CN118000911A

CN118000911A - Flexible instrument conveying device and execution component thereof

Info

Publication number: CN118000911A
Application number: CN202410150626.4A
Authority: CN
Inventors: 江维; 张芳敏; 陈发利
Original assignee: Beijing Yunli Jingan Technology Co ltd
Current assignee: Beijing Yunli Jingan Technology Co ltd
Priority date: 2023-12-05
Filing date: 2023-12-05
Publication date: 2024-05-10
Also published as: CN117357263B; CN117357263A

Abstract

The invention discloses a flexible instrument conveying device and an execution part thereof, wherein the execution part comprises a transfer execution mechanism and a clamping execution mechanism which are positioned in an outer shell, the transfer execution mechanism comprises a transfer wheel, an auxiliary transfer wheel, a first bevel gear set and a transfer input member, the auxiliary transfer wheel and the transfer wheel are arranged at intervals in a first direction, and the two are connected through a belt transmission mechanism; the clamping executing mechanism comprises a passive transfer wheel, the passive transfer wheel and the transfer wheel are oppositely arranged in a second direction, and the rotating axial lines of the passive transfer wheel and the transfer wheel are arranged along a third direction; the outer shell is provided with a through hole formed along a first direction, the transfer input member is coaxially fixed with the driving wheel of the first bevel gear set, and the driven wheel of the first bevel gear set is coaxially fixed with the transfer wheel. The execution part adopts a modularized design, can be independently installed and detached, can be quickly detached after the operation is finished, and has good operability. Meanwhile, on the basis of effectively avoiding cross contamination, the preparation time before operation is greatly reduced.

Description

Flexible instrument conveying device and execution component thereof

The present application is a divisional application, the application number of which is 202311650803.7, the application date of which is 2023, 12, 05, and the entire contents of which are incorporated herein by reference.

Technical Field

The invention relates to the technical field of medical appliances, in particular to a flexible appliance conveying device and an executing component thereof.

Background

The natural cavity tracts such as the digestive tract, the respiratory tract, the urethra and the like are the parts easy to cause common diseases of human beings, and the focus is positioned in the natural cavity tracts of the human body, so that the examination and the treatment are required to be carried out through a soft endoscope. The robot-assisted soft endoscope interventional technique enables a doctor to operate the soft endoscope through the control handle, greatly reduces the physical strength and manual operation labor intensity of the doctor, reduces the dependence of operation on skills and experience, reduces the radiation to medical staff, and improves the operation efficiency and safety.

The accurate, continuous and stable conveying of the soft endoscope is an important precondition for completing tasks such as lesion screening, biopsy, tissue stripping and the like in a complex natural cavity environment. In clinic, endoscopic delivery relies on the skill and experience of the physician's hand. The endoscope and the surgical instrument often accompany with rotary motion in the transferring process, so that natural cavity diseases can be observed and positioned quickly, and the surgical efficiency is improved. In addition, when the lower gastrointestinal endoscopic intervention diagnosis and treatment is carried out, the combined movement of transferring and rotating the endoscope can quickly and safely smooth the intestinal tract, so that the endoscope can be conveniently used for performing diagnosis and treatment on the colon or even the small intestine which is deeper.

However, existing soft endoscopic delivery devices do not meet clinical requirements for soft endoscopic delivery and do not allow for operator takeover control of the flexible instrument in an emergency situation.

In view of this, there is a need for an optimized design for flexible instruments that overcomes the above-mentioned drawbacks.

Disclosure of Invention

The application aims to provide a flexible instrument conveying device and an execution component thereof, which can enable an operator to rapidly take over a flexible instrument through structural optimization, and effectively improve the safety and reliability of instrument operation.

The execution part comprises an outer shell, a transfer execution mechanism and a clamping execution mechanism, wherein the transfer execution mechanism is positioned in the outer shell and comprises a transfer wheel, an auxiliary transfer wheel, a first bevel gear set and a transfer input member which is used for being in transmission connection with a transfer output member of a driving part, the auxiliary transfer wheel and the transfer wheel are arranged at intervals in a first direction, the transfer wheel and the auxiliary transfer wheel are connected through a belt transmission mechanism, and the outer rims of the transfer wheel and the auxiliary transfer wheel are both configured into concave cambered surfaces; the clamping executing mechanism comprises a passive transfer wheel, the passive transfer wheel and the transfer wheel are oppositely arranged in a second direction, and the rotating axial lines of the passive transfer wheel and the transfer wheel are arranged along a third direction; the outer shell is provided with a through hole which is arranged along a first direction and is used for wearing the flexible instrument; the transfer input member is coaxially fixed with the driving wheel of the first bevel gear set, and the driven wheel of the first bevel gear set is coaxially fixed with the transfer wheel; wherein the second direction and the third direction are two directions in a plane perpendicular to the first direction.

Optionally, the clamping actuating mechanism further comprises a clamping input member, a sliding bracket, a fixed bracket, a second bevel gear set and a screw-nut mechanism; the screw rod of the screw rod nut mechanism is pivoted on the fixed support, axially positioned and arranged on the fixed support, the nut of the screw rod nut mechanism is fixedly arranged on the sliding support, and the sliding support is arranged in a sliding way relative to the outer shell in a second direction; the clamping input member is coaxially fixed with the driving wheel of the second bevel gear set, and the driven wheel of the second bevel gear set can drive the screw rod of the screw rod nut mechanism to rotate.

Optionally, the clamping executing mechanism further comprises a gear transmission mechanism, and an axle of the gear transmission mechanism is arranged along a third direction; the driven wheel of the second bevel gear set is coaxially fixed with the driving wheel of the gear transmission mechanism, and the driven wheel of the gear transmission mechanism is coaxially fixed with the screw rod.

Optionally, the plurality of passive transfer wheels are arranged at intervals in the first direction.

Optionally, the clamping executing mechanism further comprises a driven wheel bracket and a third elastic piece, wherein the third elastic piece is arranged between the driven wheel bracket and the sliding bracket; the driven transfer wheel is rotatably arranged on the driven wheel support, and the driven wheel support is arranged in a sliding manner relative to the sliding support in a second direction.

Optionally, the clamping actuator further comprises a torque output member, a flexible torque transmission and a third bevel gear set; one end of the flexible torque transmission piece is fixedly connected with the driven transfer wheel, the other end of the flexible torque transmission piece is fixedly connected with the driving wheel of the third bevel gear set, and the driven wheel of the third bevel gear set is coaxially fixed with the torque output component.

Optionally, the transfer input member is a fourth docking plate, the clamping input member is a fifth docking plate, and the outer side end surfaces of the fourth docking plate and the fifth docking plate are respectively provided with a concave part, the concave part on the fourth docking plate is used for being matched with the convex part on the transfer output member of the driving component, and the concave part on the fifth docking plate is used for being matched with the convex part on the clamping output member of the driving component.

The invention also provides a flexible instrument conveying device, which comprises an executing component for conveying the flexible instrument and a driving component for providing driving force for conveying the flexible instrument; the driving part comprises a bracket, and a rotary driving mechanism and a transfer driving mechanism which are positioned on the bracket, wherein the rotary driving mechanism comprises a rotary output member which is rotatably arranged on the bracket; a substrate is fixedly arranged on the rotary output member, and the substrate is arranged on the butt joint side of the driving part and the executing part; the transfer driving mechanism is arranged on the substrate and comprises a transfer output member which is pivoted on the substrate and is used for being in transmission connection with a transfer input member of the execution part; wherein, the rotation axis of the rotation output member and the pivoting axis of the transfer output member are both arranged along the first direction; the substrate is provided with a first notch, the rotary output member is provided with a second notch, the bracket is provided with a third notch, and the first notch, the second notch and the third notch extend to the side edges from the middle of the body respectively to form a taking-out channel; the execution part adopts the execution part, the execution part is arranged on the substrate of the driving part, and the transfer output component of the driving part and the transfer input component of the execution part establish a transfer transmission path.

Optionally, the quick-connect assembly further comprises a quick-connect assembly, wherein the quick-connect assembly comprises a fixed buckle, a movable compression bar and a fourth elastic piece: the fixed buckle is fixedly arranged on the substrate of the driving part, and a bayonet is formed in the fixed buckle; the movable compression bar is provided with a force application part and a movable clamping hook, the movable clamping hook can be buckled with a bayonet of the fixed clamping buckle, and the force application part and the movable clamping hook are exposed out of the side wall of the outer shell of the execution part; the fourth elastic piece is arranged on the inner side of the movable compression bar, one end of the fourth elastic piece is propped against the movable compression bar, and the other end of the fourth elastic piece is propped against the fixed seat in the outer shell body to be fixed, and is configured to: and when the movable compression bar is pressed and retracted and the movable clamping hook is separated from the bayonet of the fixed clamping buckle, the reset acting force of the movable compression bar is provided.

Compared with the prior art, the invention provides an executive component with better operability, in particular to the executive component which comprises an outer shell, a transfer executive mechanism and a clamping executive mechanism, wherein the transfer executive mechanism and the clamping executive mechanism are positioned in the outer shell, an auxiliary transfer wheel and a transfer wheel of the transfer executive mechanism are arranged at intervals in a first direction and are connected through a belt transmission mechanism, and outer rims of the transfer wheel and the auxiliary transfer wheel are both configured into concave cambered surfaces so as to promote friction force between the two and the outer peripheral surface of a flexible instrument, and reasonably control the possibility of transfer slipping; the passive transfer wheel and the transfer wheel of the clamping executing mechanism are oppositely arranged in the second direction, and the rotating axial lead of the passive transfer wheel and the transfer wheel are arranged along the third direction, so that the clamping operation can be realized, and the conveying operation can be realized efficiently. So set up, executive component adopts modularized design to detachably installs on drive component, can independently install and dismantle, can demolish fast after the operation, has better maneuverability. Meanwhile, the execution part can be used in butt joint with the driving part, so that the preparation time before operation is greatly reduced on the basis of effectively avoiding cross contamination. Under emergency, after the execution part is separated from the driving part, an operator can take out the flexible instrument to finish the quick take-over operation, the possibility of out-of-control of the instrument can be effectively avoided, and the safety and reliability of the operation of the instrument are improved.

Drawings

FIG. 1 is a schematic view of a flexible instrument delivery device according to one embodiment in use;

FIG. 2 is a schematic illustration of an assembled relationship of the actuating member and the drive member of the flexible instrument delivery device of FIG. 1;

FIG. 3 is a schematic view showing the external structure of the driving part in the embodiment;

FIG. 4 is a schematic view of the internal structure of the driving member shown in FIG. 3;

FIG. 5 is a view in the direction A of FIG. 4;

FIG. 6 shows a schematic view of the actuator and flexible instrument in an extracted state;

FIG. 7 is a schematic diagram illustrating an assembly relationship of the driving components according to the embodiment;

FIG. 8 is a schematic view of a bearing arrangement on the bracket shown in FIG. 7;

FIG. 9 is a cross-sectional view B-B in FIG. 7;

FIG. 10 is a cross-sectional view of C-C in FIG. 5;

FIG. 11 is a D-D sectional view of FIG. 5;

Fig. 12 is an enlarged view of the portion E in fig. 11;

FIG. 13 is a cross-sectional view of F-F in FIG. 5;

FIG. 14 is a sectional view of G-G of FIG. 5;

FIG. 15 is a cross-sectional view H-H of FIG. 5;

FIG. 16 is a sectional view I-I of FIG. 15;

FIG. 17 is a schematic view of the external structure of the actuator in the embodiment;

FIG. 18 is a schematic diagram of the internal layout of the execution unit shown in FIG. 17;

FIG. 19 is a J-J cross-sectional view of FIG. 18;

FIG. 20 is a schematic view of the fit relationship between the clamping actuator and the transfer actuator in the embodiment;

FIG. 21 is a schematic view of the overall structure of the clamping actuator according to the present embodiment;

FIG. 22 is a view in the direction K of FIG. 21;

FIG. 23 is a cross-sectional view of L-L of FIG. 18;

FIG. 24 is a cross-sectional view of M-M of FIG. 18;

FIG. 25 is a schematic diagram illustrating an assembly relationship of the quick connect assembly according to the embodiment.

In the figure:

flexible instrument delivery device 100, flexible instrument 200;

The drive component 10, the rotary drive mechanism 11, the rotary motor 111, the rotary output gear 112, the second notch 1121, the boss 1122, the outer flange 11221, the first transmission mechanism 113, the first drive pulley 1131, the first timing belt 1132, the first driven pulley 1133, the drive gear 1134, the tension pulley 1135, the transfer drive mechanism 12, the transfer motor 121, the first docking plate 122, the boss 1221, the spline shaft sleeve 1222, the second transmission mechanism 123, the second drive pulley 1231, the second timing belt 1232, the second driven pulley 1233, the first self-lubricating shaft sleeve 1241, the axle 1242, the external spline 1243, the first elastic member 1244, the axle bracket 1245, the clamping drive mechanism 13, the clamping motor 131, the second docking plate 132, the third transmission mechanism 133, the third drive pulley 1331, the third timing belt 2, the third driven pulley 1333, the bracket 14, the third notch 141, the base plate 15, the first notch 151, the positioning post 152, the connection post 16, the bearing 17, the detection mechanism 18, the third docking plate 182, the second magnetic encoder 181, the second magnetic encoder housing 191, the second magnetic encoder housing 187;

The actuator 20, the transfer actuator 21, the fourth docking plate 211, the recess 2111, the first bevel gear set 212, the transfer wheel 213, the auxiliary transfer wheel 214, the fourth driving pulley 215, the fourth timing belt 216, the fourth driven pulley 217, the clamp actuator 22, the fifth docking plate 221, the driven transfer wheel 222, the slide bracket 223, the slider 2231, the chute 2232, the fixed bracket 224, the second bevel gear set 225, the gear transmission mechanism 226, the lead screw nut mechanism 227, the driven wheel bracket 228, the guide slider 2281, the third elastic member 229, the detection torque transmission mechanism 23, the sixth docking plate 231, the torque spring tube 232, the third bevel gear set 233, the outer case 24, the through hole 241;

The quick-connection assembly 30, the fixed buckle 31, the bayonet 311, the movable compression bar 32, the movable hook 321, the force application part 322 and the fourth elastic piece 33.

Detailed Description

In order to make the technical solution of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments.

Without loss of generality, the embodiment provides a flexible instrument conveying device, so as to execute reliable rotary motion, transfer rotation and other conveying motions for a flexible instrument and meet the clinical operation requirement for conveying the flexible instrument. Referring to fig. 1 and 2, fig. 1 is a schematic view illustrating a use state of the flexible device transporting apparatus according to the present embodiment, and fig. 2 is a schematic view illustrating an assembly relationship between an actuating member and a driving member of the flexible device transporting apparatus shown in fig. 1.

The flexible instrument delivery device 100 comprises a drive member 10 and an actuation member 20, wherein the drive member 10 is operable to provide a driving force to the actuation member 20 to effect a delivery operation of the flexible instrument 200 via the actuation member 20. The driving part 10 may output a clamping driving force to a clamping actuator on the actuator 20 side, clamping the flexible instrument 200; on the other hand, the driving unit 10 can output a transfer driving force to the transfer actuator on the actuator 20 side, thereby realizing a transfer operation of the flexible instrument 200. In addition, the driving part 10 can drive the executing part 20 to rotate, and the executing part 20 drives the flexible instrument 200 to synchronously rotate.

Overall, the flexible instrument is capable of independently performing a shifting motion, a rotating motion, and a shifting and rotating compound motion. Here, "transfer motion" refers to transfer in the direction in which the body of the flexible instrument 200 extends, that is, in the first direction indicated by arrow X in the drawing; "rotational movement" refers to rotation about the direction of extension of the body of the flexible instrument 200.

In a specific implementation, the drive component 10 may be mounted at the end of a robotic arm (not shown) to enable basic assembly of the flexible instrument delivery device 100 and positional adjustment of the flexible instrument delivery device 100 by the robotic arm. Of course, the basic assembly of the flexible instrument delivery device 100 may take other configurations, and is not limited to being mounted on a robotic arm. It should be appreciated that the functional requirements of the flexible instrument to independently perform the translational and rotational movements, as well as the combined translational and rotational movements, may be met.

In this embodiment, the actuator 20 is mounted to the drive member 10 by the quick-connect assembly 30, thereby establishing a clamp transmission path and a transfer transmission path therebetween. The execution part 20 adopts a modularized design and is detachably arranged on the driving part 10, so that the execution part can be independently installed and detached, can be quickly detached after the operation is finished, and has good operability. Meanwhile, the execution part can be used in butt joint with the driving part 10, so that the preparation time before operation is greatly reduced on the basis of effectively avoiding cross contamination.

For clarity of description of the relative positional relationship between the components or structures of the present embodiment, the first direction X is defined as a direction consistent with the transfer motion, and the actuator 20 is assembled and disassembled with respect to the driving part 10 along the first direction X.

Referring to fig. 3, fig. 4 and fig. 5, fig. 3 is a schematic external structure of a driving component according to an embodiment of the present application, fig. 4 is a schematic internal structure of the driving component shown in fig. 3, the fig. 3 is a view formed by removing an outer casing, and fig. 5 is a view of fig. 4.

The driving part 10 comprises a rotary driving mechanism 11, a transfer driving mechanism 12 and a clamping driving mechanism 13, which are assembled on a bracket 14 of the driving part 10, and the enclosure cover can be realized through an outer shell after the assembly is completed. The bracket 14 is generally L-shaped in the figure, so that corresponding functional mechanisms can be conveniently arranged, one end of the bracket is used for being connected with the mechanical arm side, the other end of the bracket is used as a driving output end for installing a driving output member, and the integration level is good. In other implementations, the structural shape of the stand 14 may be determined according to the overall product set requirements, and is not limited to the shape shown in the figures.

The rotation driving mechanism 11 can drive the transfer driving mechanism 12 and the clamping driving mechanism 13 in the driving component 10 to integrally rotate, and simultaneously, torque is transmitted to the side of the executing component 20 through the quick-connection assembly 30, so that the flexible instrument 200 is driven to rotate.

As shown in fig. 4, the power output from the rotary motor 111 of the rotary drive mechanism 11 drives the rotary output gear 112 to rotate via the transmission mechanism. As a rotation output member of the rotation driving mechanism 11, a rotation output gear 112 is rotatably provided on the bracket 14.

Wherein the transfer drive mechanism 12 and the clamp drive mechanism 13 on the side of the drive member 10 are in driving connection with the transfer actuator and the clamp actuator on the side of the actuator member 20, respectively, and thereby realize the transfer movement of the flexible instrument 200 and the operation of clamping the flexible instrument 200.

In the present embodiment, the transfer drive mechanism 12 and the clamp drive mechanism 13 are provided on the base plate 15, and the base plate 15 is fixedly connected with the rotation output gear 112 so that the transfer drive mechanism 12 and the clamp drive mechanism 13 integrally provided thereon are driven to rotate in synchronization by the base plate 15. The base plate 15 can be fixedly connected with the rotary output gear 112 through the connecting column 16, and the structure is simple and reliable. In a specific implementation, the specific number of the connection posts 16 can be determined as needed, and other components can be avoided for reasonable arrangement. The embodiments of the present application are not limited.

Meanwhile, the base plate 15 is further provided with a positioning column 152 to play a role of positioning and guiding when the component 20 is assembled in a side-to-side joint.

Wherein, the transfer driving mechanism 12 and the clamping driving mechanism 13 comprise a butt joint disc positioned on the base plate 15 and are respectively in transmission connection with the butt joint disc corresponding to the side of the execution part 20 so as to establish a transfer transmission path and a clamping transmission path.

As shown in fig. 4, the first docking plate 122 and the second docking plate 132 are located on opposite sides of the base plate 15 from the actuator 20. The power output by the transfer motor 121 of the transfer driving mechanism 12 drives the first pair of trays 122 to rotate through the transmission mechanism, that is, the first pair of trays 122 are transfer output members of the transfer driving mechanism 12; the power output by the clamping motor 131 of the clamping driving mechanism 13 drives the second docking plate 132 to rotate through the transmission mechanism, that is, the second docking plate 132 is a clamping output member of the clamping driving mechanism 13. Thereby, output of the transfer driving force and the clamping driving force is realized, respectively.

In the present embodiment, the substrate 15 and the rotary output gear 112 are provided at a distance, and the transmission mechanisms of the transfer drive mechanism 12 and the clamp drive mechanism 13 are located between the substrate 15 and the rotary output gear 112. The transfer motor 121 and the clamping motor 131 have main body portions protruding from the substrate 15, which can reduce the occupation of the internal space.

As a whole, the outer case of the driving part 10 includes two parts, and as shown in fig. 3 and 4, the first case 191 is housed outside the transfer motor 121 and the clamping motor 131 and is fixed to the base plate 15; the second housing 192 covers the member between the substrate 15 and the bracket 14, and is fixed to the bracket 14.

In order to be able to take over the flexible instrument in an emergency, a removal channel can be provided on the drive member side. In a specific implementation, the base plate 15, the rotary output gear 112 and the support 14 are provided with laterally extending notches, and a first notch 151 on the base plate 15, a second notch 1121 on the rotary output gear 112 and a third notch 141 on the support 14 respectively extend from the middle of the body to the side edges. The "middle portion" here refers to a position region corresponding to the rotation centers of the rotation output gear 112 and the base plate 15.

When the first, second and third notches 151, 1121, 141 are centered in the first direction X, the withdrawal path P may be established. In a normal use state, the flexible instrument 200 is located in a position area where each notch corresponds to the rotation center, and in an emergency, the flexible instrument 200 can be taken out through the taking-out channel P as shown in fig. 6, so as to complete a quick take-over action.

In particular implementations, the slot widths of the first slot 151, the second slot 1121, and the third slot 141 may be uniform or different so long as the flexible instrument 200 is capable of being received while satisfying the functional requirements of a quick-release operation.

In addition, for the rotational fit relationship between the rotary output gear 112 and the carrier 14, this may be achieved by the boss 1122 of the rotary output gear 112 and the plurality of bearings 17 provided on the carrier 14. Referring to fig. 7, 8 and 9, fig. 7 is a schematic diagram illustrating an assembly relationship of the driving components according to the embodiment, fig. 8 is a schematic diagram illustrating a bearing arrangement on the bracket shown in fig. 7, and fig. 9 is a cross-sectional view B-B in fig. 7.

The boss 1122 of the rotary output gear 112 protrudes toward the bracket 14, and the outer ring of each bearing 17 is fitted to the outer peripheral surface of the boss 1122 of the rotary output gear 112. As shown in fig. 8, a plurality of bearings 17 are provided on the bracket 14 beside the third notch 141, that is, the bearings 17 are provided so as to avoid the third notch 141, and the bearings 17 are provided at intervals circumferentially with respect to the rotation center of the rotation output gear 112.

In a specific implementation, in the rotation direction of the rotary output gear 112, the wrap angle α formed by the plurality of bearings 17 may be determined according to the actual slot size, and it is preferable to use a larger wrap angle for arranging the bearings 17, so as to ensure the stability and reliability of the rotation adaptation relationship to the maximum extent. It can be understood that, in the application scenario in which the opening of the extraction channel P is upward is shown as an example, the third slots 141 along the support 14 are arranged at intervals in the drawing, and the wrap angle α formed by the plurality of bearings 17 is not less than 180 ° so as to meet the basic functional requirement of rotation adaptation. The embodiments of the present application are not limited.

In this embodiment, the bearing 17 may be a U-shaped groove bearing, that is, the outer circumferential surface of the outer ring of the bearing 17 has a U-shaped cross-section. Accordingly, the boss 1122 of the rotary output gear 112 has an annular projection 11221 thereon, which annular projection 11221 is received in a U-shaped groove of the bearing 17 to form a rotationally fitting relationship that is axially positioned and maintained stable. It should be appreciated that rotational adaptation of the rotary output gear 112 relative to the carrier 14 may also be achieved using cylindrical roller bearings. The embodiments of the present application are not limited.

In a possible embodiment, the output ends of the drive motors of the rotary drive 11, the transfer drive 12 and the clamping drive 13 on the drive part 10 side can be directly connected with the output component in a transmission way, so that the transmission efficiency is better. In order to fully utilize the assembly space, the output ends of the driving motors in the embodiment can be in transmission connection with the output member through a transmission mechanism.

As for the transmission path of the rotary drive mechanism 11, please refer to fig. 4, 5 and 7 together, the rotary electric machine 111 realizes power output through the first transmission mechanism 113 formed of the belt transmission mechanism and the gear transmission mechanism in order.

The first driving pulley 1131 of the first transmission mechanism 113 is coaxially fixed with the output end of the rotating motor 111, the first driving pulley 1131 and the first driven pulley 1133 form a belt transmission mechanism through adapting the first synchronous belt 1132, the first driven pulley 1133 and the driving gear 1134 are coaxially fixed, and the driving gear 1134 and the rotating output gear 112 are meshed to form a gear transmission mechanism. The working surface of the synchronous belt is made into a tooth shape, the surface of the rim of the belt wheel is also made into a corresponding tooth shape, the belt and the belt wheel are driven through meshing, stable transmission ratio is ensured, and the belt has good transmission precision.

In order to improve the transmission reliability between the driving gear 1134 and the rotary output gear 112, two groups of driving gears 1134 and first driven pulleys 1133 are provided, wherein the two driving gears 1134 are respectively meshed with the rotary output gear 112, and the two first driven pulleys 1133 are respectively matched with the first synchronous belt 1132. Thus, based on the belt transmission mechanism, the rotation output gear 112 can be rotated synchronously by the two drive gears 1134.

In a specific implementation, to further improve the power transmission reliability of the belt drive mechanism, a tension pulley 1135 may be provided, where the tension pulley 1135 may press against the first timing belt 1132, providing a belt tension that meets the drive requirements. As shown in the figure, the tensioning wheel 1135 may be located between the two first driven pulleys 1133, that is, abutted against the first synchronous belt 1132 between the two first driven pulleys 1133, so that the tensioning forces acting on the two first driven pulleys 1133 tend to be consistent, and effective load balancing is achieved.

For the transmission path of the transfer driving mechanism 12, please refer to fig. 5, 10 and 11, wherein fig. 10 is a C-C sectional view in fig. 5, and fig. 11 is a D-D sectional view in fig. 5. Here, in order to clearly illustrate the configuration and connection relationship of the transfer drive mechanism 12, components such as a drive motor are omitted in fig. 11.

The transfer motor 121 achieves power output through a second transmission mechanism 123 formed of a belt transmission mechanism. The second driving pulley 1231 of the second transmission mechanism 123 is coaxially fixed to the output end of the transfer motor 121, the second driving pulley 1231 and the second driven pulley 1233 form a belt transmission mechanism by adapting the second synchronous belt 1232, and the second driven pulley 1233 and the first docking plate 122 are coaxially arranged and realize torque transmission.

In order to improve the operability of the drive side interfacing with the implement side, in a specific implementation, the first docking plate 122 of the transfer drive mechanism 12 may be an elastic docking plate. Please refer to fig. 12, which is an enlarged view of the portion E in fig. 11.

The first docking plate 122 is inserted on the base plate 15, and pivotally connected to the opening on the base plate 15 through a first self-lubricating sleeve 1241. The outer end surface of the first docking plate 122 has a convex portion 1221 for fitting with the concave portion of the execution-side docking plate; meanwhile, the inner side end of the first docking plate 122 is provided with a spline shaft sleeve 1222, and correspondingly, an external spline 1243 is coaxially and fixedly arranged on a wheel shaft 1242 of the second driven pulley 1233, and the spline shaft sleeve 1222 is in plug-in fit with the external spline 1243. In this way, torque is transmitted from the second driving pulley 1231 at the output end of the transfer motor 121 to the second driven pulley 1233 fixed to the wheel shaft 1242 via the second timing belt 1232, and torque is transmitted to the first docking plate 122 via the external spline 1243 fixed to the wheel shaft 1242.

Meanwhile, the first docking plate 122 and the axle 1242 are provided with a first elastic member 1244. Based on the elastic docking plate, when the execution part 20 and the driving part 10 are assembled, the first docking plate 122 can be pressed, the spline shaft sleeve 1222 of the first docking plate 122 can slide inwards relative to the external spline 1243 on the wheel axle 1242 side, in the process, the first elastic piece 1244 is deformed under pressure, and when the convex part 1221 on the outer side end surface of the first docking plate 122 is completely aligned with the concave part of the execution side docking plate, the first elastic piece 1244 can release elastic deformation energy, and can push the first docking plate 122 to move reversely until the convex part 1221 and the concave part of the execution side docking plate are inserted in place.

As shown in fig. 12, the first elastic member 1244 is a compression spring built in the spline sleeve 1222 and is fitted around one side end of the axle 1242 to maintain a reliable ground assembly relationship. Of course, in other possible embodiments, the first elastic member 1244 may take other forms according to the overall design requirements, and is not limited to the compression spring shown in the drawings.

In a specific implementation, the other end of the axle 1242 may be pivotally connected to the rotary output gear 112 through a bearing, and in order to improve the stability of the overall actuation performance of the transfer driving mechanism, optionally, the middle portion of the axle 1242 may be further disposed on an axle bracket 1245 through a bearing, where the axle bracket 1245 may be fixed on the base plate 15 or may be fixed on the rotary output gear 112. The embodiments of the present application are not limited.

For the transmission path of the clamping driving mechanism 13, please refer to fig. 5, 13 and 14 together, wherein fig. 13 is a F-F sectional view in fig. 5, and fig. 14 is a G-G sectional view in fig. 5. In order to clearly illustrate the constitution and connection relation of the clamping driving mechanism 13, the driving motor and the like are omitted in fig. 13 and 14.

The clamp motor 131 achieves power output through a third transmission mechanism 133 formed of a belt transmission mechanism. The third driving pulley 1331 of the third transmission mechanism 133 is coaxially fixed with the output end of the clamping motor 131, the third driving pulley 1331 and the third driven pulley 1333 form a belt transmission mechanism through being matched with a third synchronous belt 1332, and the third driven pulley 1333 and the second butt joint disc 132 are coaxially arranged and realize torque transmission.

In order to improve the operability of the drive-side and implement-side interfacing, the second interfacing plate 132 of the clamping drive mechanism 13 may likewise be an elastic interfacing plate, and the specific construction may be the same as the elastic interfacing implementation of the transfer drive mechanism described in fig. 12. And will not be described in detail here.

In other possible implementations, the belt transmission mechanism configured by the first transmission mechanism 113, the second transmission mechanism 123, and the third transmission mechanism 133 may take other configurations as needed, and is not limited to a synchronous belt.

Further, in order to facilitate accurate judgment and corresponding operation by the doctor, the driving part 10 provided in this embodiment further includes a detection mechanism to determine the transfer length of the current flexible instrument according to the action of the executive side-shift actuator. Referring to fig. 5, 15 and 16, fig. 15 is a sectional view H-H of fig. 5, and fig. 16 is a sectional view I-I of fig. 15. In fig. 16, components such as a driving motor are omitted for clarity of illustration of the constitution and connection relationship of the detection mechanism.

The detection mechanism 18 comprises a third pair of connection plates 181, a magnetic encoder 182 and a magnetic block 183, wherein the third pair of connection plates 181 are inserted on the base plate 15 and can be pivoted with the base plate 15 through a second self-lubricating shaft sleeve 184; the magnetic block 183 is fixedly disposed at the inward extending end of the third docking plate 181, and the magnetic encoder 182 adapted to the magnetic block 183 is fixedly disposed, for example, but not limited to, by the encoder base 185. In this way, the transfer actuator on the execution side can drive the third docking plate 181 to rotate, the magnetic encoder 182 can acquire corresponding signals based on the rotation of the magnetic blocks 183, and thus determine the transfer length, and can provide corresponding reference information for doctors in use.

In addition, in order to improve the operability of the driving-side and the performing-side interfacing, the third interfacing plate 181 of the detecting mechanism 18 may be an elastic interfacing plate, specifically, a second elastic member 186 may be disposed between the third interfacing plate 181 and the base plate 15, and accordingly, the encoder base 185 may be slidably fitted with the fixedly disposed guide post 187. Based on the elastic butt-joint disc, when the execution part 20 and the driving part 10 are assembled, the third butt-joint disc 181 can be pressed, the third butt-joint disc 181 pushes the encoder base 185 to slide inwards along the guide post 187, in the process, the second elastic piece 186 is pressed and deformed, when the outer end face of the third butt-joint disc 181 is completely aligned with the execution side butt-joint disc, the second elastic piece 186 can release elastic deformation energy, and can push the third butt-joint disc 181 to move reversely, so that the outer end face of the third butt-joint disc 181 is inserted and assembled in place with the execution side butt-joint disc.

It is understood that the adaptive magnetic encoder 182 and the magnetic block 183 may be implemented by using the prior art, so that the description thereof will not be repeated. In addition, the second elastic member 186 is shown as a compression spring, and in other possible implementations, the second elastic member 186 may take other forms according to the overall design requirements. The embodiments of the present application are not limited.

Referring to fig. 17 and 18, fig. 17 is a schematic view of an external structure of the actuator in the embodiment, and fig. 18 is a schematic view of an internal layout of the actuator shown in fig. 17, which is a view formed from a driving side along a first direction X.

In this embodiment, the actuator 20 includes a transfer actuator 21, a clamping actuator 22, and a detection torque transmitting mechanism 23 disposed within an outer housing 24, the outer housing 24 being provided with a through hole 241 in a first direction X for threading the flexible instrument 200; and the transfer actuator 21, the clamping actuator 22 and the docking plate of the detection torque transmission mechanism 23 are exposed to the outer housing 24 to be connected with the corresponding docking plate on the driving side, respectively. For convenience of description, the second direction Y and the third direction Z are defined as two directions in a plane perpendicular to the first direction X, wherein the second direction Y is a clamping movement direction.

The transfer actuator 21 includes a fourth docking plate 211, a first bevel gear set 212, and a transfer wheel 213. Please refer to fig. 18 and 19 together, wherein fig. 19 is a sectional view of J-J in fig. 18.

The rotation axis of the transfer wheel 213 is set along the third direction Z, the driving gear of the first bevel gear set 212 is coaxially fixed to the fourth docking plate 211, and the driven gear of the first bevel gear set 212 is coaxially fixed to the transfer wheel 213. Thus, after the fourth docking plate 211 as a transfer input member is docked with the first docking plate 122 of the drive side movement driving mechanism 12, power is transmitted to the transfer wheel 213 through the first bevel gear set 212, and the outer rim thereof drives the flexible instrument 200 to move in the first direction X as the transfer wheel 213 rotates. In particular implementations, forward rotation and reverse rotation of the take-off wheel 213 correspond to carrying out a feeding or retracting operation, respectively, of the flexible instrument 200.

Further, the transfer actuator 21 may further include an auxiliary transfer wheel 214, the auxiliary transfer wheel 214 being spaced apart from the transfer wheel 213, the transfer wheel 213 being parallel to the rotational axis of the auxiliary transfer wheel 214, and the transfer wheel 213 and the auxiliary transfer wheel 214 being rotated synchronously by a belt transmission mechanism.

Specifically, the fourth driving pulley 215 is coaxially fixed to the transfer wheel 213, the fourth driving pulley 215 forms the belt transmission mechanism by adapting the fourth timing belt 216 to the fourth driven pulley 217, and the fourth driven pulley 217 is coaxially fixed to the auxiliary transfer wheel 214. Based on the good transmission precision of the synchronous belt, the outer rims of the transfer wheel 213 and the auxiliary transfer wheel 214 drive the flexible instrument 200 to move along the first direction X together, and the reliable stability of the transfer operation is effectively ensured.

Illustratively, one auxiliary transfer wheel 214 is shown as an example of a mating linkage between transfer wheel 213 and auxiliary transfer wheel 214. In other possible implementations, the auxiliary transfer wheel 214 may be provided in a plurality, such as, but not limited to, two, and likewise can be synchronously rotated based on a synchronous belt, which may be specifically determined according to actual configuration requirements. The embodiments of the present application are not limited.

In a specific implementation, the driven gear, the transfer wheel 213, and the fourth driving pulley 215 of the first bevel gear set 212 may be coaxially fixed and fixed by brackets at both axial ends. The rotary shafts of the auxiliary transfer wheel 214 and the fourth driven pulley 217 may be fixed by brackets provided at both axial ends.

In order to increase the contact area between the transfer wheel 213 and the auxiliary transfer wheel 214 and the outer circumferential surface of the flexible instrument 200, the outer rims of both may be configured as concave cambered surfaces to promote friction therebetween and reasonably control the possibility of transfer slip.

In correspondence with the convex portion 1221 of the outer end surface of the first mating disk 122 on the driving side, as shown in fig. 18, a concave portion 2111 is provided on the fourth mating disk 211 on the execution side so as to fit the transmission torque in the mating direction. Similarly, the fifth coupling disc 221 on the actuator side and the second coupling disc 132 of the drive-side clamping drive mechanism 13 can also be adapted to achieve torque transmission with suitable male and female parts.

Wherein the clamping actuator 22 is configured to provide a clamping force to the flexible instrument 200, please refer to fig. 20, which is a schematic diagram illustrating an adaptation relationship between the clamping actuator 22 and the transfer actuator 21. The passive transfer wheel 222 of the clamp actuator 22 may be pressed against the flexible instrument 200 to effect a clamping operation for efficient delivery.

The clamp actuator 22 includes a fifth docking plate 221, a passive transfer wheel 222, a skid 223, a fixed bracket 224, a second bevel gear set 225, a gear drive 226, and a lead screw nut mechanism 227. Referring to fig. 21, 22 and 23, fig. 21 is a schematic view of the overall structure of the clamping actuator 22, fig. 22 is a view in the K direction in fig. 21, and fig. 23 is a sectional view in the L-L direction in fig. 18.

The passive transfer wheel 222 is rotatably disposed on the sliding support 223, and the axis of rotation thereof is along the third direction Z, that is, opposite to the transfer wheel 213 in the second direction and parallel to the axis of rotation thereof. The driving gear of the second bevel gear set 225 is coaxially fixed with the fifth docking plate 221, the driven gear of the second bevel gear set 225 is coaxially fixed with the driving gear of the gear transmission mechanism 226, and the driven gear of the gear transmission mechanism 226 is coaxially fixed with the screw of the screw-nut mechanism 227; here, the screw of the screw nut mechanism 227 is pivotally connected to the fixing bracket 224, and is axially positioned on the fixing bracket 224, and the fixing bracket 224 is fixedly disposed in the outer casing 24; the nut of the screw nut mechanism 227 is fixedly provided on the slide bracket 223, and the slide bracket 223 is slidably provided in the second direction Y with respect to the outer case 24.

In this way, after the fifth docking plate 221 as the clamp input member is docked with the second docking plate 132 of the driving side clamp driving mechanism 13, power is transmitted to the screw-nut mechanism 227 through the second bevel gear set 225 and the gear transmission mechanism 226, and based on the transmission principle of the screw-nut mechanism 227, the power transmission torque can be converted into positive pressure in the second direction Y, and finally the passive transfer wheel 222 is driven to move toward the transfer wheel 213 through the slide bracket 223, thereby realizing the clamp operation.

It will be appreciated that on the transfer path of the fifth docking plate 221 to the lead screw nut mechanism 227, a reasonable layout of the external interface and the internal components is achieved through the gear transmission mechanism 226, and thus the overall integration of the execution part 20 is improved.

In other possible embodiments, the gear mechanism 226 may be selectively configured, that is, after the adaptive change of the rotation direction is achieved by the second bevel gear set 225, the driven wheel of the second bevel gear set 225 may be directly coaxially fixed to the screw of the screw-nut mechanism 227, so that the above-mentioned clamping operation can be reliably achieved. In comparison, the present embodiment can obtain a better integration level by the arrangement of the gear transmission mechanism 226.

In a particular implementation, the passive transfer wheels 222 may be provided in multiple spaced apart relation in the first direction X, such as, but not limited to, two passive transfer wheels 222 as shown in the figures, to ensure reliable stability of the transfer operation. And, the outer rims of the passive transfer wheels 222 can be provided with concave cambered surfaces to promote the friction force with the surface of the flexible instrument and reasonably control transfer slipping.

In other implementations, the mounting brackets 224 may be secured to an inner wall of an adjacent outer housing 24, such as, but not limited to, a top wall of the outer housing 24 as shown. The embodiments of the present application are not limited.

In addition, the specific implementation manner of sliding the sliding support 223 in the second direction Y may also be determined according to the overall design requirements of the product, for example, but not limited to, providing the sliding support 223 with the sliding blocks 2231 on two sides in the third direction Z, and slidably fitting with the fixing base fixed to the inner wall of the outer housing 24 as shown in fig. 18. Of course, in other possible implementations, the sliding support 223 may also directly establish a sliding fit relationship with the inner wall of the outer housing 24, and embodiments of the present application are not limited.

Further, in order to reasonably control the positive pressure acting on the surface of the flexible instrument 200, in a specific implementation, a passive wheel mount 228 and a third elastic member 229 may be added.

Specifically, as further shown in fig. 21, 22 and 23, the passive transfer wheel 222 is integrally provided on the passive wheel support 228, and the passive transfer wheel 222 is rotatably provided on the passive wheel support 228; meanwhile, the passive wheel support 228 is slidably disposed with respect to the sliding support 223 in the second direction Y, that is, the passive transfer wheel 222 is indirectly disposed in rotation with respect to the sliding support 223 by the passive wheel support 228. The third elastic member 229 is disposed between the driven wheel bracket 228 and the sliding bracket 223, and positive pressure of movement of the sliding bracket 223 is transmitted to the driven wheel bracket 228 and the driven transfer wheel 222 through the third elastic member 229. In this way, the forces of the passive transfer wheel 222 when pressed against the flexible instrument are effectively cushioned, while obtaining reliable transfer friction, avoiding adverse effects that may result from excessive positive pressure.

In other embodiments, the third elastic member 229 may be a spring, or other elastic members may be used.

In this embodiment, the driven wheel support 228 is partially embedded in the sliding support 223, and the driven wheel support and the sliding support slide relatively through the matched sliding groove and the guide sliding block. As shown in fig. 21, a guide sliding block 2281 is disposed on the driven wheel support 228, and correspondingly, a sliding groove 2232 is disposed on the sliding support 223, and the guide sliding block 2281 is disposed in the sliding groove 2232, so as to realize sliding arrangement of the driven wheel support 228 relative to the sliding support 223 in the second direction Y.

In other implementations, the chute and guide slide may be disposed in opposite directions on the driven wheel bracket 228 and the sliding bracket 223 (not shown). In other possible implementations, other configurations may be used to achieve the sliding arrangement of the driven wheel bracket 228 relative to the sliding bracket 223. The embodiments of the present application are not limited.

The detection torque transmission mechanism 23 is used for transmitting the rotation of the passive transfer wheel 222 to the driving side, and transmitting the rotation to the detection mechanism 18 through the third docking plate 181, and determining the transfer length based on the high-precision magnetic angle magnetic encoder detection. Referring to fig. 18 and 24, fig. 24 is a schematic diagram illustrating an assembly relationship of the torque transmitting mechanism 23, which is formed from the M-M cut-away position shown in fig. 18.

The sensing torque-transmitting mechanism 23 includes a sixth interface plate 231, a torque spring tube 232, and a third bevel gear set 233. As shown in fig. 24, one end of the torsion spring tube 232 is fixed to the driven transfer wheel 222, the other end is fixed to the driving wheel of the third bevel gear set 233, and the driven wheel of the third bevel gear set 233 is coaxially fixed to the sixth docking plate 231. In this way, when the passive transfer wheel 222 rotates during operation, torque can be transmitted to the detection mechanism 18 through the torque spring tube 232, the third bevel gear set 233, the sixth docking plate 231 and the third docking plate 181, which are adapted to each other.

In a specific implementation, the sixth docking plate 231 as a torque output member and the third docking plate 181 as a torque input member may be drivingly connected by end engagement teeth; in other words, the sixth docking plate 231 rotates the third docking plate 181 through the engagement teeth.

It will be appreciated that the present solution uses a torsion spring tube to transfer torque while accommodating internal structural space. In other specific implementations, the flexible shaft, the tightly wound spring, the torque sheath and other flexible torque transmission member structures can be adopted, and the torque can be reliably transmitted on the basis of adapting to the internal structural space.

Further, the flexible instrument delivery device provided in this embodiment is further provided with a quick-connect assembly 30. Referring to fig. 1,2,3 and 25, fig. 25 is a cross-sectional view of the quick-connect assembly according to the present embodiment, and the cross-sectional view is formed from the N-N cut-away position shown in fig. 1.

The quick-connection assembly 30 comprises a fixed buckle 31 and a movable hook 321, wherein the fixed buckle 31 is fixedly arranged on a substrate 15 at a driving side, and a bayonet 311 matched with the movable hook 321 is arranged on the fixed buckle 31; the movable hook 321 is disposed on the movable compression bar 32 at the execution side, and the force applying portion 322 and the movable hook 321 of the movable compression bar 32 are exposed out of the opening of the side wall of the outer housing 24. Meanwhile, a fourth elastic piece 33 is further disposed on the inner side of the movable compression bar 32, one end of the fourth elastic piece 33 abuts against the movable compression bar 32, and the other end of the fourth elastic piece can abut against a fixed seat in the outer shell 24 to be fixed.

When the execution part 20 moves towards the driving part 10 along the first direction X during assembly, the movable hook 321 drives the movable compression bar 32 to retract inwards under the action of the fixed buckle 31, and presses the fourth elastic piece 33 to deform, and when the movable hook 321 is aligned with the bayonet 311 on the fixed buckle 31, the fourth elastic piece 33 releases elastic deformation energy and pushes the movable hook 321 to reset to be buckled with the bayonet 311.

When the executing component 20 needs to be detached, the operator presses the force application part 322 of the movable pressing rod 32 to push the movable pressing rod 32 to move inwards, and when the movable clamping hook 321 is separated from the bayonet 311 on the fixed clamping buckle 31, the executing component 20 can be detached from the driving component 10. The operation can be quickly removed or replaced during and after operation, so that the operation preparation time or operation time can be reduced, and cross contamination can be effectively avoided.

In a specific implementation, the fourth elastic member 33 may be a spring, or other elastic members with other structures may be used.

In addition, in order to improve the operability and the assembly reliability, the quick-connect assembly 30 may be disposed at two opposite sides of the actuating member 20 as shown in fig. 25, and the actuating member 20 may be quickly assembled and disassembled by a single-hand operation of an operator.

In addition, the flexible instrument conveying device provided by the embodiment further comprises a cleaning assembly (not shown in the figure), wherein the cleaning assembly can be arranged at the front end of the execution part and is used for cleaning attachments such as mucus on the surface of the flexible instrument. For example, but not limited to, a cleaning support is detachably disposed at the through hole of the outer housing, a cleaning sponge is mounted on the cleaning support, and the body of the flexible instrument can pass through the cleaning sponge to achieve cleaning through surface contact. It should be noted that the specific implementation manner of the cleaning assembly may be different, and the embodiment of the present application is not limited.

The following briefly describes the working principle of the flexible device conveying apparatus according to this embodiment:

firstly, the execution part 20 is pressed towards the driving part 10 along the positioning column 152, a positioning concave part (not shown in the figure) on the execution part is matched with the positioning column 152, and the clamping connection is realized through the quick connection assembly 30; then, each driving motor acts to realize the transfer, clamping and elastic butt joint between the detection mechanism and the driving side at the execution side; next, the flexible instrument 200 is inserted in the first direction X, and the clamp driving mechanism 13 acts to drive the clamp actuator 22 to press down, so as to clamp the flexible instrument 200.

In actual operation, the rotary driving mechanism 11 can drive the whole executing component 20 to rotate, so as to realize the rotary operation of the flexible instrument 200; the transfer driving mechanism 12 drives the transfer wheel of the transfer actuator 21 to complete the transfer operation of the flexible instrument. Meanwhile, the passive transfer wheel is operated to drive the detection mechanism 18, and the current transfer length can be determined.

In an emergency, an operator presses the quick-connection assembly 30, the abutting discs of the execution part 20 and the driving part 10 are disconnected, the execution part 20 does not exert an effect on the flexible instrument any more, and secondary injury to a patient is avoided; meanwhile, after the notch of the driving part 10 is centered to form the taking-out channel P, the flexible instrument 200 can be quickly taken out through the taking-out channel P, so that an operator can take over the instrument in time.

The ordinal numbers "first" and "second" and the like used herein are used only for the constitution or structure of the same function in describing the technical scheme. It is to be understood that the use of the ordinal terms "first" and "second" above does not constitute an understanding of the technical solution claimed by the present application.

The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.

Claims

1. An actuation member for delivering a flexible instrument, the actuation member comprising an outer housing, and a flexible member positioned within the outer housing:

The transfer executing mechanism comprises a transfer wheel, an auxiliary transfer wheel, a first bevel gear set and a transfer input member which is used for being in transmission connection with a transfer output member of the driving part, wherein the auxiliary transfer wheel and the transfer wheel are arranged at intervals in a first direction, the transfer wheel and the auxiliary transfer wheel are connected through a belt transmission mechanism, and the outer rims of the transfer wheel and the auxiliary transfer wheel are both configured into concave cambered surfaces;

The clamping executing mechanism comprises a passive transfer wheel, the passive transfer wheel and the transfer wheel are oppositely arranged in a second direction, and the rotating axial lines of the passive transfer wheel and the transfer wheel are arranged along a third direction;

The outer shell is provided with a through hole which is arranged along a first direction and is used for wearing the flexible instrument; the transfer input member is coaxially fixed with the driving wheel of the first bevel gear set, and the driven wheel of the first bevel gear set is coaxially fixed with the transfer wheel;

Wherein the second direction and the third direction are two directions in a plane perpendicular to the first direction.

2. The implement of claim 1, wherein the clamp actuator further comprises a clamp input member, a sliding bracket, a fixed bracket, a second bevel gear set, and a lead screw nut mechanism;

The screw rod of the screw rod nut mechanism is pivoted on the fixed support, axially positioned and arranged on the fixed support, the nut of the screw rod nut mechanism is fixedly arranged on the sliding support, and the sliding support is arranged in a sliding way relative to the outer shell in a second direction;

The clamping input member is coaxially fixed with the driving wheel of the second bevel gear set, and the driven wheel of the second bevel gear set can drive the screw rod of the screw rod nut mechanism to rotate.

3. The implement of claim 2, wherein the clamp implement further comprises a gear train, an axle of the gear train being disposed along a third direction; the driven wheel of the second bevel gear set is coaxially fixed with the driving wheel of the gear transmission mechanism, and the driven wheel of the gear transmission mechanism is coaxially fixed with the screw rod.

4. The implement of claim 2 or 3, wherein the passive transfer wheels are provided in a plurality, the plurality of passive transfer wheels being spaced apart in a first direction.

5. The implement of claim 4, wherein the clamp actuator further comprises a driven wheel bracket and a third resilient member disposed between the driven wheel bracket and the sliding bracket;

the driven transfer wheel is rotatably arranged on the driven wheel support, and the driven wheel support is arranged in a sliding manner relative to the sliding support in a second direction.

6. The implement of claim 5, wherein the clamp actuator further comprises a torque output member, a flexible torque transfer member, and a third bevel gear set; one end of the flexible torque transmission piece is fixedly connected with the driven transfer wheel, the other end of the flexible torque transmission piece is fixedly connected with the driving wheel of the third bevel gear set, and the driven wheel of the third bevel gear set is coaxially fixed with the torque output component.

7. An actuator according to claim 2 or 3, wherein the transfer input member is a fourth docking plate, the clamp input member is a fifth docking plate, and the outer end faces of the fourth docking plate and the fifth docking plate are respectively provided with recesses, the recesses on the fourth docking plate being adapted to the protrusions on the transfer output member of the drive member, and the recesses on the fifth docking plate being adapted to the protrusions on the clamp output member of the drive member.

8. A flexible instrument conveying device comprises an executing component for conveying a flexible instrument and a driving component for providing driving force for conveying the flexible instrument; characterized in that the driving part comprises a bracket and a driving part arranged on the bracket:

The rotary driving mechanism comprises a rotary output member which is rotatably arranged on the bracket; a substrate is fixedly arranged on the rotary output member, and the substrate is arranged on the butt joint side of the driving part and the executing part;

The transfer driving mechanism is arranged on the substrate and comprises a transfer output member which is pivoted on the substrate and is used for being in transmission connection with a transfer input member of the execution part;

Wherein, the rotation axis of the rotation output member and the pivoting axis of the transfer output member are both arranged along the first direction;

The substrate is provided with a first notch, the rotary output member is provided with a second notch, the bracket is provided with a third notch, and the first notch, the second notch and the third notch extend to the side edges from the middle of the body respectively to form a taking-out channel;

The actuator according to any one of claims 1 to 7 is used as the actuator, and the actuator is provided on the substrate of the driving unit, and the transfer output means of the driving unit and the transfer input means of the actuator establish a transfer transmission path.

9. The flexible instrument delivery device of claim 8, further comprising a quick-connect assembly comprising:

The fixing buckle is fixedly arranged on the substrate of the driving component, and a bayonet is formed in the fixing buckle;

the movable compression bar is provided with a force application part and a movable clamping hook, the movable clamping hook can be buckled with the bayonet of the fixed clamping buckle, and the force application part and the movable clamping hook are exposed out of the side wall of the outer shell of the execution part;

The fourth elastic piece is arranged on the inner side of the movable compression bar, one end of the fourth elastic piece is propped against the movable compression bar, and the other end of the fourth elastic piece is propped against and fixed with the fixed seat in the outer shell body and is configured to: and when the movable compression bar is pressed and retracted and the movable clamping hook is separated from the bayonet of the fixed clamping buckle, the reset acting force of the movable compression bar is provided.