7100 is configured to be able to move in the third direction relative to the housing 8000 in a direction close to or away from the base 6100. Therefore, when the second driving part 7100 moves in the third direction in a direction close to the base 6100 under the drive of an external force, the second driving part 7100 drives the second limiting protrusion 6300 to move in the third direction in a direction close to the base 6100, and compresses the third elastic member 7200 so that the third elastic member 7200 stores elastic potential energy. When the external force is cancelled, the third elastic member 7200 releases elastic potential energy and pushes the second limiting protrusion 6300 to move in the third direction away from the base 6100 and drives the second driving part 7100 to move in the third direction away from the base 6100.

In another alternative embodiment, as shown in Figure 17, the second limiting projection 6300 is rotatably connected to the housing 8000. The third elastic member 7200 connects the second driving portion 7100 and the second limiting projection 6300. Specifically, the second limiting projection 6300 includes a projection body 6310 and an engagement block 6320 connected at an angle, the engagement block 6320 is arranged at an angle to the projection body 6310, and the third elastic member 7200 connects the second limiting projection 6300 and the engagement block 6320, and the engagement block 6320 is rotatably connected to the housing 8000. The second driving portion 7100 is also rotatably connected to the housing 8000. In an optional implementation, a fixed shaft 9000 is provided on the housing 8000, and the fixed shaft 9000 and the housing 8000 remain relatively stationary. The second driving part 7100 is rotatably sleeved on the fixed shaft 9000, and the engaging block 6320 is also rotatably sleeved on the fixed shaft 9000 (that is, the second driving part 7100 and the engaging block 6320 are both rotatably connected to the housing 8000 via the fixed shaft 9000). In this embodiment, when the second driving part 7100 rotates around the fixed shaft 9000 along the sixth direction under the action of an external force, the second driving part 7100 drives the second limiting protrusion 6300 to rotate around the fixed shaft 9000. The fixed shaft 9000 rotates along the sixth direction so that the end of the second limiting protrusion 6300 away from the first limiting protrusion 6200 approaches the base 6100, and compresses the third elastic member 7200 to store elastic potential energy. When the external force is canceled, the third elastic member 7200 releases the elastic potential energy and drives the second limiting protrusion 6300 and the second driving part 7100 to rotate around the fixed shaft 9000 along the seventh direction until the second limiting protrusion 6300 and the second driving part 7100 are reset.

Although the present invention is disclosed as above, it is not limited thereto. Those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims (15)

A clamping system, characterized in that it comprises a clamping mechanism, wherein the clamping mechanism comprises: A first clamping block having an inner cavity; a first through groove extending through the first clamping block in a first direction is provided, and the first through groove partially overlaps with the inner cavity; A second clamping block is at least partially disposed in the inner cavity and can move relative to the first clamping block along a second direction, wherein the second direction is perpendicular to the first direction; a second through-groove is disposed on the second clamping block and extends through the first direction, wherein the second through-groove can at least partially overlap with the first through-groove; and, A first elastic member, disposed between the first clamping block and the second clamping block; The clamping mechanism is configured such that when the second clamping block moves relative to the first clamping block along the positive direction of the second direction under the driving force of an external force, the overlapping area between the second through groove and the first through groove increases, and the first elastic member stores elastic potential energy; when the first elastic member releases the elastic potential energy, the first elastic member drives the second clamping block to move relative to the first clamping block along the negative direction of the second direction, and reduces the overlapping area between the second through groove and the first through groove. The clamping system according to claim 1, characterized in that the first through groove comprises a first clamping portion and a first opening portion located on one side of the first clamping portion, the first opening portion and the first clamping portion are arranged along a third direction, and the first opening portion extends through along the third direction, and the third direction is perpendicular to the first direction and the second direction; The second through groove includes a second clamping portion and a second opening portion located on one side of the second clamping portion, the second opening portion and the second clamping portion are arranged along the third direction, and the second opening portion extends through along the third direction; the second clamping portion is used to at least partially overlap with the first clamping portion, and the second opening portion is used to at least partially overlap with the first opening portion. The clamping system according to claim 1, characterized in that the clamping mechanism is used to connect with a guide mechanism, and the clamping mechanism further comprises a locking member, and the locking member is used to selectively lock the clamping mechanism and the guide mechanism or release the locking between the clamping mechanism and the guide mechanism; When the locking member locks the clamping mechanism and the guide mechanism, the clamping mechanism is prevented from moving along the first direction on the guide mechanism. When the locking member releases the lock between the clamping mechanism and the guide mechanism, the clamping mechanism is allowed to move along the first direction on the guide mechanism. The clamping system according to claim 3, characterized in that the clamping mechanism further comprises A connecting part, the connecting part includes a base, a first limiting protrusion and a second limiting protrusion, the base is connected to the first clamping block, the first limiting protrusion and the second limiting protrusion are respectively located on opposite sides of the base in a third direction, the third direction is perpendicular to the first direction and the second direction, the first limiting protrusion and the second limiting protrusion are used to limit the clamping mechanism to the guide mechanism. The clamping system according to claim 4 is characterized in that the locking member comprises a pressure block, a first driving portion and a second elastic member; the pressure block is movably arranged on the base, the first driving portion is arranged on the base and is used to drive the pressure block to move to a locking position along a positive direction of the second direction; the second elastic member is arranged between the pressure block and the base and is configured to store elastic potential energy when the pressure block moves along a positive direction of the second direction; the second elastic member is also configured to drive the pressure block to move to an unlocking position along a negative direction of the second direction when releasing the elastic potential energy; When the pressing block is located at the locking position, the pressing block protrudes from the base, and the locking member can lock the clamping mechanism and the guiding mechanism. The clamping system according to claim 5 is characterized in that the first driving part is located on a side of the pressing block close to the first clamping block, and the first driving part is movably connected to the base, and the first driving part is configured to move under the action of an external force and drive the pressing block to move in a positive direction of the second direction, or allow the second elastic member to release elastic potential energy. The clamping system according to claim 6 is characterized in that the axis of the first driving part extends along the third direction; the first driving part is configured to be able to rotate around its axis, and a driving groove is provided on the side wall of the first driving part, and the groove wall of the driving groove contacts the end of the pressing block close to the first clamping block; When the first driving part rotates along the fourth direction under the action of external force, the first driving part drives the pressing block to move along the positive direction of the second direction. When the first driving part rotates along the fifth direction under the action of external force, the second elastic member releases elastic potential energy. The fifth direction is opposite to the fourth direction. The clamping system according to claim 6, characterized in that a transmission slope is provided at one end of the pressing block close to the first clamping block, and the distance from the transmission slope to the first clamping block gradually decreases along the positive direction of the third direction; The first driving part is configured to be able to perform reciprocating linear motion relative to the base along the third direction; a driving inclined plane is provided on the first driving part, a distance from the driving inclined plane to the first clamping block gradually decreases along the positive direction of the third direction, and the driving inclined plane is partially in contact with the transmission inclined plane; When the first driving part moves along the positive direction of the third direction under the action of external force, the first driving part drives the pressing block to move along the positive direction of the second direction; when the first driving part moves along the negative direction of the third direction under the action of external force, the second elastic member releases elastic potential energy. The clamping system according to claim 4, characterized in that the first limiting protrusion is connected to the base and remains relatively stationary with the base, and the second limiting protrusion can move relative to the base; The clamping mechanism also includes an adjusting member, which is connected to the second limiting protrusion; the adjusting member is configured to drive the second limiting protrusion to move relative to the base, and to make the end of the second limiting protrusion away from the first limiting protrusion approach or move away from the base, so as to change the maximum distance between the second limiting protrusion and the first limiting protrusion. The clamping system according to claim 9 is characterized in that the clamping mechanism further comprises a shell, the shell wraps a part of the structure of the connecting part, the adjusting member comprises a second driving member and a third elastic member, the second driving member is movably connected to the shell; the third elastic member connects the base and the second limiting protrusion, and the second driving member is connected to the second limiting protrusion; or the third elastic member connects the second driving member and the second limiting protrusion; When the second driving part moves under the action of external force, the second driving part drives the second limiting protrusion to move, and makes the end of the second limiting protrusion away from the first limiting protrusion close to the base, so that the maximum distance between the second limiting protrusion and the first limiting protrusion is reduced, and the third elastic member stores elastic potential energy; when the third elastic member releases the elastic potential energy, the third elastic member drives the second limiting protrusion to move, and makes the end of the second limiting protrusion away from the first limiting protrusion away from the base, and also drives the second driving part to move in the opposite direction and reset. The clamping system according to claim 10, characterized in that the third elastic member connects the base and the second limiting protrusion; the second driving portion is connected to the second limiting protrusion, and the second driving portion is slidably connected to the shell, and the second driving portion is configured to be able to move relative to the shell in the third direction in a direction close to or away from the base; When the second driving part moves in a direction close to the base driven by an external force, the second driving part drives the second limiting protrusion to move in a direction close to the base; when the third elastic member releases elastic potential energy, the third elastic member drives the second limiting protrusion to move in a direction away from the first limiting protrusion, and drives the second driving part to move in a direction away from the first limiting protrusion. The clamping system according to claim 10, characterized in that the third elastic member is connected The second driving part comprises a force-bearing rod and a transmission rod connected at an angle, the second driving part is rotatably connected to the housing through a central axis at the junction of the force-bearing rod and the transmission rod, and the transmission rod is connected to the second limit protrusion; When the second driving part rotates along the sixth direction around the central axis under the action of external force, the second driving part drives the second limiting protrusion to rotate along the sixth direction around the central axis, and makes the end of the second limiting protrusion away from the first limiting protrusion move in a direction close to the base, and makes the third elastic member store elastic potential energy; when the third elastic member releases the elastic potential energy, the third elastic member drives the second limiting protrusion and the second driving part to rotate along the seventh direction around the central axis, and makes the end of the second limiting protrusion away from the first limiting protrusion move in a direction away from the base; the seventh direction is opposite to the sixth direction. The clamping system according to claim 10, characterized in that the third elastic member connects the second driving portion and the second limiting protrusion, and the second limiting protrusion is rotatably connected to the housing; the second driving portion is rotatably connected to the housing; When the second driving part rotates along the sixth direction under the action of external force, the second driving part drives the second limiting protrusion to rotate along the sixth direction so that the end of the second limiting protrusion away from the first limiting protrusion moves in a direction close to the base, and the third elastic member stores elastic potential energy; when the third elastic member releases the elastic potential energy, the third elastic member drives the second limiting protrusion and the second driving part to rotate along the seventh direction, and the end of the second limiting protrusion away from the first limiting protrusion moves in a direction away from the base; the seventh direction is opposite to the sixth direction. The clamping system according to claim 5 is characterized in that the clamping system also includes the guide mechanism, which includes a guide seat and two limit blocks, and the guide seat is provided with a guide groove extending along the first direction; the two limit blocks both extend along the first direction, the two limit blocks are arranged at intervals in the third direction, and each of the limit blocks is connected to a groove wall of the guide groove. The clamping system according to claim 14 is characterized in that the maximum dimension of the guide groove in the third direction is greater than or equal to the maximum width of the connecting portion, the distance between the two limit blocking pieces is less than the maximum width of the connecting portion; the width of the base is equal to the maximum distance between the first limit protrusion and the second limit protrusion; When the locking member locks the clamping mechanism and the guiding mechanism, the first limiting protrusion abuts against one of the limiting baffles, the second limiting protrusion abuts against another limiting baffle, and the pressing block abuts against the bottom of the guiding groove; when the locking member releases the locking between the clamping mechanism and the guiding mechanism, the connecting portion and the guiding groove are loosely matched.