CN215916127U

CN215916127U - Propelling movement subassembly and drive box

Info

Publication number: CN215916127U
Application number: CN202121712582.8U
Authority: CN
Inventors: 徐健; 吴荣俊
Original assignee: Hefei Meyer Optoelectronic Technology Inc
Current assignee: Hefei Meyer Optoelectronic Technology Inc
Priority date: 2021-07-23
Filing date: 2021-07-23
Publication date: 2022-03-01
Anticipated expiration: 2031-07-23

Abstract

The utility model discloses a pushing assembly and a driving box, wherein the pushing assembly comprises: the inner box is configured to be suitable for the elongated object to pass through in the front-back direction; the driving piece is arranged in the inner box; the expansion piece is arranged in the inner box and is suitable for being matched with the driving piece to clamp and loosen the elongated object, wherein the driving piece is suitable for pushing the elongated object in the front-back direction. By applying the technical scheme, the long and thin object can be pushed, the stability of the long and thin object during installation and use can be improved, the control accuracy is improved, and the operation effect is improved.

Description

Propelling movement subassembly and drive box

Technical Field

The utility model relates to the field of interventional surgical instruments, in particular to a pushing assembly and a driving box.

Background

In the related technology, a doctor inserts a blood vessel sheath into a specific blood vessel for operation (an internal and external channel inlet for interventional therapy is established) through blood vessel puncture, and then inserts a catheter and a slender object into the specific focus position through the blood vessel sheath under the driving action of a driving device. After the catheter is inserted, a Y valve is fixed at the tail end of the catheter, and the rear end of the catheter is connected with the Y valve so as to be convenient for injecting examination or treatment liquid, such as contrast liquid and the like. The existing executing device for interventional operation has obtained certain application in interventional operation, but has some defects, such as inconvenient pushing of a conduit and a slender object, easy occurrence of slipping phenomenon in pushing, influence on operation effect and the like.

SUMMERY OF THE UTILITY MODEL

The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, the utility model aims to provide a pushing assembly and a driving box, which are convenient for controlling the pushing of a slender object so as to improve the control accuracy and improve the operation effect.

The pushing assembly comprises: the inner box is configured to be suitable for the elongated object to pass through in the front-back direction; the driving piece is arranged in the inner box; the expansion piece is arranged in the inner box and is suitable for being matched with the driving piece to clamp and loosen the elongated object, wherein the driving piece is suitable for pushing the elongated object in the front-back direction.

According to the pushing assembly provided by the embodiment of the utility model, the slender object can be pushed, the stability of the slender object in installation and use can be improved, the control accuracy is improved, and the operation effect is improved.

In addition, the pushing assembly according to the above embodiment of the present invention may further have the following additional technical features:

in some embodiments, the inner case comprises: the upper side of the inner box body is open; the inner box cover can be used for openably closing the open side of the inner box body, wherein the inner box cover is configured to be opened, the expanding piece and the driving piece move oppositely to each other to be suitable for loosening the elongated object, and when the inner box cover is closed, the expanding piece and the driving piece move oppositely to each other to be suitable for clamping the elongated object.

In some embodiments, the inner box cover is rotatably connected with the inner box body, the inner box cover is provided with a push block, the end surface of the push block is configured into a spiral surface shape extending around the rotation central axis of the inner box cover, and the end surface of the push block is suitable for abutting against the expanding piece so as to drive the expanding piece to move towards and away from the driving piece when the inner box cover is opened and closed.

In some embodiments, the front end and the rear end of the inner box body are provided with first guide grooves penetrating through the upper end surface of the inner box so as to be suitable for placing elongated objects, the inner box cover is provided with first protruding blocks opposite to the first guide grooves, and the first protruding blocks are embedded into the first guide grooves when the inner box cover is closed.

According to an embodiment of the present invention, a drive cassette includes: a sleeve, a pushing assembly, the sleeve configured to accommodate passage of an elongate object in a front-to-back direction; the pushing assembly is arranged in the outer box in a rotating mode to rotate the slender object, and the pushing assembly is the pushing assembly.

According to the driving box disclosed by the embodiment of the utility model, the pushing and the rotating of the slender object can be controlled, and the slender object can be stably placed, so that the control accuracy is improved, and the operation effect is improved.

In some embodiments, the driving box further includes a first transmission gear and a second transmission gear, the first transmission gear and the second transmission gear are respectively disposed at the outer sides of the front end and the rear end of the inner box, the first transmission gear is relatively fixedly connected with the inner box, and the second transmission gear is in transmission connection with the driving member.

In some embodiments, a first guide pipe and a second guide pipe are respectively connected to the front side and the rear side of the inner box, the first guide pipe and the second guide pipe both extend in the front-rear direction, and the first transmission gear and the second transmission gear are respectively sleeved on the first guide pipe and the second guide pipe.

In some embodiments, the inner sides of the front and rear side walls of the outer box are respectively provided with a matching groove, and the first guide tube and the second guide tube are respectively rotatably inserted into the matching grooves at corresponding positions.

In some embodiments, a first transmission member and a second transmission member are disposed on the same side wall of the outer box, the first transmission member is in transmission connection with the first transmission gear, and the second transmission member is in transmission connection with the second transmission gear.

In some embodiments, the sleeve comprises: an outer case, an outer case cover, an upper side of the outer case being open; the outer box cover can be used for openably covering the open side of the outer box body, wherein the front end and the rear end of the outer box body are provided with second guide grooves penetrating through the upper end surface of the outer box body so as to be suitable for placing elongated objects.

In some embodiments, the outer box body comprises a U-shaped plate, the U-shaped plate extends in a front-back direction, the front end and the back end of the U-shaped plate are respectively sealed by a first end plate and a second end plate, and the inner side surfaces of the first end plate and the second end plate are provided with latticed reinforcing ribs.

In some embodiments, the outer box cover is located at the upper outer side of the front and rear ends of the outer box body.

Drawings

Fig. 1-3 are schematic diagrams of a pushing assembly of one embodiment of the present invention. Wherein the inner box cover is opened.

Fig. 4 and 5 are schematic views of a pushing assembly of one embodiment of the present invention. Wherein the inner box cover is closed.

Fig. 6 is an exploded view of the pusher assembly of one embodiment of the present invention.

Figures 7 to 9 are schematic views of a drive member of a pusher assembly according to one embodiment of the utility model.

Figure 10 is an exploded view of the drive member of the pusher assembly of one embodiment of the present invention.

Figures 11-13 are schematic views of an expander of a pusher assembly according to one embodiment of the utility model.

Figure 14 is an exploded view of an expander of a pusher assembly according to one embodiment of the utility model.

Fig. 15 and 16 are schematic views of the drive case according to an embodiment of the present invention, in which the outer case cover and the inner case cover are both in an open state.

Fig. 17 and 18 are schematic views of a drive case according to an embodiment of the present invention, in which an outer case cover and an inner case cover are closed.

Fig. 19 is an exploded view of the drive cartridge of one embodiment of the present invention.

Fig. 20 is a schematic view of a first end plate of the drive cassette of one embodiment of the present invention.

Fig. 21 is a schematic view of a first transmission gear of the drive cartridge of one embodiment of the present invention.

Fig. 22 is a schematic structural diagram of an execution device according to an embodiment of the present invention.

Fig. 23 is a schematic diagram of a partial structure of an actuator according to an embodiment of the present invention.

Fig. 24 and 25 are exploded views of a part of the structure of an actuator according to an embodiment of the present invention.

Fig. 26 and 27 are schematic diagrams of a driver of an actuator according to an embodiment of the present invention.

FIG. 28 is an exploded view of the actuator driver of one embodiment of the present invention.

Fig. 29 and 30 are schematic views of a differential gear assembly of an implement according to one embodiment of the present invention.

FIG. 31 is an exploded schematic view of the differential gear assembly of the implement according to one embodiment of the present invention.

FIG. 32 is a schematic view of the engagement of a bracket and cover plate of an actuator in accordance with one embodiment of the present invention.

Fig. 33 is a partial structural diagram of an execution device according to an embodiment of the present invention.

Reference numerals:

the actuating device 100, a base 1, a buckle 11, a bracket 2, a cover plate 21, a first guide groove 201, a second guide groove 202, a mounting groove 203, a driving box 3, an outer box 311, a third positioning part 3111, a U-shaped plate 311a, a first end plate 311b, a second end plate 311c, an outer box cover 312, a fourth positioning part 3121, a pushing component 32, an inner box 321, a first positioning part 3211, a positioning boss 321a, a first guide pipe 321b, a second guide pipe 321c, an inner box cover 322, a second positioning part 3221, a pushing block 322a, a boss 322b, a driving member 323, a connecting shaft 323a, a transmission shaft 323b, an

expansion member

324, 324a, an elastic support 324b, a guide member 324c, a toggle part 324d, a rolling module 320, a casing 320a, a first half casing 3201, a second half casing 3202, a roller 320b, a through groove 3203, a first hook 3204, a first hook 3205, a second hook 3206, and a second hook 3207, a first positioning block 3208, a second positioning block 3209, an outer box wire passing hole 301a, a second guide groove 301b, a first guide groove 302a, a matching groove 302b, an inner box wire passing hole 302c, a positioning hole 303a, a first driven gear 304a, a second driven gear 304b, a third driven gear 304c, a first transmission piece 305a, a second transmission piece 305b, a first transmission gear 306a, a second transmission gear 306b, a third transmission gear 306c, a fourth transmission gear 306d, a fourth driven gear 306e, a fifth driven gear 306f, a driver 4, a box body 41, a first box shell 41a, a first shaft hole 401a, a second shaft hole 401b, a second box shell 41b, a third shaft hole 401c, a fourth shaft hole 401d, a third box shell 41c, a fourth box shell 41d, a first input shaft 43a, a second input shaft 43b, a first output shaft 43c, a second output shaft 43d, and a first transition sleeve 43e, a second transition sleeve 43f, a differential gear assembly 42, a first sun gear 421a, a first planet gear 421b, a first planet carrier 421c, a first internal gear ring 421d, a second sun gear 422a, a second planet gear 422b, a second internal gear ring 422d, a first gear 423a, a second gear 423b, a third gear 423c, a fourth gear 423d, a fifth gear 423e, a sixth gear 423f, a seventh gear 423g, a partition plate 424, a first driving part 44a, a second driving part 44b, a first connecting piece 45a, a second connecting piece 45b, a stent driving box 5, a stent driver 6, a fourth transmission piece 61b, an elongated object 7, a vascular sheath 8 and a connector 9.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the utility model and are not to be construed as limiting the utility model.

With reference to fig. 1 to 6, a pushing assembly 32 according to an embodiment of the present invention includes: an inner case, a driving member 323, and an expansion member 324.

Specifically, the inner box is configured to be adapted to pass the elongated object 7 in the front-rear direction, the driving member 323 is provided in the inner box, the expanding member 324 is adapted to cooperate with the driving member 323 to clamp and release the elongated object 7, and the driving member 323 is configured to push the elongated object 7 in the front-rear direction. Wherein the elongated object 7 can pass through the inner box in the front-back direction, the part of the elongated object 7 located in the inner box can be clamped or loosened under the cooperation of the expansion member 324 and the driving member 323, and the elongated object 7 can be pushed in the front-back direction by the driving member 323 when the expansion member 324 and the driving member 323 cooperate to clamp the part of the elongated object 7 located in the inner box.

According to the pushing assembly 32 of the embodiment of the utility model, the inner box can be suitable for the elongated object 7 to pass through, and the clamping and releasing of the elongated object 7 can be realized through the cooperation of the driving member 323 and the expansion member 324, so as to facilitate the installation and the removal of the elongated object 7, and meanwhile, the driving member 323 can push the elongated object 7, so that the installation, the removal and the driving of the elongated object 7 can be realized, and the pushing assembly can be suitable for the interventional operation or other fields.

Alternatively, as shown in fig. 2 and 5, the inner box of the present invention may be provided with inner box thread passing holes 302c at both front and rear ends thereof to be adapted for the elongated object 7 to pass through the inner box in the front-rear direction. Referring to fig. 1, the driving member 323 and the swelling member 324 may be located at opposite sides of the region inside the inner case opposite to the inner case thread passing hole 302c, i.e., at opposite sides of the elongated object 7. When the elongated object 7 needs to be placed or replaced, the expansion member 324 and the driving member 323 can be released, so as to facilitate loading of the elongated object 7 into the pushing assembly 32 or removal of the elongated object 7 from the pushing assembly 32; after the elongated object 7 is placed, the elongated object 7 can be clamped by the expanding member 324 and the driving member 323, and the driving member 323 can push the elongated object 7 in the front-back direction, so that the elongated object 7 can be pushed in the front-back direction. Therefore, the pushing or withdrawing of the elongated object 7 can be realized, so that the flexibility of the movement of the elongated object 7 is improved, and continuous action and accurate control are realized.

For example, the driving member 323 is fixedly installed in the inner case, and the expanding member 324 is movably installed in the left and right direction in the inner case to clamp or unclamp the elongated object 7, and it is easy to control the degree of clamping of the elongated object 7, improving the stabilizing effect. The expanding member 324 is movably mounted relative to the inner box body 321, the driving member 323 is fixed relative to the inner box body 321, when the inner box cover 322 is opened, the expanding member 324 moves away from the driving member 323, the slender object 7 such as a guide wire, a catheter or a slender object connected with a treatment bracket can be placed between the expanding member 324 and the driving member 323, when the inner box cover 322 is closed, the expanding member 324 approaches the driving member 323 to clamp the slender object 7; when the inner cap 322 is opened, the expander 324 is moved away from the driver 323 to release the elongated object 7.

Optionally, in conjunction with fig. 1 and 3, the inner box comprises: an inner case 321 and an inner case cover 322, an upper side of the inner case 321 being open; the inner case cover 322 openably covers the open side of the inner case body 321. In addition, the inner box cover 322 is configured such that the expansion member 324 and the driving member 323 move away from each other when opening to be adapted to release the elongated object 7, and the expansion member 324 and the driving member 323 move toward each other when the inner box cover 322 is closed to be adapted to clamp the elongated object 7. Therefore, when the inner box cover 322 is closed, the expanding piece 324 and the driving piece 323 can be driven to clamp the elongated object 7 in time, so that the elongated object 7 can be pushed by the driving piece 323 conveniently, and when the inner box cover 322 is opened, the elongated object 7 can be loosened in time, so that the elongated object 7 can be taken and replaced conveniently.

Alternatively, referring to fig. 3, the inner case cover 322 is rotatably connected to the inner case body 321, a push block 322a is provided on the inner case cover 322, an end surface of the push block 322a is configured in a spiral surface shape extending around a rotation center axis of the inner case cover 322, and an end surface of the push block 322a is adapted to abut against the expanding member 324 to drive the expanding member 324 to move toward and away from the driving member 323 when the inner case cover 322 is opened and closed. Specifically, when the inner cap 322 is closed, the end surface of the pushing block 322a abuts against the expanding member 324, and as the inner cap 322 is closed, the pushing block 322a gradually pushes the expanding member 324 to move toward the driving member 323 to clamp the elongated object 7; when the inner cap 322 is opened, the pressing action of the end surface of the pushing block 322a against the expanding member 324 is gradually weakened, and as the inner cap 322 is opened, the pushing block 322a gradually releases the expanding member 324, so that the expanding member 324 is away from the driving member 323 to release the elongated object 7. Thus, by providing the push block 322a on the inner box cover 322, the elongated object 7 can be clamped and released by opening and closing the inner box cover 322.

Alternatively, referring to fig. 3 and 5, the inner case 321 is provided with first guide grooves 302a at both front and rear ends thereof, and the first guide grooves 302a penetrate through the upper end surface of the inner case 321 to be adapted to receive the elongated object 7, that is, the elongated object 7 may be received from the open side of the first guide grooves 302a, so that the elongated object 7 passes through the inner case in the front and rear directions. In addition, in combination with the foregoing embodiment of the present invention, the inner box is provided with the inner box wire passing hole 302c, the lower end of the first guide groove 302a is communicated with the inner box wire passing hole 302c, and the upper end of the first guide groove 302a is open, after the inner box cover 322 is opened, the elongated object 7 can be put into the first guide groove 302a from the open end of the first guide groove 302a, and finally, the elongated object 7 is installed in the inner box wire passing hole 302c, so that the elongated object 7 can be placed. In addition, the open side of the first guide groove 302a may be configured in a flared shape.

Optionally, the inner box cover 322 is provided with a protrusion 322b opposite to the first guiding groove 302a, and when the inner box cover 322 is closed, the protrusion 322b is inserted into the first guiding groove 302 a. In other words, the protrusion 322b may close the first guiding groove 302a, and may limit the swayable amplitude of the elongated object 7, further improve the stability of the placement of the elongated object 7, and improve the structural stability of the pushing assembly 32. Thus, by opening the inner box cover 322, the elongated object 7 can be directly put into the inner box body 321 from the upper side of the inner box body 321, or the elongated object 7 can be taken out from the inner box body 321, so as to facilitate the taking and placing of the elongated object 7. Of course, in other embodiments, other elongated objects 7 may be placed, for example, by passing the elongated object 7 through the inner box in a front-to-back direction.

With reference to fig. 1, in addition, a first positioning portion 3211 is disposed on a side of the inner case body 321 away from the hinge end, a second positioning portion 3221 is disposed on a side of the inner case cover 322 away from the hinge end, and when the inner case cover 322 is closed, the second positioning portion 3221 on the inner case cover 322 corresponds to the first positioning portion 3211 on the inner case body 321, so that the inner case cover 322 can stably cover the inner case body 321 through cooperation of the first positioning portion 3211 and the second positioning portion 3221. In addition, a handle part is arranged on one side of the inner box cover 322 far away from the hinged end.

The first positioning portion 3211 and the second positioning portion 3221 may be connected by magnetic attraction, a snap connection, or a bolt connection, for example, the first positioning portion 3211 and the second positioning portion 3221 are magnets suitable for attracting each other.

Alternatively, as shown in fig. 1, a first guide pipe 321b and a second guide pipe 321c are connected to front and rear sides of the inner case, respectively, and both the first guide pipe 321b and the second guide pipe 321c extend in the front and rear directions.

In addition, referring to fig. 7 to 14, in some embodiments of the present invention, at least one of the driving element 323 and the expansion element 324 includes a rolling module 320, the rolling module 320 includes a housing 320a and a roller 320b, the housing 320a has a receiving space therein, a side surface of the housing 320a is provided with a through groove 3203 communicating with the receiving space, the roller 320b is rotatably connected to the receiving space, and a portion of a peripheral surface of the roller 320b extends out of the housing 320a from the through groove 3203, so that the roller 320b contacts a component (e.g., a catheter, a guide wire, etc. in an interventional procedure) located outside the housing 320a, wherein the roller 320b can be driven by other driving structures to realize an active motion; other structures (such as another rolling module 320) can also rotate to realize passive motion.

Specifically, when the rolling module 320 is used as an active module (e.g., the driving member 323, as shown in fig. 7 to 10), the structure of driving the elongated object 7 or the like fitted to the driving case 3 may be realized by driving the roller 320 b; and when the rolling module 320 is used for a passive module (e.g., the expanding member 324, as shown in fig. 11 to 14), it can be used as an auxiliary structure to clamp the elongated object 7 or the like to improve the stability of pushing the elongated object 7 or the like. In other words, the rolling module 320 in the present invention can be used as the driving element 323 or the expansion element 324 in the driving box 3 for the interventional operation, so as to drive the elongated object 7, and further meet the requirement of delivering the elongated object such as a catheter or a guide wire in the access operation, so as to meet the requirement of the interventional operation, facilitate the implementation of the interventional operation, and improve the stability of delivering the elongated object such as the catheter or the guide wire in the interventional operation. The scrolling module 320 of the present invention may be applied in a drive cassette 3 for interventional procedures, enabling driving of an elongated object 7. The structure of the elongated object 7 or the like fitted to the drive cassette 3 can be realized by driving the roller 320b by using the rolling module 320 as the driving member 323; alternatively, the rolling module 320 may be used as a spreader 324, which may be used as an auxiliary structure to clamp the elongated object 7 for performing the interventional procedure.

The casing 320a in the present invention may be an integrally formed casing structure, and the casing 320a may also be formed by splicing a plurality of portions in the up-down, left-right, or front-back directions. In addition, the present invention provides some specific embodiments.

As shown in fig. 10 and 14, in some embodiments of the present invention, housing 320a includes a first housing half 3201 and a second housing half 3202, and first housing half 3201 and second housing half 3202 are split in a left-right direction to form housing 320 a. By the split of the first and second half-

shells

3201 and 3202, the structure of the rolling module 320 may be simplified, the production and fabrication of the rolling module 320 may be facilitated, and the roller 320b may be conveniently embedded in the housing 320a, so as to facilitate the stable installation and rotation of the roller 320 b.

Optionally, as shown in fig. 10, the first half shell 3201 is provided with a first hook 3204 and a first slot 3205 on both upper and lower sides thereof, the second half shell 3202 is provided with a second hook 3206 and a second slot 3207 on both upper and lower sides thereof, the first hook 3204 is correspondingly engaged with the second slot 3207, and the second hook 3206 is correspondingly engaged with the first slot 3205. The structural strength of the housing 320a may be effectively increased by the interlocking structure of the first and second half-

shells

3201 and 3202.

In addition, the first half-shell 3201 and the second half-shell 3202 may be joined by snap-fit connection, bolt connection, screw connection, welding, or adhesive.

Optionally, with reference to fig. 7 and 9, a front end surface and/or a rear end surface of the first half casing 3201 is provided with a first positioning block 3208, a front end surface and/or a rear end surface of the second half casing 3202 is provided with a second positioning block 3209 corresponding to the first positioning block 3208, and the first positioning block 3208 is opposite to the corresponding second positioning block 3209 in the left-right direction. For example, a first positioning block 3208 may be provided on the front end surface of the first half casing 3201, a second positioning block 3209 may be provided on the front end surface of the second half casing 3202, and the first positioning block 3208 and the second positioning block 3209 may be joined together in the front-rear direction; a first positioning block 3208 may be disposed on a rear end surface of the first half casing 3201, a second positioning block 3209 may be disposed on a rear end surface of the second half casing 3202, and the first positioning block 3208 and the second positioning block 3209 may be assembled in a front-rear direction.

In connection with other embodiments of the present invention, in connection with fig. 6 and 7, drive member 323 in other embodiments of the present invention may have first and second half shells 3201 and 3202, and the front and rear end surfaces of the first half casing 3201 are respectively provided with a first positioning block 3208, the front and rear end surfaces of the second half casing 3202 are respectively provided with a second positioning block 3209, the driving member 323 is installed in the inner box body 321, the front and rear wall surfaces in the inner box body 321 are respectively provided with a positioning groove, the first positioning block 3208 at the front side of the first half casing 3201 and the positioning block at the front side of the second half casing 3202 are respectively arranged in the positioning groove on the front wall surface in the inner box body 321, the first positioning block 3208 at the rear side of the first half casing 3201 and the positioning block at the rear side of the second half casing 3202 are respectively arranged in the positioning groove on the rear wall surface in the inner box body 321, wherein, all be equipped with the storage tank on the left side wall in the constant head tank, all be equipped with the protruding structure of embedding corresponding storage tank on first locating piece 3208 and the second locating piece 3209. So as to be adapted to fixedly couple the housing 320a, thereby improving coupling stability. In addition, the raised structures may be wedge-shaped.

Optionally, the inner surfaces of the upper and lower sides of the first half case 3201 are provided with first notch grooves, the inner surfaces of the upper and lower sides of the second half case 3202 are provided with second notch grooves, the first notch grooves and the corresponding second notch grooves are spliced into groove portions in the front and rear directions, and the upper and lower ends of the roller 320b are provided with rotating shafts rotatably embedded into the corresponding groove portions. Through the amalgamation in first breach groove and second breach groove, can make things convenient for the installation of gyro wheel 320b for gyro wheel 320b can install on shell 320a fast and stably, and can make things convenient for the stable rotation of gyro wheel 320b, improves the stability of rolling module 320 operation.

In some embodiments of the present invention, referring to fig. 7 and 11, the housing 320a has a box shape extending in the front-back direction, and one or a plurality of rollers 320b are disposed in the housing 320a at intervals in the front-back direction, and the rotation center axes of the rollers 320b extend in the up-down direction. By means of the plurality of rollers 320b, the stability of driving the elongated object 7 or the like by means of the rolling module 320 can be further improved.

Referring to fig. 7 to 10, in some examples of the present invention, the driving member 323 includes the rolling module 320, and in addition, the driving member 323 of the present invention further includes a connecting shaft 323a, one end of the connecting shaft 323a extends into the housing 320a of the driving module and is in transmission connection with the roller 320b, and the other end of the connecting shaft 323a extends out of the housing 320a of the driving module. By providing the connecting shaft 323a, the connecting shaft 323a can transmit external power to the driving module, thereby achieving active driving of the elongated object 7 and the like by the driving member 323. Moreover, the structure of the driving roller 320b can be arranged outside the housing 320a, so that the structure of the driving member 323 is simplified, the production, design and assembly of the driving member 323 are facilitated, and the influence of excessive integration on the stability of the driving member 323 is avoided.

In addition, referring to fig. 10, the driving member 323 may further include: the first driven gear 304a is coaxially and fixedly connected with the roller 320b, the second driven gear 304b and the third driven gear 304c are respectively and coaxially connected with two ends of the connecting shaft 323a, the second driven gear 304b is meshed with the first driven gear 304a, and the third driven gear 304c is arranged outside the shell 320 a. Thereby facilitating driving of the roller 320b by the structure disposed outside the driving member 323. Wherein the connecting shaft 323a may extend in the up-down direction. Through the power transmission of gear, can realize driving gyro wheel 320b comparatively accurately to realize the stable control to propelling movement length such as seal wire, improve stability and the success rate of intervene operation process. Alternatively, the driving member 323 may include one or more rollers 320b of the driving member 323, and when the driving member 323 includes a plurality of rollers 320b of the driving member 323, the plurality of rollers 320b of the driving member 323 may be arranged in the front-rear direction.

Further, with reference to fig. 6, in combination with other embodiments of the present invention, the pushing assembly 32 may further include a transmission shaft 323b, a fourth driven gear 306e and a fifth driven gear 306f are respectively connected to two ends of the transmission shaft 323b, the fourth driven gear 306e is engaged with the third driven gear 304c, and the fifth driven gear 306f is located outside the inner box and is used for connecting the second transmission gear 306 b.

In addition, the driving member 323 of the present invention may include a plurality of rollers 320b of the driving member 323 arranged in the front-rear direction, each of the rollers 320b of the driving member 323 may have a first driven gear 304a, and the first driven gears 304a and the second driven gears 304b of the rollers 320b of the plurality of driving members 323 are arranged in a predetermined sequence, and adjacent gears are engaged, so that the first driven gears 304a of the rollers 320b of the plurality of driving members 323 may be driven to rotate by the second driven gears 304 b.

In addition, with reference to fig. 11 to 14, in an example of the present invention, the expansion member 324 includes the rolling module 320, and the expansion member 324 of the present invention further includes: the driving plate 324a is movably arranged on one side of the driving module, which is far away from the through groove 3203 of the expansion module, along the left-right direction; the elastic support 324b is supported between the driving plate 324a and the housing 320a of the expansion module. The elastic support 324b is arranged between the driving plate 324a and the expansion module, so that the expansion module has certain elastic movement capacity relative to the driving plate 324a, when the expansion piece 324 is combined with the driving piece 323 to drive the elongated object 7 and the like, the elastic force of the elastic support 324b can realize stable clamping on the elongated object 7 and the like, the damage of hard contact on the elongated object 7 such as a guide wire is reduced, and the protection on the elongated object 7 such as the guide wire is improved.

In addition, the driving plate 324a can be driven to adjust the clamping force of the expansion module, so that the slender object 7 such as a guide wire can be clamped and loosened.

Optionally, in conjunction with fig. 3 and 11, the tightening member 324 further includes a toggle portion 324d, the toggle portion 324d is disposed on the housing 320a of the tightening member 324, and the toggle portion 324d includes one or more spaced apart portions, and the toggle portion 324d is configured to be adapted to manually drive the tightening member 324. Thus, the driving of the manual wave expander 324 can be achieved by the manual wave toggle 324d, so that the backward movement of the expander 324 and the driving member 323 can be achieved to pick up or clamp the elongated object 7. Of course, a mechanical driving mechanism may be provided to automatically drive the expansion member 324.

Alternatively, referring to fig. 13 and 14, the driving plate 324a is provided with a guide 324c extending in the left-right direction, the housing 320a of the expansion module is provided with a locking hole, the guide 324c is movably inserted into the locking hole in the left-right direction, and an end of the guide 324c is provided with a positioning hook for limiting the guide 324c to be removed. Therefore, the elastic movable connection between the driving plate 324a and the housing 320a can be facilitated, the stability of the connection between the driving plate 324a and the housing 320a can be improved, and the elastic support 324b can be a spring sleeved outside the guide 324 c.

Alternatively, as shown in fig. 14, the guide 324c includes two spaced hooks configured in a cantilever shape to be connected to the driving plate 324a, and the sides of the free ends of the two hooks facing away from each other are provided with positioning hooks. The guiding member 324c movably passes through the engaging hole and is prevented from being disengaged by the positioning hook, and the elastic supporting member 324b may be a spring sleeved on the outer side of the guiding member 324 c. So as to further adjust the gap between the driving member 323 and the expansion member 324, so as to facilitate the removal of the elongated object 7, and facilitate the insertion of the guiding member 324c into the hole by the relative and opposite elastic deformation between the two hooks. In addition, the driving plate 324a and the expansion module can be conveniently disassembled.

In addition, in combination with other embodiments of the present invention, at least a portion of the expanding member 324 is movably disposed in the inner box body 321 in the left-right direction for cooperating with the driving member 323 to clamp and unclamp the elongated object 7, the inner box cover 322 is configured to open to drive at least a portion of the expanding member 324 to move away from the driving member 323 to unclamp the elongated object 7, and the inner box cover 322 closes to drive at least a portion of the expanding member 324 to move close to the driving member 323 to clamp the elongated object 7. In connection with the previous embodiment, when the inner box cover 322 is closed, the inner box cover 322 applies a pushing force to the driving plate 324a, and drives the expanding member 324 to cooperate with the driving member 323 to clamp the elongated object 7 under the action of the elastic supporting member 324 b; when the inner cover 322 is opened, the pushing force on the driving plate 324a is released, and the driving plate 324a moves away from the expansion shell by the elastic support 324b, and the elastic support 324b releases the pressure on the expansion shell, thereby releasing the elongated object 7.

In addition, referring to fig. 6, a plurality of positioning ribs are disposed on the inner wall of the inner box 321 in the front-back direction, and the plurality of positioning ribs extend in the left-right direction and are spaced apart in the up-down direction to form a sliding rail, so that the expansion member 324 can be engaged with the plurality of positioning ribs in a left-right sliding manner.

In addition, as shown in fig. 15 to 21, the present invention also provides a drive cassette 3, the drive cassette 3 according to an embodiment of the present invention, including: an outer box and a pushing component 32. Wherein the outer casing is configured to accommodate the elongated object 7 to pass through in a front-to-back direction, a pushing assembly 32 is rotatably disposed in the outer casing to rotate the elongated object 7, and the pushing assembly 32 is the pushing assembly 32 according to the previous embodiment.

According to the driving box 3 for interventional operation of the embodiment of the utility model, the slender object 7 can be pushed and rotated, the stability of installing and using the slender object 7 can be improved, the control accuracy is improved, and the operation effect is improved.

In addition, referring to fig. 4, 5 and 19, in a specific example of the present invention, the outer box is provided at front and rear ends thereof with outer box thread through holes 301a to accommodate the elongated object 7 to pass through the outer box in the front and rear directions, the rotation center axis of the inner box extends in the front and rear directions, the inner box thread through hole 302c is opposed to the outer box thread through hole 301a in the front and rear directions, and the elongated object 7 may pass through the outer box thread through hole 301a and the inner box thread through hole 302c to accommodate the elongated object 7 to pass through the drive box 3 in the front and rear directions. When the elongate object 7 is gripped by the driving member 323 and the expansion member 324, rotation of the propelling assembly 32 is driven to effect rotation of the elongate object 7.

Optionally, with reference to fig. 15 and 19, the driving box 3 further includes a first transmission gear 306a and a second transmission gear 306b, the first transmission gear 306a and the second transmission gear 306b are respectively disposed at the outer sides of the front end and the rear end of the inner box, and the balance of the device can be improved, which is beneficial to providing a space for driving the inner box to rotate in the outer box, so as to reduce the volume of the driving box 3 for interventional operation. The first transmission gear 306a is relatively fixedly connected with the inner box so as to drive the inner box to rotate; the second transmission gear 306b is in transmission connection with the driving member 323 for powering the driving member 323 to realize pushing of the elongated object 7. That is to say, the first transmission gear 306a and the second transmission gear 306b can be in the form of separate transmission power, and the pushing degree or the rotation angle of the elongated object 7 can be accurately controlled according to actual needs, so that the control accuracy is improved.

Optionally, with reference to fig. 6 and 21, a first matching portion is disposed on an outer end surface of one end of the inner box, a second matching portion is disposed on the first transmission gear 306a, one of the first matching portion and the second matching portion is a positioning hole 303a extending along the front-back direction, and the other of the first matching portion and the second matching portion is a positioning boss 321a extending along the front-back direction and embedded into the positioning hole 303a, so as to fixedly connect the first transmission gear 306a to the inner box, thereby improving stability.

Optionally, in combination with the foregoing embodiment, the front side and the rear side of the inner box are respectively connected with a first guide pipe 321b and a second guide pipe 321c, the first guide pipe 321b and the second guide pipe 321c both extend in the front-rear direction, the first transmission gear 306a is sleeved on the first guide pipe 321b, and the second transmission gear 306b is sleeved on the second guide pipe 321 c. Specifically, when the elongated object 7 is placed, the first guide pipe 321b and the second guide pipe 321c may play a role of supporting and limiting, so as to improve the stability of placing the elongated object 7; in addition, the first and

second guide pipes

321b and 321c may be connected with the first and second transmission gears 306a and 306b to improve structural stability.

In conjunction with the foregoing embodiment, in conjunction with fig. 6 and 21, the first guide pipe 321b and the second guide pipe 321c are formed with a notch at a portion corresponding to the corresponding first guide groove 302a to facilitate the loading of the elongated object 7, and at the same time, the first transmission gear 306a and the second transmission gear 306b are also formed with notches to facilitate the installation of the elongated object 7 to the drive cassette 3 through the notch on the first transmission gear 306a, the notch on the second transmission gear 306b, the first guide groove 302a, the notch on the first guide pipe 321b, and the like.

Alternatively, as shown in fig. 20, the front and rear side walls of the outer box are respectively provided with a matching groove 302b, and the first guide pipe 321b and the second guide pipe 321c are respectively rotatably inserted into the matching grooves 302b at corresponding positions, so as to improve the structural stability of the pushing assembly 32 and the stability of the pushing assembly 32 during movement.

Referring to fig. 15, in some embodiments of the utility model, an outer box comprises: the outer case 311 has an open upper side, and the outer case 312 openably covers the open side of the outer case 311. The front end and the rear end of the outer box 311 are both provided with a second guide slot 301b, and the second guide slot 301b penetrates through the upper end surface of the outer box to accommodate the elongated object 7. Through the structure of outer box, can conveniently open outer box in order to place, take out or change slender object 7 etc. can simplify the structure of drive box 3, convenient operation.

In addition, in combination with the aforementioned embodiment and with reference to fig. 19, the outer box may be provided with an outer box wire passing hole 301a, and the lower end of the second guide groove 301b is communicated with the outer box wire passing hole 301a to perform a wire passing function, and the structure is compact and is beneficial to arrangement.

In addition, referring to fig. 15, a third positioning portion 3111 is disposed on a side of the outer box 311 away from the hinge end, a fourth positioning portion 3121 is disposed on a side of the outer box cover 312 away from the hinge end, and when the outer box cover 312 is closed, the fourth positioning portion 3121 on the outer box cover 312 corresponds to the third positioning portion 3111 on the outer box 311, so that the outer box cover 312 can stably cover the outer box 311 by the cooperation of the third positioning portion 3111 and the fourth positioning portion 3121. In addition, a handle portion is disposed on a side of the outer box cover 312 away from the hinged end.

The third positioning portion 3111 and the fourth positioning portion 3121 may be connected by magnetic attraction, snap connection, or bolt connection, for example, the third positioning portion 3111 and the fourth positioning portion 3121 are magnets suitable for attracting each other.

Alternatively, as shown in fig. 19, the outer case 311 includes: u-shaped plate 311a, U-shaped plate 311a extends along the fore-and-aft direction, U-shaped plate 311a both ends are respectively by first end plate 311b and second end plate 311c closing cap around, be convenient for install and dismantle the drive box 3 that is used for interveneeing the operation, be equipped with latticed strengthening rib on the medial surface of first end plate 311b and second end plate 311c, structural strength can be strengthened, promote the stability of the 3 during operations of drive box that is used for interveneeing the operation, and reduce the whole weight of the 3 drive boxes that are used for interveneeing the operation. According to the above, the outer box wire passing hole 301a is disposed on the first end plate 311b and the second end plate 311c, so that the elongated object 7 penetrates the outer box 311. In addition, the first end plate 311b and the second end plate 311c may be provided to be detachably coupled with the U-shaped plate 311 a.

Alternatively, referring to fig. 15 and 17, the outer case cover 312 covers the upper outer sides of the front and rear ends of the outer case 311 to improve the compactness and the tightness of the fit of the outer case cover 312 to the outer case 311. Specifically, bosses are disposed at positions where the first end plate 311b and the second end plate 311c pass through the wire holes, and when the outer box cover 312 is closed, the peripheral edge of the outer box cover 312 is opposite to the bosses, and the thicknesses of the peripheral edge and the bosses are the same, so that the structural compactness and the aesthetic property are improved. The first end plate 311b and the second end plate 311c are respectively provided with a mounting hole at left and right sides thereof, and the outer box 311 is also provided with a mounting hole at a corresponding position thereof, so as to be suitable for stably mounting the first end plate 311b and the second end plate 311c on the outer box 311. By covering the outer case 320a outside the outer case 311, the second guiding groove 301b can be covered by the outer case cover 312 and the outer case 311, thereby improving the stability of the elongated object 7.

Referring to fig. 18, the driving box 3 further includes a first transmission member 305a and a second transmission member 305b, wherein the first transmission gear 306a is in transmission connection with the first transmission member 305a, and the second transmission gear 306b is in transmission connection with the second transmission member 305 b.

Alternatively, referring to fig. 19, in addition, the driving box 3 of the present invention may further include a third transmission gear 306c and a fourth transmission gear 306d, wherein the third transmission gear 306c is connected with the first transmission member 305a and is in transmission connection with the first transmission gear 306a, and the fourth transmission gear 306d is connected with the second transmission member 305b and is in transmission connection with the second transmission gear 306 b. The first transmission member 305a and the second transmission member 305b are configured to be adapted to be connected to a driving structure outside the outer box to power the operation of the driving box 3 for the interventional procedure. Alternatively, the first transmission piece 305a and the second transmission piece 305b are disposed on the same side wall of the outer box.

In addition, as described above in conjunction with fig. 19, the outer case 311 includes the U-shaped plate 311a, the first end plate 311b and the second end plate 311c, and optionally, the first transmission piece 305a may be rotatably connected between the outer case 311 and the first end plate 311 b; the second transmission member 305b can be rotatably connected between the outer casing 311 and the second end plate 311c to improve the transmission stability.

With reference to the foregoing embodiments, the first transmission gear 306a is in transmission connection with the first transmission piece 305a, and the second transmission gear 306b is in transmission connection with the second transmission piece 305 b.

In the actual operation process of the driving box 3 of the present invention, when the elongated object 7 needs to move forward and backward, that is, the elongated object 7 is pushed or withdrawn, the first transmission member 305a is stationary, the second transmission member 305b rotates, the second transmission member 305b drives the second transmission gear 306b to rotate, the inner circle of the second transmission gear 306b has internal teeth, the internal teeth drive the fifth driven gear 306f to rotate, the fifth driven gear 306f and the transmission shaft 323b are positioned by key fit, the fifth driven gear 306f drives the fourth driven gear 306e of the transmission shaft 323b to rotate, the fourth driven gear 306e drives the third driven gear 304c to rotate, the third driven gear 304c drives the second driven gear 304b to rotate, and the second driven gear 304b is meshed with the first driven gear 304a on the driving wheel, so as to realize the power transmission to the driving wheel. The expanding piece 324 is provided with two expanding wheels which are arranged corresponding to the driving wheels, the driving wheels are used as driving wheels, the expanding wheels are used as driven wheels, and the expanding wheels and the driving wheels act simultaneously to compress the elongated object 7 to be driven to move forward and backward. It can also be understood that the third transmission gear 306c and the first transmission gear 306a and the second transmission gear 306b and the fourth transmission gear 306d form bevel gears to improve the stability of transmission and the structural reliability.

When the elongated object 7 rotates, the second transmission member 305b and the first transmission member 305a rotate in different directions and at the same speed, the first transmission member 305a drives the third transmission gear 306c to rotate, the third transmission gear 306c drives the first transmission gear 306a to rotate, meanwhile, the second transmission member 305b drives the fourth transmission gear 306d to rotate, the fourth transmission gear 306d drives the second transmission gear 306b to rotate, at this time, the first transmission gear 306a and the second transmission gear 306b rotate in the same direction and rotate at the same speed, and at the same time, the elongated object 7 is driven to rotate, and at this time, the gears inside the pushing assembly 32 stop working.

When the elongated object 7 rotates and moves forward and backward at the same time, the first transmission piece 305a and the second transmission piece 305b have different speeds, the first transmission piece 305a drives the third transmission gear 306c to rotate, the third transmission gear 306c drives the first transmission gear 306a to rotate, the second transmission piece 305b drives the fourth transmission gear 306d to rotate, the fourth transmission gear 306d drives the second transmission gear 306b to rotate, at this time, the rotating speeds or rotating directions of the first transmission gear 306a and the second transmission gear 306b are different, and the first transmission gear 305a and the second transmission gear 306b act together to drive the elongated object 7 to rotate and move forward and backward at the same time.

Alternatively, the first transmission gear 306a does not rotate, the second transmission gear 306b rotates, and the internal teeth rotate to drive the fifth driven gear 306f to rotate, so as to drive the third driven gear 304c, and further drive the driving wheel to roll, so as to drive the elongated object 7 to move forward and backward.

With reference to fig. 22 to 33, the present invention further provides an executing apparatus 100 for interventional procedures, which comprises a base 1, and a driving cartridge 3, a driver 4, a support driving cartridge 5 and a support driver 6 fixedly connected with the base 1; the drive magazine 3 is used for pushing and rotating the elongated object 7; the driver 4 is connected with the driving box 3 to provide power for the driving box 3; the carriage drive magazine 5 is adapted to push the elongated object 7 in a pushing direction of the drive magazine 3; the support driver 6 is fixedly connected with the support driving box 5 and provides power for the support driving box 5.

According to the execution device 100 for interventional operation, the elongated object 7 can be pushed and rotated, different guide wires or supports can be pushed by the driving box 3 and the support driving box 5, so that different requirements in the interventional operation can be met, the stability in installation and use of the elongated object 7 can be improved, the control accuracy is improved, and the operation effect is improved.

In operation, the drive cassette 3 and the carriage drive cassette 5 can house the elongated object 7, the driver 4 can power the drive cassette 3 to rotate or push the elongated object 7 in the drive cassette 3, and the carriage driver 6 can power the carriage drive cassette 5 to push the elongated object 7. Specifically, because the vascular pipeline in the human body is complex, different catheters and slender objects 7 (different in head shapes, group sizes and the like) are specially used for carrying out the catheter searching operation aiming at different blood vessels, the driving box 3 can simultaneously realize the rotation and feeding actions, and the rotation and feeding of the slender objects 7 of the driving catheters can be simultaneously carried out, so that a specific blood vessel inlet can be quickly found, and the operation efficiency is improved. The stent driving cassette 5 may be provided with only a feeding motion, because the elongated object 7 is already positioned at a proper position, and the elongated object 7 in the stent driving cassette 5 can quickly reach the lesion site along with the elongated object 7 by only the feeding motion.

Further, the drive cartridge 3 is detachably provided on the base 1 so that the driver 4 is connected to the drive cartridge 3 to power the drive cartridge 3.

Alternatively, the rack drive cassette 5 may be detachably disposed on the base 1 so that the rack driver 6 is connected to the rack drive cassette 5 to power the rack drive cassette 5. Through with setting up drive box 3 and/or support drive box 5 detachable on base 1, can also realize final controlling element 100's quick assembly disassembly, do benefit to change and maintenance, realize the modularization of each part, improve final controlling element 100's practicality.

Alternatively, referring to fig. 23 and 25, the driving box 3 has a first side and a second side opposite to each other, and the first side of the driving box 3 is snap-fitted to the base 1, so that the driving box 3 is stably mounted on the base 1, and the driving box 3 is quickly disassembled and assembled. Optionally, the second side of the driving box 3 is inserted into the base 1 or the driver 4, specifically, the second side of the driving box 3 is inserted into the base 1, that is, the two opposite sides of the driving box 3 are respectively connected to the base 1, so that the stability and balance of the connection between the driving box 3 and the base 1 can be improved; the second side of the drive cassette 3 is plugged into the drive 4, whereby the drive 4 is connected to the drive cassette 3 and can power the drive cassette 3.

Further, the first side of drive box 3 is equipped with first card arch and the second side is equipped with the second card arch, is equipped with the trip on the base 1, and the first card arch is held to the trip card, is equipped with the draw-in groove on the driver 4, and the second card is protruding to be embedded in the draw-in groove, and the driver 4 restriction second card is protruding to deviate from towards the direction of keeping away from base 1, improves the stability of installation.

In the time of practical use, for medical problems such as preventing cross infection, drive box 3 and support drive box 5 can set up to disposable, through setting drive box 3, support drive box 5 and driver 4 to detachable form, can realize quick assembly disassembly, and the change of being convenient for improves security and work efficiency.

Alternatively, referring to fig. 22 and 23, the base 1 further includes a rack tray located at the front end of the base 1, which can reduce the moving distance and moving time of the elongated object 7 in the rack driving magazine 5. The carriage drive cartridge 5 and the carriage driver 6 are attached to both ends of the carriage tray, respectively, so that the drive cartridge 3 is adapted to drive the elongated object 7 to pass between the carriage drive cartridge 5 and the carriage driver 6, thereby facilitating the merging of the elongated object 7 in the drive cartridge 3 with the elongated object 7 in the carriage drive cartridge 5, and improving the work efficiency. Alternatively, the rack tray may be configured to be removably mounted to the base 1, thereby providing modularity of the various parts of the actuator 100 for ease of manufacture and use.

Optionally, as shown in fig. 23, a mounting groove 203 is formed on the base 1, and the support driving box 5 is mounted in the mounting groove 203 to limit the rotation of the support driving box 5 in the horizontal plane, so as to improve the stability of the performing device 100 during operation and ensure the operation effect. The executing device 100 further comprises a third transmission member (not shown in the figures), the bottom surface of the support driving box 5 is provided with a fourth transmission member 61b, the third transmission member is respectively connected with the support driving box 5 and the support driver 6 in a transmission manner, and the fourth transmission member 61b penetrates through the base 1 and extends out of the bottom surface of the mounting groove 203; the carriage drive cartridge 5 is inserted into the fourth transmission member 61b so that the carriage driver 6 is in transmission connection with the carriage drive cartridge 5, and power is transmitted from the carriage driver 6 to the carriage drive cartridge 5 to push the elongated object 7.

Optionally, as shown in fig. 22, the execution apparatus 100 further includes: the bracket 2 is connected with the base 1, a first guide groove 201 and a second guide groove 202 are arranged on the bracket 2, one end of the first guide groove 201 is opposite to the drive box 3 and is suitable for guiding the slender object 7 pushed by the drive box 3, one end of the second guide groove 202 is opposite to the support drive box 5 and is suitable for guiding the slender object 7 pushed by the support drive box 5, and the other end of the second guide groove 202 is communicated with the first guide groove 201. Specifically, the first guide groove 201 for guiding the elongated object 7 and the first guide groove 201 for guiding the elongated object 7 are provided on the bracket 2, and are opposite to the driving cassette 3, and one end of the second guide groove 202 is opposite to the bracket driving cassette 5 and the other end is communicated with the first guide groove 201, so that the bracket 2 can provide a supporting force for the elongated object 7, and can play a role in guiding the elongated object 7, thereby improving the structural stability.

Further, referring to fig. 22 and 23, the bracket 2 is disposed between the bracket driver 6 and the bracket driving cartridge 5 so that the elongated object 7 in the driving cartridge 3 directly enters the first guide groove 201, and particularly, a groove for mounting the bracket 2 may be provided in a middle region of the bracket tray to improve stability and reliability of the connection of the bracket 2 with the base 1.

Optionally, as shown in fig. 32, the execution apparatus 100 further includes: a cover plate 21, the cover plate 21 being connected to the carriage 2 and adapted to open and close the first guide groove 201 and the second guide groove 202, serving to protect the elongated object 7. The cover plate 21 is connected to the bracket 2 and adapted to open and close the first guide groove 201 and the second guide groove 202, and the cover plate 21 covers the first guide groove 201 and the second guide groove 202 to protect them.

The present invention is mainly described by taking the elongated object 7 as an example, but the present invention is not limited to the scope of the present invention, and the present invention is applicable to pushing, rotating, and the like of other elongated objects 7, mainly for clearly expressing the technical solution to be protected by the present application.

Alternatively, referring to fig. 26 to 28, the driver 4 includes a case 41, a differential gear assembly 42, and a first input shaft 43a, a second input shaft 43b, a first output shaft 43c, and a second output shaft 43d connected to the differential gear assembly 42 so that power can be transmitted from the input shaft to the output shaft. Wherein, the first output shaft 43c is connected with the driving box 3 to rotate the elongated object 7, and the second output shaft 43d is connected with the driving box 3 to push the elongated object 7, so that the pushing and the rotation of the elongated object 7 are realized, and the individual control or the simultaneous control of the elongated object 7 can be realized, thereby improving the flexibility and the accuracy of the control. Specifically, in combination with other embodiments of the present invention, the first output shaft 43c is in transmission connection with the first transmission member 305a, and the second output shaft 43d is in transmission connection with the second transmission member 305 b.

Optionally, differential gear assembly 42 is configured to: when the first input shaft 43a is stationary and the second input shaft 43b rotates, the first output shaft 43c is stationary and the second output shaft 43d rotates; and when the first input shaft 43a rotates and the second input shaft 43b is stationary, the first output shaft 43c and the second output shaft 43d rotate relatively in opposite directions and at the same speed.

While there are, of course, numerous structures in the art that can accomplish the function of the differential gear assembly 42, the present invention provides a specific embodiment, and, of course, is not intended to limit the scope of the utility model, but rather, is illustrative of a differential gear assembly 42 according to one embodiment of the present invention.

Alternatively, as shown in fig. 29 to 31, the differential gear assembly 42 includes: the planetary gear train comprises a first planetary transmission mechanism and a second planetary transmission mechanism, wherein the first planetary transmission mechanism comprises a first sun gear 421a, a first planetary gear 421b, a first planet carrier 421c and a first ring gear 421d, the first sun gear 421a is in transmission connection with the second input shaft 43b, and the first planet carrier 421c is in transmission connection with the first input shaft 43 a; the second planetary transmission mechanism includes a second sun gear 422a, a second planet gear 422b and a second inner gear ring 422d, the second sun gear 422a is in transmission connection with the second output shaft 43d, the second planet gear 422b is fixedly arranged on the box body 41, and the second inner gear ring 422d is connected with the first inner gear ring 421 d. By arranging the first planetary transmission mechanism and the second planetary transmission mechanism, a speed change function can be achieved, so that the flexibility of controlling the slender object 7 is improved, and the transmission efficiency, namely the transmission stability, can be improved.

Specifically, as shown in fig. 31, the differential gear assembly 42 further includes: a first gear 423a, a second gear 423b, a third gear 423c, a fourth gear 423d, and a fifth gear 423e, the first gear 423a being connected to the first input shaft 43 a; the second gear 423b is engaged with the first gear 423a to transmit power of the first input shaft 43a from the first gear 423a to the second gear 423 b; further, the third gear 423c and the second gear 423b are engaged with each other. The fourth gear 423d is connected to the third gear 423 c; the fifth gear 423e is coaxially fixed to the first carrier 421c, and the fifth gear 423e meshes with the fourth gear 423 d. Specifically, the second gear 423b may be located between the first gear 423a and the third gear 423 c. During transmission, the first gear 423a rotates in the same direction as the third gear 423c, and is transmitted to the fifth gear 423e through the fourth gear 423d connected to the third gear 423 c.

Alternatively, referring to fig. 26 to 28, the casing 41 includes a first housing 41a, a second housing 41b, and a third housing 41c stacked in this order, the first housing 41a is provided with a first shaft hole 401a opposite to the first input shaft 43a and a second shaft hole 401b opposite to the second input shaft 43b, and the first input shaft 43a and the second input shaft 43b may be mounted to the first housing 41a through the first shaft hole 401a and the second shaft hole 401b, respectively. The second case 41b is provided with a third shaft hole 401c opposite to the first output shaft 43c and a fourth shaft hole 401d opposite to the second output shaft 43d, and the first output shaft 43c and the second output shaft 43d can be mounted on the second case 41b through the third shaft hole 401c and the fourth shaft hole 401d respectively; the first gear 423a, the second gear 423b, and the third gear 423c are provided between the second casing 41b and the third casing 41c, and the first planetary gear mechanism, the second planetary gear mechanism, and the fourth gear 423d are provided between the second casing 41b and the first casing 41 a. Thus, the differential gear assembly 42 can be fixedly installed in the case 41 to improve the stability of the operation of the differential gear assembly 42.

Alternatively, referring to fig. 31, differential gear assembly 42 further includes: a sixth gear 423f, a seventh gear 423g, the sixth gear 423f being connected with the second sun gear 422a to transmit the power of the second planetary gear train to the sixth gear 423f, the seventh gear 423g being meshed with the sixth gear 423f, and the seventh gear 423g being connected with the second output shaft 43d to output the power.

Optionally, referring to fig. 28, the casing 41 further includes a fourth housing 41d, the fourth housing 41d is stacked on the outer side of the first housing 41a, a first transition sleeve 43e and a second transition sleeve 43f are disposed between the fourth housing 41d and the third housing 41c, the first transition sleeve 43e is connected to the first input shaft 43a, the second transition sleeve 43f is connected to the second input shaft 43b, and the first transition sleeve 43e and the second transition sleeve 43f are adapted to externally connect with a driving member to improve connection stability.

Optionally, the positions of the first casing 41a, the second casing 41b, and the fourth casing 41d, where no shaft hole is provided, may be set to be a grid-shaped hollow structure, and the grid-shaped hollow structure may be disposed around the shaft hole to reduce the weight of the box 41 and enhance the structural strength of the box 41.

Alternatively, as shown in fig. 31, a partition 424 may be provided in the first ring gear 421d and the second ring gear 422d, the partition 424 separating the first planet gears 421b and the second planet gears 422b, improving running stability and durability.

In some embodiments of the present invention, the first input shaft 43a is connected to the first gear 423a through a first connecting rod, the first gear 423a is engaged with the second gear 423b, the second gear 423b is engaged with the third gear 423c, the third gear 423c is connected to the fourth gear 423d through a second connecting rod, the fourth gear 423d is engaged with the fifth gear 423e, and the fifth gear 423e is fixed on the outer peripheral surface of the first carrier 421 c. The second input shaft 43b is in transmission connection with a first sun gear 421a, the first sun gear 421a is engaged with the first planet gear 421b, the first planet gear 421b is fixed at the axis position of a first planet carrier 421c, at least a part of a first ring gear 421d is embedded in the first planet carrier 421c, the first ring gear 421d is connected with a second ring gear 422d, and a partition plate 424 is arranged between the first ring gear 421d and the second ring gear 422 d; the rotating shaft of the second planetary gear 422b is fixed on the second case 41b, the second planetary gear 422b is meshed with the second sun gear 422a, the second sun gear 422a is in transmission connection with the sixth gear 423f, the sixth gear 423f is meshed with the seventh gear 423g, and the seventh gear 423g is in transmission connection with the second output shaft 43 d.

For example, during actual operation: when the first input shaft 43a is static and the second input shaft 43b rotates clockwise, the first output shaft 43c is static, the second input shaft 43b drives the first sun gear 421a to rotate clockwise, the first sun gear 421a drives the first planet gear 421b to rotate counterclockwise, the rotating speed can be 1:1, the first planet gear 421b is fixed on the first planet carrier 421c and arranged around the axis of the first planet carrier 421c, the first planet gear 421b drives the first ring gear 421d to rotate counterclockwise, and the speed ratio is 1: 3; the first inner gear ring 421d drives the second inner gear ring 422d connected with the first inner gear ring 421d to rotate at the same speed, the second inner gear ring 422d drives the second planet wheel 422b to rotate anticlockwise, and the speed ratio is 3: 1; the rotating shaft of the second planetary gear 422b is fixed on the second box shell 41b, the second planetary gear 422b drives the second sun gear 422a to rotate clockwise, the speed ratio is 1:1, the second sun gear 422a drives the seventh gear 423g to rotate counterclockwise, the speed ratio is 1:1, and the second output shaft 43d rotates counterclockwise. According to the foregoing, the first output shaft 43c is stationary, the elongated object 7 is not rotated, the second output shaft 43d is connected to the drive cassette 3 to push the elongated object 7, and the second output shaft 43d is rotated counterclockwise to push or withdraw the elongated object 7.

When the second input shaft 43b is static and the first input shaft 43a rotates clockwise, the first output shaft 43c rotates clockwise, the first gear 423a drives the second gear 423b to rotate counterclockwise, the speed ratio is 1:1, the second gear 423b drives the fourth gear 423d assembly to rotate clockwise, and the speed ratio is 1: 1; the fourth gear 423d drives the fifth gear 423e to rotate counterclockwise, the speed ratio is 1:4, the first planet gear 421b is fixed to the first planet carrier 421c, at this time, the first sun gear 421a is static, and the first planet gear 421b rotates around the sun gear or revolves; when the first planet gear 421b revolves, the first ring gear 421d is driven to rotate clockwise, the speed ratio is 1:3, the first ring gear 421d drives the second ring gear 422d connected with the first ring gear 421d to rotate in the same speed and the same direction, the second ring gear 422d drives the second planet gear 422b to rotate anticlockwise, and the speed ratio is 3:1, wherein the rotating shaft of the second planet gear 422b is fixed on the second box shell 41b, the second planet gear 422b drives the second sun gear 422a to rotate clockwise, the speed ratio is 1:1, the second sun gear 422a drives the seventh gear 423g to rotate anticlockwise, and the speed ratio is 1: 1. That is, the second output shaft 43d rotates counterclockwise, so that the two output shafts rotate in different directions and at the same speed. According to the structure of the driving box 3, when the first output shaft 43c and the second output shaft 43d rotate in different directions and at the same speed, the driving box 3 can be driven to rotate the elongated object 7.

Specifically, referring to fig. 23, the driver 4 may further include a first drive member 44a and a second drive member 44b, the first drive member 44a being connected to the first input shaft 43a of the differential gear assembly 42; the second drive member 44b is connected to the second input shaft 43b of the differential gear assembly 42. The first driving member 44a and the second driving member 44b may be motors.

In the above embodiment, when the rotation direction of the first input shaft 43a is changed, the rotation directions of the first output shaft 43c and the second output shaft 43d are both changed. When the rotation direction of the second input shaft 43b is changed, the rotation direction of the second output shaft 43d is changed. The change of the rotating direction can be realized by positive and negative rotation of the motor.

Alternatively, as shown in fig. 24, the actuator 100 further includes a first connecting member 45a and a second connecting member 45b, the first connecting member 45a is elastically connected to the first output shaft 43c, the second connecting member 45b is elastically connected to the second output shaft 43d, and the first connecting member 45a and the second connecting member 45b are used for connecting the driving box 3.

Alternatively, in the first planetary transmission mechanism and the second transmission mechanism, the rotation speed ratio between the gears may be set according to actual needs, and the present invention is not limited thereto.

Optionally, as shown in fig. 22, the execution apparatus 100 further includes: a connector 9, a catheter and a vascular sheath 8, the connector 9 having a main conduit configured to be adapted for the passage of the elongated object 7 and a branch conduit connected to the main conduit for passing a medium thereto for facilitating the injection of a liquid for examination or medical use; the catheter is connected with the outlet end of the connector 9, and the vascular sheath 8 is connected with the catheter so as to establish the inlet of an internal channel and an external channel of interventional therapy and improve the operation effect.

Referring to the performing apparatus 100 for interventional procedures according to the present invention, the stent driver 6 may be a motor, and the stent driver 6 may be connected with a third output shaft, which may be mounted on the base 1 and adapted to be connected with the stent driving cassette 5. For example, the carriage driver 6 may supply the carriage driving cassette 5 with a feeding power through a belt-driven third output shaft that exhibits a forward and reverse rotation to advance or retract the carriage. The bracket 2 extends along the front-back direction, the rear end of the bracket 2 is adjacent to the outer box wire through hole 301a, and the first guide groove 201 is arranged opposite to the outer box wire through hole 301a so as to be beneficial to guiding the elongated object 7; the bracket driver 6 is positioned at one side of the rear end of the bracket 2, one side of the bracket 2 adjacent to the bracket driver 6 is configured into an 'L' -shaped notch, the bracket driver 6 is positioned at the notch, and the bracket passes through the bracket driving box 5 and extends to the second guide groove 202 to guide the bracket; the first guide groove 201 and the second guide groove 202 are merged at the front of the bracket 2, and communicate with the main line of the connector 9. Further, the main conduit of the connector 9 is mounted on the carriage 2, so as to be suitable for the passage of the elongated object 7; the branch line branches upward from the main line to facilitate the injection of the liquid for examination or medical use.

According to the embodiment of the utility model, with reference to the attached drawings, in practical use, a doctor inserts a vascular sheath 8 into a specific blood vessel for operation through vascular puncture (an entrance of an internal and external channel for interventional therapy is established), then inserts a catheter and an elongated object 7 into a specific lesion position through the vascular sheath 8 under the driving action of a driving box 3, and after the catheter is inserted, the bracket 2 is installed, the connector 9 is fixed at the tail end of the catheter, the connector 9 is fixed on the bracket 2, and the elongated object 7 is inserted into the catheter. Then, treatment or stent placement is performed, and the rear end of the catheter is connected with a connector 9 to facilitate injection of examination or treatment liquid, such as contrast solution.

Further, the blood vessel sheath 8 can be fixed on the sheath tube support, and the sheath tube support is fixed on the puncture position of the human body by medical adhesive tape and the like so as to fix and position the blood vessel sheath 8 and facilitate subsequent operation. The driver 4 is used for providing power for the driving box 3 and the bracket driving box 5, and the bracket 2 is used for supporting the elongated object 7 and a bracket (the elongated object 7 and the bracket specifically include a treatment bracket and the treatment bracket is fixed on the elongated object 7, wherein the elongated object 7 refers to the elongated object 7 which passes through the bracket driving box 5 in the figure) to be converged and guided with the elongated object 7, so that the elongated object 7 of the catheter and the like are prevented from being bent due to insufficient rigidity of the catheter.

By applying the technical scheme provided by the embodiment of the utility model, a first elongated object such as a catheter is pushed to a preset position through the driving box 3 or manually, and then a second elongated object such as a guide wire is driven to move along the first elongated object such as the interior of the catheter through the driving box 3. Finally, the treatment bracket is placed on a second elongated object such as a guide wire and is provided with a third elongated object, the third elongated object is driven by the bracket driving box 3 to send the treatment bracket to the lesion position, the second elongated object such as the guide wire is pushed for a certain distance in the process of pushing the treatment bracket, then the treatment bracket is pushed by pushing the third elongated object, the position of the second elongated object such as the guide wire is adjusted according to the position of the treatment bracket, the treatment bracket is pushed again after the second elongated object is adjusted, and the step is repeated to finally enable the second elongated object such as the guide wire and the treatment bracket to reach the lesion position. Compared with the method that the position of a second elongated object such as the guide wire is adjusted according to the treatment bracket after the guide wire is directly pushed to the position, the adjustment efficiency is higher. Meanwhile, the driving box 3 and the bracket driving box 5 are integrated into a whole, so that the second slender object such as a guide wire and the third slender object with the treatment bracket can be driven simultaneously or alternatively, and the treatment bracket can be pushed to the lesion position more efficiently.

In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "bottom", "inner", "outer", "circumferential", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. A push assembly (32), comprising:

an inner box configured to accommodate passage of an elongated object (7) in a front-to-back direction;

the driving piece (323), the said driving piece (323) locates in the said inner box;

an expander (324), said expander (324) being provided within said inner box, said expander (324) being adapted to cooperate with said drive member (323) to clamp and unclamp the elongated object (7),

wherein the drive member (323) is configured and adapted to push the elongated object (7) in a forward-backward direction.

2. The pusher assembly (32) of claim 1, wherein the inner box comprises:

an inner case (321), an upper side of the inner case (321) being open;

an inner case cover (322), the inner case cover (322) openably covering the open side of the inner case body (321),

wherein the inner cap (322) is configured such that the expander (324) moves away from the drive member (323) when opening, adapted to loosen the elongated object (7), and such that the expander (324) moves towards the drive member (323) when closing, adapted to clamp the elongated object (7).

3. A push assembly (32) according to claim 2, wherein the inner cap (322) is rotatably connected to the inner case (321), a push block (322a) is provided on the inner cap (322), an end surface of the push block (322a) is configured to have a spiral shape extending around a central axis of rotation of the inner cap (322), and an end surface of the push block (322a) is adapted to abut against the expanding member (324) to drive the expanding member (324) and the driving member (323) to move toward and away from each other when the inner cap (322) is opened and closed.

4. A pushing assembly (32) according to claim 2, wherein the inner box body (321) is provided with a first guiding groove (302a) penetrating through the upper end surface of the inner box body (321) at the front and rear ends thereof for accommodating the elongated object (7), the inner box cover (322) is provided with a first protrusion (322b) opposite to the first guiding groove (302a), and the first protrusion (322b) is embedded in the first guiding groove (302a) when the inner box cover (322) is closed.

5. A drive cartridge (3), characterized by comprising:

a sleeve configured to accommodate passage of an elongated object (7) in a front-to-back direction;

a pusher assembly (32), the pusher assembly (32) being rotatably disposed within the casing for rotating the elongate object (7), the pusher assembly (32) being in accordance with any one of claims 1-4.

6. The drive cassette (3) of claim 5, wherein the drive cassette (3) further comprises a first transmission gear (306a) and a second transmission gear (306b), the first transmission gear (306a) and the second transmission gear (306b) are respectively arranged at the outer sides of the front end and the rear end of the inner cassette, the first transmission gear (306a) is relatively fixedly connected with the inner cassette, and the second transmission gear (306b) is in transmission connection with the driving member (323).

7. The drive box (3) according to claim 6, wherein a first guide pipe (321b) and a second guide pipe (321c) are connected to the front and rear sides of the inner box, respectively, the first guide pipe (321b) and the second guide pipe (321c) both extend in the front and rear direction, and the first transmission gear (306a) and the second transmission gear (306b) are sleeved on the first guide pipe (321b) and the second guide pipe (321c), respectively.

8. The drive cassette (3) according to claim 7, wherein the outer box is provided with engaging grooves (302b) on the inner sides of the front and rear side walls, respectively, and the first guide pipe (321b) and the second guide pipe (321c) are rotatably fitted into the engaging grooves (302b) at the corresponding positions, respectively.

9. A drive cassette (3) according to claim 6, wherein the outer casing is provided with a first transmission member (305a) and a second transmission member (305b) on the same side wall, the first transmission member (305a) is in transmission connection with the first transmission gear (306a), and the second transmission member (305b) is in transmission connection with the second transmission gear (306 b).

10. A drive cartridge (3) according to claim 5, wherein the cartridge comprises:

an outer case (311) having an upper side of the outer case (311) opened;

an outer box cover (312), the outer box cover (312) openably covering the open side of the outer box body (311),

wherein, the front end and the rear end of the outer box body (311) are provided with second guide grooves (301b) which penetrate through the upper end surface of the outer box body so as to be suitable for placing the slender object (7).

11. A drive cartridge (3) according to claim 10,

the outer box body (311) comprises a U-shaped plate (311a), the U-shaped plate (311a) extends in the front-back direction, the front end and the back end of the U-shaped plate (311a) are respectively covered by a first end plate (311b) and a second end plate (311c), and latticed reinforcing ribs are arranged on the inner side faces of the first end plate (311b) and the second end plate (311 c); and/or

The outer box cover (312) covers the upper outer sides of the front end and the rear end of the outer box body (311).