CN218419952U - Conveying actuator and conveying device - Google Patents

Abstract

The utility model relates to a carry executor and conveyor. The swing seat of the conveying actuator is rotatably connected with a base; the first clamp arm and the second clamp arm are hinged with the swing seat; the control end of the connecting rod mechanism is connected with a control mechanism, the first connecting end is connected with the first tong arm, and the second connecting end is connected with the second tong arm; the link mechanism can respond to the control end and change the distance between the first forceps arm and the second forceps arm through the first connecting end and the second connecting end; the first forceps arm and the second forceps arm are respectively provided with a first point-shaped binding part and a second point-shaped binding part, and the first point-shaped binding part and the second point-shaped binding part are used for binding the bent corner of the implant; the first clamp arm and the second clamp arm are perpendicular to each other relative to the rotation plane of the swing seat and the rotation plane of the swing seat relative to the base. The utility model discloses establish incidence relation between the direction of rotation at swing seat and the direction of putting into the thing and moving in target location department, can accurately control swing seat for the rotation of base.

Description

Conveying actuator and conveying device

Technical Field

The utility model relates to the field of medical equipment, especially, relate to a carry executor and conveyor.

Background

Atrial fibrillation is one of the most common arrhythmia in clinic, the stroke result caused by atrial fibrillation is very serious, and the death rate and disability rate can reach 70%. In patients with valvular atrial fibrillation 57% of the atrial thrombi originate in the left atrial appendage and in patients with non-valvular atrial fibrillation 90% of the left atrial thrombi originate in the left atrial appendage. Even after sinus rhythm is restored, contraction of the left atrial appendage may arrest and there is still a potential for re-thrombosis.

At present, three methods for clinically preventing atrial fibrillation and ischemic stroke are provided. One method is to take anticoagulant drugs such as warfarin, but warfarin has certain bleeding risk, and frequent monitoring is required, contraindications are more, and clinical application is difficult; warfarin also has the potential to cause osteoporosis and soft tissue necrosis. The second method is to directly excise or ligate the atrial appendage at the same time as the cardiac surgery, and the main disadvantage of this method is the low rate of complete closure of the left atrial appendage, which has been shown in previous studies to have a success rate of complete excision of the left atrial appendage of up to about 80%. The third method is to close the left auricle by an auricle clamp type instrument and perform left auricle occlusion operation in a percutaneous interventional endocardium, but the conveyor of the product has complex operation, high risk and yet to be verified in safety and effectiveness.

The auricle clamp widely used in the prior art generally comprises two parallel clamping arms and also has two spring portions which are located at both ends of the auricle clamp and by means of which the clamping of the two clamping arms can be maintained. The auricle clamp conveying device is characterized in that a slightly square outer frame is usually arranged at the front end of the auricle clamp conveying device, so that the auricle clamp is bound in the auricle clamp, the conveying device outer frame utilizes a traction rope to pull a clamping arm of the auricle clamp, the traction rope is tensioned, the auricle clamp can be pulled open, and therefore the auricle clamp can be driven to clamp the auricle clamp to a focus to execute the extracardiac closing operation of a left auricle.

The problem that above-mentioned current auricle clamp conveyor exists is, for the auricle clamp that the adaptation has two parallel arm lock, its frame needs parallel motion to two arm lock of control auricle clamp are keeping parallelism in the tight in-process of clamp continuously, just so lead to auricle clamp conveyor's frame great, make the degree of difficulty of sending into great, and need great operating space in focus department, and this also makes the big and risk of closed operation degree of difficulty higher. In addition, in order to drive the two clamping arms of the auricle clamp to be close to or far away from each other in parallel, a complex connecting rod structure needs to be arranged in the auricle clamp conveying device, so that the structural complexity is high, the number of control nodes is large, and faults are prone to occurring.

SUMMERY OF THE UTILITY MODEL

The utility model provides a carry executor and conveyor to solve at least one of them of the technical problem who exists among the above-mentioned prior art.

The utility model provides a conveying actuator, which comprises a swing seat, a first clamp arm, a second clamp arm and a connecting rod mechanism; the swinging seat is connected with a base and is rotatably connected with the base; the tail ends of the first clamp arm and the second clamp arm are hinged with the swing seat; the connecting rod mechanism is provided with a control end, a first connecting end and a second connecting end, the control end is connected with a control mechanism, the first connecting end is connected with the first forceps arm, and the second connecting end is connected with the second forceps arm; the link mechanism can respond to the control of a control mechanism connected with the control end on the control end, and respectively acts on the first forceps arm and the second forceps arm through the first connecting end and the second connecting end, so that the distance between the joint of the first forceps arm and the first connecting end and the joint of the second forceps arm and the second connecting end is changed; the first forceps arm and the second forceps arm are respectively provided with a first point-shaped binding part and a second point-shaped binding part, and the first point-shaped binding part and the second point-shaped binding part are used for binding a bent corner part of an implant; the rotation plane of the first clamp arm and the second clamp arm rotating relative to the swinging seat is perpendicular to the rotation plane of the swinging seat rotating relative to the base.

The link mechanism can respond to the control of a control mechanism connected with the control end on the control end, and acts on the first clamp arm and the second clamp arm through the first connecting end and the second connecting end respectively, so that the first clamp arm and the second clamp arm rotate and an included angle between the first clamp arm and the second clamp arm is changed.

The connecting rod mechanism comprises a first connecting rod and a second connecting rod, the first connecting rod is hinged with the first clamp arm, the second connecting rod is hinged with the second clamp arm, and the first connecting rod is hinged with the second connecting rod; the hinged end of the first connecting rod and the hinged end of the first forceps arm are the first connecting end, the hinged end of the second connecting rod and the hinged end of the second forceps arm are the second connecting end, and the hinged end of the first connecting rod and the hinged end of the second connecting rod are the control end.

Wherein the first caliper arm is provided with a first fixing groove connected to the first point-shaped binding portion, and the second caliper arm is provided with a second fixing groove connected to the second point-shaped binding portion.

Wherein each first fixing groove includes two sub-grooves respectively disposed at both sides of the first point-shaped binding part; each second fixing groove comprises two sub-grooves which are respectively arranged on two sides of the second point-shaped binding part.

The utility model provides a conveying device, it includes controller and foretell transport executor.

The controller comprises a first control mechanism, and the first control mechanism is connected with the control end of the connecting rod mechanism of the conveying actuator; the first control mechanism comprises a first connecting line and a first reel, wherein the first end of the first connecting line is connected with the control end, and the second end of the first connecting line is wound on the first reel.

The first end of the first connecting wire is connected with a stop block, the stop block abuts against a fixing hole formed in the swing seat and is fixed, and the first connecting wire penetrates through the fixing hole and winds around the control end, so that the pulley structure is formed at the control end of the first connecting wire.

The conveying device further comprises a second control mechanism, and the second control mechanism is connected with the swinging seat and used for controlling the swinging seat to rotate relative to the base.

The second control mechanism comprises a second rolling piece and at least two second connecting lines, the first ends of the at least two second connecting lines are respectively connected to the first side and the second side of the swinging seat, and the first side and the second side of the swinging seat are two sides of the hinged position between the swinging seat and the base, which are positioned on a rotating path; a second end of the second connecting line is wound on the second roll-up member; or

The second control mechanism comprises a connecting rod, the first end of the connecting rod is connected with the swinging seat, the connecting position of the connecting rod and the swinging seat is located outside the hinging shaft between the swinging seat and the base, and the second end of the connecting rod is connected to a handheld operation part arranged at the rear end of the conveying device.

Wherein, a fixed part is arranged on the swinging seat; the transport device comprises a third control line comprising a first sub control line and a second sub control line; the first and second sub control lines include a binding part, a control part, and a connection part connecting the binding part and the control part; the binding part of the first sub-control line movably binds an implant on the first clamp arm at the first clamp arm, the control part is fixedly connected to the fixing part of the swinging seat, and the control part is used for being triggered to unbind the binding part; the binding part of the second sub-control line movably binds an implant on the second clamp arm at the second clamp arm, the control part is fixedly connected to the fixing part of the swinging seat, and the control part is used for being triggered to unbind the binding part.

The swing seat is provided with a plurality of wire grooves, and the tail ends of at least part of the wire grooves are provided with opening parts.

The embodiment of the utility model provides an above-mentioned transport executor and conveyor compare with prior art and have following advantage:

the embodiment of the utility model provides a carry executor, through set up first punctiform binding portion and second punctiform binding portion on first tong arm and second tong arm respectively, bind the bight of buckling of putting into respectively with first punctiform binding portion and second punctiform binding portion, when link mechanism drives first tong arm and second tong arm and opens, the thing of putting into is bound in the bight pulling of buckling in first punctiform binding portion and second punctiform binding portion and takes place to buckle, and open at the in-process of buckling, and when first tong arm and second tong arm are released by link mechanism, the elastic component that the bight of buckling set up on the thing of putting into can provide the elasticity restoring force, make the thing of putting into take place to buckle and tend to the closure, thereby can satisfy the needs of putting into and fixing the target location with the thing of putting into. Meanwhile, the rotation plane of the first clamp arm and the second clamp arm relative to the swinging seat and the rotation plane of the swinging seat relative to the base are perpendicular to each other. This also establishes a relationship between the direction of rotation of the pivot with respect to the base and the determined direction of movement of the implant at the target position, and is a relatively simple and convenient perpendicular relationship. Based on the correlation, when the swing seat is controlled to rotate relative to the base, the swing seat can be accurately controlled to rotate relative to the base by taking the determined movement direction as a reference, so that the first clamp arm, the second clamp arm and the implant fixed on the first clamp arm and the second clamp arm can be accurately moved to the target position.

The embodiment of the utility model provides a conveying device, it includes foretell transport executor, has the beneficial effect unanimous with the above-mentioned transport executor, no longer gives unnecessary details.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present invention and, together with the description, serve to explain the principles of the invention.

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive labor.

Fig. 1 is a schematic view of an open state of a conveying actuator according to an embodiment of the present invention;

FIG. 2 is a schematic view of the delivery actuator of FIG. 1 in a closed state;

FIG. 3 is a schematic top view of the transport actuator of FIG. 1;

FIG. 4 is a perspective schematic view of the transport actuator of FIG. 1 shown in a first perspective view (illustrating an implant);

FIG. 5 is a perspective schematic view of the transport actuator of FIG. 1 from a second perspective (showing an implant);

FIG. 6 is a schematic perspective view of the transport actuator of FIG. 1 from a third perspective (without the implant shown);

FIG. 7 is a schematic view of the structure of the implant;

FIG. 8 is a schematic view of the swing seat from a first viewing direction (front end viewing angle);

FIG. 9 is a schematic view of the swing base in a second viewing direction (rear view);

FIG. 10 isbase:Sub>A schematic view ofbase:Sub>A cross-sectional configuration of the swing seat along A-A (showing the wire chase);

FIG. 11 is a schematic view of the swing seat in cross-section B-B (showing the wire chase and the stop);

FIG. 12 is a schematic view of the connection of the first connecting wire with the swing base;

FIG. 13 is a schematic view of the connection of the second connecting line and the swing seat;

fig. 14 is a schematic structural view of a conveying actuator of the conveying device according to another embodiment of the present invention;

fig. 15 is an exploded view of the second control mechanism shown in fig. 14 (the base and the swing base are separated in the illustrated longitudinal direction).

In the figure:

10-a base;

20-a swing seat;

202-fixing holes; 203. 203a, 203b, 203c, 203d, 203 e-wire slots; 204-a stop; 205-connecting rod;

2031-a main body portion; 2032-an open part;

30-a linkage mechanism; 301-a first link; 302-a second link;

40-a first jawarm; 401-a first point binding portion; 402-a first fixation slot; 402a, 402 b-subslot;

50-a second jawarm; 501-second point-binding section; 502-a second fixation slot; 502a, 502 b-subslot;

a-a first connection end; b-a second connection end; c-a control terminal; m-implant;

l1-a first connecting line; l2-second connecting line.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

The following describes embodiments of a conveying actuator and a conveying apparatus provided by the present invention with reference to the accompanying drawings.

(1) Embodiments of the delivery actuator

Referring to fig. 1 to 7, the conveying actuator provided in this embodiment is installed at the front end of the conveying device, and is used for connecting and fixing the implant M to be conveyed. The implant M to be delivered by the delivery device can be, for example, an atrial appendage clip. Taking an auricle clamp as an example, after the auricle clamp is fixed on a conveying actuator, the conveying device is operated to enable the conveying actuator to enter a target position in a human body, namely a left auricle position, at the target position, the auricle clamp closes the left auricle, then the connection and fixation between the conveying actuator and the auricle clamp are released, the auricle clamp is released from the conveying actuator, and finally the conveying device is operated to withdraw the conveying actuator from the human body.

Generally, a conveying device includes a hand-held operation portion and a conveying actuator, and a connecting portion connecting the hand-held operation portion and the conveying actuator therebetween. As described above, the delivery actuator is used for fixing an implant such as an auricle clip; the handheld operation part is used for holding and controlling components such as the conveying actuator and the like in the using process, for the conveying actuator, the conveying actuator can extend into a human body when being used, and the handheld operation part is positioned outside the human body; the connecting part is generally in a rod-shaped structure or a tubular structure, and two ends of the connecting part are respectively and directly connected with the conveying actuator and the handheld operating part, or are connected with the conveying actuator and the handheld operating part through corresponding connecting parts and other accessories. In this embodiment, the direction of the conveyance actuator with respect to the hand-held operation unit is referred to as front, and the direction of the hand-held operation unit with respect to the conveyance actuator is referred to as rear. In describing aspects of the present invention, head end, front end and other directional terms having similar meanings indicate that the component defined by the directional term is located on the front side of the reference, while tail end, rear end and other directional terms having similar meanings indicate that the component defined by the directional term is located on the rear side of the reference.

In the present embodiment, referring to fig. 1 to 7, the transfer actuator includes a base 10, a swing base 20, a link mechanism 30, a first clamp arm 40, and a second clamp arm 50. The swing seat 20 is connected to the base 10 and is rotatably connected to the base 10. The base 10 may be fixedly connected to the connection part at a front side of the connection part.

As shown in fig. 3, the distal ends of the first and second jawarms 40 and 50 are hingedly connected to the swing seat 20. The linkage 30 has a first connection end a, a second connection end B, and a control end C, the control end C being connected to a control mechanism, the first connection end a being connected to the first jawarm 40, the second connection end B being connected to the second jawarm 50. The link mechanism 30 is capable of changing a distance between a connection point of the first caliper arm 40 and a connection point of the second caliper arm 50 and the first connection end a, and a connection point of the second caliper arm 50 and the second connection end B, respectively, by acting on the first caliper arm 40 and the second caliper arm 50 through the first connection end a and the second connection end B, in response to an operation of the control end C by a control mechanism connected to the control end C.

Specifically, the distance between the junction with the first connection end a on the first jawarm 40 and the junction with the second connection end B on the second jawarm 50 is varied by: when the first connection end a and the second connection end B act on the first jawarm 40 and the second jawarm 50, respectively, the first jawarm 40 and the second jawarm 50 rotate and change the angle between the first jawarm 40 and the second jawarm 50. The angle between the first and second jawarms 40, 50 is changed, increased or decreased by rotation of the first and second jawarms 40, 50, during which the distance between a particular point on the first jawarms 40 (e.g., the junction with the first connection end a) and a particular point on the second jawarms 50 (e.g., the junction with the second connection end B) is changed.

When the first connecting end a and the second connecting end B act on the first clamp arm 40 and the second clamp arm 50 respectively, the first clamp arm 40 and the second clamp arm 50 can rotate, and the principle is as follows: the ends of the first and second clamp arms 40 and 50 are hinged to the swing seat 20, in this case, when the first and second clamp arms 40 and 50 are subjected to an external force and the point of the force is at a position other than the hinged end with the swing seat 20, the first and second clamp arms 40 and 50 will rotate relative to the swing seat 20 around the hinged end with the swing seat 20.

Specifically, as shown in fig. 3, the link mechanism 30 includes a first link 301 and a second link 302, the first link 301 is hinged to the first jawarm 40, the second link 302 is hinged to the second jawarm 50, and the first link 301 is hinged to the second link 302. The hinged end of the first connecting rod 301 and the first forceps arm 40 is a first connecting end A, the hinged end of the second connecting rod 302 and the second forceps arm 50 is a second connecting end B, and the hinged end of the first connecting rod 301 and the second connecting rod 302 is a control end C.

With the link mechanism 30 of this embodiment, when the control mechanism applies a pulling force to the control end C from the rear side of the control end C toward the rear end of the conveying actuator, as shown in fig. 3, in the case where the control end C is located at the front side of the first connection end a and the second connection end B, the connection portion of the first jawarm 40 and the connection portion of the second jawarm 50 and the second connection end B are subjected to an outward force, and under the outward force, the first jawarm 40 and the second jawarm 50 are opened to both sides, and the included angle therebetween becomes larger, tending to the opened state. Conversely, when the control mechanism no longer applies a pulling force to the control end C from the rear side of the control end C, the control mechanism releases the control end C, and at this time, the first and second clamp arms 40 and 50 of the delivery actuator can be applied with a force toward each other by the implant M (for example, specifically, by a reset force of a V-shaped elastic member provided at a bent corner of the implant M), under which force the angle between the first and second clamp arms 40 and 50 tends to decrease, and the first and second clamp arms 40 and 50 tend to be in the closed state.

The first forceps arm 40 is provided with a first point-like binding portion 401, the second forceps arm 50 is provided with a second point-like binding portion 501, and the first point-like binding portion 401 and the second point-like binding portion 501 bind a bent corner portion of the implant M. Specifically, the bent corners of the implant M may be connected and fixed to the first point-shaped binding portion 401 and the second point-shaped binding portion 501 by a line satisfying a predetermined requirement between the bent corners of the implant M and the first point-shaped binding portion 401 and the second point-shaped binding portion 501. The first point-shaped binding portion 401 and the second point-shaped binding portion 501 may have a point-shaped groove corresponding to the shape of the bent corner of the implant M, the bent corner of the implant M and the point-shaped groove may be connected and fixed by the shape corresponding relationship, and the first point-shaped binding portion 401 and the second point-shaped binding portion 501 may have a non-groove structure or may have a specific region in a bar-shaped groove, and the bent corner of the implant M may be bound and fixed by a line in the specific region.

The inserted article M has a plurality of bent corners, and among the plurality of bent corners, the bent corner connected and fixed to the first dot-shaped binding portion 401 and the bent corner connected and fixed to the second dot-shaped binding portion 501 are spaced apart from each other, not adjacent to each other. Taking the placement object M as an auricle clip as an example, the auricle clip delivered by the delivery actuator in this embodiment has a diamond structure, which has four bending corners, and at this time, the bending corner connected to the first point-shaped binding portion 401 and the second point-shaped binding portion 501 is two bending corners disposed oppositely. In the present invention, for convenience of description, the bent corner connected and fixed to the first point-like binding portion 401 is referred to as a first bent corner, and the bent corner connected and fixed to the second point-like binding portion 501 is referred to as a second bent corner.

At least some of the bent corners of the implant M are provided with V-shaped elastic members. In a less preferred embodiment, a V-shaped spring is provided at least one of the bent corners, and in a preferred embodiment, a V-shaped spring may be provided at each of the bent corners.

The plurality of bending corners of the implant M may be divided into two types, wherein the first bending corner and the second bending corner are one type, and the other bending corners except the first bending corner and the second bending corner are one type, and if the two types of bending corners are provided with the V-shaped elastic members at the same time, the initial states of the V-shaped elastic members disposed in the two types of bending corners should be opposite.

For example, if the initial state of the V-shaped elastic member disposed at the first bending corner portion and the second bending corner portion is a state with a larger included angle, the initial state of the V-shaped elastic member disposed at the other bending corner portion should be a state with a smaller included angle. This is because the first and second bent corner portions have the same tendency of angle change when the implant M is bent and have the opposite tendency of angle change to the other bent corner portions, and for example, when the angle between the two arms constituting the first and second bent corner portions increases, the angle between the two arms constituting the other bent corner portions decreases. In this case, the arrangement can make the V-shaped elastic members disposed at the first and second bending corners and the V-shaped elastic members disposed at the other bending corners be in the elastic deformation state when the implant M is driven by the first and second clamp arms 40 and 50 to change to the open state, and after the first and second clamp arms 40 and 50 are released, the V-shaped elastic members disposed at the first and second bending corners and the V-shaped elastic members disposed at the other bending corners can make the implant M tend to close in a consistent manner by the restoring force provided when the implant M is restored from the elastic deformation state to the initial state, so as to facilitate, for example, clamping the left auricle as an auricle clamp of the implant M.

The rotation plane of the first clamp arm and the second clamp arm rotating relative to the swinging seat is perpendicular to the rotation plane of the swinging seat rotating relative to the base. With this arrangement, the same relationship can be established between the rotation direction of the swing base 20 with respect to the base 10 and the determined direction in which the implant moves at the target position, and this relationship is a relatively simple and convenient perpendicular relationship. Based on this relationship, when the swing base 20 is controlled to rotate relative to the base 10, the rotation of the swing base 20 relative to the base 10 can be accurately controlled with reference to the above-identified movement direction, thereby facilitating accurate movement of the first and second clamp arms 40 and 50 and the implant M fixed to the first and second clamp arms 40 and 50 to the target position.

In the present embodiment, the first point-shaped binding portion 401 and the second point-shaped binding portion 501 are respectively disposed on the first forceps arm 40 and the second forceps arm 50, and the first point-shaped binding portion 401 and the second point-shaped binding portion 501 are respectively bound to the bent corner portion of the implant M, when the link mechanism 30 drives the first forceps arm 40 and the second forceps arm 50 to open, the implant M is pulled by the bent corner portion bound in the first point-shaped binding portion 401 and the second point-shaped binding portion 501 to be bent and opened during the bending process, and when the first forceps arm 40 and the second forceps arm 50 are released by the link mechanism 30, the V-shaped elastic member disposed at the bent corner portion on the implant M can provide an elastic restoring force, so that the implant M is bent and tends to close, thereby satisfying the requirement of placing and fixing the implant M to a target position.

Meanwhile, in the present embodiment, the swing seat 20 rotates in a plane relative to the base 10, rather than freely swinging in a three-dimensional space, so that fewer control components are required for the swing seat 20 to control its rotation relative to the base 10, and thus the equipment cost can be reduced; meanwhile, the swing seat 20 has fewer control nodes rotating relative to the base 10, so that the probability of failure in the control process can be reduced, and the reliability of motion control can be improved.

In this embodiment, the first clamp arm 40 is provided with a first fixing groove 402 connected to the first point-shaped binding portion 401, and the first fixing groove 402 is used for inserting a connecting wire and binding and fixing the bent corner portion of the inserted article M to the first point-shaped binding portion 401. The second forceps arm 50 is provided with a second fixing groove 502 which is connected to the second point-like binding portion 501, and the second fixing groove 502 is used for inserting a connecting wire and binding and fixing the bent corner portion of the implant M to the second point-like binding portion 501.

Referring to fig. 6, each of the first fixing grooves 402 includes two sub-grooves 402a, 402b respectively disposed at both sides of the first point-shaped binding part 401. Each of the second fixing grooves 502 includes two sub-grooves 502a, 502b respectively provided at both sides of the second dot-shaped binding portion 501. This arrangement makes it possible, for example, to pass around the sub-grooves 402a, 402b on both sides of the first point-like binding portion 401 using connecting lines, thereby firmly fixing the bent corner portion of the implant M to the first caliper arm 40, and to pass around the sub-grooves 502a, 502b on both sides of the second point-like binding portion 501 using connecting lines, thereby firmly fixing the bent corner portion of the implant M to the second caliper arm 50. Specifically, the two sub-grooves 402a and 402b of the first fixing groove 402 may be connected or not connected, and the two sub-grooves 502a and 502b of the second fixing groove 502 may be connected or not connected. In the case where the two sub-grooves 402a and 402b are communicated, the communicated portion between the two sub-grooves may be blocked by the implant M when the implant M is bound to the first point-shaped binding portion 401, but in actual implementation, it is preferable that at least a partial region of the two sub-grooves 402a and 402b is not blocked by the implant M, and the unblocked portion may facilitate binding of the implant M using a line.

(2) Embodiments of the input device

In this embodiment, the transport device includes a controller and the transport actuators described in the above-described embodiments of the transport actuators.

The controller is used for controlling the state between the first and second clamp arms 40 and 50 of the conveying actuator, controlling the rotation of the swing seat 20 relative to the base 10, and controlling the implant M such as an auricle clamp connected and fixed on the conveying actuator.

Specifically, the controller includes a first control mechanism, a second control mechanism, and a third control mechanism.

Wherein, the first control mechanism is connected with the control end C of the connecting rod mechanism 30 of the conveying actuator; as shown in fig. 12, the first control mechanism includes a first connecting line L1 and a first winding member (not shown), a first end of the first connecting line L1 is connected to the control terminal C, and a second end is wound on the first winding member. The first connecting line L1 may be a steel wire.

The first connecting line L1 is connected with the control end C, when the control end C is pulled by the first connecting line L1 and a pulling force towards the rear side is applied to the control end C, the distance between the first forceps arm 40 and the second forceps arm 50 is controlled to be increased by acting on the connecting rod mechanism 30 and tends to be changed towards an opening state, and at the moment, the V-shaped elastic piece arranged at the bending corner of the implant M is elastically deformed to accumulate elastic potential energy; when the control end C is released from the first connection line L1 and the control end C is no longer pulled backward, the distance between the first and second clamp arms 40 and 50 decreases under the action of the restoring force generated by the V-shaped elastic member disposed at the bent corner of the implant M returning from the elastic deformation state, and the implant M tends to close toward the closed state. The above specific processes have been described in detail in the embodiment of the conveying actuator, and are not described again.

The first reel member may reel or release the first connecting line L1 by, for example, rotating. When the first connecting line L1 is reeled by the first reeling member, the first connecting line L1 pulls the control end C, and a pulling force towards the rear side is applied to the control end C; when the first reel member releases the first connecting line L1, the first connecting line L1 correspondingly releases the control terminal C, and no longer applies a pulling force to the control terminal C toward the rear side.

The control end C of the first connection line L1 is connected, and specifically, one end of the first connection line L1 is directly connected to the hinged end between the first link 301 and the second link 302. Besides, it is also possible that a stopper 204 is connected to the first end of the first connection line L1, the stopper 204 is fixed by abutting against a fixing hole 202 provided on the swing seat 20, and the first connection line L1 passes through the fixing hole 202 and winds around the control end C, so that the first connection line L1 forms a pulley structure at the control end C, that is, the structure shown in fig. 12.

The second control mechanism is connected to the swing seat 20 for controlling the rotation of the swing seat 20 relative to the base 10. As shown in fig. 13, the second control mechanism includes a second reel (not shown in the figure) and at least two second connecting lines L2, first ends of the at least two second connecting lines L2 are respectively connected to a first side and a second side of the swing seat 20, and the first side and the second side of the swing seat 20 are two sides (in fig. 10, left side and right side of the swing seat 20 shown in the figure) of the hinge end between the swing seat 20 and the base 10, which are located on the rotation path; the second end of the second connecting line L2 is wound around the second reel.

The connection between the second connection line L2 and the swing seat 20 may be specifically realized by providing a stopper, the stopper is connected to the first end of the second connection line L2, and the stopper is fixed and limited in the swing seat 20, so that the first end of the second connection line L2 is fixed on the swing seat 20.

When a second connecting line L2 connected with the first side of the swing seat 20 applies a pulling force to the first side of the swing seat 20, the swing seat 20 can be pulled to rotate towards the first side direction; when the second connecting line L2 connected to the second side of the swing seat 20 applies a pulling force to the second side of the swing seat 20, the swing seat 20 can be pulled to rotate in the direction of the second side.

The number of the second rolling members may be one or more, and when the number of the second rolling members is one, the second ends of the second connecting lines L2 may be wound around the second rolling members, but the winding directions of the second connecting lines L2 connected to the first side and the second side of the swing seat 20 should be opposite, so that the second rolling members may rotate in different directions to apply pulling forces to the second connecting lines L2 connected to the first side and the second side of the swing seat 20, respectively, thereby controlling the swing seat 20 to rotate in different directions. The third control mechanism is connected with the implant M which is fixedly connected with the conveying actuator and is used for controlling the state between the implant M and the first clamp arm 40 and the second clamp arm 50 of the conveying actuator. Specifically, the third control mechanism includes a third connection line (not shown in the figure) including a first sub control line and a second sub control line; the first and second sub-control lines include a binding portion, a control portion, and a connecting portion connecting the binding portion and the control portion. The swing base 20 is provided with a fixing portion. The binding portion of the first sub-control wire movably binds one bending corner portion of the implant M to the first caliper arm 40 at the first caliper arm 40 ("movably binding" means that the wire between the bending corner portion of the implant M and the first caliper arm 40 exists in a slip joint and can be unbound by pulling the wire, but does not mean that the relative state between the bending corner portion of the implant M and the first caliper arm 40 after binding is variable), and the control portion is connected and fixed to the fixing portion of the swing seat 20, and is triggered to unbind the binding portion. The binding portion of the second sub-control wire movably binds the implant to the second jawarm 50 at the second jawarm 50 (the meaning of "movably binding" is the same), the control portion is connected and fixed to the fixing portion of the swing seat 20, and the control portion is used to be triggered to unbind the binding portion. Specifically, as shown in fig. 8 and 9, the fixing portion may be in the form of a wire casing 203, and the control portions of the first and second sub-control wires are connected and fixed to the wire casing 203, for example, the fixing portion for fixing the first sub-control wire may be a wire casing 203d, and the fixing portion for fixing the second sub-control wire may be a wire casing 203e.

The implant M is bound to the first and second gripper arms 40 and 50 of the transfer actuator by the binding portions of the first and second sub control lines before and during the movement of the implant M to the target position. After the implant M is moved to the target position, for example, the atrial appendage is clipped at the left atrial appendage to close the left atrial appendage, at this time, the implant M, the first forceps arm 40 and the second forceps arm 50 can be unbundled by the control portions of the first sub-control line and the second sub-control line outside the human body, so that after the implantation process of the implant M is completed, the conveying actuator can be conveniently separated from the implant M and moved out of the human body.

In one embodiment of the conveying apparatus, as shown in fig. 14 and 15, the second control mechanism may further include a connecting rod 205, a first end of the connecting rod 205 is connected to the swing seat 20, and a joint of the connecting rod 205 and the swing seat 20 is located outside a hinge axis between the swing seat 20 and the base 10, so that the first end of the connecting rod 205 acts on the swing seat 20 to rotate the swing seat 20 relative to the base 10. A second end of the link 205 is connected to a hand-held operation portion provided at the rear end of the transport apparatus. When the conveying device of this embodiment is used, the second end of the link 205 can be pulled or torn on the handheld operation portion, and when the second end of the link 205 is moved by an external force, the corresponding force is transmitted to the first end of the link 205 and the swing seat 20, so as to drive the swing seat 20 to rotate around the hinge axis between the swing seat and the base 10 in a predetermined direction.

In the present embodiment, as shown in fig. 8 and 9, the swing seat 20 is provided with a plurality of wire slots 203 for the first connecting wire, the second connecting wire, the third connecting wire, and the like to pass through or be fixed. Specifically, in the present embodiment, the number of the wire slots 203 is 5, which are the wire slots 203a, 203b, 203c, 203d, and 203e, respectively. The wire slot 203a is used for a first connecting wire to pass through, the wire slots 203b and 203c are respectively used for second connecting wires connected with the first side and the second side of the swinging seat 20 to pass through, and the wire slots 203d and 203e are respectively used for a first sub-control wire and a second sub-control wire of a third connecting wire to be fixedly connected.

In the present embodiment, as shown in fig. 10 and 11, each of the wire grooves 203 includes a substantially thin main body portion 2031, and it is only necessary for the main body portion 2031 to be able to accommodate the first connection wire, the second connection wire, the third connection wire, and the like, and, in the case where this requirement is satisfied, the aperture of the main body portion 2031 may be as small as possible so as to limit the swing amplitude of the first connection wire, the second connection wire, the third connection wire, and the like. Among the plurality of wire grooves 203, at least a part of the tail ends of the wire grooves 203 are further provided with an opening portion 2032, and the width of the opening portion 2032 is generally larger in the hole diameter in the direction closer to the rear. Taking the trunking 203d as an example, as shown in fig. 10, it includes a main body portion 2031 and an open portion 2032 for connecting and fixing the first sub-control line. When the swing base 20 is deflected to one side, the rear end of the swing base 20 is deflected to the side of the base 10, and at this time, the space between the swing base 20 and the base 10 is reduced, and accordingly, the space of the first sub control line is squeezed. However, in the case where the opening 2032 is provided along the rotation circumferential direction of the swing seat 20, the opening 2032 may form a notch for accommodating the first sub control wire at the rear end of the swing seat 20, so that even when the swing seat 20 rotates such that the rear end thereof faces the side of the base 10, the first sub control wire is not caught between the base 10 and the swing seat 20, and the normal operation thereof is not affected.

It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.

The above description is only exemplary of the invention, and is intended to enable those skilled in the art to understand and implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (12)

1. The conveying actuator is characterized by comprising a swinging seat, a first clamp arm, a second clamp arm and a connecting rod mechanism;

the swinging seat is connected with a base and is rotatably connected with the base;

the tail ends of the first clamp arm and the second clamp arm are hinged with the swing seat;

the connecting rod mechanism is provided with a control end, a first connecting end and a second connecting end, the control end is connected with a control mechanism, the first connecting end is connected with the first forceps arm, and the second connecting end is connected with the second forceps arm; the link mechanism can respond to the control of a control mechanism connected with the control end on the control end, and respectively acts on the first forceps arm and the second forceps arm through the first connecting end and the second connecting end, so that the distance between the joint of the first forceps arm and the first connecting end and the joint of the second forceps arm and the second connecting end is changed;

the first forceps arm and the second forceps arm are respectively provided with a first point-shaped binding part and a second point-shaped binding part, and the first point-shaped binding part and the second point-shaped binding part are used for binding a bent corner part of an implant;

the rotation plane of the first clamp arm and the second clamp arm rotating relative to the swinging seat is perpendicular to the rotation plane of the swinging seat rotating relative to the base.

2. The transport actuator of claim 1, wherein the first and second jawarms are pivotable by the linkage and vary an angle between the first and second jawarms.

3. The transport actuator of claim 2, wherein the linkage comprises a first link and a second link, the first link being articulated with a first jawarm, the second link being articulated with a second jawarm, and the first link being articulated with a second link;

the hinged end of the first connecting rod and the first tong arm is the first connecting end, the hinged end of the second connecting rod and the second tong arm is the second connecting end, and the hinged end of the first connecting rod and the second connecting rod is the control end.

4. The transport actuator according to claim 1, wherein the first caliper arm is provided with a first fixing groove connected to the first point-like binding portion, and the second caliper arm is provided with a second fixing groove connected to the second point-like binding portion.

5. The transport actuator of claim 4, wherein each first fixing groove includes two sub-grooves respectively provided at both sides of the first point-shaped binding portion;

each second fixing groove comprises two sub-grooves which are respectively arranged at two sides of the second point-shaped binding part.

6. A transport apparatus comprising a controller and a transport actuator as claimed in any one of claims 1 to 5.

7. The delivery device of claim 6, wherein the controller includes a first control mechanism coupled to the control end of the linkage mechanism of the delivery actuator;

the first control mechanism comprises a first connecting line and a first reel, wherein the first end of the first connecting line is connected with the control end, and the second end of the first connecting line is wound on the first reel.

8. The conveying device as claimed in claim 7, wherein a stopper is connected to a first end of the first connecting wire, the stopper is fixed against a fixing hole provided on the swing seat, and the first connecting wire passes through the fixing hole and winds around the control end, so that the first connecting wire forms a pulley structure at the control end.

9. The transport device of claim 6, further comprising a second control mechanism coupled to the swing base for controlling rotation of the swing base relative to the base.

10. The transport device of claim 9, wherein the second control mechanism includes a second spool and at least two second connecting wires, first ends of the at least two second connecting wires are connected to the first side and the second side of the swing seat, respectively, and the first side and the second side of the swing seat are two sides of the swing seat at the hinge joint with the base on the rotation path; a second end of the second connecting line is wound on the second winding member; or alternatively

The second control mechanism comprises a connecting rod, the first end of the connecting rod is connected with the swinging seat, the joint of the connecting rod and the swinging seat is positioned outside the hinge shaft between the swinging seat and the base, and the second end of the connecting rod is connected to a handheld operation part arranged at the rear end of the conveying device.

11. The transport device of claim 6, wherein the swing seat is provided with a fixing portion;

the transport device comprises a third control line comprising a first sub control line and a second sub control line;

the first and second sub control lines include a binding part, a control part, and a connection part connecting the binding part and the control part;

the binding part of the first sub-control line movably binds an implant on the first clamp arm at the first clamp arm, the control part of the first sub-control line is connected and fixed on the fixing part of the swinging seat, and the control part of the first sub-control line is used for being triggered to unbind the binding part of the first sub-control line;

the binding part of the second sub-control line movably binds an implant on the second tong arm at the second tong arm, the control part of the second sub-control line is connected and fixed on the fixing part of the swinging seat, and the control part of the second sub-control line is used for being triggered to unbind the binding part of the second sub-control line.

12. The conveying device according to any one of claims 7 to 11, wherein a plurality of wire chases are provided on the swing seat, and an opening portion is provided at a tail end of at least a part of the wire chases.

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