CN218572303U

CN218572303U - Conveyor device and surgical robot system

Info

Publication number: CN218572303U
Application number: CN202123455206.8U
Authority: CN
Inventors: 汪四新; 王瑞
Original assignee: Peijia Medical Technology Suzhou Co ltd
Current assignee: Zhicheng Medical Technology Jiaxing Co ltd
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2023-03-07
Anticipated expiration: 2031-12-31

Abstract

The utility model discloses a conveying device and a surgical robot system, wherein the conveying device comprises a base, a slide rail, a power assembly and a clamping assembly; the power assembly comprises a driving assembly and a circulating driven assembly, the circulating driven assembly comprises a movable piece, a pressing wheel, a first limiting piece and a second limiting piece, and at least one of the first limiting piece and the second limiting piece is connected to the movable piece; the clamping assembly is limited between the first limiting piece and the second limiting piece; the driving assembly drives the movable piece to move so as to drive the clamping assembly to do circular reciprocating motion, the pressing wheel can press or release the clamping assembly to enable the clamping assembly to be switched between a clamping position and a release position, in the process that the clamping assembly moves along the first direction, the pressing wheel presses the clamping assembly to enable the clamping assembly to convey the guide wire and/or the guide pipe along the first direction, and in the process that the clamping assembly moves along the second direction opposite to the first direction, the pressing wheel releases the clamping assembly to enable the clamping assembly to be located at the release position to release the guide wire and/or the guide pipe.

Description

Conveyor device and surgical robot system

Technical Field

The utility model relates to the technical field of medical equipment, particularly to conveyor and surgical robot system.

Background

The cardiovascular and cerebrovascular interventional operation is a process in which a doctor manually sends a catheter, a guide wire and other instruments into the body of a patient through a blood vessel to finish treatment. In the operation process, the doctor can suffer from ionizing radiation all the time, and the problem of operation precision reduction caused by long-time operation is solved, the injury of radiation to the interventional doctor can be effectively reduced by means of the robot technology, meanwhile, the stability of operation can be greatly improved, and the occurrence probability of accidents in the operation is reduced. Therefore, the cardiovascular and cerebrovascular interventional operation auxiliary robot gradually becomes a key research and development object in the field of medical robots in all the science and technology strong countries at present.

In interventional procedures, which involve advancing, retracting and rotating motions of the guide wire and/or catheter, different mechanical mechanisms are used to enable such motions of the guide wire and/or catheter. However, the current robot guide wire and/or catheter delivery mechanism for vascular intervention still has several problems: (1) the structure is complicated and bloated, and the installation is not easy; (2) The motor is arranged in the conveying end, so that sterile isolation is not easy to perform; (3) The guide wire and/or the catheter are conveyed by using rollers or pulleys, and the area of a clamping part is too small, so that the guide wire and/or the catheter are easy to slip in the conveying process; (4) poor rotation effect, etc.

To this end, the present invention provides a delivery device and surgical robotic system to at least partially solve the problems of the prior art.

SUMMERY OF THE UTILITY MODEL

In the summary section a series of concepts in a simplified form is introduced, which will be described in further detail in the detailed description section. The inventive content of the present application does not imply any attempt to define the essential features and characteristics of the claimed solution, nor does it imply any attempt to determine the scope of the claimed solution.

In order to solve the above problem at least partially, according to a first aspect of the present invention, a conveying device is disclosed, which comprises:

a base;

a slide rail connected to the base;

the power assembly is arranged on the base and comprises a driving assembly and a circulating driven assembly connected with the driving assembly, the circulating driven assembly comprises a movable piece, a pressing wheel, a first limiting piece and a second limiting piece, the movable piece is movably connected to the sliding rail relative to the sliding rail, and at least one of the first limiting piece and the second limiting piece is connected to the movable piece; and

a clamping assembly captured between the first retaining member and the second retaining member and adapted to pass a guide wire and/or catheter therethrough,

wherein the driving assembly drives the movable piece to move through the rotary driven assembly so as to drive the clamping assembly to do circular reciprocating motion along the length direction of the sliding rail, and the pressing wheel can press or release the clamping assembly, so that the clamping assembly can be switched between a clamping position for clamping the guide wire and/or the guide pipe and a release position for releasing the guide wire and/or the guide pipe,

during the process that the clamping assembly moves along a first direction parallel to the length direction of the sliding rail, the pinch roller can press the clamping assembly, so that the clamping assembly is located at the clamping position to convey the guide wire and/or the guide pipe along the first direction,

during movement of the clamping assembly in a second direction opposite the first direction, the pinch roller is capable of releasing the clamping assembly such that the clamping assembly is in the release position to release the guide wire and/or catheter.

According to the utility model discloses a conveyor, through setting up power component and clamping component, power component can drive clamping component and be circulating reciprocating motion along the length direction of slide rail to clamping component can switch between the clamping position of pressing from both sides tight seal wire and/or pipe and the release position of release seal wire and/or pipe, in order can carry seal wire and/or pipe steadily, conveyor's simple structure can realize miniaturization and lightweight, reduction in production cost.

Optionally, the driving assembly includes a circulation driving motor, a circulation driving shaft connected to the circulation driving motor, and a circulation driving gear disposed on the circulation driving shaft, the circulation driving motor is disposed on the base and can drive the circulation driving shaft to drive the circulation driving gear to rotate, and the circulation driving shaft is perpendicular to the length direction of the sliding rail.

Optionally, the endless driven assembly includes a first endless driven assembly and a second endless driven assembly which are oppositely disposed on two sides of the movable member, a first rack and a second rack are correspondingly disposed on two sides of the movable member, the first endless driven assembly is configured to be engaged with the endless driving gear and the first rack, and the second endless driven assembly is configured to be engaged with the endless driving gear and the second rack, so that the movable member can perform an endless reciprocating motion along a length direction of the slide rail.

Optionally, the first endless driven assembly comprises a first driven shaft, a first driven gear and a first incomplete gear, the first driven gear and the first incomplete gear are both disposed on the first driven shaft, the first driven gear is engaged with the endless driving gear, the first incomplete gear is engaged with the first rack,

the second circulating driven assembly comprises a second driven shaft, a second driven gear and a second incomplete gear, the second driven gear and the second incomplete gear are arranged on the second driven shaft, the second driven gear is meshed with the circulating driving gear, the second incomplete gear is meshed with the second rack,

wherein the first incomplete gear and the second incomplete gear rotate synchronously in the same direction, and the engagement between the first incomplete gear and the first rack and the engagement between the second incomplete gear and the second rack do not proceed simultaneously.

Optionally, the cyclical driven assembly further comprises:

a third cyclically driven assembly including a third driven shaft and a third driven gear provided on the third driven shaft, the third driven gear being engaged with the first driven gear,

a fourth cyclic driven assembly, which further comprises a fourth driven shaft, a fourth driven gear and the pinch roller, wherein the fourth driven gear and the pinch roller are both arranged on the fourth driven shaft, the fourth driven gear is meshed with the third driven gear,

the pinch roller and the first incomplete gear rotate synchronously and have the same rotating direction, the pinch roller can press the clamping assembly while the first incomplete gear is meshed with the first rack, and the pinch roller can release the clamping assembly while the second incomplete gear is meshed with the second rack.

Optionally, the first driven shaft, the second driven shaft, the third driven shaft and the fourth driven shaft are all parallel to the cyclical driving shaft.

Optionally, the clamping assembly includes a first clamping member, a second clamping member, and at least one elastic member, the first clamping member and the second clamping member are oppositely disposed and are limited between the first limiting member and the second limiting member, the at least one elastic member is disposed between the first clamping member and the second clamping member and can apply an elastic force to the first clamping member and the second clamping member away from each other, and a distance between the first clamping member and the second clamping member in the clamping position is smaller than a distance between the first clamping member and the second clamping member in the release position.

Optionally, the first clamping piece is provided with a first accommodating groove extending along the length direction of the slide rail, the second clamping piece is correspondingly provided with a second accommodating groove extending along the length direction of the slide rail, and the guide wire and/or the guide tube is clamped between the first accommodating groove and the second accommodating groove along the length direction of the slide rail.

Optionally, the clamping assembly further includes a first flexible member and a second flexible member, the first flexible member is disposed in the first receiving groove along an entire length of the first receiving groove, the second flexible member is disposed in the second receiving groove along an entire length of the second receiving groove, the guide wire and/or the guide tube is sandwiched between the first flexible member and the second flexible member along a length direction of the slide rail, and/or the guide wire and/or the guide tube is sandwiched between the first flexible member and the second flexible member along a length direction of the slide rail

The clamping assembly further comprises at least one positioning piece, the positioning piece is connected to one of the first clamping piece and the second clamping piece, at least one positioning hole is correspondingly formed in the other one of the first clamping piece and the second clamping piece, the positioning piece is movably inserted into the positioning hole along the length direction of the positioning hole, and the elastic piece is correspondingly sleeved on the outer peripheral side of the positioning piece.

Optionally, the pinch roller is provided with an arc-shaped pressing surface, and the pressing surface can be clamped on the outer surface of at least one of the first clamping piece and the second clamping piece in a state that the pinch roller presses the clamping assembly, so that the first clamping piece and the second clamping piece are close to each other to clamp the guide wire and/or the guide pipe.

Optionally, the pressing surface is in non-surface contact with an outer surface of at least one of the first clamping member and the second clamping member.

Optionally, the delivery device further comprises a rotary power assembly disposed at the base, and the rotary power assembly comprises a rotary driving assembly and a rotary driven assembly connected with the rotary driving assembly, the rotary driven assembly is connected to the clamping assembly for passing the guide wire and/or the catheter, and the rotary driving assembly can drive the rotary driven assembly to rotate, so that the clamping assembly rotates the guide wire and/or the catheter while delivering the guide wire and/or the catheter in the first direction.

Optionally, the rotation driving assembly includes a rotation driving motor, a rotation driving shaft connected to the rotation driving motor, and a rotation driving gear disposed on the rotation driving shaft, and the rotation driving motor is disposed on the base and can drive the rotation driving shaft to rotate the rotation driving gear.

Optionally, the rotary driven assembly comprises a rotary driven gear in mesh with the rotary drive gear and a connector for passing the guide wire and/or catheter therethrough, and connected to the rotary driven gear and the clamping assembly such that the rotary driven gear can rotate the clamping assembly via the connector.

Optionally, the rotary drive shaft is perpendicular to a length direction of the slide rail, and/or

The rotary driving gear and the rotary driven gear are both bevel gears.

According to a second aspect of the present invention, a surgical robotic system is disclosed, comprising a delivery device according to any of the above first aspects.

Optionally, the surgical robotic system comprises one of the delivery devices, or

The surgical robot system comprises two delivery devices which are serially arranged to deliver the same guide wire and/or catheter, wherein the clamping component of one delivery device is located at the clamping position to deliver the guide wire and/or catheter along the first direction, and the clamping component of the other delivery device is located at the releasing position to release the guide wire and/or catheter so as to realize continuous delivery of the guide wire and/or catheter.

Drawings

The following drawings of the present invention are used herein as part of the present invention for understanding the present invention. There are shown in the drawings, embodiments and descriptions of the invention, which are used to explain the principles of the invention.

In the drawings:

fig. 1 is a perspective view of a conveyor of a surgical robotic system according to a preferred embodiment of the present invention; and

FIG. 2 is a cross-sectional schematic view of the delivery device of FIG. 1;

FIG. 3 is a perspective view of a portion of the delivery device of FIG. 1;

FIG. 4 is an exploded perspective view of a portion of the delivery device of FIG. 1;

FIG. 5 is a perspective view of a clamping assembly of the delivery device of FIG. 1;

FIG. 6 is a perspective view of a modified embodiment of the clamping assembly of FIG. 5;

FIG. 7 is a cross-sectional view of a portion of the clamp assembly of FIG. 6;

FIG. 8 is another perspective view of a portion of the delivery device of FIG. 1;

FIG. 9 is a cross-sectional view of a portion of the delivery device of FIG. 1;

FIG. 10 is another cross-sectional view of a portion of the delivery device of FIG. 1;

FIG. 11 is another exploded perspective view of a portion of the delivery device of FIG. 1;

FIG. 12 is another cross-sectional schematic view of the delivery device of FIG. 1;

FIG. 13 is another cross-sectional view of a portion of the delivery device of FIG. 1;

FIG. 14 is an exploded perspective view of the rotary power assembly of the delivery device of FIG. 1;

FIG. 15 is a perspective view of a pinch roller of the endless driven assembly of the conveyor of FIG. 1;

FIG. 16 is a cross-sectional schematic view of a modified embodiment of the delivery device of FIG. 12.

Description of the reference numerals:

10: the guide wire 100: conveying device

110: a base 120: sliding rail

130: the power assembly 132: circulation driving shaft

133: the circulating drive gear 134: movable part

135: first rack 136: second rack

137: first stopper 138: second position limiting part

141: first cycle driven assembly 142: second cycle driven assembly

143: third cycle driven assembly 144: fourth cycle driven assembly

145: first driven shaft 146: first driven gear

147: first incomplete gear 148: second driven shaft

149: second driven gear 151: second incomplete gear

152: third driven shaft 153: third driven gear

154: fourth driven shaft 155: fourth driven gear

156: pressing wheel 157: pressing surface

158: mounting hole 160: clamping assembly

161: first clamp member 162: second clamping member

163: the elastic member 168: locating piece

164: first flexible member 165: second flexible member

166: the first receiving groove 167: second holding tank

169: positioning hole 170: rotary power assembly

174: rotating the drive shaft 175: rotary driving gear

176: rotation driven gear 177: connecting piece

178: bearing 179: inner sleeve

181: the outer sleeve 182: cover plate

183: bearing seat 184: avoiding hole

191: first pressure sensor 192: second pressure sensor

193: first limit groove 194: first convex part

195: second limit groove 196: second convex part

Detailed Description

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

In the following description, a detailed structure will be presented for a thorough understanding of embodiments of the invention. It is apparent that the implementation of the embodiments of the invention is not limited to the specific details known to a person skilled in the art. It should be noted that ordinal numbers such as "first" and "second" are used in the present application for identification only, and do not have any other meanings, such as a specific order. Also, for example, the term "first component" does not itself imply the presence of "second component", and the term "second component" does not itself imply the presence of "first component". The terms "upper", "lower", "front", "rear", "left", "right" and the like as used herein are for illustrative purposes only and are not limiting.

The utility model provides a conveyor 100 and have its surgical robot system. According to the utility model discloses a surgical robot system can be used for interveneeing the operation (for example, the operation is intervene to the cardiovascular and cerebrovascular) to can send into the internal process of accomplishing the treatment of disease through the blood vessel with apparatus such as seal wire, pipe.

As shown in fig. 1 to 3, the conveying device 100 mainly includes a base 110, a slide rail 120, a power assembly 130, and a clamping assembly 160. The delivery device 100 according to the present embodiment may deliver a guide wire or a catheter alone or together (with the catheter being sheathed outside the guide wire), the guide wire 10 being exemplarily shown in fig. 1 to 4, 9 and 13.

With continued reference to fig. 1 and 3, the slide rail 120 is configured as an elongated bar and is coupled to the base 110. Preferably, the slide rail 120 is disposed in a horizontal direction. The power assembly 130 is disposed on the base 110, and the power assembly 130 includes a drive assembly and an endless driven assembly connected to the drive assembly. The endless driven assembly includes a movable member 134 and a pressure wheel 156, the movable member 134 being movably coupled to the slide rail 120 relative to the slide rail 120 along the length of the slide rail 120. As shown in fig. 2, a clamping assembly 160 is connected to the movable member 134 and is used to pass a guidewire and/or catheter therethrough. In the present embodiment, the clamping assembly 160 and the movable member 134 are both disposed along the length of the slide rail 120, i.e., along the horizontal direction. A clamp assembly 160 is disposed at one end of movable member 134 and is indirectly connected to movable member 134. It will be appreciated that the clamp assembly 160 may be directly connected to the movable member 134, and the slide rail 120 may be disposed vertically, or in any orientation that is at an angle to the horizontal, as desired.

The driving assembly drives the movable member 134 to move through the endless driven assembly, so as to drive the clamping assembly 160 to make an endless reciprocating motion along the length direction of the slide rail 120, and the pressing wheel 156 can press or release the clamping assembly 160, so that the clamping assembly 160 can be switched between a clamping position for clamping the guide wire and/or the catheter and a release position for releasing the guide wire and/or the catheter. During the movement of the clamping assembly 160 along the first direction D1 parallel to the length direction of the sliding rail 120, the pressing wheel 156 can press the clamping assembly 160, so that the clamping assembly 160 is located at the clamping position to deliver the guide wire and/or the catheter along the first direction D1. During movement of clamping assembly 160 in a second direction D2, opposite first direction D1, pinch roller 156 can release clamping assembly 160 such that clamping assembly 160 is in a release position to release the guidewire and/or catheter. Therefore, according to the conveying device 100 of the present invention, the guide wire and/or the catheter can be stably conveyed, and the conveying device 100 has a simple structure, and can be miniaturized and lightened, and the production cost can be reduced.

As shown in fig. 2 and 3, the driving assembly includes a circulation driving motor (not shown), a circulation driving shaft 132 connected to the circulation driving motor, and a circulation driving gear 133 provided on the circulation driving shaft 132. The circulation driving motor is disposed on the base 110, and is disposed below the base 110. The circulation driving motor can drive the circulation driving shaft 132 to rotate the circulation driving gear 133. Preferably, the circulation driving shaft 132 is perpendicular to the length direction of the slide rail 120, i.e., the circulation driving shaft 132 is disposed in a vertical direction. The circulation drive gear 133 is disposed directly below the movable member 134 in the horizontal direction, and is disposed spaced apart from the movable member 134.

As shown in fig. 1 to 3, the endless driven assembly mainly includes a first endless driven assembly 141, a second endless driven assembly 142, a third endless driven assembly 143, and a fourth endless driven assembly 144.

The first and second endless driven

assemblies

141 and 142 are oppositely disposed at both sides of the movable member 134, and the first and

second racks

135 and 136 are correspondingly disposed at both sides of the movable member 134. The first rack gear 135 and the second rack gear 136 are each configured as a straight rack gear extending in a length direction of the slide rail 120 (i.e., extending in a horizontal direction), and the first rack gear 135 and the second rack gear 136 are the same size. The first endless driven assembly 141 is adapted to engage with the endless driving gear 133 and the first rack 135, and the second endless driven assembly 142 is adapted to engage with the endless driving gear 133 and the second rack 136, so that the movable member 134 can make an endless reciprocating motion along the length direction of the slide rail 120, which will be described in detail below.

The first endless driven assembly 141 includes a first driven shaft 145, a first driven gear 146, and a first partial gear 147. The first driven shaft 145 is parallel to the circulation driving shaft 132 and is disposed spaced apart from the circulation driving shaft 132. The first driven gear 146 and the first incomplete gear 147 are each provided on the first driven shaft 145 to rotate in synchronization with the first driven shaft 145. Specifically, the first incomplete gear 147 is generally configured in a fan-shaped structure, and its teeth are provided only on a circular arc surface of the fan shape. The first driven gear 146 and the first incomplete gear 147 are both disposed in the horizontal direction, and the first driven gear 146 is disposed below the first incomplete gear 147. The first driven gear 146 is engaged with the circulating drive gear 133, and the first partial gear 147 is engaged with the first rack 135. Therefore, the rotation of the circulating drive gear 133 can rotate the first driven gear 146, and the first driven gear 146 can rotate the first incomplete gear 147 via the first driven shaft 145. In the present embodiment, the first driven gear 146 and the circulation drive gear 133 are the same size so that the first driven gear 146 and the circulation drive gear 133 rotate in synchronization and in opposite directions.

The second endless driven assembly 142 includes a second driven shaft 148, a second driven gear 149, and a second partial gear 151. The second driven shaft 148 is parallel to the circulation driving shaft 132 and is disposed spaced apart from the circulation driving shaft 132. The second driven gear 149 and the second incomplete gear 151 are both provided on the second driven shaft 148 so as to rotate in synchronization with the second driven shaft 148. Specifically, the second incomplete gear 151 is configured substantially in a fan shape, and its teeth are provided only on a circular arc surface of the fan shape. The second driven gear 149 and the second incomplete gear 151 are both disposed in the horizontal direction, and the second driven gear 149 is disposed below the second incomplete gear 151. The second driven gear 149 is engaged with the circulating drive gear 133, and the second incomplete gear 151 is engaged with the second rack 136. Therefore, the rotation of the circulating drive gear 133 can rotate the second driven gear 149, and the second driven gear 149 can rotate the second incomplete gear 151 via the second driven shaft 148. In the present embodiment, the second driven gear 149 and the circulation drive gear 133 are the same size so that the second driven gear 149 and the circulation drive gear 133 rotate in synchronism and in opposite directions.

As shown in fig. 1 and 3, the first driven shaft 145 and the second driven shaft 148 are oppositely disposed on both sides of the movable piece 134 such that the first driven gear 146 and the second driven gear 149 are oppositely disposed on both sides of the movable piece 134, and the first driven gear 146 and the second driven gear 149 are oppositely disposed on both sides of the circulation drive gear 133, and the first incomplete gear 147 and the second incomplete gear 151 are oppositely disposed on both sides of the movable piece 134. The first driven gear 146 and the second driven gear 149 are the same size so that the first driven gear 146 and the second driven gear 149 rotate synchronously and in the same rotational direction. The first and second

incomplete gears

147 and 151 are the same in size, and the initial installation orientations of the second and first

incomplete gears

151 and 147 are identical, so that the first and second

incomplete gears

147 and 151 rotate synchronously and in the same rotational direction.

In the present embodiment, the engagement between the first incomplete gear 147 and the first rack 135 and the engagement between the second incomplete gear 151 and the second rack 136 are not performed simultaneously. Specifically, the engagement between the first incomplete gear 147 and the first rack 135 is simultaneous with the disengagement between the second incomplete gear 151 and the second rack 136, and the engagement between the second incomplete gear 151 and the second rack 136 is simultaneous with the disengagement between the first incomplete gear 147 and the first rack 135. Therefore, when the first incomplete gear 147 is engaged with the first rack 135, the movable member 134 can be moved in one of the first direction D1 and the second direction D2, and when the second incomplete gear 151 is engaged with the second rack 136, the movable member 134 can be moved in the other of the first direction D1 and the second direction D2.

The third endless driven assembly 143 includes a third driven shaft 152 and a third driven gear 153. The third driven shaft 152 is parallel to the circulation driving shaft 132 and is disposed spaced apart from the circulation driving shaft 132. The third driven gear 153 is provided on the third driven shaft 152 in the horizontal direction to rotate in synchronization with the third driven shaft 152. The third driven gear 153 is engaged with the first driven gear 146, so that the rotation of the first driven gear 146 can rotate the third driven gear 153. In the present embodiment, the third driven gear 153 and the first driven gear 146 are the same size so that the third driven gear 153 and the first driven gear 146 rotate in synchronization and in opposite directions.

The fourth cyclical driven assembly 144 further comprises a fourth driven shaft 154, a fourth driven gear 155 and a pressure wheel 156. The fourth driven shaft 154 is parallel to the circulation driving shaft 132 and is disposed spaced apart from the circulation driving shaft 132. The fourth driven gear 155 and the pressing wheel 156 are provided on the fourth driven shaft 154 to rotate in synchronization with the fourth driven shaft 154. The fourth driven gear 155 and the pressing wheel 156 are both disposed in the horizontal direction, and the fourth driven gear 155 is disposed under the pressing wheel 156. The fourth driven gear 155 is engaged with the third driven gear 153, so that the rotation of the third driven gear 153 can rotate the fourth driven gear 155. In the present embodiment, the fourth driven gear 155 and the third driven gear 153 are the same in size so that the fourth driven gear 155 and the third driven gear 153 rotate in synchronization and in opposite directions.

In the present embodiment, the first driven gear 146 and the fourth driven gear 155 are oppositely disposed at both sides of the third driven gear 153, and the first driven gear 146, the fourth driven gear 155 and the third driven gear 153 are equal in size such that the fourth driven gear 155 and the first driven gear 146 rotate in synchronization and in the same rotational direction. Accordingly, the pinch roller 156 and the first partial gear 147 rotate synchronously and in the same direction, and the pinch roller 156 can compress the clamping assembly 160 while the first partial gear 147 is engaged with the first rack 135, such that the clamping assembly 160 is in the clamping position to deliver the guide wire and/or catheter in the first direction D1. The pinch roller 156 can release the clamp assembly 160 while the second partial gear 151 is engaged with the second rack 136 such that the clamp assembly 160 is in the release position to release the guidewire and/or catheter.

As shown in fig. 1, 3 to 4, and 8 to 13, the cyclic driven assembly further includes a first limiting member 137 and a second limiting member 138 connected to the first limiting member 137. At least one of the first limiting member 137 and the second limiting member 138 is connected to the movable member 134. In the present embodiment, the first limiting member 137 is connected to the movable member 134, and the second limiting member 138 is connected to the first limiting member 137, for example, the second limiting member 138 may be connected to the first limiting member 137 through a fastening member. The clamping assembly 160 is limited between the first limiting member 137 and the second limiting member 138 in a direction perpendicular to the longitudinal direction of the slide rail 120, and the first limiting member 137 and the second limiting member 138 can move relatively.

As shown in fig. 2, 4 to 5, 8 to 9, and 12 to 13, the clamping assembly 160 includes a first clamping member 161, a second clamping member 162, and at least one elastic member 163. The first clamping member 161 and the second clamping member 162 are oppositely disposed and are limited between the first limiting member 137 and the second limiting member 138 in a direction perpendicular to the longitudinal direction of the slide rail 120. At least one elastic member 163 is disposed between the first clamp member 161 and the second clamp member 162, and is capable of applying an elastic force to the first clamp member 161 and the second clamp member 162 away from each other. The distance between the first clamp 161 and the second clamp 162 in the clamping position is smaller than the distance between the first clamp 161 and the second clamp 162 in the release position, so that the first clamp 161 and the second clamp 162 in the clamping position can clamp the guide wire and/or the catheter, and the first clamp 161 and the second clamp 162 in the release position can release the guide wire and/or the catheter.

As shown in fig. 4 and 5, each of the first clamping member 161 and the second clamping member 162 is configured in a semi-cylindrical shape, and the two are oppositely disposed so as to be able to form a cylindrical structure together. Clamping assembly 160 of fig. 1 and 2 is in a clamping position, i.e., first clamp 161 and second clamp 162 are in a clamping position, and under the pressure applied by pinch roller 156, first clamp 161 and second clamp 162 abut one another to clamp the guidewire and/or catheter. When clamping assembly 160 is in the release position, i.e., first clamp 161 and second clamp 162 are in the release position, pinch roller 156 is out of contact with clamping assembly 160 (specifically first clamp 161 and second clamp 162), and under the elastic force applied by elastic member 163, first clamp 161 and second clamp 162 are out of contact to be spaced apart by a distance, thereby releasing the guide wire and/or catheter.

As shown in fig. 5, the elastic member 163 is at least one of a compression spring, a spring plate, an elastic silicone tube, a torsion spring, and a resilient gasket. In the present embodiment, the elastic member 163 is a coil compression spring. Four resilient members 163 are shown in fig. 5 by way of example. When the number of the elastic members 163 is plural, the plural elastic members 163 may be uniformly disposed between the first clamping member 161 and the second clamping member 162, so that the elastic force applied to the first clamping member 161 and the second clamping member 162 is uniform, the clamping force applied to the guide wire and/or the catheter is suitable, and the catheter and/or the catheter can be smoothly conveyed without pressure injury.

The first clamping member 161 is provided with a first receiving groove extending in a length direction of the slide rail 120, the first receiving groove penetrating the entire length of the first clamping member 161. The second clamping member 162 is correspondingly provided with a second receiving groove 167 extending along the length direction of the slide rail 120, and the second receiving groove 167 penetrates the entire length of the second clamping member 162. The first receiving groove and the second receiving groove 167 are each configured as a groove having a semicircular section. The guide wire and/or the guide tube is sandwiched between the first receiving groove 166 and the second receiving groove 167 along the length direction of the slide rail 120. Thus, the contact area between the guide wire and/or catheter and the first clamp 161 and the second clamp 162 is large, and slippage is not likely to occur during the guide wire and/or catheter delivery.

In a modified embodiment, as shown in fig. 6 and 7, the clamping assembly 160 further includes a first flexible member 164 and a second flexible member 165, the first flexible member 164 is disposed in the first receiving groove 166 along the entire length of the first receiving groove 166, the second flexible member 165 is disposed in the second receiving groove 167 along the entire length of the second receiving groove 167, and the guide wire and/or the guide tube is sandwiched between the first flexible member 164 and the second flexible member 165 along the length of the slide rail 120. Specifically, the first receiving groove 166 and the second receiving groove 167 are each configured as a groove having a U-shaped cross section, and the openings of the first receiving groove 166 and the second receiving groove 167 are oppositely disposed. The first flexible member 164 and the second flexible member 165 are each configured as an elongated structure that conforms to the shape of the first receiving groove 166 and the second receiving groove 167. First flexible member 164 and second flexible member 165 may be made of a flexible material such as silicone or rubber. Preferably, first flexible member 164 and second flexible member 165 are made of a medical grade silicone material. Thereby, the contact area between the guide wire and/or catheter and the first clamp 161 and the second clamp 162 can be further increased, further reducing the possibility of slippage during the guide wire and/or catheter delivery.

As shown in fig. 5, the clamping assembly 160 further includes at least one positioning member 168, the positioning member 168 is coupled to the second clamping member 162, and the first clamping member 161 is correspondingly provided with at least one positioning hole (not shown in fig. 5, see positioning holes 169 in fig. 6 and 7) into which the positioning member 168 is movably inserted along a length direction thereof. The elastic member 163 is correspondingly sleeved on the outer peripheral side of the positioning member 168, and both ends of the elastic member 163 abut against the first clamping member 161 and the second clamping member 162, respectively, so that the first clamping member 161 and the second clamping member 162 can relatively move along the length direction of the positioning hole, that is, one of the first clamping member 161 and the second clamping member 162 can move relative to the other in the length direction of the positioning hole.

In the present embodiment, the second clamp 162 is connected to the first stopper 137 such that the first clamp 161 can move relative to the second clamp 162 along the length direction of the positioning hole by the elastic force of the elastic member 163. Specifically, as shown in fig. 10 and 11, the first limiting member 137 is provided with a second limiting groove 195, the second clamping member 162 is correspondingly provided with a second protruding portion 196, and the second protruding portion 196 is at least partially inserted into the second limiting groove 195 to connect the second clamping member 162 to the first limiting member 137. The clamping assembly 160 includes a plurality of positioning members 168, and the number of positioning holes and elastic members 163 is the same as the number of positioning members 168. In one embodiment, not shown, the positioning element is attached to the first clamping element and the second clamping element is correspondingly provided with at least one positioning hole.

As shown in fig. 1, 3, 12 and 15, the pinch roller 156 is provided with an arc-shaped pressing surface 157, and in a state where the pinch roller 156 presses the clamping assembly 160, the pressing surface 157 can be caught on an outer surface of at least one of the first and

second clamps

161 and 162 such that the first and

second clamps

161 and 162 approach each other to clamp the guide wire and/or the catheter. Preferably, the pressing surface 157 is in non-surface contact with the outer surfaces of the first clamp member 161 and the second clamp member 162 to reduce friction experienced by the guide wire and/or catheter during rotation. As shown in fig. 12, in a state where the pinch roller 156 pinches the grip assembly 160, the pinching surface 157 can be caught on the outer surfaces of the first and

second grips

161 and 162, and the pinching surface 157 is in line contact with the outer surfaces of the first and

second grips

161 and 162.

In a modified embodiment, the pressing surface 157 is in point contact with an outer surface of at least one of the first clamp 161 and the second clamp 162. As shown in fig. 16, the pressing surface 157 is in point contact with the outer surface of the first clamp 161 to further reduce friction experienced by the guide wire and/or catheter during rotation.

As shown in fig. 8 to 11, the delivery device 100 further includes a first pressure sensor 191 and a second pressure sensor 192, and the first pressure sensor 191 and the second pressure sensor 192 are both disposed between the movable member 134 and the first limiting member 137. The first and

second pressure sensors

191 and 192 are preferably diaphragm type pressure sensors, and each of the first and

second pressure sensors

191 and 192 may be adhered to at least one of the movable member 134 and the first stopper 137.

As shown in fig. 10 and 11, one end of the first limiting member 137 close to the movable member 134 is provided with a first limiting groove 193, the movable member 134 is correspondingly provided with a first protruding portion 194, and the first protruding portion 194 is at least partially inserted into the first limiting groove 193, so that the first limiting member 137 is connected to the movable member 134. In the present embodiment, the first pressure sensor 191 and the second pressure sensor 192 are each disposed between the outer surface of the first boss portion 194 and the inner surface of the first stopper groove 193. Specifically, the first pressure sensor 191 and the second pressure sensor 192 are oppositely disposed on both sides of the first boss portion 194. First pressure sensor 191 is closer to clamp assembly 160 (e.g., second clamp member 162) than second pressure sensor 192.

When the movable member 134 drives the clamping assembly 160 to move along the first direction D1, the outer surface of the first protrusion 182 and the inner surface of the first limiting groove 193 can press the first pressure sensor 191, so that the first pressure sensor 191 can detect the resistance force applied to the guide wire and/or the catheter moving along the first direction D1. When the movable member 134 drives the clamping assembly 160 to move along the second direction D2, the outer surface of the first protrusion 182 and the inner surface of the first limiting groove 193 can press the second pressure sensor 192, so that the second pressure sensor 192 can detect the resistance force applied to the guide wire and/or the catheter moving along the second direction D2. The change of the real-time resistance in the guide wire and/or catheter delivery process can be fed back to the difference change of the manipulating end through the change of the pressure difference value of the first pressure sensor 191 and the second pressure sensor 192, and the change of the real-time resistance in the guide wire and/or catheter delivery process can be fed back to the manipulating end.

As shown in fig. 1, 2 and 14, the delivery device 100 further includes a rotary power assembly 170. The rotational power assembly 170 is provided to the base 110, and the rotational power assembly 170 includes a rotational driving assembly and a rotational driven assembly connected to the rotational driving assembly. The rotary driven assembly is connected to the clamping assembly 160 for passing the guide wire and/or catheter therethrough, and the rotary drive assembly is capable of driving the rotary driven assembly to rotate such that the clamping assembly 160 rotates the guide wire and/or catheter while delivering the guide wire and/or catheter in the first direction D1.

The rotary drive assembly includes a rotary drive motor (not shown), a rotary drive shaft 174 connected to the rotary drive motor, and a rotary drive gear 175 provided on the rotary drive shaft 174. The rotation driving motor is provided to the base 110, and is disposed below the base 110. The rotary drive motor can drive the rotary drive shaft 174 to rotate such that the rotary drive shaft 174 rotates the rotary drive gear 175. The rotation driving shaft 174 is perpendicular to the length direction of the slide rail 120, i.e., the rotation driving shaft 174 is disposed in a vertical direction.

The rotary driven assembly includes a rotary driven gear 176 and a connector 177. The rotary driven gear 176 is engaged with the rotary drive gear 175, so that the rotation of the rotary drive gear 175 can rotate the rotary driven gear 176. In the present embodiment, the rotary drive gear 175 is disposed in the horizontal direction, the rotary driven gear 176 is disposed in the vertical direction, and both the rotary drive gear 175 and the rotary driven gear 176 are configured as bevel gears.

As shown in fig. 1-3, 9 and 13, the connector 177 is disposed along the length of the slide rail 120 and is used for passing a guide wire and/or a catheter. Specifically, the connector 177 is provided with an escape hole 184 for passing a guide wire and/or a catheter therethrough, and the escape hole 184 is configured as a circular through hole penetrating the entire length of the connector 177 in the length direction of the slide rail 120. The connector 177 can be a spline and the connector 177 is connected to the rotationally driven gear 176 and the clamping assembly 160 (see fig. 2) such that the rotationally driven gear 176 can rotate the clamping assembly 160 via the connector 177, thereby rotating the guidewire and/or catheter when the clamping assembly 160 is in the clamped position.

As shown in fig. 2, the movable member 134 is provided with a mounting hole 158 extending in the length direction of the slide rail 120. The mounting hole 158 is configured as a circular through-hole, and the link 177 passes through the mounting hole 158 and is disposed spaced apart from the movable member 134. The rotary driven gear 176 and the clamp assembly 160 are oppositely disposed at both ends of the movable member 134, and the rotary driven gear 176 is disposed spaced apart from the movable member 134. One end of the link 177 is connected to the rotary driven gear 176 to rotate in synchronization with the rotary driven gear 176. The other end of the connecting member 177 is connected to the clamping assembly 160, specifically to the first clamping member 161 and the second clamping member 162, to rotate synchronously with the clamping assembly 160, so that the guide wire and/or the catheter can be driven to rotate synchronously when the clamping assembly 160 is located at the clamping position, so that the guide wire and/or the catheter can be precisely rotated around the central axis thereof while moving in the first direction D1.

As shown in fig. 1-2 and 14, the rotary power assembly 170 further includes a bearing 178, an inner sleeve 179, an outer sleeve 181, a cover plate 182, and a bearing housing 183. The bottom end of the bearing housing 183 may be connected to the base 110 by a fastener, and the inner sleeve 179 is disposed at one side of the rotary driven gear 176 and is fitted over the outside of the connector 177. The bearing 178 is sleeved outside the inner tube 179, and the inner tube 179 together with the connector 177 is rotatable relative to the bearing 178. The outer sleeve 181 fits over the outside of the bearing 178, and the outer sleeve 181 extends through the bearing mount 183. The cover plate 182 is connected to the bearing housing 183 and presses the outer sleeve 181 against the bearing housing 183 while pressing the bearing 178 against the rotary driven gear 176.

A surgical robotic system according to the present invention may include one or two delivery devices 100. When the surgical robot system comprises two conveying devices 100, the two conveying devices 100 are arranged in series to convey the same guide wire and/or catheter, in the process that the clamping assembly 160 of one conveying device 100 is located at the clamping position to convey the guide wire and/or catheter along the first direction D1, the clamping assembly 160 of the other conveying device 100 is located at the releasing position to release the guide wire and/or catheter, so that continuous conveying of the guide wire and/or catheter is realized, and frequent starting, stopping and forward and reverse rotation of the circulating driving motor and the rotary driving motor are avoided.

According to the utility model discloses a conveying device, through setting up power component and clamping component, power component can drive clamping component and be circulating reciprocating motion along gliding length direction to clamping component can switch between the clamping position of pressing from both sides tight seal wire and/or pipe and the release position of release seal wire and/or pipe, with carrying seal wire and/or pipe, and conveying device's simple structure can realize miniaturization and lightweight, reduction in production cost. In addition, because the circulation driving motor and the rotation driving motor are both arranged below the base and are separated from other structures of the conveying device, the structure of the conveying device arranged above the base is sealed by adopting a box-type structure, and aseptic isolation is realized.

Unless defined otherwise, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Terms such as "disposed" and the like, as used herein, may refer to one element being directly attached to another element or one element being attached to another element through intervening elements. Features described herein in one embodiment may be applied to another embodiment, either alone or in combination with other features, unless the feature is otherwise inapplicable or otherwise stated in the other embodiment.

The present invention has been described in terms of the above embodiments, but it is to be understood that the above embodiments are for purposes of illustration and description only and are not intended to limit the invention to the described embodiments. Those skilled in the art will appreciate that numerous variations and modifications are possible in light of the teachings of the present invention, and are within the scope of the invention as claimed.

Claims

1. A conveyor apparatus, comprising:

a base;

a slide rail connected to the base;

wherein the driving assembly drives the movable part to move through the circulating driven assembly so as to drive the clamping assembly to do circulating reciprocating motion along the length direction of the slide rail, and the pinch roller can press or release the clamping assembly, so that the clamping assembly can be switched between a clamping position for clamping the guide wire and/or the guide pipe and a release position for releasing the guide wire and/or the guide pipe,

during the process that the clamping component moves along a first direction parallel to the length direction of the sliding rail, the pinch roller can compress the clamping component, so that the clamping component is positioned at the clamping position to convey the guide wire and/or the guide pipe along the first direction,

during movement of the clamping assembly in a second direction opposite the first direction, the pinch roller is capable of releasing the clamping assembly such that the clamping assembly is in the release position to release the guidewire and/or catheter.

2. The conveying apparatus as claimed in claim 1, wherein the driving assembly includes a circulation driving motor, a circulation driving shaft connected to the circulation driving motor, and a circulation driving gear provided on the circulation driving shaft, the circulation driving motor is provided on the base and can drive the circulation driving shaft to rotate the circulation driving gear, and the circulation driving shaft is perpendicular to the length direction of the slide rail.

3. The conveying device as claimed in claim 2, wherein the endless driven assembly includes a first endless driven assembly and a second endless driven assembly oppositely disposed on both sides of the movable member, the movable member is correspondingly provided with a first rack and a second rack on both sides thereof, the first endless driven assembly is configured to engage with the endless driving gear and the first rack, and the second endless driven assembly is configured to engage with the endless driving gear and the second rack, so that the movable member can make an endless reciprocating motion along a length direction of the slide rail.

4. The delivery device of claim 3,

the first cyclic driven assembly comprises a first driven shaft, a first driven gear and a first incomplete gear, the first driven gear and the first incomplete gear are both arranged on the first driven shaft, the first driven gear is meshed with the cyclic driving gear, the first incomplete gear is meshed with the first rack,

wherein the first incomplete gear and the second incomplete gear rotate synchronously and have the same rotation direction, and the engagement between the first incomplete gear and the first rack and the engagement between the second incomplete gear and the second rack do not simultaneously proceed.

5. The transport device of claim 4, wherein the endless driven assembly further comprises:

the pinch roller and the first incomplete gear synchronously rotate and have the same rotating direction, the pinch roller can press the clamping assembly when the first incomplete gear is meshed with the first rack, and the pinch roller can release the clamping assembly when the second incomplete gear is meshed with the second rack.

6. The transfer device of claim 5, wherein the first driven shaft, the second driven shaft, the third driven shaft, and the fourth driven shaft are all parallel to the cyclical drive shaft.

7. The conveying apparatus according to any one of claims 1 to 6, wherein the clamping assembly includes a first clamping member, a second clamping member, and at least one elastic member, the first clamping member and the second clamping member being disposed oppositely and being retained between the first retaining member and the second retaining member, the at least one elastic member being disposed between the first clamping member and the second clamping member and being capable of applying an elastic force to the first clamping member and the second clamping member away from each other, a distance between the first clamping member and the second clamping member in the clamping position being smaller than a distance between the first clamping member and the second clamping member in the release position.

8. The delivery device according to claim 7, wherein the first clamping member is provided with a first receiving groove extending in a longitudinal direction of the slide rail, the second clamping member is correspondingly provided with a second receiving groove extending in the longitudinal direction of the slide rail, and the guide wire and/or the guide tube is sandwiched between the first receiving groove and the second receiving groove in the longitudinal direction of the slide rail.

9. The delivery device of claim 8,

the clamping assembly further comprises a first flexible part and a second flexible part, the first flexible part is arranged in the first accommodating groove along the whole length of the first accommodating groove, the second flexible part is arranged in the second accommodating groove along the whole length of the second accommodating groove, the guide wire and/or the guide pipe is clamped between the first flexible part and the second flexible part along the length direction of the sliding rail, and/or the guide wire and/or the guide pipe is clamped between the first flexible part and the second flexible part along the length direction of the sliding rail

10. The delivery device of claim 7, wherein the pressure wheel is provided with an arcuate clamping surface that can be clamped against an outer surface of at least one of the first clamping member and the second clamping member in a state in which the pressure wheel is clamping the clamping assembly, such that the first clamping member and the second clamping member are brought close to each other to clamp the guide wire and/or the guide tube.

11. The transport device of claim 10, wherein the compression surface is in non-surface contact with an outer surface of at least one of the first clamp member and the second clamp member.

12. The delivery device of claim 7, further comprising a rotary power assembly disposed at the base, and including a rotary drive assembly and a rotary driven assembly connected to the rotary drive assembly, the rotary driven assembly being connected to the clamping assembly for passing the guide wire and/or catheter therethrough, the rotary drive assembly being configured to drive the rotary driven assembly in rotation such that the clamping assembly rotates the guide wire and/or catheter while delivering the guide wire and/or catheter in the first direction.

13. The transport device of claim 12, wherein the rotary drive assembly includes a rotary drive motor, a rotary drive shaft coupled to the rotary drive motor, and a rotary drive gear disposed on the rotary drive shaft, the rotary drive motor being disposed on the base and being capable of driving the rotary drive shaft to rotate the rotary drive gear.

14. The delivery device of claim 13, wherein the rotary driven assembly comprises a rotary driven gear in mesh with the rotary drive gear and a connector for passing the guide wire and/or catheter therethrough and connected to the rotary driven gear and the clamping assembly such that the rotary driven gear can rotate the clamping assembly via the connector.

15. The delivery device of claim 14,

the rotary driving shaft is perpendicular to the length direction of the slide rail, and/or

The rotary driving gear and the rotary driven gear are both bevel gears.

16. A surgical robotic system comprising a delivery device according to any one of claims 1 to 15.

17. A surgical robotic system as claimed in claim 16,

the surgical robot system includes one of the delivery devices, or

The surgical robot system comprises two delivery devices which are arranged in series to deliver the same guide wire and/or catheter, wherein during the process that the clamping assembly of one delivery device is positioned at the clamping position to deliver the guide wire and/or catheter along the first direction, the clamping assembly of the other delivery device is positioned at the releasing position to release the guide wire and/or catheter, so that continuous delivery of the guide wire and/or catheter is realized.