CN117357192A - Conveying actuator and conveying device - Google Patents

Abstract

The present disclosure relates to a transport actuator and a transport device, the transport actuator comprising: controlling the joint; the two arm bodies are hinged to the control joint and can rotate around the control joint to approach to a clamping state or separate from each other to an opening state; the arm body comprises a joint component and a clamping arm, the joint component is pivoted to the control joint, and the clamping arm is pivoted to one end, far away from the control joint, of the joint component; the joint assembly comprises a first end face which is arranged towards the clamping arm, the first end face comprises a first limiting section arranged on the inner side and a second limiting section arranged on the outer side, and the clamping arm comprises a first limiting clamp which is arranged corresponding to the first limiting section; the second limiting section is used for limiting the clamping arm to continue to open, and the first limiting section is abutted against the first limiting section so as to limit the clamping arm to continue to clamp. The technical scheme of the disclosure effectively solves the technical problem of large volume of the traditional conveying device.

Description

Conveying actuator and conveying device

Technical Field

The disclosure relates to the technical field of medical instruments, and in particular relates to a conveying actuator and a conveying device.

Background

Atrial fibrillation is one of the most common arrhythmia symptoms clinically, the speed of blood entering and exiting the auricle is very low when atrial fibrillation occurs, in clinical manifestations, the left auricle entrance of an atrial fibrillation patient is obviously widened, the auricle loses effective regular contraction, the auricle wall movement is difficult to cause sufficient left auricle to empty, and blood is deposited in the left auricle to form thrombus; these thrombi may plug cerebral or other blood vessels in the body, causing stroke or other conditions. The stroke caused by atrial fibrillation has serious consequences, and the mortality and disability rate reach 70 percent. Non-valvular atrial fibrillation is a high-frequency type of atrial fibrillation in which more than 90% of thrombus formation is associated with the left atrial appendage.

Currently, there are three main approaches to preventing atrial fibrillation ischemic stroke. Firstly, anticoagulation medicine treatment such as warfarin is taken, but warfarin has a certain bleeding risk, frequent monitoring is needed, contraindications and side effects are more, and clinical application is difficult; in addition, warfarin has the potential to cause osteoporosis and soft tissue necrosis. Secondly, the left auricle is removed or the auricle is ligated by surgical operation, but the success rate of completely removing the left auricle is up to about 80% as the complete closure rate of the left auricle is lower by the method. Thirdly, the left auricle is closed by using an auricle clamp type instrument, and the left auricle plugging operation is inserted into the heart through the skin, but the conveyer of the product is complex in operation, high in risk and to be verified in safety and effectiveness.

In the related art, a slightly square outer frame is generally arranged at the front end of the auricle clamp conveying device so as to conveniently bind the auricle clamp in the auricle clamp conveying device, the auricle clamp comprises two parallel clamping arms, two spring parts at two ends are used for keeping clamping of the two clamping arms, the outer frame of the conveying device pulls the clamping arms of the auricle clamp by using a traction rope so as to conveniently tighten the traction rope, and therefore the auricle clamp can be pulled open, and the auricle clamp can be driven to be conveyed to a focus to execute left auricle external closing operation. However, the outer frame of the conventional delivery device is relatively large, so that the difficulty of delivery is relatively large, and a relatively large operation space is required at the focus, which also makes the operation of the closed operation relatively difficult and risky.

Disclosure of Invention

The disclosure provides a conveying actuator and a conveying device, so as to solve the technical problem that the traditional conveying device is large in size.

To this end, in a first aspect, a delivery actuator comprises:

controlling the joint;

the two arm bodies are hinged to the control joint and can rotate around the control joint to approach to a clamping state or separate from each other to an opening state; the arm body comprises a joint component and a clamping arm, the joint component is pivoted to the control joint, and the clamping arm is pivoted to one end, far away from the control joint, of the joint component; the joint assembly comprises a first end face which is arranged towards the clamping arm, the first end face comprises a first limiting section arranged on the inner side and a second limiting section arranged on the outer side, and the clamping arm comprises a first limiting clamp which is arranged corresponding to the first limiting section; the second limiting section is used for limiting the clamping arm to continue to open, and the first limiting section is abutted against the first limiting section so as to limit the clamping arm to continue to clamp.

In one possible embodiment, the second limit section is higher than the first limit section in the extension direction of the arm body.

In one possible embodiment, the first end face further comprises a pivoting section disposed between the first and second limiting sections, the pivoting section being recessed away from the clamping arm.

In one possible embodiment, the first limiting section is a plane, the pivoting section is a curved surface, and the second limiting section is a plane.

In one possible embodiment, the second limiting section includes a vertical limiting section and a horizontal limiting section, the vertical limiting section extends in the same direction as the arm body, the horizontal limiting section is parallel to the first limiting section, and the horizontal limiting section is connected to one side, away from the first limiting section, of the vertical limiting section.

In one possible embodiment, the first end face further includes an avoidance section, the avoidance section is disposed between the pivot section and the second limiting section, and the avoidance section is recessed in a direction away from the clamping arm.

In one possible embodiment, the joint assembly comprises a root joint connected between the control joint and the clamping arm, the first end surface being provided on a side of the root joint facing the clamping arm.

In one possible embodiment, the joint assembly further comprises a follower joint pivotally connected between the root joint and the clamp arm.

In one possible implementation manner, the follower joint comprises a second limiting clamp corresponding to the first limiting section and a second end face arranged towards the clamping arm, the second limiting section is used for limiting the follower joint to continue to open, and the second limiting clamp is abutted against the first limiting section so as to limit the follower joint to continue to clamp; the second end face comprises a third limiting section arranged on the inner side and a fourth limiting section arranged on the outer side, the fourth limiting section is used for limiting the clamping arm to continue to open, and the first limiting clamp is abutted against the third limiting section so as to limit the clamping arm to continue to clamp.

In one possible embodiment, a plurality of follower joints are provided, two adjacent follower joints are pivoted, and the plurality of follower joints are pivoted between the root joint and the clamping arm.

In one possible embodiment, the inner sides of the clamping arms are provided with positioning grooves, and the positioning grooves of the two clamping arms are oppositely arranged to respectively accommodate one side of the object to be placed.

In one possible embodiment, the control joint comprises a link and a pivot seat portion;

the front ends of the connecting rods are respectively pivoted with the joint assemblies of the two arm bodies, the front ends of the connecting rods are connected with the control pieces, and the control pieces control the clamping or opening of the two arm bodies by pulling or pushing the front ends of the connecting rods;

the front ends of the pivot parts are respectively connected with the joint assemblies of the two arm bodies in a rotatable way.

In one possible embodiment, the pivot seat portion includes a first pivot seat, a second pivot seat, a first shaft and a second shaft, the front end of the first pivot seat is rotatably connected to the joint assemblies of the two arms respectively, the first shaft is rotatably connected to the front end of the first pivot seat in a first dimension, the rear end of the first pivot seat is pivotally connected to the front end of the second pivot seat, and the second shaft is rotatably connected to the second pivot seat in a second dimension.

In one possible implementation manner, the first pivot seat is provided with a control hole, a wire drawing hole, a first wire drawing hole and a second wire drawing hole, the control hole penetrates through the first pivot seat along the direction from the front end to the rear end of the first pivot seat, the wire drawing hole is arranged at the edge of the control hole at intervals, the wire drawing hole and the control hole extend in the same direction, the first wire drawing hole penetrates through the first pivot seat along the axial direction of the first shaft, the second wire drawing hole is arranged at the edge of the control hole at intervals, and the second wire drawing hole and the control hole extend in the same direction.

In one possible embodiment, the delivery actuator further comprises a protector, which is sleeved outside the control joint.

In a second aspect, the present disclosure also provides a delivery device comprising a delivery actuator as described above, and a controller coupled to the delivery actuator.

According to the conveying actuator and the conveying device provided by the embodiment of the disclosure, the two arm bodies are hinged on the control joint to form the jaw type conveying actuator so as to accommodate and fix the auricle clamp between the two arm bodies, and the two clamping arms of the auricle clamp are respectively fixed on the corresponding clamping arms by fixing pieces such as binding wires, so that the arrangement of the front end outer frame member of the traditional conveying device is reduced, and the miniaturization arrangement of the conveying device is facilitated; and, because the two arm bodies utilize the control joint to realize the switching of clamping and opening two states, two arm bodies can conveniently prop open the two clamping arms of the auricle clamp, so that the auricle clamp clamps the left auricle. Meanwhile, the conveying actuator provided by the disclosure sets the specific structure at the arm body as a combined component of a joint assembly and a clamping arm, the clamping arm is used for being matched with the auricle clamp, the joint assembly and the control joint are comprehensively considered in design, the design difficulty and complexity of a linkage structure at the control joint are reduced through the structural arrangement of the joint assembly, such as the arrangement of a multi-connecting-rod component at the control joint is reduced, so that the structure of the whole conveying actuator is simplified, and the size of the actuator is reduced.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the solutions in the prior art, the drawings that are required for the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort. In addition, in the drawings, like parts are designated with like reference numerals and the drawings are not drawn to actual scale.

Fig. 1 shows a schematic configuration of a transport actuator provided by a first embodiment of the present disclosure;

FIG. 2 illustrates a first angular view of a first joint provided by a first embodiment of the present disclosure;

FIG. 3 illustrates a second angular view of a first joint provided by a first embodiment of the present disclosure;

fig. 4 is a schematic perspective view of a first clamping arm according to a first embodiment of the present disclosure;

fig. 5 is a schematic perspective view showing a second clamping arm according to a first embodiment of the present disclosure;

fig. 6 is a schematic perspective view showing a pivot portion provided in the first embodiment of the present disclosure;

fig. 7 is a schematic perspective view showing a conveying actuator according to a second embodiment of the present disclosure;

FIG. 8 illustrates a first view of a first joint provided by a second embodiment of the present disclosure;

FIG. 9 illustrates a second view of a first joint provided by a second embodiment of the present disclosure;

FIG. 10 illustrates a first view of a first follower joint provided by a second embodiment of the present disclosure;

FIG. 11 illustrates a second view of a first follower joint provided by a second embodiment of the present disclosure;

fig. 12 is a schematic perspective view showing a pivot portion provided in a second embodiment of the present disclosure;

fig. 13 shows a wiring diagram of a transport actuator provided by a second embodiment of the present disclosure;

fig. 14 shows another wiring diagram of a transport actuator provided by a second embodiment of the present disclosure;

fig. 15 shows a first view of a first pivot mount provided by a second embodiment of the present disclosure;

fig. 16 illustrates a second view of the first pivot base provided by the second embodiment of the present disclosure;

fig. 17 is a schematic perspective view showing a conveying actuator according to a third embodiment of the present disclosure;

FIG. 18 illustrates a first view of a root joint provided by a third embodiment of the present disclosure;

FIG. 19 illustrates a second view of a root joint provided by a third embodiment of the present disclosure;

FIG. 20 illustrates a first view of a follower joint provided by a third embodiment of the present disclosure;

FIG. 21 illustrates a second view of a follower joint provided by a third embodiment of the present disclosure;

fig. 22 is a schematic view showing the structure of a protector provided by a fourth embodiment of the present disclosure;

fig. 23 is a schematic structural view showing another protector provided by the fourth embodiment of the present disclosure;

fig. 24 is a schematic view showing a structure of a conveying apparatus in a clamped state provided in a fifth embodiment of the present disclosure;

fig. 25 is a schematic view showing a structure of a conveying apparatus according to a fifth embodiment of the present disclosure in an opened state.

Reference numerals illustrate:

100. controlling the joint; 110. a connecting rod; 120. a pivot portion; 121. a first pivot seat; 1211. a control hole; 1212. a wire drawing hole; 1213. a first wire drawing hole; 1214. a second wire drawing hole; 122. a second pivot seat; 123. a first shaft; 124. a second shaft;

200. an arm body; 210. a joint assembly; 2101. a first limit section; 2102. the second limiting section; 2103. a pivoting section; 2104. an avoidance section; 211. root joint; 2111. a first pivot boss; 212. a follower joint; 2121. a second pivot boss; 2122. a second pivot ear; 2123. the second limit card; 2124. a third limit section; 2125. a fourth limit section; 220. a clamping arm; 2201. the first limit card; 221. a positioning groove; 222. a first pivot ear; 2221. the first limiting plane; 2222. a first movable curved surface;

300. A controller;

400. a protective member;

10. auricle clip; 11. a clamp arm; 12. a spring part;

21. a control line; 22. drawing a wire; 23. a first pull wire; 24. and a second pull wire.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are some, but not all, embodiments of the present disclosure. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the disclosure, are within the scope of the disclosure.

In order to solve the technical problem of overlarge volume of the traditional conveying device, the present disclosure provides a follow-up conveying actuator, wherein the follow-up conveying actuator is provided with a joint assembly 210 structure at the position of the arm body 200 through optimizing the specific structure of the arm body 200, the specific structure of the control joint 100 and the coordination action relation of the two in linkage, and the multi-connecting rod 110 linkage structure at the position of the control joint 100 is removed, so that the basic conveying effect of the conveying actuator is maintained, and the structure of the conveying actuator at the position of the control joint 100 can be simplified, thereby being beneficial to reducing the volume of the conveying actuator; meanwhile, the auricle clip 10 is fixed on the clamping arm 220 of the arm body 200 through fixing pieces such as binding wires, so that the arrangement of an outer frame structure on a traditional conveying actuator is avoided, and the volume of the conveying actuator is effectively reduced; the two arms 200 of the delivery actuator are controlled to switch between the clamping state and the opening state by the control joint 100, that is, the auricle clamp 10 is also in the opening state when the two arms 200 of the delivery actuator are in the opening state, so that the operation is simple and convenient.

Specifically, the embodiments of the present disclosure mainly provide a delivery actuator, including a control joint 100 and two arms 200, where the two arms 200 are hinged to the control joint 100, and the two arms 200 can rotate around the control joint 100 to approach each other to a clamped state or to separate from each other to an open state; the arm body 200 comprises a joint assembly 210 and a clamping arm 220, wherein the joint assembly 210 is pivoted to the control joint 100, and the clamping arm 220 is pivoted to one end of the joint assembly 210 away from the control joint 100; the joint assembly 210 includes a first end surface disposed toward the clamp arm 220, the first end surface including a first spacing segment 2101 disposed on an inner side and a second spacing segment 2102 disposed on an outer side, the clamp arm 220 including a first spacing clip 2201 disposed corresponding to the first spacing segment 2101; the second limiting section 2102 is used for limiting the continuous opening of the clamping arm 220, and the first limiting clip 2201 abuts against the first limiting section 2101 so as to limit the continuous clamping of the clamping arm 220.

According to the conveying actuator and the conveying device, the arm body 200 is formed by the joint assembly 210 and the clamping arms 220, and meanwhile, the two arm bodies 200 are hinged to the control joint 100 to form the jaw-type conveying actuator, so that the auricle clamp 10 is accommodated and fixed between the two clamping arms 220, and the two 11 of the auricle clamp 10 are respectively fixed on the corresponding clamping arms 220 by fixing pieces such as binding wires, so that the arrangement of the outer frame member at the front end of the traditional conveying device is reduced, and the miniaturization arrangement of the conveying actuator is facilitated; in addition, the two arm bodies 200 realize the switching of the clamping and opening states by using the control joint 100, so that the two arm bodies 200 can conveniently prop open the two 11 of the auricle clamp 10, and the auricle clamp 10 clamps the left auricle. Meanwhile, the specific structure of the arm body 200 is set as a combined component of the joint assembly 210 and the clamping arm 220, the clamping arm 220 is used for cooperating with the auricle clip 10, the joint assembly 210 and the control joint 100 are comprehensively considered in design, the design difficulty and complexity of the linkage structure of the control joint 100 are reduced through the arrangement of the joint assembly 210, such as the arrangement of the multiple connecting rods 110 of the control joint 100, so that the structure of the whole conveying actuator is simplified, and the volume of the actuator is reduced.

On the other hand, the fixing element for fixing the auricle clip 10 can be further fixed on the arm body 200 through the drawing wire 22, so that after the auricle clip 10 is deployed at the designated focus position by the delivery actuator, the drawing wire 22 can be drawn out so as to release the auricle clip 10 from the arm body 200, and the delivery actuator can be taken out conveniently.

The technical scheme provided by the embodiment of the disclosure is described below with reference to specific embodiments.

First embodiment

Fig. 1 shows a schematic configuration of a transport actuator provided by a first embodiment of the present disclosure; FIG. 2 illustrates a first angular schematic view of a root joint 211 provided by a first embodiment of the present disclosure; FIG. 3 illustrates a second angular schematic view of root joint 211 provided by the first embodiment of the present disclosure; fig. 4 shows a first angular schematic view of a clamping arm 220 provided by a first embodiment of the present disclosure; fig. 5 shows a second angular schematic view of the clamping arm 220 provided by the first embodiment of the present disclosure; fig. 6 shows a schematic perspective view of a pivot portion 120 provided in a first embodiment of the present disclosure.

Referring to fig. 1 to 6, the present embodiment provides a transport actuator including: the control joint 100 and the two arms 200.

The two arms 200 are hinged to the control joint 100, and the two arms 200 can rotate around the control joint 100 to approach each other to a clamped state or to separate from each other to an open state; the arm body 200 comprises a joint assembly 210 and a clamping arm 220, wherein the joint assembly 210 is pivoted to the control joint 100, and the clamping arm 220 is pivoted to one end of the joint assembly 210 away from the control joint 100; the joint assembly 210 includes a first end surface disposed toward the clamp arm 220, the first end surface including a first spacing segment 2101 disposed on an inner side and a second spacing segment 2102 disposed on an outer side, the clamp arm 220 including a first spacing clip 2201 disposed corresponding to the first spacing segment 2101; the second limiting section 2102 is used for limiting the continuous opening of the clamping arm 220, and the first limiting clip 2201 abuts against the first limiting section 2101 so as to limit the continuous clamping of the clamping arm 220.

Specifically, the arm body 200 is at least composed of a joint assembly 210 and a clamping arm 220, the two joint assemblies 210 of the two arm bodies 200 are hinged and connected through the control joint 100, the two clamping arms 220 of the two arm bodies 200 are respectively used for fixing the two 11 of the auricle clip 10, so that the two clamping arms 220 are driven to be in a clamping state or an opening state through the clamping or opening of the two joint assemblies 210 by controlling the joint 100 to control the 11 or the opening of the two joint assemblies 210, and thus, the two 11 of the auricle clip 10 can be opened by the two clamping arms 220, so that the auricle clip 10 can be conveniently forced to be opened at a designated focus.

For example, but not limited to, the two arms 200 may be made of metal or clinker, and the metal material may be formed by machining, 3D printing, or powder metallurgy; the plastic material can be prepared by adopting an integral molding process such as injection molding, and the specific material and molding process can be selected by a person skilled in the art according to actual needs, and the plastic material is not limited herein.

Alternatively, the second spacing segment 2102 is higher than the first spacing segment 2101 in the extending direction of the arm body 200. Thus, the limiting effect of the second limiting segment 2102 is improved.

Optionally, the first end surface further includes a pivoting section 2103 disposed between the first spacing section 2101 and the second spacing section 2102, the pivoting section 2103 being recessed away from the clamp arm 220. Thus, the first end face is formed into a concave limiting structure formed by enclosing at least the first limiting section 2101, the pivoting section 2103 and the second limiting section 2102. It should be appreciated that the side of the clamping arm 220 corresponding to the joint assembly 210 is a convex structure, so that, in cooperation with the concave structure of the first end surface, the pivoting of the clamping arm 220 and the joint assembly 210 is realized, and the opening and closing angles of the clamping arm 220 are limited and adjusted.

Optionally, the first limiting segment 2101 is planar, the pivoting segment 2103 is curved, and the second limiting segment 2102 is planar. For example, but not limiting of, the pivoting segment 2103 is smoothly connected to the first spacing segment 2101 and the second spacing segment 2102.

Optionally, the second limiting section 2102 includes a vertical limiting section and a horizontal limiting section, the vertical limiting section extends in the same direction with the arm body 200, the horizontal limiting section is parallel to the first limiting section 2101, and the horizontal limiting section is connected to one side, away from the first limiting section 2101, of the vertical limiting section.

In this embodiment, the second limiting section 2102 is configured to include at least a combination of a vertical limiting section and a horizontal limiting section. The vertical limiting section is a vertical plane and is arranged towards the pivoting section 2103, one end of the vertical limiting section is connected to one side of the pivoting section 2103, and the other end of the vertical limiting section is vertical and extends towards a direction away from the pivoting section 2103. One end of the horizontal limiting section is connected to one end of the vertical limiting section away from the pivoting section 2103, and the other end extends towards the direction away from the first limiting section 2101. In this embodiment, at least two limiting structures are provided to limit the outer sides of the clamping arms 220, so as to limit the clamping arms 220 from continuing to open.

Optionally, the first end surface further includes an avoidance section 2104, where the avoidance section 2104 is disposed between the pivot section 2103 and the second limiting section 2102, and the avoidance section 2104 is recessed in a direction away from the clamping arm 220. The avoiding section 2104 is used for avoiding the clamping arm 220; in addition, the arrangement of the avoiding section 2104 also reduces the contact area between the pivoting section 2103 and the clamping arm 220, reduces the friction force between the clamping arm 220 and the joint assembly 210, and further improves the rotation sensitivity between the clamping arm 220 and the joint assembly 210.

Further, positioning grooves 221 are provided on the inner sides of the clamping arms 220, the positioning grooves 221 of the two clamping arms 220 are disposed opposite to each other to respectively accommodate the two 11 of the auricle clamp 10, and the two 11 of the auricle clamp 10 and the two clamping arms 220 are respectively fastened and fixed by fixing members such as binding wires. Thus, the positioning grooves 221 and 11 cooperate to enable the cooperation of the auricle clip 10 and the conveying actuator to be more fit and stable, and a more stable operable environment and small operation difficulty can be provided under the condition of reducing the front end shape of the conveying actuator.

Specifically, the joint assembly 210 includes at least one joint 211, the joint 211 being connected between the control joint 100 and the clamp arm 220.

Wherein, the first end surface is disposed on one side of the root joint 211 facing the clamping arm 220, the first limiting section 2101 is disposed on the inner side of the root joint 211, and the second limiting section 2102 is disposed on the outer side of the root joint 211. The clamping arm 220 includes a first limiting clip 2201 disposed towards the first limiting segment 2101, and the first limiting clip 2201 abuts against the first limiting segment 2101 to limit the clamping arm 220 to continue clamping; the second stop 2102 is used to limit the continued opening of the clamp arm 220.

The pivot ends of the root joint 211 and the clamping arm 220 are provided with a first pivot boss 2111, the opposite sides of the first pivot boss 2111 are respectively provided with a first pivot groove, the first limiting section 2101 is arranged on the inner side of the first pivot groove, and the second limiting section 2102 is arranged on the outer side of the first pivot groove; meanwhile, the pivoting end of the clamping arm 220 is provided with two first pivot lugs 222, and the first limiting clip 2201 is arranged at the inner side of the first pivot lugs 222. The two first pivot lugs 222 are respectively inserted into the two first pivot slots, the outer sides of the first pivot lugs 222 are abutted against the inner sides of the second limiting sections 2102, and the first limiting clip 2201 is disposed towards the first limiting section 2101. When the two arms 200 are in the clamping state, the first limiting clip 2201 abuts against the first limiting section 2101 to limit the two clamping arms 220 to continue clamping; the second limiting section 2102 is used to limit the continued opening of the two clamping arms 220 when the two arms 200 are in the open state.

Further, the side of the first pivot lug 222 facing the first pivot slot includes a first limiting plane 2221 and a first movable curved surface 2222 that are connected, where the first limiting plane 2221 is the first limiting card 2201. The side of the first pivoting groove facing the first pivoting ear 222 comprises a first plane section, a first curved surface section, a first avoiding groove section and a second plane section which are sequentially connected, wherein the first plane section is a first limiting section 2101, the first curved surface section is a pivoting section 2103, the first avoiding groove section is a avoiding section 2104, and the second plane section is a second limiting section 2102. In the direction of the joint assembly 210 approaching the clamp arm 220, the second planar segment is higher than the first planar segment, the first planar segment is higher than the first curved segment, and the first curved segment is higher than the first avoiding groove segment. Thus, when the first pivot lug 222 is inserted into the first pivot slot, the first limiting plane 2221 is disposed corresponding to the first plane section, the first movable curved surface 2222 is partially abutted to the first curved surface section, and the other part of the first movable curved surface 2222 is avoided by the first avoiding slot section. In this way, when the two clamping arms 220 are in the clamping state, one end of the first movable curved surface 2222, which is close to the first limiting plane 2221, is abutted to the first curved surface section, and the first limiting plane 2221 is abutted to the first plane section, so as to limit the clamping arms 220 to continue to clamp; when the two clamping arms 220 are in the open state, one end of the first movable curved surface 2222, which is far away from the first limiting plane 2221, is abutted to the first curved surface section, and the outer side of the first pivot lug 222 is abutted to the second plane section, so as to limit the two clamping arms 220 to continue to open.

Specifically, the control joint 100 includes a link 110 and a pivot seat portion 120.

The two rear ends of the connecting rod 110 are respectively pivoted to the joint assemblies 210 of the two arm bodies 200, the front end of the connecting rod 110 is connected with a control piece, and the control piece controls the clamping or opening of the two arm bodies 200 by pulling or pushing the front end of the connecting rod 110;

the front ends of the pivot parts 120 are rotatably connected to the joint assemblies 210 of the two arms 200, respectively.

Alternatively, the link 110 includes two rods arranged in a V shape, the front ends of the two rods being hinged to each other, and the rear ends of the two rods being respectively hinged to the rear ends of the two joints 211. Since the trailing arm 200 is used in this embodiment to engage the 11 of the atrial appendage clip 10, the delivery actuator need not be adapted to be actively parallel 11. Thus, the connecting rod 110 can be realized by adopting the simplest opening and closing connecting rod 110 structure, and has the advantages of simple structure, low cost and low failure rate.

The front end of the V-shaped link 110 is connected to the control member to implement movement of the link 110 by pulling or pushing the control member, thereby implementing clamping or opening of the two clamping arms 220.

Further, the pivot base portion 120 includes a first pivot base 121, a second pivot base 122, a first shaft 123 and a second shaft 124, wherein the front end of the first pivot base 121 is rotatably connected with the joint assemblies 210 of the two arms 200, the first shaft 123 is rotatably connected with the front end of the first pivot base 121 in a first dimension, the rear end of the first pivot base 121 is pivotally connected with the front end of the second pivot base 122, and the second shaft 124 is rotatably connected with the second pivot base 122 in a second dimension.

Optionally, the pivot mount 120 may be rotated in at least two dimensions, thus allowing for spatial positional adjustment of the atrial appendage clip 10. Specifically, the pivot base portion 120 includes a first pivot base 121 and a second pivot base 122, and after the front end of the first pivot base 121 is rotationally connected to the two joints 211, the front end of the first pivot base 121 is rotationally connected to the two joints 211 through a first shaft 123, so that the front end of the first pivot base 121 can rotate about the first shaft 123 in a first dimension. The rear end of the first pivot seat 121 is rotatably connected to the front end of the second pivot seat 122 by a second shaft 124, so that the entire first pivot seat 121 can rotate around the second shaft 124 in the second dimension.

For example, and without limitation, the first shaft 123 and the second shaft 124 are disposed vertically such that rotation of the pivot portion 120 in at least two vertical dimensions is achieved, thereby effecting adjustment of the front end of the delivery actuator in at least two vertical dimensions, thereby effecting adjustment of the atrial appendage clip 10 in at least two vertical dimensions.

Second embodiment

Fig. 7 is a schematic perspective view showing a conveying actuator according to a second embodiment of the present disclosure; FIG. 8 illustrates a first perspective view of a root joint 211 provided by a second embodiment of the present disclosure; FIG. 9 illustrates a second perspective view of a root joint 211 provided by a second embodiment of the present disclosure; FIG. 10 illustrates a first perspective view of a follower joint 212 provided by a second embodiment of the present disclosure; FIG. 11 illustrates a second perspective view of a follower joint 212 provided by a second embodiment of the present disclosure; fig. 12 is a schematic perspective view showing a pivot portion 120 according to a second embodiment of the present disclosure; fig. 13 shows a wiring diagram of a transport actuator provided by a second embodiment of the present disclosure; fig. 14 shows another wiring diagram of a transport actuator provided by a second embodiment of the present disclosure; fig. 15 shows a first view of a first pivot seat 121 provided by a second embodiment of the present disclosure; fig. 16 shows a second view of the first pivot seat 121 provided in the second embodiment of the present disclosure.

Referring to fig. 7 to 16, the present disclosure provides a delivery actuator similar in structure to that provided in the first embodiment, except that: the joint assembly 210 provided in this embodiment includes a root joint 211 and a follower joint 212. Specifically:

the transport executor that this embodiment provided includes: the control joint 100 and the two arms 200. The two arms 200 are hinged to the control joint 100, and the two arms 200 can rotate around the control joint 100 to approach each other to a clamped state or to separate from each other to an open state; the arm body 200 comprises a joint assembly 210 and a clamping arm 220, wherein the joint assembly 210 is pivoted to the control joint 100, and the clamping arm 220 is pivoted to one end of the joint assembly 210 away from the control joint 100; the joint assembly 210 includes a first end surface disposed toward the clamp arm 220, the first end surface including a first spacing segment 2101 disposed on an inner side and a second spacing segment 2102 disposed on an outer side, the clamp arm 220 including a first spacing clip 2201 disposed corresponding to the first spacing segment 2101; the second limiting section 2102 is used for limiting the continuous opening of the clamping arm 220, and the first limiting clip 2201 abuts against the first limiting section 2101 so as to limit the continuous clamping of the clamping arm 220.

Wherein, in the extending direction of the arm body 200, the second limiting section 2102 is higher than the first limiting section 2101. The first end surface further includes a pivoting section 2103 disposed between the first spacing section 2101 and the second spacing section 2102, the pivoting section 2103 being recessed away from the clamp arm 220. The first end surface further includes a pivoting section 2103 disposed between the first spacing section 2101 and the second spacing section 2102, the pivoting section 2103 being recessed away from the clamp arm 220. The first end face further includes an avoidance section 2104, the avoidance section 2104 is disposed between the pivot section 2103 and the second limiting section 2102, and the avoidance section 2104 is recessed in a direction away from the clamping arm 220. Thus, the first end face is optimally set.

Further, the second limiting section 2102 comprises a vertical limiting section and a horizontal limiting section, the vertical limiting section and the arm body 200 extend in the same direction, the horizontal limiting section and the first limiting section 2101 are arranged in parallel, and the horizontal limiting section is connected to one side, far away from the first limiting section 2101, of the vertical limiting section. In this manner, the constraint on the clamp arm 220 is achieved in multiple directions outside of the joint assembly 210.

Further, positioning grooves 221 are provided on the inner sides of the clamping arms 220, the positioning grooves 221 of the two clamping arms 220 are disposed opposite to each other to respectively accommodate the two 11 of the auricle clamp 10, and the two 11 of the auricle clamp 10 and the two clamping arms 220 are respectively fastened and fixed by fixing members such as binding wires. Thus, the positioning grooves 221 and 11 cooperate to enable the cooperation of the auricle clip 10 and the conveying actuator to be more fit and stable, and a more stable operable environment and small operation difficulty can be provided under the condition of reducing the front end shape of the conveying actuator.

Specifically, the joint assembly 210 includes at least one joint 211 and a plurality of follower joints 212, the joint 211 is pivotally connected to the follower joints 212, two adjacent follower joints 212 are pivotally connected, the joint 211 is pivotally connected to the control joint 100, and the follower joint 212 remote from the joint 211 is pivotally connected to the clamping arm 220. In this way, the position of the clamping arm 220 is adjusted by utilizing the follow-up structure formed by the root joint 211 and the plurality of follow-up joints 212, and the driving parallel 11 arm body 200 with a complex structure is not required to be arranged at the control joint 100, so that the structure of the conveying actuator is greatly simplified, and the volume of the conveying actuator is reduced. The provision of the follower joint 212 allows for better follow-up performance of the overall arm 200 and a greater range of movable adjustment.

The follower joint 212 includes a second pivot boss 2121 and two second pivot lugs 2122, second pivot grooves are formed on two opposite sides of the second pivot boss 2121, the second pivot lugs 2122 are connected to the second pivot boss 2121 back to the second pivot grooves, the second pivot lugs 2122 extend in a direction away from the second pivot boss 2121, the second limit clip 2123 is disposed on an inner side of the second pivot lugs 2122, the third limit segment 2124 is disposed on an inner side of the second pivot grooves, and the fourth limit segment 2125 is disposed on an inner side of the second pivot grooves. The two second pivot lugs 2122 of the previous follower joint 212 are respectively inserted into the two second pivot slots of the next follower joint 212, it should be understood that the second pivot lugs 2122 are provided with first connecting holes for passing through the pivot shafts, the second pivot bosses 2121 are provided with second connecting holes for passing through the pivot shafts, and when the second pivot lugs 2122 are inserted into the second pivot slots, the first connecting holes are communicated with the second connecting holes and form through holes for passing through the pivot shafts, so that the pivoting of the two follower joints 212 is realized.

Meanwhile, the opposite sides of the first pivot boss 2111 provided on the root joint 211 are respectively provided with a first pivot slot, the pivot ends of the clamping arm 220 and the follower joint 212 are provided with two first pivot lugs 222, and the pivot manner of the root joint 211 and the follower joint 212 and the pivot manner of the follower joint 212 and the clamping arm 220 can refer to the pivot manner of the two adjacent follower joints 212, which is not described herein again.

From the above, the root joint 211, the plurality of follower joints 212, and the clamp arm 220 are assembled to form the arm body 200, and then the clamp transfer of the auricle clamp 10 is achieved through the interaction of the two arm bodies 200 and the control joint 100. Specifically, when the two clamping arms 220 are in the clamping state, the second limit clip 2123 abuts against the first limit section 2101 of the root joint 211 to limit the follow-up joint 212 pivoted to the root joint 211 from continuing to clamp; the second limit clip 2123 of the previous follower 212 of the two adjacent follower 212 abuts against the third limit segment 2124 of the next follower 212 to limit the previous follower 212 from continuing to clip; the first limiting clip 2201 abuts against the third limiting section 2124 of the follower 212 pivoted thereto to limit the clamping arm 220 from continuing to clamp; thereby, the limit adjustment of the whole arm body 200 in the continuous clamping process is realized. When the two clamping arms 220 are in the open state, the second limiting section 2102 is used for limiting the follow-up joint 212 pivoted with the second limiting section to continue to open; the fourth stop 2125 of the subsequent one 212 of the two adjacent follower joints 212 is configured to limit the continued expansion of the previous follower joint 212; the fourth limit section 2125 of the follower 212 pivotally connected to the clamping arm 220 is used to limit the clamping arm 220 from further expanding; thus, limit adjustment for the whole arm 200 to continue the opening process is realized.

Specifically, the control joint 100 includes a link 110 and a pivot seat portion 120.

The two rear ends of the connecting rod 110 are respectively pivoted to the joint assemblies 210 of the two arm bodies 200, the front end of the connecting rod 110 is connected with a control piece, and the control piece controls the clamping or opening of the two arm bodies 200 by pulling or pushing the front end of the connecting rod 110;

the front ends of the pivot parts 120 are rotatably connected to the joint assemblies 210 of the two arms 200, respectively.

Alternatively, the link 110 includes two rods arranged in a V shape, the front ends of the two rods being hinged to each other, and the rear ends of the two rods being respectively hinged to the rear ends of the two joints 211. Since the trailing arm 200 is used in this embodiment to engage the 11 of the atrial appendage clip 10, the delivery actuator need not be adapted to be actively parallel 11. Thus, the connecting rod 110 can be realized by adopting the simplest opening and closing connecting rod 110 structure, and has the advantages of simple structure, low cost and low failure rate.

The front end of the V-shaped link 110 is connected to the control member to implement movement of the link 110 by pulling or pushing the control member, thereby implementing clamping or opening of the two clamping arms 220.

Further, the pivot base portion 120 includes a first pivot base 121, a second pivot base 122, a first shaft 123 and a second shaft 124, wherein the front end of the first pivot base 121 is rotatably connected with the joint assemblies 210 of the two arms 200, the first shaft 123 is rotatably connected with the front end of the first pivot base 121 in a first dimension, the rear end of the first pivot base 121 is pivotally connected with the front end of the second pivot base 122, and the second shaft 124 is rotatably connected with the second pivot base 122 in a second dimension.

Optionally, the pivot mount 120 may be rotated in at least two dimensions, thus allowing for spatial positional adjustment of the atrial appendage clip 10. Specifically, the pivot base portion 120 includes a first pivot base 121 and a second pivot base 122, and after the front end of the first pivot base 121 is rotationally connected to the two joints 211, the front end of the first pivot base 121 is rotationally connected to the two joints 211 through a first shaft 123, so that the front end of the first pivot base 121 can rotate about the first shaft 123 in a first dimension. The rear end of the first pivot seat 121 is rotatably connected to the front end of the second pivot seat 122 by a second shaft 124, so that the entire first pivot seat 121 can rotate around the second shaft 124 in the second dimension.

For example, and without limitation, the first shaft 123 and the second shaft 124 are disposed vertically such that rotation of the pivot portion 120 in at least two vertical dimensions is achieved, thereby effecting adjustment of the front end of the delivery actuator in at least two vertical dimensions, thereby effecting adjustment of the atrial appendage clip 10 in at least two vertical dimensions.

Further, referring to fig. 13 to 16, the first pivot seat 121 has a control hole 1211 through which the control wire 21 passes, a wire drawing hole 1212 through which the wire drawing 22 passes, a first wire drawing hole 1213 through which the first wire drawing 23 passes, and a second wire drawing hole 1214 through which the second wire drawing 24 passes.

The control hole 1211 penetrates the first pivot seat 121 in a direction from the front end to the rear end of the first pivot seat 121, so that the control wire 21 is conveniently connected to the front end of the link 110 through the control hole 1211. It should be understood that the second pivot seat 122 is also provided with a communication hole penetrating through the second pivot seat 122 at a position corresponding to the control hole 1211, so that one end of the control wire 21 is bound at the front end of the connecting rod 110, and the other end sequentially passes through the control hole 1211 of the first pivot seat 121 and the communication hole of the second pivot seat 122 and then is connected with the controller 300, so that the movement of the connecting rod 110 can be controlled by the action of the controller 300, and the movement of the connecting rod 110 drives the two joints 211 to be clamped or opened, and drives the two clamping arms 220 to be clamped or opened. For example, but not limited to, the control line 21 is a steel wire.

The wire drawing holes 1212 are arranged at intervals at the edge of the control hole 1211, and the wire drawing holes 1212 and the control hole 1211 extend in the same direction, so that one end of the wire drawing 22 conveniently passes through the wire drawing holes 1212 to bind the 11 of the ear clip 10 with the two clamping arms 220. It should be understood that the two wire drawing holes 1212 are provided, and the two wire drawing holes 1212 are respectively provided corresponding to the two arms 200, so as to facilitate the independent binding and the independent control of each arm 200 and each arm 11. In addition, a communication hole through which the other end of the wire 22 penetrates is formed at the corresponding position of the second pivot seat 122, so that the other end of the wire 22 can pass through the communication hole to be connected to the controller 300. For example, and without limitation, the withdrawal string 22 is a medical binding-wire.

The first wire hole 1213 penetrates the first pivot seat 121 along the axial direction of the first shaft 123, so that the first wire 23 can conveniently penetrate and be fixed with the first pivot seat 121, and the first pivot seat 121 can be adjusted in the first dimension. It should be understood that the two first wire holes 1213 are provided with two first wire holes 1213, and the two first wire holes 1213 are disposed opposite to each other, so that the first pivot seat 121 is adjusted back and forth in the first dimension by the two oppositely disposed first wires 23, so as to ensure the positional accuracy of the actuator in the first dimension.

The second wire hole 1214 is spaced apart from the edge of the control hole 1211, and the second wire hole 1214 extends in the same direction as the control hole 1211, so that the second wire 24 can conveniently pass through and be fixed to the first pivot seat 121, and the adjustment of the first pivot seat 121 in the second dimension is achieved. It should be appreciated that the second wire holes 1214 are two, and the two second wire holes 1214 are disposed opposite to each other, so that the first pivot seat 121 can be adjusted back and forth in the second dimension by the two second wires 24 disposed opposite to each other, so as to ensure the positional accuracy of the actuator in the second dimension.

In this way, the binding and releasing of the 11 and the two clamping arms 220 of the auricle clip 10 can be realized through the two wires 22; the first pivot seat 121 can realize accurate adjustment of the space position under the regulation and control of the two first pull wires 23 and the two second pull wires 24. Further, the two clamping arms 220 are driven to accurately adjust in space, so that the auricle clamp 10 can be accurately adjusted in space, and the auricle clamp 10 can be ensured to be sent to a designated focus.

Third embodiment

Fig. 17 is a schematic perspective view showing a conveying actuator according to a third embodiment of the present disclosure; FIG. 18 illustrates a first perspective view of a root joint 211 provided by a third embodiment of the present disclosure; FIG. 19 illustrates a second perspective view of a root joint 211 provided by a third embodiment of the present disclosure; FIG. 20 illustrates a first perspective view of a follower joint 212 provided by a third embodiment of the present disclosure; fig. 21 illustrates a second perspective view of a follower joint 212 provided by a third embodiment of the present disclosure.

Referring to fig. 17 to 21, the present disclosure provides a delivery actuator similar in structure to that provided in the second embodiment, except that: the specific structures of the root joint 211 and the follower joint 212 provided in this embodiment are different from those of the second embodiment.

The transport executor that this embodiment provided includes: the control joint 100 and the two arms 200. The two arms 200 are hinged to the control joint 100, and the two arms 200 can rotate around the control joint 100 to approach each other to a clamped state or to separate from each other to an open state; the arm body 200 comprises a joint assembly 210 and a clamping arm 220, wherein the joint assembly 210 is pivoted to the control joint 100, and the clamping arm 220 is pivoted to one end of the joint assembly 210 away from the control joint 100; the joint assembly 210 includes a first end surface disposed toward the clamp arm 220, the first end surface including a first spacing segment 2101 disposed on an inner side and a second spacing segment 2102 disposed on an outer side, the clamp arm 220 including a first spacing clip 2201 disposed corresponding to the first spacing segment 2101; the second limiting section 2102 is used for limiting the continuous opening of the clamping arm 220, and the first limiting clip 2201 abuts against the first limiting section 2101 so as to limit the continuous clamping of the clamping arm 220.

Fourth embodiment

Fig. 22 shows a schematic structural view of a protector 400 provided by a fourth embodiment of the present disclosure; fig. 23 shows a schematic structural view of another protector 400 according to the fourth embodiment of the present disclosure.

The transport actuator provided in the embodiments of the present disclosure is similar in structure to the transport actuator provided in the third embodiment, except that: the control joint 100 of the delivery actuator provided in this embodiment is sleeved with a protector 400. The arrangement of the protecting member 400 is beneficial to the withdrawal of the delivery actuator, and when the auricle clip 10 is released, the protecting member 400 can tighten the clamp head, and the jaw-type clamp head cannot scatter towards the two arm bodies 200, so that the conditions of stabbing, damaging and the like on biological tissues are avoided. For example, and without limitation, the protector 400 is a protective sleeve to facilitate processing.

In one embodiment, referring to fig. 22, the protector 400 is a soft sleeve to enable automatic gripping of the delivery actuator. For example, but not limited to, the protector 400 is a silicone sleeve.

In another embodiment, referring to fig. 23, the protector 400 is a sleeve made of a harder material to form a cylindrical space with a rigid support. When the atrial appendage clip 10 is released, the jaw-type forceps head is received within the sleeve by pushing the sleeve, and then the entire delivery actuator is withdrawn. The whole operation is convenient and quick, and the operation is easy.

Fifth embodiment

Fig. 24 is a schematic view showing a structure of a conveying apparatus in a clamped state provided in a fifth embodiment of the present disclosure; fig. 25 is a schematic view showing a structure of a conveying apparatus according to a fifth embodiment of the present disclosure in an opened state.

Referring to fig. 24 and 25, the disclosed embodiments also provide a delivery device including a delivery actuator as described above, and a controller 300 coupled to the delivery actuator.

In this embodiment, the specific structure of the conveying actuator refers to the foregoing embodiments, and since the conveying device adopts all the technical solutions of all the foregoing embodiments, at least the conveying device has all the beneficial effects brought by the technical solutions of the foregoing embodiments, which are not described in detail herein.

Optionally, the object to be placed is an auricle clip 10, and the auricle clip 10 includes two parallel 11 and two spring portions 12, where one spring portion 12 is used to connect the same side ends of the two 11 so that the two 11 remain parallel.

It should be noted that in this document, 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. Moreover, the terms "comprises," "comprising," or any other variation 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. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The foregoing is merely a specific embodiment of the disclosure to enable one skilled in the art to understand or practice the disclosure. Various modifications 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 disclosure. Thus, the present disclosure 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 (16)

1. A delivery actuator, comprising:

controlling the joint;

the two arm bodies are hinged to the control joint and can rotate around the control joint to approach to a clamping state or separate from each other to an opening state; the arm body comprises a joint assembly and a clamping arm, the joint assembly is pivoted to the control joint, and the clamping arm is pivoted to one end, far away from the control joint, of the joint assembly; the joint assembly comprises a first end face which is arranged towards the clamping arm, the first end face comprises a first limiting section arranged on the inner side and a second limiting section arranged on the outer side, and the clamping arm comprises a first limiting clamp which is arranged corresponding to the first limiting section; the second limiting section is used for limiting the clamping arm to continue to open, and the first limiting clamp is abutted to the first limiting section so as to limit the clamping arm to continue to clamp.

2. The delivery actuator of claim 1, wherein the second stop segment is higher than the first stop segment in the direction of extension of the arm.

3. The delivery actuator of claim 2, wherein the first end surface further comprises a pivot section disposed between the first stop section and the second stop section, the pivot section being recessed away from the clamp arm.

4. The delivery actuator of claim 3, wherein the first stop segment is planar, the pivot segment is curved, and the second stop segment is planar.

5. The transport actuator of claim 4, wherein the second spacing segment comprises a vertical spacing segment and a horizontal spacing segment, the vertical spacing segment extending in the same direction as the arm, the horizontal spacing segment being disposed parallel to the first spacing segment, the horizontal spacing segment being connected to a side of the vertical spacing segment remote from the first spacing segment.

6. The delivery actuator of claim 3, wherein the first end face further comprises an avoidance segment disposed between the pivot segment and the second stop segment, the avoidance segment being recessed in a direction away from the clamp arm.

7. The delivery actuator of claim 1, wherein the articulation assembly comprises a root articulation coupled between the control articulation and the clamp arm, the first end surface being disposed on a side of the root articulation facing the clamp arm.

8. The delivery actuator of claim 7, wherein the joint assembly further comprises a follower joint pivotally connected between the root joint and the clamp arm.

9. The delivery actuator of claim 8, wherein the follower joint comprises a second limit clip disposed corresponding to the first limit segment and a second end face disposed toward the clamp arm, the second limit segment configured to limit continued opening of the follower joint, the second limit clip abutting the first limit segment to limit continued pinching of the follower joint; the second end face comprises a third limiting section arranged on the inner side and a fourth limiting section arranged on the outer side, the fourth limiting section is used for limiting the clamping arm to continue to open, and the first limiting clamp is abutted to the third limiting section so as to limit the clamping arm to continue to clamp.

10. The delivery actuator of claim 9 wherein a plurality of said follower joints are provided, wherein two adjacent follower joints are pivotally connected, and wherein a plurality of said follower joints are pivotally connected between said root joint and said gripping arm.

11. The delivery actuator of claim 1, wherein the clamping arms are provided with positioning grooves on the inner sides thereof, and the positioning grooves of the two clamping arms are disposed opposite to each other to respectively accommodate one side of an object to be placed.

12. The delivery actuator of claim 1, wherein the control joint comprises a linkage and a pivot mount;

the two rear ends of the connecting rod are respectively pivoted to the joint assemblies of the two arm bodies, the front ends of the connecting rod are connected with the control piece, and the control piece controls the clamping or opening of the two arm bodies by pulling or pushing the front ends of the connecting rod;

the front ends of the pivot parts are respectively rotatably connected with the joint assemblies of the two arm bodies.

13. The delivery actuator of claim 12, wherein the pivot mount portion comprises a first pivot mount, a second pivot mount, a first shaft, and a second shaft, the front ends of the first pivot mount are rotatably coupled to the joint assemblies of the two arms, respectively, the first shaft is rotatably coupled to the front ends of the first pivot mount in a first dimension, the rear ends of the first pivot mount are pivotally coupled to the front ends of the second pivot mount, and the second shaft is rotatably coupled to the second pivot mount in a second dimension.

14. The delivery actuator of claim 12, wherein the first pivot seat has a control hole, a wire drawing hole, a first wire drawing hole and a second wire drawing hole, the control hole penetrates the first pivot seat in a direction from a front end to a rear end of the first pivot seat, the wire drawing holes are arranged at intervals at edges of the control hole, the wire drawing holes extend in the same direction as the control hole, the first wire drawing hole penetrates the first pivot seat in an axial direction of the first shaft, the second wire drawing hole is arranged at intervals at edges of the control hole, and the second wire drawing hole extends in the same direction as the control hole.

15. The delivery actuator of claim 1, further comprising a protector, wherein the protector is sleeved outside the control joint.

16. A delivery device comprising a delivery actuator as claimed in any one of claims 1 to 15, and a controller connected to the delivery actuator.