WO2024088347A1

WO2024088347A1 - Slave end execution device and medical system

Info

Publication number: WO2024088347A1
Application number: PCT/CN2023/126853
Authority: WO
Inventors: 李东靖; 汪四新; 张一�
Original assignee: 智程医疗科技（嘉兴）有限公司
Priority date: 2022-10-26
Filing date: 2023-10-26
Publication date: 2024-05-02

Abstract

A slave end execution device and a medical system. A slave end execution device used to convey a guide wire and/or a catheter, the slave-end execution device comprising a main body power apparatus, a mobile power apparatus, a first bearing apparatus and a first manipulation mechanism. The main body power apparatus comprises a main body driving mechanism. The mobile power apparatus comprises a first driving mechanism, and is used to move forward and backward along a conveying direction, driven by the main body driving mechanism. The first bearing apparatus moves synchronously with the mobile power apparatus, and is used to bear a medical device having a catheter. The first manipulation mechanism is disposed on the first bearing apparatus, and is used to control the guide wire to move forward and backward along the conveying direction, driven by the first driving mechanism.

Description

Execute devices and medical systems from the end

Technical Field

The present application generally relates to the technical field of surgical robots, and more particularly to a slave-end execution device for delivering a guide wire and/or a catheter and a medical system having the same.

Background technique

At present, the aging of the population is getting worse, and the incidence of cardiovascular and cerebrovascular diseases is increasing, which seriously affects people's life and health. In addition, traditional open chest and craniotomy surgery is highly traumatic to patients and takes a long time to recover after surgery.

With the continuous development of science and technology, various minimally invasive cardiovascular implant intervention surgeries have emerged. They are characterized by small incisions and short recovery time after surgery. The main surgical method is that doctors, under the guidance of DSA real-time images, use a delivery system to deliver implants such as artificial heart valves to the lesion through the human body's vascular channels for relevant treatment. However, current cardiovascular implant intervention treatments also have their limitations.

During the operation, DSA (Digital Subtraction Angiography) will emit X-rays, and the lead protective clothing worn by the doctor cannot completely protect the doctor. Doctors are prone to cancer and other diseases if they are exposed to radiation for a long time. Another situation is that the lead protective clothing is relatively heavy, and doctors wearing it for a long time will also cause a certain load on the body, affecting the operation. In addition, some implant intervention surgeries (such as aortic valve replacement) are complicated to operate, requiring the cooperation of multiple doctors, and sometimes doctors need to rely on experience and feeling to operate, which makes the operation difficult and risky.

Therefore, there is a need for a slave end-implementing device and a medical system for delivering a guidewire and/or a catheter to at least partially solve the above problems.

Summary of the invention

A series of simplified concepts are introduced in the Summary of the Invention, which will be further described in detail in the Detailed Description of the Invention. The Summary of the Invention of this application does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the scope of protection of the claimed technical solution.

In order to at least partially solve the above problems, the first aspect of the present application provides a slave end execution device for delivering a guide wire and/or a catheter, the slave end execution device comprising:

A main body power device, which is used to be installed beside the operating table and is immovable relative to the operating table, and the main body power device includes a main body driving mechanism for providing driving force;

A first carrying device, detachably connected to the mobile power device, and moving synchronously with the mobile power device along the conveying direction relative to the main power device, the first carrying device is used to carry a medical device, the medical device including the catheter; and

The first operating mechanism is arranged on the first carrying device, and is used for controlling the guide wire to move forward and backward relative to the first carrying device along the conveying direction under the drive of the first driving mechanism.

According to the present application, the doctor can control the slave end execution device of the slave end in the main control room, thereby avoiding exposure to radiation. The components of the slave end execution device for contacting the guide wire and/or catheter are passive components (no need to connect to a power source), can be configured as consumables, are easy to install, and can avoid infection.

Optionally, the mobile power device includes a second driving mechanism for providing driving force;

The first carrying device includes a second operating mechanism, the second operating mechanism is used to contact the medical device, and the second operating mechanism is connected to the second driving mechanism to operate the medical device to perform a medical function under the drive of the second driving mechanism.

According to the present application, the component of the slave end execution device for contacting the guide wire and/or catheter is a passive component (no power supply is required), can be configured as a consumable, is easy to install, and can avoid infection.

Optionally, the slave execution device further includes:

A moving assembly, arranged on the main body power device, the moving assembly is configured to be movable forward and backward relative to the main body power device along the conveying direction under the drive of the main body driving mechanism, wherein the moving power device is connected to the moving assembly;

A first transmission mechanism, connected between the first driving mechanism and the first operating mechanism, for transmitting the driving force of the first driving mechanism to the first operating mechanism; and

The second transmission mechanism is connected between the second driving mechanism and the second operating mechanism, and is used to transmit the driving force of the second driving mechanism to the second operating mechanism.

According to the present application, the passive components of the slave-end execution device are transmission-connected to the drive mechanism via a transmission structure.

Optionally,

The first operating mechanism comprises at least one pair of rollers arranged opposite to each other, the axes of the rollers are parallel to each other and the rollers are configured to be rotatable around their axes, and the pair of rollers are used to clamp the guide wire together.

The first transmission mechanism is connected between the first driving mechanism and at least one of the pair of rollers to rotate the at least one of the pair of rollers.

According to the present application, the guide wire is clamped by a pair of rollers, and the guide wire is transported by the rolling of the rollers.

Optionally, the first transmission mechanism includes:

A first power shaft, disposed on the mobile power device, wherein the first power shaft is configured to be rotatable relative to the mobile power device around its own axis;

A first transmission assembly, disposed in the mobile power device and connected between the first drive mechanism and the first power shaft, so that the first power shaft rotates under the drive of the first drive mechanism; and

The first power transmission mechanism is arranged on the first bearing device and connected between the first operating mechanism and the first power shaft so that the first power shaft drives the first operating mechanism to work.

According to the present application, the first transmission mechanism includes a first power shaft, which is simple to control.

Optionally, the first operating mechanism comprises:

A first operating mechanism base, connected to the first carrying device;

at least one first roller, disposed on the first operating mechanism base, the axis of the first roller being not parallel to the conveying direction, the first roller being configured to be rotatable about its axis relative to the first operating mechanism base, and

at least one second roller, disposed on the first operating mechanism base and arranged opposite to the first roller, so as to clamp the guide wire together with the first roller, the second roller being configured to be rotatable around its axis relative to the first operating mechanism base;

Wherein, the first roller and the second roller are both used to be connected to the first transmission mechanism so as to rotate under the drive of the first transmission mechanism, and the slave-end execution device is constructed so that the rotation direction of the first roller is opposite to the rotation direction of the second roller.

According to the present application, the first roller and the second roller are both configured as active rollers, so that the slave end actuator has sufficient driving force to transport the guide wire. In addition, the first roller and the second roller are driven by the same driving mechanism, which can ensure that the two rotate synchronously.

Optionally, the first operating mechanism further includes:

A second fixed seat, disposed on the first operating mechanism base, wherein the second roller is disposed on the second fixed seat; and

The first movable seat is arranged on the first operating mechanism base and is movable between a first position and a second position relative to the second fixed seat along a first direction, wherein the first roller is arranged In the first moving seat,

The first direction is perpendicular to the conveying direction and a plane defined by the axis of the first roller, and the distance between the first movable seat and the second fixed seat when the first movable seat is in the first position is smaller than the distance between the first movable seat and the second fixed seat when the first movable seat is in the second position.

According to the present application, the distance between the first roller and the second roller is adjustable. When the distance between the two is far, it is convenient to take and place the guide wire, and when the distance between the two is close, the guide wire can be clamped.

Optionally, the first operating mechanism further includes:

a first biasing assembly connected between the second fixed seat and the first movable seat, for providing a force to move the first movable seat away from the second fixed seat along the first direction; and

The first pressing mechanism is arranged on the first operating mechanism base and connected to the first movable seat, and is used for being operated by a user to make the first movable seat approach the second fixed seat along the first direction.

According to the present application, the distance between the first roller and the second roller is adjusted by the first biasing assembly and the first clamping mechanism.

Optionally, the first pressing mechanism includes:

a cam connected to the first operating mechanism base and rotatable relative to the first operating mechanism base about a rotation axis extending in a second direction, wherein the second direction is perpendicular to the first direction and parallel to a plane defined by the conveying direction and the axis of the first roller, and a circumferential surface of the cam is connected to a side of the first movable seat facing away from the second fixed seat;

A wrench is connected to the cam and is used for being operated by a user to rotate the cam relative to the first operating mechanism base.

According to the present application, the first clamping mechanism has a simple structure and stable performance.

Optionally,

A protrusion extending along the first direction is connected to a side of the first movable seat facing the cam and is used to contact the circumferential surface of the cam; and/or

The wrench is exposed from an outer surface of the first carrier.

According to the present application, the cam is connected to the first movable seat through a protrusion, so that the distance between the cam and the first movable seat is increased, which is convenient for operating the wrench. The wrench is exposed from the outer surface of the first bearing device, which is also convenient for users to operate the wrench.

Optionally, the first power transmission mechanism comprises a first transmission shaft, and the first transmission shaft is used to be connected to the first driving mechanism so as to rotate under the drive of the first driving mechanism;

The first operating mechanism also includes:

a first roller transmission mechanism, used to connect the first transmission shaft and the first roller, so that the rotation direction of the first roller is the same as the rotation direction of the first transmission shaft, and

The second roller transmission mechanism is used to connect the first transmission shaft and the second roller, so that the rotation direction of the second roller is opposite to the rotation direction of the first transmission shaft.

According to the present application, the first roller and the second roller are driven by different transmission mechanisms respectively, so that even if the transmission mechanism of one of them fails, the roller of the failed party can passively rotate under the action of friction force, without affecting the delivery of the guide wire, thereby greatly ensuring the stable performance of the equipment.

Optionally, the first roller transmission mechanism includes at least one first operating synchronous belt, the first transmission shaft and the first roller are both connected with a structure for connecting the first operating synchronous belt, and the slave-end execution device is constructed so that the first transmission shaft drives all the first rollers to rotate through the first operating synchronous belt.

According to the present application, the first roller transmission mechanism has a simple structure, low cost and stable performance.

Optionally, the first operating mechanism includes N first rollers and N first operating synchronous belts, where N is an integer greater than or equal to 1, wherein:

Each of the first rollers is connected to the first transmission shaft via a first steering synchronous belt; or

Each of a portion of the N first rollers is connected to the first transmission shaft via a first steering synchronous belt, and each of another portion of the N first rollers is connected to another first roller via a first steering synchronous belt.

According to the present application, the first roller transmission mechanism is flexibly arranged.

The first one of the N first rollers is connected to the first transmission shaft via a first steering synchronous belt, and each of the other first rollers is connected to the previous first roller via a first steering synchronous belt.

According to the present application, the first transmission shaft and all the first rollers are driven one by one in sequence, which can unify the specifications of the first rollers and reduce costs.

Optionally, the first operating mechanism further includes:

A first additional roller, disposed on the first movable seat, wherein the first additional roller is configured to be rotatable relative to the first movable seat about its axis;

The second additional roller is arranged on the second fixed seat and is opposite to the first additional roller. The second additional roller is configured to be rotatable about its axis relative to the second fixing seat so as to clamp the guide wire together with the first additional roller;

a first additional roller transmission mechanism, used for connecting the first additional roller and the Nth first roller, so that the first additional roller rotates in the same direction as the rotation direction of the first transmission shaft under the drive of the Nth first roller; and

An encoder is connected to the second additional roller and is used to detect a rotation angle of the second additional roller.

According to the present application, when the first transmission shaft and all the first rollers are driven one by one in sequence, it is possible to detect whether the first operating synchronous belt is slipping or damaged by the rotation angle detected by the encoder.

Optionally, the second additional roller has a second additional roller axle;

The mobile power device also includes a third rotating shaft, which is arranged on the mobile power device and is used to be connected to the second additional roller axle and rotate synchronously with the second additional roller axle, wherein the encoder is arranged on the third rotating shaft.

According to the present application, the encoder is connected to the passive component via the third rotating shaft, so that the passive component can be used as a consumable.

Optionally,

The first additional roller transmission mechanism is configured as a synchronous belt, and/or

The axis of the first additional roller is parallel to the axis of the first roller.

According to the present application, the first additional roller transmission mechanism has a simple structure, low cost and stable performance. The axis of the first additional roller is parallel to the axis of the first roller, which can simplify the design.

Optionally, the second roller transmission mechanism includes:

A fourth transmission shaft, arranged on the first operating mechanism base;

A second roller first transmission mechanism, used to connect the first transmission shaft and the fourth transmission shaft, so that the fourth transmission shaft rotates under the drive of the first transmission shaft; and

The second roller second transmission mechanism is used to connect the fourth transmission shaft and the second roller, so that the second roller rotates under the drive of the fourth transmission shaft.

According to the present application, by designing the fourth transmission shaft, the first transmission shaft drives the fourth transmission shaft to rotate, and then the fourth transmission shaft drives the second roller to rotate, so that the rotation direction of the second roller can be different from the rotation direction of the first transmission shaft.

Optionally, one of the second roller first transmission mechanism and the second roller second transmission mechanism is configured to be driven by a synchronous belt, and the second roller first transmission mechanism and the second roller second transmission mechanism are configured to be driven by a synchronous belt. The other one of the wheel second transmission mechanisms is configured to be driven by gears.

According to the present application, the synchronous belt transmission makes the rotation direction of the driven member the same as the rotation direction of the driving member, and the gear transmission makes the rotation direction of the driving member different from the rotation direction of the driving member, thereby making the rotation directions of the second roller and the first transmission shaft different.

Optionally, the component of the first roller transmission mechanism used for connecting the first transmission shaft and the component of the second roller transmission mechanism used for connecting the first transmission shaft are both synchronous belts.

According to the present application, the first transmission shaft is connected to the first roller transmission mechanism and the second roller transmission mechanism through a synchronous belt, which helps to simplify the design of the first transmission shaft.

Optionally, the first operating mechanism comprises:

an active roller component, disposed on the first bearing device, the active roller component comprising a coaxially connected active roller and an active gear, wherein the active gear is drivingly connected to the first power transmission mechanism so as to rotate relative to the first bearing device around the axis of the active gear itself under the action of the first power transmission mechanism; and

A passive roller component is arranged on the first bearing device, and the passive roller component includes a passive roller. The passive roller is arranged opposite to the active roller, and the passive roller is constructed to be rotatable around its own axis relative to the first bearing device and movable along a first direction relative to the active roller so as to be able to clamp the guide wire or release the guide wire with the active roller, wherein the first direction is perpendicular to the plane determined by the conveying direction and the axis of the passive roller.

According to the present application, among the pair of rollers clamping the guide wire, one is a driving wheel that rotates under the drive of the driving device, and the other is a passive wheel that rotates under the action of friction.

Optionally, the passive roller component further includes:

A fixing frame, the fixing frame is arranged on the first carrying device, the fixing frame has a third guide rail, and the third guide rail extends along the first direction;

an extrusion frame, the extrusion frame being disposed on the third guide rail and being movable along the third guide rail, and the passive roller being disposed on the extrusion frame; and

A first elastic member, wherein the first elastic member is connected between the fixing frame and the extrusion frame, and the first elastic member extends along the first direction, and is used for providing a force to make the extrusion frame approach the active roller along the first direction.

According to the present application, the passive roller component moves toward the active roller component under the action of the first elastic member, so that the active roller and the passive roller clamp the guide wire together.

Optionally, the first operating mechanism further comprises a joystick assembly, wherein the joystick assembly comprises include:

A manipulation portion, for operation by a user, wherein the manipulation portion is exposed from the first carrying device;

A pivoting portion, the pivoting portion is connected to the first carrying device, and the pivoting portion is configured to be rotatable around its own axis relative to the first carrying device;

an extension portion connected between the pivot portion and the operating portion so that the operating portion can rotate synchronously with the pivot portion around the axis of the pivot portion;

The pushing portion is arranged on the extending portion and is used to contact the extrusion frame, so that when the pivoting portion rotates, the pushing portion can push the extrusion frame away from the active roller along the first direction.

According to the present application, the operating rod assembly is used to move the passive roller member away from the active roller member, so that the guide wire can be taken and placed.

Optionally, the position of the first power transmission mechanism corresponds to the position of the first power shaft and is meshedly connected to the first power shaft. The first power transmission mechanism includes a transmission synchronous wheel, and a synchronous belt drive is formed between the first power transmission mechanism and the first operating mechanism.

According to the present application, the connection between the first power transmission mechanism and the first power shaft is stable.

Optionally, the second transmission mechanism includes:

A second power shaft, disposed on the mobile power device, the second power shaft being configured to be rotatable relative to the mobile power device around its own axis;

A second transmission assembly, disposed in the mobile power device and connected between the second drive mechanism and the second power shaft, so that the second power shaft rotates under the drive of the second drive mechanism; and

The second power transmission mechanism is arranged on the first bearing device and connected between the second operating mechanism and the second power shaft so that the second power shaft drives the second operating mechanism to work.

According to the present application, the second transmission mechanism includes a second power shaft, and the second transmission mechanism is easy to control.

Optionally, the first power shaft is arranged to penetrate the mobile power device, and one end of the first power shaft facing the first bearing device is transmission-connected to the first operating mechanism;

The first transmission assembly is connected between the first driving mechanism and an end of the first power shaft facing away from the first bearing device;

The second power shaft is arranged to penetrate the mobile power device, and one end of the second power shaft facing the first bearing device is transmission-connected to the second operating mechanism;

The second transmission assembly is connected to the second drive mechanism and the second power shaft in the opposite direction. between one end of the first carrying device.

According to the present application, the first power shaft is stably connected to the first transmission assembly, and the second power shaft is stably connected to the second transmission assembly.

Optionally, the first carrying device comprises a functional operating seat for mounting the medical device, the functional operating seat comprises a functional operating seat first side and a functional operating seat second side which are arranged opposite to each other, wherein the medical device is detachably connected to the functional operating seat first side, and the functional operating seat is provided with an operating port;

The second operating mechanism comprises:

a functional gear, the functional gear being rotatably disposed on the second side of the functional operating seat and at least partially exposed from the operating port to the first side of the functional operating seat so as to be meshed with the medical device, and

A bevel gear is coaxially connected to the functional gear, and the bevel gear is used to connect to the second power transmission mechanism.

According to the present application, the second operating mechanism has a compact structure.

Optionally, the first carrying device further includes:

A first bracket, the first bracket is arranged on a first side of the functional operating seat;

A second bracket, the second bracket is arranged at a first side of the functional operating seat and is spaced apart from the first bracket along the conveying direction so as to support the medical device together with the first bracket, and the second bracket is configured to be movable relative to the functional operating seat along the conveying direction;

A second elastic member is connected to the second bracket and is used to apply a force to the second bracket to make the second bracket move away from the first bracket along the conveying direction.

According to the present application, the supporting structure of the slave execution device for carrying the medical device is compact.

Optionally, the position of the second power transmission mechanism corresponds to the position of the second power shaft, and is meshingly connected to the second power shaft. The second power transmission mechanism includes a transmission gear, and a gear meshing transmission is formed between the second power transmission mechanism and the second operating mechanism.

According to the present application, the second power transmission mechanism is stably connected to the second power shaft.

Optionally, the main power device further includes:

A frame, wherein the main driving mechanism and the moving assembly are both arranged on the frame;

a first guide rail, the first guide rail being arranged on the frame and extending along the conveying direction;

A lead screw pair, the lead screw pair comprising a lead screw and a lead screw nut, the lead screw being arranged on the frame and extending along the conveying direction;

A main body transmission assembly, wherein the main body transmission assembly is connected between the main body drive mechanism and the lead screw, so that the lead screw rotates around its own axis under the drive of the main body drive mechanism,

Wherein, the moving assembly is connected to the lead screw nut and the first guide rail, and is configured to be movable along the first guide rail, and the main driving mechanism is transmission-connected to the lead screw to drive the lead screw nut to move along the lead screw, thereby driving the moving assembly to move.

According to the present application, the active power device has a compact structure, simple control and stable performance.

Optionally, the moving component comprises:

A moving frame connected to the lead screw nut, the moving frame having two end walls spaced apart along the conveying direction and a second guide rail disposed between the two end walls, the second guide rail extending along the conveying direction;

a movable seat, the movable seat being disposed on the second guide rail and movable along the second guide rail, the protrusion being disposed on the movable seat; and

A force sensor is disposed between the movable seat and at least one of the two end walls, and the force sensor abuts against both the movable seat and at least one of the two end walls to sense the resistance encountered by the movable seat when the catheter is transported.

According to the present application, the moving assembly has a compact structure. The force sensor can measure the resistance encountered when the catheter is delivered, so that the user can better control the delivery of the catheter.

Optionally,

The slave-end execution device further comprises a guide assembly, which is arranged in front of the first operating mechanism along the conveying direction.

The guide assembly includes at least one pair of rollers arranged opposite to each other, the axes of the rollers are parallel to each other and the rollers are configured to be rotatable around their own axes, and the pair of rollers are used to jointly clamp the guide wire and/or catheter.

According to the present application, the guide component has a guiding effect on the delivery of the guide wire and/or catheter.

Optionally, the slave-end execution device also includes a second carrying device, which is arranged on the main power device and is located in front of the first carrying device along the conveying direction. The second carrying device has a guide assembly, and the guide assembly is used to guide the guide wire and/or catheter.

According to the present application, the guide assembly is arranged before the first operating mechanism to guide the delivery of the guide wire and/or catheter.

Optionally,

The second bearing device also includes a support seat, which is connected to the mobile power device. Place;

The guide assembly comprises:

a catheter guiding mechanism, the catheter guiding mechanism being arranged on the support seat so as to be able to clamp or release the catheter, and

A catheter supporting mechanism is disposed on the supporting seat and is configured to allow the catheter to pass therethrough so as to support the catheter.

According to the present application, the guide assembly has the dual functions of guiding and supporting.

Optionally, the catheter guiding mechanism comprises:

A first guide roller, the first guide roller is disposed on the support seat, and the first guide roller is configured to be rotatable relative to the support seat around its own axis; and

A second guide roller, the second guide roller is arranged on the support seat, the second guide roller is arranged opposite to the first guide roller, the second guide roller is constructed to be rotatable around its own axis relative to the support seat, and is constructed to be movable relative to the first guide roller along a first additional direction so as to be able to clamp or release the guide wire and/or catheter with the first guide roller, wherein the first additional direction is perpendicular to the conveying direction and the plane determined by the axis of the second guide roller.

According to the present application, the catheter guiding mechanism guides the guide wire and/or the catheter by clamping the guide wire and/or the catheter through a pair of rollers.

Optionally, the second carrying device further includes:

A fixing block, the fixing block is arranged on the supporting seat, the fixing block has a guide groove, and the guide groove extends along the first additional direction;

a pushing block, wherein at least a portion of the pushing block extends into the guide groove, and the second guide roller is disposed on the pushing block;

A third elastic member is arranged in the guide groove and connected between the fixed block and the pushing block, and the third elastic member extends along the first additional direction to apply a force to the pushing block to make the pushing block approach the first guide roller along the first additional direction.

According to the present application, the third elastic member enables the two guide rollers to clamp the guide wire and/or the catheter.

Optionally, the slave execution device further includes:

A second power assembly, for installation beside an operating table and being immovable relative to the operating table, the second power assembly comprising a fourth driving mechanism for providing driving force; and

a second conveying assembly, detachably connected to the second power assembly, for conveying the guidewire and/or catheter under the drive of the fourth driving mechanism;

The second power assembly is used to be installed along the conveying direction of the guide wire and/or catheter. In front of the main power device.

According to the present application, the second delivery component is used to support and assist in delivering the guide wire and/or catheter at the front end.

Optionally, the second conveying assembly comprises:

a second conveying assembly base, detachably connected to the second power assembly;

At least one third roller is disposed on the second conveying assembly base, and the axis of the third roller is not parallel to the conveying direction;

at least one fourth roller, disposed on the second conveying assembly base and arranged opposite to the third roller, so as to clamp the guide wire and/or catheter together with the third roller;

The third roller transmission mechanism is arranged on the base of the second conveying assembly and is used to connect with the fourth driving mechanism and the third roller to drive the third roller to rotate under the drive of the fourth driving mechanism.

According to the present application, the third roller is an active roller, and the fourth roller is a passive roller.

Optionally, the second conveying assembly further includes:

A third fixed seat, disposed on the second conveying assembly base, wherein the third roller and the third roller transmission mechanism are disposed on the third fixed seat; and

a fourth movable seat, which is arranged on the second conveying assembly base and is movable between a third position and a fourth position relative to the third fixed seat along a first additional direction, wherein the fourth roller is arranged on the fourth movable seat,

Wherein, the first additional direction is perpendicular to the conveying direction and the plane determined by the axis of the third roller, and the distance between the fourth movable seat and the third fixed seat when in the third position is smaller than the distance between the fourth movable seat and the third fixed seat when in the fourth position.

According to the present application, the distance between the third roller and the fourth roller is adjustable, so as to adapt to catheters of different sizes.

Optionally,

The second conveying assembly further includes a positioning mechanism, which is disposed on the fourth moving seat.

The second conveying assembly base includes a third clamping portion and a fourth clamping portion arranged along the first additional direction,

The second conveying assembly is constructed such that when the locking mechanism engages with the third locking portion, the fourth movable seat is located at the third position relative to the third fixed seat, and when the locking mechanism engages with the fourth locking portion, the fourth movable seat is located at the fourth position relative to the third fixed seat.

According to the present application, the combination of the locking mechanism and the locking portion enables the fourth movable seat to be stably maintained at the third position or the fourth position.

Optionally, it is characterized in that

The locking mechanism comprises a locking member,

The third locking portion and the fourth locking portion are configured to include locking grooves having a shape matching the outer shape of the locking member to accommodate the locking member.

According to the present application, the engagement method between the locking member and the locking portion has stable performance.

Optionally,

The fourth movable seat comprises a first movable seat side and a second movable seat side which are arranged in opposite directions along the axis of the third roller.

The third clamping portion and the fourth clamping portion are located on one side of the second side of the moving seat of the fourth moving seat, the clamping groove of the third clamping portion and the clamping groove of the fourth clamping portion are configured as through grooves along the axial direction of the third roller and are connected along the first direction,

The locking mechanism also includes:

an operating member for operation by a user, wherein the operating member is movable relative to the fourth movable seat along the axis direction of the third roller and is immovable relative to the fourth movable seat along the first additional direction, wherein the operating member comprises a first operating member portion located at a first side of the movable seat and a second operating member portion located at a second side of the movable seat, wherein the locking member is connected to the second operating member portion, and

A fourth biasing assembly is connected between the first side of the moving seat and the first portion of the operating member, and is used to apply a force to the operating member to move toward the first side of the moving seat.

According to the present application, the components used for locking are compact in structure and the locking operation is simple.

Optionally,

The fourth mobile seat also includes:

a moving seat through hole, the moving seat through hole communicating with the first side of the moving seat and the second side of the moving seat, and

A blind hole of the movable seat, the opening of which is located on the first side of the movable seat;

The fourth biasing component is configured as an elastic component disposed in the blind hole of the moving seat;

The operating member comprises:

An operating portion, used for user operation, located on the first side of the mobile base,

A connecting portion connected to the operating portion, extending from the first side of the moving seat through the moving The seat through hole extends to the second side of the movable seat, and

An action portion connected to the operating portion and configured to extend into the blind hole of the moving seat to squeeze the fourth biasing component

The locking member is connected to the connecting portion at the second side of the moving seat.

According to the present application, the locking mechanism has a compact structure and stable performance.

Optionally, the second conveying assembly further includes:

a fourth roller seat connected to the fourth movable seat and movable relative to the fourth movable seat along the first additional direction, wherein the fourth roller is disposed on the fourth roller seat; and

The third biasing assembly is connected between the fourth roller seat and the fourth moving seat, and is used for applying a force to the fourth roller seat to move toward the third roller.

According to the present application, the third biasing assembly pushes the fourth roller toward the third roller, which is beneficial for clamping the guidewire and/or catheter.

Optionally, the third roller transmission mechanism includes:

a third transmission shaft, disposed on the second conveying assembly base and connected to the fourth driving mechanism to rotate under the drive of the fourth driving mechanism;

The third transmission assembly is connected to the third transmission shaft and the third roller respectively, and is used to make the third roller rotate under the drive of the third transmission shaft.

Further, the third transmission assembly is configured as a gear assembly.

According to the present application, the driving method of the third roller is simple and has stable performance.

A second aspect of the present application provides a medical system, comprising:

A first bracket is used to be arranged beside an operating table;

The slave execution device according to any one of the above technical solutions, wherein the main power device is connected to the first bracket; and

A medical device is detachably connected to the first carrying device.

Optionally, the first support is configured as a robotic arm, and the robotic arm is configured to be movable relative to the operating bed in at least one spatial dimension.

According to the present application, the first bracket is configured as a mechanical arm, so that the slave end execution device can be adjusted. Position and angle.

A third aspect of the present application provides a medical system, characterized by comprising:

A first bracket is used to be arranged beside an operating table;

A second stent is used to be arranged beside the operating table and is located in front of the first stent along the conveying direction of the guide wire and/or the catheter;

A slave-end execution device according to any one of the above technical solutions including a second conveying assembly, wherein the main power device is connected to the first bracket, and the second power assembly is connected to the second bracket; and

A medical device is detachably connected to the first carrying device.

Optionally, the first support and/or the second support is configured as a robotic arm, and the robotic arm is configured to be movable relative to the operating bed in at least one spatial dimension.

According to the present application, the first bracket and/or the second bracket is configured as a robotic arm, so that the position and angle of the slave end execution device can be adjusted.

Optionally, the medical system further comprises:

Host operating equipment; and

A processor module is signal-connected to both the master-end operating device and the slave-end execution device.

According to the present application, the doctor can operate the device on the master side to control the slave side to execute the device.

BRIEF DESCRIPTION OF THE DRAWINGS

The following drawings of the present application are used as a part of the present application for understanding the present application. The drawings show the implementation modes of the present application and the description thereof, and are used to explain the principle of the present application.

In the attached figure:

FIG1 is a perspective schematic diagram of a medical system according to a first embodiment of the present application;

FIG2 is a perspective exploded schematic diagram of a slave execution device according to the first embodiment of the present application;

FIG3 is an exploded schematic diagram of the rear consumables box shown in FIG2 ;

4 and 5 are schematic diagrams of some components of the slave execution device shown in FIG. 2 , showing a main power device and a mobile power device;

FIG6 is an exploded schematic diagram of some components of the slave execution device shown in FIG2 , showing a main power device and a mobile power device;

FIG7 is an exploded schematic diagram of the bearing base shown in FIG3 , showing a snap-on assembly;

8 and 9 are schematic diagrams of the internal structure of the main power device shown in FIG. 2 ;

FIG10 is an exploded schematic diagram of the moving assembly shown in FIG8 ;

FIG11 is a schematic diagram of the internal structure of the mobile power device shown in FIG6;

FIG12 is another exploded schematic diagram of the bearing base shown in FIG3 , showing the first power transmission mechanism and the second power transmission mechanism;

FIG13 is a schematic diagram of removing the first operating mechanism shown in FIG2 from the first carrying device;

FIG14 is a schematic diagram of the first operating mechanism shown in FIG2 when it is placed in the first carrying device;

FIG15 is a perspective exploded schematic diagram of the first operating mechanism shown in FIG2 ;

FIG16 is a bottom view of the first operating mechanism shown in FIG2;

FIG17 is another exploded perspective view of the first operating mechanism shown in FIG2 ;

FIG18 is another exploded perspective view of the first operating mechanism shown in FIG2 ;

FIG19 is a bottom view of some components of the first operating mechanism shown in FIG2 , wherein the clamping mechanism has clamped the first movable wheel set to the first fixed wheel set;

FIG20 is a bottom view of some components of the first operating mechanism shown in FIG2 , wherein the pressing mechanism does not press the first movable wheel set to the first fixed wheel set;

FIG21 is a perspective schematic diagram of a first movable wheel set of the first operating mechanism shown in FIG2 ;

FIG22 is a perspective schematic diagram of a first fixed wheel assembly of the first operating mechanism shown in FIG2 ;

23 is a schematic diagram of some components of the rear consumables box shown in FIG. 3 , showing a functional operating seat and a second operating mechanism;

FIG24 is an exploded schematic diagram of the components shown in FIG23;

FIG25 is a perspective schematic diagram of the second conveying assembly shown in FIG2 ;

FIG26 is a perspective exploded schematic diagram of the second conveying assembly shown in FIG2 ;

FIG27 is a bottom perspective exploded schematic diagram of the second conveying assembly shown in FIG2 ;

FIG28 is a bottom perspective schematic diagram of the second conveying assembly shown in FIG2 , wherein the locking mechanism is engaged with the fourth locking portion;

FIG29 is a bottom perspective schematic diagram of the second conveying assembly shown in FIG2 , wherein the locking mechanism is disengaged from the locking portion;

FIG30 is a bottom perspective schematic diagram of the second conveying assembly shown in FIG2 , wherein the locking mechanism is engaged with the third locking portion;

FIG31 is a perspective schematic diagram of the second movable wheel assembly shown in FIG26;

FIG32 is a perspective exploded schematic diagram of the second movable wheel assembly shown in FIG26;

FIG33 is a perspective exploded schematic diagram of some components of the second movable wheel assembly shown in FIG26 , wherein a locking mechanism and a fourth movable seat are shown;

FIG. 34 is a schematic cross-sectional view of the components shown in FIG. 33 after assembly.

FIG35 is an overall schematic diagram of a slave execution device according to a second embodiment of the present application;

36 and 37 are schematic diagrams of some components of the slave execution device shown in FIG. 35 , showing a main power device and a mobile power device;

FIG38 is an exploded schematic diagram of some components of the slave execution device shown in FIG35 , showing a main power device and a mobile power device;

39 and 40 are schematic diagrams of the internal structure of the main power device of the slave execution device shown in FIG. 35 ;

FIG41 is an exploded schematic diagram of the moving assembly shown in FIG39;

42 and 43 are schematic diagrams of the internal structure of the mobile power device shown in FIG. 35 ;

FIG44 is an overall schematic diagram of the first carrying device shown in FIG35;

FIG45 is an exploded schematic diagram of the first carrying device shown in FIG35 ;

FIG46 is an exploded schematic diagram of the bearing base shown in FIG45 , showing a snap-on assembly;

FIG47 is another exploded schematic diagram of the bearing base shown in FIG45 , showing the first power transmission mechanism and the second power transmission mechanism;

48 to 50 are schematic diagrams of the first operating mechanism shown in FIG. 45 ;

FIG51 is a schematic diagram of the passive roller member shown in FIG49;

FIG52 is an exploded schematic diagram of the passive roller component shown in FIG51;

53 and 54 are schematic diagrams of the functional operating seat shown in FIG. 45 ;

FIG55 is an exploded schematic diagram of the functional operating seat shown in FIG45;

56 and 57 are schematic diagrams of the second carrying device shown in FIG. 35 ;

Figure 58 is a partially exploded schematic diagram of the second carrying device shown in Figure 56.

Description of reference numerals:
10: Medical equipment
11: Catheter
12: Guidewire
13: Medical Functional Institutions
14: Second power assembly
15: Rear consumables box
17: First bracket
18: Open window
19: Second bracket
30/93: First operating mechanism
30A: First moving wheel set
30B: First fixed wheel set
31: First operating mechanism base
31C: First base channel
32: First bias component
32A: First spring blind hole
33: First clamping mechanism
34: First mobile seat
35: Second fixed seat
36: Cam
36A: Cam seat
37: Wrench
38: Bump
38A: Bump through slot
41/41A/41B: First roller
41X: First roller shaft
42/42A/42B: Second roller
43: First additional roller
44: Second additional roller
44A: Second additional roller axle
46: First additional roller transmission mechanism
47: First additional roller axle
48: First guide rod
48A: First guide hole
48B: First stopper
49: Synchronous belt clamp
51: First roller transmission mechanism
52: Second roller transmission mechanism
53/53A/53B: First control timing belt
55: Fourth transmission shaft
56: Second roller first transmission mechanism
57: Second roller second transmission mechanism
57A/57B/57C: Gear
60: Second conveying component
60A: Second moving wheel set
60B: Second fixed wheel set
61: Second conveyor assembly base
62: Mobile seat through hole
63: The third fixed seat
64: Fourth mobile seat
64A: First side of mobile seat
64B: Second side of mobile seat
65: Cardboard
66A: Third card position
66B: Fourth position
67: Fourth Rail
68: Second guide rod
68A: Second guide hole
68B: Second blocking member
69: Mobile seat blind hole
71: Third bias component
71A: Third spring blind hole
72: Fourth bias component
73/73A/73B: Third roller
74/74A/74B: Fourth roller
75: The third roller transmission mechanism
76: Fourth roller seat
77: Third transmission shaft
78: Third transmission assembly
78A/78B/78C: Gear
80: Positioning mechanism
81: Card position piece
82: Operating parts
82A: Operation part 1
82B: Operation part 2
83: Operation Department
84: Connection
85: Action Department
86: Arc groove
87: Second conveyor assembly base part 1
87A: Main body
87B: Bottom plate
87C: Second base channel
87D: Bottom plate through hole
88: Second conveyor assembly base part 2
89A/89B: Gap
90/290: Second operating mechanism
91/291: Mobile components
92: Main transmission assembly
94: First transmission assembly
95: Second transmission assembly
96: Guide assembly
97: Support structure
98: Second bias component
100/200: slave execution device
110/210: Main power unit
111: Rack
112: Shell
113: Long groove
114: First rail
115: Screw
116: Screw nut
124: Main driving mechanism
126: Main driven wheel
127: Main synchronous belt
117: Mobile rack
118: End wall
119: Second rail
120: Mobile seat
121: Protrusion
132: Linear bearings
140/240: Mobile power unit
141: Connecting frame
142: Base
153: Buckle seat
143: First drive mechanism
144: Second driving mechanism
145: First power shaft
147: First prime mover
148: First driven wheel
149: First synchronous belt
146: Second power shaft
151: Second driven wheel
152: Second synchronous belt
160/260: First load-bearing device
161/261: Carrying base
161A/261A: The first part of the bearing base
161B/261B: The second part of the bearing base
162: Functional control seat
164: Card assembly
165/265: First power transmission mechanism
166/266: Second power transmission mechanism
171: Operation port
175: First bracket
176: Second bracket
177: Second elastic member
178: Connecting seat
179: Bottom bracket
172: Functional gear
173: Bevel gear
234: Pull pressure sensor
261C: Gap
262A: Flip
300: Medical System
1641: Knob
1642: Buckle
1643: Axis
1644: Damping parts
161653: Cover
1651: First limit frame
1652: First bearing
1653: First transmission shaft
1654: Transmission synchronous wheel
1661: Second limit frame
1662: Second transmission shaft
1663: Second bearing
1664: Transmission gear
1721: Gear seat
1722: Third bearing
1781: Channel
DF: conveying direction
DF1: First conveying direction
DF2: Second conveying direction
D1: First direction
D11: First additional direction
D2: Second direction
D21: Second additional direction

Detailed ways

In the following description, a large number of specific details are provided to provide a more thorough understanding of the present application. However, it is apparent to those skilled in the art that the present application can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present application, some technical features well known in the art are not described.

In order to thoroughly understand the present application, a detailed description will be provided in the following description. It should be understood that these embodiments are provided to make the disclosure of the present application thorough and complete, and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art. Obviously, the implementation of the embodiments of the present application is not limited to the specific details familiar to those skilled in the art. The preferred embodiments of the present application are described in detail below, but in addition to these detailed descriptions, the present application may also have other embodiments.

Ordinal numbers such as "first" and "second" cited in this application are merely identifiers and do not have any other meaning, such as a specific order, etc. Moreover, for example, the term "first component" itself does not imply the existence of a "second component", and the term "second component" itself does not imply the existence of a "first component". The use of the words "first", "second", and "third" does not indicate any order, and these words can be interpreted as names.

It should be noted that the terms "upper", "lower", "front", "back", "left", "right", "inside", "outside" and similar expressions used in this application are for illustrative purposes only and are not limiting.

The present application provides a slave-end execution device (slave-end delivery apparatus) of a surgical robot for delivering a guide wire and/or a catheter, and a medical system (surgical robot system) using the slave-end execution device.

Now, exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings.

First embodiment

As shown in Figures 1 and 2, in a first embodiment of the present application, a medical system 300 includes a first bracket 17, a slave-end execution device 200 according to a preferred embodiment of the present application, and a medical device 10. Preferably, the medical system 300 also includes a second bracket 19. The second bracket 19 is located in front of the first bracket 17 along the delivery direction DF of the guide wire 12 and/or the catheter 11. When in use, the first bracket 17 and the second bracket 19 are arranged next to the operating bed for installing the slave-end execution device 200. For example, the first bracket 17 and the second bracket 19 can be configured as a robotic arm, such as a passive robotic arm. Slave-end execution device The device 200 is used to deliver the guide wire 12 and/or the catheter 11. The robot arm has joints and can move in multiple spatial dimensions relative to the operating table, so that the position and angle of the slave end actuator 200 can be adjusted.

In the present application, the direction in which the guidewire 12 and/or catheter 11 enters the blood vessel is the front (front end), and the direction in which the guidewire 12 and/or catheter 11 exits the blood vessel is the back (rear end).

Preferably, the medical system 300 also includes a master-end operating device and a processor module. The master-end operating device is arranged in the doctor's studio for manual operation by the doctor. For example, the master-end operating device may be a doctor's operating table. The processor module is signal-connected to both the master-end operating device and the slave-end execution device 200. The processor module may be a control device such as a central processing unit or a computer. After receiving the command signal from the master-end operating device, the processor module processes the command signal and sends it to the slave-end execution device 100, or directly sends the command signal to the slave-end execution device 100. After receiving the signal transmitted by the processor module, the slave-end execution device 100 performs a corresponding action in response to the action of the master-end operating device, so that the doctor can control the slave-end execution device 200 at the master-end operating device.

As shown in FIG. 1 and FIG. 2 , in a preferred embodiment, the slave execution device 200 includes a main power device 210 , a mobile power device 240 , a first carrying device 260 and a first operating mechanism 30 .

The main power device 210 is used to be installed beside the operating bed and is immovable relative to the operating bed. For example, the main power device 210 can be installed to the first bracket 17 so that the main power device 210 is immovable relative to the operating bed. The main power device 210 includes a main driving mechanism for providing driving force. The mobile power device 240 is connected to the main power device 210 and is used to move forward and backward relative to the main power device 210 along the conveying direction DF of the guide wire 12 and/or the catheter 11 under the drive of the main driving mechanism. The mobile power device 240 includes a first driving mechanism for providing driving force. The first bearing device 260 is used to carry the medical device 10, and the medical device 10 has a catheter 11. The first bearing device 260 is detachably connected to the mobile power device 240 and moves synchronously with the mobile power device 240 along the conveying direction DF relative to the main power device 210. The first operating mechanism 30 is connected to the first bearing device 260 and is used to control the conveying of the guide wire 12 under the drive of the first driving mechanism, that is, to control the guide wire 12 to move forward and backward relative to the first bearing device 260 along the conveying direction DF. The first operating mechanism 30 is located at the rear end of the first carrying device 260 along the conveying direction DF, or in other words, the first operating mechanism 30 is used to be arranged at the rear of the medical device 10 .

It can be understood that the conveying direction DF is a bidirectional direction, including a first conveying direction DF1 (forward direction) and a second conveying direction DF2 (backward direction), and the forward direction DF1 is opposite to the backward direction DF2.

The mobile power device 240 includes a second driving mechanism for providing driving force. Removably connected to the first carrying device 260. As shown in Fig. 3, the first carrying device 260 includes a second operating mechanism 290, which is used to contact the medical device 10. The second operating mechanism 290 is connected to the second driving mechanism to operate the medical device 10 to perform a medical function under the drive of the second driving mechanism.

The medical device 10 is, for example, configured to be used for delivering an artificial valve, and may provide a catheter 11. For example, the medical device 10 is a valve delivery device functional handle, which is used to perform functions such as releasing or recovering an artificial valve, and to achieve relative movement and bending of the inner and outer shaft sheaths. As shown in FIG2 , the medical device 10 has at least one set of medical function mechanisms 13. When the medical function mechanisms 13 are working, the medical device 10 performs the intended medical function. For example. The medical function mechanism 13 is configured as an operating gear 13 disposed on the periphery of the medical device 10. When the operating gear 13 rotates, the operating gear 13 drives the mechanism inside the medical device 10 to work, so as to achieve the intended medical function.

Preferably, the slave-end execution device 200 also includes a second power assembly 14 and a second conveying assembly 60. The second power assembly 14 is used to be installed next to the operating bed and is immovable relative to the operating bed. For example, the second power assembly 14 can be installed to the second bracket 19 so that the second power assembly 14 is immovable relative to the operating bed. The second power assembly 14 includes a fourth drive mechanism (not shown) for providing a driving force. The second conveying assembly 60 is detachably connected to the second power assembly 14, and is used to convey the guide wire 12 and/or the catheter 11 under the drive of the fourth drive mechanism.

As shown in FIG3 , the first bearing device 260 is configured as a box. The medical device 10 and the first operating mechanism 30 are arranged in the first bearing device 260. The first bearing device 260 includes a bearing base 261, a functional operating seat 162 and a flip cover 262A. Among them, the bearing base 261 is used to connect to the mobile power device 240. The bearing base 261 includes a first bearing base part 261A and a second bearing base part 261B. The first bearing base part 261A and the second bearing base part 261B are arranged along the conveying direction DF. The first bearing base part 261A and the second bearing base part 261B are both configured as a box. The first bearing base part 261A is used to accommodate the first operating mechanism 30. The first operating mechanism 30 can be stably maintained in the first bearing base part 261A. The second bearing base part 261B is used to accommodate the second operating mechanism 290. Specifically, the second operating mechanism 290 is arranged on the functional operating seat 162, and the functional operating seat 162 covers the second bearing base part 261B. The medical device 10 is mounted on the function operating seat 162. For example, the function operating seat 162 is provided with brackets 175 and 176 for mounting the medical device 10. The flip cover 262A is pivotally connected to the function operating seat 162 to cover the function operating seat 162, thereby covering the medical device 10.

The first portion 261A of the bearing base is provided with a notch 261C, so that the guide wire located in the first portion 261A of the bearing base can pass through the notch 261C and extend to the position of the second portion 261B of the bearing base. Corresponding medical device 10.

In the present application, the first bearing device 260 and the first operating mechanism 30 do not include a driving device for providing a driving force, and are passive devices. Therefore, the first bearing device 260 and the first operating mechanism 30 can be used as consumables, and the two can be collectively referred to as the rear consumable box 15. The medical device 10 is also a passive device, which is used to be installed in the first bearing device 260 and can also be considered as a part of the rear consumable box 15. Similarly, the second power assembly 14 is also a passive device, which can be used as a consumable and can be referred to as a front consumable box.

During the operation, first, the first operating mechanism 30, under the action of the first driving mechanism, delivers the guide wire 12 into the blood vessel and reaches the expected position. Then, the catheter 11 is sheathed around the guide wire 12 from the rear end, so that the guide wire 12 runs through the catheter 11. Under the action of the main driving mechanism, the mobile power device 240 and the first bearing device 260 move forward along the conveying direction DF, driving the medical device 10 to move forward, that is, driving the catheter 11 to move forward into the blood vessel. That is, the catheter 11 enters the blood vessel under the support and guidance of the guide wire 12. At this time, the rear consumable box 15 also drives the first operating mechanism 30 to move forward. In order to prevent the guide wire 12 from deviating from the expected position, while conveying the catheter 11, the first driving mechanism acts on the first operating mechanism 30, so that the first operating mechanism 30 moves the guide wire 12 backward along the conveying direction DF. It can be understood that the medical system 300 includes a control module (for example, arranged in the main end operating device), and the control module controls the main driving mechanism and the first driving mechanism to cooperate so that only the catheter 11 moves forward, while the guide wire 12 remains relatively stationary. The second delivery assembly 60 is relatively located at the front end, and plays a role in supporting and assisting the delivery of the guide wire 12 and/or the catheter 11. When the catheter 11 is delivered in place, the second driving mechanism controls the medical device 10 to work and complete the release of the artificial valve.

Preferably, at least one of the main driving mechanism, the first driving mechanism, the second driving mechanism and the fourth driving mechanism comprises a motor. Alternatively, the main driving mechanism, the first driving mechanism, the second driving mechanism and the fourth driving mechanism all use motors to output driving force.

As shown in FIGS. 4 to 6 , the mobile power device 240 is connected to the main power device 210 and is used to move forward and backward relative to the main power device 210 along the conveying direction DF of the guide wire 12 and/or catheter 11 under the drive of the main driving mechanism.

The main power device 210 includes a housing 112, and a moving assembly and a main driving mechanism are arranged inside the housing 112. The moving assembly is configured to move forward and backward relative to the main power device 210 along the conveying direction DF under the drive of the main driving mechanism, wherein the moving power device 240 is connected to the moving assembly. Specifically, the housing 112 has a long slot 113 extending along the conveying direction DF, the moving assembly has a protrusion 121 extending from the long slot 113 out of the housing 112, and the moving power device 240 is connected to the protrusion 121. For example, the moving power device 240 includes a connecting frame 141 and a base 142. The connecting frame 141 is provided with a protrusion 121 extending from the long slot 113 to the protrusion 121. One end is connected to the protruding portion 121, and the other end of the connecting frame 141 is connected to the base 142. The first carrying device 260 is detachably connected to the base 142.

Specifically, the bearing base 261 of the first bearing device 260 is detachably connected to the base 142. As shown in FIG7 , a snap assembly 164 is provided at the end of the bearing base 261. A snap seat 153 (as shown in FIG5 ) is provided at the end of the base 142 of the mobile power device 240. The snap assembly 164 is configured to be able to snap-fit with the snap seat 153 so that the bearing base 261 is detachably connected to the base 142.

For example, the clamping assembly 164 includes a knob 1641, a buckle 1642, and a rotating shaft 1643. The rotating shaft 1643 is disposed at the end of the bearing base 261 and penetrates the bearing base 261. The knob 1641 is used for user operation. The knob 1641 is disposed at the end of the rotating shaft 1643 away from the base 142, and the knob 1641 and the rotating shaft 1643 can rotate synchronously around the axis of the rotating shaft 1643. The buckle 1642 is disposed at the end of the rotating shaft 1643 facing the base 142, and the buckle 1642 and the rotating shaft 1643 can rotate synchronously around the axis of the rotating shaft 1643. When the user rotates the knob 1641, the buckle 1642 rotates synchronously with the knob 1641 through the rotating shaft 1643, for example, it can be rotated into the groove of the buckle seat 153, so that the bearing base 261 is engaged and connected with the base 142. When the buckle 1642 is rotated out of the groove of the buckle seat 153 , the support base 261 is disconnected from the base 142 .

Preferably, the clamping assembly 164 further includes a damping member 1644 and a cover plate 1645. The damping member 1644 is sleeved on the rotating shaft 1643 and embedded in the bearing base 261. That is, the damping member 1644 is arranged between the rotating shaft 1643 and the bearing base 261. The cover plate 1645 is connected to the bearing base 261 to limit the damping member 1644 and the rotating shaft 1643.

The first carrying device 260 can also be connected to the mobile power device 240 by, for example, magnetic attraction, suspension, etc.

As shown in Figures 8 and 9, the main power device 210 also includes a frame 111, and the housing 112 is covered on the frame 111. The main driving mechanism 124 and the moving assembly 291 are both arranged on the frame 111. The main power device 210 also includes a first guide rail 114, a lead screw pair and a main transmission assembly 92. The first guide rail 114 is arranged on the frame 111. The first guide rail 114 extends along the conveying direction DF. The lead screw pair includes a lead screw 115 and a lead screw nut 116, and the lead screw 115 is arranged on the frame 111, and the lead screw 115 also extends along the conveying direction DF. The main transmission assembly 92 is connected between the main driving mechanism 124 and the lead screw 115 so that the lead screw 115 rotates around its own axis under the drive of the main driving mechanism 124. The moving assembly 291 is connected to the lead screw nut 116 and the first guide rail 114, and is configured to be able to move along the first guide rail 114. The main driving mechanism 124 is in transmission connection with the lead screw 115, so as to drive the lead screw nut 116 to move along the extension direction of the lead screw 115, thereby driving the moving assembly 291 to move along the extension direction of the lead screw 115. Then, the moving assembly 291 drives the moving power device 240 to move through its protruding portion 121.

Preferably, the bottom of the moving frame 117 is connected to the first guide rail 114 .

As shown in FIGS. 8 to 10 , the moving assembly 291 includes a moving frame 117, a moving seat 120 and a tension and pressure sensor 224. The moving frame 117 is fixedly connected to the lead screw nut 116. The moving frame 117 has two end walls 118 arranged at intervals along the conveying direction DF and a second guide rail 119 arranged between the two end walls 118, and the second guide rail 119 extends along the conveying direction DF. The moving seat 120 is arranged on the second guide rail 119 and is movable along the second guide rail 119. For example, the second guide rail 119 extends through the moving seat 120. Among them, the moving seat 120 is preferably arranged on the second guide rail 119 through a linear bearing 132. In other words, the linear bearing 132 is sleeved outside the second guide rail 119, and the moving seat 120 is arranged outside the linear bearing 132. In addition, the lead screw 115 preferably passes through the moving frame 117 and the moving seat 120 as a whole, and preferably does not interfere with the moving frame 117 and the moving seat 120. The protrusion 121 is arranged on the moving seat 120. The tension pressure sensor 224 is disposed between the movable seat 120 and one of the two end walls 118, and abuts against both the movable seat 120 and the one of the two end walls 118 to sense the resistance encountered by the movable seat 120 when the conduit 11 is transported, that is, to sense the transport resistance.

It can be understood by those skilled in the art that the tension and pressure sensor 224 is constructed to be tension-compression integrated, and can read the force in the positive and negative directions. The tension and pressure sensor 224 is electrically connected to the control module, so that the doctor can know the resistance encountered by the medical device 10 when delivering the guidewire and make timely adjustments. After assembling the components of the slave execution device 200 and installing the main power device 210 to the bracket 17 (at this time the medical device 10 has been installed on the first bearing device 260), the measurement value of the tension and pressure sensor 224 must be set to zero first, and then the measurement value of the tension and pressure sensor 224 can be directly used to reflect the delivery resistance.

The slave execution device 200 further includes a first transmission mechanism, which is connected between the first driving mechanism and the first operating mechanism 30 and is used to transmit the driving force of the first driving mechanism to the first operating mechanism 30 .

As shown in FIGS. 5 , 11 and 12 , the first transmission mechanism, for example, includes a first power shaft 145 , a first transmission assembly 94 and a first power transmission mechanism 265 .

The first power shaft 145 is connected to the first operating mechanism 30. The first power shaft 145 is disposed in the mobile power device 240. The first power shaft 145 is configured to be rotatable relative to the mobile power device 240 around its own axis. The first power shaft 145 is, for example, disposed in the base 142 and penetrates the base 142, and one end of the first power shaft 145 facing the first bearing device 260 is transmission-connected to the first operating mechanism 30.

The first driving mechanism 143 is, for example, disposed on the connecting frame 141 of the mobile power device 240. The first transmission assembly 94 is disposed on the mobile power device 240, for example, on the base 142. The first transmission assembly 94 is connected to the first driving mechanism 143 and the first power shaft 145 facing away from the first bearing device 260. , so that the first power shaft 145 is driven by the first driving mechanism 143 to rotate. For example, the first transmission assembly 94 includes a first driving wheel 147, a first driven wheel 148 and a first synchronous belt 149. The first driving wheel 147 is connected to the driving end of the first driving mechanism 143. The first driven wheel 148 is connected to an end of the first power shaft 145 that is away from the first bearing device 260. The first synchronous belt 149 is connected between the first driving wheel 147 and the first driven wheel 148 to transmit the power generated by the first driving mechanism 143 to the first power shaft 145 to rotate it.

The first power transmission mechanism 265 is disposed on the first bearing device 260, for example, in the second portion 261B of the bearing base. The first power transmission mechanism 265 is connected between the first operating mechanism 30 and the first power shaft 145, so that the first power shaft 145 drives the first operating mechanism 30 to work. The position of the first power transmission mechanism 265 corresponds to the position of the first power shaft 145, and is meshed and connected with the first power shaft 145. The first power transmission mechanism 265 includes a transmission synchronous wheel 1654, and a synchronous belt transmission is formed between the first power transmission mechanism 265 and the first operating mechanism 30.

For example, the first power transmission mechanism 265 includes a first bearing 1652, a first transmission shaft 1653, a transmission synchronous wheel 1654 and a transmission synchronous belt. A hole corresponding to the first power shaft 145 is provided at the bottom of the bearing base 261, and a first limiting frame 1651 is provided at a position corresponding to the hole on the bearing base 261, and two first bearings 1652 corresponding to each other are provided at the hole and on the first limiting frame 1651. The first transmission shaft 1653 is connected between the inner rings of the two first bearings 1652, and one end of the first transmission shaft 1653 facing the mobile power device 240 is meshed and connected with the first power shaft 145. The first transmission shaft 1653 is also fixedly connected to the two transmission synchronous wheels 1654. The transmission synchronous belt is connected between the transmission synchronous wheel 1654 and the first operating mechanism 30, so that a synchronous belt transmission is formed between the first power transmission mechanism 265 and the first operating mechanism 30.

The structure of the first operating mechanism 30 will be described below.

As shown in FIGS. 13 and 14 , the first operating mechanism 30 is removably disposed in the first portion 261A of the bearing base, and the first power transmission mechanism 265 drives the first operating mechanism 30 .

As shown in Figure 15, the first operating mechanism 30 includes a first operating mechanism base 31, at least one first roller 41 and at least one second roller 42. The first operating mechanism base 31 is used to be detachably connected to the first bearing device 260 (specifically the first portion 261A of the bearing base). The first roller 41 is arranged on the first operating mechanism base 31, and the axis of the first roller 41 is not parallel to the conveying direction DF. Preferably, the axis of the first roller 41 is perpendicular to the conveying direction DF, for example, the second direction D2. The second roller 42 is also arranged on the first operating mechanism base 31, and is arranged opposite to the first roller 41 (one-to-one opposite arrangement), so as to clamp the guide wire 12 together with the first roller 41. It can be understood that the axis of the second roller 42 is parallel to the axis of the first roller 41. The first roller 41 and the second The rollers 42 are connected to the first transmission mechanism to rotate under the drive of the first transmission mechanism. The slave execution device 200 is configured such that the rotation direction of the first roller 41 is opposite to the rotation direction of the second roller 42 .

It can be understood that when the first roller 41 and the second roller 42 rotate, the guide wire 12 sandwiched therebetween will move along the conveying direction DF under the action of friction. Therefore, both the first roller 41 and the second roller 42 are actively rolled under the drive of the driving mechanism, which enables the first operating mechanism 30 to have sufficient conveying force. In addition, since both the first roller 41 and the second roller 42 can actively roll, even if the structure used to drive one of them to rotate fails, the roller on that side can also passively rotate under the action of friction, and the two groups of rollers can still clamp and convey the guide wire 12 together.

Preferably, the first operating mechanism 30 includes a plurality of first rollers 41 and a second roller 42. In the illustrated embodiment, the first operating mechanism 30 includes two first rollers 41A, 41B and two second rollers 42A, 42B (refer to FIG. 16 ). Preferably, the plurality of first rollers 41 are arranged flush, and/or the plurality of second rollers 42 are also arranged flush. Preferably, the plurality of first rollers 41 are arranged at equal intervals, and/or the plurality of second rollers 42 are also arranged at equal intervals. Preferably, the diameter of the first roller 41 is the same as the diameter of the second roller 42, or the first roller 41 and the second roller 42 are configured as the same roller.

Specifically, as shown in FIGS. 15 to 18 , the first operating mechanism 30 is divided into two major parts: a first movable wheel group 30A and a first fixed wheel group 30B. The first movable wheel group 30A and the first fixed wheel group 30B are arranged along a first direction D1. The first direction D1 is perpendicular to a plane defined by the conveying direction DF and the axis of the first roller 41. For example, the first direction D1 is perpendicular to a plane defined by the conveying direction DF and the second direction D2 (the conveying direction DF, the first direction D1, and the second direction D2 are perpendicular to each other).

The first roller 41 is included in the first movable wheel group 30A, and the second roller 42 is included in the first fixed wheel group 30B. The first fixed wheel group 30B includes a second fixed seat 35. The second fixed seat 35 is arranged on the first operating mechanism base 31 and is immovable relative to the first operating mechanism base 31, and the second roller 42 is arranged on the second fixed seat 35. The first movable wheel group 30A includes a first movable seat 34. The first movable seat 34 is also arranged on the first operating mechanism base 31, and is movable between a first position and a second position relative to the second fixed seat 35 (or the first operating mechanism base 31) along the first direction D1, and the first roller 41 is arranged on the first movable seat 34. The distance between the first movable seat 34 and the second fixed seat 35 when the first movable seat 34 is in the first position is smaller than the distance between the first movable seat 34 and the second fixed seat 35 when the first movable seat 34 is in the second position.

Therefore, the distance between the first movable seat 34 and the second fixed seat 35 along the first direction D1 can be changed. The first movable wheel group 30A and the first fixed wheel group 30B can be changed, that is, the distance between the first roller 41 and the second roller 42 can be changed, so that the first roller 41 and the second roller 42 can clamp the guide wire 12 when they are close to each other, and release the guide wire 12 when they are far away from each other. As shown in Figures 3 and 15, the first operating mechanism base 31 is provided with a first base channel 31C for passing the guide wire 12. The first movable wheel group 30A and the first fixed wheel group 30B are respectively located on both sides of the first base channel 31C, and can clamp the guide wire 12 in the channel 31C.

As shown in Figure 18, the first operating mechanism base 31 is provided with a first guide rod 48 extending along the first direction D1, and the first movable seat 34 is provided with a first guide hole 48A extending along the first direction D1. The first guide rod 48 extends through the first guide hole 48A, so that the first movable seat 34 can stably move along the first direction D1 relative to the second fixed seat 35.

As shown in FIGS. 17 and 18 , in order to change the distance between the first roller 41 and the second roller 42, the first operating mechanism 30 further includes a first biasing assembly 32 and a first pressing mechanism 33. The first biasing assembly 32 is connected between the second fixed seat 35 and the first movable seat 34, and is used to provide a force to move the first movable seat 34 away from the second fixed seat 35 along the first direction D1. The first pressing mechanism 33 is disposed on the first operating mechanism base 31 and is connected to the first movable seat 34, and is used for being operated by a user to move the first movable seat 34 closer to the second fixed seat 35 along the first direction D1.

Specifically, the first biasing assembly 32 includes an elastic component that is deformable along the first direction D1. For example, the first biasing assembly 32 is configured as at least one spring 32 extending along the first direction D1. The first movable seat 34 and the second fixed seat 35 are both provided with first spring blind holes 32A (see Figures 21 and 22) for accommodating both ends of the spring 32, so that the spring 32 is stably clamped between the first movable seat 34 and the second fixed seat 35.

The first clamping mechanism 33 includes a cam 36 and a wrench 37. The cam 36 is connected to the first operating mechanism base 31 and is rotatable relative to the first operating mechanism base 31 around a rotation axis extending along the second direction D2. For example, the cam 36 is mounted to a cam seat 36A, and the cam seat 36A is mounted to the first operating mechanism base 31, so that the cam 36 is mounted to the first operating mechanism base 31. The cam 36 has different radial dimensions, and its circumferential surface is used to connect to the side of the first movable seat 34 away from the second fixed seat 35. The wrench 37 is connected to the cam 36 for user operation to rotate the cam 36 relative to the first operating mechanism base 31. It can be understood that when the rotation axis of the cam 36 remains unchanged relative to the first operating mechanism base 31, when different positions of the circumferential surface of the cam 36 contact the first movable seat 34, the distance between the first movable seat 34 and the rotation axis of the cam 36 changes, that is, the first movable seat 34 is moved along the first direction D1.

As shown in FIG. 17 and FIG. 18, in order to facilitate the cam 36 to act on the first movable seat 34, the first A projection 38 extending along the first direction D1 is connected to one side of the first movable seat 34 facing the cam 36, and is used to contact the circumferential surface of the cam 36. The projection 38 can be a part of the first movable seat 34, for example, the projection 38 can be formed as a whole with the first movable seat 34. The projection 38 can also form a separate component from the first movable seat 34. In the illustrated embodiment, the first operating mechanism base 31 is provided with a projection groove 38A for accommodating the projection 38. The cam 36 can be at least partially located in the projection groove 38A, so as to contact the projection 38.

As shown in FIG19, when the part with a larger radius of the cam 36 contacts the protrusion 38, the cam 36 squeezes the first movable seat 34 along the first direction D1 through the protrusion 38, so that the first movable seat 34 moves toward the first fixed wheel group 30B, so that the first roller 41 and the second roller 42 are close to each other. At this time, the spring 32 is compressed. As shown in FIG20, when the part with a smaller radius of the cam 36 contacts the protrusion 38, the squeezing force of the cam 36 on the protrusion 38 is reduced, and then the squeezing force borne by the spring 32 is reduced, and the spring 32 rebounds to push the first movable seat 34 away from the first fixed wheel group 30B along the first direction D1, so that the first roller 41 and the second roller 42 are away from each other. The position of the first movable seat 34 in FIG19 can be understood as the first position, and the position of the first movable seat 34 in FIG20 can be understood as the second position.

As shown in FIG. 17 , in order to prevent the first moving wheel set 30A from excessively moving along the first direction D1, preferably, first blocking members 48B are respectively provided at both ends of the first guide rod 48. The first blocking member 48B protrudes in the radial direction of the first guide rod 48, and its radial dimension is larger than the aperture of the first guide hole 48A, thereby preventing the excessive movement of the first guide hole 48A at both ends, that is, the first moving seat 34 will not excessively move along the first direction D1. It can be understood that the length of the first guide rod 48 between the two first blocking members 48B will not affect the movement of the first moving seat 34 between the first position and the second position. In other words, the portion of the length of the first guide rod 48 between the two first blocking members 48B that is more than the length of the first guide hole 48A is not less than the distance between the first position and the second position.

Preferably, the wrench 37 is exposed from the outer surface of the rear consumable box 15 , so as to facilitate the user's operation. As shown in FIG. 13 , the first carrying device 260 is provided with a window 18 for exposing the wrench 37 .

In order to rotate the first roller 41 and the second roller 42, as shown in Figures 16 and 17, the first operating mechanism 30 further includes a first roller transmission mechanism 51 and a second roller transmission mechanism 52. The first roller transmission mechanism 51 is used to connect the first transmission shaft 1653 and all the first rollers 41, so that the rotation direction of all the first rollers 41 is the same as the rotation direction of the first transmission shaft 1653. The second roller transmission mechanism 52 is used to connect the first transmission shaft 1653 and all the second rollers 42, so that the rotation direction of the second rollers 42 is opposite to the rotation direction of the first transmission shaft 1653. Thus, the first roller 41 rotates in opposite directions to the second roller 42.

Preferably, as shown in FIG. 21 , the first roller transmission mechanism 51 includes at least one first operating The synchronous belt 53, the first transmission shaft 1653 and the first roller 41 are all connected with a structure (such as a synchronous belt collar 49, also called a synchronous wheel 49) for connecting the first manipulation synchronous belt 53. The slave end execution device 200 is configured so that the first transmission shaft 1653 drives all the first rollers 41 to rotate through the first manipulation synchronous belt 53, so that the rotation direction of all the first rollers 41 is the same as the rotation direction of the first transmission shaft 1653. For example, the first roller 41 has a first roller shaft 41X, and the synchronous belt clamping ring 49 is respectively mounted on the first transmission shaft 1653 and the first roller shaft 41X (the synchronous belt clamping ring 49 mounted on the first transmission shaft 1653 is also the transmission synchronous wheel 1654. Since the first transmission shaft 1653 needs to drive the first roller 41 and the second roller 42 respectively, the first transmission shaft 1653 is provided with two transmission synchronous wheels 1654). The first operating synchronous belt 53 is tightened by the two synchronous belt clamping rings 49, so that the first transmission shaft 1653 drives the first roller shaft 41X to rotate through the first operating synchronous belt 53, so that the first roller 41 rotates.

It can be understood that the first operating synchronous belt 53 is elastic. When the first movable seat 34 moves along the first direction D1, the first operating synchronous belt 53 can always be tensioned by the two synchronous belt clamps 49 of the first transmission shaft 1653 and the first roller shaft 41X due to its elasticity.

For example, the first manipulation mechanism 30 includes N first rollers 41 and N first manipulation synchronous belts 53 (N is an integer greater than or equal to 1), and the slave-end execution device 200 can be constructed so that each first roller 41 is connected to the first transmission shaft 1653 through a first manipulation synchronous belt 53, that is, each first roller 41 is directly driven by the first transmission shaft 1653. Alternatively, the slave-end execution device 200 can be constructed so that each of a part of the N first rollers 41 (one or more first rollers 41) is connected to the first transmission shaft 1653 through a first manipulation synchronous belt 53, and each of another part of the N first rollers 41 is connected to another first roller 41 through a first manipulation synchronous belt 53, that is, only a part of the first rollers 41 is driven by the first transmission shaft 1653, and the other first rollers 41 are driven to rotate by another first roller 41.

Preferably, the slave-end execution device 200 may be constructed such that the first of the N first rollers 41 is connected to the first transmission shaft 1653 via a first manipulation synchronous belt 53, and each of the other first rollers 41 is connected to the previous first roller 41 via a first manipulation synchronous belt 53. That is, the first first roller 41 is driven by the first transmission shaft 1653, the second first roller 41 is driven by the first first roller 41, the third first roller 41 is driven by the second first roller 41, and so on. For example, as shown in FIG. 17 , the first manipulation mechanism 30 includes two first rollers 41, a first roller 41A and a first roller 41B. The first first roller 41A is connected to the first transmission shaft 1653 via a first manipulation synchronous belt 53A, and the second first roller 41B is connected to the first first roller 41 via a first manipulation synchronous belt 53B. In this way, the first manipulation synchronous The belts 53 are evenly distributed. For example, the first operating synchronous belts 53 can be made into the same specifications, and each first roller shaft 41X can also have a similar size (each first roller shaft 41X basically only needs to connect two synchronous belt clamps 49), thereby reducing processing difficulty and reducing costs.

The first operating timing belt 53A is also the transmission timing belt in the first power transmission mechanism 265 .

In such a connection mode, in order to detect the slipping of the first operating synchronous belt 53, as shown in Figures 16 to 22, the first operating mechanism 30 is further provided with a first additional roller 43, a second additional roller 44, a first additional roller transmission mechanism 46 and an encoder (not shown). Among them, the first additional roller 43 is arranged on the first movable seat 34, for example, arranged side by side with the N first rollers 41 on the first movable seat 34. The second additional roller 44 is arranged on the second fixed seat 35, for example, arranged side by side with the N second rollers 42 on the second fixed seat 35. The second additional roller 44 is arranged opposite to the first additional roller 43, so that the guide wire 12 can be clamped together with the first additional roller 43. The first additional roller transmission mechanism 46 is used to connect the first additional roller 43 with the Nth first roller 41, so that the first additional roller 43 rotates in the same direction as the rotation direction of the first transmission shaft 1653 under the drive of the Nth first roller 41. The encoder is connected to the second additional roller 44 for detecting the rotation angle of the second additional roller 44. The encoder is electrically connected to the control module so that the control module can obtain the rotation angle of the second additional roller 44 .

In this way, in the absence of the first operating synchronous belt 53 slipping, all the first rollers 41 rotate normally. Under the action of the first additional roller transmission mechanism 46, the first additional roller 43 rotates actively. The first additional roller 43 and the second additional roller 44 clamp the guide wire 12 together, so that the second additional roller 44 rotates passively under the action of friction, so that the rotation angle detected by the encoder will change continuously. Since the first transmission shaft 1653 forms a one-by-one driving connection relationship with the N first rollers 41, if any of the first operating synchronous belts 53 slips or breaks, the Nth first roller 41 (the last first roller 41) will not be able to rotate, so that the first additional roller 43 and the second additional roller 44 will not be able to rotate, and the rotation angle recorded by the encoder will not change, so the control module can detect equipment failure.

Preferably, as shown in FIGS. 16 to 18 , the encoder is connected to the axle 44A of the second additional roller 44 , and detects the rotation of the second additional roller 44 by detecting the rotation of the axle 44A of the second additional roller.

As shown in FIG5 and FIG11, the mobile power device 240 further includes a third rotating shaft 253, which is used to connect with the second additional roller shaft 44A and rotate synchronously with the second additional roller shaft 44A, wherein the encoder is set to the third rotating shaft 253. The third rotating shaft 253 is, for example, set on the base 142 and penetrates the base 142, and one end of the third rotating shaft 253 facing the first bearing device 260 is transmission-connected to the second additional roller shaft 44A, for example, by gear engagement.

Preferably, the first additional roller transmission mechanism 46 is configured as a synchronous belt. For example, in the illustrated embodiment, the second first roller 41 is connected to the axle 47 of the first additional roller 43 via the second operating synchronous belt 46 to drive the first additional roller 43 to rotate.

Preferably, the diameter of the first additional roller 43 is the same as the diameter of the first roller 41, and the diameter of the second additional roller 44 is the same as the diameter of the second roller 42. Preferably, the diameter of the first additional roller 43 is the same as the diameter of the second additional roller 44. In other words, the first roller 41, the second roller 42, the first additional roller 43 and the second additional roller 44 are configured as the same roller. Preferably, the axis of the first additional roller 43 is parallel to the axis of the first roller 41, and the axis of the second additional roller 44 is parallel to the axis of the second roller 42. In other words, the first roller 41, the second roller 42, the first additional roller 43 and the second additional roller 44 are configured to be arranged parallel to each other.

As shown in Figures 16 and 17, the second roller transmission mechanism 52 includes a fourth transmission shaft 55, a second roller first transmission mechanism 56, and a second roller second transmission mechanism 57. The fourth transmission shaft 55 is disposed on the first operating mechanism base 31. The second roller first transmission mechanism 56 is used to connect the first transmission shaft 1653 and the fourth transmission shaft 55, so that the fourth transmission shaft 55 rotates under the drive of the first transmission shaft 1653. The second roller second transmission mechanism 57 is used to connect the fourth transmission shaft 55 and all the second rollers 42, so that all the second rollers 42 rotate under the drive of the fourth transmission shaft 55.

Preferably, one of the second roller first transmission mechanism 56 and the second roller second transmission mechanism 57 is configured to be driven by a synchronous belt, and the other of the second roller first transmission mechanism 56 and the second roller second transmission mechanism 57 is configured to be driven by a gear. It can be understood that the synchronous belt transmission mode does not change the rotation direction (the driving member and the driven member have the same rotation direction), while the gear transmission mode can change the rotation direction, so under such a configuration, the rotation direction of all the second rollers 42 can be opposite to that of the first transmission shaft 1653.

Preferably, the first operating mechanism 30 is configured so that the component of the first roller transmission mechanism 51 for connecting the first transmission shaft 1653 and the component of the second roller transmission mechanism 52 for connecting the first transmission shaft 1653 are both synchronous belts. That is, the component of the first roller transmission mechanism 51 for connecting the first transmission shaft 1653 and the first roller 41 is a synchronous belt (first operating synchronous belt 53), and the second roller first transmission mechanism 56 is also configured as a synchronous belt (third synchronous belt 56). That is, the first transmission shaft 1653 is connected to the fourth transmission shaft 55 through the third synchronous belt 56. In this way, the first transmission shaft 1653 drives the first roller 41 and the second roller 42 through the same driving mode, which is conducive to simplifying the design. The third synchronous belt 56 is also the transmission synchronous belt in the first power transmission mechanism 265.

Therefore, as shown in Figure 22, the second roller second transmission mechanism 57 is configured as a gear assembly. In the illustrated embodiment, the first operating mechanism 30 includes two second rollers 42, a second roller 42A and a second roller 42B. The gear assembly 57 includes a gear 57C coaxially connected to the fourth transmission shaft 55, a gear 57A coaxially connected to the second roller 42A and a gear 57B coaxially connected to the second roller 42B. Gear 57C meshes with gear 57A and gear 57B respectively. Thereby, the rotation direction of the fourth transmission shaft 55 is opposite to the rotation direction of the first transmission shaft 1653, and the rotation direction of the second roller 42 is opposite to the rotation direction of the fourth transmission shaft 55, that is, the rotation direction of the second roller 42 is opposite to the rotation direction of the first transmission shaft 1653.

In the present application, the first additional roller 43 and the second additional roller 44 also participate in the conveying of the guide wire 12, and can also be considered as part of the first operating mechanism 30. The first additional roller 43 can also be considered as a first roller 41. The second additional roller 44 can also be considered as a second roller 42 that does not have self-driving force and cannot actively rotate.

It is understandable that in the above-mentioned mechanism driven by a synchronous belt, the transmission can be completed by setting a synchronous belt clamp 49 on the driving shaft and the driven shaft so that the synchronous belt is tightened by the two synchronous belt clamps 49. During operation, the shaft and the synchronous belt clamp 49 are connected, for example, by a key and a keyway, so that the two rotate synchronously, and the synchronous belt clamp 49 and the synchronous belt rotate synchronously through friction.

In the present application, the first operating mechanism 30 may also be referred to as a first conveying assembly 30 , and the first driving mechanism 143 may be referred to as a first power assembly 143 .

In actual application, the base 142 of the mobile power device 240 extends substantially along a vertical plane, and the first power shaft 145 and the first transmission shaft 1653 extend substantially in a horizontal direction. This allows the first bearing device 260 to be connected to the side of the mobile power device 240, and the first roller 41 and the second roller 42 of the first operating mechanism 30 both extend substantially in a horizontal direction, that is, the first roller 41 and the second roller 42 are opposite to each other in the vertical direction.

In the present application, the specific structure of the first transmission mechanism is not limited. It can be understood that the first transmission mechanism includes a part arranged in the mobile power device 240 and a part arranged in the first carrying device 260 .

The following describes how the slave execution device 200 controls the second operating mechanism 290 .

The slave execution device 200 further includes a second transmission mechanism, which is connected between the second driving mechanism and the second operating mechanism 290 and is used to transmit the driving force of the second driving mechanism to the second operating mechanism 290 .

The second transmission mechanism is similar to the first transmission mechanism, and includes a portion disposed in the mobile power device 240 and a portion disposed in the first carrying device 260. As shown, the second transmission mechanism includes a second power shaft 146 , a second transmission assembly 95 and a second power transmission mechanism 266 .

The second power shaft 146 is used to connect the second operating mechanism 290. The second power shaft 146 is disposed on the mobile power device 240. The second power shaft 146 is configured to be rotatable relative to the mobile power device 240 around its own axis. The second power shaft 146 is, for example, disposed on the base 142 and penetrates the base 142, and one end of the second power shaft 146 facing the first bearing device 260 is transmission-connected to the second operating mechanism 290.

The second driving mechanism 144 is, for example, disposed on the connecting frame 141 of the mobile power device 240. The second transmission assembly 95 is disposed on the mobile power device 240, for example, on the base 142. The second transmission assembly 95 is connected between the second driving mechanism 144 and the end of the second power shaft 146 facing away from the first bearing device 260, so that the second power shaft 146 rotates under the drive of the second driving mechanism 144. For example, the second transmission assembly 95 includes a second driving wheel (not shown), a second driven wheel 151 and a second synchronous belt 152. The second driving wheel is connected to the driving end of the second driving mechanism 144. The second driven wheel 151 is connected to the end of the second power shaft 146 facing away from the first bearing device 260. The second synchronous belt 152 is connected between the second driving wheel and the second driven wheel 151 to transmit the power generated by the second driving mechanism 144 to the second power shaft 146 so as to rotate it.

The second power transmission mechanism 266 is disposed in the first bearing device 260, for example, in the second portion 261B of the bearing base. The second power transmission mechanism 266 is connected between the second operating mechanism 290 and the second power shaft 146, so that the second power shaft 146 drives the second operating mechanism 290 to work. The position of the second power transmission mechanism 266 corresponds to the position of the second power shaft 146, and is meshedly connected with the second power shaft 146. The second power transmission mechanism 266 includes a transmission gear 1664, and a gear meshing transmission is formed between the second power transmission mechanism 266 and the second operating mechanism 290.

For example, the second power transmission mechanism 266 includes a second limiting frame 1661, a second bearing 1663, a second transmission shaft 1662 and a transmission gear 1664. The bottom of the bearing base 261 is also provided with a hole corresponding to the second power shaft 146, the second limiting frame 1661 is arranged on the bearing base 261 and corresponds to the hole, and the second limiting frame 1661 is provided with a second bearing 1663. The second transmission shaft 1662 is connected to the inner ring of the second bearing 1663, and one end of the second transmission shaft 1662 facing the mobile power device 240 is meshed and connected with the second power shaft 146. One end of the second transmission shaft 1662 facing away from the mobile power device 240 is fixedly connected with the transmission gear 1664. The transmission gear 1664 is used to connect the second operating mechanism 290, so that a gear meshing transmission is formed between the second power transmission mechanism 266 and the second operating mechanism 290. The transmission gear 1664 is configured as a bevel gear, for example.

As shown in FIG. 23 and FIG. 24, as mentioned above, the bearing base 261 is provided with a medical The function operating seat 162 of the device 10 includes a first side 162A and a second side 162B of the function operating seat which are arranged opposite to each other, wherein the medical device 10 is detachably connected to the first side 162A of the function operating seat. The function operating seat 162 is provided with an operation port 171 .

The second operating mechanism 290 includes a functional gear 172 and a bevel gear 173. The functional gear 172 is rotatably disposed on the second side 162B of the functional operating seat, and at least partially exposed from the operating port 171 to the first side 162A of the functional operating seat, so as to be able to form an engagement with the operating gear 10A of the medical device 10. The bevel gear 173 is coaxially connected to the functional gear 172, and can thus rotate synchronously with the functional gear 172. The bevel gear 173 is meshedly connected with the transfer gear 1664 of the second power transmission mechanism 266. When the transfer gear 1664 rotates, the transfer gear 1664 drives the bevel gear 173 to rotate, thereby driving the functional gear 172 to rotate, and finally driving the operating gear 10A to rotate.

Specifically, the second side 162B of the functional operating seat is provided with two gear seats 1721 located at both ends of the operating port 171, and a third bearing 1722 is respectively provided on the two gear seats 1721, and the two ends of the rotating shaft of the functional gear 172 are respectively fixedly connected to the inner rings of the two third bearings 1722. One end of the rotating shaft of the functional gear 172 is also fixedly connected to the bevel gear 173, so that the functional gear 172 and the bevel gear 173 can rotate coaxially. The second side 162B of the functional operating seat is used to face the inside of the second part 261B of the bearing base, and the transmission mechanism 266 is arranged in the second part 261B of the bearing base, so that the bevel gear 173 can easily mesh with the transmission gear 1664.

The first bearing device 260 also includes a supporting structure 97 for supporting the medical device 10. The supporting structure 97 is arranged on the functional operating seat 162. The supporting structure 97 includes a first bracket 175, a second bracket 176 and a second elastic member 177. The first bracket 175 is arranged on the first side 162A of the functional operating seat. The second bracket 176 is also arranged on the first side 162A of the functional operating seat and is spaced apart from the first bracket 175 along the conveying direction DF to support the medical device 10 together with the first bracket 175. The second bracket 176 is configured to be movable relative to the functional operating seat 162 along the conveying direction DF. The second elastic member 177 is connected to the second bracket 176 and is used to apply a force to the second bracket 176 to move the second bracket 176 away from the first bracket 175 along the conveying direction DF.

Specifically, the functional operating seat 162 is provided with an opening (not shown) extending along the conveying direction DF, and a portion of the second bracket 176 is arranged in the opening and can move in the opening along the conveying direction DF. The supporting structure 97 also includes a connecting seat 178 and a bottom support 179. The connecting seat 178 is arranged on the second side 162B of the functional operating seat, and the connecting seat 178 is closer to the first bracket 175 relative to the opening. The connecting seat 178 has a channel 1781 extending along the conveying direction DF. The bottom support 179 is connected to the portion of the second bracket 176 located in the opening, and the bottom support 179 at least partially extends into the channel 1781. Among them, the second elastic member 177 is arranged in the channel 1781 and is connected between the connecting seat 178 and the bottom support. 179. The second elastic member 177 is, for example, a spring. Thus, the first bracket 175 and the second bracket 176 can be used to install the medical device 10, and the medical device 10 can be conveniently clamped and removed by using the movable second bracket 176.

In an embodiment not shown in the present application, the first carrying device 260 is provided with a plurality of second operating mechanisms 290, which are respectively used to operate different medical devices 10 to achieve different medical functions. Alternatively, the plurality of second operating mechanisms 290 are respectively used to operate different medical function mechanisms 13 of the medical device 10.

The structure of the second conveying assembly 60 is described below.

As shown in Figures 25 and 26, the second conveying assembly 60 includes a second conveying assembly base 61, at least one third roller 73, at least one fourth roller 74 and a third roller transmission mechanism 75. Wherein, the second conveying assembly base 61 is detachably connected to the second power assembly 14. The third roller 73 is arranged on the second conveying assembly base 61. The axis of the third roller 73 is not parallel to the conveying direction DF. Preferably, the axis of the third roller 73 is perpendicular to the conveying direction DF, for example, the second additional direction D21. The fourth roller 74 is arranged on the second conveying assembly base 61, and is arranged relative to the third roller 73 (one-to-one relative arrangement), so as to clamp the guide wire 12 and/or the catheter 11 together with the third roller 73. It can be understood that the axis of the fourth roller 74 is parallel to the axis of the third roller 73. The third roller transmission mechanism 75 is also arranged on the second conveying assembly base 61, and is used to be connected with the fourth drive mechanism and the third roller 73, so as to drive the third roller 73 to rotate under the drive of the fourth drive mechanism.

Therefore, in the second conveying assembly 60, the third roller 73 is an active roller, and the fourth roller 74 is a passive roller. According to the aforementioned method of using the slave-end execution device 200 in surgery, even if the fourth drive mechanism and/or the third roller transmission mechanism 75 fails, the third roller 73 and the fourth roller 74 can be passively rotated under the action of friction force to complete the clamping and supporting of the guide wire 12 and/or the catheter 11. It can be seen that in the present application, the first roller 41 and the second roller 42 are designed as active rollers, which can ensure the stability of the working performance of the slave-end execution device 200 to a great extent. Of course, it is also possible to control whether the fourth drive mechanism outputs the driving force according to the needs of the operation, that is, to flexibly control the third roller 73 to be an active roller or a passive roller.

Preferably, the diameter of the third roller 73 is the same as the diameter of the fourth roller 74. In other words, the third roller 73 and the fourth roller 74 are constructed as the same roller.

The second conveying assembly base 61 is connected to the second power assembly 14 by means of, for example, locking, magnetic attraction, etc.

The second conveying assembly base 61 includes a second conveying assembly base first portion 87 and a second conveying assembly base second portion 88. The second conveying assembly base first portion 87 is detachably connected to the second conveying assembly base. The second power assembly 14. The second conveying assembly base second part 88 is pivotally connected to the second conveying assembly base first part 87, and is used to cover the second conveying assembly base first part 87. The third roller 73, the fourth roller 74 and the third roller transmission mechanism 75 are all arranged in the second conveying assembly base first part 87. The second conveying assembly base first part 87 is provided with a notch 89A for passing the guide wire 12 and/or the catheter 11 on both sides along the conveying direction DF. The second conveying assembly base second part 88 is also provided with a notch 89A for passing the guide wire 12 and/or the catheter 11 on both sides along the conveying direction DF. Thereby, when the second conveying assembly base second part 88 covers the second conveying assembly base first part 87, the conveying of the guide wire 12 and/or the catheter 11 is not affected.

As shown in Figure 27, the second conveying assembly base first part 87 comprises a main body 87A and a base plate 87B. The third roller 73, the fourth roller 74 and the third roller transmission mechanism 75 are all arranged in the main body 87A. The base plate 87B is used to block the bottom of the main body 87A and is used to be detachably connected to the second power assembly 14. Meanwhile, the base plate 87B is provided with a base plate through hole 87D, which is used to connect the fourth drive mechanism with the third roller transmission mechanism 75.

Similar to the first operating mechanism 30, the second conveying assembly 60 is also composed of two major parts: a second moving wheel group 60A and a second fixed wheel group 60B. The second moving wheel group 60A and the second fixed wheel group 60B are arranged along the first additional direction D11. The fourth roller 74 is included in the second moving wheel group 60A, and the third roller 73 is included in the second fixed wheel group 60B. The second fixed wheel group 60B includes a third fixed seat 63. The third fixed seat 63 is arranged on the second conveying assembly base 61 and is immovable relative to the second conveying assembly base 61, and the third roller 73 is arranged on the third fixed seat 63. The second moving wheel group 60A includes a fourth moving seat 64. The fourth moving seat 64 is also arranged on the second conveying assembly base 61, and is movable between the third position and the fourth position relative to the third fixed seat 63 (or the second conveying assembly base 61) along the first additional direction D11, and the fourth roller 74 is arranged on the fourth moving seat 64. When the fourth movable seat 64 is at the third position, the distance between the fourth movable seat 64 and the third fixed seat 63 is smaller than the distance between the fourth movable seat 64 and the third fixed seat 63 when the fourth movable seat 64 is at the fourth position.

It can be understood that when the fourth movable seat 64 is close to the third fixed seat 63, the fourth roller 74 is close to the third roller 73, so that a thinner catheter 11 can be clamped; when the fourth movable seat 64 is far from the third fixed seat 63, the fourth roller 74 is far from the third roller 73, which is suitable for clamping a thicker catheter 11.

It can be understood that the third fixed seat 63 and the fourth movable seat 64 are both arranged on the first part 87 of the second conveying assembly base.

In order to enable the fourth movable seat 64 to be stably in the third position or the fourth position, the second conveying assembly 60 further includes a positioning mechanism 80. The positioning mechanism 80 is disposed on the fourth movable seat 64. The base 61 includes a third clamping portion 66A and a fourth clamping portion 66B arranged along the first additional direction D11. The second conveying assembly 60 is configured such that when the clamping mechanism 80 is engaged with the third clamping portion 66A, the fourth movable seat 64 is located at the third position relative to the third fixed seat 63, and when the clamping mechanism 80 is engaged with the fourth clamping portion 66B, the fourth movable seat 64 is located at the fourth position relative to the third fixed seat 63. It can be understood that the third clamping portion 66A and the fourth clamping portion 66B are arranged on the first portion 87 of the second conveying assembly base.

As shown in Figures 27 to 30, the latch mechanism 80 includes a latch member 81, and the third latch portion 66A and the fourth latch portion 66B are configured to include a latch groove having a shape matching the outer shape of the latch member 81 to accommodate the latch member 81. When the latch member 81 is located in the latch groove, the latch member 81 is immovable relative to the latch groove, so that the fourth movable seat 64 is immovable relative to the second conveying assembly base 61 (or the second conveying assembly base first portion 87, or the third fixed seat 63), and the fourth movable seat 64 can be maintained at this position.

As shown in Figures 31 and 32, the two sides of the fourth movable seat 64 along the conveying direction DF are configured as convex edges protruding along the conveying direction DF, and the convex edges form a fourth guide rail 67 extending along the first additional direction D11. Correspondingly, a guide groove (not shown) for accommodating the fourth guide rail 67 is provided in the first part 87 of the second conveying assembly base, and the fourth guide rail 67 is movable in the guide groove along the first additional direction D11, so that the fourth movable seat 64 is movable relative to the first part 87 of the second conveying assembly base along the first additional direction D11.

As shown in Figures 32 to 34, the fourth mobile seat 64 includes a first side 64A (upper side in the illustrated embodiment) and a second side 64B (lower side in the illustrated embodiment) of the mobile seat oppositely arranged along the axis direction of the third roller 73 (for example, the second additional direction D21). The third clamping portion 66A and the fourth clamping portion 66B are located on one side of the second side 64B of the mobile seat of the fourth mobile seat 64. The clamping mechanism 80 also includes an operating member 82 and a fourth biasing assembly 72. The operating member 82 is used for user operation, that is, the user operates the operating member 82 to make the fourth mobile seat 64 located at the third position or the fourth position. The operating member 82 is movable relative to the fourth mobile seat 64 along the axis direction of the third roller 73, and is immovable relative to the fourth mobile seat 64 along the first additional direction D11. Thus, the operating member 82 can drive the fourth mobile seat 64 to move along the first additional direction D11. The operating member 82 includes an operating member first portion 82A located at the first side 64A of the moving seat and an operating member second portion 82B located at the second side 64B of the moving seat. The locking member 81 is connected to the operating member second portion 82B. The fourth biasing assembly 72 is connected between the first side 64A of the moving seat and the operating member first portion 82A, and is used to apply a force to the operating member 82 to move toward the first side 64A of the moving seat.

Since the locking member 81 needs to be located in the locking grooves of the third locking portion 66A and the fourth locking portion 66B And the second part 82B of the operating member needs to move along the first additional direction D11, therefore, the locking groove of the third locking part 66A and the locking groove of the fourth locking part 66B are constructed as through grooves along the axial direction of the third roller 73, and the two through grooves are connected along the first additional direction D11 (see Figures 27 to 30), forming a larger opening, so that the second part 82B of the operating member can move along the first additional direction D11 in the opening.

During operation, the user presses the operating member 82 toward the second side 64B of the movable seat, and at this time, the second part 82B of the operating member drives the blocking member 81 to move along the second additional direction D21, so that the blocking member 81 is separated from the draw-in groove (as shown in Figure 29) of the third draw-in part 66A or the fourth draw-in part 66B. At this time, the second part 82B of the operating member is located in the draw-in groove. Then, the user pushes the operating member 82 to move along the first additional direction D11 again, and the fourth movable seat 64 moves synchronously with the blocking member 81 along the first additional direction D11. By designing the fourth guide rail 67 and the guide groove corresponding thereto accordingly, the fourth movable seat 64 can be made to move a limited distance along the first additional direction D11 in the second conveying assembly base first part 87. When the fourth movable seat 64 moves to the extreme position along the first additional direction D11, the user removes the force pressing the operating member 82, and the operating member 82 moves toward the first side 64A of the movable seat along the second additional direction D21 under the action of the fourth weaving component, so that the locking member 81 also moves toward the first side 64A of the movable seat and returns to the locking groove of the third locking portion 66A or the fourth locking portion 66B (as shown in Figures 28 and 30), thereby keeping the first movable seat 34 in the corresponding position.

Specifically, the fourth mobile seat 64 is also provided with a mobile seat through hole 62 and a mobile seat blind hole 69. The mobile seat through hole 62 communicates with the mobile seat first side 64A and the mobile seat second side 64B. The mobile seat blind hole 69 opens at the mobile seat first side 64A. The mobile seat through hole 62 and the mobile seat blind hole 69 both extend along the second additional direction D21. The fourth biasing assembly 72 is configured as an elastic component arranged in the mobile seat blind hole 69, which is elastically deformable along the second additional direction D21. The operating member 82 includes an operating portion 83, a connecting portion 84 and an action portion 85. The operating portion 83 is used for user operation, is located at the mobile seat first side 64A, and is a part of the operating member first portion 82A. The connecting portion 84 is connected to the operating portion 83, extends from the mobile seat first side 64A to the mobile seat second side 64B through the mobile seat through hole 62, and the portion exposed to the mobile seat second side 64B constitutes the operating member second portion 82B. The latching member 81 is connected to the connecting portion 84 at the mobile seat second side 64B. The acting portion 85 is also connected to the operating portion 83 for extending into the moving seat blind hole 69 to press the fourth biasing component 72 .

Preferably, the part of the operating member 82 for user operation (i.e., the operating portion 83) is configured as an arc groove 86 (at least one arc groove 86) to adapt to the shape of the finger. Preferably, the arc groove 86 is provided with a texture to increase friction, so that the user can push the operating member 82 along the first additional direction D11. The texture is, for example, a horizontal pattern or a mesh pattern perpendicular to the finger. Of course, it can also be provided by other In another embodiment, the surface of the operating portion 83 is configured as a rough surface, or the friction coefficient between the surface of the operating portion 83 and the finger is increased. Preferably, the operating member 82 (specifically, the operating portion 83) is exposed from the second conveying assembly base 61 (specifically, the first portion 87 of the second conveying assembly base) (see Figure 25), so that the user can perform the operation without opening the first portion 87 of the second conveying assembly base. At the same time, preferably, the second conveying assembly base 61 (specifically, the first portion 87 of the second conveying assembly base) is provided with a second base channel 87C for accommodating the guide wire 12 and/or the catheter 11, and the channel 87C extends to the outer surface of the second conveying assembly base 61 along the axial direction of the third roller 73 (for example, the second additional direction D21). The two ends of the channel 87C are notches 89A.

Based on the above structure, when installing the guide wire 12 and/or the catheter 11 on the second conveying assembly 60, the user opens the second portion 88 of the second conveying assembly base, adjusts the position of the operating member 82 according to the thickness of the catheter 11, and then puts the guide wire 12 and/or the catheter 11 into the second base channel 87C. Finally, the second portion 88 of the second conveying assembly base is re-covered. The second portion 88 of the second conveying assembly base and the first portion 87 of the second conveying assembly base can be prevented from easily detaching from each other by means of buckles, magnetic attraction, etc.

27 to 30 , the third and fourth stopper portions 66A and 66B may be formed in the stopper plate 65 . The stopper plate 65 is mounted at the bottom of the main body 87A of the first portion 87 of the second conveying assembly base, and is located below the fourth movable seat 64 .

In order to enable the third roller 73 and the fourth roller 74 to clamp the guide wire 12 and/or the catheter 11, as shown in Figures 31 and 32, the second conveying assembly 60 also includes a fourth roller seat 76 and a third biasing assembly 71. The fourth roller seat 76 is connected to the fourth movable seat 64 and is movable relative to the fourth movable seat 64 along the first additional direction D11. The fourth roller 74 is arranged on the fourth roller seat 76. The third biasing assembly 71 is connected between the fourth roller seat 76 and the fourth movable seat 64, and is used to apply a force to the fourth roller seat 76 to move toward the third roller 73.

For example, the fourth movable seat 64 is provided with a second guide rod 68 extending along the first additional direction D11, and the fourth roller seat 76 is provided with a second guide hole 68A extending along the first additional direction D11, and the second guide rod 68 extends through the second guide hole 68A, so that the fourth roller seat 76 stably moves relative to the fourth movable seat 64 along the first additional direction D11. Preferably, second blocking members 68B are respectively provided at both ends of the second guide rod 68. The second blocking member 68B protrudes in the radial direction of the second guide rod 68, and its radial dimension is larger than the aperture of the second guide hole 68A, so as to prevent the second guide hole 68A from excessive movement at both ends, that is, the fourth roller seat 76 will not excessively move along the first additional direction D11.

Preferably, the third biasing component 71 is configured as an elastic component extending along the first direction D1. The fourth movable seat 64 and the fourth roller seat 76 are both correspondingly provided with third spring blind holes 71A for accommodating both ends of the spring 71 , so that the spring 71 is stably clamped between the edge of the fourth movable seat 64 and the fourth roller seat 76 .

Preferably, the 4th driving mechanism comprises a motor (not shown). As shown in Figure 26 to Figure 30, the 3rd roller transmission mechanism 75 comprises the 3rd transmission shaft 77 and the 3rd transmission assembly 78. The 3rd transmission shaft 77 is arranged on the second conveying assembly base 61 (specifically, the main body 87A of the second conveying assembly base first portion 87), and is connected to the output shaft of the motor of the 4th driving mechanism. The 3rd transmission shaft 77 is for example connected with the output shaft of the motor by base plate through hole 87D. The 3rd transmission assembly 78 is connected with the 3rd roller 73 with the 3rd transmission shaft 77 respectively, for making the 3rd roller 73 rotate under the drive of the 3rd transmission shaft 77.

Preferably, the third transmission assembly 78 is configured as a gear assembly.Gear assembly 78 comprises a plurality of gears, comprises a gear connected to the third transmission shaft 77 and a gear connected to the third roller 73 in a plurality of gears, and a plurality of gears realize transmission by mutual engagement.For example, the second conveying assembly 60 comprises two the third rollers 73, the third roller 73A and the third roller 73B.Gear assembly 78 comprises a gear 78C coaxially connected with the third transmission shaft 77, a gear 78A coaxially connected with the third roller 73A and a gear coaxially connected with the third roller 73B.Gear 78C meshes with gear 78A and gear 78B respectively.

Of course, the third transmission assembly 78 may also be constructed in other forms, such as through synchronous belt transmission.

As shown in Fig. 32, corresponding to the two third rollers 73, the second conveying assembly 60 includes two fourth rollers 74, a fourth roller 74A and a fourth roller 74B, wherein the fourth roller 74A corresponds to the third roller 73A, and the fourth roller 74B corresponds to the third roller 73B.

It can be understood that the second transport component 60 also has a guiding and supporting function for the guide wire 12 and/or the catheter 11. Therefore, in the present application, the second transport component 60 can also be referred to as a guiding component.

In the present application, all rolling wheels are configured to be rotatable around their own axes relative to the corresponding base (base), and in the absence of a driving component (such as a motor) to drive them to rotate, all rolling wheels can be passively rotated under the action of friction. All rolling wheels are equipped with a wheel axle, and the driving mechanism or transmission mechanism drives the wheel axle to rotate to rotate the rolling wheel. In the present application, each transmission shaft and wheel axle are configured to be rotatable around its own axis relative to the corresponding base (base).

According to the slave execution device 200 of the present application, the components contacting the guide wire 12 and/or the catheter 11 are all detachable and passive components, so these components can be presented in the form of consumables, which is easy to install and can avoid cross infection.

It can be understood that the medical system 300 according to the present application includes all the features and effects of the slave execution device 200 according to the present application.

Second embodiment

As shown in Fig. 35, in the second embodiment of the present application, the structure of the slave execution device 100 is different from that of the slave execution device 200. The following only focuses on the differences between the two embodiments.

The slave execution device 100 includes a main power device 110 , a mobile power device 140 and a first carrying device 160 .

The main body power device 110 has a main body driving mechanism and a moving assembly. The moving assembly is configured to be able to move along a first conveying direction DF1 or a second conveying direction DF2 under the action of the main body driving mechanism, the first conveying direction DF1 being the advancing direction of the guide wire 12 or the catheter 11, and the second conveying direction DF2 being the retreating direction of the guide wire 12 or the catheter 11. In other words, the moving assembly is drivingly connected to the main body driving mechanism so as to be able to move forward and backward along the conveying direction DF under the action of the main body driving mechanism 124.

The mobile power device 140 is connected to the mobile assembly and is configured to be able to move along the first conveying direction DF1 or the second conveying direction DF2 with the mobile assembly. In addition, the mobile power device 140 has a first driving mechanism. The first carrying device 160 is disposed on the mobile power device 140 and is used to carry the medical device 10. Thus, the first carrying device 160 can drive the medical device 10 to move along the first conveying direction DF1 or the second conveying direction DF2 with the mobile power device 140 to perform the advancement action of the catheter 11 or the retraction action of the catheter 11.

The first carrying device 160 is provided with a first operating mechanism 93. Different from the first embodiment, the first operating mechanism 93 is connected to the first carrying device 160 as a whole. Therefore, in the second embodiment, the first operating mechanism 93 can be regarded as a part of the first carrying device 160, that is, the first carrying device 160 has the first operating mechanism 93. The first operating mechanism 93 is transmission-connected with the first driving mechanism, so that the first operating mechanism 93 can operate the advancing action of the guide wire 12 or the retracting action of the guide wire 12 under the action of the first driving mechanism.

The first carrying device 160 further includes a second operating mechanism 90, which is used to act on the medical function mechanism 13 of the medical device 10. The mobile power device 140 further includes a second driving mechanism, which is used to drive the second operating mechanism 90 to work.

As shown in Figures 36 to 38, the main power device 110 also includes a frame housing 112, and the housing 112 has a long hole 113 extending along the first conveying direction DF1 or the second conveying direction DF2. The protrusion 121 of the moving component extends from the long hole 113. The mobile power device 140 also includes a connecting frame 141 and a base 142. The connecting frame 141 can be roughly configured in a U shape to be sleeved on the upper side of the housing 112. One end of the connecting frame 141 is connected to the base 142 , and the other end is connected to the protruding portion 121 of the moving component, so that the connecting frame 141 is movably arranged across the housing 112 .

The first carrying device 160 is detachably connected to the base 142. In the second embodiment, the base 142 is used to extend substantially along a horizontal plane, and the first carrying device 160 is installed on the upper side of the base 142, which can also be understood as the first carrying device 160 is laid flat for use.

As shown in Figures 39 and 40, similar to the first embodiment, the main power device 110 also includes a frame 111, a first guide rail 114, a screw pair (the screw pair includes a screw 115 and a screw nut 116) and a main transmission assembly 92. The housing 112 is covered on the frame 111, and the main driving mechanism 124, the moving assembly 91, the first guide rail 114, the screw pair and the main transmission assembly 92 are all arranged on the frame 111.

The moving frame 117 has two end walls 118 and a second guide rail 119 arranged between the two end walls 118. The moving seat 120 is preferably arranged on the second guide rail 119 through a linear bearing 132. The moving seat 120 has a protrusion 121. In the second embodiment, the structure of the moving assembly 91 is different from that of the moving assembly 291. As shown in Figure 41, the first force sensing member 122 and the second force sensing member 123 are respectively arranged at both ends of the moving seat 120. The first force sensing member 122 and the second force sensing member 123 are respectively arranged facing the sides of the two end walls 118 of the moving frame 11, and respectively abut against the corresponding end walls 118. The first force sensing member 122 is closer to the end (front end) of the main power device 110 along the first conveying direction DF1 than the second force sensing member 123. Therefore, when the thrust action of the catheter 11 is performed, the first force sensing member 122 can sense the resistance of the moving seat 120. The first force sensing member 122 and the second force sensing member 123 are preferably pressure sensors or weighing sensors.

As shown in FIGS. 42 and 43 , similar to the first embodiment, the mobile power device 140 further includes a first power shaft 145 , a first transmission assembly 94 , a second power shaft 146 and a second transmission assembly 95 .

The first driving mechanism 143 and the second driving mechanism 144 are disposed on the base 142. Preferably, the first driving mechanism 143 and the second driving mechanism 144 are at least partially located in the connecting frame 141, and the driving ends of the first driving mechanism 143 and the second driving mechanism 144 can extend to the bottom of the base 142.

The first power shaft 145 and the second power shaft 146 are arranged through the base 142. The top end of the first power shaft 145 is transmission-connected with the first operating mechanism 93, and the bottom end is connected with the first transmission assembly 94, and the first transmission assembly is also connected with the driving end of the first driving mechanism 143, so as to transfer power from the first driving mechanism 143 to the first power shaft 145 and then to the first operating mechanism 93. The top end of the second power shaft 146 is transmission-connected with the second operating mechanism 90, and the bottom end is connected with the second transmission assembly 95, and the second transmission assembly 95 is also connected with the driving end of the second driving mechanism 144, so as to transfer power from the second driving mechanism 144 to the second power shaft 146 and then to the second operating mechanism 90.

The first transmission assembly 94 includes a first driving wheel 147, a first driven wheel 148 and a first synchronous belt 149. The second transmission assembly 95 includes a second driving wheel 150, a second driven wheel 151 and a second synchronous belt 152. The first transmission assembly 94 and the second transmission assembly 95 are constructed in the same manner as in the first embodiment, and will not be described in detail herein.

The structure of the first carrying device 160 will be described below in conjunction with Figures 44 to 47.

The first bearing device 160 includes a bearing base 161, a guide wire manipulation seat 163 and a functional manipulation seat 162. Among them, the bearing base 161 is used to be installed on the base 142 of the mobile power assembly 140. The bearing base 161 is generally constructed in a box shape, including a bearing base first part 161A for mounting the first manipulation mechanism 93 and a bearing base second part 161B for mounting the second manipulation mechanism 90. The bearing base first part 161A and the bearing base second part 161B are both box-shaped. The guide wire manipulation seat 163 is arranged on the bearing base 161. The guide wire manipulation seat 163 is generally plate-shaped, used to cover the bearing base first part 161A, and the first manipulation mechanism 93 is arranged on the guide wire manipulation seat 163. The functional manipulation seat 162 is arranged on the bearing base 161. The functional manipulation seat 162 is generally plate-shaped, used to cover the bearing base second part 161B, and the second manipulation mechanism 90 is arranged on the functional manipulation seat 162.

In the second embodiment, the structure of the supporting base 161 is different from that of the supporting base 261 , and the first operating mechanism 93 and the medical device 10 are in an exposed state during use.

Similar to the first embodiment, the snap-fit assembly 164 arranged at the end of the supporting base 161 can be connected to the snap-fit seat 153 (as shown in FIG. 37 ) arranged at the end of the base 142 of the mobile power device 140 , so that the supporting base 161 can be detachably connected to the base 142 .

In order to further facilitate the rapid installation and positioning of the first bearing device 160, a connection matching portion 1611 is provided on the bearing base 161, and a connection portion 1421 is provided on the base 142 of the mobile power device 140 (as shown in FIGS. 37 and 38 ), wherein the connection portion 1421 can form a matching connection with the connection matching portion 1611. Exemplarily, the connection portion 1421 can be a connection column, and the connection matching portion 1611 can have a corresponding connection hole. When installing the first bearing device 160, only the connection column and the connection hole need to be used to achieve positioning to quickly complete the installation.

46 and 47, a first power transmission mechanism 165 and a second power transmission mechanism 166 are disposed in the support base 161. The first power transmission mechanism 165 is located at a position corresponding to the position of the first power shaft 145 and is meshedly connected to the first power shaft 145 to transmit the rotational motion of the first power shaft 145 to the first operating mechanism 93. The second power transmission mechanism 166 is located at a position corresponding to the position of the second power shaft 146 and is meshedly connected to the second power shaft 146 to transmit the rotational motion of the second power shaft 146 to the second operating mechanism 90.

Specifically, the first power transmission mechanism 165 includes a first limit frame 1651, a first bearing 1652, a first transmission shaft 1653, a transmission synchronous wheel 1654 and a transmission synchronous belt 1655. The bottom of the bearing base 161 is provided with a hole corresponding to the first power shaft 145, and the first limit frame 1651 is provided on the bearing base 161 and corresponds to the hole, and two first bearings 1652 corresponding to each other are provided at the hole and on the first limit frame 1651. The first transmission shaft 1653 is connected between the inner rings of the two first bearings 1652, and the bottom end of the first transmission shaft 1653 is meshed and connected with the first power shaft 145, and the upper part is fixedly connected with the transmission synchronous wheel 1654. The transmission synchronous belt 1655 is connected between the transmission synchronous wheel 1654 and the first operating mechanism, so that a synchronous belt transmission is formed between the first power transmission mechanism 165 and the first operating mechanism 93.

The second power transmission mechanism 166 includes a second limiting frame 1661, a second bearing 1663, a second transmission shaft 1662 and a transmission gear 1664. A hole corresponding to the second power shaft 146 is also provided at the bottom of the bearing base 161. The second limiting frame 1661 is provided on the bearing base 161 and corresponds to the hole. Two second bearings 1663 corresponding to each other are provided at the hole and on the second limiting frame 1661. The second transmission shaft 1662 is connected between the inner rings of the two second bearings 1663. The bottom end of the second transmission shaft 1662 is meshedly connected with the second power shaft 146, and the upper part is fixedly connected with the transmission gear 1664. Gear meshing transmission is formed between the second power transmission mechanism 166 and the second operating mechanism 90.

The specific structure of the first operating mechanism 93 will be described below in conjunction with Figures 48 to 52.

The first operating mechanism 93 includes an active roller component 167 and a passive roller component 168. The active roller component 167 and the passive roller component 168 are arranged opposite to each other. The active roller component 167 includes an active roller 1671 arranged on the upper side of the guide wire operating seat 163 and an active gear 1672 arranged on the lower side of the guide wire operating seat 163, the active roller 1671 and the active gear 1672 are coaxially fixedly connected, and the active gear 1672 is transmission-connected with the first power transmission mechanism 165, so as to rotate relative to the first bearing device 160 around the axis of the active gear 1672 itself under the action of the first power transmission mechanism 165.

A transmission gear 1673 is also provided on the bottom side of the guide wire manipulation seat 163, and a driving gear 1672 corresponding to the driving roller 1671 is meshed with the transmission gear 1673. A transmission synchronous wheel 1674 is coaxially provided with the transmission gear 1673. A synchronous belt transmission is formed between the transmission synchronous wheel 1674 and the transmission synchronous wheel 1654, thereby realizing a transmission connection between the driving gear 1672 and the first power transmission mechanism 165. Preferably, two driving rollers 1671 are provided, and the two driving gears 1672 of the two driving rollers 1671 are both meshed with the transmission gear 1673.

The passive roller member 168 is disposed on the guide wire manipulation seat 163, and the passive roller member 168 includes a passive roller 1681, and the passive roller 1681 is located on the upper side of the guide wire manipulation seat 163. The passive roller 1681 and the active roller 1671 are substantially parallel to each other. The passive roller 1681 and the active roller 1671 are disposed opposite to each other along a first direction D1, and the first direction D1 is perpendicular to the conveying direction DF and the direction of the passive roller 1681. The passive roller 1681 is configured to be movable in a direction close to the active roller 1671 or in a direction away from the active roller 1671, that is, movable relative to the active roller 1671 in a first direction D1, so as to be able to clamp the guide wire 12 or release the guide wire 12 with the active roller 1671. The number of passive rollers 1681 corresponds to that of the active rollers 1671. For example, in a preferred embodiment, two passive rollers 1681 are also provided.

49 to 52 , the passive roller member 168 further includes a fixing frame 1682 , an extrusion frame 1684 and a first elastic member 1685 .

The fixing frame 1682 is connected to the guide wire manipulation seat 163, and has a pair of arms 1686 extending therefrom, and the pair of arms 1686 are separated from each other, and preferably, a third guide rail 1683 is provided between the two arms 1686 of a pair, and the third guide rail 1683 extends along the first direction D1. Further preferably, the fixing frame 1682 has two pairs of arms 1686 extending in opposite directions on both sides, and a third guide rail 1683 is provided between the two arms 1686 of each pair.

The extrusion frame 1684 has a sliding portion 1688, and the passive roller 1681 is arranged on the sliding portion 1688, and the sliding portion 1688 is arranged on the fixed frame 1682. The third guide rail 1683 is arranged to penetrate the sliding portion 1688, so that the extrusion frame 1684 can move along the third guide rail 1683. The sliding portion 1688 is located between a pair of arm portions 1686 of the fixed frame 1682. Preferably, the two sliding portions 1688 are respectively located between the two pairs of arm portions 1686. When the extrusion frame 1684 is installed on the fixed frame 1682, the extrusion frame 1684 half surrounds the fixed frame 1682.

The first elastic member 1685 is connected between the fixing frame 1682 and the extrusion frame 1684. The first elastic member 1685 extends along the first direction D1 to provide an elastic force to the extrusion frame 1684. The elastic force makes the extrusion frame 1684 tend to move in the direction toward the active roller 1671, that is, the first elastic member 1685 is used to provide a force to make the extrusion frame 1684 approach the active roller 1671 along the first direction D1. In the illustrated embodiment, the first elastic member 1685 is configured as a spring and can be disposed in a cavity in the fixing frame 1682. An extrusion portion 1687 is disposed at a position corresponding to the cavity on the extrusion frame 1684. When the extrusion frame 1684 is mounted to the fixing frame 1682, the extrusion portion 1687 can partially extend into the above-mentioned cavity, and the first elastic member 1685 abuts against both the extrusion portion 1687 and the fixing frame 1682 in the cavity.

48 and 49 , a joystick assembly 169 is also provided on the guidewire manipulation seat 163. The joystick assembly 169 includes a pivoting portion 1691, a manipulation portion 1692, an extension portion 1693, and a pushing portion 1694.

The pivoting portion 1691 is pivotally connected to the guide wire manipulation seat 163, that is, the pivoting portion 1691 is connected to the guide wire manipulation seat 163 and can rotate relative to the guide wire manipulation seat 163 around its own axis. The bearing base 161 is provided with an adjustment port 1612 (see FIG. 12 ), and the extension portion 1693 is located at the guide wire manipulation seat 163. The lower side of the vertical seat 163 has one end connected to the pivoting portion 1691, and the other end extends to the outside of the bearing base 161 through the above-mentioned adjustment port 1621. In the illustrated embodiment, the extension portion 1693 may have a certain bending angle, for example, between 50 and 130 degrees, or 90 degrees. The operating portion 1692 is used for user operation, which is located outside the bearing base 161 and connected to the other end of the extension portion 1693. The extension portion 1692 is connected between the pivoting portion 1691 and the operating portion 1692, so that the operating portion 1692 can rotate synchronously with the pivoting portion 1691 around the axis of the pivoting portion 1691.

The pushing portion 1694 is provided to the extension portion 1693, and is used to contact the extrusion frame 1684, so that when the pivot portion 1691 rotates, the pushing portion 1694 can push the extrusion frame 1684 away from the active roller 1671 along the first direction D1. For example, the pushing portion 1694 is located in the bearing base 161 and extends from the extension portion 1693 toward the guide wire manipulation seat 163. In the illustrated embodiment, the pushing portion 1694 is connected to the bend of the extension portion 1693. Along the moving direction of the extrusion frame 1684 under the action of the first elastic member 1685, the pushing portion 1694 is located at the downstream side relative to the extrusion frame 1684, so that when the pivot portion 1691 pivots, the pushing portion 1694 can push the extrusion frame 1684 and enable the passive roller 1681 to move away from the active roller 1671. Exemplarily, when the operator operates the operating part 1692, the pushing part 1694 can push the extrusion frame 1684 to move in a direction close to the fixed frame 1682, thereby enabling the passive roller 1681 to move away from the active roller 1671, thereby releasing the clamping of the passive roller 1681 and the active roller 1671 on the guide wire 12.

In a second embodiment, the upper side of the guide wire manipulation seat 163 is also provided with a guide wire support mechanism 170, and the guide wire support mechanism 170 is configured to allow the guide wire 12 to pass through to support the guide wire 12. As shown in Figure 48, the guide wire support mechanism 170 includes a guide wire support portion 1701 and a guide wire covering portion 1702. The guide wire support portion 1701 is connected to the guide wire manipulation seat 163. A half guide wire groove is provided on the guide wire support portion 1701. The guide wire covering portion 1702 can be connected to the guide wire support portion 1701 in an openable and closable manner, and a half guide wire groove is also provided on the guide wire covering portion 1702. When the guide wire covering portion 1702 covers the guide wire support portion 1701, two half guide wire grooves form a complete guide wire groove to support the guide wire 12 and allow the guide wire 12 to pass through. Preferably, a snap-fit structure may be provided on the guidewire support portion 1701 and the guidewire covering portion 1702 to form a snap-fit when the guidewire covering portion 1702 covers the guidewire support portion 1701 .

The specific structure of the functional operating seat 162 and the second operating mechanism 90 will be introduced below in conjunction with Figures 53 to 55.

The first carrying device 160 has a supporting structure 97 capable of supporting the medical device 10. Specifically, similar to the first embodiment, the supporting structure 97 includes a first bracket 175, a second bracket 176, a second elastic member 177, a connecting seat 178 and a bottom bracket 179, which will not be described in detail herein.

The second operating mechanism 90 includes a functional gear 172, a bevel gear 173 and a bevel spur gear 174. The functional gear 172 is rotatably disposed on the functional operating seat 162, and the functional gear 172 At least part of the function gear 172 is located on the upper side of the function operating seat 162 (the first side 162A of the function operating seat). Exemplarily, the function gear 172 is arranged on the lower side of the function operating seat 162 (the second side 162B of the function operating seat). The function operating seat 162 is provided with an operation port 171, and the function gear 172 is partially exposed to the upper side of the function operating seat 162 through the operation port 171. Thus, when the medical device 10 is mounted on the first carrying device 160, the medical function mechanism 13 of the medical device 10 can be meshed with the function gear 172.

In an optional embodiment, the bottom side of the function operating seat 162 is provided with two gear seats 1721 located at both ends of the operation port 171, and a third bearing 1722 is respectively provided on the two gear seats 1721, and the two ends of the rotating shaft of the function gear 172 are respectively fixedly connected to the inner rings of the two third bearings 1722. In addition, one end of the rotating shaft of the function gear 172 is also fixedly connected to the bevel gear 173, so that the function gear 172 and the bevel gear 173 can rotate coaxially. The bevel gear 174 is rotatably connected to the function operating seat 162, and its axial direction is preferably perpendicular to the function operating seat 162. The bevel gear 174 has a gear rotating shaft 1743, a bevel gear portion 1741 and a spur gear portion 1742. Among them, the gear rotating shaft 1743 is rotatably arranged on the function operating seat 162 along the vertical direction. The spur gear portion 1742 is horizontally fixed to the bottom end of the gear rotating shaft 1743 and is meshed and connected with the transmission gear 1664. The bevel gear portion 1741 is disposed on the upper side of the spur gear portion 1742 around the gear rotation axis 1743 and is meshedly connected with the bevel gear 173. Thus, the power from the second driving mechanism 144 transmitted through the second transmission assembly 95 can be transmitted to the functional gear 172.

Please refer to Figures 35, 36 and 56 to 58 below. The slave execution device 100 also includes a second bearing device 180, which is arranged on the main power device 110 and is located in front of the first bearing device 160 along the conveying direction DF. For example, the end of the frame 111 of the main power device 110 is provided with a mounting portion 129 (see Figure 39), and the mounting portion 129 can extend out of the shell 112. The second bearing device 180 includes a support seat 181, and the support seat 181 is detachably mounted on the mounting portion 129. In a preferred embodiment, a positioning portion 184 is provided on the support seat 181, and a positioning matching portion 130 is provided on the mounting portion 129 of the main power device 110, and the positioning portion 184 can be connected to the positioning matching portion 130, for example, it can be a column hole match. In this embodiment, a magnetic member 185 is also provided on the support seat 181, and a magnetic attraction member 131 is provided on the mounting portion 129, and the two can be docked and connected. For example, after positioning is completed using the positioning portion 184 and the positioning matching portion 130 , a stable connection is formed under the corresponding attraction between the magnetic member 185 and the magnetic attraction member 131 .

The second carrying device 180 also has a guide assembly 96, which is used to guide the guide wire 12 and/or the catheter 11. The guide assembly 96 is arranged in front of the first operating mechanism 93 and the second operating mechanism 90 along the conveying direction DF. Specifically, the guide assembly 96 includes a catheter guide mechanism 182 and a catheter support mechanism 183, both of which are arranged on the support seat 181. The catheter guide mechanism 182 is used to clamp Or release the guidewire 12 and/or the catheter 11 , the catheter support mechanism 183 is configured to allow the guidewire 12 and/or the catheter 11 to pass through so as to support the guidewire 12 and/or the catheter 11 .

The catheter guide mechanism 182 includes a first guide roller 186 , a second guide roller 187 and a second biasing assembly 98 .

The first guide roller 186 and the second guide roller 187 are disposed opposite to each other, and their axes are substantially parallel to each other and both can rotate around their own axes relative to the support seat 181 .

The second biasing assembly 98 includes a fixed block 188, a push block 189 and a third elastic member 190. The fixed block 188 is disposed on the bottom side of the support seat 181, and a guide groove communicating with the outside is provided therein, and the guide groove extends along the first additional direction D11, wherein the first additional direction D11 is perpendicular to the plane defined by the conveying direction DF and the axis of the second guide roller 187. The push block 189 at least partially extends into the guide groove. The third elastic member 190 is located in the guide groove and connected between the fixed block 188 and the push block 189, and the third elastic member extends along the first additional direction D11, and is used to provide a force to the push block 189 so that the push block 189 tends to move in a direction close to the fixed block 188, that is, to move the push block 189 toward the fixed block 188 along the first additional direction D11.

The first guide roller 186 is fixedly arranged on the upper side of the support seat 181. The second guide roller 187 is located on the upper side of the support seat 181 and is connected to the push block 189, so that the second guide roller 187 can move in a direction close to or away from the first guide roller 186, and the elastic force of the third elastic member 190 makes the second guide roller 187 tend to approach the first guide roller 186 so as to clamp the guide wire 12 and/or the catheter 11. That is, under the action of the second biasing assembly 98, the second guide roller 187 is movable relative to the first guide roller 186 along the first additional direction D11 so as to clamp or release the guide wire 12 and/or the catheter 11 with the first guide roller 186. Therefore, when the operator operates the push block 189, the second guide roller 187 can be moved close to or away from the first guide roller 186, thereby clamping or releasing the guide wire 12 and/or the tube 11.

The catheter support mechanism 183 includes a catheter support portion 191 and a catheter cover portion 192. The catheter support portion 191 is connected to the support seat 181. A half-catheter groove is provided on the catheter support portion 191. The catheter cover portion 192 can be connected to the catheter support portion 191 in an openable and closable manner, and a half-catheter groove is also provided on the catheter cover portion 192. When the catheter cover portion 192 covers the catheter support portion 191, the two half-catheter grooves form a complete catheter groove to support the guide wire 12 and/or the catheter 11 and allow the guide wire 12 and/or the catheter 11 to pass through. Preferably, a snap-fit structure can be provided on the catheter support portion 191 and the catheter cover portion 192 to form a snap-fit when the catheter cover portion 192 covers the catheter support portion 191.

In addition, in this embodiment, the first carrier 160 and/or the second carrier 180 can be configured as passive consumable components. It can be constructed as a passive consumable made of plastic. Preferably, a sterile bag or a sterile curtain or other isolation parts can be set between the first carrying device 160 and the mobile power device 140, and between the second carrying device 180 and the main power device 110. In this way, each patient can correspond to a set of disposable passive consumables, reducing the workload of sterilization and disinfection. In addition, the main power device 110 and the mobile power device 140 can be reused, reducing the use cost of the hospital.

During the use of the slave execution device 100 of the present invention, it is preferably tilted, wherein the end (front end) of the slave execution device 100 along the first conveying direction DF1 is lower than the end (rear end) of the slave execution device 100 along the second conveying direction DF2. In other words, the slave execution device 100 is tilted toward the patient, and the end of the slave execution device 100 along the first conveying direction DF1 faces the patient. The tilt angle of the slave execution device 100 is θ, that is, the angle between the conveying direction DF and the horizontal plane is θ.

Therefore, the total gravity of the mobile seat 120, the mobile power device 140 and the first carrying device 160 has a component force F along the tilt direction of the slave execution device 100, and F=mgsinθ, where m is the total mass of the mobile seat 120, the mobile power device 140 and the first carrying device 160, and g is the gravitational acceleration.

The processor module is signal-connected to the first force sensor 122 and the second force sensor 123 , and is configured to calculate _{the resistance} Fresistance experienced by the catheter 11 according to the component force F and the pressure sensed by the first force sensor 122 and/or the second force sensor 123 .

Exemplarily, the pressure sensed by the first force sensor 122 is F ₁ , and the pressure sensed by the second force sensor 123 is F ₂ . When the mobile power device 140 is stationary, the first force sensor 122 has a reading due to the tilt of the slave actuator 100 , and at this time F ₁ =F.

When the catheter 11 is blocked during the uniform advancement, if the first force sensing element 122 has a reading, then _Fresistance = FF ₁ . If the second force sensing element 123 has a reading, then _Fresistance = F + F ₂ .

When the catheter 11 is blocked during the acceleration or deceleration process at the acceleration a, the moving seat 120 has inertia, and the inertial force F _inertia = ma. In this case, if it is in the acceleration process and the first force sensing element 122 has a reading, F _resistance = FF _inertia - F ₁ . If it is in the acceleration process and the second force sensing element 123 has a reading, F _resistance = FF _inertia + F ₂ . If it is in the deceleration process and the first force sensing element 122 has a reading, F _resistance = F + F _inertia - F ₁ . If it is in the deceleration process and the second force sensing element 123 has a reading, F _resistance = F + F _inertia + F ₂ .

Thus, the resistance encountered by the catheter 11 when advancing and retreating and its changes can be accurately obtained, which is conducive to achieving more accurate control of the advancing and retreating speeds and improving safety.

For the parts of the second embodiment which are not introduced, refer to the description of the first embodiment.

The processes and steps described in all the above preferred embodiments are only examples. Unless adverse effects occur, various processing operations can be performed in a sequence different from the sequence of the above processes. The sequence of steps in the above processes can also be increased, merged or deleted according to actual needs.

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

The terms "attached" or "attached" as used herein include: a configuration where an element is directly secured to another element by being directly secured to the other element; a configuration where an element is indirectly secured to another element by being secured to an intermediate member which in turn is secured to the other element; and a configuration where one element is integral with another element, i.e., one element is substantially a part of the other element. This definition also applies to words with similar meanings such as "connect," "connect," "couple," "mount," "bond," "fix," and their derivatives. Finally, terms of degree such as "substantially," "approximately," and "approximately" as used herein represent the amount of deviation that modifies the term such that the end result will not be significantly changed.

Unless otherwise defined, the technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art of the present application. The terms used herein are only for describing specific implementation purposes and are not intended to limit the present application. The features described herein in one embodiment may be applied to another embodiment individually or in combination with other features, unless the feature is not applicable or otherwise specified in the other embodiment.

The present application has been described through the above-mentioned embodiments, but it should be understood that the above-mentioned embodiments are only for the purpose of example and description, and are not intended to limit the present application to the described embodiments. In addition, it can be understood by those skilled in the art that the present application is not limited to the above-mentioned embodiments, and more variations and modifications can be made according to the teachings of the present application, and these variations and modifications all fall within the scope of protection claimed by the present application.

Claims

A slave end execution device for delivering a guide wire and/or a catheter, characterized by comprising:

A main body power device, which is used to be installed beside the operating table and is immovable relative to the operating table, and the main body power device includes a main body driving mechanism for providing driving force;

A mobile power device, connected to the main power device, used to move forward and backward relative to the main power device along the conveying direction of the guide wire and/or catheter under the drive of the main driving mechanism, wherein the mobile power device includes a first driving mechanism for providing driving force;

A first carrying device, detachably connected to the mobile power device, and moving synchronously with the mobile power device along the conveying direction relative to the main power device, the first carrying device is used to carry a medical device, the medical device having the catheter; and

The first operating mechanism is arranged on the first carrying device, and is used for controlling the guide wire to move forward and backward relative to the first carrying device along the conveying direction under the drive of the first driving mechanism.
The slave execution device according to claim 1, characterized in that:

The mobile power device includes a second driving mechanism for providing driving force;

The first carrying device includes a second operating mechanism, the second operating mechanism is used to contact the medical device, and the second operating mechanism is connected to the second driving mechanism to operate the medical device to perform a medical function under the drive of the second driving mechanism.
The slave execution device according to claim 2, characterized in that the slave execution device further comprises:

A moving assembly, arranged on the main body power device, the moving assembly is configured to be movable forward and backward relative to the main body power device along the conveying direction under the drive of the main body driving mechanism, wherein the moving power device is connected to the moving assembly;

A first transmission mechanism, connected between the first driving mechanism and the first operating mechanism, for transmitting the driving force of the first driving mechanism to the first operating mechanism; and

The second transmission mechanism is connected between the second driving mechanism and the second operating mechanism, and is used to transmit the driving force of the second driving mechanism to the second operating mechanism.
The slave execution device according to claim 3, characterized in that:

The first operating mechanism comprises at least one pair of rollers arranged opposite to each other, the axes of the rollers are parallel to each other and the rollers are configured to be rotatable around their axes, and the pair of rollers are used to clamp the guide wire together.

The first transmission mechanism is connected between the first driving mechanism and at least one of the pair of rollers to rotate the at least one of the pair of rollers.
The slave execution device according to claim 3, characterized in that the first transmission mechanism comprises:

A first power shaft, disposed on the mobile power device, wherein the first power shaft is configured to be rotatable relative to the mobile power device around its own axis;

A first transmission assembly, disposed in the mobile power device and connected between the first drive mechanism and the first power shaft, so that the first power shaft rotates under the drive of the first drive mechanism; and

The first power transmission mechanism is arranged on the first bearing device and connected between the first operating mechanism and the first power shaft so that the first power shaft drives the first operating mechanism to work.
The slave execution device according to claim 5, characterized in that the first operating mechanism comprises:

A first operating mechanism base, connected to the first carrying device;

at least one first roller, disposed on the first operating mechanism base, the axis of the first roller being not parallel to the conveying direction, the first roller being configured to be rotatable about its axis relative to the first operating mechanism base, and

at least one second roller, disposed on the first operating mechanism base and arranged opposite to the first roller, so as to clamp the guide wire together with the first roller, the second roller being configured to be rotatable around its axis relative to the first operating mechanism base;

Wherein, the first roller and the second roller are both used to be connected to the first transmission mechanism so as to rotate under the drive of the first transmission mechanism, and the slave-end execution device is constructed so that the rotation direction of the first roller is opposite to the rotation direction of the second roller.
The slave execution device according to claim 6, characterized in that the first operating mechanism further comprises:

A second fixed seat, disposed on the first operating mechanism base, wherein the second roller is disposed on the second fixed seat; and

a first movable seat, which is arranged on the first operating mechanism base and is movable along a first direction relative to the second fixed seat between a first position and a second position, wherein the first roller is arranged on the first movable seat,

The first direction is perpendicular to the conveying direction and a plane defined by the axis of the first roller, and the distance between the first movable seat and the second fixed seat when the first movable seat is in the first position is smaller than the distance between the first movable seat and the second fixed seat when the first movable seat is in the second position.
The slave execution device according to claim 7, characterized in that the first manipulation mechanism further comprises:

a first biasing assembly connected between the second fixed seat and the first movable seat, for providing a force to move the first movable seat away from the second fixed seat along the first direction; and

The first pressing mechanism is arranged on the first operating mechanism base and connected to the first movable seat, and is used for being operated by a user to make the first movable seat approach the second fixed seat along the first direction.
The slave execution device according to claim 8, characterized in that the first pressing mechanism comprises:

a cam connected to the first operating mechanism base and rotatable relative to the first operating mechanism base about a rotation axis extending in a second direction, wherein the second direction is perpendicular to the first direction and parallel to a plane defined by the conveying direction and the axis of the first roller, and a circumferential surface of the cam is connected to a side of the first movable seat facing away from the second fixed seat;

A wrench is connected to the cam and is used for being operated by a user to rotate the cam relative to the first operating mechanism base.
The slave execution device according to claim 9, characterized in that:

A protrusion extending along the first direction is connected to a side of the first movable seat facing the cam and is used to contact the circumferential surface of the cam; and/or

The wrench is exposed from an outer surface of the first carrier.
The slave execution device according to claim 7, characterized in that:

The first power transmission mechanism comprises a first transmission shaft, and the first transmission shaft is used to be connected to the first driving mechanism so as to rotate under the drive of the first driving mechanism;

The first operating mechanism also includes:

a first roller transmission mechanism, used to connect the first transmission shaft and the first roller, so that the rotation direction of the first roller is the same as the rotation direction of the first transmission shaft, and

The second roller transmission mechanism is used to connect the first transmission shaft and the second roller, so that the rotation direction of the second roller is opposite to the rotation direction of the first transmission shaft.
The slave-end execution device according to claim 11 is characterized in that the first roller transmission mechanism includes at least one first manipulation synchronous belt, the first transmission shaft and the first roller are both connected with a structure for connecting the first manipulation synchronous belt, and the slave-end execution device is constructed so that the first transmission shaft drives all the first rollers to rotate through the first manipulation synchronous belt. move.
The slave execution device according to claim 12, characterized in that the first manipulation mechanism comprises N first rollers and N first manipulation synchronous belts, where N is an integer greater than or equal to 1, wherein:

Each of the first rollers is connected to the first transmission shaft via a first steering synchronous belt; or

Each of a portion of the N first rollers is connected to the first transmission shaft via a first steering synchronous belt, and each of another portion of the N first rollers is connected to another first roller via a first steering synchronous belt.
The slave execution device according to claim 12, characterized in that the first manipulation mechanism comprises N first rollers and N first manipulation synchronous belts, where N is an integer greater than or equal to 1, wherein:

The first one of the N first rollers is connected to the first transmission shaft via a first steering synchronous belt, and each of the other first rollers is connected to the previous first roller via a first steering synchronous belt.
The slave execution device according to claim 14, characterized in that the first manipulation mechanism further comprises:

A first additional roller, disposed on the first movable seat, wherein the first additional roller is configured to be rotatable relative to the first movable seat about its axis;

A second additional roller is arranged on the second fixing seat and is arranged opposite to the first additional roller, so as to clamp the guide wire together with the first additional roller, and the second additional roller is configured to be rotatable around its axis relative to the second fixing seat;

a first additional roller transmission mechanism, used for connecting the first additional roller and the Nth first roller, so that the first additional roller rotates in the same direction as the rotation direction of the first transmission shaft under the drive of the Nth first roller; and

An encoder is connected to the second additional roller and is used to detect a rotation angle of the second additional roller.
The slave execution device according to claim 15, characterized in that:

The second additional roller has a second additional roller axle;

The mobile power device also includes a third rotating shaft, which is arranged on the mobile power device and is used to be connected to the second additional roller axle and rotate synchronously with the second additional roller axle, wherein the encoder is arranged on the third rotating shaft.
The slave execution device according to claim 15, characterized in that:

The first additional roller transmission mechanism is configured as a synchronous belt, and/or

The axis of the first additional roller is parallel to the axis of the first roller.
The slave execution device according to claim 11, characterized in that the second roller transmission mechanism comprises:

A fourth transmission shaft, arranged on the first operating mechanism base;

A second roller first transmission mechanism, used to connect the first transmission shaft and the fourth transmission shaft, so that the fourth transmission shaft rotates under the drive of the first transmission shaft; and

The second roller second transmission mechanism is used to connect the fourth transmission shaft and the second roller, so that the second roller rotates under the drive of the fourth transmission shaft.
The slave-end execution device according to claim 18 is characterized in that one of the second roller-first transmission mechanism and the second roller-second transmission mechanism is constructed to be driven by a synchronous belt, and the other of the second roller-first transmission mechanism and the second roller-second transmission mechanism is constructed to be driven by a gear.
The slave-end execution device according to claim 11 is characterized in that the component of the first roller transmission mechanism used to connect the first transmission shaft and the component of the second roller transmission mechanism used to connect the first transmission shaft are both synchronous belts.
The slave execution device according to claim 5, characterized in that the first operating mechanism comprises:

an active roller component, disposed on the first bearing device, the active roller component comprising a coaxially connected active roller and an active gear, wherein the active gear is drivingly connected to the first power transmission mechanism so as to rotate relative to the first bearing device around the axis of the active gear itself under the action of the first power transmission mechanism; and

A passive roller component is arranged on the first bearing device, and the passive roller component includes a passive roller. The passive roller is arranged opposite to the active roller, and the passive roller is constructed to be rotatable around its own axis relative to the first bearing device and movable along a first direction relative to the active roller so as to be able to clamp the guide wire or release the guide wire with the active roller, wherein the first direction is perpendicular to the plane determined by the conveying direction and the axis of the passive roller.
The slave execution device according to claim 21, characterized in that the passive roller component further comprises:

A fixing frame, the fixing frame is arranged on the first carrying device, and the fixing frame has a third A guide rail, wherein the third guide rail extends along the first direction;

an extrusion frame, the extrusion frame being disposed on the third guide rail and being movable along the third guide rail, and the passive roller being disposed on the extrusion frame; and

A first elastic member, wherein the first elastic member is connected between the fixing frame and the extrusion frame, and the first elastic member extends along the first direction, and is used for providing a force to make the extrusion frame approach the active roller along the first direction.
The slave execution device according to claim 22, characterized in that the first operating mechanism further includes a joystick assembly, and the joystick assembly includes:

An operating portion, for operation by a user, wherein the operating portion is exposed from the first carrying device;

A pivoting portion, the pivoting portion is connected to the first carrying device, and the pivoting portion is configured to be rotatable around its own axis relative to the first carrying device;

an extension portion connected between the pivot portion and the operating portion so that the operating portion can rotate synchronously with the pivot portion around the axis of the pivot portion;

The pushing portion is arranged on the extending portion and is used to contact the extrusion frame, so that when the pivoting portion rotates, the pushing portion can push the extrusion frame away from the active roller along the first direction.
The slave-end execution device according to claim 5 is characterized in that the position of the first power transmission mechanism corresponds to the position of the first power shaft and is meshed and connected with the first power shaft, the first power transmission mechanism includes a transmission synchronous wheel, and a synchronous belt drive is formed between the first power transmission mechanism and the first operating mechanism.
The slave execution device according to claim 5, characterized in that the second transmission mechanism comprises:

A second power shaft, disposed on the mobile power device, the second power shaft being configured to be rotatable relative to the mobile power device around its own axis;

A second transmission assembly, disposed in the mobile power device and connected between the second drive mechanism and the second power shaft, so that the second power shaft rotates under the drive of the second drive mechanism; and

The second power transmission mechanism is arranged on the first bearing device and connected between the second operating mechanism and the second power shaft so that the second power shaft drives the second operating mechanism to work.
The slave execution device according to claim 25, characterized in that

The first power shaft is arranged through the mobile power device, and the direction of the first power shaft is One end of the first carrying device is transmission-connected to the first operating mechanism;

The first transmission assembly is connected between the first driving mechanism and an end of the first power shaft facing away from the first bearing device;

The second power shaft is arranged to penetrate the mobile power device, and one end of the second power shaft facing the first bearing device is transmission-connected to the second operating mechanism;

The second transmission assembly is connected between the second driving mechanism and an end of the second power shaft facing away from the first bearing device.
The slave execution device according to claim 25, characterized in that

The first carrying device comprises a functional operating seat for mounting the medical device, the functional operating seat comprises a first side of the functional operating seat and a second side of the functional operating seat which are arranged opposite to each other, wherein the medical device is detachably connected to the first side of the functional operating seat, and the functional operating seat is provided with an operating port;

The second operating mechanism comprises:

a functional gear, the functional gear being rotatably disposed on the second side of the functional operating seat and at least partially exposed from the operating port to the first side of the functional operating seat so as to be meshed with the medical device, and

A bevel gear is coaxially connected to the functional gear, and the bevel gear is used to connect to the second power transmission mechanism.
The slave execution device according to claim 27, characterized in that the first carrying device further comprises:

A first bracket, the first bracket is arranged on a first side of the functional operating seat;

A second bracket, the second bracket is arranged at a first side of the functional operating seat and is spaced apart from the first bracket along the conveying direction so as to support the medical device together with the first bracket, and the second bracket is configured to be movable relative to the functional operating seat along the conveying direction;

A second elastic member is connected to the second bracket and is used to apply a force to the second bracket to make the second bracket move away from the first bracket along the conveying direction.
The slave-end execution device according to claim 25 is characterized in that the position of the second power transmission mechanism corresponds to the position of the second power shaft and is meshingly connected with the second power shaft, and the second power transmission mechanism includes a transmission gear, and a gear meshing transmission is formed between the second power transmission mechanism and the second operating mechanism.
The slave execution device according to claim 3, characterized in that the main power device further comprises:

A frame, wherein the main driving mechanism and the moving assembly are both arranged on the frame;

a first guide rail, the first guide rail being arranged on the frame and extending along the conveying direction;

A lead screw pair, the lead screw pair comprising a lead screw and a lead screw nut, the lead screw being arranged on the frame and extending along the conveying direction;

A main body transmission assembly, wherein the main body transmission assembly is connected between the main body drive mechanism and the lead screw, so that the lead screw rotates around its own axis under the drive of the main body drive mechanism,

Wherein, the moving assembly is connected to the lead screw nut and the first guide rail, and is configured to be movable along the first guide rail, and the main driving mechanism is transmission-connected to the lead screw to drive the lead screw nut to move along the lead screw, thereby driving the moving assembly to move.
The slave execution device according to claim 30, wherein the moving component comprises:

A moving frame connected to the lead screw nut, the moving frame having two end walls spaced apart along the conveying direction and a second guide rail disposed between the two end walls, the second guide rail extending along the conveying direction;

a movable seat, the movable seat being disposed on the second guide rail and movable along the second guide rail, the protrusion being disposed on the movable seat; and

A force sensor is disposed between the movable seat and at least one of the two end walls, and the force sensor abuts against both the movable seat and at least one of the two end walls to sense the resistance encountered by the movable seat when the catheter is transported.
The slave execution device according to any one of claims 1 to 31, characterized in that:

The slave-end execution device further comprises a guide assembly, which is arranged in front of the first operating mechanism along the conveying direction.

The guide assembly includes at least one pair of rollers arranged opposite to each other, the axes of the rollers are parallel to each other and the rollers are configured to be rotatable around their own axes, and the pair of rollers are used to jointly clamp the guide wire and/or catheter.
The slave-end execution device according to any one of claims 1 to 31 is characterized in that the slave-end execution device also includes a second carrying device, which is arranged on the main power device and is located in front of the first carrying device along the conveying direction, and the second carrying device has a guide assembly, which is used to guide the guide wire and/or catheter.
The slave execution device according to claim 33, characterized in that

The second carrying device further comprises a support seat, and the support seat is connected to the mobile power device;

The guide assembly comprises:

a catheter guiding mechanism, the catheter guiding mechanism being arranged on the support seat so as to be able to clamp or release the guide wire and/or the catheter, and

A catheter supporting mechanism is disposed on the supporting seat, and the catheter supporting mechanism is configured to allow the guide wire and/or catheter to pass through so as to support the guide wire and/or catheter.
The slave-end actuator according to claim 34 is characterized in that the catheter guiding mechanism comprises:

A first guide roller, the first guide roller is disposed on the support seat, and the first guide roller is configured to be rotatable relative to the support seat around its own axis; and

A second guide roller, the second guide roller is arranged on the support seat, the second guide roller is arranged opposite to the first guide roller, the second guide roller is constructed to be rotatable around its own axis relative to the support seat, and is constructed to be movable relative to the first guide roller along a first additional direction so as to be able to clamp or release the guide wire and/or catheter with the first guide roller, wherein the first additional direction is perpendicular to the conveying direction and the plane determined by the axis of the second guide roller.
The slave execution device according to claim 35, characterized in that the second bearing device further comprises:

A fixing block, the fixing block is arranged on the supporting seat, the fixing block has a guide groove, and the guide groove extends along the first additional direction;

a pushing block, wherein at least a portion of the pushing block extends into the guide groove, and the second guide roller is disposed on the pushing block;

A third elastic member is arranged in the guide groove and connected between the fixed block and the pushing block, and the third elastic member extends along the first additional direction to apply a force to the pushing block to make the pushing block approach the first guide roller along the first additional direction.
The slave execution device according to any one of claims 1 to 31, characterized in that it also includes:

A second power assembly, for installation beside an operating table and being immovable relative to the operating table, the second power assembly comprising a fourth driving mechanism for providing driving force; and

A second conveying assembly is detachably connected to the second power assembly and is used to The guide wire and/or catheter is conveyed under the drive of a driving mechanism;

The second power assembly is used to be installed in front of the main power device along the conveying direction of the guide wire and/or catheter.
The slave execution device according to claim 37, characterized in that the second conveying component comprises:

a second conveying assembly base, detachably connected to the second power assembly;

At least one third roller is disposed on the second conveying assembly base, and the axis of the third roller is not parallel to the conveying direction;

at least one fourth roller, disposed on the second conveying assembly base and arranged opposite to the third roller, so as to clamp the guide wire and/or catheter together with the third roller;

The third roller transmission mechanism is arranged on the base of the second conveying assembly and is used to connect with the fourth driving mechanism and the third roller to drive the third roller to rotate under the drive of the fourth driving mechanism.
The slave execution device according to claim 38, characterized in that the second conveying component further comprises:

A third fixed seat, disposed on the second conveying assembly base, wherein the third roller and the third roller transmission mechanism are disposed on the third fixed seat; and

a fourth movable seat, which is arranged on the second conveying assembly base and is movable between a third position and a fourth position relative to the third fixed seat along a first additional direction, wherein the fourth roller is arranged on the fourth movable seat,

Wherein, the first additional direction is perpendicular to the conveying direction and the plane determined by the axis of the third roller, and the distance between the fourth movable seat and the third fixed seat when in the third position is smaller than the distance between the fourth movable seat and the third fixed seat when in the fourth position.
The slave execution device according to claim 39, characterized in that

The second conveying assembly further includes a positioning mechanism, which is disposed on the fourth moving seat.

The second conveying assembly base includes a third clamping portion and a fourth clamping portion arranged along the first additional direction,

The second conveying assembly is constructed such that when the locking mechanism engages with the third locking portion, the fourth movable seat is located at the third position relative to the third fixed seat, and when the locking mechanism engages with the fourth locking portion, the fourth movable seat is located at the fourth position relative to the third fixed seat.
The slave execution device according to claim 40, characterized in that

The locking mechanism comprises a locking member,

The third locking portion and the fourth locking portion are configured to include locking grooves having a shape matching the outer shape of the locking member to accommodate the locking member.
The slave execution device according to claim 41, characterized in that

The fourth movable seat comprises a first movable seat side and a second movable seat side which are arranged in opposite directions along the axis of the third roller.

The third clamping portion and the fourth clamping portion are located on one side of the second side of the moving seat of the fourth moving seat, the clamping groove of the third clamping portion and the clamping groove of the fourth clamping portion are configured as through grooves along the axial direction of the third roller, and are connected along the first additional direction,

The locking mechanism also includes:

an operating member for operation by a user, wherein the operating member is movable relative to the fourth movable seat along the axis direction of the third roller and is immovable relative to the fourth movable seat along the first additional direction, wherein the operating member comprises a first operating member portion located at a first side of the movable seat and a second operating member portion located at a second side of the movable seat, wherein the locking member is connected to the second operating member portion, and

A fourth biasing assembly is connected between the first side of the moving seat and the first portion of the operating member, and is used to apply a force to the operating member to move toward the first side of the moving seat.
The slave execution device according to claim 42, characterized in that:

The fourth mobile seat also includes:

a moving seat through hole, the moving seat through hole communicating with the first side of the moving seat and the second side of the moving seat, and

A blind hole of the movable seat, the opening of which is located on the first side of the movable seat;

The fourth biasing component is configured as an elastic component disposed in the blind hole of the moving seat;

The operating member comprises:

An operating portion, used for user operation, located on the first side of the mobile base,

a connecting portion connected to the operating portion, extending from the first side of the moving base through the through hole of the moving base to the second side of the moving base, and

An action portion connected to the operating portion and configured to extend into the blind hole of the moving seat to squeeze the fourth biasing component

The locking member is connected to the connecting portion at the second side of the moving seat.
The slave execution device according to claim 40, characterized in that the second conveying component further comprises:

a fourth roller seat connected to the fourth movable seat and movable relative to the fourth movable seat along the first additional direction, wherein the fourth roller is disposed on the fourth roller seat; and

The third biasing assembly is connected between the fourth roller seat and the fourth moving seat, and is used for applying a force to the fourth roller seat to move toward the third roller.
The slave execution device according to claim 38, characterized in that the third roller transmission mechanism comprises:

a third transmission shaft, disposed on the second conveying assembly base and connected to the fourth driving mechanism to rotate under the drive of the fourth driving mechanism;

The third transmission assembly is connected to the third transmission shaft and the third roller respectively, and is used to make the third roller rotate under the drive of the third transmission shaft.
The slave-end execution device according to claim 45 is characterized in that the third transmission assembly is constructed as a gear assembly.
A medical system, comprising:

A first bracket is used to be arranged beside an operating table;

The slave end execution device according to any one of claims 1 to 46, wherein the main body power device is connected to the first bracket; and

A medical device is detachably connected to the first carrying device.
The medical system according to claim 47 is characterized in that the first support is constructed as a robotic arm, and the robotic arm is constructed to be movable relative to the operating bed in at least one spatial dimension.
A medical system, comprising:

A first bracket is used to be arranged beside an operating table;

A second stent is used to be arranged beside the operating table and is located in front of the first stent along the conveying direction of the guide wire and/or the catheter;

The slave execution device according to any one of claims 37 to 46, wherein the main power device is connected to the first bracket, and the second power assembly is connected to the second bracket; and

A medical device is detachably connected to the first carrying device.
The medical system according to claim 49, wherein the first bracket and /or the second support is configured as a robotic arm, and the robotic arm is configured to be movable relative to the operating bed in at least one spatial dimension.
The medical system according to any one of claims 47 to 50, further comprising:

Host operating equipment; and

A processor module is signal-connected to both the master-end operating device and the slave-end execution device.