CN118303998A - Delivery device and surgical robot system - Google Patents

Abstract

The application discloses a conveying device and a surgical robot system. The conveying device comprises a base assembly, a clamping assembly and a zero opening and closing assembly. The clamping assembly comprises a clamping assembly seat, a first clamping mechanism and a second clamping mechanism. The clamping assembly seat is arranged on the base assembly and can move relative to the base assembly along the conveying direction of the guide wire. The first clamping mechanism and the second clamping mechanism are arranged to the clamping assembly seat. The first clamping mechanism includes a clamping channel for clamping and transporting the guidewire. The second clamping mechanism is used for pressing the first clamping mechanism to narrow the clamping channel or removing the pressing force to widen the clamping channel. The zero position opening and closing assembly is movable between an open position and a closed position. When the zero position opening and closing assembly is at the opening position, the second clamping mechanism removes the extrusion force on the first clamping mechanism; when the zero position opening and closing assembly is in the closed position, the zero position opening and closing assembly releases the action on the second clamping mechanism, and the second clamping mechanism extrudes the first clamping mechanism.

Description

Delivery device and surgical robot system

Technical Field

The present invention relates generally to the field of interventional surgical instruments, and more particularly to a delivery device for delivering a guidewire and/or catheter and a surgical robotic system having the same.

Background

The vascular implantation intervention operation is widely developed at home and abroad aiming at the characteristics of small trauma, quick recovery of patients, short operation time and the like of cardiovascular and cerebrovascular diseases. In the traditional Chinese medicine growing period of the implantation intervention operation, the physical strength, the attention and the stability of doctors are quickly reduced when the traditional Chinese medicine growing period is exposed to DSA rays, so that the doctors are easy to cause medical accidents due to misoperation; secondly, long-term radiation can increase the probability of leukemia and cancer of doctors, and seriously threaten the health of doctors. The related vascular graft interventional surgical robot is a trend, which is indispensable as a guide wire catheter delivery device at the slave end.

Disclosure of Invention

In the summary, a series of concepts in a simplified form are introduced, which will be further described in detail in the detailed description. The summary of the application is not intended to define the key features and essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

To at least partially solve the above problems, a first aspect of the present application provides a delivery device for delivering a guidewire and/or catheter, comprising:

A base assembly;

At least one clamping assembly provided to the base assembly, the clamping assembly comprising a clamping channel for clamping a guide wire and/or a catheter, the clamping channel extending in a conveying direction of the guide wire and/or catheter, the clamping assembly being movable relative to the base assembly in the conveying direction, the clamping assembly comprising:

a clamping assembly seat which is arranged on the base assembly and can move relative to the base assembly along the conveying direction,

A first clamping mechanism provided to the clamping assembly seat, the first clamping mechanism including a clamping channel for clamping the guide wire and/or the catheter, the clamping channel extending in the conveying direction, the first clamping mechanism moving synchronously with the clamping assembly seat in the conveying direction relative to the base assembly, the first clamping mechanism having a closed state clamping the guide wire and/or the catheter and an open state unclamping the guide wire and/or the catheter, the clamping channel in the closed state having a smaller width than the clamping channel in the open state, and

A second clamping mechanism provided to the clamping assembly holder and movable relative to the first clamping mechanism in a direction perpendicular to the conveying direction, for applying a pressing force to the first clamping mechanism to decrease the width of the clamping passage or withdrawing the pressing force to increase the width of the clamping passage; and

A zero position opening and closing assembly for operation by a user and disposed to the base assembly, the zero position opening and closing assembly configured to be movable relative to the base assembly between an open position and a closed position,

When the zero position opening and closing assembly is positioned at the opening position, the zero position opening and closing assembly contacts the second clamping mechanism, so that the second clamping mechanism is far away from the first clamping mechanism along the direction perpendicular to the conveying direction to cancel the extrusion force applied to the first clamping mechanism; when the zero position opening and closing assembly is located at the closed position, the zero position opening and closing assembly is out of contact with the second clamping mechanism, and the second clamping mechanism contacts the first clamping mechanism along the direction perpendicular to the conveying direction so as to implement the extrusion force.

According to the delivery device of the present application, the clamping assembly can clamp and deliver the guidewire and/or catheter. In the clamping assembly, the first clamping mechanism directly contacts and clamps the guidewire. The second clamping mechanism applies a compressive force to the first clamping mechanism to cause the first clamping mechanism to clamp the guidewire and/or catheter. The zero position opening and closing assembly is used for widening the clamping channel when the guide wire and/or the catheter are installed so as to facilitate the installation of the guide wire and/or the catheter. When the zero position opening and closing assembly is in the open position, the opening member acts on the second clamping mechanism, so that the clamping channel is widened. At which point the user can easily install the guidewire and/or catheter. When the zero position opening and closing assembly is located at the closed position, the second clamping mechanism extrudes the first clamping mechanism, so that the width of the clamping channel is reduced, and the first clamping mechanism clamps the guide wire and/or the guide pipe.

Optionally, the clamping assembly further comprises a first elastic member connected to the first clamping mechanism, the direction of the elastic force of the first elastic member being parallel to the width direction of the clamping channel for increasing the width of the clamping channel,

Wherein the first clamping mechanism is movable relative to the clamping assembly seat in a width direction of the clamping channel to vary the width of the clamping channel.

In the present application, the first elastic member is used to widen the clamping passage when the pressing force of the second clamping mechanism against the first clamping mechanism is canceled.

Optionally, the clamping assembly further comprises a second elastic member connected to the second clamping mechanism, the direction of the elastic force of the second elastic member being perpendicular to the conveying direction, for causing the second clamping mechanism to apply a pressing force to the first clamping mechanism in a direction perpendicular to the conveying direction to reduce the width of the clamping channel.

In the application, when the zero position opening and closing assembly is in contact with the second clamping mechanism, the second elastic component is used for enabling the second clamping mechanism to clamp the first clamping mechanism.

Optionally, the second clamping mechanism is located at the periphery of the first clamping mechanism, the second clamping mechanism is configured to be contractible and expandable in a radial direction of the first clamping mechanism, wherein the radial direction is perpendicular to the conveying direction,

When the second clamping mechanism contracts, the second clamping mechanism applies a pressing force to the first clamping mechanism in the radial direction to reduce the width of the clamping channel; when the second clamping mechanism expands, the second clamping mechanism withdraws the pressing force to increase the width of the clamping channel,

Wherein the direction of the elastic force of the second elastic member is parallel to the radial direction.

According to the application, the second clamping mechanism is arranged on the periphery of the first clamping mechanism, so that the clamping assembly is compact in structure, and the second clamping mechanism contracts and presses the first clamping mechanism from the periphery of the first clamping mechanism, and the pressing effect can be effectively realized.

Optionally, the second clamping mechanism includes:

the second clamping base is arranged on the clamping assembly seat;

A third clamping portion provided to the second clamping base and movable in the radial direction with respect to the second clamping base, the third clamping portion being located on one side of the first clamping mechanism in the radial direction;

A fourth clamping portion provided to the second clamping base and movable in the radial direction with respect to the second clamping base, the fourth clamping portion being located on the other side of the first clamping mechanism in the radial direction and being provided opposite to the third clamping portion so as to surround the first clamping mechanism together with the third clamping portion at an outer periphery of the first clamping mechanism; and

A clamping transmission part which is arranged to the second clamping base and can move relative to the second clamping base along the radial direction, the clamping transmission part is connected to the third clamping part and the fourth clamping part and is used for controlling the third clamping part and the fourth clamping part to mutually approach or mutually separate along the radial direction,

The second elastic component is connected between the second clamping base and at least one of the clamping transmission part, the third clamping part and the fourth clamping part.

According to the present application, the second clamping mechanism structure can effectively press the first clamping mechanism from the outer periphery of the first clamping mechanism.

Optionally, when the zero position opening and closing assembly is located at the opening position, the zero position opening and closing assembly contacts the third clamping portion and the fourth clamping portion, so that the third clamping portion and the fourth clamping portion are far away from each other along the radial direction;

When the zero position opening and closing assembly is located at the closed position, the zero position opening and closing assembly is out of contact with the third clamping portion and the fourth clamping portion, and the third clamping portion and the fourth clamping portion are close to each other along the radial direction under the action of the second elastic component.

According to the application, the zero position opening and closing assembly is combined with the specific structural design of the second clamping part.

Optionally, the zero position opening and closing assembly is configured to be movable relative to the base assembly in a direction perpendicular to the radial direction between the open position and the closed position, the zero position opening and closing assembly being located intermediate the third clamp portion and the fourth clamp portion in the radial direction when the zero position opening and closing assembly is located in the open position.

Further, the zero position opening and closing assembly is configured to be movable relative to the base assembly between the open position and the closed position in at least a first direction, wherein the first direction is perpendicular to the radial direction and the transport direction.

Optionally, the movement direction of the zero position opening and closing assembly is reasonably selected.

Optionally, the zero position opening and closing assembly includes:

the opening and closing base is arranged on the base assembly;

an opening member coupled to the base, the opening member being configured to be movable in at least the first direction relative to the base between the open position and the closed position, the opening member contacting the third clamp portion and the fourth clamp portion and being intermediate the third clamp portion and the fourth clamp portion when the opening member is in the open position,

And the opening and closing positioning mechanism is arranged on the opening and closing base and connected with the opening piece and is used for keeping the opening piece stationary in the opening position and the closing position.

According to the application, the opening member can be kept stationary in the open position and the closed position, which is convenient for the user to operate.

Optionally, the opening member extends along the conveying direction, and the opening member includes an opening member first end and an opening member second end disposed opposite along the conveying direction;

The opening and closing base comprises a first opening and closing base and a second opening and closing base which are arranged at intervals along the conveying direction, wherein the first end of the opening piece is connected to the first opening and closing base, the second end of the opening piece is connected to the second opening and closing base, and the opening piece is centered with the clamping channel along the radial direction and spaced from the clamping channel along the first direction.

According to the application, the position of the opening member relative to the clamping assembly is reasonable.

Optionally, the opening and closing positioning mechanism includes:

A first spring provided to the first opening/closing base, the first spring extending in the first direction;

The first step piece is provided with the first opening and closing base and comprises a first step surface and a second step surface, the first step surface and the second step surface are staggered along the first direction and are staggered along the conveying direction, and the first step surface and the second step surface face the first spring along the first direction;

A second spring provided to the second opening/closing base, the second spring extending in the first direction; and

A second step part provided with the second opening and closing base and comprising a third step surface and a fourth step surface, wherein the third step surface and the fourth step surface are staggered along the first direction and are staggered along the conveying direction, the third step surface and the fourth step surface face the second spring along the first direction,

Wherein the first step member is located on the same side in the first direction with respect to the first spring and the second step member is located on the same side in the first direction with respect to the second spring,

The first step surface is located on the same side in the first direction with respect to the second step surface and the third step surface is located on the same side in the first direction with respect to the fourth step surface,

The first step surface is located on the same side in the conveying direction as the third step surface with respect to the second step surface and the fourth step surface,

The first end of the opening piece is connected between the first step piece and the first spring, and the second end of the opening piece is connected between the second step piece and the second spring.

According to the application, the zero position opening and closing assembly has compact structure and simple operation method. When opening the clamping channel, the user moves the opening member in the first direction and in the conveying direction successively. When closing the clamping channel, the user operates in reverse. When the opening piece is positioned at the closed position, the first end of the opening piece is clamped between the first step surface and the first spring under the action of the first spring; the second end of the opening member is sandwiched between the third step surface and the second spring by the second spring. So that the opening member can be stably maintained in the closed position. In the open position, the first end of the opening member is sandwiched between the second step surface and the first spring under the action of the first spring; the second end of the opening member is sandwiched between the fourth step surface and the second spring by the second spring. So that the opening member can be stably maintained in the open position.

Optionally, the opening member is provided with an opening member guiding groove, which extends in the first direction,

The zero position opening and closing assembly further comprises an opening piece guide piece which is arranged to the opening and closing base and extends along the conveying direction, the opening piece guide piece is arranged in the opening piece guide groove,

The opening member is movable in the first direction relative to the opening member guide.

According to the present application, the opening member guide groove and the opening member guide allow the opening member to be stably moved in the first direction.

Optionally, the opening guide is provided with a channel for passing the guide wire and/or catheter.

According to the application, the opening guide does not interfere with the linear extension of the guide wire and/or catheter.

Optionally, the opening is provided with a channel for passing the guide wire and/or catheter.

According to the application, the opening member is provided with a passage for passing said guide wire and/or catheter therethrough, facilitating the user's installation of the guide wire and/or catheter.

Optionally, the portion of the third clamping portion for contacting the opening member is configured as a bevel, and/or the portion of the opening member for contacting the third clamping portion is configured as a bevel; and/or

The portion of the fourth clamping portion for contacting the opening element is configured as a bevel and/or the portion of the opening element for contacting the fourth clamping portion is configured as a bevel.

According to the application, the opening piece is inserted between the third clamping part and the fourth clamping part through the guiding of the inclined plane, so that the opening piece can act on the second clamping mechanism more smoothly.

Optionally, the conveying device comprises two clamping assemblies, the two clamping assemblies are arranged at intervals along the conveying direction,

The conveying device is configured such that the two gripper assemblies are reciprocally movable away from each other and towards each other in the conveying direction,

When the two gripping assemblies are close to each other in the conveying direction, the third gripping portion and the fourth gripping portion of the gripping assembly advancing in the conveying direction are close to each other in the radial direction, and the third gripping portion and the fourth gripping portion of the gripping assembly retreating in the conveying direction are distant from each other in the radial direction;

when the two gripper assemblies are away from each other in the conveying direction, the third gripper portion and the fourth gripper portion of the gripper assembly advancing in the conveying direction are close to each other in the radial direction, and the third gripper portion and the fourth gripper portion of the gripper assembly retreating in the conveying direction are away from each other in the radial direction.

According to the application, the two clamping assemblies can alternately convey the guide wire and/or the catheter, so that the conveying efficiency of the guide wire and/or the catheter is improved.

Optionally, the conveying device further comprises a first transmission body, the first transmission body is arranged to the base assembly, the first transmission body is connected to the two clamping assembly seats so as to enable the two clamping assembly seats to reciprocate relative to the base assembly along the conveying direction, the first transmission body also acts on the two clamping transmission parts so as to enable the third clamping part and the fourth clamping part to periodically approach each other and separate from each other along the radial direction,

Wherein the conveying device is configured such that two of the clamping assembly seats are reciprocally movable toward and away from each other in the conveying direction;

When the two clamping assembly seats are close to each other in the conveying direction, the third clamping portion and the fourth clamping portion corresponding to the clamping assembly seat advancing in the conveying direction are close to each other in the radial direction, and the third clamping portion and the fourth clamping portion corresponding to the clamping assembly seat retreating in the conveying direction are far away from each other in the radial direction;

When the two clamping assembly seats are far away from each other along the conveying direction, the third clamping part and the fourth clamping part corresponding to the clamping assembly seat advancing along the conveying direction are close to each other along the radial direction, and the third clamping part and the fourth clamping part corresponding to the clamping assembly seat retreating along the conveying direction are far away from each other along the radial direction.

According to the application, the conveying device adopts the first transmission body to simultaneously control the alternate opening and closing and alternate advancing and retreating of the two clamping assemblies, so that the conveying device has a compact structure.

Optionally, the first transmission body includes two transport drive assembly, two transport drive assembly respectively with two clamping assembly corresponds the setting, transport drive assembly includes:

the first conveying transmission part is used for enabling the third clamping part and the fourth clamping part to be close to or far away from each other along the radial direction;

and the second conveying transmission part is used for enabling the clamping assembly seat to be capable of moving back and forth relative to the base assembly along the conveying direction.

According to the application, by designing the conveying transmission assembly to have a first conveying transmission part and a second conveying transmission part which are different from each other, the driving force of the first transmission body can be transmitted in different transmission modes, and different movements of the clamping assembly can be realized.

Optionally, the first transmission body is configured as a first shaft, and the conveying device is configured such that the first shaft is rotatable relative to the base assembly about a first rotation axis, the first rotation axis being parallel to the conveying direction.

According to the application, the first transmission body is configured as a first rotary shaft, so that the driving method is simple.

Optionally, the first conveying transmission part is configured as a cam part on the first rotating shaft, and the cam part includes:

A first half wheel, which is a first semicircle having a first radius in a cross section of the cam portion; and

A second half wheel which is a second semicircle with a second radius in the cross section of the cam part,

Wherein the first radius is larger than the second radius, the circle center of the first semicircle coincides with the circle center of the second semicircle, the circle center coincides with the first rotation axis,

Wherein the cam portions of the two conveying transmission assemblies are 180 degrees different on the first rotating shaft, the first radius is larger than the distance between the first rotating axis and the clamping transmission portion, the second radius is smaller than the distance between the first rotating axis and the clamping transmission portion,

When the first half wheel faces the clamping assembly, the cam part contacts the clamping transmission part, so that the third clamping part and the fourth clamping part are far away from each other along the radial direction; when the second half wheel faces the clamping assembly, the cam portion is out of contact with the clamping transmission portion, and the third clamping portion and the fourth clamping portion are close to each other in the radial direction under the action of the second elastic component.

According to the application, the first conveying transmission part is designed as a cam consisting of a large semicircle and a small semicircle, so that the first conveying transmission part contacts the clamping transmission part in one half period and does not contact the clamping transmission part in the other half period, the width of the clamping channel is changed once every half period, and the clamping assembly clamps the guide wire and/or the guide pipe in one half period and releases the guide wire and/or the guide pipe in one half period. The two cam parts are 180 degrees different on the first rotating shaft, so that the two clamping assemblies can just clamp the guide wire and/or the guide tube alternately.

Alternatively, the process may be carried out in a single-stage,

The third clamping portion comprises a third rack extending in the radial direction;

the fourth clamping portion comprises a fourth rack extending in the radial direction;

The clamping transmission part comprises:

A clamping rack provided to the second clamping base and movable in the radial direction relative to the second clamping base, the clamping rack extending in the radial direction, the clamping rack having a clamping rack first end proximate the cam portion and a clamping rack second end opposite the clamping rack first end,

A second protrusion disposed to the first end of the clamping rack, the first radius being greater than a distance between the first rotational axis and the second protrusion, the second radius being less than a distance between the first rotational axis and the second protrusion,

A third clamping gear provided to the second clamping base and engaged with the clamping rack and the third rack, and

A fourth clamping gear provided to the second clamping base and engaged with the third clamping gear and the fourth rack,

Wherein the second elastic component is connected between the second clamping base and at least one of the second end of the clamping rack, the third clamping part and the fourth clamping part,

When the first half wheel faces the clamping assembly, the cam part contacts the second protrusion, so that the third clamping part and the fourth clamping part are far away from each other along the radial direction; when the second half wheel faces the clamping assembly, the cam portion is out of contact with the second protrusion, so that the third clamping portion and the fourth clamping portion are close to each other in the radial direction.

According to the present application, when the cam portion presses the second protrusion, the clamp rack is moved in the direction of the radial direction toward the second end of the clamp rack, so that the second elastic member is compressed. Meanwhile, the clamping rack drives a third clamping gear, and the third clamping gear drives the third rack and the clamping rack to move reversely. The third clamping gear also drives the fourth clamping gear to rotate, and the fourth clamping gear drives the fourth rack to move in the same direction with the clamping rack. Thus, the third clamping portion and the fourth clamping portion are distant from each other in the radial direction. When the cam portion is disengaged from the second projection, all the members move in the reverse direction, and the third clamping portion and the fourth clamping portion approach each other in the radial direction.

Optionally, the second conveying transmission part is configured as a chute configured as an annular through groove provided at an outer peripheral surface of the first rotating shaft, the extending direction of the chute is not perpendicular to the first rotation axis, so that the chute has a proximal point closest to the cam part and a distal point farthest from the cam part in the direction of the first rotation axis,

Wherein the near point and the far point are 180 degrees apart on the outer peripheral surface of the first rotation shaft, and the near point and the far point are located in a plane in which the contact surfaces of the first half wheel and the second half wheel are located,

Wherein the extending direction of one of the chute of the two conveyor drive assemblies and the first rotation axis form a first acute angle along a first rotation direction, and the extending direction of the other of the chute of the two conveyor drive assemblies and the first rotation axis form a second acute angle along a second rotation direction, and the first rotation direction is opposite to the second rotation direction;

The clamping assembly seat is provided with a connection assembly, which is accommodated in the chute.

According to the application, when the first rotating shaft rotates, as the extending direction of the chute is not perpendicular to the first rotating axis, the position of one side of the chute facing the clamping component moves relative to the base component along the conveying direction, so as to drive the connecting component to move relative to the base component along the conveying direction, further drive the clamping component seat to move relative to the base component along the conveying direction, and finally drive the clamping component to move relative to the base component along the conveying direction. The relative angle of the chute and the cam part along the circumferential direction of the first rotating shaft enables the opening and closing of the clamping assembly to be coordinated with the movement.

Optionally, the first acute angle is equal to the second acute angle.

According to the application, when the two chutes are symmetrically arranged, the conveying efficiency of the two clamping assemblies is the same.

Optionally, on the first rotating shaft, the chute of the two conveying transmission assemblies is located in the middle of the cam portions of the two conveying transmission assemblies; or alternatively

On the first rotating shaft, the cam portions of the two conveying transmission assemblies are positioned in the middle of the chute of the two conveying transmission assemblies.

According to the application, the first rotating shaft is designed to be of a symmetrical structure, so that the two clamping assemblies are designed to be of a mutually symmetrical structure at the same time, the product is simple to process, and the product structure is compact.

Optionally, the connection assembly includes:

a connecting shaft extending in a direction perpendicular to the first rotation axis; and

The bearing is sleeved on the connecting shaft, and the outer ring of the bearing is used for contacting the groove wall of the chute.

According to the application, the connecting assembly is designed as a bearing, so that friction between the connecting assembly and the chute can be reduced.

Optionally, the first clamping mechanism includes:

a first clamping part connected to the clamping assembly seat,

A second clamping part connected to the clamping assembly seat and arranged opposite to the first clamping part, wherein a gap between the first clamping part and the second clamping part forms the clamping channel,

Wherein the first elastic component acts on the first clamping part and/or the second clamping part so as to enable the first clamping part to be far away from the second clamping part.

Further, the first clamping mechanism further comprises two ferrule caps disposed to the clamping assembly seat and spaced apart along the transport direction;

The two ends of the first clamping part along the conveying direction are respectively positioned in the two hoop caps, and the two ends of the second clamping part along the conveying direction are respectively positioned in the two hoop caps.

According to the application, the first clamping mechanism is simple in structure.

Optionally, the first elastic member includes at least one torsion spring, one torsion arm of the torsion spring abutting against the ferrule cap, the other torsion arm of the torsion spring abutting against a side of the first clamping portion for facing the second clamping portion or a side of the second clamping portion for facing the first clamping portion to move the first clamping portion away from the second clamping portion.

According to the present application, the first elastic member is simple in construction.

Optionally, the first clamping portion includes:

A first clamping member, both ends of the first clamping member in the conveying direction are respectively positioned in the two ferrule caps, a surface of the first clamping member, which faces the second clamping portion, is provided with a first key groove extending in the conveying direction, and

A first key disposed in the first keyway, the first key comprising an elastic material;

The second clamping portion includes:

the two ends of the second clamping piece along the conveying direction are respectively positioned in the two hoop caps, the second clamping piece is oppositely arranged with the first clamping piece, the surface of the second clamping piece, which is used for facing the first clamping part, is provided with a second key groove extending along the conveying direction, the second key groove is oppositely arranged with the first key groove, and

A second key disposed in the second keyway, the second key comprising an elastomeric material,

Wherein a gap between the first key and the second key forms the grip channel.

Further, the first clamping mechanism further comprises an additional spring;

The additional spring is arranged in the first key groove and is positioned on one side of the first key, which is opposite to the second key, and extends along the depth direction of the first key groove, wherein the sum of the free height of the additional spring and the height of the first key is smaller than or equal to the depth of the first key groove, or

The additional spring is arranged in the second key groove and is positioned on one side of the second key, which is opposite to the first key, and extends along the depth direction of the second key groove, wherein the sum of the free height of the additional spring and the height of the second key is smaller than or equal to the depth of the second key groove.

According to the application, the first clamping mechanism can be used for clamping guide wires and/or catheters of different thicknesses.

Optionally, the cuff cap and the clamping assembly seat are provided with a passage for passing the guidewire and/or catheter.

According to the present application, the cuff cap and clamping assembly mount do not interfere with the linear extension of the guidewire and/or catheter.

Optionally, the first clamping mechanisms of the two clamping assemblies are interconnected, and the delivery device is configured such that one of the two first clamping mechanisms is rotatable relative to the base assembly about a second axis of rotation, whereby the other of the two first clamping mechanisms is rotated synchronously relative to the base assembly about the second axis of rotation, wherein the second axis of rotation extends in the delivery direction, the second axis of rotation being located at the position of the axis of the guide wire and/or catheter.

According to the application, the guide wire and/or the catheter are driven forward by the conveying device, so that the guide wire and/or the catheter can be conveyed more smoothly.

Optionally, the ferrule cap of said one of the two first clamping mechanisms for facing a side of said other of the two first clamping mechanisms is provided with a receptacle,

The ferrule cap of the other of the two first clamping mechanisms for facing one side of the one of the two first clamping mechanisms is provided with a plug for insertion into the receptacle to connect the two first clamping mechanisms,

The delivery device is configured such that the receptacle or the plug is rotatable relative to the base assembly about the second axis of rotation.

According to the application, the connection mode of the two first clamping mechanisms is simple and effective.

Optionally, the conveying device further includes:

A second drive assembly provided to the base assembly for providing a driving force for rotating the two first clamping mechanisms relative to the base assembly; and

And the second transmission assembly is used for connecting the second driving assembly and the socket and transmitting the driving force of the second driving assembly to the socket.

According to the application, the second drive assembly and the second transmission assembly make the socket rotatable about the second axis of rotation, so that the two first clamping mechanisms are rotatable about the second axis of rotation.

Optionally, the second drive assembly comprises a second motor;

The second transmission assembly includes:

A second gear assembly connected to the socket and rotatable in synchronism with the socket about the second axis of rotation relative to the base assembly, and

And the fourth gear assembly is connected to the output shaft of the second motor and synchronously rotates along with the output shaft of the second motor, and the fourth gear assembly is meshed with the second gear assembly.

According to the application, the second driving assembly and the second transmission assembly are simple in structure and stable in function.

Optionally, the fourth gear assembly comprises a long gear extending in the conveying direction for meshing with the second gear assembly.

According to the application, the clamping assembly moves along the conveying direction, and the long gear can ensure that the socket is driven to rotate all the time.

Optionally, the second clamping mechanism further comprises:

A first pin disposed to the second clamping base and extending in the radial direction, wherein the third clamping portion is connected to the first pin and movable in the radial direction relative to the first pin; and

And the second pin shaft is arranged to the second clamping base and extends along the radial direction, wherein the fourth clamping part is connected to the second pin shaft and can move relative to the second pin shaft along the radial direction.

According to the application, the first pin shaft supports the third clamping part and guides the movement of the third clamping part; the second pin shaft supports the fourth clamping part and guides the movement of the fourth clamping part.

Optionally, the conveying device further comprises a first guide member and a second guide member, wherein the first guide member is arranged to the base assembly, the second guide member is arranged to the clamping assembly seat, and the second guide member is connected to the first guide member and is movable relative to the first guide member along the conveying direction.

According to the present application, the first guide and the second guide allow the clamp assembly to be stably moved in the conveying direction with respect to the base assembly.

Optionally, one of the first guide and the second guide is configured as a rail extending in the conveying direction, and the other of the first guide and the second guide is configured as a chute extending in the conveying direction, the rail being accommodated in the chute.

According to the application, the first guide piece and the second guide piece are simple in structure and stable in performance.

A second aspect of the application provides a surgical robotic system comprising a delivery device according to any of the above-mentioned solutions.

According to the surgical robotic system of the present application, the clamping assembly may clamp and deliver the guidewire and/or catheter. In the clamping assembly, the first clamping mechanism directly contacts and clamps the guidewire and/or catheter. The second clamping mechanism applies a compressive force to the first clamping mechanism to cause the first clamping mechanism to clamp the guidewire and/or catheter. The zero position opening and closing assembly is used for widening the clamping channel when the guide wire and/or the catheter are installed so as to facilitate the installation of the guide wire and/or the catheter. When the zero position opening and closing assembly is in the open position, the opening member acts on the second clamping mechanism, so that the clamping channel is widened. At which point the user can easily install the guidewire and/or catheter. When the zero position opening and closing assembly is located at the closed position, the second clamping mechanism extrudes the first clamping mechanism, so that the width of the clamping channel is reduced, and the first clamping mechanism clamps the guide wire and/or the guide pipe.

Drawings

The following drawings are included to provide an understanding of the application and are incorporated in and constitute a part of this specification. Embodiments of the present application and their description are shown in the drawings to explain the principles of the application.

In the accompanying drawings:

FIG. 1 is a schematic top view of a conveyor according to a preferred embodiment of the application;

FIG. 2 is a schematic perspective view of the conveyor of FIG. 1 with parts of the zero position opening and closing assembly omitted to clearly illustrate the clamping assembly;

FIG. 3 is a schematic top view of the component shown in FIG. 2;

FIG. 4 is a schematic side view of the conveyor shown in FIG. 1;

FIG. 5 is a schematic view of portions of the components of the conveyor shown in FIG. 1, showing a base assembly, a first drive assembly, and a second drive assembly;

FIG. 6 is a schematic perspective view of one of the two gripper assemblies of the conveyor shown in FIG. 3;

FIG. 7 is another angular perspective view of the clamping assembly of FIG. 6;

FIG. 8 is an exploded perspective view of the clamping assembly shown in FIG. 6;

FIG. 9 is an exploded isometric view of a first clamping mechanism of the clamping assembly shown in FIG. 8;

FIG. 10 is a cross-sectional view of the first clamping mechanism shown in FIG. 9;

FIG. 11 is a schematic perspective view of the other of the two clamping assemblies of the delivery device shown in FIG. 3;

FIG. 12 is a schematic perspective view of the conveyor of FIG. 3, before the first clamping mechanism of the two clamping assemblies is not connected;

FIG. 13 is a perspective view of the conveyor of FIG. 3 after the first clamping mechanism of the two clamping assemblies are connected;

FIG. 14 is an exploded isometric view of a second clamping mechanism of the clamping assembly shown in FIG. 8;

FIG. 15 is a schematic bottom view of the second clamping mechanism of FIG. 14;

FIG. 16 is a schematic view of a portion of the components of the conveyor shown in FIG. 3, showing a first transmission body;

FIG. 17 is a schematic cross-sectional view taken along line Q-Q of FIG. 16;

FIG. 18 is a perspective view of a zero position opening and closing assembly of the conveyor of FIG. 1;

FIG. 19 is a side view of the zero position opening and closing assembly of FIG. 18;

FIG. 20 is an exploded perspective view of the zero position closure assembly of FIG. 18;

FIG. 21 is a schematic front view of the zero position closure assembly of FIG. 18 with the opening member in the closed position;

FIG. 22 is a schematic front view of the zero position closure assembly of FIG. 18 with the opening member in the open position.

Reference numerals illustrate:

30: first drive assembly

31: First motor

33: Third gear assembly

40: First transmission assembly

42: First transmission body/first rotation shaft 43: conveying transmission assembly

44: First conveying transmission part/cam part 45: first half wheel

46: Second half wheel

47: Second conveyor run/chute 48: near point

49: Far point

53A: second protrusion

54: Connection assembly

58: Connecting shaft

59: Bearing

60: Second drive assembly

61: Second motor

71: First guide member

72: Second guide member

74: Clamping channel

80: Second transmission assembly

82: Second gear assembly

82C: second gear assembly channel

84: Fourth gear assembly

85: Long gear

400: Conveying device

410: Base assembly

414: Support seat

415: Shaft sleeve

420: Clamping assembly seat

421: First clamping base

422: Clamping side seat

422C: clamping side seat channel

423: Shaft sleeve

423C: shaft sleeve passage

424: Through hole

430/430A/430B: first clamping mechanism

431: First clamping part

432: Second clamping part

433/433B/433C/433D/433E): first elastic member/torsion spring

433A: torsional spring shaft

434: Additional spring

435/435C/435D: ferrule cap

435A: plug

435B: socket

435E: plug channel

435F: socket channel

435G: ferrule cap channel

436: First clamping piece

436A: first key groove

437: First key

438: Second clamping piece

438A: second key groove

439: Second key

440: Second clamping mechanism

441: Second clamping base

442: Second elastic component

442A: second spring seat

442B: second spring

443: Third clamping part

443A: first pin shaft

443B: inclined plane

444: Fourth clamping part

444A: second pin shaft

444B: inclined plane

445: Third rack

446: Fourth rack

447: Third spring

447A: third spring seat

448: Fourth spring

448A: fourth spring seat

449: Radial beam

449A: radial groove

450/450A/450B: clamping assembly

470: Clamping transmission part

471: Clamping rack

473: Third clamping gear

474: Fourth clamping gear

475: First end of holding rack

476: Second end of holding rack

480: Opening and closing positioning mechanism

481: A first step surface

482: Second step surface

483: Third step surface

484: Fourth step surface

485: First step piece

486: Second step piece

487: First spring

488: Second spring

489A/489B: stop block

490: Zero position opening and closing assembly

491: First open-close base

492: Second opening and closing base

493: Opening and closing base

494: Opening piece

494A/494B: inclined plane

494C: opening piece channel

495: First end of opening member

496: Second end of opening member

497/497A/497B: opening piece guide groove

498/498A/498B: opening guide

498C: opening guide passage

499A/499B: spring groove

D1: first direction

DF: direction of conveyance

DR: radial direction

O: center of circle

PR1: a first axis of rotation

PR2: a second axis of rotation

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present application. It will be apparent, however, to one skilled in the art that the application may be practiced without one or more of these details. In other instances, well-known features have not been described in detail in order to avoid obscuring the application.

In the following description, a detailed description will be given for the purpose of thoroughly understanding the present application. It should be appreciated that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of these exemplary embodiments to those skilled in the art. It will be apparent that embodiments of the application may be practiced without limitation to the specific details that are familiar to those skilled in the art. Preferred embodiments of the present application are described in detail below, however, the present application may have other embodiments in addition to these detailed descriptions.

Ordinal numbers such as "first" and "second" cited in the present application are merely identifiers and do not have any other meaning, such as a particular order or the like. Also, for example, the term "first component" does not itself connote the presence of "second component" and the term "second component" does not itself connote the presence of "first component". The use of the words "first," "second," and "third," etc. do not denote any order, and the words are to be interpreted as names.

It should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer" and the like are used in the present application for illustrative purposes only and are not limiting.

The application provides a conveying device for conveying guide wires and/or catheters and a surgical robot system with the conveying device.

Exemplary embodiments according to the present application will now be described in more detail with reference to the accompanying drawings.

In the following description, for the sake of brevity, the delivery of a guidewire by a delivery device is merely illustrated as an example. The delivery device according to the application is equally applicable to delivery catheters and the working mechanism is exactly the same as that of a delivery guidewire. Thus, the term "guidewire" hereinafter means "guidewire and/or catheter".

As shown in fig. 1 to 4, in a preferred embodiment, a delivery device 400 according to the present application includes a base assembly 410, at least one clamping assembly 450, a first drive assembly 30, and a first transmission assembly 40. Preferably, the conveyor 400 further includes a second drive assembly 60, a second transmission assembly 80, and a zero position opening and closing assembly 490. Wherein the clamping assembly 450, the first driving assembly 30, the first transmission assembly 40, the second driving assembly 60, the second transmission assembly 80, and the zero position opening and closing assembly 490 are all disposed to the base assembly 410.

The clamping assembly 450 is used to clamp a guidewire. The clamping assembly 450 includes a clamping channel 74 for clamping a guidewire. The clamping channel 74 extends in the direction of delivery DF of the guide wire. The width direction of the grip passage 74 is perpendicular to the conveying direction DF. The clamping assembly 450 is movable relative to the base assembly 410 along the delivery direction DF to deliver the guidewire while clamping the guidewire. The first drive assembly 30 is used to provide a driving force for moving the clamping assembly 450 in the conveying direction DF. The first transmission assembly 40 is connected between the first driving assembly 30 and the clamping assembly 450, thereby transmitting the driving force of the first driving assembly 30 to the clamping assembly 450.

Preferably, the delivery device 400 is configured to deliver the guidewire while driving the guidewire so that the guidewire rotates about its own axis while advancing, thereby allowing the guidewire to more successfully enter body tissue (e.g., a blood vessel). The second drive assembly 60 is used to provide a driving force for the guide wire to be driven. The second transmission assembly 80 is connected between the second driving assembly 60 and the clamping assembly 450, thereby transmitting the driving force of the second driving assembly 60 to the clamping assembly 450. Thus, the clamping assembly 450 not only translates relative to the base assembly 410 in the delivery direction DF, but also rotates relative to the base assembly 410 about a second axis of rotation PR2, wherein the second axis of rotation PR2 extends in the delivery direction DF and the second axis of rotation PR2 is located at the axis of the guidewire.

The zero position opening and closing assembly 490 is used for user operation to widen the clamping channel 74 when installing the guide wire, thereby making the guide wire installation easier. The zero position opening and closing assembly 490 is configured to be movable relative to the base assembly 410 between an open position and a closed position. Wherein, when the zero position opening and closing assembly 490 is in the open position, the zero position opening and closing assembly 490 contacts the clamping assembly 450 to increase the width of the clamping channel 74; when the zero position opening and closing assembly 490 is in the closed position, the zero position opening and closing assembly 490 is disengaged from the clamping assembly 450 to reduce the width of the clamping channel 74. Accordingly, the clamping assembly 450 has a closed condition clamping the guidewire and an open condition unclamping the guidewire, the clamping channel 74 having a smaller width in the closed condition than in the open condition. That is, in the closed state, the clamping assembly 450 (clamping channel 74) clamps the guidewire, and in the open state, the clamping assembly 450 (clamping channel 74) releases the guidewire. When the zero position opening and closing assembly 490 is in the open position, the clamping assembly 450 is in the open state; when the zero position opening and closing assembly 490 is in the closed position, the clamp assembly 450 is in the closed state.

Preferably, the delivery device 400 includes two clamping assemblies 450 (e.g., 450A and 450B), with the two clamping assemblies 450 being spaced apart along the delivery direction DF of the guidewire. The conveying device 400 is configured such that the two clamping assemblies can reciprocally approach each other and depart from each other along the conveying direction DF. When the two gripper assemblies 450 are close to each other in the conveying direction DF, the gripper assembly (e.g., 450A) advancing in the conveying direction DF is in a closed state, and the gripper assembly (e.g., 450B) retreating in the conveying direction is in an open state; when the two gripper assemblies 450 are far from each other in the conveying direction DF, the gripper assembly advancing in the conveying direction (e.g., 450B) is in a closed state, and the gripper assembly retreating in the conveying direction (e.g., 450A) is in an open state. Thus, one of the two clamping assemblies 450 advances with the guide wire and the other is retracted relative to the guide wire, and then the two clamping assemblies 450 exchange roles so that the two clamping assemblies 450A and 450B can alternately deliver the guide wire.

Because the clamping assembly 450 can reciprocate along the conveying direction DF, when the clamping assembly 450 advances along the conveying direction DF, the clamping assembly clamps the guide wire so as to synchronously advance the guide wire and realize the conveying of the guide wire. When the clamping assembly 450 is retracted in the delivery direction DF, it releases the guidewire and retracts alone or relative to the guidewire (when the guidewire is clamped by the other clamping assembly 450 for advancement). When the clamping assembly 450 again clamps the guidewire, it again begins the next advancing motion, at which point the clamping assembly 450 clamps the rearward portion of the guidewire so that the guidewire can be delivered again. The delivery device 400 may reduce the size of the delivery device 400 by coordinating the opening and closing motion of the clamp assembly 450 with the reciprocating motion along the guidewire delivery direction DF so that the clamp assembly 450 may be moved only a short distance (relative to the length of the guidewire) to complete the delivery of the guidewire.

Preferably, in the present application, the first transmission assembly 40 is used to simultaneously make the clamping assembly 450 openable and closable, and make the clamping assembly 450 movable relative to the base assembly 410 along the conveying direction DF, so that the conveying apparatus 400 is more compact in structure. Specifically, the first transmission assembly 40 is simultaneously used to alternately open and close the two clamping assemblies 450A and 450B, and reciprocally move the two clamping assemblies 450A and 450B toward and away from each other with respect to the base assembly 410 along the conveying direction DF.

As shown in fig. 5, the base assembly 410 includes the first guide 71. As shown in fig. 6, the clamping assembly 450 includes a second guide 72. The second guide 72 is connected to the first guide 71 and is movable relative to the first guide 71 in the conveying direction DF such that the clamping assembly 450 is movable relative to the base assembly 410. Specifically, one of the first guide 71 and the second guide 72 is configured as a guide rail (e.g., the first guide 71) extending in the conveying direction DF, and the other of the first guide 71 and the second guide 72 is configured as a slide groove (e.g., the second guide 72) extending in the conveying direction DF, in which the guide rail is accommodated and movable in the conveying direction DF.

The structure of the clamping assembly 450 is described below as an example of the clamping assembly 450A.

As shown in fig. 6-8, the clamping assembly 450 includes a clamping assembly seat 420, a first clamping mechanism 430, and a second clamping mechanism 440. The clamping assembly mount 420 is provided to the base assembly 410 and is movable relative to the base assembly 410 along the conveying direction DF. Wherein the second guide 72 is provided to the clamping assembly seat 420. For example, the clamping assembly seat 420 is formed by a first clamping base 421 and two clamping side seats 422. The two clamping side seats 422 are spaced apart along the conveying direction DF and are respectively connected to two sides of the first clamping base 421 along the conveying direction DF. The second guide 72 is provided to a side of the first clamp base 421 for facing the base assembly 410. The first clamping mechanism 430 is disposed to the clamping assembly seat 420. The first clamping mechanism 430 includes the clamping channel 74 and is movable relative to the clamping assembly seat 420 in a width direction of the clamping channel 74 to vary the width of the clamping channel 74. A second clamping mechanism 440 is also provided to the clamping assembly holder 420 and is movable relative to the first clamping mechanism 430 in a direction perpendicular to the conveying direction DF for pressing the first clamping mechanism 430 to reduce the width of the clamping channel 74.

In the present application, the first clamping mechanism 430 is used to directly contact the clamping guidewire. The first clamping mechanism 430 has a closed state clamping the guidewire and an open state unclamping the guidewire. The first clamping mechanism 430 is configured to be rotatable about a second axis of rotation PR2 relative to the clamping assembly mount 420 (i.e., the base assembly 410) to clamp the guidewire for synchronous rotation to effect rotation of the guidewire. The second clamping mechanism 440 is used to cause the first clamping mechanism 430 to clamp or unclamp a guidewire. The second clamping mechanism 440 is reciprocally movable relative to the first clamping mechanism 430 in a direction perpendicular to the conveying direction DF for applying a pressing force to the first clamping mechanism 430 to reduce the width of the clamping channel 74 or withdrawing the pressing force to increase the width of the clamping channel 74.

Preferably, the first clamping mechanism 430 is generally configured as a cylinder with an axis of rotation, the second axis of rotation PR2. Preferably, the second clamping mechanism 440 is located at the outer periphery of the first clamping mechanism 430. The second clamping mechanism 440 is configured to be retractable and expandable relative to the first clamping mechanism 430 along a radial direction DR of the first clamping mechanism 430, wherein the radial direction DR is perpendicular to the conveying direction DF. When the second clamping mechanism 440 contracts relative to the first clamping mechanism 430, the second clamping mechanism 440 applies a compressive force to the first clamping mechanism 430 in the radial direction DR of the first clamping mechanism 430 to reduce the width of the clamping channel 74, leaving the first clamping mechanism 430 in a closed state; when the second clamping mechanism 440 expands relative to the first clamping mechanism 430, the second clamping mechanism 440 removes the compressive force to increase the width of the clamping channel 74, leaving the first clamping mechanism 430 in an open state.

Preferably, the clamping assembly 450 further includes a first elastic member 433 and a second elastic member 442. The first elastic member 433 is connected to the first clamping mechanism 430. The direction of the elastic force of the first elastic member 433 is parallel to the width direction of the grip passage 74 for increasing the width of the grip passage 74. Thus, when the pressing force of the second clamping mechanism 440 is removed, the first clamping mechanism 430 can be radially expanded by the first elastic member 433, so that the width of the clamping channel 74 is increased. The second elastic member 442 is connected to the second clamping mechanism 440. The direction of the elastic force of the second elastic member 440 is perpendicular to the conveying direction DF for causing the second clamping mechanism 440 to apply a pressing force to the first clamping mechanism 430 in a direction perpendicular to the conveying direction DF to reduce the width of the clamping channel 74. For example, the direction of the elastic force of the second elastic member 440 is parallel to the radial direction DR, so that the second clamping mechanism 440 applies a pressing force to the first clamping mechanism 430 in the radial direction DR.

Accordingly, the zero position opening and closing assembly 490 acts on the second clamping mechanism 440. When the zero position opening and closing assembly 490 is in the open position, the zero position opening and closing assembly 490 contacts the second clamping mechanism 440 to expand the second clamping mechanism 440 in the radial direction DR, i.e., even if the second clamping mechanism 440 is away from the first clamping mechanism 430 in a direction perpendicular to the conveying direction DF to cancel the pressing force applied to the first clamping mechanism 430; when the zero position opening and closing assembly 490 is in the closed position, the zero position opening and closing assembly 490 is released from contact with the second clamping mechanism 440 (i.e., the second clamping mechanism 440 is deactivated), the second clamping mechanism 440 contracts in the radial direction DR under the action of the second elastic member 442, and the first clamping mechanism 430 is pressed, i.e., the second clamping mechanism 440 contacts the first clamping mechanism 430 in a direction perpendicular to the conveying direction DF to perform the pressing force.

Specifically, as shown in fig. 8 to 10, the first clamping mechanism 430 (430A) includes a first clamping portion 431 and a second clamping portion 432. The first and second clamping portions 431 and 432 are connected to the clamping assembly holder 420. The first grip portion 431 and the second grip portion 432 each extend in the conveying direction DF. The second clamping portion 432 is disposed opposite to the first clamping portion 431, and a gap therebetween forms the clamping channel 74. Preferably, the first and second clamping portions 431 and 432 are each generally configured as half cylinders with opposite planar sides of the half cylinders that are over-centered. It will be appreciated that the two planar sides are parallel to each other and that the direction perpendicular to the planar sides is the width of the clamping channel 74. Wherein the first elastic member 433 acts on the first clamping portion 431 and/or the second clamping portion 432 to move the first clamping portion 431 away from the second clamping portion 432.

The first clamping mechanism 430 also includes two ferrule caps 435 disposed to the clamping assembly holder 420 and spaced apart along the delivery direction DF. Specifically, the two clamping side seats 422 are provided with through holes 424 for receiving the ferrule caps 435, the boss 423 is fitted around the outer circumference of the ferrule caps 435, and the boss 423 and the ferrule caps 435 are mounted in the through holes 424. Both ends of the first clamping portion 431 in the conveying direction DF are located in the two ferrule caps 435, respectively. Both ends of the second clamping portion 432 in the conveying direction DF are also located in the two ferrule caps 435, respectively. Thus, the two ferrule caps 435C and 435D relatively connect the first clamping portion 431 and the second clamping portion 432 as a single unit. The boss 423 is also considered part of the clamping side seat 422.

Specifically, as shown in fig. 9, the first elastic member 433 includes at least one torsion spring 433, one torsion arm of the torsion spring 433 abuts against the ferrule cap 435, and the other torsion arm abuts against one side of the first grip portion 431 for facing the second grip portion 432 or one side of the second grip portion 432 for facing the first grip portion 431 so as to move the first grip portion 431 away from the second grip portion 432. Preferably, the first resilient member 433 includes four torsion springs 433B, 433C, 433D, and 433E, the four torsion springs 433 being mounted to the ferrule cap 435 by torsion spring shafts 433A, respectively. The torsion spring 433B is mounted to the ferrule cap 435C with one torsion arm abutting against the ferrule cap 435C (e.g., an end wall of the ferrule cap 435C) and the other torsion arm abutting against the first clamp 431. The torsion spring 433C is mounted to the ferrule cap 435C with one torsion arm abutting the ferrule cap 435C (e.g., an end wall of the ferrule cap 435C) and the other torsion arm abutting the second clamp 432. The torsion spring 433D is mounted to the ferrule cap 435D with one torsion arm abutting against the ferrule cap 435D (e.g., an end wall of the ferrule cap 435D) and the other torsion arm abutting against the first clamp 431. The torsion spring 433E is mounted to the ferrule cap 435D with one torsion arm abutting the ferrule cap 435D (e.g., an end wall of the ferrule cap 435D) and the other torsion arm abutting the second clamp 432.

Of course, the first elastic member 433 may be configured as a spring sandwiched between the first and second clamp parts 431 and 432.

Preferably, as shown in fig. 9 and 10, the first clamping portion 431 includes a first clamping member 436 and a first key 437. The first clamping member 436 is located in the two ferrule caps 435 at both ends in the delivery direction DF. The surface of the first clamping member 436 for facing the second clamping portion 432 is provided with a first key groove 436A extending in the conveying direction DF. The first key 437 is disposed in the first keyway 436A. The first key 437 includes an elastomeric material. The second clamp 432 includes a second clamp 438 and a second key 439. The second clamp 438 is located in both ferrule caps 435 at both ends in the delivery direction DF. The second clamping member 438 is disposed opposite the first clamping member 436. The surface of the second clamp 438 for facing the first clamp 431 is provided with a second key groove 438A extending in the conveying direction DF. The second key 439 is disposed in the second keyway 438A. The second key 439 comprises an elastic material. The second key groove 438A is disposed opposite the first key groove 436A such that the first key 437 is disposed opposite the second key 439, and a gap between the first key 437 and the second key 439 forms the clamping channel 74. The first clamping member 436 and the second clamping member 438 are generally configured as semi-cylinders.

Further preferably, the first clamping mechanism 430 also includes an additional spring 434. In the illustrated embodiment, an additional spring 434 is disposed in the first keyway 436A on a side of the first key 437 facing away from the second key 439. The additional spring 434 extends in the depth direction of the first key groove 436A. Wherein the sum of the free height of the additional spring 434 and the height of the first key 437 is less than or equal to the depth of the first key groove 436A. Or an additional spring 434 is disposed in the second keyway 438A on a side of the second key 439 facing away from the first key 437. The additional spring 434 extends in the depth direction of the second key groove 438A. Wherein the sum of the free height of the additional spring 434 and the height of the second key 439 is less than or equal to the depth of the second keyway 438A.

When the second clamping mechanism 440 presses the first clamping mechanism 430 in the radial direction DR, the pressing force overcomes the elastic force of the first elastic member 433, causing the first clamping portion 431 and the second clamping portion 432 to approach each other. The elastic deformability of the first key 437 and the second key 439, and the design of the additional spring 434, allow the first key 437 and the second key 439 to grip guide wires of different thicknesses. When the pressing force of the second clamping mechanism 440 is removed, the first elastic member 433 releases the elastic force, so that the first clamping portion 431 and the second clamping portion 432 are away from each other.

As previously described, the first clamping mechanism 430 is configured to rotate about the second axis of rotation PR2 to effect ejection of the guidewire. The conveyor 400 is configured to connect the first clamping mechanisms 430 of the two clamping assemblies 450 such that one of the two first clamping mechanisms 430 is rotatable about the second axis of rotation PR2 relative to the base assembly 410 and the clamping assembly holder 420, thereby causing the other of the two first clamping mechanisms 430 to rotate about the second axis of rotation PR2 in synchronization relative to the base assembly 410 and the clamping assembly holder 420.

Specifically, as shown in fig. 9 and 11-13, a ferrule cap 435 (e.g., 435C) of one of the two first clamping mechanisms 430 (e.g., 430B) for facing a side of the other of the two first clamping mechanisms 430 (e.g., 430A) is provided with a receptacle 435B. The ferrule cap 435 (e.g., 435D) of the other of the two first clamping mechanisms 430 (e.g., 430A) for facing a side of the one of the two first clamping mechanisms 430 (e.g., 430B) is provided with a plug 435A. The plug 435A is used to plug into the receptacle 435B to connect the two first clamping mechanisms 430.

The delivery device 400 is configured to rotate the ferrule cap 435 about the second axis of rotation PR2 relative to the base assembly 410 and the clamp assembly mount 420, thereby rotating the first clamp 431, the second clamp 432, and the guidewire together. As shown in fig. 9, both end portions of the first and second holders 436, 438 in the conveying direction DF are configured as squares, and the inside of the ferrule cap 435 is provided with receiving grooves (not shown) matching the squares for receiving both end portions of the first and second holders 436, 438 in the conveying direction DF. When the ferrule cap 435 rotates, the accommodating groove drives the two ends of the first clamping member 436 and the second clamping member 438 to synchronously rotate along the conveying direction DF, so that the first clamping member 436, the second clamping member 438 and the guide wire synchronously rotate.

Preferably, the delivery device 400 is configured to rotate the plug 435A or the receptacle 435B relative to the base assembly 410 and the clamp assembly mount 420 about the second axis of rotation PR 2. In the illustrated embodiment, the delivery device 400 is configured such that the receptacle 435B is rotatable relative to the base assembly 410 and the clamp assembly mount 420 about the second axis of rotation PR 2.

To enable the guidewire to extend in a straight line, the cuff cap 435 is provided with a channel 435G for passing the guidewire. The clamping assembly seat 420 is also provided with a passage for the guide wire, specifically a passage 422C including a clamping side seat 422.

As shown in fig. 1 to 4, the second driving assembly 60 is used to provide driving force for rotating the two first clamping mechanisms 430 with respect to the base assembly 410 and the clamping assembly holder 420. The second transmission assembly 80 is for connecting the second driving assembly 60 and the receptacle 435B for transmitting the driving force of the second driving assembly 60 to the receptacle 435B.

Specifically, the second drive assembly 60 includes a second motor 61. The second transmission assembly 80 includes a second gear assembly 82 and a fourth gear assembly 84. As shown in fig. 11, the second gear assembly 82 is connected to the receptacle 435B (e.g., fits around the outer periphery of the receptacle 435B). The fourth gear assembly 84 is connected to the output shaft of the second motor 61 and rotates synchronously with the output shaft of the second motor 61. The fourth gear assembly 84 is meshed with the second gear assembly 82. The second gear assembly 82 and the receptacle 435B rotate about the second axis of rotation PR2 in synchronization with respect to the base assembly 410 and the clamp assembly mount 420. Thus, the receptacle 435B is rotatable relative to the base assembly 410 and the clamp assembly mount 420 about the second axis of rotation PR2 under the drive of the second motor 61 such that the two first clamp mechanisms 430 rotate synchronously relative to the base assembly 410 and the clamp assembly mount 420 about the second axis of rotation PR2.

The second gear assembly 82 is provided with a second gear assembly passageway 82C for passing a guidewire therethrough. The plug 435A is provided with a plug passageway 435E for passing a guidewire. The plug 435A is provided with a receptacle channel 435F for passing a guidewire. Thus, the guidewire may extend straight through both clamping assemblies 450.

Preferably, the first clamping mechanism 430 has a symmetrical structure.

As previously described, the two clamping assemblies 450 need to be moved in the conveying direction DF, as shown in fig. 2 and 3, in order to keep the fourth gear assembly 84 in engagement with the second gear assembly 82 at all times, the fourth gear assembly 84 comprises a long gear 85 extending in the conveying direction DF for engagement with the second gear assembly.

As shown in fig. 14 and 15, the second clamping mechanism 440 includes a second clamping base 441, a third clamping portion 443, a fourth clamping portion 444, and a clamping transmission portion 470. The second clamping base 441 is disposed to the clamping assembly seat 420. The third grip portion 443, the fourth grip portion 444, and the grip transmission portion 470 are all provided to the second grip base 441.

The third clamping portion 443 is movable relative to the second clamping base 441 in the radial direction DR of the first clamping mechanism 430. For example, the second clamping base 441 is provided with a first pin 443A, the first pin 443A extending in the radial direction DR. The third clamping portion 443 is connected to (sleeved onto) the first pin 443A and is movable in the radial direction DR with respect to the first pin 443A, so that the third clamping portion 443 is movable in the radial direction DR with respect to the second clamping base 441. The third clamping portion 443 is located on one side of the first clamping mechanism 430 in the radial direction DR (see fig. 6 to 8 and 11).

The fourth clamp 444 is also movable relative to the second clamp base 441 in the radial direction DR. For example, the second clamp base 441 is provided with a second pin 444A, the second pin 444A extending in the radial direction DR. The fourth clamp portion 444 is connected to (sleeved onto) the second pin 444A and is movable in the radial direction DR with respect to the second pin 444A, so that the fourth clamp portion 444 is movable in the radial direction DR with respect to the second clamp base 441. The fourth gripping portion 444 is located on the other side of the first gripping mechanism 430 in the radial direction DR (refer to fig. 6 to 8 and 11). The fourth clamping portion 444 is disposed opposite the third clamping portion 443 to surround the first clamping mechanism 430 on the outer periphery of the first clamping mechanism 430 in common with the third clamping portion 443. For example, the third clamping portion 443 and the fourth clamping portion 444 are each provided with a semi-cylindrical recess for matching the outer circumferential shape of the first clamping mechanism 430. The third clamping portion 443 and the fourth clamping portion 444 are formed to entirely surround the first clamping mechanism 430 around the outer periphery of the first clamping mechanism 430.

The clamp transmission 470 is movable in the radial direction DR relative to the second clamp base 441. The grip transmission portion 470 is connected to both the third grip portion 443 and the fourth grip portion 444 for controlling the third grip portion 443 and the fourth grip portion 444 to be close to each other or to be distant from each other in the radial direction DR. The grip transmission portion 470 is connected to the first transmission assembly 40 such that the first transmission assembly 40 controls the third grip portion 443 and the fourth grip portion 444 to be moved toward or away from each other in the radial direction DR by the grip transmission portion 470. In other words, the first transmission assembly 40 controls the contraction or expansion of the second clamping mechanism 440 in the radial direction DR relative to the first clamping mechanism 430 via the clamping transmission 470. Wherein the second elastic member 442 is connected between the second clamping base 441 and at least one of the clamping transmission portion 470, the third clamping portion 443, and the fourth clamping portion 444.

Specifically, the second clamping base 441 includes a radial beam 449 extending in the radial direction DR, the radial beam 449 being provided with radial grooves 449A extending in the radial direction DR. The third clamping portion 443 includes a third rack 445, the third rack 445 extending in the radial direction DR. The fourth clamping portion 444 includes a fourth rack 446, the fourth rack 446 extending in the radial direction DR. The third rack 445 and the fourth rack 446 extend through the radial slot 449A and are movable in the radial direction DR in the radial slot 449A. Thus, the radial beams 449 and the first pins 443A provide support for the third clamping portion 443, and the radial slots 449A and the first pins 443A provide guiding for movement of the third clamping portion 443; the radial beams 449 and the second pins 444A provide support for the fourth clamp 444 and the radial slots 449A and the second pins 444A provide guiding for movement of the fourth clamp 444.

The clamp transmission portion 470 includes a clamp rack 471, a second protrusion 53A, a third clamp gear 473, and a fourth clamp gear 474. The clamping rack 471 is provided to the second clamping base 441 at a side of the second clamping base 441 near the third rack 445 and the fourth rack 446. The clamp rack 471 is movable in the radial direction DR with respect to the second clamp base 441. The clamp rack 471 is movable relative to the second clamp base 441 in a direction perpendicular to the conveying direction DF. The clamping rack 471 extends in the radial direction DR. The gripping rack 471 extends in a direction perpendicular to the conveying direction DF. The third clamping gear 473 is provided to the second clamping base 441 and is engaged with the clamping rack 471 and the third rack 445. The fourth clamp gear 474 is provided to the second clamp base 441, and is engaged with the third clamp gear 473 and the fourth rack 446. The third clamping gear 473 is aligned with the fourth clamping gear 474 in the radial direction DR. The clamping rack 471 has a clamping rack first end 475 and a clamping rack second end 476 disposed opposite in the radial direction DR. For example, the end near the third clamping gear 473 is a clamping rack first end 475 and the end near the fourth clamping gear 474 is a clamping rack second end 476. The second projection 53A is provided to the clamp rack first end 475.

The second elastic member 442 is, for example, connected between the second end 476 of the clamping rack and the second clamping base 441. The second elastic member 442 is configured as a second spring 442B, for example. A side of the second clamping base 441 in the radial direction, which is close to the fourth clamping gear 474, is provided with a second spring holder 442A, for example. The second spring 442B is sandwiched between the rack second end 476 and the second spring seat 442A.

With such a design, the second spring 442B applies a force to the clamp rack second end 476 in the radial direction DR toward the clamp rack first end 475 (leftward in fig. 14 and 15), so that the clamp rack 471 moves in the direction of the radial direction DR toward the clamp rack first end 475 (leftward). At the same time, the holding rack 471 brings the third holding gear 473 into rotation (counterclockwise in fig. 15). The third clamping gear 473 moves the third rack 445 in the radial direction DR in a direction toward the clamping rack second end 475 (rightward in fig. 14 and 15). The third clamping gear 473 also rotates (counter-clockwise in fig. 15) the fourth clamping gear 474. The fourth clamping gear 474 moves the fourth rack 446 in a direction (leftward) along the radial direction DR toward the clamping rack first end 476. Thus, the third clamping portion 443 moves rightward and the fourth clamping portion 444 moves leftward, and the third and fourth clamping portions 443, 444 approach each other in the radial direction DR, that is, the second clamping mechanism 440 contracts in the radial direction DR, and the second clamping mechanism 440 applies a pressing force to the first clamping mechanism 430 in the radial direction DR.

At this time, if a force in the radial direction DR toward the clamp rack second end 476 (rightward in fig. 14 and 15) is applied to the second projection 53A, the clamp rack 471 moves in the radial direction DR toward the clamp rack second end 476 (rightward), so that the second spring 442B is compressed. At the same time, the holding rack 471 brings the third holding gear 473 into rotation (clockwise rotation in fig. 15). The third clamping gear 473 moves the third rack 445 in the radial direction DR in a direction toward the clamping rack first end 475 (leftward in fig. 14 and 15). The third clamp gear 473 also rotates (counterclockwise in fig. 15) the fourth clamp gear 474. The fourth clamping gear 474 moves the fourth rack 446 in the radial direction DR (to the right) toward the clamping rack second end 476. Thus, the third clamping portion 443 moves leftward and the fourth clamping portion 444 moves rightward, and the third and fourth clamping portions 443, 444 move away from each other in the radial direction DR, that is, the second clamping mechanism 440 expands in the radial direction DR, and the pressing force applied by the second clamping mechanism 440 to the first clamping mechanism 430 disappears.

Preferably, the second resilient member 442 also includes a third spring 447. The third spring 447 extends in the radial direction DR. The third spring 447 is disposed between the third clamping portion 443 and the second clamping base 441. For example, the second clamp base 441 is provided with a third spring seat 447A, and the third spring 447 is disposed between the third clamp 443 and the third spring seat 447A. Preferably, the second resilient member 442 also includes a fourth spring 448. The fourth spring 448 extends in the radial direction DR. The fourth spring is disposed between the fourth clamp 444 and the second clamp base 441. For example, the second clamp base 441 is provided with a fourth spring seat 448A, and the fourth spring 448 is disposed between the fourth clamp portion 444 and the fourth spring seat 448A. The third spring 447 and the fourth spring 448 are both in a compressed state, which acts on the second spring 442 to bring the third clamping portion 443 and the fourth clamping portion 444 closer together in the radial direction DR, i.e., even if the second clamping mechanism 440 contracts in the radial direction DR, thereby applying a pressing force to the first clamping mechanism 430 to bring the first clamping mechanism 430 into a closed state, i.e., even if the clamping assembly 450 is in a closed state.

In the present application, the second spring 442B, the third spring 447, and the fourth spring 448 may be provided separately, or any two or all three of them may be provided. That is, the second elastic member 442 includes at least one of the second spring 442B, the third spring 447, and the fourth spring 448.

The conveying device 400 is configured such that the two clamping assemblies 450 are reciprocally movable away from and toward each other along the conveying direction DF. When the two grip assemblies 450 are close to each other in the conveying direction DF, the third grip portion 443 and the fourth grip portion 444 of the grip assembly 450 that advance in the conveying direction DF are close to each other in the radial direction DR, and the third grip portion 443 and the fourth grip portion 444 of the grip assembly 450 that retreat in the conveying direction DF are distant from each other in the radial direction DR; when the two grip assemblies 450 are away from each other in the conveying direction DF, the third grip portion 443 and the fourth grip portion 444 of the grip assembly 450 that advance in the conveying direction DF are close to each other in the radial direction DR, and the third grip portion 443 and the fourth grip portion 444 of the grip assembly 450 that retreat in the conveying direction DF are away from each other in the radial direction DR.

As described above, the first transmission assembly 40 is simultaneously used to alternately open and close the two clamping assemblies 450A and 450B, and to reciprocally move the two clamping assemblies 450A and 450B toward and away from each other with respect to the base assembly 410 along the conveying direction DF. Specifically, the first transmission assembly 40 periodically acts on the second protrusion 53A of the second clamping mechanism 440 such that the third and fourth clamping portions 443, 444 are periodically moved away from and toward each other in the radial direction DR, and the contraction and expansion timings of the second clamping mechanism 440 of the two clamping assemblies 450A, 450B are opposite. Meanwhile, the first transmission assembly 40 periodically acts on the clamping assembly holder 420 such that the clamping assembly holder 420 can reciprocally advance and retreat in the conveying direction DF, and the advance and retreat timings of the clamping assembly holders 420 of the two clamping assemblies 450A and 450B are opposite.

That is, the conveying device 400 is configured such that the two clamping assembly seats 420 are reciprocally movable toward and away from each other along the conveying direction DF. When the two gripper assembly holders 420 are close to each other in the conveying direction DF, the third gripper portion 443 and the fourth gripper portion 444 corresponding to the gripper assembly holder 420 advancing in the conveying direction DF are close to each other in the radial direction DR, and the third gripper portion 443 and the fourth gripper portion 444 corresponding to the gripper assembly holder 420 retreating in the conveying direction DF are away from each other in the radial direction DR; when the two gripper assembly holders 420 are away from each other in the conveying direction DF, the third gripper portion 443 and the fourth gripper portion 444 corresponding to the gripper assembly holder 420 advancing in the conveying direction DF are close to each other in the radial direction DR, and the third gripper portion 443 and the fourth gripper portion 444 corresponding to the gripper assembly holder 420 retreating in the conveying direction DF are away from each other in the radial direction DR.

That is, the conveying apparatus 400 is configured such that the first clamping mechanism 430 is in a closed state when the clamping assembly holder 420 advances in the conveying direction DF; when the gripper assembly holder 420 is retracted in the conveying direction DF, the first gripper mechanism 430 is in an open state. The first clamping mechanism 430 moves synchronously with the clamping assembly holder 420 in the transport direction DF relative to the base assembly 410.

As shown in fig. 1 to 4 and 16, the first transmission assembly 40 includes a first transmission body 42, and the first transmission body 42 is provided to a base assembly 410. The first transmission body 42 is simultaneously connected to the two clamping assemblies 450 such that the two clamping assemblies 450 alternately open and close and reciprocally move away from and toward each other along the conveying direction DF. The first transmission body 42 is simultaneously connected to the two clamping assembly seats 420 to reciprocally move them toward and away from each other relative to the base assembly 410 along the conveying direction DF. The first transmission body 42 also acts on the two second protrusions 53A, i.e. the first transmission body 42 also acts on the two clamping transmission portions 470, so that the third 443 and fourth 444 clamping portions periodically come closer to and further away from each other in the radial direction DR, and the two second clamping mechanisms 440 are alternately scaled.

The first transmission body 42 includes two conveying transmission assemblies 43, and the two conveying transmission assemblies 43 are respectively corresponding to the two clamping assemblies 450. The conveyor transmission assembly 43 comprises a first conveyor transmission 44 and a second conveyor transmission 47. The first conveying transmission portion 44 serves to bring the third grip portion 443 and the fourth grip portion 444 closer to or farther from each other in the radial direction DR. The second conveying transmission portion 47 is configured to enable the clamping assembly holder 420 to reciprocate relative to the base assembly 410 along the conveying direction DF.

The first transmission body 42 is configured as a first shaft (the first transmission body 42 is also referred to as a first shaft 42), and the conveying device 400 is configured such that the first shaft 42 is rotatable relative to the base assembly 410 about a first rotation axis PR 1. Wherein the first rotation axis PR1 is parallel to the conveying direction DF. For example, the two ends of the first rotation shaft 42 are respectively mounted to two supports 414 through bushings 415, and the two supports 414 are provided to the base assembly 410. The support 414 may also be considered as part of the base assembly 410.

As shown in fig. 16 and 17, the first conveying transmission portion 44 is configured as a cam portion on the first rotating shaft 42 (herein, the first conveying transmission portion 44 is also referred to as a cam portion 44). As shown in fig. 17, the cam portion 44 includes a first half wheel 45 and a second half wheel 46. In the cross section of the cam portion 44, the first half wheel 45 is a first semicircle having a radius of the first radius R1 (a portion on the left side of the broken line of the first conveying transmission portion 44 in fig. 17). In the cross section of the cam portion 44, the second half wheel is a second semicircle having a radius of the second radius R2 (a portion on the right side of the broken line of the first conveying transmission portion 44 in fig. 17). The first radius R1 is greater than the second radius R2, the center of the first semicircle coincides with the center of the second semicircle, and the center O coincides with the first rotation axis PR 1.

As shown in fig. 1 to 4, the first rotating shaft 42 is spaced apart from the two clamping assemblies 450 in a direction perpendicular to the first rotation axis PR1, and an extending direction of the first rotating shaft 42 is parallel to an arrangement direction of the two clamping assemblies 450, which are both a conveying direction DF. The clamping rack first end 475 of the clamping rack 471 is proximate to the first rotational axis 42 and the clamping rack second end 476 opposite the clamping rack first end 475 is distal to the first rotational axis 42. The clamping rack first end 475 of the clamping rack 471 is proximate the cam portion 44 and the clamping rack second end 476 opposite the clamping rack first end 475 is distal the cam portion 44. The second projection 53A is provided at the clamp rack first end 475 for interaction with the cam portion 44 (the first conveying transmission portion 44).

Wherein, the first radius R1 is greater than the distance between the first rotation axis PR1 and the second protrusion 53A, and the second radius R2 is less than the distance between the first rotation axis PR1 and the second protrusion 53A. When the first half wheel 45 faces the clamp assembly 450, the cam portion 44 contacts (presses in the radial direction DR) the second protrusion 53A, moving the third and fourth clamp portions 443, 444 away from each other in the radial direction; when the second half wheel 46 is directed toward the clamping assembly 450, the cam portion 44 is released from contact with the second projection 53A, and the third 443 and the fourth 444 are brought closer to each other in the radial direction DR by the second elastic member 442.

In other words, the first radius R1 is greater than the distance between the first rotation axis PR1 and the clamp transmission 470, and the second radius R2 is less than the distance between the first rotation axis PR1 and the clamp transmission 470. When the first half wheel 45 faces the clamping assembly 450, the cam portion 44 contacts the clamping transmission portion 470, moving the third 443 and the fourth 444 away from each other in the radial direction DR; when the second half wheel 46 is directed toward the clamping assembly 450, the cam portion 44 is released from contact with the clamping transmission portion 450, and the third 443 and the fourth 444 are moved closer to each other in the radial direction DR by the second resilient member 442.

In other words, the first radius R1 is greater than the distance between the first rotation axis PR1 and the second clamping mechanism 440, and the second radius R2 is smaller than the distance between the first rotation axis PR1 and the second clamping mechanism 440. When the first half wheel 45 faces the clamping assembly 450, the cam portion 44 contacts the second clamping mechanism 440, leaving the clamping assembly 450 in an open state; when the second half wheel 46 is facing the clamping assembly 450, the cam portion 44 is disengaged from the second clamping mechanism 440, leaving the clamping assembly 450 in the closed position.

In other words, the first radius R1 is greater than the distance of the first rotation axis PR1 from the clamping assembly 450, and the second radius R2 is less than the distance of the first rotation axis PR1 from the clamping assembly 450. When the first half wheel 45 faces the clamping assembly 450, the cam portion 44 contacts the clamping assembly 450, leaving the clamping assembly 450 in an open state; when the second wheel half 46 is facing the clamp assembly 450, the cam portion 44 is released from contact with the clamp assembly 450, leaving the clamp assembly 450 in a closed state.

Preferably, the outer circumferential surface of the first half wheel 45 smoothly transitions with the outer circumferential surface of the second half wheel 46 so that the first half wheel 45 smoothly applies the driving force to the second protrusion 53A.

In order to alternately open and close the two clamping assemblies 450, the cam portions 44 of the two conveying transmission assemblies 43 are 180 degrees apart in the circumferential direction of the first rotation shaft 42.

As shown in fig. 1 to 3 and 16, the second conveying transmission portion 47 is configured as a chute (herein, the second conveying transmission portion 47 is also referred to as a chute 47). The chute 47 is configured as an annular through groove provided at the outer peripheral surface of the first rotation shaft 42, and the extending direction of the chute 47 is not perpendicular to the first rotation axis PR 1. The chute 47 is connected to the clamp assembly mount 420. As shown in fig. 1, 3, 7, 8 and 11, the clamping assembly 450 further includes a connection assembly 54. One end of the connection assembly 54 is connected to the clamping assembly seat 420, and the other end of the connection assembly 54 is received in the chute 47.

When the first rotating shaft 42 rotates, since the extending direction of the chute 47 is not perpendicular to the first rotation axis PR1, the position of the side of the chute 47 facing the clamping assembly 50 moves relative to the base assembly 410 along the conveying direction DF, so as to drive the connecting assembly 54 to move relative to the base assembly 410 along the conveying direction DF, and further drive the clamping assembly seat 420 to move relative to the base assembly 410 along the conveying direction DF, and finally drive the first clamping portion 431 and the second clamping portion 432 to move relative to the base assembly 410 along the conveying direction DF.

Preferably, as shown in FIG. 8, the connection assembly 54 includes a connection shaft 58 and a miniature bearing 59. The connection shaft 58 extends in a direction perpendicular to the first rotation axis PR1, one end of the connection shaft 58 is connected to the clamping assembly holder 420, and the other end of the connection shaft 58 is accommodated in the chute 47. The miniature bearing 59 is sleeved on the connecting shaft 58, and the outer ring of the bearing 59 is used for contacting the groove wall of the chute 47, so that friction between the connecting assembly 54 and the chute 47 is reduced.

As shown in fig. 16, since the extending direction of the chute 47 is not perpendicular to the first rotation axis PR1, the chute 47 has a proximal point 48 closest to the cam portion 44 and a distal point 49 farthest from the cam portion 44 in the direction of the first rotation axis PR 1. To coordinate the opening and closing of the clamping assembly 450 with the movement, the near point 48 and the far point 49 are 180 degrees apart on the outer peripheral surface of the first rotational shaft 42, and the near point 48 and the far point 49 lie in a plane in which the contact surfaces of the first half wheel 45 and the second half wheel 46 lie (i.e., in a plane defined by a broken line and the first rotational axis PR1 in fig. 17).

When the proximal point 48 is in the position of the forward clamping assembly 450, the first shaft 42 rotates such that the larger first half wheel 45 contacts the second protrusion 53A. During the latter half of the cycle (180 degrees of rotation of the first shaft 42), the first wheel half 45 continues to contact the second projection 53A, so that the clamp assembly 450 remains open. At the same time, during this half cycle, the distal point 49 of the chute 47 gradually turns to the position of the forward clamping assembly 450, i.e. the position of the side of the chute 47 facing the clamping assembly 450 is always moved in the same direction of the conveying direction DF (e.g. to the right in fig. 16), so that the clamping assembly 450 is also kept moving in the same direction all the time. At the end of this half cycle of movement, the distal point 49 is at the position of the forward clamp assembly 450, and the clamp assembly 450 is in the extreme position for movement to the right. Thereafter, the first shaft 42 continues to rotate, changing the second half-wheel 46 toward the second projection 53A, and continuing for half a cycle, i.e., so that the clamping assembly 450 remains in the closed state for half a cycle. During this half-cycle, the proximal point 48 of the chute 47 gradually turns to the position of the forward clamping assembly 450, i.e. the position of the side of the chute 47 facing the clamping assembly 450 is always moved in the other direction of the conveying direction DF (e.g. to the left in fig. 16), so that the clamping assembly 450 is also always kept moving to the left. At the end of this half-cycle of motion, the near point 48 is at the position of the forward clamp assembly 450, and the clamp assembly 450 is in the extreme position for movement to the left. The above-described movement is repeated such that the clamp assembly 50 is in a closed state when the clamp assembly 450 is advanced (e.g., moved leftward) along the delivery direction DF of the guidewire, and the clamp assembly 450 is in an open state when the clamp assembly 450 is retracted (e.g., moved rightward) along the delivery direction DF of the guidewire.

In order to move the two clamping assembly holders 420 in the conveying direction DF in opposite directions to each other, as shown in fig. 16, one of the inclined grooves 47 of the two conveying transmission assemblies 43 extends at a first acute angle a1 with the first rotation axis PR1 in a first rotation direction, and the other of the inclined grooves 47 of the two conveying transmission assemblies 43 extends at a second acute angle a2 with the first rotation axis PR1 in a second rotation direction, the first rotation direction being opposite to the second rotation direction. Preferably, the first acute angle a1 is equal to the second acute angle a2 so that the two clamping assemblies 450 have the same conveying efficiency.

It will be appreciated that the distance between the proximal point 48 and the distal point 49 in the delivery direction DF determines the distance that the clamping assembly 450 reciprocates in the delivery direction DF. It will be appreciated that the angle of inclination of the chute 47 relative to the conveying direction DF determines the distance that the clamping assembly 450 reciprocates along the conveying direction DF.

Preferably, on the first rotation shaft 42, the inclined grooves 47 of the two conveying transmission assemblies 43 are located in the middle of the cam portions 44 of the two conveying transmission assemblies 43, so that the entire length of the first rotation shaft 42, that is, the size of the conveying device 400 can be reduced when the clamping assembly 450 is moved by the same distance in the conveying direction DF. Or on the first shaft 42, the cam portions 44 of the two conveyor transmission assemblies 43 are located in the middle of the chute 47 of the two conveyor transmission assemblies 43. In this way, the first shaft 42 can be made to have a symmetrical structure, and the two clamping assemblies 450 can be made to have a mutually symmetrical structure, thereby making the product processing simple.

As is apparent from the above description, the first conveying transmission part 44 and the second conveying transmission part 47 respectively perform their respective functions during the rotation of the first transmission body 42. Preferably, the first transmission body 42 is formed integrally with the conveying transmission assembly 43, i.e. the first transmission body 42, the first conveying transmission part 44 and the second conveying transmission part 47 are formed integrally, e.g. machined as one and the same shaft. The first conveyor transmission 44 and the second conveyor transmission 47 may also be considered as part of the first shaft 42.

Preferably, the first drive assembly 30 includes a first motor 31 and a third gear assembly 33. The first motor 31 provides power for rotating the first rotary shaft 42. The third gear assembly 33 is connected to the output shaft of the first motor 31 and the first shaft 42, respectively, and transmits the driving force of the first motor 31 to the first shaft 42, thereby rotating the first shaft 42.

Preferably, the first rotation shaft 42 is disposed on the same side of the base assembly 410 as the clamping assembly 450. The first motor 31 and the second motor 61 are disposed on the same side of the base assembly 410. The first motor 31 and the second motor 61 are disposed on opposite sides of the base assembly 410 from the first shaft 42 and the clamping assembly 450.

Finally, the structure and operation of the zero position opening and closing assembly 490 will be described.

Based on the working mechanism of the second clamping mechanism 440 for clamping the first clamping mechanism 430, the conveying apparatus 400 is configured such that, when the zero position opening and closing assembly 490 is located at the open position, the zero position opening and closing assembly 490 contacts the third clamping portion 443 and the fourth clamping portion 444 to move the third clamping portion 443 and the fourth clamping portion 444 away from each other in the radial direction DR; when the zero position opening and closing assembly 490 is located at the closed position, the zero position opening and closing assembly 490 is out of contact with the third clamping portion 443 and the fourth clamping portion 444, and the third clamping portion 443 and the fourth clamping portion 444 approach each other in the radial direction DR under the action of the second elastic member 442. Wherein the zero position opening and closing assembly 490 is configured to be movable relative to the base assembly 410 in a direction perpendicular to the radial direction DR between an open position and a closed position, the zero position opening and closing assembly 490 being intermediate the third 443 and fourth 444 clamp portions in the radial direction DR when the zero position opening and closing assembly 490 is in the open position, thereby moving the third 443 and fourth 444 clamp portions away from each other in the radial direction DR. The zero position opening and closing assembly 490 is configured to be movable relative to the base assembly 410 between an open position and a closed position along at least a first direction D1, wherein the first direction D1 is perpendicular to the radial direction DR and the conveying direction DF.

Specifically, as shown in fig. 18-22, the zero position opening and closing assembly 490 includes an opening and closing base 493, an opening 494, and an opening and closing positioning mechanism 480. The retractable base 493 is disposed to the base assembly 410. The opener 494 is connected to the base 493. The opening member 494 is configured to be movable in at least a first direction D1 between an open position and a closed position with respect to the base 493, and when the opening member 494 is located at the open position, the opening member 494 contacts the third clamping portion 443 and the fourth clamping portion 444 and is located intermediate the third clamping portion 443 and the fourth clamping portion 444 in the radial direction DR so as to move the third clamping portion 443 and the fourth clamping portion 444 away from each other in the radial direction DR. The opening and closing positioning mechanism 480 is provided to the opening and closing base 493 and is coupled to the opening member 494 for holding the opening member 494 stationary in the open position and the closed position.

The opening member 494 extends in the conveying direction DF. The opener 494 comprises an opener first end 495 and an opener second end 496 which are oppositely disposed in the conveying direction DF. The opening and closing base 491 includes a first opening and closing base 491 and a second opening and closing base 492 which are disposed at intervals along the conveying direction DF. Wherein the opening member first end 495 is connected to the first base 491 and the opening member second end 496 is connected to the second base 492. For example, as shown in fig. 1-4, the first and second base-pieces 491, 492 sandwich the two clamp assemblies 450 along the conveying direction DF, such that the opener 494 spans the two clamp assemblies 450 along the conveying direction DF. The zero position opening and closing assembly 490 is generally mirror symmetric about a plane defined by the second axis of rotation PR2 and the first direction D1 with the two clamp assemblies 450 such that the opening member 494 is centered with the clamp channel 74 in the radial direction DR and spaced from the clamp channel 74 in the first direction D1 (as shown in fig. 4, the opening member 494 is located directly above the clamp channel 74 in the first direction D1) such that the opening member 494 is trapped just between the third and fourth clamp portions 443, 444 as it moves toward the clamp assemblies 450 in the first direction D1.

As shown in fig. 20, the open-close positioning mechanism 480 includes a first spring 487, a first step 485, a second spring 488, and a second step 486.

The first spring 487 is provided to the first opening and closing base 491. For example, the first shutter base 491 is provided with a spring groove 499A, and the first spring 487 is provided in the spring groove 499A. The first spring 487 extends in the first direction D1. The first step 485 also provides a first opening and closing seat 491. The first step 485 includes a first step surface 481 and a second step surface 482. The first step surface 481 is offset from the second step surface 482 in the first direction D1 and offset in the conveying direction DF. The first step surface 481 and the second step surface 482 face the first spring 487 in the first direction D1. The first step 485 may be integrally formed with the first shutter base 491. The first step 485 may also be considered part of the first shutter base 491.

The second spring 488 is disposed to the second base 492. For example, the second base 492 is provided with a spring slot 499B and the second spring 488 is disposed in the spring slot 499B. The second spring 488 extends in the first direction D1. The second step 486 provides a second open-close base 492. The second step 486 includes a third step surface 883 and a fourth step surface 484. The third step surface 483 is offset from the fourth step surface 484 in the first direction D1 and in the conveying direction DF. The third and fourth stepped surfaces 483, 484 face the second spring 488 in a first direction.

Wherein the first step 485 is on the same side in the first direction D1 relative to the first spring 487 as the second step 486 is on the same side in the first direction D1 relative to the second spring 488 (as shown in fig. 20, the first step 485 is above in the first direction D1 relative to the first spring 487, and the second step 486 is above in the first direction D1 relative to the second spring 488). The first step surface 481 is located on the same side in the first direction as the second step surface 482 and the third step surface 883 is located on the fourth step surface 484 (as shown in fig. 20, the first step surface 481 is located above the second step surface 482 in the first direction D1, and the third step surface 883 is located above the fourth step surface 484 in the first direction D1). The first step surface 481 is located on the same side in the conveying direction DF as the third step surface 483 with respect to the second step surface 482 and the fourth step surface 484 (as shown in fig. 20, the first step surface 481 is located on the left side in the conveying direction DF with respect to the second step surface 482, and the third step surface 483 is located on the left side in the conveying direction DF with respect to the fourth step surface 484).

The opening member first end 495 is connected between the first step 485 and the first spring 487, and the opening member second end 496 is connected between the second step 486 and the second spring 488. For example, the opening and closing positioning mechanism 480 further includes stoppers 489A and 489B. A stopper 489A is provided in the spring groove 499A for pressing the first spring 487 in the first direction D1. The opening member first end 495 is sandwiched between the first step 485 and the stop 489A under the influence of the first spring 487. A stop 489B is disposed in the spring slot 499B for pressing the second spring 488 in the first direction D1. The opening member second end 496 is sandwiched between the second step 486 and the stop 489B by the second spring 488.

As shown in fig. 21, when the opening member 494 is located at the closed position, the opening member first end 495 is sandwiched between the first step surface 481 and the stopper 489A under the action of the first spring 487; the opening member second end 496 is sandwiched between the third step surface 483 and the stop 489B by the second spring 488. So that the opening member 494 can be stably maintained in the closed position. When it is desired to install a guidewire, the wire electronically rotates the clamping assembly 450 to a null position, even though the width direction of the clamping channel 74 is parallel to the radial direction DR. Then, the user presses the opening member 494 in the first direction D1, and then moves the opening member 494 rightward in the conveying direction DF, so that the opening member is located at the open position as shown in fig. 22. In the open position, the opening member first end 495 is sandwiched between the second step surface 482 and the stop 489A under the influence of the first spring 487; the opening member second end 496 is sandwiched between the fourth step surface 484 and the stop 489B by the second spring 488. So that the opening member 494 can be stably maintained in the open position.

Referring to fig. 4 and 19, in the direction D1, the opening member 494 in the open position is closer to the clamp assembly 450 than the opening member 494 in the closed position. In the open position, the opening member 494 is located between the third clamping portion 443 and the fourth clamping portion 444 in the radial direction DR, and expands the third clamping portion 443 and the fourth clamping portion 444 to both sides in the radial direction DR, so that the pressing force to the first clamping mechanism 430 is canceled, and the guide wire can be easily put into the clamping channel 74. The opening 494 is provided with a passage 494C for passage of a guidewire therethrough.

When the opening member 494 is located at the open position, the third clamping portion 443 and the fourth clamping portion 444 are forced away from each other in the radial direction DR, so that the first clamping mechanism 430 is in an open state by the first elastic member 433. When the opening member 494 is located at the closed position, the external force acting on the third clamping portion 443 and the fourth clamping portion 444 disappears, and the third clamping portion 443 and the fourth clamping portion 444 approach each other in the radial direction DR by the second elastic member 442, so that the first clamping mechanism 430 is in the closed state.

In the present application, the opening member 494 is used for user operation and also for direct action on the second clamping mechanism 450.

As shown in fig. 14, preferably, a portion of the third grip portion 443 for contacting the opening member 494 is configured as an inclined surface 443B. Preferably, the portion of the fourth clip portion 444 for contacting the opening 494 is configured as a ramp 444B. The inclined surface 443B is provided on the side of the third clamping portion 443 toward the fourth clamping portion 444. The inclined surface 444B is provided on the side of the fourth grip 444 facing the third grip 443. The end of the inclined surface 443B, which is closer to the opening member 494 in the first direction D1, is farther from the second rotation axis PR2 than the end of the inclined surface 444B, which is farther from the opening member 494, in the radial direction DR.

As shown in fig. 19, preferably, a portion of the opening member 494 for contacting the third grip portion 443 is configured as a slope 494A. Preferably, the portion of the opening member 494 for contacting the fourth clamp 444 is configured as a ramp 494B. The inclined surfaces 494A and 494B are provided on opposite sides of the opening member 494 in the radial direction DR, respectively. One end of the inclined surface 494A and the inclined surface 494B near the clamp assembly 450 in the first direction D1 is closer to the second rotation axis PR2 than one end far from the clamp assembly 450 in the radial direction DR.

Thus, the opening member 494 can be more smoothly inserted between the third clamping portion 443 and the fourth clamping portion 444 under the guiding action of the inclined surfaces.

In order to stably move the opening member 494 in the first direction D1 with respect to the opening and closing base 493, as shown in fig. 19, it is preferable that the opening member 494 is provided with an opening member guide groove 497, and the opening member guide groove 497 extends in the first direction D1. The zero position opening and closing assembly 490 further includes an opening guide 498, the opening guide 498 being provided to the opening and closing base 493 and extending along the conveying direction DF. The opener guide 498 is disposed in the opener guide slot 497.

Specifically, as shown in fig. 20, the opening member first end 495 is provided with an opening member guide groove 497A, and the opening member second end 496 is provided with an opening member guide groove 497B. The first shutter base 491 is provided with an opening guide 498A. The second base 492 is provided with an opening guide 498B. The opening guide 498A and 498B extend in the conveying direction DF. The opener guide 498A is disposed in the opener guide slot 497A. The opener guide 498A is movable in a first direction D1 in the opener guide slot 497A. The opener guide 498B is disposed in the opener guide slot 497B. The opener guide 498B is movable in the first direction D1 in the opener guide slot 497B.

As shown in fig. 19, the opening guide 498 is provided with a channel 498C for passing a guidewire therethrough. The opening guide 498A and 498B are each provided with a channel 498C for passage of a guidewire. The channel 498C is aligned with the clamp channel 74 in the radial direction DR. Thus, the zero position opening and closing assembly 490 does not interfere with the linear extension of the guidewire, making delivery of the guidewire smoother.

According to the conveying device, the clamping assembly can clamp the guide wire and convey the guide wire. In the clamping assembly, the first clamping mechanism directly contacts and clamps the guidewire. The second clamping mechanism applies extrusion force to the first clamping mechanism so that the first clamping mechanism clamps the guide wire. The zero position opening and closing assembly is used for widening the clamping channel when the guide wire is installed so as to facilitate the installation of the guide wire. When the opening member is in the open position, the opening member acts on the second clamping mechanism, the third clamping portion and the fourth clamping portion being forced away from each other in the radial direction, so that the clamping channel widens under the influence of the first elastic member. At this point the user can easily install the guidewire. When the opening piece is located at the closed position, the external force acting on the third clamping part and the fourth clamping part disappears, the third clamping part and the fourth clamping part are close to each other along the radial direction under the action of the second elastic part, so that the width of the clamping channel is reduced, and the first clamping mechanism clamps the guide wire.

The application also provides a surgical robot system. In a preferred embodiment, the surgical robotic system according to the present application comprises a delivery device 400 as described above. The surgical robotic system further includes a control device coupled to the first motor 31 and the second motor 61 to control rotation of the first motor 31 and the second motor 61, thereby controlling the operating frequency of the clamping assembly 450 and the rotational speed of the guide wire. It will be appreciated that the surgical robotic system according to the present application includes all of the features and effects of the delivery device according to the present application.

The processes, steps described in all the preferred embodiments described above are examples only. Unless adverse effects occur, various processing operations may be performed in an order different from that of the above-described flow. The step sequence of the above-mentioned flow can also be added, combined or deleted according to the actual requirement.

In understanding the scope of the present application, the term "comprising" and its derivatives, as used herein, are intended to be open ended terms that specify the presence of the stated features, elements, components, groups, integers, and/or steps, but do not exclude the presence of other unstated features, elements, components, groups, integers and/or steps. This concept also applies to words having similar meanings such as the terms "including", "having" and their derivatives.

The terms "attached" or "attached" as used herein include: a construction in which an element is directly secured to another element by directly securing the element to the other element; a configuration for indirectly securing an element to another element by securing the element to an intermediate member, which in turn is secured to the other element; and the construction in which one element is integral with another element, i.e., one element is substantially part of the other element. The definition also applies to words having similar meanings such as the terms, "connected," "coupled," "mounted," "adhered," "secured" and their derivatives. Finally, terms of degree such as "substantially", "about" and "approximately" as used herein mean a deviation of the modified term such that the end result is not significantly changed.

Unless defined otherwise, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used herein is for the purpose of describing particular implementations only and is not intended to be limiting of the application. Features described herein in one embodiment may be applied to another embodiment alone or in combination with other features unless the features are not applicable or otherwise indicated in the other embodiment.

The present application has been described in terms of the above embodiments, but it should be understood that the above embodiments are for purposes of illustration and description only and are not intended to limit the application to the embodiments described. In addition, it will be understood by those skilled in the art that the present application is not limited to the embodiments described above, and that many variations and modifications may be made in accordance with the teachings of the present application, which fall within the scope of the claimed application.

Claims (40)

1. A delivery device for delivering a guidewire and/or catheter, comprising:

A base assembly;

At least one clamping assembly provided to the base assembly, the clamping assembly comprising a clamping channel for clamping a guide wire and/or a catheter, the clamping channel extending in a conveying direction of the guide wire and/or catheter, the clamping assembly being movable relative to the base assembly in the conveying direction, the clamping assembly comprising:

a clamping assembly seat which is arranged on the base assembly and can move relative to the base assembly along the conveying direction,

A first clamping mechanism provided to the clamping assembly seat, the first clamping mechanism including a clamping channel for clamping the guide wire and/or the catheter, the clamping channel extending in the conveying direction, the first clamping mechanism moving synchronously with the clamping assembly seat in the conveying direction relative to the base assembly, the first clamping mechanism having a closed state clamping the guide wire and/or the catheter and an open state unclamping the guide wire and/or the catheter, the clamping channel in the closed state having a smaller width than the clamping channel in the open state, and

A second clamping mechanism provided to the clamping assembly holder and movable relative to the first clamping mechanism in a direction perpendicular to the conveying direction, for applying a pressing force to the first clamping mechanism to decrease the width of the clamping passage or withdrawing the pressing force to increase the width of the clamping passage; and

A zero position opening and closing assembly for operation by a user and disposed to the base assembly, the zero position opening and closing assembly configured to be movable relative to the base assembly between an open position and a closed position,

When the zero position opening and closing assembly is positioned at the opening position, the zero position opening and closing assembly contacts the second clamping mechanism, so that the second clamping mechanism is far away from the first clamping mechanism along the direction perpendicular to the conveying direction to cancel the extrusion force applied to the first clamping mechanism; when the zero position opening and closing assembly is located at the closed position, the zero position opening and closing assembly is out of contact with the second clamping mechanism, and the second clamping mechanism contacts the first clamping mechanism along the direction perpendicular to the conveying direction so as to implement the extrusion force.

2. The transport apparatus of claim 1, wherein the clamp assembly further comprises a first resilient member coupled to the first clamp mechanism, the resilient force of the first resilient member having a direction parallel to a width direction of the clamp channel for increasing the width of the clamp channel,

Wherein the first clamping mechanism is movable relative to the clamping assembly seat in a width direction of the clamping channel to vary the width of the clamping channel.

3. The conveyor apparatus of claim 2 wherein the clamping assembly further comprises a second elastic member connected to the second clamping mechanism, the direction of the elastic force of the second elastic member being perpendicular to the conveying direction for causing the second clamping mechanism to apply a compressive force to the first clamping mechanism in a direction perpendicular to the conveying direction to reduce the width of the clamping channel.

4. A conveying apparatus according to claim 3, wherein,

The second clamping mechanism is located at the periphery of the first clamping mechanism, and is configured to be contracted and expanded in a radial direction of the first clamping mechanism, wherein the radial direction is perpendicular to the conveying direction,

When the second clamping mechanism contracts, the second clamping mechanism applies a pressing force to the first clamping mechanism in the radial direction to reduce the width of the clamping channel; when the second clamping mechanism expands, the second clamping mechanism withdraws the pressing force to increase the width of the clamping channel,

Wherein the direction of the elastic force of the second elastic member is parallel to the radial direction.

5. The transport apparatus of claim 4, wherein the second clamping mechanism comprises:

the second clamping base is arranged on the clamping assembly seat;

A third clamping portion provided to the second clamping base and movable in the radial direction with respect to the second clamping base, the third clamping portion being located on one side of the first clamping mechanism in the radial direction;

A fourth clamping portion provided to the second clamping base and movable in the radial direction with respect to the second clamping base, the fourth clamping portion being located on the other side of the first clamping mechanism in the radial direction and being provided opposite to the third clamping portion so as to surround the first clamping mechanism together with the third clamping portion at an outer periphery of the first clamping mechanism; and

A clamping transmission part which is arranged to the second clamping base and can move relative to the second clamping base along the radial direction, the clamping transmission part is connected to the third clamping part and the fourth clamping part and is used for controlling the third clamping part and the fourth clamping part to mutually approach or mutually separate along the radial direction,

The second elastic component is connected between the second clamping base and at least one of the clamping transmission part, the third clamping part and the fourth clamping part.

6. The delivery device of claim 5, wherein the delivery device comprises a plurality of delivery elements,

When the zero position opening and closing assembly is positioned at the opening position, the zero position opening and closing assembly contacts the third clamping part and the fourth clamping part so that the third clamping part and the fourth clamping part are far away from each other along the radial direction;

When the zero position opening and closing assembly is located at the closed position, the zero position opening and closing assembly is out of contact with the third clamping portion and the fourth clamping portion, and the third clamping portion and the fourth clamping portion are close to each other along the radial direction under the action of the second elastic component.

7. The conveyor apparatus of claim 6 wherein the zero position opening and closing assembly is configured to be movable relative to the base assembly in a direction perpendicular to the radial direction between the open position and the closed position, the zero position opening and closing assembly being intermediate the third clamp portion and the fourth clamp portion in the radial direction when the zero position opening and closing assembly is in the open position.

8. The conveyor apparatus of claim 7 wherein the zero position opening and closing assembly is configured to be movable relative to the base assembly in at least a first direction between the open position and the closed position, wherein the first direction is perpendicular to the radial direction and the conveying direction.

9. The conveyor apparatus of claim 8 wherein the zero position opening and closing assembly comprises:

the opening and closing base is arranged on the base assembly;

an opening member coupled to the base, the opening member being configured to be movable in at least the first direction relative to the base between the open position and the closed position, the opening member contacting the third clamp portion and the fourth clamp portion and being intermediate the third clamp portion and the fourth clamp portion when the opening member is in the open position,

And the opening and closing positioning mechanism is arranged on the opening and closing base and connected with the opening piece and is used for keeping the opening piece stationary in the opening position and the closing position.

10. The delivery device of claim 9, wherein the delivery device comprises a plurality of delivery elements,

The opening member extends along the conveying direction, and comprises a first opening member end and a second opening member end which are oppositely arranged along the conveying direction;

The opening and closing base comprises a first opening and closing base and a second opening and closing base which are arranged at intervals along the conveying direction, wherein the first end of the opening piece is connected to the first opening and closing base, the second end of the opening piece is connected to the second opening and closing base, and the opening piece is centered with the clamping channel along the radial direction and spaced from the clamping channel along the first direction.

11. The delivery device of claim 10, wherein the open-close positioning mechanism comprises:

A first spring provided to the first opening/closing base, the first spring extending in the first direction;

The first step piece is provided with the first opening and closing base and comprises a first step surface and a second step surface, the first step surface and the second step surface are staggered along the first direction and are staggered along the conveying direction, and the first step surface and the second step surface face the first spring along the first direction;

A second spring provided to the second opening/closing base, the second spring extending in the first direction; and

A second step part provided with the second opening and closing base and comprising a third step surface and a fourth step surface, wherein the third step surface and the fourth step surface are staggered along the first direction and are staggered along the conveying direction, the third step surface and the fourth step surface face the second spring along the first direction,

Wherein the first step member is located on the same side in the first direction with respect to the first spring and the second step member is located on the same side in the first direction with respect to the second spring,

The first step surface is located on the same side in the first direction with respect to the second step surface and the third step surface is located on the same side in the first direction with respect to the fourth step surface,

The first step surface is located on the same side in the conveying direction as the third step surface with respect to the second step surface and the fourth step surface,

The first end of the opening piece is connected between the first step piece and the first spring, and the second end of the opening piece is connected between the second step piece and the second spring.

12. The delivery device of claim 11, wherein the delivery device comprises a plurality of delivery elements,

The opening member is provided with an opening member guide groove extending in the first direction,

The zero position opening and closing assembly further comprises an opening piece guide piece which is arranged to the opening and closing base and extends along the conveying direction, the opening piece guide piece is arranged in the opening piece guide groove,

The opening member is movable in the first direction relative to the opening member guide.

13. A delivery device according to claim 12, wherein the opening guide is provided with a channel for passing the guide wire and/or catheter.

14. A delivery device according to claim 10, wherein the opening member is provided with a passage for passing the guidewire and/or catheter therethrough.

15. The delivery device of claim 9, wherein the delivery device comprises a plurality of delivery elements,

The portion of the third clamping portion for contacting the opening member is configured as a bevel and/or the portion of the opening member for contacting the third clamping portion is configured as a bevel; and/or

The portion of the fourth clamping portion for contacting the opening element is configured as a bevel and/or the portion of the opening element for contacting the fourth clamping portion is configured as a bevel.

16. The conveyor apparatus according to any one of claims 5 to 15, comprising two of the gripper assemblies, the two gripper assemblies being spaced apart along the conveying direction,

The conveying device is configured such that the two gripper assemblies are reciprocally movable away from each other and towards each other in the conveying direction,

When the two gripping assemblies are close to each other in the conveying direction, the third gripping portion and the fourth gripping portion of the gripping assembly advancing in the conveying direction are close to each other in the radial direction, and the third gripping portion and the fourth gripping portion of the gripping assembly retreating in the conveying direction are distant from each other in the radial direction;

when the two gripper assemblies are away from each other in the conveying direction, the third gripper portion and the fourth gripper portion of the gripper assembly advancing in the conveying direction are close to each other in the radial direction, and the third gripper portion and the fourth gripper portion of the gripper assembly retreating in the conveying direction are away from each other in the radial direction.

17. The transport apparatus of claim 16 further comprising a first drive body coupled to the base assembly, the first drive body coupled to the two clamp assembly mounts for reciprocating movement of the two clamp assembly mounts relative to the base assembly in the transport direction, the first drive body further acting on the two clamp drive portions for cyclically moving the third clamp portion and the fourth clamp portion toward and away from each other in the radial direction,

Wherein the conveying device is configured such that two of the clamping assembly seats are reciprocally movable toward and away from each other in the conveying direction;

When the two clamping assembly seats are close to each other in the conveying direction, the third clamping portion and the fourth clamping portion corresponding to the clamping assembly seat advancing in the conveying direction are close to each other in the radial direction, and the third clamping portion and the fourth clamping portion corresponding to the clamping assembly seat retreating in the conveying direction are far away from each other in the radial direction;

When the two clamping assembly seats are far away from each other along the conveying direction, the third clamping part and the fourth clamping part corresponding to the clamping assembly seat advancing along the conveying direction are close to each other along the radial direction, and the third clamping part and the fourth clamping part corresponding to the clamping assembly seat retreating along the conveying direction are far away from each other along the radial direction.

18. The transport apparatus of claim 17, wherein the first transmission body includes two transport transmission assemblies, the two transport transmission assemblies being disposed in correspondence with the two clamping assemblies, respectively, the transport transmission assemblies including:

the first conveying transmission part is used for enabling the third clamping part and the fourth clamping part to be close to or far away from each other along the radial direction;

and the second conveying transmission part is used for enabling the clamping assembly seat to be capable of moving back and forth relative to the base assembly along the conveying direction.

19. The transport apparatus of claim 18, wherein the first transmission body is configured as a first shaft, the transport apparatus being configured such that the first shaft is rotatable relative to the base assembly about a first axis of rotation, the first axis of rotation being parallel to the transport direction.

20. The delivery device of claim 19, wherein the delivery device comprises a plurality of delivery elements,

The first conveying transmission part is configured as a cam part on the first rotating shaft, and the cam part comprises:

A first half wheel, which is a first semicircle having a first radius in a cross section of the cam portion; and

A second half wheel which is a second semicircle with a second radius in the cross section of the cam part,

Wherein the first radius is larger than the second radius, the circle center of the first semicircle coincides with the circle center of the second semicircle, the circle center coincides with the first rotation axis,

Wherein the cam portions of the two conveying transmission assemblies are 180 degrees different on the first rotating shaft, the first radius is larger than the distance between the first rotating axis and the clamping transmission portion, the second radius is smaller than the distance between the first rotating axis and the clamping transmission portion,

When the first half wheel faces the clamping assembly, the cam part contacts the clamping transmission part, so that the third clamping part and the fourth clamping part are far away from each other along the radial direction; when the second half wheel faces the clamping assembly, the cam portion is out of contact with the clamping transmission portion, and the third clamping portion and the fourth clamping portion are close to each other in the radial direction under the action of the second elastic component.

21. The delivery device of claim 20, wherein the delivery device comprises a plurality of delivery elements,

The third clamping portion comprises a third rack extending in the radial direction;

the fourth clamping portion comprises a fourth rack extending in the radial direction;

The clamping transmission part comprises:

A clamping rack provided to the second clamping base and movable in the radial direction relative to the second clamping base, the clamping rack extending in the radial direction, the clamping rack having a clamping rack first end proximate the cam portion and a clamping rack second end opposite the clamping rack first end,

A second protrusion disposed to the first end of the clamping rack, the first radius being greater than a distance between the first rotational axis and the second protrusion, the second radius being less than a distance between the first rotational axis and the second protrusion,

A third clamping gear provided to the second clamping base and engaged with the clamping rack and the third rack, and

A fourth clamping gear provided to the second clamping base and engaged with the third clamping gear and the fourth rack,

Wherein the second elastic component is connected between the second clamping base and at least one of the second end of the clamping rack, the third clamping part and the fourth clamping part,

When the first half wheel faces the clamping assembly, the cam part contacts the second protrusion, so that the third clamping part and the fourth clamping part are far away from each other along the radial direction; when the second half wheel faces the clamping assembly, the cam portion is out of contact with the second protrusion, so that the third clamping portion and the fourth clamping portion are close to each other in the radial direction.

22. The conveying apparatus as claimed in claim 20, wherein the second conveying transmission portion is configured as a chute configured as an annular through groove provided at an outer peripheral surface of the first rotating shaft, an extending direction of the chute is not perpendicular to the first rotation axis, such that the chute has a proximal point closest to the cam portion and a distal point farthest from the cam portion in a direction of the first rotation axis,

Wherein the near point and the far point are 180 degrees apart on the outer peripheral surface of the first rotation shaft, and the near point and the far point are located in a plane in which the contact surfaces of the first half wheel and the second half wheel are located,

Wherein the extending direction of one of the chute of the two conveyor drive assemblies and the first rotation axis form a first acute angle along a first rotation direction, and the extending direction of the other of the chute of the two conveyor drive assemblies and the first rotation axis form a second acute angle along a second rotation direction, and the first rotation direction is opposite to the second rotation direction;

The clamping assembly seat is provided with a connection assembly, which is accommodated in the chute.

23. The delivery device of claim 22, wherein the first acute angle is equal to the second acute angle.

24. The delivery device of claim 22, wherein the device comprises a plurality of rollers,

On the first rotating shaft, the chute of the two conveying transmission assemblies is positioned in the middle of the cam parts of the two conveying transmission assemblies; or alternatively

On the first rotating shaft, the cam portions of the two conveying transmission assemblies are positioned in the middle of the chute of the two conveying transmission assemblies.

25. The delivery device of claim 22, wherein the connection assembly comprises:

a connecting shaft extending in a direction perpendicular to the first rotation axis; and

The bearing is sleeved on the connecting shaft, and the outer ring of the bearing is used for contacting the groove wall of the chute.

26. The delivery device of claim 17, wherein the first clamping mechanism comprises:

a first clamping part connected to the clamping assembly seat,

A second clamping part connected to the clamping assembly seat and arranged opposite to the first clamping part, wherein a gap between the first clamping part and the second clamping part forms the clamping channel,

Wherein the first elastic component acts on the first clamping part and/or the second clamping part so as to enable the first clamping part to be far away from the second clamping part.

27. The delivery device of claim 26, wherein the delivery device comprises a plurality of delivery elements,

The first clamping mechanism further comprises two ferrule caps disposed to the clamping assembly seat and spaced apart along the transport direction;

The two ends of the first clamping part along the conveying direction are respectively positioned in the two hoop caps, and the two ends of the second clamping part along the conveying direction are respectively positioned in the two hoop caps.

28. The delivery device of claim 27, wherein the first resilient member comprises at least one torsion spring, one torsion arm of the torsion spring abutting the ferrule cap, the other torsion arm of the torsion spring abutting a side of the first clamp portion for facing the second clamp portion or a side of the second clamp portion for facing the first clamp portion to urge the first clamp portion away from the second clamp portion.

29. The delivery device of claim 27, wherein the device comprises a plurality of rollers,

The first clamping portion includes:

A first clamping member, both ends of the first clamping member in the conveying direction are respectively positioned in the two ferrule caps, a surface of the first clamping member, which faces the second clamping portion, is provided with a first key groove extending in the conveying direction, and

A first key disposed in the first keyway, the first key comprising an elastic material;

The second clamping portion includes:

the two ends of the second clamping piece along the conveying direction are respectively positioned in the two hoop caps, the second clamping piece is oppositely arranged with the first clamping piece, the surface of the second clamping piece, which is used for facing the first clamping part, is provided with a second key groove extending along the conveying direction, the second key groove is oppositely arranged with the first key groove, and

A second key disposed in the second keyway, the second key comprising an elastomeric material,

Wherein a gap between the first key and the second key forms the grip channel.

30. The delivery device of claim 29, wherein the delivery device comprises a plurality of delivery elements,

The first clamping mechanism further comprises an additional spring;

The additional spring is arranged in the first key groove and is positioned on one side of the first key, which is opposite to the second key, and extends along the depth direction of the first key groove, wherein the sum of the free height of the additional spring and the height of the first key is smaller than or equal to the depth of the first key groove, or

The additional spring is arranged in the second key groove and is positioned on one side of the second key, which is opposite to the first key, and extends along the depth direction of the second key groove, wherein the sum of the free height of the additional spring and the height of the second key is smaller than or equal to the depth of the second key groove.

31. The delivery device of claim 29, wherein the cuff cap and the clamping assembly mount are provided with a passageway for passing the guidewire and/or catheter therethrough.

32. The delivery device of claim 27, wherein the first clamping mechanisms of two of the clamping assemblies are interconnected, the delivery device being configured such that one of the two first clamping mechanisms is rotatable relative to the base assembly about a second axis of rotation extending in the delivery direction, the second axis of rotation being located at the position of the axis of the guidewire and/or catheter, thereby causing the other of the two first clamping mechanisms to rotate synchronously relative to the base assembly about the second axis of rotation.

33. The delivery device of claim 32, wherein the delivery device comprises a plurality of delivery elements,

The ferrule cap of the one of the two first clamping mechanisms for facing a side of the other of the two first clamping mechanisms is provided with a receptacle,

The ferrule cap of the other of the two first clamping mechanisms for facing one side of the one of the two first clamping mechanisms is provided with a plug for insertion into the receptacle to connect the two first clamping mechanisms,

The delivery device is configured such that the receptacle or the plug is rotatable relative to the base assembly about the second axis of rotation.

34. The delivery device of claim 33, further comprising:

A second drive assembly provided to the base assembly for providing a driving force for rotating the two first clamping mechanisms relative to the base assembly; and

And the second transmission assembly is used for connecting the second driving assembly and the socket and transmitting the driving force of the second driving assembly to the socket.

35. The delivery device of claim 34, wherein the device comprises a plurality of rollers,

The second drive assembly includes a second motor;

The second transmission assembly includes:

A second gear assembly connected to the socket and rotatable in synchronism with the socket about the second axis of rotation relative to the base assembly, and

And the fourth gear assembly is connected to the output shaft of the second motor and synchronously rotates along with the output shaft of the second motor, and the fourth gear assembly is meshed with the second gear assembly.

36. The delivery device of claim 35, wherein the fourth gear assembly includes a long gear extending in the delivery direction for meshing with the second gear assembly.

37. The transport apparatus of any one of claims 5 to 15, wherein the second clamping mechanism further comprises:

A first pin disposed to the second clamping base and extending in the radial direction, wherein the third clamping portion is connected to the first pin and movable in the radial direction relative to the first pin; and

And the second pin shaft is arranged to the second clamping base and extends along the radial direction, wherein the fourth clamping part is connected to the second pin shaft and can move relative to the second pin shaft along the radial direction.

38. The delivery device of any one of claims 1 to 15, further comprising a first guide member provided to the base assembly and a second guide member provided to the clamp assembly mount, the second guide member being connected to the first guide member and movable relative to the first guide member in the delivery direction.

39. The conveyor apparatus of claim 38 wherein one of the first and second guides is configured as a rail extending in the conveying direction and the other of the first and second guides is configured as a chute extending in the conveying direction, the rail being received in the chute.

40. A surgical robotic system comprising a delivery device according to any one of claims 1 to 39.