CN113662616A - Transport actuator and transport device - Google Patents
Transport actuator and transport device Download PDFInfo
- Publication number
- CN113662616A CN113662616A CN202111223934.8A CN202111223934A CN113662616A CN 113662616 A CN113662616 A CN 113662616A CN 202111223934 A CN202111223934 A CN 202111223934A CN 113662616 A CN113662616 A CN 113662616A
- Authority
- CN
- China
- Prior art keywords
- joint
- arm
- knuckle
- actuator
- shaft
- 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.)
- Pending
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/12—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
- A61B17/128—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord for applying or removing clamps or clips
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/12—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/12—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
- A61B17/122—Clamps or clips, e.g. for the umbilical cord
Abstract
Relate to medical instrument technical field, the application provides a carry executor and conveyor, including the pincers body, joint and knuckle, the pincers body through the joint can set up in the executor front end with open and shut, the knuckle connect in the connecting rod front end with between the joint rear end, the knuckle is universal joint spare to adjust in the omnidirection the joint points to. So can guarantee to send into the in-process smoothness with less front end size to the agreeable assembly of constant head tank and arm lock guarantees to control the convenience and reduce the operation degree of difficulty, finally reduces the whole risk of this type of operation.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a conveying executor and a conveying device.
Background
Atrial fibrillation is one of the most common clinical arrhythmia, the stroke result caused by atrial fibrillation is very serious, and the death rate and disability rate can reach 70%. For patients with valvular atrial fibrillation, 57% of atrial thrombi originate in the left atrial appendage, and for patients with non-valvular atrial fibrillation, 90% of left atrial thrombi originate in the left atrial appendage. Even after sinus rhythm is restored, contraction of the left atrial appendage is arrested and thrombus may form.
At present, three methods for clinically preventing atrial fibrillation and ischemic stroke are provided. One method is to take anticoagulant drugs such as warfarin, but warfarin has certain bleeding risk, and frequent monitoring is required, contraindications are more, and clinical application is difficult; warfarin also has the potential to cause osteoporosis and soft tissue necrosis. The second method is to directly excise or ligate the atrial appendage at the same time as the cardiac surgery, and the main disadvantage of this method is that the complete closure rate of the left atrial appendage is low, and previous studies show that the success rate of completely excising the left atrial appendage is about 80% at the highest. The third method is to close the left auricle by an auricle clamp type instrument and perform left auricle occlusion operation in a percutaneous interventional endocardium, but the conveyor of the product has complex operation, high risk and yet to be verified in safety and effectiveness.
The existing auricle clamp conveying device is generally provided with an outline border which is slightly square at the front end so as to bind the auricle clamp in the outline border, the auricle clamp comprises two parallel clamping arms, two spring parts at two ends are used for keeping the clamping of the two clamping arms, the outline border of the conveying device utilizes a traction rope to pull the clamping arms of the auricle clamp so as to pull the traction rope tightly, and therefore the auricle clamp can be pulled open, and the auricle clamp can be driven to clamp the auricle clamp to a focus to execute the extracardiac closing operation of the left auricle. However, the outer frame of the existing conveying device is large, so that the conveying difficulty is large, a large operation space is needed at a focus, and the closing operation is difficult and high in risk.
Disclosure of Invention
The utility model provides a carry executor and conveyor to solve the problem that conveyor is bulky among the prior art and is not convenient for operate.
The embodiment of the application provides a carry executor, including the pincers body, joint and knuckle, the pincers body through the joint can open and shut set up in the executor front end, the knuckle connect in the connecting rod front end with between the joint rear end, the knuckle is universal joint spare to adjust in the omnirange the joint is directional.
According to an embodiment of the application, the steering knuckle comprises a ball joint structure for an omni-directional positioning connection between the joint and the connecting rod.
According to an embodiment of the application, the steering knuckle comprises a first steering element at the joint and a second steering element connected to the front end of the connecting rod, the first steering element comprising a ball joint limiting cavity, the second steering element comprising a ball head part, the ball head part being positioned omnidirectionally within the limiting cavity.
According to an embodiment of the present application, the first steering member includes a plurality of connection portions in a circumferential direction to be connected to a plurality of direction control lines, respectively, the plurality of connection portions being located adjacent to the second steering member.
According to an embodiment of the application, the second steering member comprises a first wire passing hole located on the axis and a plurality of second wire passing holes located on the periphery, the first wire passing hole is used for allowing a control wire leading to the joint and the forceps body to pass through, and the second wire passing hole is used for allowing a directional control wire to pass through.
According to an embodiment of the present application, a steering knuckle includes a coupling member and a head, the coupling member includes a first shaft and a second shaft, the first shaft and the second shaft are perpendicular to each other, the first shaft with the joint portion is rotatable in a first dimension, the second shaft with the head is rotatable in a second dimension.
According to an embodiment of the application, the joint comprises a joint part and a multi-link rotatably connected with the joint part in a third dimension.
According to an embodiment of the application, the coupling member includes a coupling wire hole for the control wire to movably pass through.
According to the embodiment of the application, the forceps body comprises a first arm body and a second arm body, wherein the first arm body is hinged with the second arm body through a joint, so that the first arm body and the second arm body are close to each other to be in a clamping state or far away from each other to be in an opening state.
In another aspect of the present application, a conveying device is provided, which includes the conveying actuator as described above, and a controller connected to the conveying actuator.
According to the embodiment of the application, the object to be placed is the auricle clamp, the auricle clamp comprises two clamping arms which are parallel to each other and a spring part at the end part of each clamping arm, and the extending direction of the spring part is perpendicular to the extending direction of each clamping arm.
Compared with the prior art, the invention has the following beneficial effects:
according to the conveying actuator and the conveying device provided by the invention, the first arm body and the second arm body of the clamp body form the jaw type actuator, so that the auricle clamp is accommodated and fixed between the first arm body and the second arm body, and meanwhile, the two clamping arms of the auricle clamp are respectively fixed on the corresponding first arm body and the second arm body through fixing parts such as binding wires. Wherein, the knuckle provides more convenient omnidirectional orientation effect for the keeping silent of front end, makes things convenient for in use or confirms the direction with the executor as required before using, utilizes among the prior art to warp structures such as pole and has realized more convenient carrying on the executor orientation. The operability can be further stabilized with the shape of the actuator tip reduced. So can guarantee to send into the in-process smoothness with less front end size to the agreeable assembly of constant head tank and arm lock guarantees to control the convenience and reduce the operation degree of difficulty, finally reduces the whole risk of this type of operation.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for a person skilled in the art that other drawings can be obtained according to the drawings without inventive exercise, wherein:
FIG. 1 is a schematic diagram showing a conveying apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a first embodiment of the present invention showing a transport actuator;
FIG. 3 is a schematic bottom view of a transport actuator according to an embodiment of the present invention;
FIG. 4 is a schematic top view of a transport actuator according to an embodiment of the present invention;
FIG. 5 is a schematic side view of a first embodiment of the present invention showing a delivery actuator;
FIG. 6 is a schematic view, partly in section, of a delivery actuator according to a first embodiment of the invention;
FIG. 7 is an exploded view of the first joint portion of the actuator according to the first embodiment of the present invention;
FIG. 8 is a second exploded view of the joint portion of the actuator shown in the first embodiment of the present invention;
FIG. 9 is a schematic drawing showing a delivery actuator according to an embodiment of the present invention;
FIG. 10 is a first schematic diagram of a control line of a transport actuator according to one embodiment of the present invention;
FIG. 11 is a second schematic diagram of a control line of a transport actuator according to one embodiment of the present invention;
FIG. 12 is a schematic structural view of a conveying apparatus according to a second embodiment of the present invention;
FIG. 13 is a schematic structural view showing a conveying actuator according to a second embodiment of the present invention;
fig. 14 is a partially exploded view of a second embodiment of the present invention showing a transport actuator.
In the figure: a first arm body 1; a first positioning groove 11; a first end groove 12;
a first wire passing groove 13; a first drawing slot 14; a first pivot base 16;
a second arm body 2; a second positioning groove 21; a second end groove 22;
a second wire passing groove 23; a second string-drawing hole 24; a second pivot base 26;
a joint 3; a joint portion 31; a first stopper 311;
a second stopper 312; a plurality of links 32; a front link 321;
a rear link 322; a third link 323; the coupling member 41;
a head 42; a first shaft 411; a second shaft 412;
a coupling wire hole 413; a connecting rod 5; drawing a wire 6;
a control line 7; a knuckle 4; a first steering member 43;
a second steering member 44; a ball element part 441;
a first wire passing hole 443; and a second wire through hole 444.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In order to solve the problems of large volume and inconvenient operation of the conveying device in the prior art. The inventor of the application no longer selects a square frame-shaped actuator holder, but changes the jaw-shaped actuator to be applied to the conveying of the elongated auricle clamp, although the jaw-shaped actuator is used in the prior art, the existing jaw-shaped actuator can only be used for thoracotomy, and the existing use mode is generally to use the auricle clamp perpendicular to the jaw so as to directly utilize the opening of the forceps arm to directly drive the clamping arm of the auricle clamp to open. The inventor of the present application provides a jaw-type delivery actuator with a smaller overall size, and a delivery device can be composed of a connecting rod and a controller held by an operator with hands.
Specifically, this application embodiment mainly provides a carry executor, including the pincers body, joint and knuckle, the pincers body pass through the joint can open and shut set up in the executor front end, the knuckle connect in the connecting rod front end with between the joint rear end, the knuckle is universal joint spare to adjust in the omnidirection the joint points to.
According to the conveying actuator and the conveying device provided by the invention, the first arm body and the second arm body of the clamp body form the jaw type actuator, so that the auricle clamp is accommodated and fixed between the first arm body and the second arm body, and meanwhile, the two clamping arms of the auricle clamp are respectively fixed on the corresponding first arm body and the second arm body through fixing parts such as binding wires. The steering knuckle provides a more convenient omnidirectional orientation effect for the jaw at the front end, the direction of the actuator can be conveniently determined as required in use or before use, and compared with the prior art, the orientation of the actuator is more convenient and faster by using structures such as a deformation rod. The operability can be further stabilized with the shape of the actuator tip reduced. So can guarantee to send into the in-process smoothness with less front end size to the agreeable assembly of constant head tank and arm lock guarantees to control the convenience and reduce the operation degree of difficulty, finally reduces the whole risk of this type of operation.
In another aspect, the fastening member for fastening the auricle clamp can be fastened to the first arm and the second arm of the forceps body by pulling the wire, that is, after the auricle clamp is deployed at the target position by the delivery actuator, the wire can be pulled out to release the auricle clamp from the first arm and the second arm, thereby facilitating the removal of the delivery actuator.
To facilitate a more detailed understanding of the technical idea of the present application, exemplary embodiments of the present application are described below with reference to the accompanying drawings:
first embodiment
Fig. 1 is a schematic structural view showing a conveying device according to a first embodiment of the present invention, and fig. 2 is a schematic structural view showing a conveying actuator according to a first embodiment of the present invention; the embodiment of the application provides a transport executor, mainly includes first arm 1, second arm 2 and joint 3, first arm 1 with second arm 2 passes through joint 3 articulated connection to make first arm 1 with second arm 2 is close to each other to the clamping state or keep away from each other to opening the state: the first arm body 1 comprises a first positioning groove 11 positioned on the inner side edge, and the second arm body 2 comprises a second positioning groove 21 positioned on the inner side edge; the first positioning groove 11 and the second positioning groove 21 are arranged in an aligned manner, and the first positioning groove 11 and the second positioning groove 21 are respectively used for accommodating one side of an object to be placed; the first arm body 1 and the second arm body 2 are further fixed with corresponding side edges of the object to be placed through fixing pieces respectively.
It can be understood that the first arm 1 and the second arm 2 may be made of metal or plastic, the metal material may be formed by machining, 3D printing or powder metallurgy, the plastic material may be formed by injection molding or other integral forming processes, and the specific material and forming process may be selected by those skilled in the art according to engineering techniques and are not particularly limited.
The first arm body 1 and the second arm body 2 can form a jaw-type actuator, so that the auricle clamp is accommodated and fixed between the first arm body 1 and the second arm body 2, and meanwhile, two clamping arms of an object to be placed, such as the auricle clamp, are respectively fixed on the corresponding first arm body 1 and the second arm body 2 through fixing pieces such as binding wires. Wherein, all be equipped with the constant head tank that the correspondence held the arm lock on first arm body 1 and the second arm body 2, thereby can accomodate the auricle clamp between two arm bodies of executor, thus, the executor can not cause the volume increase after holding the auricle clamp, and because two arm bodies utilize joint structure can realize pressing from both sides closed and open two state switching, two arm bodies can conveniently strut two arm locks of auricle clamp, can also agree with more and stabilize with the constant head tank and arm lock cooperation, thereby under the condition of having reduced executor front end shape, can also have more stable maneuverability. So can guarantee to send into the in-process smoothness with less front end size to the agreeable assembly of constant head tank and arm lock guarantees to control the convenience and reduce the operation degree of difficulty, finally reduces the whole risk of this type of operation.
Fig. 3 is a schematic bottom view, fig. 4 is a schematic top view, and fig. 5 is a schematic side view of a transport actuator according to an embodiment of the present invention. According to the embodiment of the present application, the first arm 1 further includes a first end groove 12 at the inner end of the first positioning groove 11, the second arm 2 further includes a second end groove 22 at the inner end of the second positioning groove 21, the first end groove 12 corresponds to the open surface of the second end groove 22 so as to respectively receive a part of the spring portion at the end of the inserted object, and the first end groove 12 and the second end groove 22 are spliced to receive the spring portion therein. And the executor just holds the spring part with auricle clamp inner spacing, and the spring part of auricle clamp outer end can be located first arm body 1 and 2 front ends of second arm body to be convenient for auricle clamp and executor separation.
According to the embodiment of the present application, there is an arc transition between the first end slot 12 and the first positioning slot 11, and there is an arc transition between the second end slot 22 and the second positioning slot 21. So as to adapt to the transition shape between the spring part of the auricle clamp and the clamping arm, and simultaneously, the end slot is communicated with the corresponding positioning slot.
According to the embodiment of the application, the first arm body 1 is provided with one or more first wire passing grooves 13 and a first wire drawing groove 14, the first wire passing groove 13 penetrates through the first arm body 1 from the outer side to be communicated with the first positioning groove 11, and the first wire drawing groove 14 extends along the length direction of the first arm body 1 and penetrates through the first wire passing groove 13; the second arm body 2 is provided with one or more second wire passing grooves 23 and a second wire drawing hole 24, the second wire passing grooves 23 penetrate through the second arm body 2 from the outer side and are communicated with the second positioning groove 21, and the second wire drawing hole 24 extends along the length direction of the second arm body 2 and penetrates through the second wire passing grooves 23. FIG. 9 is a schematic drawing line configuration of a delivery actuator according to an embodiment of the present invention; as shown in fig. 9, the first thread drawing slot 14 and the second thread drawing slot 24 can be used for the threading of the thread drawing 6, the thread drawing 6 can respectively penetrate through the first thread drawing slot 13 and the second thread drawing slot 23, and a fixing member such as a binding thread can be bound to the thread drawing 6 at one end and bound to a clamping arm of the auricle clamp at the other end, so that the clamping arm of the auricle clamp is fixed to the first arm body 1 and the second arm body 2, and when the actuator and the auricle clamp need to be released when the position of the lesion is conveyed, the thread drawing 6 can be drawn backwards, and at this time, the binding thread is convenient to release the binding of the clamping arm of the auricle clamp due to the lack of one binding end, so as to release the actuator and the auricle clamp, so that the actuator can exit. Here, two wire passing grooves are arranged on each arm body respectively at the near end and the far end so as to provide more stable binding effect at the minimum binding position.
According to the embodiment of the application, specifically, a groove is formed in one side of the first arm body 1, which is away from the first positioning groove 11, and the first wire drawing groove 14 is located in the groove; one side of the second arm body 2, which is far away from the second positioning groove 21, is provided with a groove, and the second wire drawing hole 24 is located in the groove. Thereby will take out the line and be open form setting on the arm body, be convenient for take out the line and can assemble into the position from the side, make things convenient for the auricle clamp to accomplish the cloth of binding the process and put and adjust, on the other hand, under the condition that needs the trimming, can also utilize this open recess to bind the trimming of line.
Referring to fig. 1 to 5, in this embodiment, outer side surfaces of the first arm 1 and the second arm 2, which are away from each other, are arc-shaped, so that the external shape of the actuator is smooth, thereby preventing the external part of the actuator from damaging human organs during the transportation operation, and facilitating the entry or exit of the actuator in the human body. The first arm body 1 and the second arm body 2 are both L-shaped and comprise a root and a main body in shape, the width of the root is larger than that of the main body part which extends forwards, one side edge (the middle bottom side edge in figure 5) of the main body part is aligned with the root and one side edge (the middle bottom side edge in figure 5), and the other opposite side edge (the upper side edge in figure 5) of the main body part which extends forwards and the other side edge (the upper side edge in figure 5) of the root have a fall to form a gap form. The side that aligns is the side that sets up the constant head tank to fix the position that the auricle clamp is close to the outside at the executor. The outer side edge of the actuator is aligned with the outer side edge of the auricle clamp, so that the outer side edge of the actuator is used for alignment reference, the auricle clamp is accurately placed at an ideal position, and the corresponding outer side edge of the actuator can be referred to in place in operation to serve as a judgment standard for the in-place of the auricle clamp.
According to the embodiment of the present application, wherein the first arm 1 includes the first pivot base 16 of the root portion, the second arm 2 includes the second pivot base 26 of the root portion, the first pivot base 16 and the second pivot base 26 may be in the shape of pivot ears generally having a U shape, and the first pivot base 16 and the second pivot base 26 may respectively include two pivot shafts parallel to each other, so as to facilitate the articulated connection of the multiple connecting rods 32 in the joint 3.
Fig. 6 is a partial cross-sectional structural view of a first embodiment of the present invention showing a delivery actuator, fig. 7 is a first exploded structural view of an actuator joint portion shown in the first embodiment of the present invention, and fig. 8 is a second exploded structural view of the actuator joint portion shown in the first embodiment of the present invention. The joint 3 comprises a joint part 31 and a plurality of connecting rods 32, the joint part 31 comprises a first limiting part 311 the front end of which is connected and assembled with the plurality of connecting rods 32, and a second limiting part 312 connected with the steering knuckle 4, and the first limiting part has a long and narrow multi-connecting-rod assembling space so as to movably assemble each connecting rod in the plurality of connecting rods 32; the second limiting portion 312 is a pivot lug structure, and the pivot lug structure is rotatably connected to the steering knuckle 4 at the rear end through a rotating shaft.
The multi-link 32 includes two front links 321 hinged in an X-shape and two rear links 322 configured in a V-shape, and the front ends of the front links 321 and the rear links 322 are rotatably connected to the front shaft and the rear shaft of the first pivot base 16, so as to drive the first arm 1 and the second arm 2 to move; and two X-shaped cross-hinged front links 321 have a front hinge axis in the middle and two V-shaped configured rear links 322 have a rear hinge axis between which a fixed link 313 is hinge-connected. The rear hinge shaft can be connected to the opening and closing control line 7 so as to be pulled backwards by the opening and closing control line 7 to pull the rear hinge shaft backwards, thereby driving the first arm body 1 and the second arm body 2 to move towards the directions away from each other, and thus separating the two clamping arms of the auricle clamp to an opening state.
Furthermore, two third connecting rods 323 are arranged in a V shape, rear ends of the third connecting rods 323 are hinged in the joint part 31 through a rotating shaft, front ends of the two third connecting rods 323 are rotatably connected with the two front connecting rods 321, respectively, to form a connecting line X-shaped connecting rod system, and the two front connecting rods 321 are bent, so that the rear ends are separated outward to be rotatably connected with the two third connecting rods 323, respectively, while a hinged point is formed in the middle.
According to the embodiment of the present application, the first pivot seat 16 is staggered from the pivot axes of the front connecting rod 321 and the rear connecting rod 322, respectively, and the second pivot seat 26 is staggered from the pivot axes of the front connecting rod 321 and the rear connecting rod 322, respectively; the front link 321 and the rear link 322 are parallel to each other to maintain the parallel opening degree of the first arm 1 and the second arm 2. So as to apply uniform opening and closing force to the two clamping arms of the radial lug clamp.
According to the embodiment of the present application, the knuckle 4 includes a coupling member 41 and a rod head 42, the coupling member 41 includes a first shaft 411 and a second shaft 412, the first shaft 411 and the second shaft 412 are perpendicular to each other, the first shaft 411 is rotatably connected to the joint portion in a first dimension, and the second shaft 412 is rotatably connected to the rod head 42 in a second dimension.
According to an embodiment of the present application, wherein the multi-link 32 and the articulation 31 are rotatably connectable in a third dimension. Therefore, the direction and the posture of the front end actuator can be rotationally adjusted in three dimensions by matching with two rotatable dimensions provided by the steering knuckle 4.
According to the embodiment of the present application, the coupling member 41 includes a coupling line hole 413 for the control line 7 to movably pass through. Meanwhile, a group of wire passing holes 314 are arranged between the first limiting part 311 and the second limiting part 312 of the joint part 31, and mainly comprise a control wire 7 for controlling opening and closing in the middle and two control wires 7 for wire drawing on two sides, so that the group of control wires 7 is conveyed to the front end actuator through the wire holes 314 after passing through the coupling wire passing holes 413.
FIG. 10 is a first schematic diagram of a control line of a transport actuator according to one embodiment of the present invention; in this embodiment, the joint portion 31 includes a sliding slot 315 on a side and a fixed link 313 in the sliding slot 315, a middle pivot of the multi-link 32 is connected to the fixed link 313, and a middle pivot or a tail end of the connection of the fixed link 313 is connected to the control wire 7, so that the control wire 7 pulls the fixed link from left to right in the sliding slot 315 to control the first arm 1 and the second arm 2 to move away from each other to open the actuator.
FIG. 11 is a second schematic diagram of a control line of a transport actuator according to one embodiment of the present invention; the two control wires 7 are respectively connected with the rotating shaft at the rear end of the front connecting rod 321 and synchronously connected with the handle, and the control wires 7 can be pulled during operation to control the first arm body 1 and the second arm body 2 to be away from each other so as to open the actuator.
According to the embodiment of the application, the device further comprises a connecting rod 5, wherein one end of the connecting rod 5 is connected to the conveying actuator, and the other end of the connecting rod 5 is connected to the controller.
Second embodiment
Fig. 12 is a schematic structural view showing a conveying device according to a second embodiment of the present invention, fig. 13 is a schematic structural view showing a conveying actuator according to a second embodiment of the present invention, and fig. 14 is a schematic partial exploded structural view showing the conveying actuator according to the second embodiment of the present invention. The main differences between the second embodiment and the first embodiment are as follows:
the embodiment provides a carry executor, including the pincers body, joint 3 and knuckle 4, the pincers body mainly includes first arm body 1, second arm body 2, the pincers body pass through joint 3 can open and shut set up in the executor front end, knuckle 4 connect in connecting rod 5 front end with between the 3 rear ends of joint, knuckle 4 is universal joint spare to adjust in the omnidirectional the pointing of joint 3. The knuckle 4 includes a ball joint structure for performing an omnidirectional positioning connection between the joint 3 and the connecting rod 5.
Further, the steering knuckle 4 includes a first steering member 43 located at the joint 3 and a second steering member 44 connected to the front end of the connecting rod 5, the first steering member 43 having a cylindrical shape includes a spherical hinge limiting cavity larger than a hemispherical shape, and the first steering member 43 further includes a fixing plate, the fixing plate can be fixed to an end of the first steering member 43 facing the second steering member 44, and the fixing plate is mainly used for sealing and fixing outside the spherical hinge limiting cavity so as to fix the ball part 441 therein, and a movable hole can be formed in the middle of the fixing plate for the fixing rod 442 at the rear end of the ball part 441 to movably pass through.
The second steering element 44 includes a head element 441 and a fixing rod 442, and the head element 441 can be omni-directionally positioned in the limiting cavity. The fixing rod 442 and the ball member 441 may have axial through holes for passing the thread, the rear end of the fixing rod 442 may be fixed in the cylindrical body of the second steering member 44, the first thread passing hole 443 of the middle portion of the second steering member 44 is passed through for passing the fixing rod 442, and the fixing rod 442 may be fixed at the rear end by a fastener such as a nut.
Further, the first steering member 43 includes a plurality of connecting portions 432 in a circumferential direction to connect to a plurality of direction control lines, respectively, and the plurality of connecting portions 432 are located adjacent to the second steering member 44. Specifically, the four connecting portions 432 in the circumferential direction may be a plurality of concave-shaped notches formed on the rear end surface of the first steering member 43, so that a plurality of direction control lines are correspondingly connected with the connecting portions 432 through the end clamps, so that the direction control lines pass through the connecting rod 5 and then are connected with the direction handle, thereby forming an adjusting system capable of changing the direction of the actuator in real time.
Further, the second steering member 44 includes a first wire through hole 443 located on the axis and a plurality of second wire through holes 444 located on the periphery, the first wire through hole 443 is used for passing through the control wires leading to the joint 3 and the forceps body, and the plurality of second wire through holes 444 are used for passing through the directional control wires.
Further, the forceps body comprises a first arm body 1 and a second arm body 2, wherein the first arm body 1 is hinged to the second arm body 2 through a joint 3, so that the first arm body 1 and the second arm body 2 approach to each other to be in a clamping state or are away from each other to be in an opening state. Since the details of the first arm 1 and the second arm 2 in this embodiment can be understood with reference to the first embodiment, and the structure of the joint 3 can also be understood with reference to the first embodiment, they are not described again.
The transport executor and the conveying device that this embodiment provided to first arm body and second arm body constitute jaw formula executor, so that hold with the auricle clamp and be fixed in between first arm body and the second arm body, fix two arm lock of waiting to put into article such as auricle clamp respectively on corresponding first arm body and second arm body with fixings such as ligature simultaneously. Wherein, all be equipped with the constant head tank that the correspondence held the arm lock on first arm body and the second arm body, thereby can accomodate the auricle clamp between two arm bodies of executor, thus, the executor can not cause the volume increase after holding the auricle clamp, and because two arm bodies utilize joint structure can realize pressing from both sides closed and open two states and switch over between, two arm bodies can conveniently strut two arm locks of auricle clamp, can also agree with more and stabilize with the constant head tank with the arm lock cooperation, thereby under the condition of having reduced executor front end shape, can also have more stable maneuverability. So can guarantee to send into the in-process smoothness with less front end size to the agreeable assembly of constant head tank and arm lock guarantees to control the convenience and reduce the operation degree of difficulty, finally reduces the whole risk of this type of operation.
Meanwhile, the steering knuckle is arranged between the joint 3 and the connecting rod 5 to carry out omnidirectional positioning connection in the embodiment, so that remote orientation can be conveniently carried out in the use process of the conveying device, omnidirectional orientation can be carried out by using one omnidirectional control piece, compared with the mode that the front end orientation is respectively determined in two directions, the orientation shaft is concentrated on one point in the embodiment, so that the adjustable range of the orientation angle of the conveyor is larger, and the required radius is smaller. So can guarantee to send into the in-process smoothness with less front end size to the agreeable assembly of constant head tank and arm lock guarantees to control the convenience and reduce the operation degree of difficulty, finally reduces the whole risk of this type of operation.
In another aspect of the present application, a conveying device is provided, which includes the conveying actuator as described above, and a controller connected to the conveying actuator.
According to the embodiment of the application, the object to be placed is the auricle clamp, the auricle clamp comprises two clamping arms which are parallel to each other and a spring part at the end part of each clamping arm, and the extending direction of the spring part is perpendicular to the extending direction of each clamping arm.
It is noted that in the description and claims of the present application and in the above-mentioned drawings, relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein.
Also, the terms "comprises," "comprising," and "having," as well as any variations thereof or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not explicitly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications and changes to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (11)
1. The utility model provides a carry executor, its characterized in that, includes pincers body, joint (3) and knuckle (4), the pincers body pass through joint (3) can set up in the executor front end with opening and shutting, knuckle (4) connect in connecting rod (5) front end with between joint (3) the rear end, knuckle (4) are universal joint spare to adjust in the omnidirection the pointing to of joint (3).
2. The delivery actuator according to claim 1, characterized in that the steering knuckle (4) comprises a ball joint construction for an omnidirectional positional connection between the joint (3) and the connecting rod (5).
3. The delivery actuator according to claim 2, wherein the steering knuckle (4) comprises a first steering member (43) at the joint (3) and a second steering member (44) connected to the front end of the connecting rod (5), the first steering member (43) comprising a ball joint limiting cavity, the second steering member (44) comprising a ball head member (441), the ball head member (441) being positioned omnidirectionally within the ball joint limiting cavity.
4. The transport actuator of claim 3, wherein the first steering member (43) includes a plurality of connecting portions (432) in a circumferential direction to connect to a plurality of direction control lines, respectively, and the plurality of connecting portions (432) are located adjacent to the second steering member (44).
5. A delivery actuator according to claim 3, wherein the second steering member (44) comprises a first thread through hole (443) at the axis for passing a control thread to the joint (3) and the caliper body and a plurality of second thread through holes (444) at the periphery for passing a directional control thread through the first thread through hole (443).
6. The transport actuator of claim 1, wherein the knuckle (4) comprises a coupling (41) and a club head (42), the coupling (41) comprising a first shaft (411) and a second shaft (412), the first shaft (411) and the second shaft (412) being perpendicular to each other, the first shaft (411) being rotatably connected to the knuckle in a first dimension, the second shaft (412) being rotatably connected to the club head (42) in a second dimension.
7. The delivery actuator of claim 6, wherein the joint (3) comprises a joint part (31) and a multi-link (32), the multi-link (32) being rotatably connected with the joint part (31) in a third dimension.
8. The delivery actuator of claim 6, wherein the coupling member (41) includes a coupling wire hole (413) for the control wire to movably pass through.
9. The delivery actuator according to any one of claims 1 to 8, wherein the forceps body comprises a first arm (1) and a second arm (2), and the first arm (1) and the second arm (2) are connected in an articulated manner by a joint (3) so that the first arm (1) and the second arm (2) can be moved toward each other to a clamped state or away from each other to an open state.
10. A delivery device comprising a delivery actuator according to any one of claims 1 to 9, and a controller connected to the delivery actuator.
11. The transport apparatus as claimed in claim 10, wherein the object to be placed in the transport apparatus is a heart-ear clip, the heart-ear clip includes two clip arms parallel to each other and spring portions at ends of the clip arms, and the spring portions extend in a direction perpendicular to the extension direction of the clip arms.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111223934.8A CN113662616A (en) | 2021-10-21 | 2021-10-21 | Transport actuator and transport device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111223934.8A CN113662616A (en) | 2021-10-21 | 2021-10-21 | Transport actuator and transport device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113662616A true CN113662616A (en) | 2021-11-19 |
Family
ID=78550679
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111223934.8A Pending CN113662616A (en) | 2021-10-21 | 2021-10-21 | Transport actuator and transport device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113662616A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116687497A (en) * | 2022-07-14 | 2023-09-05 | 北京迈迪顶峰医疗科技股份有限公司 | Conveying actuator and conveying device |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101011279A (en) * | 2006-01-31 | 2007-08-08 | 伊西康内外科公司 | Motor-driven surgical cutting and fastening instrument with articulatable end effector |
| CN101227870A (en) * | 2005-05-19 | 2008-07-23 | 直观外科手术公司 | Software center and highly configurable robotic systems for surgery and other uses |
| CN105748125A (en) * | 2015-01-06 | 2016-07-13 | 柯惠Lp公司 | Clamshell Surgical Stapling Loading Unit |
| US20180098849A1 (en) * | 2016-10-11 | 2018-04-12 | Valcare, Inc. | Device and method for delivery of an implant through a catheter |
| CN208541339U (en) * | 2017-07-13 | 2019-02-26 | 先健科技(深圳)有限公司 | Plugging device driving means and transportation system |
| CN210044117U (en) * | 2018-09-30 | 2020-02-11 | 泗洪县正心医疗技术有限公司 | Flexible-bending surgical robot device |
| CN111803165A (en) * | 2019-04-11 | 2020-10-23 | 北京领健医疗科技有限公司 | Left atrial appendage closure delivery system |
| CN112336403A (en) * | 2019-08-06 | 2021-02-09 | 北京领健医疗科技有限公司 | Closer conveying system |
| CN214128669U (en) * | 2020-09-30 | 2021-09-07 | 北京迈迪顶峰医疗科技有限公司 | Connecting rod of conveying system and conveying system |
-
2021
- 2021-10-21 CN CN202111223934.8A patent/CN113662616A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101227870A (en) * | 2005-05-19 | 2008-07-23 | 直观外科手术公司 | Software center and highly configurable robotic systems for surgery and other uses |
| CN101011279A (en) * | 2006-01-31 | 2007-08-08 | 伊西康内外科公司 | Motor-driven surgical cutting and fastening instrument with articulatable end effector |
| CN105748125A (en) * | 2015-01-06 | 2016-07-13 | 柯惠Lp公司 | Clamshell Surgical Stapling Loading Unit |
| US20180098849A1 (en) * | 2016-10-11 | 2018-04-12 | Valcare, Inc. | Device and method for delivery of an implant through a catheter |
| CN208541339U (en) * | 2017-07-13 | 2019-02-26 | 先健科技(深圳)有限公司 | Plugging device driving means and transportation system |
| CN210044117U (en) * | 2018-09-30 | 2020-02-11 | 泗洪县正心医疗技术有限公司 | Flexible-bending surgical robot device |
| CN111803165A (en) * | 2019-04-11 | 2020-10-23 | 北京领健医疗科技有限公司 | Left atrial appendage closure delivery system |
| CN112336403A (en) * | 2019-08-06 | 2021-02-09 | 北京领健医疗科技有限公司 | Closer conveying system |
| CN214128669U (en) * | 2020-09-30 | 2021-09-07 | 北京迈迪顶峰医疗科技有限公司 | Connecting rod of conveying system and conveying system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116687497A (en) * | 2022-07-14 | 2023-09-05 | 北京迈迪顶峰医疗科技股份有限公司 | Conveying actuator and conveying device |
| WO2024012525A1 (en) * | 2022-07-14 | 2024-01-18 | 北京迈迪顶峰医疗科技股份有限公司 | Delivery actuator and delivery apparatus |
| CN116687497B (en) * | 2022-07-14 | 2024-04-02 | 北京迈迪顶峰医疗科技股份有限公司 | Conveying actuator and conveying device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US5263967A (en) | Medical instrument with dual action drive | |
| CA1240581A (en) | Surgical clip and forceps for clamping the same | |
| US9510824B2 (en) | Low profile medical device and related methods of use | |
| US20140188159A1 (en) | Surgical tool | |
| JP2504936B2 (en) | Medical forceps | |
| US20160317235A1 (en) | Surgical instrument with separate tool head and method of use | |
| US20230240688A1 (en) | Robotic assisted clip applier | |
| US8172837B2 (en) | Clamping ablation tool and method | |
| WO2013077330A1 (en) | Gripper, needle holder, and attachment | |
| JP2006501954A (en) | Tool assembly for a surgical stapling device | |
| CN113662613A (en) | Clamp-type actuator and conveying device | |
| US20110213360A1 (en) | Tensioning Mechanism for Articulation Drive Cables | |
| BR102016016206A2 (en) | medical instrument | |
| CN113662616A (en) | Transport actuator and transport device | |
| CN218247293U (en) | Conveying actuator and conveying device | |
| CN113662614B (en) | Transport actuator and transport device | |
| KR101742534B1 (en) | Muti-ways retractor | |
| CN112587228B (en) | Bipolar tissue closer | |
| CN113662615B (en) | Follow-up conveying actuator and auricle clamp conveying device | |
| CN113616278A (en) | Endoscope clamp capable of being bent | |
| CN108498135B (en) | Clinical internal medicine vascular forceps | |
| CN219557479U (en) | Mammary gland endoscope clamping forceps | |
| CN110559037A (en) | Multifunctional blood vessel clamping device | |
| CN218458146U (en) | Conveying actuator and conveying device | |
| CN215384300U (en) | Universal closer for cavity mirror |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |