CN115645718A - Clamping unit and vascular intervention operation system - Google Patents

Abstract

The invention provides a clamping unit and a vascular interventional operation system, wherein the clamping unit is provided with a first axis; the clamping unit comprises a base and at least three clamping parts connected with the base, and the at least three clamping parts are circumferentially distributed around a first axis to define a clamping space; the clamping parts are provided with second axes, and at least one clamping part is rotatably connected with the base around the second axis of the clamping part to enlarge or reduce the clamping space. According to the configuration, the interventional device is accommodated in the clamping space, and each clamping part abuts against the interventional device and applies pressure to the interventional device, so that the interventional device is clamped and fixed in the clamping space, the clamping stability is improved, and slipping is avoided; the at least one clamping part rotates around the second axis of the clamping part to change the size of the clamping space, so that the device can be applied to various interventional instruments with different sizes, and the device has better universality and compatibility.

Description

Clamping unit and vascular intervention operation system

Technical Field

The invention relates to the technical field of medical instruments, in particular to a clamping unit and a vascular interventional operation system.

Background

In the field of vascular interventional surgery, interventional therapy refers to a clinical treatment method for diagnosis and treatment by using an interventional instrument to enter a diseased part through a vascular channel or a non-vascular channel with minimal trauma under image guidance. Compared with the traditional craniotomy, thoracotomy and other operations, the vascular interventional operation has small wound and short postoperative recovery time, and is gradually accepted by more and more patients.

However, the conventional vascular interventional therapy has limitations. During the interventional vascular treatment, a doctor generally needs to perform an interventional operation in a patient by means of an image guidance of an X-ray imaging device or a Digital Subtraction Angiography (DSA) device, a handheld catheter, a guide wire and various interventional instruments. During the operation, doctors are continuously exposed to the radiation environment, and need to wear heavy lead-containing protective clothing. On one hand, the heavy lead-containing protective clothing can lead to the fact that physical strength of doctors is consumed quickly, attention and stability are reduced along with the consumption, operation precision is easily influenced, operation risks are increased, and lumbar vertebrae, knee joints and other injuries of the doctors are easily caused by long-time load bearing; on the other hand, the possibility of cancer, leukemia and polar cataract of the doctor is greatly increased by the radiation dose accumulated for a long time at the unprotected part or the weaker part of the doctor.

Currently, the above problems can be effectively improved by a surgical method of remotely controlling a catheter/guide wire by means of a surgical robot system. The robot system utilizes image navigation and precise mechanical auxiliary operation, can accurately position the position of pathological changes, optimizes instrument conveying, improves operation precision, shortens operation time and reduces complications. The robot system allows a doctor to perform remote operation in a radiation shielding space without wearing a lead coat, so that the radiation dose can be reduced, and the risks of fatigue and orthopedic diseases are reduced.

However, the existing vascular interventional surgical robot has at least the following problems in controlling the catheter/guide wire: firstly, the structure of a device for clamping the catheter/guide wire is relatively complex, the placement and installation of the catheter/guide wire are not flexible and convenient enough, and the operation flow is complicated; secondly, the existing delivery module has insufficient clamping stability to the catheter/guide wire, so that the condition of slipping is easy to occur; thirdly, the existing delivery module is difficult to clamp the catheter/guide wire and drive the catheter/guide wire to rotate accurately; fourth, existing delivery modules are not adaptable to a variety of catheter/guidewire sizes, and have limitations in their use scenarios. Therefore, it is an important research direction for those skilled in the art how to improve the structure of the delivery module of the robot to achieve stable clamping of the common catheter/guide wire.

Disclosure of Invention

The invention aims to provide a clamping unit and a vascular interventional operation system, and aims to solve the problems that related devices for clamping and controlling catheters/guide wires in the prior art are complex in structure, complex in operation process, insufficient in clamping stability, insufficient in rotation control precision, incapable of being suitable for catheters/guide wires with different sizes and the like.

To solve the above technical problem, according to one aspect of the present invention, there is provided a clamping unit having a first axis; the clamping unit comprises a base and at least three clamping parts connected with the base, and the at least three clamping parts are circumferentially distributed around the first axis to define a clamping space for accommodating an interventional instrument;

the clamping parts are provided with second axes which are not perpendicular to the first axes, and at least one clamping part is rotatably connected with the base around the second axes of the clamping parts so as to expand or reduce the clamping space.

Optionally, at least one of the clamping portions is rotatably connected to the base about its second axis to expand or contract the clamping space in a direction perpendicular to the first axis.

Optionally, at least two of the gripping portions are adapted to rotate synchronously and/or co-directionally about respective second axes to expand or contract the gripping space.

Optionally, the outer contour surface of the clamping portion around the second axis includes an outer contact surface and a clamping surface connected to the outer contact surface, the clamping surface is disposed at an angle to the extending direction of the outer contact surface, and the clamping surface is located on a side of the extending direction of the outer contact surface close to the second axis, and at least three clamping portions are used for forming the clamping space by respective clamping surfaces.

Optionally, the clamping portion extends along the second axis to form a column.

Optionally, the clamping portion includes at least two clamping substrates, and the at least two clamping substrates are arranged at intervals along a direction parallel to the second axis; the clamping substrate is provided with a clamping side surface, and at least two clamping side surfaces of the clamping part are arranged in a coplanar manner along a direction parallel to the second axis to form the clamping surface.

Optionally, in two of the clamping portions circumferentially adjacent to each other around the first axis, at least two clamping base plates of one of the clamping portions and at least two clamping base plates of the other of the clamping portions are alternately arranged in the direction of the first axis, so as to realize the clamping and meshing connection of the two adjacent clamping portions.

Optionally, the first axis is parallel to the second axis, and the second axis of each clamping portion is distributed circumferentially around the first axis; the at least three clamping parts are used for synchronously and equidirectionally rotating around respective second axes so as to expand or reduce the clamping space.

Optionally, the clamping unit comprises a clamping ring, the central axis of the clamping ring being collinear with the first axis, the clamping ring being rotatably arranged around the first axis, the clamping portion engaging with the inner periphery of the clamping ring.

Optionally, the clamping unit includes a connecting shaft connected with the base, a central axis of the connecting shaft is collinear with the second axis, and the clamping portion is rotatably connected with the base through the connecting shaft.

Optionally, the base is configured to be rotatable about the first axis.

Optionally, the clamping ring has a first open channel, the first open channel penetrates through the inner circumference and the outer circumference of the clamping ring, and the first open channel penetrates through both axial ends of the clamping ring;

the base is provided with a through hole and a second opening channel communicated with the through hole, the through hole penetrates through the base along the first axis, the second opening channel penetrates through the base outwards along the radial direction of the through hole, and the second opening channel penetrates through two ends of the base along the first axis; the first open channel and the second open channel may be configured to be aligned in a linear direction through the clamping space.

According to another aspect of the present invention, the present invention further provides a vascular interventional surgical system, which includes an interventional instrument and the clamping unit as described above, wherein the interventional instrument is accommodated in the clamping space along the first axis.

Optionally, the interventional device comprises a catheter, a guide wire, a balloon, a stent, a puncture needle, a catheter sheath, a venous filter, an embolism and an occlusion device.

In summary, in the clamping unit and the vascular interventional system provided by the invention, the clamping unit has a first axis; the clamping unit comprises a base and at least three clamping parts connected with the base, and the at least three clamping parts are circumferentially distributed around the first axis to define a clamping space; the clamping parts are provided with second axes, and at least one clamping part is rotatably connected with the base around the second axis of the clamping part so as to expand or reduce the clamping space; the first axis and the second axis are non-perpendicular.

With such a configuration, in the first aspect, the clamping unit is circumferentially arranged around the first axis through at least three clamping parts to form a clamping space, the interventional device is accommodated in the clamping space, and the clamping space is reduced through rotation of at least one clamping part around the second axis of the clamping unit, so that each clamping part abuts against the interventional device and applies pressure to the interventional device, the interventional device is clamped and fixed in the clamping space, the clamping stability is improved, and slipping is avoided; in a second aspect, at least one clamping part rotates around a second axis of the clamping part to change the size of the clamping space, so that the device can be applied to a plurality of interventional instruments with different sizes, the device has better universality and compatibility, and the mode of changing the size of the clamping space by rotating the clamping part also shows the simplicity of the operation process of clamping and fixing the interventional instrument by the device.

It should be noted that, the vascular interventional surgical system includes the clamping unit, so that the beneficial technical effects brought by the clamping unit are achieved, and the description is not repeated here.

Drawings

It will be appreciated by those skilled in the art that the drawings are provided for a better understanding of the invention and do not constitute any limitation to the scope of the invention. Wherein:

FIG. 1 is a schematic view of a clamping unit according to an embodiment of the present invention;

FIG. 2 is another schematic view of a clamping unit according to an embodiment of the invention;

FIG. 3 is a front view of FIG. 2;

FIG. 4 is a schematic view of a clamping portion according to an embodiment of the invention;

FIG. 5 is another schematic view of a clamping unit embodying a clamping portion according to an embodiment of the present invention;

FIG. 6 is a further schematic view of a clamping portion according to an embodiment of the invention;

FIG. 7 is a schematic view of the engagement of the clamping portions with one another in accordance with one embodiment of the present invention;

FIG. 8 is a schematic view of a clamp ring according to an embodiment of the present invention;

FIG. 9 is a schematic view of a base of an embodiment of the present invention;

FIG. 10 is a side view of a clamping unit of one embodiment of the present invention;

FIG. 11 is another schematic view of a base according to an embodiment of the invention;

FIG. 12 is a schematic view of a vascular interventional surgical system in accordance with an embodiment of the present invention;

FIG. 13 is a schematic view of a clamping delivery module in a vascular interventional surgical system in accordance with an embodiment of the present invention;

FIG. 14 is another schematic view of a clamping delivery module in a vascular interventional surgical system in accordance with an embodiment of the present invention;

fig. 15 is another schematic view of a vascular interventional surgical system in accordance with an embodiment of the present invention.

In the drawings:

1-clamping a conveying module; 2-a clamping unit; 10-a clamping part; 11-an outer junction surface; 12-a clamping surface; 13-clamping the substrate; 1301-clamping the side; 1302-transition sides;

20-a clamping ring; 21-a first open channel;

30-a connecting shaft;

40-a base; 41-perforating; 42-a second open channel; 43-positioning holes;

51-a first gear; 52-second Gear

61-a first rotating electrical machine; 62-second rotating electric machine

70-a roller;

80-a first annular bearing;

90-a second annular bearing;

100-a housing; 101-upper shell group; 1011-a first upper shell; 1012-second upper shell; 102-lower shell group; 1021-a first lower shell; 1022 — a second lower case; 103-a third open channel;

110-an interventional instrument;

120-connecting a slipway;

130-a guide structure; 131-a first guide rail; 132-a second guide rail; 133-a slip assembly; 1331-a first slide; 1332-a second skid;

140-a drive structure; 141-rotation element; 142-a third rotating electrical machine;

150-a base; 151-grooves;

160-a force sensor;

a-a first axis; b a second axis; c-a clamping space; d-a containing space.

Detailed Description

To further clarify the objects, advantages and features of the present invention, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. It is to be noted that the drawings are in greatly simplified form and are not to scale, but are merely intended to facilitate and clarify the explanation of the embodiments of the present invention. Further, the structures illustrated in the drawings are often part of actual structures. In particular, the drawings are intended to show different emphasis, sometimes in different proportions.

As used in this disclosure, the singular forms "a," "an," and "the" include plural referents, the term "or" is generally employed in a sense including "and/or," the terms "a," "an," and "the" are generally employed in a sense including "at least one," the terms "at least two" are generally employed in a sense including "two or more," and further, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to imply that the number of indicated technical features is essential. Thus, features defined as "first", "second" and "third" may explicitly or implicitly include one or at least two of the features, "one end" and "the other end" and "proximal end" and "distal end" generally refer to the corresponding two parts, which include not only the end points, but also the terms "mounted", "connected" and "connected" should be understood broadly, e.g., as being fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. Furthermore, as used in the present invention, the disposition of an element with another element generally only means that there is a connection, coupling, fit or driving relationship between the two elements, and the connection, coupling, fit or driving relationship between the two elements may be direct or indirect through intermediate elements, and cannot be understood as indicating or implying any spatial positional relationship between the two elements, i.e., an element may be in any orientation inside, outside, above, below or to one side of another element, unless the content clearly indicates otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

An embodiment of the invention provides a clamping unit and a vascular interventional operation system, and aims to solve the problems that related devices for clamping and controlling catheters/guide wires in the prior art are complex in structure, complex in operation process, insufficient in clamping stability, insufficient in rotation control precision, incapable of being suitable for catheters/guide wires with different sizes and the like.

Hereinafter, the clamping unit and the vascular interventional surgical system according to the present embodiment will be described in detail with reference to the accompanying drawings.

The present embodiment provides a clamping unit applied to a vascular interventional operation system, wherein the clamping unit is used for clamping an interventional device, and the interventional device is a catheter or a guide wire commonly used in the medical field for interventional operation, and various functional devices, and may also be a balloon, a stent, a puncture needle, an embolization device (such as a coil spring), and the like. The vascular interventional operation system is a vascular interventional operation robot system applied to the field of vascular interventional operation, and completes interventional operation of interventional instruments in the body of a patient under the action of the operation robot system in cooperation with image guidance of an X-ray imaging device or a digital subtraction angiography device. The working principle and the related components of the X-ray imaging apparatus and the digital subtraction angiography apparatus of the present embodiment are not described in detail, and those skilled in the art can appreciate from the prior art. Based on this, the present embodiment proposes a vascular interventional surgical system, which includes at least a clamping unit and an interventional instrument, and further includes an X-ray imaging device or a digital subtraction angiography device.

Fig. 1 is a schematic view of a clamping unit according to an embodiment of the present invention, fig. 2 is another schematic view of a clamping unit according to an embodiment of the present invention, and fig. 3 is a front view of fig. 2. As shown in fig. 1 to 3, the present embodiment provides a clamping unit 2 applied to a vascular interventional surgery system, the clamping unit 2 has a first axis a, the clamping unit 2 includes at least three clamping portions 10 circumferentially (at intervals) arranged around the first axis a, preferably, the at least three clamping portions 10 are circumferentially uniformly arranged at intervals around the first axis a, and the at least three clamping portions 10 are circumferentially arranged around the first axis a to define a clamping space C for accommodating an interventional instrument 110. For example, the clamping unit 2 further comprises a base 40, and at least three clamping portions 10 are connected with the base 40. It will be appreciated that the space defined by the at least three clamping portions 10 circumferentially around the rear is referred to as a clamping space C, and that the clamping space C extends in the direction of the first axis a, and is intended to receive an interventional instrument. Further, the clamping portion 10 has a second axis B, the clamping portion 10 has a certain area on a plane perpendicular to the second axis B, the second axis B is not perpendicular to the first axis a in spatial relationship, at least one clamping portion 10 can be rotatably connected to the base 40 around its second axis B, and at least one clamping portion 10 is configured to rotate around its second axis B to expand or reduce the clamping space C, for example, expand or reduce the clamping space C in a direction perpendicular to the first axis a. For example, the size of the clamping space C may be changed after one of the clamping portions 10 rotates, or the size of the clamping space C may be changed after two of the clamping portions 10 rotate. When there are at least two clamping portions 10 that need to be rotated, the at least two clamping portions 10 may be in the same direction but not synchronized, for example, both rotate clockwise but not synchronized in the rotating process; at least two clamping parts 10 can rotate synchronously but in different directions, for example, at least two clamping parts 10 rotate in the same process, but rotate in opposite directions, for example, one clamping part 10 rotates clockwise, and the other clamping part 10 rotates counterclockwise; it is also possible that at least two gripping parts 10 rotate synchronously and in the same direction. Illustratively, referring to the three clamping portions 10 exemplified in fig. 2 and 3, the three clamping portions 10 rotate synchronously in a clockwise direction, and the clamping space C is reduced, so as to clamp and fix the interventional instrument; accordingly, the three gripping portions 10 are rotated simultaneously in the counterclockwise direction, and the gripping space C is enlarged, thereby releasing the interventional instrument.

It will be appreciated that when the interventional device 110 is held and fixed in the holding space C, the interventional device 110 is substantially collinear with the first axis a, and the interventional device 110 is typically a catheter or a guide wire, i.e., the axis of the catheter is substantially collinear with the first axis a or the guide wire is collinear with the first axis a. The position relationship of the first axis a may also be different according to different operation scenarios, for example, in some operation scenarios, when the interventional instrument 110 needs to be controlled to be horizontally or vertically conveyed into the patient, the swing position of the clamping unit 2 needs to be controlled so that the first axis a is parallel to the horizontal plane or the gravity direction; in other surgical scenarios, when it is desired to control the inclined delivery of the interventional instrument 110 into the patient, it is necessary to control the positioning of the clamping unit 2 so as to incline the first axis a relative to the horizontal plane. Preferably, the positioning with respect to the gripping unit 2 or the operation of gripping the interventional instrument 110 by the gripping unit 2 may be controlled by a robot arm of the robot, improving the surgical accuracy. In addition, the doctor remotely controls the vascular interventional operation through the robot, the doctor does not need to enter an operating room, and the radiation dose is reduced.

In the clamping unit 2, on the first aspect, the clamping unit 2 forms a clamping space C by at least three clamping portions 10 arranged circumferentially around the first axis a, the interventional device 110 is accommodated in the clamping space C, and the clamping space C is reduced by at least one clamping portion 10 rotating around its own second axis B, so that each clamping portion 10 abuts against the interventional device 110 and applies pressure to the interventional device 110 to perform multi-point clamping, thereby clamping and fixing the interventional device 110 in the clamping space C, improving the clamping stability and avoiding slipping, and each clamping portion 10 applies pressure to the interventional device 110 from different directions to clamp and fix the interventional device 110, which can reduce the deformation amount of the interventional device 110 in the clamping process and avoid the damage of the interventional device 110; in a second aspect, the at least one clamping portion 10 rotates around its own second axis B to change the size of the clamping space C, so that the device can be applied to a plurality of interventional instruments 110 with different sizes, which shows that the device has better versatility and compatibility, and the way of changing the size of the clamping space C by rotating the clamping portion 10 also shows the simplicity of the operation procedure of clamping and fixing the interventional instrument 110 by the device; in a third aspect, the clamping portion 10 may be made of a disposable material, and may be disposed of with the interventional instrument 110 as a consumable, facilitating sterilization and improving medical safety.

In some embodiments, two of the at least three clamping portions 10 that are rotated and circumferentially adjacent around the first axis a abut one another sequentially, and the clamping space C is hole-shaped (shown in fig. 2). Preferably, the first axis a and the second axis B are parallel to each other, and the second axis B of each clamping portion 10 is circumferentially distributed around the first axis a, so that the clamping space C is formed as a substantially cylindrical hole. In other embodiments, the second axis B is coplanar with and angled from the first axis a, forming a clamping space C that is substantially a mesa-shaped hole. In other embodiments, when two clamping portions 10 that are circumferentially adjacent to each other around the first axis a after the at least three clamping portions 10 are rotated can be sequentially engaged with each other by another designed configuration (i.e., a clamping base 13, which will be described later), an area defined by the at least three clamping portions 10 circumferentially around the at least three clamping portions has no space shown, and a clamping space C with a size of "0" can be defined, and cannot accommodate the interventional instrument 110.

The present embodiment can configure the mechanical configuration of the clamp 10, for example, according to the operating principle of a cam. Specifically, referring to fig. 4, fig. 4 is a schematic view of the clamping portion according to an embodiment of the present invention, the outer contour surface of the clamping portion 10 around the second axis B includes an outer contact surface 11 and a clamping surface 12, the clamping surface 12 is disposed at an angle to the extending direction of the outer contact surface 11, such that the clamping surface 12 does not extend along the outer contact surface 11, and the clamping surface 12 is located on a side of the extending direction of the outer contact surface 11 close to the second axis (B), that is, the clamping surface 12 and the second axis B are located on the same side of the extending direction of the outer contact surface 11. The clamping space C is formed by the at least three clamping portions 10 through the respective clamping surfaces 12, and specifically, the clamping space C is formed by the end of each clamping portion 10 away from the outer contact surface 11 through the respective clamping surface 12, so that the second axis B corresponds to the eccentric axis of the cam, and the position of the clamping surface 12 is changed during the rotation of the clamping portion 10, thereby changing the size of the clamping space C. It should be noted that the shape of the outer contact surface 11 is not limited, and when the outer contact surface 11 is planar, the extending direction of the outer contact surface 11 is also a planar direction, and when the outer contact surface 11 is arc-shaped (or curved), the extending direction of the outer contact surface 11 is an arc-shaped direction, which can also be understood as a tangential direction of a connection point between the outer contact surface 11 and the holding surface 12. Preferably, the end of the clamping surface 12 remote from the outer contact surface 11 is curved in a viewing direction along the second axis B and curves towards the second axis B. Further, the outer-connecting surface 11 is arc-shaped along the viewing angle direction of the second axis B, and the second axis B is the central line of the circle where the outer-connecting surface 11 is located, so that the extending direction of the clamping surface 12 is arranged at an angle to the tangential direction of the outer-connecting surface 11.

Fig. 5 is another schematic view of a clamping unit according to an embodiment of the invention. Preferably, referring to fig. 5, the clamping portion 10 extends along the second axis B in a cylindrical shape. Compared with the plate-shaped clamping portion 10 exemplified in fig. 4, the columnar clamping portion 10 has a larger area of the clamping surface 12 along the direction of the second axis B, and after the interventional device 110 is clamped and fixed in the clamping space C, the columnar clamping portion 10 and the interventional device 110 have a larger contact area, thereby improving the clamping stability. It will be understood that the contact area here refers in particular to the contact area of the gripping surface 12 in the direction of the second axis B of the interventional instrument 110.

FIG. 6 is a further illustration of the clamping portion according to an embodiment of the present invention. Referring to fig. 6, the clamping portion 10 is cylindrical, and the clamping portion 10 includes at least two clamping substrates 13 (for example, the single clamping portion 10 illustrated in fig. 6 has three clamping substrates 13), at least two clamping substrates 13 are sequentially arranged at intervals along the direction of the second axis B, preferably, the clamping substrates 13 are perpendicular to the second axis B, and of course, may also be perpendicular to the first axis a; further, the outer contour surface of the clamping substrate 13 includes clamping side surfaces 1301, so that the clamping side surfaces 1301 of at least two clamping substrates 13 are also sequentially arranged at intervals, the at least two clamping side surfaces 1301 of the clamping portion 10 are arranged in a coplanar manner along a direction parallel to the second axis B to form the clamping surface 12, and the clamping side surfaces 1301 may be a plane parallel to the second axis B, or a curved surface (e.g., a semicircular surface, where a central line of the semicircular surface is perpendicular to the second axis B). It should be noted that the clamping surface 12 and the circumscribing surface 11 illustrated in fig. 5 can be understood as being directly connected, and the circumscribing surface 11 and the clamping surface 12 illustrated in fig. 7 can be understood as being indirectly connected through a transition side surface 1302, wherein the transition side surface 1302 is preferably a curved surface, and specifically, the outer contour surface of the clamping substrate 13 further comprises the transition side surface 1302, and the transition side surface 1302 connects the clamping side surface 1301 and the circumscribing surface 11, respectively.

FIG. 7 is a schematic view of the engagement of the clamping portions with each other according to an embodiment of the present invention. Referring to fig. 7, in two of the clamping portions 10 adjacent to each other circumferentially around the first axis a, at least two clamping base plates 13 of one of the clamping portions 10 and at least two clamping base plates 13 of the other clamping portion 10 are alternately arranged in the direction of the first axis a, so as to realize the clamping and snapping connection between the two adjacent clamping portions. Specifically, for two adjacent clamping portions 10, the clamping substrate 13 corresponding to one clamping portion 10 and the clamping substrate 13 corresponding to the other clamping portion 10 are arranged in a staggered manner one by one in the direction of the first axis a, and when the clamping portion 10 rotates so that the clamping space C tends to decrease, one clamping substrate 13 of one clamping portion 10 may be located between two clamping substrates 13 of the other clamping portion 10, thereby realizing the snap connection of the two adjacent clamping portions 10. As will be understood, referring to fig. 6 and 7, for three circumferentially adjacent clamps 10, the gap space between the two clamp substrates 13 of the middle clamp 10 cooperates with the clamp substrate 13 of the one-side adjacent clamp 10 along a part of the circumferential depth of the clamp unit 2 to achieve a snap-fit connection, and the gap space between the two clamp substrates 13 of the middle clamp 10 cooperates with the clamp substrate 13 of the other-side adjacent clamp 10 along another part of the circumferential depth of the clamp unit 2 to achieve a snap-fit connection. With such a configuration, the two circumferentially adjacent clamping portions 10 are engaged with each other through the respective clamping base plates 13, in the process of gradually increasing the engagement degree, the clamping space C is further reduced, and finally, no space is present in the region defined by the at least three clamping portions 10 circumferentially around, which can be understood as "0", so that the size of the clamping space C can be arbitrarily changed in the manner of providing the engagement connection, and the engagement connection is suitable for catheters or guide wires of various sizes, and particularly suitable for micro catheters or micro guide wires with a smaller diameter than that of a conventional catheter or guide wire, thereby further improving the compatibility and the universality of the clamping unit 2.

Regarding the manner of driving the at least three clamping portions 10 to rotate synchronously and in the same direction, the present embodiment is configured with a corresponding driving assembly for driving the at least three clamping portions 10 to rotate synchronously and in the same direction. In some embodiments, the driving assembly includes at least three driving members (for example, driving motors) corresponding to the number of the clamping portions 10, the driving members are connected to the clamping portions 10 in a one-to-one correspondence, each driving member drives the corresponding clamping portion 10 to rotate, so that the corresponding at least three clamping portions 10 can rotate synchronously and in the same direction through synchronous operation of the at least three driving members. It should be noted that, by configuring a plurality of driving members for driving, the relationship between the first axis a and the second axis B is not limited in this embodiment, and the two axes may be parallel or form an angle. As a preferred embodiment, at least three gripping parts 10 are connected to one and the same drive assembly to drive all gripping parts 10 to rotate and to control the direction of rotation by a single drive assembly.

Specifically, referring to fig. 8, fig. 8 is a schematic diagram of a clamp ring according to an embodiment of the present invention, in which the driving assembly of the embodiment is configured as a clamp ring 20 having a cylindrical shape, a central axis of the clamp ring 20 is collinear with the first axis a, the clamp ring 20 can rotate around the first axis a, and a circle of gear teeth is disposed on an inner circumference of the clamp ring 20. The second axis B of the clamping portion 10 is parallel to the first axis a, the second axis B of each clamping portion 10 is circumferentially distributed around the first axis a, the outer joint surface 11 of the clamping portion 10 is arc-shaped, the second axis B is a central line of a circle where the outer joint surface 11 is located, and gear teeth are distributed on the outer joint surface 11. In this way, the meshing engagement between the clamping portions 10 and the clamping ring 20 can be achieved by means of the gear teeth on the external abutment surface 11 and the gear teeth on the internal circumference of the clamping ring 20, the respective clamping portions 10 being driven in a synchronous and co-rotating manner by means of a meshing transmission when the clamping ring 20 rotates about the first axis a. In the present embodiment, the manner of driving the clamping ring 20 to rotate around the first axis a is not particularly limited, and with reference to fig. 8, in an exemplary embodiment, a circle of gear teeth is also disposed on the outer periphery of the clamping ring 20, the clamping unit 2 further includes a first rotating motor 61 and a first gear 51, the first gear 51 is engaged with the outer periphery of the clamping ring 20, a rotating shaft of the first rotating motor 61 is connected with the first gear 51, and thus, the rotation of the clamping ring 20 is realized through the engagement transmission of the first rotating motor 61 and the first gear 51. In an alternative embodiment, the first gear 51 may be connected to the first rotating electric machine 61 with a plurality of gears or gear members having a meshing transmission relationship.

Further, referring to fig. 4, 5, 9 and 10, fig. 9 is a schematic diagram of a base according to an embodiment of the present invention, fig. 10 is a side view of a clamping unit according to an embodiment of the present invention, the clamping unit 2 includes a base 40 and a connecting shaft 30, a central axis of the connecting shaft 30 is collinear with the second axis B, one end of the connecting shaft 30 is connected to the clamping portion 10, the other end of the connecting shaft 30 is connected to the base 40, the connecting shaft 30 is specifically and rotatably received in a positioning hole 43 of the base 40, and the base 40 and the connecting shaft 30 are configured to support and position the clamping portion 10. It will be appreciated that at least three positioning holes 43 on the base 40 corresponding to at least three clamping portions 10 are also arranged circumferentially around the first axis a. Referring to fig. 11, fig. 11 is another schematic view of the base according to an embodiment of the present invention, and the first annular bearing 80 is disposed in the positioning hole 43, so as to reduce the rotational friction of the connecting shaft 30 in the positioning hole 43.

Preferably, the base 40 is configured to be rotatable about a first axis a. With such a configuration, when the base 40 is kept fixed and does not rotate, the clamping ring 20 rotates to drive the clamping portion 10 to clamp and fix the interventional device 110, and then the clamping ring 20 continues to rotate, and the base 40 synchronously rotates, so that the interventional device 110 can rotate, and the interventional device is suitable for more vascular interventional operation scenes. In addition, the synchronous rotation of the susceptor 40 and the clamp ring 20 can also improve the accuracy of the rotation control.

The present embodiment is not particularly limited as to the manner in which the susceptor 40 is driven to rotate. For example, the base 40 may be configured to be circular, a circle of gear teeth is arranged on the outer periphery of the base 40, and the outer periphery of the base 40 is connected to the second rotating motor 62 through the second gear 52 (shown in fig. 14), which is similar to the clamping ring 20, the first gear 51 and the first rotating motor 61, and will not be described again.

Further, referring to fig. 8, the clamp ring 20 has a first open channel 21, the first open channel 21 penetrates through the inner circumference and the outer circumference of the clamp ring 20, and preferably, the first open channel 21 penetrates through the clamp ring 20 in the radial direction of the clamp ring 20; the first open channel 21 penetrates through both axial ends of the retaining ring 20, preferably, the first open channel 21 penetrates through the retaining ring 20 along the axial direction of the retaining ring 20, in other embodiments, the extending direction of the first open channel 21 may also form an angle with the axial direction of the retaining ring 20, and the first open channel 21 may not only be linear, but also be curved or wavy. Referring to fig. 5, 9 and 11, the base 40 has a through hole 41 and a second open channel 42 communicating with the through hole 41, the through hole 41 penetrates the base 40 along the first axis a, the through hole 41 is used for accommodating an interventional instrument 110, the second open channel 42 penetrates the base 40 along the radial direction of the through hole 41, the second open channel 42 penetrates both ends of the base 40 along the first axis a, the second open channel 42 preferably penetrates both ends of the base 40 along the direction parallel to the first axis a, in other embodiments, the extending direction of the second open channel 42 may also be an angle with the axial direction of the clamping ring 20, and the second open channel 42 may be not only linear, but also curved or wavy. Furthermore, the first open channel 21 and the second open channel 42 may be configured to be aligned along a straight direction extending through the clamping space C, and substantially collinear along a radial direction of the perforation 41, so as to allow the interventional instrument 110 to enter the clamping space C. In an embodiment, the first and second open channels 21, 42 may be substantially collinear at least by rotational movement of the clamp ring 20, thereby allowing the interventional instrument 110 to enter the clamp space C and the bore 41 through the first and second open channels 21, 42.

Referring to fig. 1 and fig. 3, the clamping unit 2 of the present embodiment further includes a housing 100, the housing 100 has an accommodating space D, the accommodating space D is substantially a circular hole, in some other embodiments, the accommodating space D may also be a regular polygon, the clamping ring 20 and the base 40 are both accommodated in the accommodating space D, and the clamping ring 20 and the base 40 are in conformal fit with the accommodating space D. The housing 100 may be formed as an integral structure, or a plurality of base shells may be assembled with each other (for example, the assembly method may be screw connection), and the accommodating space D is formed after assembly. Illustratively, referring to fig. 1, the housing 100 includes an upper housing set 101 and a lower housing set 102, and the upper housing set 101 and the lower housing set 102 are detachably connected to form a receiving space D. Referring to fig. 2 and 3, in addition, the housing 100 further has a third opening channel 103, the third opening channel 103 penetrates through both ends of the housing 100 in the direction of the first axis a, preferably, the housing 100 in the direction parallel to the first axis a, the third opening channel 103 is further communicated with the accommodating space D and penetrates through the housing 100 outward in the radial direction of the accommodating space D, so that the interventional instrument 110 can enter the housing 100 through the third channel and then enter the clamping space C and the through hole 41 through the first channel and the second opening channel 42.

Referring to fig. 1, as a detail of a further embodiment, the accommodating space D includes a first accommodating portion and a second accommodating portion arranged along the first axis a, the upper case group 101 includes a first upper case 1011 and a second upper case 1012, the lower case group 102 includes a second lower case 1022 and a second lower case 1022, the first upper case 1011 and the first lower case 1021 are assembled to form a first accommodating portion in a circular hole shape for accommodating the clamp ring 20, and the second upper case 1012 and the second lower case 1022 are assembled to form a second accommodating portion in a circular hole shape for accommodating the base 40.

Further, the first gear 51 and the first rotating motor 61 acting on the clamp ring 20 and the gear and the motor acting on the base 40 may be provided on the housing 100, for example, the first gear 51 and the first rotating motor 61 acting on the clamp ring 20 are provided on the first lower case 1021, and the gear and the motor acting on the base 40 are provided on the second lower case 1022.

Preferably, the clamping unit 2 includes a plurality of rollers 70 (shown in fig. 1), and the plurality of rollers 70 are sequentially arranged in the accommodating space D along a circumferential direction of the accommodating space D, and the first accommodating portion and the second accommodating portion are respectively circumferentially arranged with the plurality of rollers 70, an axial direction of the rollers 70 is parallel to the first axis a, the rollers 70 are rotatable around a central axis thereof, the rollers 70 of the first accommodating portion are in contact with the clamping ring 20, and the rollers 70 of the second accommodating portion are in contact with the base 40. The rollers 70 are provided to reduce the rotational friction between the clamp ring 20 and the base 40 in the accommodating space D.

In an alternative embodiment, the plurality of rollers 70 arrangement may be replaced with a second annular bearing 90 (shown in fig. 2 and 3), the first housing portion providing one second annular bearing 90, the second housing portion providing another second annular bearing 90, the second annular bearing 90 of the first housing portion being in contact with the clamp ring 20, and the second annular bearing 90 of the second housing portion being in contact with the base 40.

Based on the clamping unit 2, the present embodiment further provides a vascular interventional surgical system (specifically, a vascular interventional robotic system), which includes the clamping unit 2 as described above and an interventional device 110, where the interventional device 110 includes a catheter/guide wire; the interventional instrument 110 is accommodated in the clamping space C along the first axis a to be synchronously and simultaneously rotated around the respective second axes B by the at least three clamping portions 10 to reduce or enlarge the clamping space C, thereby clamping and limiting the interventional instrument 110 or releasing the clamping limitation of the interventional instrument 110, i.e., clamping or releasing the interventional instrument 110.

Fig. 12 is a schematic view of a vascular interventional procedure system in accordance with an embodiment of the present invention. Preferably, referring to fig. 12, the vascular interventional surgical system includes at least two clamp delivery modules 1, such as the two clamp delivery modules 1 exemplified in fig. 12 in a spaced apart arrangement. Fig. 13 is a schematic view of the clamping and delivering modules 1 in the vascular interventional system according to an embodiment of the present invention, and referring to fig. 12 and 13, each clamping and delivering module 1 includes the clamping unit 2 described above, the clamping units 2 of at least two of the clamping and delivering modules 1 are sequentially (alternately) arranged along the first axis a, and the clamping units 2 are movably disposed along the first axis a within a predetermined stroke range. In this way, when the clamping unit 2 clamps and fixes the interventional device 110 through at least three clamping portions 10, the interventional device 110 may be driven to move synchronously based on the movement of the clamping unit 2 in the corresponding stroke range, so as to advance or retreat the interventional device 110, and thus, the interventional device 110 is conveyed to or retreated from the body of the patient. It will be appreciated that the clamping unit 2 is movable within a preset range of travel, i.e. the clamping unit 2 is movable (forward or backward) within a certain length range along the first axis a, such as the clamping unit 2 is movable back and forth within a range of travel of 20cm along the first axis a. It should be noted that, the clamping units 2 of the at least two clamping and conveying modules 1 of this embodiment are sequentially arranged along the first axis a, and the respective corresponding stroke ranges of two adjacent clamping units 2 may be arranged at intervals along the first axis a without overlapping portions, or some overlapping portions may exist in the respective corresponding stroke ranges of two adjacent clamping units 2. The stroke ranges of the respective gripping units 2 may be equal or different.

Further, when the gripper unit 2 of at least one of the gripper conveyor modules 1 grips and defines the interventional device 110, the gripper units 2 of the remaining gripper conveyor modules 1 release the grip definition of the interventional device 110.

As above vascular interventional operation system, when the clamping unit 2 clamps the interventional device 110, the interventional device 110 may be driven to advance or retreat based on the movement of the clamping unit 2 in the corresponding stroke range, so that when the interventional device 110 is clamped and limited by the clamping unit 2 of at least one clamping and conveying module 1, the clamping units 2 of the remaining clamping and conveying modules 1 release the interventional device 110, and the clamping units 2 of at least two clamping and conveying modules 1 may alternately clamp the interventional device 110 to alternately drive the interventional device 110 to advance or retreat. And, in this working mode of alternately clamping the interventional device 110 to alternately drive the interventional device 110 to advance or retreat, when the action of the clamping unit 2 on the interventional device 110 is changed from clamping to unclamping, the clamping unit 2 will move along the first axis a to reset to the position previously corresponding to clamping the interventional device 110, as explained with reference to fig. 13, for example, the clamping unit 2 clamps the interventional device 110 when being located at the upper right side in fig. 2, and then the clamping unit 2 moves from the upper right side to the lower left side in fig. 13, thereby driving the interventional device 110 to move by a corresponding distance (during this movement, the clamping unit 2 may traverse the entire stroke range, or only traverse a part of the stroke range), and when the clamping unit 2 moves to the lower left side, the clamping unit 2 will unclamp the interventional device 110 and move from the lower left side to the upper right side in fig. 13. On one hand, the working mode of driving the interventional device 110 to move by the alternate clamping can realize the continuity of the conveying action or the withdrawing action of the interventional device 110; on the other hand, the working mode of alternately clamping and driving the interventional device 110 to move does not limit the conveying or withdrawing distance of the interventional device 110, the interventional device 110 can realize long-distance forward and backward movement without the help of an auxiliary guide rail, the whole device has a compact and small structure, and the space of an operating room can be saved.

For illustration, two grip delivery modules 1 are illustrated in fig. 12, and the surgical scene is a surgical scene requiring the interventional device 110 to be delivered into the body of the patient, and the delivery direction is defined to be a direction pointing to the upper right and to the lower left in fig. 12, and the retraction direction is correspondingly a direction pointing to the upper left and to the upper right in fig. 12. The first stage is as follows: the left lower clamping unit 2 clamps the interventional instrument 110, the right upper clamping unit 2 looses the interventional instrument 110, the left lower clamping unit 2 moves for a distance along the conveying direction so as to drive the interventional instrument 110 to convey the corresponding distance, and then the left lower clamping unit 2 loosens the interventional instrument 110 and moves for resetting along the withdrawing direction; and a second stage: the upper right clamping unit 2 clamps the interventional instrument 110, the lower left clamping unit 2 releases the interventional instrument 110, the upper right clamping unit 2 moves a distance along the conveying direction so as to drive the interventional instrument 110 to move a corresponding distance, and then the upper right clamping unit 2 releases the interventional instrument 110 and moves along the withdrawing direction for resetting; and a third stage: the first and second stages are repeated until the delivered length of the interventional instrument 110 meets the surgical requirements.

In a surgical scenario where the interventional instrument 110 comprises one of a guide wire and a catheter, the instrument clamp delivery module 1 of the surgical robotic system configures at least two clamp delivery modules 1 to enable control of the delivery and retraction of the interventional instrument 110.

In another surgical scenario, the interventional device 110 includes a guide wire and a catheter, the guide wire is inserted into the catheter, the device clamping and conveying modules 1 of the surgical robot system include at least four clamping and conveying modules 1, the clamping units 2 of the at least four clamping and conveying modules 1 are sequentially arranged along the first axis a, the clamping units 2 of the at least two clamping and conveying modules 1 are used for realizing control over catheter conveying and withdrawal, and the clamping units 2 of the at least two other clamping and conveying modules 1 are used for realizing control over guide wire conveying and withdrawal.

Further, referring to fig. 13, regarding the form in which the clamping unit 2 is movably disposed, the clamping and conveying module 1 includes a guide structure 130, the clamping unit 2 is movably connected with the guide structure 130 of the clamping and conveying module 1, the extending direction of the guide structure 130 is parallel to the first axis a, the guide structure 130 is configured to limit the moving route of the clamping unit 2 to the first axis a, that is, the clamping unit 2 is movable on the guide structure 130, and the guide structure 130 plans the moving route of the clamping unit 2 to be along the first axis a. As for the specific arrangement form of the stroke range, the stroke range corresponding to the clamping unit 2 of this embodiment is arranged as at least a part of the dimension of the guide structure 130 in the direction of the first axis a.

It will be appreciated that the dimension (length) of the guide structure 130 in the direction parallel to the first axis a will limit the moving range of the clamping unit 2, and the clamping unit 2 is movably mounted on the guide structure 130, so that the moving range of the clamping unit 2 will not exceed the maximum dimension of the guide structure 130 in the direction parallel to the first axis a, i.e. the stroke range of the corresponding configuration of the clamping unit 2 will not exceed the maximum dimension of the guide structure 130 in the direction of the first axis a. In practice, considering that the guiding structure 130 may also cooperate with other structures, or considering the way in which the various structures of the gripping and conveying module 1 are assembled, the range of movement of the gripping unit 2 will generally be smaller than the maximum dimension of the guiding structure 130 in the direction of the first axis a, for example the maximum of the range of travel corresponding to the gripping unit 2 may be configured to be 3/4 of the maximum dimension of the guiding structure 130 in the direction parallel to the first axis a. It should be noted that the lengths of the guide structures 130 of the respective clamping and conveying modules 1 in the direction parallel to the first axis a may be equal or different, and the stroke ranges of the clamping units 2 in the respective clamping and conveying modules 1 configured by the corresponding guide structures 130 may be equal or different, which is not limited in this embodiment.

Regarding the specific configuration of the guide structure 130, for example, the guide structure 130 includes a first guide rail 131 and a slide assembly 133, the first guide rail 131 is parallel to and fixed in position along the first axis a, the slide assembly 133 is movably mounted on the first guide rail 131, and the slide assembly 133 is connected to the clamping unit 2. Thus, when the sliding table assembly 133 moves on the first guide rail 131, the clamping unit 2 can be driven to move synchronously. The sliding table assembly 133 and the first guide rail 131 are coupled together by a sliding sleeve, a sliding rail, and a sliding block, and the guide groove 151. Correspondingly, the corresponding stroke range of the clamping unit 2 can be understood as at least a part of the length dimension of the first guide rail 131.

Further, the guide structure 130 further includes a second guide rail 132 parallel to the first guide rail 131, and the slide table assembly 133 is connected to the clamping unit 2 through the second guide rail 132. Specifically, the second guide rail 132 is fixed on the sliding table assembly 133, and the second guide rail 132 movably penetrates through the clamping unit 2; both sides of the slide table assembly 133 in the direction of the second guide rail 132 (i.e., both sides of the slide table assembly 133 in the direction of the first axis a, further, both inner sides in the direction of the first axis a) are used for abutment with the clamp unit 2. Thus, when the sliding table assembly 133 moves along the first guide rail 131, the second guide rail 132 can be inserted into the clamping unit 2 to move, and when the sliding table assembly 133 makes one side of the sliding table assembly 133 abut against the clamping unit 2 under the navigation effect of the second guide rail 132, the clamping unit 2 is pushed to move together in the process of continuing to move the sliding table assembly 133. It should be noted that, in the present embodiment, the number of the first guide rails 131 and the second guide rails 132 is not limited, and preferably, at least two first guide rails 131 are parallel to each other, and at least two second guide rails 132 are parallel to each other.

Preferably, referring to fig. 14, fig. 14 is another schematic view of the clamping and conveying module according to an embodiment of the present invention, a force sensor 160 is disposed between the sliding table assembly 133 and the clamping unit 2, and the force sensor 160 may be disposed on the sliding table assembly 133 or on the clamping unit 2 (for example, the force sensor 160 may be disposed on the housing 100 of the clamping unit 2, and the housing 100 is configured to abut against the sliding table assembly 133). When slip table subassembly 133 and centre gripping unit 2 butt, slip table subassembly 133 orders about centre gripping unit 2 and removes, and force sensor 160 can real-time detection slip table subassembly 133 apply the size of the propelling movement power for centre gripping unit 2 to feed back the value of propelling movement power to the doctor, make the application of force size in the doctor can control the operation, avoid the too big intervention apparatus of application of force to cause great injury to the vascular wall, thereby guarantee operation safety. It will be appreciated that the second slide rail 132 is designed to mate with the force sensor 160.

As a further implementation detail, the gripper conveyor module 1 further comprises a base 150, and the extension direction of the base 150 may be, for example, parallel to the first axis a. The guide structure 130 is mounted on the base 150, for example, the base 150 has a groove 151, and the first rail 131 may be fixed in the groove 151. The sliding table assembly 133 includes a first sliding table 1331 and a second sliding table 1332 that are fixedly connected to each other, the first sliding table 1331 is movably mounted on the first guide rail 131, the second guide rail 132 is fixed on the second sliding table 1332, the second guide rail 132 is movably arranged in the connecting sliding table 120 of the clamping unit 2 in a penetrating manner, and two sides of the second sliding table 1332 along the direction of the second guide rail 132 are used for abutting against the clamping unit 2, so that one side of the second sliding table 1332 abuts against the clamping unit 2, and the clamping unit 2 is pushed to move. Both sides of the second slide table 1332 in the direction of the second guide rail 132 are provided with the force sensors 160, or both sides of the clamping unit 2 along the first axis a are provided with the force sensors 160 (it can also be understood that both sides of the housing 100 along the first axis a are provided with the force sensors 160).

Fig. 15 is another schematic view of a vascular access system in accordance with an embodiment of the present invention. Referring to fig. 15, the positional relationship between the bases 150 of the respective grip conveying modules 1 includes at least one of the following two cases: (1) Referring to fig. 12, the bases 150 of at least two of the gripper conveyor modules 1 are arranged collinearly in a direction parallel to the first axis a; (2) Referring to fig. 15, fig. 3 is another schematic view of the instrument conveying device according to an embodiment of the present invention, wherein the bases 150 of at least two of the clamping conveying modules 1 are arranged side by side along the direction of the first axis a. Further, when at least two bases 150 are arranged side by side and it is still required that at least two clamping units 2 are arranged in a collinear manner along the first axis a, the sliding table assembly 133 (for example, the first sliding table 1331 in the sliding table assembly 133) may be positioned between two adjacent bases 150 after extending for a certain width in a direction perpendicular to the first axis a. Accordingly, when two adjacent bases 150 are arranged in a collinear manner, two corresponding guiding structures 130 can also be arranged in a collinear manner; when two adjacent bases 150 are disposed side by side, two corresponding guiding structures 130 may also be configured in a parallel row arrangement. Alternatively, the base 150 of at least two clamping conveyor modules 1 may also be formed integrally, which means that at least two clamping units 2 are mounted on the same larger base 150 along with the corresponding guide structure 130.

Corresponding to the above, the respective corresponding stroke ranges of the two adjacent clamping units 2 include a non-overlapping condition and a partially overlapping condition, referring to fig. 1, when the two adjacent bases 150 are arranged in a collinear manner or arranged at a collinear spacing, the respective corresponding stroke ranges of the two corresponding clamping units 2 may have no overlapping portion, and when the two adjacent bases 150 are arranged in parallel, a portion of the respective corresponding stroke ranges of the two corresponding clamping units 2 is overlapped.

Further, the present embodiment is configured with a driving structure 140 connected to the clamping unit 2, wherein the driving structure 140 is configured to drive the clamping unit 2 to move along the first axis a. The driving mechanism 140 may be directly connected to the clamping unit 2, or may be connected to the clamping unit 2 through some intermediate components, for example, the driving mechanism 140 may be connected to the clamping unit 2 through the sliding table assembly 133. In the present embodiment, the driving structure may be configured based on a principle that a rotational motion is converted into a linear motion, specifically, the driving structure 140 includes a rotation member 141 extending in a direction parallel to the first axis a, the clamping unit 2 is rotatably connected to the rotation member 141, and the driving structure 140 is configured to convert the rotational motion of the rotation member 141 into the linear motion of the clamping unit 2 along the first axis a. In other embodiments, the driving structure may also be a linear motor or other related components. It should be noted that the driving structure 140 of the present embodiment can be used together with the guiding structure 130 to drive the clamping unit 2 to move, or only the driving structure 140 can be configured to drive the clamping unit 2 to move.

Referring to fig. 13 and 14, the driving structure 140 of the present embodiment is connected to the sliding table assembly 133, and the driving structure 140 is configured to drive the sliding table assembly 133 to move along the first guide rail 131, so as to drive the clamping unit 2 to move. Further, the driving structure 140 includes a rotation member 141 extending in a direction parallel to the first axis a, the sliding table assembly 133 is rotatably connected to the rotation member 141, and the driving structure 140 is configured to convert a rotational movement of the rotation member 141 into a linear movement of the sliding table assembly 133 along the first guide rail 131, so that the sliding table assembly 133 is driven to move along the first guide rail 131 by a rotation of the rotation member 141. Preferably, the driving structure 140 further includes a third rotating motor 142 connected to the rotation member 141, and the third rotating motor 142 drives the rotation member 141 to rotate. The third rotating electric machine 142 may be mounted on, for example, one end surface of the base 150 in the direction of the first axis a, and the rotation member 141 may be mounted in, for example, a groove 151 of the base 150.

In an exemplary embodiment, the driving structure 140 may be configured based on an operation principle of a ball screw, specifically, at least a portion of the rotation member 141 has a feature of a screw, the first sliding table 1331 has a feature of a threaded hole, and the threaded hole feature and the feature of the screw realize a threaded connection of the rotation member 141 and the first sliding table 1331. In an alternative embodiment, the driving structure 140 may be configured based on the operating principle of a worm gear and a worm, specifically, at least a portion of the rotation element 141 has a worm gear feature, and the first sliding table 1331 has a worm gear feature, and the meshing connection between the rotation element 141 and the first sliding table 1331 is realized through the worm gear feature and the worm gear feature. In other embodiments, the driving structure 140 may directly employ a linear driving motor.

In summary, in the clamping unit and the vascular interventional system provided by the invention, the clamping unit has a first axis; the clamping unit comprises a base and at least three clamping parts connected with the base, and the at least three clamping parts are circumferentially distributed around the first axis to define a clamping space; the clamping parts are provided with second axes, and at least one clamping part is rotatably connected with the base around the second axis of the clamping part so as to expand or reduce the clamping space; the first axis is non-perpendicular to the second axis. With such a configuration, in the first aspect, the clamping unit is circumferentially arranged around the first axis through at least three clamping parts to form a clamping space, the interventional device is accommodated in the clamping space, and the clamping space is reduced through rotation of at least one clamping part around the second axis of the clamping unit, so that each clamping part abuts against the interventional device and applies pressure to the interventional device, the interventional device is clamped and fixed in the clamping space, the clamping stability is improved, and slipping is avoided; in the second aspect, the at least one clamping part rotates around the second axis of the clamping part to change the size of the clamping space, so that the device can be applied to various interventional instruments with different sizes, the device has better universality and compatibility, and the mode of changing the size of the clamping space by rotating the clamping part also shows the simplicity of the operation process of clamping and fixing the interventional instrument by the device.

The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art according to the above disclosure are within the scope of the present invention.

Claims (10)

1. Clamping unit (2) for application in a vascular interventional surgical system, characterized in that the clamping unit (2) has a first axis (a); the clamping unit (2) comprises a base (40) and at least three clamping parts (10) connected with the base (40), and the at least three clamping parts (10) are circumferentially arranged around the first axis (A) to define a clamping space (C);

the clamping parts (10) are provided with second axes (B), and at least one clamping part (10) is rotatably connected with the base (40) around the second axis (B) of the clamping part to expand or reduce the clamping space (C); the first axis (A) is non-perpendicular to the second axis (B).

2. Clamping unit (2) according to claim 1, characterized in that at least two of the clamping portions (10) are rotated synchronously and/or in the same direction about the respective second axes (B) to enlarge or reduce the clamping space (C).

3. Clamping unit (2) according to claim 1, characterized in that the outer contour surface of the clamping portion (10) around the second axis (B) comprises an outer abutment surface (11) and a clamping surface (12) connected to the outer abutment surface (11), the clamping surface (12) being arranged at an angle to the extension direction of the outer abutment surface (11), and the clamping surface (12) being located at a side of the extension direction of the outer abutment surface (11) close to the second axis (B), at least three clamping portions (10) being adapted to form the clamping space (C) by means of a respective clamping surface (12).

4. Clamping unit (2) according to claim 3, wherein the clamping portion (10) comprises at least two clamping base plates (13), at least two clamping base plates (13) being arranged at intervals in the direction of the second axis (B);

the clamping substrate (13) is provided with a clamping side surface (1301), and at least two clamping side surfaces (1301) of the clamping part (10) are arranged in a coplanar manner along a direction parallel to the second axis (B) to form the clamping surface (12).

5. Clamping unit (2) according to claim 4, characterized in that of two of the clamping portions (10) circumferentially adjacent around the first axis (A), at least two clamping base plates (13) of one of the clamping portions (10) and at least two clamping base plates (13) of the other clamping portion (10) are alternately arranged in the direction of the first axis (A).

6. Gripping unit (2) according to claim 1, characterized in that the first axis (a) is parallel to the second axis (B) and the second axis (B) of each gripping portion (10) is distributed circumferentially around the first axis (a).

7. Clamping unit (2) according to claim 6, characterized in that the clamping unit (2) comprises a clamping ring (20), the centre axis of the clamping ring (20) being collinear with the first axis (A), the clamping ring (20) being rotatably arranged around the first axis (A), the clamping portion (10) engaging with the inner circumference of the clamping ring (20).

8. The clamping unit (2) according to claim 7, wherein the clamping ring (20) has a first open channel (21);

the base (40) has a through hole (41) and a second open channel (42) communicating with the through hole (41); said through hole (41) penetrating said base (40) along said first axis (A); the first open channel (21) and the second open channel (42) may be configured to be aligned in a linear direction through the clamping space (C).

9. Clamping unit according to claim 1, wherein the base (40) is configured to be rotatable around the first axis (a).

10. Vascular interventional surgical system, characterized in that it comprises an interventional instrument (110) and a clamping unit (2) according to any one of claims 1-9, the interventional instrument (110) being accommodated in the clamping space (C) along the first axis (a).

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