CN117814922A - Telescopic tube structure and surgical instrument clamping device - Google Patents
Telescopic tube structure and surgical instrument clamping device Download PDFInfo
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- CN117814922A CN117814922A CN202410248004.5A CN202410248004A CN117814922A CN 117814922 A CN117814922 A CN 117814922A CN 202410248004 A CN202410248004 A CN 202410248004A CN 117814922 A CN117814922 A CN 117814922A
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- 230000001960 triggered effect Effects 0.000 claims abstract description 7
- 238000013016 damping Methods 0.000 claims description 172
- 238000000034 method Methods 0.000 abstract description 16
- 238000006073 displacement reaction Methods 0.000 abstract 1
- 230000009975 flexible effect Effects 0.000 description 20
- 230000002792 vascular Effects 0.000 description 13
- 238000010586 diagram Methods 0.000 description 6
- 230000000712 assembly Effects 0.000 description 5
- 238000000429 assembly Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 230000003902 lesion Effects 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 125000006850 spacer group Chemical group 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 208000003174 Brain Neoplasms Diseases 0.000 description 1
- 208000024172 Cardiovascular disease Diseases 0.000 description 1
- 208000002177 Cataract Diseases 0.000 description 1
- 208000028571 Occupational disease Diseases 0.000 description 1
- 208000018262 Peripheral vascular disease Diseases 0.000 description 1
- 208000000875 Spinal Curvatures Diseases 0.000 description 1
- 208000026106 cerebrovascular disease Diseases 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000002059 diagnostic imaging Methods 0.000 description 1
- 238000013152 interventional procedure Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 201000011531 vascular cancer Diseases 0.000 description 1
- 206010055031 vascular neoplasm Diseases 0.000 description 1
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Abstract
The invention relates to a telescopic tube structure and a surgical instrument clamping device, wherein the telescopic tube structure at least comprises a base tube, a primary tube, a secondary tube and a position locking assembly, and the base tube, the primary tube and the secondary tube are sleeved in sequence from inside to outside to form a sleeve tube structure capable of extending along the circumferential direction; the position locking assembly at least comprises a first position locking assembly positioned between the base pipe and the primary pipe and a second position locking assembly positioned between the primary pipe and the secondary pipe; when the base pipe, the primary pipe and the secondary pipe are in a contracted state, the first position locking assembly and the second position locking assembly are in a locking state, and the first position locking assembly can be triggered to unlock the second position locking assembly by unlocking the first position locking assembly, so that linkage unlocking of the first position locking assembly and the second position locking assembly is realized. The invention solves the technical problems of poor stability of delivering surgical instruments and passive displacement of the surgical instruments in the interventional operation process.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a telescopic tube structure and a surgical instrument clamping device.
Background
The vascular intervention operation is an operation mode that under the guidance of medical imaging equipment, interventional instruments such as a puncture needle, a catheter, a guide wire, a balloon, a bracket and the like are operated by an interventional doctor, and a specified instrument is delivered to a corresponding lesion part of a patient along a vascular access of a human body after percutaneous puncture, so that treatment is carried out. As a minimally invasive treatment means, vascular interventional procedures have been widely used in interventional therapy of cardiovascular diseases, cerebrovascular diseases, peripheral vascular diseases and tumors.
In the existing operation mode, an interventional doctor needs to wear lead clothes (20-30 jin weight) for a long time to stand beside an operation table to operate interventional instruments such as a catheter and a guide wire, the lead clothes can not completely shield the radiation of X rays, arms and heads are directly exposed to the X rays, the interventional doctor works in an X-ray radiation environment for a long time, and the interventional doctor is prone to high incidence of occupational diseases such as cataract, spinal curvature and brain tumor. The robot system is used for controlling the delivery of interventional instruments such as catheters, guide wires and the like, so that the working condition of doctors can be effectively improved, the physical consumption is reduced, the occupational hazard is reduced, the doctors are fully focused on the surgical treatment, and a better surgical treatment effect is brought to patients.
But adopt surgical robot in carrying out the operation in-process, the centre gripping stability to surgical instruments (like vascular sheath) is not good enough, carries out position locking and unblock process loaded down with trivial details to the delivery structure that surgical instruments carried out the propelling movement, and pipe, seal wire can produce the influence on other surgical instruments (like vascular sheath) in the position in the propelling movement process for surgical instruments such as vascular sheath etc. that need fixed position take place to shift, and then probably lead to vascular sheath to be taken out patient's external or vascular sheath's front end damage puncture point vascular inner wall, bring certain risk for the operation.
Aiming at the problems of poor clamping and delivery stability of surgical instruments and inconvenient position locking and unlocking of a delivery structure in the related art, an effective solution is not provided.
Therefore, the inventor provides a telescopic tube structure and a surgical instrument clamping device by virtue of experience and practice of related industries for many years so as to overcome the defects of the prior art.
Disclosure of Invention
The invention aims to provide a telescopic tube structure and a surgical instrument clamping device, which can be used for fixing and clamping and delivering surgical instruments (such as vascular sheaths) in the operation process of an interventional surgical robot, can realize multistage linkage unlocking and automatic locking of the telescopic tube structure, ensure the stability of the surgical instruments in the operation process and ensure the smooth operation.
The object of the invention can be achieved by the following scheme:
the invention provides a telescopic pipe structure, which at least comprises a base pipe, a primary pipe, a secondary pipe and a position locking assembly, wherein the base pipe, the primary pipe and the secondary pipe are sleeved in sequence from inside to outside to form a telescopic pipe structure capable of extending along the circumferential direction;
the position locking assembly at least comprises a first position locking assembly and a second position locking assembly, wherein the first position locking assembly is positioned between the base pipe and the primary pipe, the second position locking assembly is positioned between the primary pipe and the secondary pipe, the first position locking assembly is used for locking and unlocking the relative position between the base pipe and the primary pipe, and the second position locking assembly is used for locking and unlocking the relative position between the primary pipe and the secondary pipe; when the base pipe, the primary pipe and the secondary pipe are in a contracted state, the first position locking assembly and the second position locking assembly are in a locking state, and the first position locking assembly can be triggered to unlock the second position locking assembly through unlocking the first position locking assembly, so that linkage unlocking of the first position locking assembly and the second position locking assembly is realized.
In a preferred embodiment of the present invention, the first position locking assembly is located in the primary pipe and is connected to the base pipe, the first position locking assembly has an unlocking station and a locking station, and when the first position locking assembly is located at the unlocking station, the primary pipe can axially stretch and retract relative to the base pipe; when the first position locking assembly is positioned at the locking station, the position of the primary pipe relative to the base pipe is locked; the second position locking component is positioned in the diode and connected with the primary pipe, the second position locking component is provided with an unlocking station and a locking station, and when the second position locking component is positioned at the unlocking station, the diode can axially stretch and retract relative to the primary pipe; when the second position locking assembly is positioned at the locking station, the position of the diode relative to the primary pipe is locked;
the first position locking assembly and the second position locking assembly are respectively provided with a first damping piece and a second damping piece, the first damping piece and the second damping piece are respectively in damping contact with the inner wall of the primary pipe and the inner wall of the secondary pipe, and the damping force between the first damping piece and the inner wall of the primary pipe is larger than that between the second damping piece and the inner wall of the secondary pipe, so that when the first position locking assembly and the second position locking assembly are both positioned at an unlocking station, the axial telescopic action of the secondary pipe is earlier than that of the primary pipe.
In a preferred embodiment of the present invention, when the first position locking assembly and the second position locking assembly are both located at the unlocking station, the primary pipe moves forward in the axial direction after the diode moves forward in the axial direction to the limit position.
In a preferred embodiment of the present invention, the first position locking assembly includes a first position adjusting block, the first position adjusting block has a cylindrical structure coaxial with the primary pipe, the first position adjusting block is connected to the front end of the base pipe, and the first position adjusting block has a reducing section with an outer diameter gradually increasing from a position close to the front end of the base pipe to a position far from the base pipe;
the first damping piece is annular and sleeved on the periphery of the reducing section, and the outer wall of the first damping piece is in contact with the inner wall of the primary pipe and has damping force between the outer wall and the inner wall of the primary pipe.
In a preferred embodiment of the present invention, the first damping member includes a plurality of damping locking blocks with arc cross sections and a plurality of annular damping gaskets, the damping locking blocks are annularly arranged along the circumference of the variable-diameter section, and the damping gaskets are annularly arranged at the peripheries of the damping locking blocks, so that the damping locking blocks press the outer wall of the variable-diameter section.
In a preferred embodiment of the present invention, the inner wall of the damping locking block is an inclined plane adapted to the outer wall of the reducing section, and the inner wall of the damping locking block 511 is attached to the outer wall of the reducing section;
the outer wall of the first position adjusting block is provided with threads, the front end of the base pipe is in threaded connection with the first position adjusting block, the threaded connection position of the first position adjusting block and the base pipe is adjusted, the damping locking block is pushed to axially move on the reducing section through the front end of the base pipe, and the position of the damping locking block on the reducing section is changed, so that damping force between the damping locking block and the inner wall of the primary pipe is adjusted.
In a preferred embodiment of the present invention, the first position locking assembly further includes a second position adjusting block and a connecting shaft, the second position adjusting block is disposed at a front end of the connecting shaft, the first position adjusting block is axially movably sleeved on the connecting shaft and is close to a rear end of the connecting shaft, the rear end of the connecting shaft extends into the base pipe from the front end of the base pipe, a spring is disposed between the rear end of the connecting shaft and the first position adjusting block, and a position locking structure with a changeable length is disposed between the first position adjusting block and the second position adjusting block.
In a preferred embodiment of the present invention, the spring itself has an elastic force smaller than a damping force between the second damping member and the inner wall of the diode and smaller than a damping force between the first damping member and the inner wall of the primary pipe in the state of varying the length.
In a preferred embodiment of the present invention, the inner wall of the first position adjusting block is provided with a first boss, the rear end of the connecting shaft is provided with a second boss, the spring is sleeved on the connecting shaft, and two ends of the spring are respectively connected with the first boss and the second boss.
In a preferred embodiment of the present invention, the position locking structure includes a connection block, a first clamping column and a second clamping column, two ends of the first clamping column are respectively hinged with the connection block and the second position adjusting block, and two ends of the second clamping column are respectively hinged with the connection block and the first position adjusting block;
the connecting shaft drives the second position adjusting block to move forwards relative to the first position adjusting block, so that the first clamping column and the second clamping column rotate to a position where the end part of the first clamping column and the end part of the second clamping column are separated from the inner wall of the primary pipe respectively, and the first position locking assembly is positioned at an unlocking station;
Under the action of the elasticity of the spring, the connecting shaft drives the second position adjusting block to move backwards relative to the first position adjusting block, so that the first clamping column and the second clamping column rotate to the positions where the end part of the first clamping column and the end part of the second clamping column are respectively abutted against the inner wall of the primary pipe, and the first position locking assembly is located at a locking station.
In a preferred embodiment of the present invention, the second position locking assembly has the same structure as the first position locking assembly, and is connected to the front end of the primary pipe;
and/or the second damping piece has the same structure as the first damping piece, and the outer wall of the second damping piece is contacted with the inner wall of the diode and has damping force between the outer wall and the inner wall of the diode.
In a preferred embodiment of the present invention, the inner wall of the rear portion of the primary pipe is provided with a first positioning ring, and when the primary pipe moves forward relative to the base pipe to a position where the front portion of the first positioning ring abuts against the rear portion of the first damping member, the primary pipe moves forward to a limit position.
In a preferred embodiment of the present invention, the diode has a second positioning ring on the inner wall of the rear portion of the diode, and when the diode moves forward relative to the primary pipe to a position where the front portion of the second positioning ring abuts against the rear portion of the second damping member, the diode moves forward to a limit position.
In a preferred embodiment of the invention, the telescopic tube structure further comprises pushing means, at least part of which is positioned to extend into the base tube and push the connection shaft forward.
In a preferred embodiment of the present invention, the pushing device includes an electromagnet, and an actuating end of the electromagnet is connected to a rear end of a push rod, and the electromagnet can push the push rod until a front end of the push rod abuts against a rear end of the connecting shaft of the first position locking assembly.
In a preferred embodiment of the present invention, the telescopic tube structure further includes a mounting plate and a fixing member, the pushing device and the fixing member are both disposed on a top surface of the mounting plate, and a rear end of the base tube is connected to the fixing member.
The present invention provides a surgical instrument holding device including:
the clamping jaw is used for clamping and fixing surgical instruments;
according to the telescopic pipe structure, the clamping jaw is arranged at one end of the telescopic pipe structure, and the other end of the telescopic pipe structure is used for being connected with the surgical robot.
From the above, the telescopic tube structure and the surgical instrument clamping device of the invention have the characteristics and advantages that:
According to the invention, the base pipe, the primary pipe and the secondary pipe are sleeved in sequence from inside to outside, the first position locking assembly between the base pipe and the primary pipe can lock and unlock the relative position between the base pipe and the primary pipe, the second position locking assembly between the primary pipe and the secondary pipe can be used for locking and unlocking the relative position between the primary pipe and the secondary pipe, when the base pipe, the primary pipe and the secondary pipe are in a contracted state, the first position locking assembly and the second position locking assembly are in a locking state, the first position locking assembly can be triggered to unlock the second position locking assembly by unlocking the first position locking assembly, so that the linkage unlocking of the first position locking assembly and the second position locking assembly is realized, and the adjustment of the structural length of the telescopic pipe and the delivery of surgical instruments are facilitated.
The invention is characterized in that at least a base pipe, a primary pipe and a secondary pipe are sleeved in sequence from inside to outside, the base pipe, the primary pipe and the secondary pipe can axially stretch and retract, a first position locking component connected with the base pipe is arranged in the primary pipe, a second position locking component connected with the primary pipe is arranged in the secondary pipe, the first position locking component and the second position locking component are respectively provided with an unlocking station and a locking station, when the first position locking component and the second position locking component are both positioned at the unlocking station, the primary pipe can axially stretch and retract relative to the base pipe, and the secondary pipe can axially stretch and retract relative to the primary pipe; when the first position locking component and the second position locking component are both located at the locking station, the primary pipe is locked relative to the position of the base pipe, and the secondary pipe is locked relative to the position of the primary pipe, so that telescopic adjustment of the telescopic pipe structure is achieved, the telescopic pipe structure has good stability in a locking state, in an actual operation process, a surgical instrument can be fixedly clamped at one end of the telescopic pipe structure, the other end of the telescopic pipe structure can be connected with an interventional operation robot, the surgical instrument can be fixedly clamped, stability of the telescopic pipe structure in an extending state can be guaranteed, and the purpose of stable delivery of the surgical instrument is achieved, and smooth performance of interventional operation is guaranteed.
According to the invention, the first damping piece and the second damping piece are respectively arranged on the first position locking component and the second position locking component, the first damping piece and the second damping piece are respectively in damping contact with the inner wall of the primary pipe and the inner wall of the secondary pipe, and the damping force between the first damping piece and the inner wall of the primary pipe is larger than that between the second damping piece and the inner wall of the secondary pipe, so that when the first position locking component and the second position locking component are both positioned at the unlocking station, the axial telescopic action of the secondary pipe can be earlier than the axial telescopic action of the primary pipe due to the difference of the damping forces, thereby ensuring the orderly action of the telescopic pipe structure in the telescopic process, realizing stable delivery and retraction of surgical instruments and ensuring the smooth proceeding of interventional operations.
Drawings
The following drawings are only for purposes of illustration and explanation of the present invention and are not intended to limit the scope of the invention. Wherein:
fig. 1: is a perspective view of the telescopic tube structure of the invention.
Fig. 2: is a cross-sectional view of the telescopic tube structure of the invention.
Fig. 3: the telescopic pipe structure is a schematic structural view of a first position locking assembly and a second position locking assembly in the telescopic pipe structure.
Fig. 4: is a schematic cross section of the position of the damping locking ring in the telescopic pipe structure.
Fig. 5: the telescopic pipe structure is a structural schematic diagram of the positions of the first positioning ring and the second positioning ring in the telescopic pipe structure.
Fig. 6: is one of the working state schematic diagrams of the telescopic tube structure of the invention.
Fig. 7: the second working state of the telescopic tube structure of the invention is shown in the schematic diagram.
Fig. 8: the third working state of the telescopic tube structure of the invention is shown in the schematic diagram.
Fig. 9: the fourth working state of the telescopic tube structure of the invention is shown in the schematic diagram.
Fig. 10: is a partial structure schematic diagram of the surgical instrument clamping device.
The reference numerals in the invention are:
1. a base pipe; 2. A primary pipe;
21. a first positioning ring; 3. A diode;
31. a second positioning ring; 4. A position locking assembly;
41. a first position locking assembly; 411. A first position adjustment block;
4111. a reducing section; 4112. A first boss;
412. a second position adjustment block; 413. A connecting shaft;
4131. a second boss; 414. A spring;
415. a position locking structure; 4151. A first clamping column;
4152. the second clamping column; 4153. A connecting block;
42. a second position locking assembly; 51. A first damping member;
511. Damping locking blocks; 512. Damping gaskets;
52. a second damping member; 6. A pushing device;
7. a fixing member; 8. A mounting plate;
9. a push rod; 100. A telescopic tube structure;
200. a surgical instrument; 300. A clamping jaw;
400. a delivery end; 500. And a steering tube.
Detailed Description
For a clearer understanding of technical features, objects, and effects of the present invention, a specific embodiment of the present invention will be described with reference to the accompanying drawings.
The words "front", "rear", "upper", "lower", "top", "bottom", "inner", "outer" and the like having directions in fig. 2 refer to directions such as "front", "rear", "upper", "lower", "top", "bottom", "inner", "outer", and the like, and are herein collectively described to more accurately describe the connection relationship of the telescopic tube structure and the positional relationship of the corresponding parts, and are not limited to the actual directions of the parts in the telescopic tube structure.
Embodiment one
As shown in fig. 1 to 9, the present invention provides a telescopic tube structure, which at least includes a base tube 1, a primary tube 2, a secondary tube 3 and a position locking assembly 4, wherein the base tube 1, the primary tube 2 and the secondary tube 3 are sleeved in sequence from inside to outside (i.e. the primary tube 2 is sleeved outside the base tube 1, the secondary tube 3 is sleeved outside the primary tube 2), and at least the base tube 1, the primary tube 2 and the secondary tube 3 form a sleeve structure capable of extending and retracting along the circumferential direction; the position locking assembly 4 at least comprises a first position locking assembly 41 for locking and unlocking the relative position between the base pipe 1 and the primary pipe 2 and a second position locking assembly 42 for locking and unlocking the relative position between the primary pipe 2 and the secondary pipe 3, wherein the first position locking assembly 41 is positioned between the base pipe 1 and the primary pipe 2, and the second position locking assembly 42 is positioned between the primary pipe 2 and the secondary pipe 3; when the base pipe 1, the primary pipe 2 and the secondary pipe 3 are in the contracted state, and the first position locking assembly 41 and the second position locking assembly 42 are in the locked state, the first position locking assembly 41 can be triggered to unlock the second position locking assembly 42 by unlocking the first position locking assembly 41, so that the linkage unlocking of the first position locking assembly 41 and the second position locking assembly 42 is realized, and the adjustment of the structural length of the telescopic pipe and the delivery of surgical instruments are facilitated.
In an alternative embodiment of the present invention, as shown in fig. 1 to 10, a first position locking assembly 41 is located in the primary pipe 2 and connected to the front end of the base pipe 1, the first position locking assembly 41 having an unlocking position and a locking position, and the primary pipe 2 being axially retractable with respect to the base pipe 1 when the first position locking assembly 41 is located in the unlocking position; when the first position locking assembly 41 is located at the locking station, at least part of the first position locking assembly 41 will abut against the inner wall of the primary pipe 2, so that the primary pipe 2 is locked relative to the base pipe 1; likewise, a second position locking assembly 42 is positioned in the diode 3 and is connected with the front end of the primary pipe 2, the second position locking assembly 42 is provided with an unlocking station and a locking station, and when the second position locking assembly 42 is positioned in the unlocking station, the diode 3 can axially stretch and retract relative to the primary pipe 2; when the second position locking assembly 42 is in the locking position, at least a portion of the second position locking assembly 42 will be positioned against the inner wall of the diode 3, such that the position of the diode 3 relative to the primary pipe 2 is locked.
In the invention, a first damping piece 51 is arranged on a first position locking component 41, a second damping piece 52 is arranged on a second position locking component 42, the first damping piece 51 is in damping contact with the inner wall of a primary pipe 2 (namely, the first damping piece 51 can be in contact with the inner wall of the primary pipe 2, and friction force exists between the first damping piece 51 and the inner wall of the primary pipe 2 when the primary pipe 2 moves relative to a base pipe 1), the second damping piece 52 is in damping contact with the inner wall of a secondary pipe 3 (namely, the second damping piece 52 can be in contact with the inner wall of the secondary pipe 3, and friction force exists between the second damping piece 52 and the inner wall of the secondary pipe 3 when the secondary pipe 3 moves relative to the primary pipe 2), wherein the damping force (friction force) between the first damping piece 51 and the inner wall of the primary pipe 2 is larger than the damping force (friction force) between the second damping piece 52 and the inner wall of the secondary pipe 3, so that when the first position locking component 41 and the second position locking component 42 are both positioned at an unlocking station, the axial telescopic device can be smoothly retracted in order, and the telescopic device can be smoothly delivered to a telescopic operation in an axial direction, and a telescopic operation can be smoothly carried out in a telescopic operation.
According to the invention, at least a base pipe 1, a primary pipe 2 and a secondary pipe 3 are sleeved in sequence from inside to outside, axial expansion and contraction actions can be carried out among the base pipe 1, the primary pipe 2 and the secondary pipe 3, a first position locking component 41 connected with the base pipe 1 is arranged in the primary pipe 2, a second position locking component 42 connected with the primary pipe 2 is arranged in the secondary pipe 3, the first position locking component 41 and the second position locking component 42 are respectively provided with an unlocking station and a locking station, when the first position locking component 41 and the second position locking component 42 are both positioned at the unlocking station, the primary pipe 2 can axially expand and contract relative to the base pipe 1, and the secondary pipe 3 can axially expand and contract relative to the primary pipe 2; when the first position locking component 41 and the second position locking component 42 are both located at the locking station, the primary pipe 2 is locked relative to the position of the base pipe 1, and the secondary pipe 3 is locked relative to the position of the primary pipe 2, so that the telescopic pipe structure can be telescopically adjusted and has good stability in a locking state, in an actual operation process, a surgical instrument can be fixedly clamped at one end of the telescopic pipe structure, the other end of the telescopic pipe structure can be connected with an interventional operation robot, the surgical instrument can be fixedly clamped, the stability of the telescopic pipe structure in an extension state can be guaranteed, the purpose of stably delivering the surgical instrument is achieved, and the smooth performance of an interventional operation is guaranteed.
In an actual use state, when the telescopic pipe structure needs to be stretched, the first position locking assembly 41 and the second position locking assembly 42 can be both arranged at the unlocking station, an operator can pull the diode 3 forwards, and as the damping force between the first damping piece 51 and the inner wall of the primary pipe 2 is larger than that between the second damping piece 52 and the inner wall of the diode 3, when the diode 3 receives forward pulling force, only the diode 3 moves forwards along the axial direction until the diode 3 is pulled to the limit position, and the primary pipe 2 starts to move forwards along the axial direction. Similarly, when the telescopic pipe structure is contracted, the first position locking assembly 41 and the second position locking assembly 42 can be both arranged at the unlocking station, and as the damping force between the first damping piece 51 and the inner wall of the primary pipe 2 is larger than the damping force between the second damping piece 52 and the inner wall of the secondary pipe 3, the secondary pipe 3 performs recovery action before the primary pipe 2 until the base pipe 1 is positioned in the primary pipe 2 and the primary pipe 2 is positioned in the secondary pipe 3.
In an alternative embodiment of the present invention, as shown in fig. 2 and 3, the first position locking assembly 41 includes a first position adjusting block 411, where the first position adjusting block 411 has a cylindrical structure coaxial with the primary pipe 2, the first position adjusting block 411 is connected to the front end of the base pipe 1, and the first position adjusting block 411 has a reducing section 4111 with an outer diameter gradually increasing from the front end near the base pipe 1 to the direction far from the base pipe 1 (i.e., the surface of the reducing section 4111 has a tapered surface gradually increasing from the front end near the base pipe 1 to the direction far from the base pipe 1); the first damping member 51 is annular and is axially movably sleeved on the outer periphery of the reducing section 4111, and the outer wall of the first damping member 51 contacts with the inner wall of the primary pipe 2, so that a damping force is provided between the outer wall of the first damping member 51 and the inner wall of the primary pipe 2. Before use, the position of the first damping piece 51 on the reducing section 4111 can be adjusted along the axial direction, so that the diameter of the first damping piece 51 is changed, and the purpose of changing the damping force between the outer wall of the first damping piece 51 and the inner wall of the primary pipe 2 is achieved. After the first damping member 51 is adjusted to a proper damping force, the position of the first damping member 51 on the reducing section 4111 is locked, so that the damping force between the outer wall of the first damping member 51 and the inner wall of the primary pipe 2 is kept constant during the subsequent use. In the actual use process, the damping force between the outer wall of the first damping piece 51 and the inner wall of the primary pipe 2 can be adjusted according to the actual situation, but the damping force between the first damping piece 51 and the inner wall of the primary pipe 2 needs to be ensured to be larger than the damping force between the second damping piece 52 and the inner wall of the diode 3.
In this embodiment, as shown in fig. 4, the first damping member 51 includes a plurality of damping locking blocks 511 with arc-shaped cross sections and a circular ring-shaped damping spacer 512, the plurality of damping locking blocks 511 are annularly arranged along the circumference of the reducing section 4111, the outer wall of the plurality of damping locking blocks 511 is provided with grooves, and the damping spacer 512 is annularly arranged at the periphery of the plurality of damping locking blocks 511 and is embedded in the grooves on the plurality of damping locking blocks 511, so that the plurality of damping locking blocks 511 compress the outer wall of the reducing section 4111, thereby fixing the relative positions between the plurality of damping locking blocks 511 and the reducing section 4111. When the damping force is adjusted, the plurality of damping locking blocks 511 can be pushed to move forwards on the reducing section 4111 along the axial direction, and as the plurality of damping locking blocks 511 move away from the base pipe 1 (namely, move along the axial direction of the reducing section 4111 towards the direction of gradually increasing the outer diameter of the reducing section 4111), the distance between two adjacent damping locking blocks 511 is gradually increased, so that the radius of a first damping piece 51 formed by the plurality of damping locking blocks 511 can be gradually increased along with the increase of the outer diameter of the reducing section 4111, and the radius of a damping gasket 512 is supported to be large, so that the damping force between the outer wall of the first damping piece 51 and the inner wall of the primary pipe 2 is increased; if it is desired to reduce the damping force between the outer wall of the first damping member 51 and the inner wall of the primary pipe 2, the position of the first damping member 51 on the reducing segment 4111 may be adjusted axially rearward. Wherein the damping shim 512 may be made of, but is not limited to, rubber.
Further, as shown in fig. 2 and 3, the inner wall of the damping locking block 511 is an inclined plane adapted to the outer wall of the reducing section 4111, and the inner wall of the damping locking block 511 is attached to the outer wall of the reducing section 4111; the outer wall of the first position adjusting block 411 is provided with threads, the front end of the base pipe 1 is connected with the first position adjusting block 411 through threads, the threaded connection position of the first position adjusting block 411 and the base pipe 1 is adjusted, and then the front end of the base pipe 1 can push the damping locking block 511 to move axially on the reducing section 4111 along the axial direction of the damping locking block, so that the purpose of adjusting the position of the first damping piece 51 on the reducing section 4111 is achieved, and the purpose of adjusting damping force between the damping locking block 511 and the inner wall of the primary pipe 2 is achieved. After the damping force is determined, the screw connection position of the first position adjusting block 411 and the base pipe 1 is not changed any more, and the damping force can be kept constant.
In an alternative implementation of the present invention, as shown in fig. 2 and 3, the first position locking assembly 41 further includes a second position adjusting block 412 and a connecting shaft 413, the connecting shaft 413 is located in the primary pipe 2 and is coaxially disposed with the primary pipe 2, the second position adjusting block 412 is fixedly disposed at a front end of the connecting shaft 413, the first position adjusting block 411 is movably sleeved on the connecting shaft 413 in an axial direction and is close to a rear end thereof, the rear end of the connecting shaft 413 extends into the base pipe 1 from the front end of the base pipe 1, a spring 414 is disposed between the rear end of the connecting shaft 413 and the first position adjusting block 411, a length-changeable position locking structure 415 is disposed between the first position adjusting block 411 and the second position adjusting block 412, and locking and unlocking of the base pipe 1 and the primary pipe 2 by the first position locking assembly 41 is achieved through the position locking structure 415.
Further, as shown in fig. 2 and 3, the inner wall of the first position adjusting block 411 is provided with a first boss 4112, the rear end of the connecting shaft 413 is provided with a second boss 4131, the spring 414 is sleeved on the connecting shaft 413, one end of the spring 414 is connected with the first boss 4112, and the other end of the spring 414 is connected with the second boss 4131.
Specifically, as shown in fig. 2 and 3, the position locking structure 415 includes a connection block 4153, a first clamping post 4151 and a second clamping post 4152, wherein one end of the first clamping post 4151 is hinged to the connection block 4153, the other end of the first clamping post 4151 is hinged to the second position adjusting block 412, one end of the second clamping post 4152 is hinged to the connection block 4153, and the other end of the second clamping post 4152 is hinged to the first position adjusting block 411; in use, the connecting shaft 413 can be pushed forward, so that the connecting shaft 413 drives the second position adjusting block 412 to move forward relative to the first position adjusting block 411 in the forward moving process, so that the top end of the first clamping column 4151 and the top end of the second clamping column 4152 rotate towards two sides of the connecting block 4153 respectively until the top end of the first clamping column 4151 and the top end of the second clamping column 4152 are separated from the inner wall of the primary pipe 2 respectively, at this time, the first position locking assembly 41 is in an unlocking station, and the primary pipe 2 can perform telescopic action relative to the base pipe 1; when the first position locking assembly 41 is in the unlocking position, the spring 414 is in a stretched state, after the forward pushing force on the connecting shaft 413 is removed, the connecting shaft 413 is pushed by the elastic force of the spring 414 to move backward, the connecting shaft 413 drives the second position adjusting block 412 to move backward relative to the first position adjusting block 411, the second position adjusting block 412 is close to the first position adjusting block 411, the top end of the first clamping column 4151 and the top end of the second clamping column 4152 rotate in the direction close to the connecting block 4153, so that the first clamping column 4151 and the second clamping column 4152 rotate to the positions where the top end of the first clamping column 4151 and the top end of the second clamping column 4152 are respectively abutted against the inner wall of the primary pipe 2, and at this time, the first position locking assembly 41 is in the locking position. Further, when the first position locking assembly 41 is at the locking station, the first clamping column 4151 has a forward inclined angle, the second clamping column 4152 has a backward inclined angle, and the top end of the first clamping column 4151 and the top end of the second clamping column 4152 are respectively located at positions propped against the inner wall of the primary pipe 2, so that the first clamping column 4151 can limit the primary pipe 2 to move backward, and the second clamping column 4152 can limit the primary pipe 2 to move forward, thereby achieving the purpose of locking the position of the primary pipe 2.
In the above-described embodiment, the setting spring 414 itself has an elastic force smaller than the damping force between the second damping member 52 and the inner wall of the diode 3 and smaller than the damping force between the first damping member 51 and the inner wall of the primary pipe 2 in the state of changing the length. When the relative positions of the base pipe, the primary pipe 2 and the secondary pipe 3 are required to be locked, the situation that the base pipe 1 and the primary pipe 2 or the primary pipe 2 and the secondary pipe 3 relatively move due to the elastic force of the spring 414 is avoided, and therefore stability of the telescopic pipe structure in a locking state is guaranteed.
In the present invention, as shown in fig. 2 and 3, the second position locking assembly 42 has the same structure as the first position locking assembly 41, and the second position locking assembly 42 is connected to the front end of the primary pipe 2. In the unlocking process, the second position locking assembly 42 can push the connecting shaft 413 of the second position locking assembly 42 to move forward through the connecting shaft 413 of the first position locking assembly 41, so as to achieve the purpose of unlocking the second position locking assembly 42, and further achieve the function of linkage unlocking. As shown in fig. 2 and 3, the second damper 52 has the same structure as the first damper 51, and the outer wall of the second damper 52 contacts the inner wall of the diode 3 with a damping force therebetween.
In an alternative embodiment of the present invention, as shown in fig. 5, a first positioning ring 21 is provided on the inner wall of the rear portion of the primary pipe 2 in the circumferential direction thereof, and when the primary pipe 2 moves forward to a limit position with respect to the base pipe 1, the front portion of the first positioning ring 21 abuts against the rear portion of the first damper 51, thereby limiting the axial movement of the primary pipe 2 with respect to the base pipe 1.
In an alternative embodiment of the present invention, as shown in fig. 5 and 8, a second positioning ring 31 is provided on the inner wall of the rear portion of the diode 3 along the circumferential direction thereof, and when the diode 3 moves forward to the extreme position with respect to the primary pipe 2, the front portion of the second positioning ring 31 abuts against the rear portion of the second damper 52, thereby limiting the axial movement of the diode 3 with respect to the primary pipe 2.
In an alternative embodiment of the present invention, as shown in fig. 1, the telescopic tube structure further comprises a pushing device 6, at least part of the position of the pushing device 6 can extend into the base tube 1 and push the connecting shaft 413 to move forward, so that pushing force can be provided for the connecting shaft 413 in the position locking assembly 4, so that the position locking assembly 4 can complete unlocking action.
Further, as shown in fig. 1, the pushing device 6 may be, but is not limited to, an electromagnet, wherein an action end of the electromagnet is fixedly connected with a rear end of the push rod 9, and after the electromagnet is energized, the action end of the electromagnet can push the push rod 9 to move forward until a front end of the push rod 9 abuts against a rear end of the connecting shaft 413 of the first position locking assembly 41, so that the connecting shaft 413 can be pushed to move forward, and further, the position locking assembly 4 can be pushed to an unlocking station thereof, and unlocking of the position locking assembly 4 is realized, so that the telescopic action of the telescopic tube structure is facilitated; when the telescopic pipe structure needs to be locked, the action end of the electromagnet pulls back the push rod 9 or stops supplying power to the electromagnet, the push rod 9 does not apply thrust to the connecting shaft 413 any more, and under the action of the elastic force of the spring 414, the first position adjusting block 411 and the second position adjusting block 412 move towards the direction close to each other, so that the position locking assembly 4 reaches the locking station of the position locking assembly 4, the locking of the position locking assembly 4 is realized, and the telescopic pipe structure cannot perform telescopic action.
Further, as shown in fig. 1, the telescopic tube structure further comprises a mounting plate 8 and a fixing piece 7, wherein the pushing device 6 and the fixing piece 7 are both arranged on the top surface of the mounting plate 8, the pushing device 6 is located behind the fixing piece 7, the rear end of the base tube 1 is fixedly connected with the fixing piece 7, so that the mounting position is provided for the pushing device 6 and the fixing piece 7 through the mounting plate 8, and the base tube 1 is fixed through the fixing piece 7.
The telescopic tube structure of the invention comprises the following states and action processes,
1. as shown in fig. 6, the telescopic tube structure is in a contracted state, and the primary tube 2 and the secondary tube 3 are in a locking state, at this time, the secondary tube 3 and the primary tube 2 are not moved forward, and the length of the telescopic tube structure is the shortest, in this state, the first position locking assembly 41 and the second position locking assembly are both in a locking station (i.e. the top end of the first clamping post 4151 and the top end of the second clamping post 4152 in the first position locking assembly 41 are respectively abutted against the inner wall of the primary tube 2, and the top end of the first clamping post 4151 and the top end of the second clamping post 4152 in the second position locking assembly 42 are respectively abutted against the inner wall of the secondary tube 3), and the position of the primary tube 2 relative to the base tube 1 and the position of the secondary tube 3 relative to the primary tube 2 are locked.
2. As shown in fig. 7, the telescopic tube structure is in a contracted state, and the primary tube 2 and the secondary tube 3 are in an unlocked state, the action ends of the primary tube 2 and the secondary tube 3 can drive the push rod 9 to move forward by controlling the electromagnet, the push rod 9 moves forward and the front end of the push rod 9 abuts against the rear end of the connecting shaft 413 of the first position locking assembly 41, thereby pushing the connecting shaft 413 of the first position locking assembly 41 to move forward, the connecting shaft 413 of the first position locking assembly 41 moves forward until the first position adjusting block 411 of the first position locking assembly 41 abuts against the rear end of the connecting shaft 413 of the second position locking assembly 42, and pushing the connecting shaft 413 of the second position locking assembly 42 to move forward, at this time, the connecting shaft 413 of the first position locking assembly 41 and the connecting shaft 413 of the second position locking assembly 42 move forward, so that the distance between the first position adjusting block 411 and the second position adjusting block 412 of the first position locking assembly 41 increases, the distance between the first position adjusting block 411 and the second position adjusting block 412 of the second position locking assembly 42 increases such that the top ends of the first and second clamping columns 4151 and 4152 of the first position locking assembly 41 are respectively rotated toward both sides of the connection block 4153 until the top ends of the first and second clamping columns 4151 and 4152 are respectively separated from the inner wall of the primary pipe 2, and the top ends of the first and second clamping columns 4151 and 4152 of the second position locking assembly 42 are respectively rotated toward both sides of the connection block 4153 until the top ends of the first and second clamping columns 4151 and 4152 are respectively separated from the inner wall of the primary pipe 2, and the springs 414 of the first and second position locking assemblies 41 and 414 of the second position locking assembly 42 are compressed. While the telescopic tube structure is still in the contracted state in this state, the first position locking assembly 41 and the second position locking assembly are both in the unlocking position, and when the primary tube 2 and/or the secondary tube 3 are subjected to forward pulling force, the position of the primary tube 2 relative to the base tube 1 and the position of the secondary tube 3 relative to the primary tube 2 can be changed (due to synchronization of damping force, the axial telescopic action of the secondary tube 3 precedes the axial telescopic action of the primary tube 2).
3. As shown in fig. 8, the diode 3 extends to the limit position, the primary pipe 2 does not act, and the primary pipe 2 and the diode 3 are in the unlocking state, because the first position locking assembly 41 and the second position locking assembly 42 are both in the unlocking station, an operator can pull the diode 3 forward by pulling the diode 3 forward, because the damping force between the first damping piece 51 and the inner wall of the primary pipe 2 is greater than the damping force between the second damping piece 52 and the inner wall of the diode 3, during the forward movement of the diode 3, the primary pipe 2 is stationary relative to the base pipe 1 (i.e. the primary pipe 2 does not move forward along with the diode 3), and according to the length requirement of the telescopic pipe in actual use, the diode 3 can be pulled forward for a certain distance (not reaching the limit position where the diode 3 moves forward) or the diode 3 is pulled forward to the limit position (the second positioning ring 31 on the diode 3 and the second damping piece 52 on the second position locking assembly 42) so as to realize the adjustment of the structural length of the telescopic pipe. If the telescopic tube structure reaches the required length, the electromagnet is controlled to drive the push rod 9 to move backwards at the action end, so that the pushing force on the connecting shaft 413 of the first position locking assembly 41 is removed, the connecting shaft 413 of the first position locking assembly 41 moves backwards under the elastic force of the spring 414 of the first position locking assembly 41, so that the distance between the first position adjusting block 411 and the second position adjusting block 412 of the first position locking assembly 41 is reduced, the top ends of the first clamping column 4151 and the second clamping column 4152 of the first position locking assembly 41 rotate to the positions where the top ends of the first clamping column 4151 and the second clamping column 4152 are respectively abutted against the inner wall of the primary tube 2 in the direction approaching to the connecting block 4153, and at the moment, the first position locking assembly 41 is in a locking station; similarly, the backward movement of the connecting shaft 413 in the first position locking assembly 41 also causes no pushing force to continuously push the connecting shaft 413 of the second position locking assembly 42 forward, as the action of the first position locking assembly 41, the connecting shaft 413 of the second position locking assembly 42 moves backward under the elastic force of the spring 414 of the second position locking assembly 42, so that the distance between the first position adjusting block 411 and the second position adjusting block 412 of the second position locking assembly 42 is reduced, the top ends of the first clamping post 4151 and the second clamping post 4152 of the second position locking assembly 42 rotate to the positions where the top ends of the first clamping post 4151 and the top ends of the second clamping post 4152 respectively abut against the inner wall of the diode 3, and at this time, the second position locking assembly 42 is in the locking station, thereby achieving the purpose of locking the position of the diode 3 relative to the diode 2 and the position of the primary pipe 2 relative to the base pipe 1.
4. The diode 3 is extended to the limit position, the primary pipe 2 is extended to the portion (the primary pipe 2 is not extended to the limit position), and the diode 3 is locked and the primary pipe 2 is unlocked. If the diode 3 has moved forward to the limit position, but the length of the telescopic tube structure is still insufficient in practical use, the primary tube 2 needs to be pulled to move forward, at this time (the first position locking assembly 41 and the second position locking assembly 42 are both in the locking position), the connecting shaft 413 of the first position locking assembly 41 can be pushed to move forward again, until the first position locking assembly 41 is in the unlocking position, and since the diode 3 has moved forward to the limit position, the diode 3 continues to apply forward pulling force to the diode 3, and then the secondary tube 3 drives the primary tube 2 to move forward through the second position locking assembly 42, so that the forward moving position of the primary tube 2 is adjusted according to the required length. After the primary pipe 2 moves forward to a preset position (the preset position where the primary pipe 2 needs to move forward can be determined according to the whole length of a required telescopic pipe structure), as shown in fig. 9, the secondary pipe 3 extends to a limit position, the primary pipe 2 extends to a part (the primary pipe 2 does not extend to the limit position), the electromagnet can be controlled to enable the action end of the electromagnet to drive the push rod 9 to move backward, the thrust to the connecting shaft 413 of the first position locking assembly 41 is removed, the connecting shaft 413 of the first position locking assembly 41 moves backward under the elastic force of the spring 414 of the first position locking assembly 41, so that the distance between the first position adjusting block 411 and the second position adjusting block 412 of the first position locking assembly 41 is reduced, the top end of the first clamping column 4151 and the top end of the second clamping column 4152 of the first position locking assembly 41 rotate to the positions where the top end of the first clamping column 4151 and the top end of the second clamping column 4152 are respectively abutted against the inner wall of the primary pipe 2, and the first position locking assembly 41 is located at the position corresponding to the first position locking assembly 2 and the first position locking assembly 2, and the position of the primary pipe 2 is locked relative to the first position locking assembly 2 and the first position locking assembly 2 is located at the position of the first position locking assembly 2.
In an alternative embodiment of the present invention, the telescopic tube structure includes a base tube 1 and a plurality of telescopic tubes (from a primary tube to a secondary tube, where N is greater than 2) with different tube diameters, the base tube 1 is located at the innermost side, and the primary tube to the secondary tube are sequentially sleeved from inside to outside in order to form a multi-stage telescopic tube structure, and the position locking assemblies 4 are respectively disposed between the base tube 1 and the adjacent primary tube and between the adjacent two-stage telescopic tubes, so as to realize locking and unlocking of the telescopic action between the primary tube and the secondary tube, thereby adjusting the overall length of the telescopic tube structure according to the requirement of the actual interventional operation. The structure and the operation principle between the stages of tubes are the same as those between the base tube 1, the primary tube 2 and the secondary tube 3, and are not described here again. When the base pipe 1 and the primary pipes are in the contracted state and the N-stage pipes are in the locked state, the position locking assemblies 4 between the base pipe 1 and the adjacent primary pipes and between the adjacent two-stage telescopic pipes can be sequentially triggered to be unlocked by the position locking assemblies 4 between the adjacent two-stage telescopic pipes which are close to the base pipe 1 and far away from the base pipe 1 through the position locking assemblies 4 between the unlocking base pipe 1 and the primary pipes, so that the effect of multi-stage linkage unlocking is achieved. The telescopic pipe structure of the invention has the characteristics and advantages that:
1. According to the telescopic pipe structure, when the base pipe 1, the primary pipe 2 and the secondary pipe 3 are in the contracted state, and the first position locking assembly 41 and the second position locking assembly 42 are in the locked state, the first position locking assembly 41 is unlocked, the second position locking assembly 42 can be triggered to be unlocked by the first position locking assembly 41, so that the linkage unlocking of the first position locking assembly 41 and the second position locking assembly 42 is realized, and the adjustment of the structural length of the telescopic pipe and the delivery of surgical instruments are facilitated.
2. This flexible pipe structure is in flexible in-process, through set up position locking subassembly between two adjacent flexible pipes (like basic tube and one-level pipe, one-level pipe and diode), can lock the flexible position of two adjacent flexible pipes, thereby guarantee the stability of flexible pipe structure under the extension state, in the in-service use, can be with the fixed centre gripping of surgical instruments (like vascular sheath) in the one end of flexible pipe structure, the other end of flexible pipe structure can link to each other with intervention operation robot, thereby not only can carry out fixed centre gripping to surgical instruments in the operation in-process, can guarantee the stability of flexible pipe structure under the extension state moreover, and then reach the purpose of delivering to surgical instruments stability, guarantee the smooth going on of vascular intervention operation.
3. In this flexible pipe structure, through set up damping piece (i.e. first damping piece and second damping piece) between two adjacent flexible pipes (like basic pipe and one-level pipe, one-level pipe and diode), and have different damping forces between different flexible pipes and the corresponding damping piece, thereby in flexible pipe structure flexible in-process, make the flexible action that receives the less flexible pipe of damping force receive the great flexible pipe of damping force in advance, thereby guarantee in the use, carry out orderly, stable flexible action between the different flexible pipes, improve flexible stability, in order to guarantee the stable delivery to surgical instruments.
Second embodiment
As shown in fig. 10, the present invention provides a surgical instrument clamping device, which includes a clamping jaw 300 and the above-mentioned telescopic tube structure 100, wherein the clamping jaw 300 is disposed at one end of the telescopic tube structure 100, the clamping jaw 300 can be used for fixedly clamping a surgical instrument 200, and the other end of the telescopic tube structure 100 is used for being connected with a surgical robot through a delivery end 400. Wherein the mounting plate 8 in the telescopic tube structure 100 is arranged at the delivery end 400, providing an assembly position for the telescopic tube structure 100.
In an alternative embodiment of the present invention, as shown in fig. 10, a steering tube 500 is disposed between the telescopic tube structure 100 and the clamping jaw 300, a central axis of the steering tube 500 forms a preset included angle with a central axis of the telescopic tube structure 100, one end of the steering tube 500 is connected to the clamping jaw 300, and the other end of the steering tube 500 is connected to the telescopic tube structure 100. The position of the clamping jaw 300 can be changed through the steering tube 500, so that the position of the clamping jaw 300 can be adjusted according to actual needs, and the position of the surgical instrument 200 can be adjusted, so that the surgical instrument 200 can accurately reach a lesion part for treatment.
Further, the surgical device 200 may be, but is not limited to, a vascular sheath.
The surgical instrument clamping device has the same characteristics and advantages as the telescopic tube structure, and is not repeated here.
The foregoing is illustrative of the present invention and is not to be construed as limiting the scope of the invention. Any equivalent changes and modifications can be made by those skilled in the art without departing from the spirit and principles of this invention, and are intended to be within the scope of this invention.
Claims (17)
1. The telescopic pipe structure is characterized by at least comprising a base pipe, a primary pipe, a secondary pipe and a position locking assembly, wherein the base pipe, the primary pipe and the secondary pipe are sleeved in sequence from inside to outside to form a telescopic pipe structure capable of extending and retracting along the circumferential direction;
the position locking assembly at least comprises a first position locking assembly and a second position locking assembly, wherein the first position locking assembly is positioned between the base pipe and the primary pipe, the second position locking assembly is positioned between the primary pipe and the secondary pipe, the first position locking assembly is used for locking and unlocking the relative position between the base pipe and the primary pipe, and the second position locking assembly is used for locking and unlocking the relative position between the primary pipe and the secondary pipe; when the base pipe, the primary pipe and the secondary pipe are in a contracted state, the first position locking assembly and the second position locking assembly are in a locking state, and the first position locking assembly can be triggered to unlock the second position locking assembly through unlocking the first position locking assembly, so that linkage unlocking of the first position locking assembly and the second position locking assembly is realized.
2. The telescoping tube structure of claim 1, wherein the first position locking assembly is positioned within the primary tube and is coupled to the base tube, the first position locking assembly having an unlocking station and a locking station, the primary tube being axially telescoping relative to the base tube when the first position locking assembly is positioned in the unlocking station; when the first position locking assembly is positioned at the locking station, the position of the primary pipe relative to the base pipe is locked; the second position locking component is positioned in the diode and connected with the primary pipe, the second position locking component is provided with an unlocking station and a locking station, and when the second position locking component is positioned at the unlocking station, the diode can axially stretch and retract relative to the primary pipe; when the second position locking assembly is positioned at the locking station, the position of the diode relative to the primary pipe is locked;
the first position locking assembly and the second position locking assembly are respectively provided with a first damping piece and a second damping piece, the first damping piece and the second damping piece are respectively in damping contact with the inner wall of the primary pipe and the inner wall of the secondary pipe, and the damping force between the first damping piece and the inner wall of the primary pipe is larger than that between the second damping piece and the inner wall of the secondary pipe, so that when the first position locking assembly and the second position locking assembly are both positioned at an unlocking station, the axial telescopic action of the secondary pipe is earlier than that of the primary pipe.
3. The telescoping tube structure of claim 2, wherein the primary tube moves axially forward after the diode moves axially forward to a limit position when both the first position locking assembly and the second position locking assembly are in the unlocked position.
4. The telescopic pipe structure as claimed in claim 2, wherein the first position locking assembly comprises a first position adjusting block, the first position adjusting block is of a cylindrical structure coaxial with the primary pipe, the first position adjusting block is connected with the front end of the base pipe, and the first position adjusting block is provided with a reducing section with an outer diameter gradually increasing from the position close to the front end of the base pipe to the position far away from the base pipe;
the first damping piece is annular and sleeved on the periphery of the reducing section, and the outer wall of the first damping piece is in contact with the inner wall of the primary pipe and has damping force between the outer wall and the inner wall of the primary pipe.
5. The telescopic pipe structure according to claim 4, wherein the first damping member comprises a plurality of damping locking blocks with arc-shaped cross sections and annular damping gaskets, the damping locking blocks are annularly arranged along the circumference of the variable-diameter section, and the damping gaskets are annularly arranged on the peripheries of the damping locking blocks so that the damping locking blocks press the outer wall of the variable-diameter section.
6. The telescopic pipe structure as claimed in claim 5, wherein the inner wall of the damping locking block is an inclined surface adapted to the outer wall of the reducing section, and the inner wall of the damping locking block 511 is attached to the outer wall of the reducing section;
the outer wall of the first position adjusting block is provided with threads, the front end of the base pipe is in threaded connection with the first position adjusting block, the threaded connection position of the first position adjusting block and the base pipe is adjusted, the damping locking block is pushed to axially move on the reducing section through the front end of the base pipe, and the position of the damping locking block on the reducing section is changed, so that damping force between the damping locking block and the inner wall of the primary pipe is adjusted.
7. The telescopic tube structure of claim 4, wherein the first position locking assembly further comprises a second position adjusting block and a connecting shaft, the second position adjusting block is disposed at the front end of the connecting shaft, the first position adjusting block is axially movably sleeved on the connecting shaft and is close to the rear end of the connecting shaft, the rear end of the connecting shaft extends into the base tube from the front end of the base tube, a spring is disposed between the rear end of the connecting shaft and the first position adjusting block, and a length-changeable position locking structure is disposed between the first position adjusting block and the second position adjusting block.
8. The telescoping tube structure of claim 7, wherein said spring in its altered length state has a spring force that is less than the damping force between said second damping member and the inner wall of said diode and less than the damping force between said first damping member and the inner wall of said primary tube.
9. The telescopic tube structure of claim 7, wherein the inner wall of the first position adjusting block is provided with a first boss, the rear end of the connecting shaft is provided with a second boss, the spring is sleeved on the connecting shaft, and two ends of the spring are respectively connected with the first boss and the second boss.
10. The telescopic tube structure of claim 7, wherein the position locking structure comprises a connecting block, a first clamping column and a second clamping column, two ends of the first clamping column are respectively hinged with the connecting block and the second position adjusting block, and two ends of the second clamping column are respectively hinged with the connecting block and the first position adjusting block;
the connecting shaft drives the second position adjusting block to move forwards relative to the first position adjusting block, so that the first clamping column and the second clamping column rotate to a position where the end part of the first clamping column and the end part of the second clamping column are separated from the inner wall of the primary pipe respectively, and the first position locking assembly is positioned at an unlocking station;
Under the action of the elasticity of the spring, the connecting shaft drives the second position adjusting block to move backwards relative to the first position adjusting block, so that the first clamping column and the second clamping column rotate to the positions where the end part of the first clamping column and the end part of the second clamping column are respectively abutted against the inner wall of the primary pipe, and the first position locking assembly is located at a locking station.
11. The telescoping tube structure of claim 4, wherein said second position locking assembly has the same structure as said first position locking assembly, said second position locking assembly being connected to the forward end of said primary tube;
and/or the second damping piece has the same structure as the first damping piece, and the outer wall of the second damping piece is contacted with the inner wall of the diode and has damping force between the outer wall and the inner wall of the diode.
12. A telescopic tube structure according to claim 3, wherein the primary tube has a first positioning ring on an inner wall thereof, and when the primary tube moves forward relative to the base tube to a position where a front portion of the first positioning ring abuts a rear portion of the first damping member, the primary tube moves forward to an extreme position.
13. A telescopic tube structure according to claim 3, wherein the diode has a second locating ring on its inner wall, the diode moving forward to an extreme position when the diode moves forward relative to the primary tube to a position where the front of the second locating ring abuts the rear of the second damping member.
14. The telescoping tube structure of claim 7, further comprising a pushing device at least a portion of which is positioned to extend into the base tube and push the connection shaft forward.
15. The telescopic tube structure of claim 14, wherein the pushing means comprises an electromagnet, the actuating end of the electromagnet being connected to the rear end of the push rod, the electromagnet being capable of pushing the push rod until the front end of the push rod abuts against the rear end of the connecting shaft of the first position locking assembly.
16. The telescoping tube structure of claim 14, further comprising a mounting plate and a securing member, wherein the pushing device and the securing member are both disposed on a top surface of the mounting plate, and wherein the rear end of the base tube is coupled to the securing member.
17. A surgical instrument clamping device, the surgical instrument clamping device comprising:
the clamping jaw is used for clamping and fixing surgical instruments;
the telescopic tube structure of any one of claims 1 to 16, the clamping jaw being arranged at one end of the telescopic tube structure, the other end of the telescopic tube structure being adapted to be connected to a surgical robot.
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