Feeding device and slave device of interventional surgery robot

Abstract

This application belongs to the field of medical device technology and relates to a feeding device for delivering elongated medical devices. The feeding device includes a clamping mechanism, a first rotation drive mechanism, and a first translation drive mechanism. The clamping mechanism includes a fixed wheel and a movable wheel, which are located on opposite sides of the elongated medical device. The first translation drive mechanism drives the movable wheel to move towards or away from the fixed wheel to clamp or release the elongated medical device. The first rotation drive mechanism provides a power source for the fixed wheel and the movable wheel, which deliver the elongated medical device during active rotation. This application also relates to a slave device for an interventional surgical robot, which includes the aforementioned feeding device. The technical solution provided by this application enables both the fixed wheel and the movable wheel to provide delivery force, clamping a wide range of elongated medical devices with varying diameters, and ensuring that all movable wheels can contact and clamp the elongated medical device.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and more specifically, to a feeding device and a slave device of an interventional surgical robot. Background Technology

[0002] Interventional therapy typically involves using an interventional surgical robot to manipulate and control a slender medical device to be inserted into the lesion site in the human body. The slender medical device is held and delivered by the slave end device of the interventional surgical robot.

[0003] Currently, some delivery devices use a drive wheel and a driven wheel to clamp and deliver slender medical devices. The drive wheel is driven by a motor, and its rotation relies on friction to propel the slender medical device forward for delivery. The slender medical device, in turn, relies on friction to drive the driven wheel to rotate. This delivery method has insufficient delivery force, making it difficult for slender medical devices to advance through tortuous blood vessels. Summary of the Invention

[0004] The embodiments of this application are used to solve the technical problem of insufficient delivery force in the gripping and delivery of slender medical devices by the slave device of interventional surgical robots in the prior art.

[0005] To address the aforementioned technical problems, this application provides a feeding device that employs the following technical solution:

[0006] A feeding device for delivering a slender medical device, the feeding device comprising a clamping mechanism, a first rotation drive mechanism and a first translation drive mechanism;

[0007] The clamping mechanism includes a fixed wheel and a movable wheel, which are located on both sides of the elongated medical device.

[0008] The first translation drive mechanism is used to drive the moving wheel to move toward or away from the fixed wheel in order to clamp or release the slender medical device;

[0009] The first rotation drive mechanism is used to provide a power source for the fixed wheel and the movable wheel, which deliver the elongated medical device during active rotation.

[0010] The first rotation drive mechanism includes a fixed end drive mechanism and a moving end drive mechanism. The fixed end drive mechanism is used to drive the fixed wheel to rotate, and the moving end drive mechanism is used to drive the moving wheel to rotate.

[0011] One power output end of the fixed end drive mechanism transmits the rotational power to the power input end of the mobile end drive mechanism;

[0012] The fixed-end drive mechanism and the mobile-end drive mechanism are connected by a gear pair. The gear pair includes a gear as the power output end and a gear as the power input end. The gear pair is arranged on the same side of the elongated medical device along the delivery direction of the elongated medical device. The plane formed by the rotation axis of the gear pair is not perpendicular to the delivery direction of the elongated medical device.

[0013] Furthermore, the fixed-end drive mechanism and the mobile-end drive mechanism are respectively located on both sides of the elongated medical device. The first translation drive mechanism can drive the mobile-end drive mechanism to move closer to or further away from the fixed-end drive mechanism. The power output end of the fixed-end drive mechanism extends to one side of the mobile-end drive mechanism, transmitting the rotational power to the mobile-end drive mechanism.

[0014] Furthermore, the fixed-end drive mechanism includes a first spur gear, a power transmission gear, a first drive gear, and a second rotation drive mechanism;

[0015] The first spur gear is connected to the fixed wheel via a transmission, and the power transmission gear serves as the power output end to transmit power to the mobile end drive mechanism.

[0016] The first spur gear and the power transmission gear mesh with the first drive gear, and the second rotation drive mechanism transmits power to the first spur gear and the power transmission gear through the first drive gear.

[0017] The mobile end drive mechanism includes a second spur gear, which is connected to the moving wheel and meshes with the power transmission gear. The second spur gear and the power transmission gear are arranged along the delivery direction of the slender medical device.

[0018] Furthermore, a first plane is formed along the delivery direction of the slender medical device through the center line of the first drive gear. The center line of the power transmission gear forms a first distance with the first plane, and the center line of the second spur gear forms a second distance with the first plane. Under the drive of the first translation drive mechanism, the second distance can vary between being greater than the first distance and less than the first distance.

[0019] Furthermore, at least three of the fixed wheels and the movable wheels are provided respectively; the feeding device also includes a fixed frame and a movable frame, the fixed wheels, the first spur gear, the first drive gear and the power transmission gear are rotatably installed in the fixed frame, the movable wheels and the second spur gear are rotatably installed in the movable frame, and the first translation drive mechanism drives the movable frame to move relative to the fixed frame.

[0020] Furthermore, the feeding device also includes a first elastic element, and at least one of the moving wheels and the corresponding second spur gear are movably mounted on the moving frame through the first elastic element; among the moving wheels, in the initial stage of clamping the slender medical device, the movably mounted moving wheel is the first to contact the slender medical device, and after the slender medical device is clamped, each of the moving wheels is in contact with the slender medical device.

[0021] Furthermore, an unlocking mechanism is provided between the moving frame and the fixed frame. The unlocking mechanism includes an operating part and a push rod. The operating part is installed in the fixed frame, one end of the push rod is connected to the operating part, and the other end of the push rod is installed in the moving frame. Operating the operating part can cause the other end of the push rod to push the moving frame to move away from the fixed wheel.

[0022] Furthermore, the movable frame and the fixed frame are connected by a guide rod, and the movable frame can slide along the guide rod; the first translation drive mechanism includes a translation frame, a translation arm, a slide rail, and a second translation drive mechanism, one end of the translation arm is connected to the translation frame, the other end of the translation arm drives the movable frame, the translation frame and the fixed frame are connected by the slide rail, and the second translation drive mechanism drives the translation frame to move.

[0023] Furthermore, the second rotation drive mechanism includes a second drive gear, a third drive gear, and a motor. The motor drives the third drive gear to rotate, the third drive gear drives the second drive gear to rotate, and the second drive gear drives the first drive gear to rotate.

[0024] To address the aforementioned technical problems, this application also provides a slave device for an interventional surgical robot, employing the following technical solution:

[0025] A slave device for an interventional surgical robot, the slave device comprising the feeding device described above.

[0026] Compared with the prior art, the embodiments of this application have the following advantages: the fixed wheel and the movable wheel that hold the slender medical device are both driven to rotate by the first rotation drive mechanism. Both the fixed wheel and the movable wheel can actively drive the slender medical device forward, which can greatly increase the delivery force of the slender medical device and facilitate the delivery of the slender medical device; by driving the movable wheel to move closer to or away from the fixed wheel by the first translation drive mechanism, it is convenient to hold or release the slender medical device, and it can hold slender medical devices of different diameters, thus improving the versatility of the product. Attached Figure Description

[0027] To more clearly illustrate the solution of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a three-dimensional structural diagram of a feeding device according to an embodiment of this application;

[0029] Figure 2 for Figure 1 A schematic diagram of the feeding device after removing the first cover, the second cover, and the motor;

[0030] Figure 3 for Figure 1 Explosion diagram of the central feeding device;

[0031] Figure 4 for Figure 1 A schematic diagram of an explosion from another direction of the central feeding device;

[0032] Figure 5 for Figure 4 A schematic diagram showing the installation of the first spur gear with the fixed wheel and the second spur gear with the moving wheel;

[0033] Figure 6 This is a schematic diagram of the first and second distances;

[0034] Figure 7 for Figure 4 A schematic diagram showing the transmission relationship between the motor and the fixed and moving wheels;

[0035] Figure 8 for Figure 4 A schematic diagram of the transmission relationship between the electric cylinder and the moving frame;

[0036] Figure 9 for Figure 4 A schematic diagram showing the first drive gear installed in the fixed frame;

[0037] Figure 10 for Figure 4 A schematic diagram of the fixed frame;

[0038] Figure 11 for Figure 4 A schematic diagram of the moving frame;

[0039] Figure 12 for Figure 4 A schematic diagram of the moving frame in another direction;

[0040] Figure 13 for Figure 4 The moving frame in the middle is different from Figure 11 and Figure 12 A schematic diagram of the direction;

[0041] Figure 14 for Figure 4 A schematic diagram of the installation of the moving wheels and the moving frame;

[0042] Figure 15 for Figure 4 A schematic diagram of the moving wheels and the moving frame installed in another direction;

[0043] Figure 16 for Figure 4 The installation of the moving wheels and moving frame in the middle is different. Figure 14 and Figure 15 A schematic diagram of the direction;

[0044] Figure 17 for Figure 4 A schematic diagram showing the relationship between the fixed frame and the moving frame;

[0045] Figure 18 for Figure 4 A schematic diagram of the intermediate board in the diagram;

[0046] Figure 19 for Figure 4 A schematic diagram of the slide rail in the diagram;

[0047] Figure 20 for Figure 7 A schematic diagram of the gear shaft of the mounting shaft in the diagram;

[0048] Figure 21 for Figure 7 A schematic diagram of the gear shaft of the mounting shaft in another direction;

[0049] Figure 22 for Figure 7 A schematic diagram of the straight D-shaped end of the mounting shaft in the diagram;

[0050] Figure 23 for Figure 7 A schematic diagram of the first drive gear in the process;

[0051] Figure 24 for Figure 7 A schematic diagram of the first drive gear in another direction;

[0052] Figure 25 for Figure 4 A schematic diagram of the detection device.

[0053] Reference numerals: 1000—feeding device; 100—slender medical device; 1—clamping mechanism; 11—fixed wheel; 12—moving wheel; d5—fifth distance; 121—first elastic element; 1211—steel wire; 2—first rotation drive mechanism; 21—fixed end drive mechanism; 211—first spur gear; 212—power transmission gear; d1—first distance; 213—first drive gear; 2131—slot; 214—second rotation drive mechanism; 2141—mounting shaft; 1411—gear shaft; 4111—tooth; 4112—insertion; 1412—straight shaft; 2142—second drive gear; 21 43—Third drive gear, 2144—Motor, 2145—Belt, 215—First intermediate gear, 22—Moving end drive mechanism, 221—Second spur gear, d2—Second distance, 222—Second intermediate gear; 3—First translation drive mechanism, 31—Translation frame, 32—Translation arm, 33—Slide rail, 331—Fixed rail, 3311—Slot, 332—Moving rail, 3321—Slide groove, 3322—Protrusion, 34—Second translation drive mechanism, 341—Electric cylinder; 4—Fixed frame, 41—Base, 411—Pin hole, 412—Second shaft hole, 413—Second mounting hole, 414—Fourth mounting hole Holes: 415—Sixth mounting hole; 417—Limiting hole; 419—First positioning post; 42—Cover plate; 421—First pivot hole; 43—First support plate; 431—First mounting hole; 44—Second support plate; 441—Moving plate; 4411—Third mounting hole; 4412—Fifth mounting hole; 442—Fixed plate; 46—Guide rod; 47—Unlocking hole; 5—Moving frame; 51—Clearing opening; 52—Third support plate; 521—Seventh mounting hole; 53—Eighth mounting hole; 54—Moving groove; d4—Fourth distance; 55—Clamping slot; 56—First positioning mounting hole; d3—Third distance; 57—Second positioning mounting hole. Hole, 58—Second elastic element, 581—Compression spring, 59—Second positioning pin, 591—Mounting cavity, 50—Top rod hole, 500—Insertion arm hole; 6—Power box housing, 61—Intermediate plate, 611—Positioning pin, 612—Through shaft hole, 613—Sleeve, 614—Through arm opening, 615—Through shaft hole, 62—Base plate, 63—First end plate, 64—Second end plate, 65—First side plate, 66—Second side plate; 7—Unlocking mechanism, 71—Operating part, 72—Top rod; 8—Detection device, 81—First detection gear, 82—Second detection gear, 83—Encoder; 9—First cover; 10—Second cover. Detailed Implementation

[0054] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, not to describe a particular order.

[0055] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0056] Figure 1 This is a three-dimensional structural diagram of a feeding device according to an embodiment of this application. Figure 2 for Figure 1 A schematic diagram of the feeding device after removing the first cover, the second cover, and the motor. Figure 3 for Figure 1 Explosion diagram of the central feeding device. Figure 4 for Figure 1 An explosion diagram from another direction of the central feeding device. Figure 5 for Figure 4 The schematic diagram shows the installation of the first spur gear with the fixed wheel and the second spur gear with the moving wheel. This application provides a feeding device, feeding device 1000 (see...). Figure 1 For delivering a slender medical device 100, the feeding device 1000 includes a clamping mechanism 1 (see...). Figure 3 The device comprises a first rotation drive mechanism 2 and a first translation drive mechanism 3. The clamping mechanism 1 includes a fixed wheel 11 and a movable wheel 12, located on opposite sides of the elongated medical device 100, and used to clamp the elongated medical device 100. The first translation drive mechanism 3 drives the movable wheel 12 to move closer to or further away from the fixed wheel 11 to clamp or release the elongated medical device 100, enabling the fixed wheel 11 and movable wheel 12 to clamp elongated medical devices 100 of different diameters.

[0057] The first rotation drive mechanism 2 provides a power source for the fixed wheel 11 and the movable wheel 12. Both the fixed wheel 11 and the movable wheel 12 are driven to rotate by the first rotation drive mechanism 2, that is, both the fixed wheel 11 and the movable wheel 12 can rotate actively. Compared with the existing fixed wheel 11 or movable wheel 12 being driven to rotate by the slender medical device 100, in this embodiment, both the fixed wheel 11 and the movable wheel 12 deliver the slender medical device 100 during the active rotation process. That is, both the fixed wheel 11 and the movable wheel 12 can generate the power to drive the slender medical device 100 forward, which can greatly increase the delivery force of the slender medical device 100.

[0058] Assuming the delivery force provided by one fixed wheel 11 is F, and the delivery force provided by one movable wheel 12 is also F, then the delivery force provided by one fixed wheel 11 and one movable wheel 12 is 2F, the delivery force provided by two fixed wheels 11 and two movable wheels 12 is 4F, the delivery force provided by three fixed wheels 11 and three movable wheels 12 is 6F, and so on. If the fixed wheel 11 or the movable wheel 12 is driven to rotate by the elongated medical device 100, then the delivery force provided by one fixed wheel 11 and one movable wheel 12 is only F, the delivery force provided by two fixed wheels 11 and two movable wheels 12 is only 2F, the delivery force provided by three fixed wheels 11 and three movable wheels 12 is only 3F, and so on. It is evident that, compared to the prior art where one side of the elongated medical device 100 is a driving wheel and the other side is a driven wheel, this application can increase the delivery force of the elongated medical device 100 by a factor of two.

[0059] It should be noted that the fixed wheel 11 and the movable wheel 12 have a rotation function, and the length and diameter of the fixed wheel 11 and the movable wheel 12 can be set arbitrarily as needed.

[0060] Furthermore, in this embodiment, the first rotation drive mechanism 2 includes a fixed-end drive mechanism 21 (see...). Figure 5 The fixed-end drive mechanism 21 is used to drive the fixed wheel 11 to rotate, and the mobile-end drive mechanism 22 is used to drive the mobile wheel 12 to rotate. The fixed-end drive mechanism 21 and the mobile-end drive mechanism 22 are located on both sides of the elongated medical device 100, respectively. The first translation drive mechanism 3 (see...) Figure 3 The first rotation drive mechanism 22 can move towards or away from the fixed drive mechanism 21, thereby moving the movable wheel 12 towards or away from the fixed wheel 11. One power output end of the fixed drive mechanism 21 extends to one side of the mobile drive mechanism 22, transmitting the rotational power to the mobile drive mechanism 22. Of course, in other embodiments, the first rotation drive mechanism 2 can be of other structures, as long as it can drive both the fixed wheel 11 and the movable wheel 12 to rotate.

[0061] See also Figure 7 , Figure 7 for Figure 4 The schematic diagram shows the transmission relationship between the motor and the fixed wheel and the moving wheel. Further, in this embodiment, the fixed end drive mechanism 21 includes a first spur gear 211, a power transmission gear 212, a first drive gear 213, and a second rotation drive mechanism 214. The first spur gear 211 is connected to the fixed wheel 11 and drives the fixed wheel 11 to rotate. The power transmission gear 212 serves as a power output end of the fixed end drive mechanism 21 to transmit power to the moving end drive mechanism 22, enabling the moving end drive mechanism 22 to drive the moving wheel 12 to rotate. The first spur gear 211 and the power transmission gear 212 are respectively meshed with the first drive gear 213. The first drive gear 213 drives the first spur gear 211 and the power transmission gear 212 to rotate. The second rotation drive mechanism 214 is used to drive the first drive gear 213 to rotate. That is, the second rotation drive mechanism 214 transmits power to the first spur gear 211 and the power transmission gear 212 through the first drive gear 213. The mobile end drive mechanism 22 includes a second spur gear 221, which is connected to the moving wheel 12 for transmission. The second spur gear 221 drives the moving wheel 12 to rotate. The second spur gear 221 meshes with a power transmission gear 212, which drives the second spur gear 221 to rotate. The second spur gear 221 and the power transmission gear 212 move along the elongated medical device 100 (see reference). Figure 3 The delivery direction of the ) is arranged.

[0062] In this application, the second spur gear 221 and the power transmission gear 212 on the moving wheel 12 are arranged on the same side of the elongated medical device 100 along the delivery direction of the elongated medical device 100. Within the limit range that the second spur gear 221 can move under the drive of the first translation drive mechanism 3, the plane formed by the center line of the second spur gear 221 and the center line of the power transmission gear 212 is not perpendicular to the delivery direction of the elongated medical device 100. The arrangement of the second spur gear 221 and the power transmission gear 212 in this embodiment is defined as a horizontal arrangement. This differs from other embodiments, where the plane formed by the centerlines of the second spur gear 221 and the power transmission gear 212 is perpendicular to the delivery direction of the elongated medical device; this arrangement is called a vertical arrangement. Compared to a vertical arrangement, the advantage of the horizontal arrangement in this embodiment is that the second spur gear 221 and the power transmission gear 212 have a larger meshing range. This is because: the tooth length of the second spur gear 221 is called the first tooth length, and the tooth length of the power transmission gear 212 is called the second tooth length; in a vertical arrangement, the maximum meshing range of the second spur gear 221 and the power transmission gear 212 is the smaller of the first and second tooth lengths. When the degree of separation between the second spur gear 221 and the power transmission gear 212 is greater than the smaller one, the second spur gear 221 and the power transmission gear 212 will disengage, and the power transmission... Since gear 212 cannot drive the second spur gear 221, the fixed wheel 11 and the moving wheel 12 cannot clamp and deliver the slender medical device 100. When arranged horizontally, the power transmission gear 212 has a starting meshing tooth and a ending meshing tooth. The starting meshing tooth is the first tooth on the power transmission gear 212 to mesh with the second spur gear 221 as the second spur gear 221 moves toward the fixed wheel 11. The ending meshing tooth is the last tooth on the power transmission gear 212 to mesh with the second spur gear 221 as the second spur gear 221 continues to move toward the fixed wheel 11. The straight-line distance between the tooth tip of the starting meshing tooth and the tooth tip of the ending meshing tooth is the maximum meshing range between the second spur gear 221 and the power transmission gear 212. This straight-line distance can be much greater than the smaller of the first tooth length and the second tooth length. Therefore, the second spur gear 221 and the power transmission gear 212 of this application have a larger meshing range. The diameter range of the elongated medical device 100 that the fixed wheel 11 and the movable wheel 12 can clamp and deliver corresponds to the meshing range of the second spur gear 221 and the power transmission gear 212. The larger the meshing range of the second spur gear 221 and the power transmission gear 212, the larger the diameter range of the elongated medical device 100 that the fixed wheel 11 and the movable wheel 12 can clamp and deliver. Therefore, the elongated medical device 100 that this application can clamp and deliver has a larger diameter range.

[0063] See Figure 6 , Figure 6This is a schematic diagram of the first and second distances. Further, in this embodiment, the centerline passing through the first drive gear 213 is parallel to the elongated medical device 100 (see...). Figure 3 The delivery direction of the first plane is taken as the first plane, and the center line of the power transmission gear 212 forms a first distance d1 with the first plane. The center line of the second spur gear 221 forms a second distance d2 with the first plane. The relationship between the second distance d2 and the first distance d1 determines the diameter of the slender medical device 100 that can be clamped. In the first translation drive mechanism 3 (see...) Figure 3 Driven by the first translation drive mechanism 3, the second distance d2 can vary between being greater than and less than the first distance d1. That is, the second distance d2 can be greater than or less than the first distance d1. Simultaneously, during the process of the first translation drive mechanism 3 driving the second spur gear 221 to move towards the fixed wheel 11, within a suitable size range, the second distance d2 can be greater than or less than the first distance d1 to achieve meshing between the second spur gear 221 and the power transmission gear 212. For example, when the second distance d2 is greater than the first distance d1, the diameter of the slender medical device 100 that can be held by the fixed wheel 11 and the moving wheel 12 is larger; when the second distance d2 is less than the first distance d1, the fixed wheel 11 (see...) Figure 3 The diameter of the slender medical device 100 that can be clamped by the caster wheel 12 is relatively small. With this structure, more slender medical devices 100 of different diameters can be clamped to meet more clamping needs.

[0064] Continue reading Figure 6 Furthermore, in this embodiment, three fixed wheels 11 and three movable wheels 12 are provided respectively. Of course, in other embodiments, the number of fixed wheels 11 and three movable wheels 12 can be adjusted depending on the situation; if basic clamping needs are considered, then at least one fixed wheel 11 and one movable wheel 12 are provided respectively; if the feeding device 1000 (see...) is considered... Figure 1To provide a large clamping force, at least three fixed wheels 11 and three movable wheels 12 are provided. Even if one fixed wheel 11 or movable wheel 12 fails to provide delivery force due to an unexpected malfunction, the feeding device 1000 can still provide a large clamping force. In this embodiment, the number of fixed wheels 11 and movable wheels 12 is the same. Of course, in other embodiments, the number of fixed wheels 11 and movable wheels 12 may be different, but preferably the number of fixed wheels 11 and movable wheels 12 is the same. In this embodiment, the diameters of all fixed wheels 11 and movable wheels 12 are the same, and the diameters of fixed wheels 11 and movable wheels 12 are the same. Of course, in other embodiments, the diameters of all fixed wheels 11 and movable wheels 12 may be different, and the diameters of fixed wheels 11 and movable wheels 12 may be different, as long as it can ensure that all fixed wheels 11 and movable wheels 12 can make good contact and clamp the slender medical device 100.

[0065] Specifically, in this embodiment, since there are three fixed wheels 11 and three movable wheels 12, there are correspondingly three first spur gears 211 and three second spur gears 221. The first drive gear 213 is located between the two first spur gears 211 and meshes with both of them. The fixed-end drive mechanism 21 also includes a first intermediate gear 215, with both first spur gears 211 on the same side as the first drive gear 213 meshing with the first intermediate gear 215; the power transmission gear 212 is located between the two second spur gears 221 and meshes with both of them; the movable-end drive mechanism 22 also includes a second intermediate gear 222, with both second spur gears 221 on the same side as the power transmission gear 212 meshing with the second intermediate gear 222. The plane formed by the centerline of the power transmission gear 212 and the centerline of the first drive gear 213 is perpendicular to the delivery direction of the elongated medical device 100. The first intermediate gear 215 ensures that all fixed wheels 11 rotate in the same direction, and the second intermediate gear 222 ensures that all moving wheels 12 rotate in the same direction, so that the delivery force generated by each fixed wheel 11 and each moving wheel 12 on the elongated medical device 100 is in the same direction. Without the first intermediate gear 215, if the two first spur gears 211 located on the same side of the first drive gear 213 directly mesh, their rotation directions would be opposite, and the delivery forces generated on the elongated medical device 100 would also be opposite, canceling each other out and making it difficult to deliver the elongated medical device 100. The same principle applies if the second intermediate gear 222 is absent, allowing the two second spur gears 221 located on the same side of the power transmission gear 212 to directly mesh.

[0066] Of course, in other embodiments, the number of first intermediate gears 215 varies with the number of fixed wheels 11. For example, four fixed wheels 11 require two first intermediate gears 215, five fixed wheels 11 require three first intermediate gears 215, six fixed wheels 11 require four first intermediate gears 215, and so on. That is, the difference between the number of fixed wheels 11 and the number of first intermediate gears 215 is two. Similarly, the difference between the number of movable wheels 12 and the number of second intermediate gears 222 is two.

[0067] Figure 8 for Figure 4 A schematic diagram of the transmission relationship between the electric cylinder and the moving frame. Figure 9 for Figure 4 A schematic diagram showing the first drive gear installed inside the fixed frame. Figure 10 for Figure 4 A schematic diagram of the fixed frame in the middle. Figure 11 for Figure 4 A schematic diagram of the moving frame. Figure 12 for Figure 4 A schematic diagram of the moving frame in another direction. Figure 13 for Figure 4 The moving frame in the middle is different from Figure 11 and Figure 12 A diagram illustrating the direction. Figure 14 for Figure 4 A schematic diagram of the installation of the moving wheels and the moving frame. Figure 15 for Figure 4 A schematic diagram of the moving wheels and the moving frame installed in another direction. Figure 16 for Figure 4 The installation of the moving wheels and moving frame in the middle is different. Figure 14 and Figure 15 A schematic diagram of the direction is provided. Furthermore, in this embodiment, the feeding device 1000 also includes a fixed frame 4 (see...). Figure 8 ) and moving frame 5, fixed wheel 11 (see Figure 7 The first spur gear 211, the first drive gear 213, the power transmission gear 212, and the first intermediate gear 215 are rotatably mounted in the fixed frame 4, while the moving wheel 12, the second spur gear 221, and the second intermediate gear 222 are rotatably mounted in the moving frame 5.

[0068] Specifically, in this embodiment, the frame 4 includes a base 41 (see reference). Figure 17 , Figure 17 for Figure 4 (See the schematic diagram of the cooperation relationship between the fixed frame and the moving frame) and cover plate 42, cover plate 42 (see...) Figure 17 ) is mounted on the base 41, with fixed wheels 11 (see Figure 7The first spur gear 211, the first drive gear 213, and the first intermediate gear 215 are located between the cover plate 42 and the base 41; the cover plate 42 is provided with three first rotating shaft holes 421 (see reference). Figure 17 The base 41 is provided with a second rotating hole 412 corresponding to each first rotating hole 421 (see reference). Figure 10 That is, in this embodiment, there are three second rotating shaft holes 412. One end of the fixed wheel 11 is installed in a first rotating shaft hole 421 through a rotating shaft, and the other end of the fixed wheel 11 is connected to one end of the first spur gear 211. The other end of the first spur gear 211 is installed in a second rotating shaft hole 412 through a rotating shaft. The rotating shaft can rotate in the first rotating shaft hole 421 and the second rotating shaft hole 412. A first support plate 43 is provided on the base 41 (see...). Figure 9 The first support plate 43 is provided with a first mounting hole 431, and the base 41 is provided with a second mounting hole 413 (see reference). Figure 10 The second mounting hole 413 corresponds to the first mounting hole 431. One end of the first intermediate gear 215 is mounted in the first mounting hole 431 via a rotating shaft, and the other end of the first intermediate gear 215 is mounted in the second mounting hole 413 via a rotating shaft. The second rotation drive mechanism 214 includes a mounting shaft 2141 (see...). Figure 7 ).

[0069] Figure 20 for Figure 7 A schematic diagram of the gear shaft for mounting the shaft. Figure 21 for Figure 7 A schematic diagram of the gear shaft of the mounting shaft in another direction. Figure 22 for Figure 7 A schematic diagram of the straight D-shaped end of the mounting shaft 2141, which includes a gear shaft 1411 (see...). Figure 20 ) and straight axis 1412 (see Figure 22 One end of the gear shaft 1411 is provided with a tooth 4111 (see reference). Figure 20 The other end of the gear shaft 1411 is provided with a socket 4112 (see reference). Figure 21 The connector 4112 has a D-shaped cross-section, and the straight shaft 1412 has a D-shaped end (see...). Figure 22 The D-shaped end is inserted into the socket 4112 of the gear shaft 1411. The D-shaped cross-section can prevent the straight shaft 1412 from rotating inside the gear shaft 1411.

[0070] Figure 23 for Figure 7 A schematic diagram of the first driving gear in the process. Figure 24 for Figure 7 A schematic diagram of the first drive gear in another direction, wherein the first drive gear 213 has a slot 2131 inside (see reference). Figure 24The gear 4111 of the gear shaft 1411 is inserted into the slot 2131 to drive the first drive gear 213 to rotate; a second support plate 44 is also provided in the base 41 of the fixed frame 4 (see Figure 9 The second support plate 44 includes a movable plate 441 and a fixed plate 442. One end of the movable plate 441 is mounted on the base 41 by two screws. The other end of the movable plate 441 is connected to one end of the fixed plate 442 by a step. The other end of the fixed plate 442 is fixed to the fixed frame 4. The longitudinal section of the fixed plate 442 is L-shaped, and the hook of the L prevents the movable plate 441 from moving away from the base 41. The movable plate 441 is provided with a third mounting hole 4411, and the base 41 of the fixed frame 4 is also provided with a fourth mounting hole 414 (see reference). Figure 10 The fourth mounting hole 414 corresponds to the third mounting hole 4411. One end of the first drive gear 213 is installed in the third mounting hole 4411 via a rotating shaft, and the other end of the first drive gear 213 is installed together with the tooth 4111 of the gear shaft 1411 via a slot 2131. The gear shaft 1411 is installed in the fourth mounting hole 414 and can rotate in the fourth mounting hole 414. The moving plate 441 is also provided with a fifth mounting hole 4412 (see Figure 9 The base 41 of the mounting bracket 4 is also provided with a sixth mounting hole 415 (see reference). Figure 10 The sixth mounting hole 415 is provided corresponding to the fifth mounting hole 4412. One end of the power transmission gear 212 is installed in the fifth mounting hole 4412 through a rotating shaft, and the other end of the power transmission gear 212 is installed in the sixth mounting hole 415 through a rotating shaft.

[0071] See Figure 7 Furthermore, in this embodiment, the second rotation drive mechanism 214 further includes a second drive gear 2142, a third drive gear 2143, and a motor 2144. The motor 2144 drives the third drive gear 2143 to rotate, and the third drive gear 2143 drives the second drive gear 2142 to rotate via a belt 2145. The second drive gear 2142 drives the first drive gear 213 to rotate. Of course, in other embodiments, the belt 2145 can be replaced by other structures such as a chain, as long as it can transmit the rotational power of the third drive gear 2143 to the second drive gear 2142. Specifically, in this embodiment, the third drive gear 2143 is fixedly mounted on the rotational power output shaft of the motor 2144, and the belt 2145 is fitted onto the second drive gear 2142 and the third drive gear 2143. The second drive gear 2142 is mounted on the mounting shaft 2141 (see...). Figure 7 The direct axis 1412 (see) Figure 22At one end, the first drive gear 213 is mounted on the gear shaft 1411 of the mounting shaft 2141. When it is necessary to deliver the slender medical device 100, the motor 2144 operates, rotating the power output shaft to drive the third drive gear 2143 to rotate. The third drive gear 2143 drives the second drive gear 2142 to rotate via the belt 2145. The second drive gear 2142 drives the first drive gear 213 to rotate via the mounting shaft 2141. The first drive gear 213 drives the first spur gear 211 to rotate. The first spur gear 211 drives the fixed wheel 11 to rotate. The first drive gear 213 also drives the power transmission gear 212 to rotate. The power transmission gear 212 drives the second spur gear 221 to rotate. The second spur gear 221 drives the moving wheel 12 to rotate. The fixed wheel 11 and the moving wheel 12 rotate in opposite directions. When the fixed wheel 11 and the moving wheel 12 rotate, they generate friction with the slender medical device 100. The friction causes the slender medical device 100 to move, thus realizing the delivery of the slender medical device 100.

[0072] Furthermore, in this embodiment, guide rods 46 are respectively provided at both ends of the fixed frame 4 (see reference). Figure 8 The moving frame 5 and the fixed frame 4 are connected by guide rods 46. The moving frame 5 can slide along the two guide rods 46. The guide rods 46 guide the movement of the moving frame 5 and facilitate the easy movement of the moving frame 5 relative to the fixed frame 4 to drive the moving wheel 12 to approach or move away from the fixed wheel 11 in the fixed frame 4.

[0073] In this embodiment, the points on each fixed wheel 11 that are closest to the elongated medical device 100 are located in the same plane to ensure that each fixed wheel 11 can contact the elongated medical device 100 to properly clamp and deliver the elongated medical device 100.

[0074] See Figure 14 One end of the movable wheel 12 is mounted on the moving frame 5 via a rotating shaft, and the other end of the movable wheel 12 is connected to one end of the second spur gear 221. The other end of the second spur gear 221 is mounted on the moving frame 5 via a rotating shaft. A clearance opening 51 is provided on the side of the moving frame 5 adjacent to the second spur gear 221, corresponding to the power transmission gear 212 (see reference). Figure 12 The power transmission gear 212 is located within the clearance opening 51 (see reference). Figure 15 The power transmission gear 212 is clearance-fitted with the clearance opening 51 to facilitate the movement of the moving frame 5. The power transmission gear 212 is mounted on the sixth mounting hole 415 (see reference). Figure 10 The rotating shaft in the movable frame 5 passes through the clearance opening 51, which is movable relative to the rotating shaft, so that the movable frame 5 is not blocked by contact with the rotating shaft, so that the movable frame 5 can drive the moving wheel 12 to move closer to or away from the fixed wheel 11; a third support plate 52 is provided inside the movable frame 5 (see Figure 12The third support plate 52 is provided with a seventh mounting hole 521, and the moving frame 5 is provided with an eighth mounting hole 53 on the side facing the intermediate plate 61. The eighth mounting hole 53 is provided corresponding to the seventh mounting hole 521. One end of the second intermediate gear 222 is installed in the seventh mounting hole 521 through a rotating shaft, and the other end of the second intermediate gear 222 is installed in the eighth mounting hole 53 through a rotating shaft. The first translation drive mechanism 3 drives the moving frame 5 to move relative to the fixed frame 4. The moving frame 5 drives the moving wheel 12 to move closer to or away from the fixed wheel 11 in the fixed frame 4, so as to facilitate clamping or releasing the slender medical device 100.

[0075] Furthermore, in this embodiment, the feeding device 1000 also includes a first elastic element 121 (see...). Figure 14 At least one movable wheel 12 and its corresponding second spur gear 221 are movably mounted on the moving frame 5 via a first elastic member 121. Specifically, a movable wheel 12 and its corresponding second spur gear 221, located away from the power transmission gear 212, are movably mounted on the moving frame 5 via the first elastic member 121. This application refers to the movable wheel 12 movably mounted on the moving frame 5 via the first elastic member 121 as the movably mounted movable wheel 12. The movably mounted movable wheel 12 is capable of movement relative to the moving frame 5, causing it to move closer to or away from the fixed wheel 11. It should be noted that "corresponding" in "movable wheel 12 and its corresponding second spur gear 221" refers to the wheel being mounted together with the other wheel.

[0076] Specifically, movable slots 54 are provided on both sides of the movable frame 5 (see reference). Figure 11 ), the movable wheels installed on the activity (see) Figure 14 One end of the movable wheel 12 is mounted in a movable slot 54 via a rotating shaft, and the other end of the movable wheel 12 is connected to one end of the second spur gear 221. The other end of the second spur gear 221, which is connected to the movable wheel 12, is mounted in another movable slot 54 via a rotating shaft. The movable frame 5 is provided with two bayonets 55 corresponding to each movable slot 54 (see...). Figure 12 The bayonet 55 is located on both sides of the moving groove 54; in this embodiment, two first elastic elements 121 are provided, and the first elastic element 121 is a steel wire 1211 (see Figure 14The steel wire 1211 is elastic; that is, in this embodiment, two steel wires 1211 are provided. The first steel wire 1211 is installed in the slots 55 on both sides of one movable groove 54, and the second steel wire 1211 is installed in the slots 55 on both sides of another movable groove 54. The middle part of each steel wire 1211 abuts against the rotating shaft in the movable groove 54. The two movable grooves 54 are of equal length and the same shape. The movable wheel 12 and the corresponding second spur gear 221 can move along the movable groove 54. The length of the 4 moves in the moving groove 54, which includes a proximal end and a distal end. The proximal end is close to the fixed wheel 11, and the distal end is away from the fixed wheel 11. That is, the movable moving wheel 12 and the corresponding second spur gear 221 can move in the moving groove 54 in a direction from the proximal end to the distal end or from the distal end to the proximal end. When the movable moving wheel 12 has not yet contacted the slender medical device 100, the elasticity of the steel wire 1211 causes the rotating shaft in the moving groove 54 to abut against the wall of the proximal end.

[0077] In this embodiment, the first elastic element 121 is a steel wire 1211. The steel wire 1211 is thin and small in size, saving installation space. Of course, in other embodiments, the first elastic element 121 can also be other structures such as a spring, as long as it meets the following requirement: it can cooperate with the reaction force to adjust the position of the movable wheels 12, so that each movable wheel 12 contacts the slender medical device 100.

[0078] For the non-movably mounted caster 12 and the corresponding second column gear 221, two first positioning mounting holes 56 are provided on one side of the moving frame 5 (see reference). Figure 14 On the other side of the moving frame 5, a second positioning mounting hole 57 is provided corresponding to each first positioning mounting hole 56 (see reference). Figure 12In this embodiment, two positioning mounting holes are provided: the first positioning mounting hole 56 and the second positioning mounting hole 57. The shaft of the non-movably mounted movable wheel 12 is installed in the first positioning mounting hole 56, and the shaft of the second column gear 221 corresponding to the non-movably mounted movable wheel 12 is installed in the second positioning mounting hole 57. The shaft in the first positioning mounting hole 56 rotates in the first positioning mounting hole 56, and the shaft in the second positioning mounting hole 57 rotates in the second positioning mounting hole 57. The center lines of the shafts in the first positioning mounting hole 56 and the second positioning mounting hole 57 are kept in position relative to the moving frame 5. The device is fixed in place. In this embodiment, the center lines of the first positioning mounting hole 56 and the second positioning mounting hole 57 are both located in the same plane, which is called the second plane. The second plane is parallel to the first plane so that the non-movably mounted movable wheel 12 can make good contact with the slender medical device 100. The diameters of the first positioning mounting holes 56 and the second positioning mounting holes 57 are the same. The diameters of the second positioning mounting holes 57 and the first positioning mounting holes 56 are the same. The minimum distance between the wall of the first positioning mounting hole 56 and the edge of the movable frame 5 adjacent to the fixed wheel 11 is called the third distance d3 (see [reference]). Figure 11 The minimum distance between the near ends of the two moving slots 54 and the first plane is the same. The minimum distance between the near ends of the moving slots 54 and the edge of the adjacent fixed wheel 11 of the moving frame 5 is called the fourth distance d4 (see...). Figure 11 The fourth distance d4 is less than the third distance d3, so as to create conditions for the movable wheel 12 to contact the slender medical device 100 first. That is, when the movable wheel 12 has not yet contacted the slender medical device 100, the distance between the movable wheel 12 and the first plane is the shortest among all the movable wheels 12.

[0079] When it is necessary to clamp the elongated medical device 100, the first translation drive mechanism 3 drives the moving frame 5 to move towards the fixed wheel 11 in the fixed frame 4. The moving frame 5 drives each moving wheel 12 to move towards the fixed wheel 11. Since the fourth distance d4 is smaller than the third distance d3 and the diameter of each moving wheel 12 is the same, in the initial stage of clamping the elongated medical device 100, the movable moving wheel 12 contacts the elongated medical device 100 first. When the movable moving wheel 12 contacts the elongated medical device 100... After 0, the movable caster 12 exerts a clamping force on the elongated medical device 100. The elongated medical device 100 will generate a reaction force on the movable caster 12 due to the clamping force. Since the steel wire 1211 is elastic, the reaction force can push the rotating shaft in the moving groove 54 from the proximal end to the distal end of the moving groove 54 until the non-movable caster 12 contacts the elongated medical device 100. That is, after the elongated medical device 100 is clamped, each caster 12 is in contact with the elongated medical device 100.

[0080] In this embodiment, since three movable wheels 12 are provided, if no movable wheels 12 are provided, i.e., all are non-movable movable wheels 12, there may be a situation where one movable wheel 12 cannot contact the slender medical device 100. This is because there are deviations in mechanical manufacturing, which cause the minimum distance between the cylindrical surfaces of the three non-movable movable wheels 12 and the cylindrical surfaces of the fixed wheel 11 to be unequal. The minimum distance between the cylindrical surfaces of the non-movable movable wheels 12 and the cylindrical surfaces of the fixed wheel 11 is called the fifth distance d5 (see...). Figure 6 In this embodiment, the non-movably mounted movable wheel 12, which has the largest fifth distance d5, will not be able to contact the slender medical device 100, resulting in a significant reduction in delivery force. In this embodiment, since one of the three movable wheels 12 is a movablely mounted movable wheel 12, the movablely mounted movable wheel 12 can adjust its position under the action of reaction force and the elastic force of the steel wire 1211, making the fifth distance d5 of the three movable wheels 12 the same. This ensures that all three movable wheels 12 contact the slender medical device 100, providing a sufficiently large delivery force.

[0081] Of course, in other embodiments, the movable wheel 12 can be any one movable wheel 12; in other embodiments, the number of movable wheels 12 can also be adjusted.

[0082] In this embodiment, the movable frame 5 is located inside the fixed frame 4. To prevent the movable frame 5 from swaying inside the fixed frame 4, a second elastic element 58 is provided between the movable frame 5 and the fixed frame 4 (see [reference]). Figure 17 The second elastic element 58 is disposed on the fixed frame 4 at the end away from the fixed wheel 11. Two second elastic elements 58 are provided. In this embodiment, the second elastic element 58 is a compression spring 581, with the two compression springs 581 arranged in parallel. One end of the compression spring 581 abuts against the fixed frame 4, and the other end abuts against the moving frame 5. Of course, in other embodiments, the second elastic element 58 can be of other structures, as long as it meets the requirement of generating elastic force to prevent the moving frame 5 from swaying on the fixed frame 4.

[0083] Specifically, the frame 4 is equipped with two first positioning posts 419 (see reference). Figure 9 The moving frame 5 is equipped with two second positioning posts 59 (see reference). Figure 12 The second positioning post 59 has an installation cavity 591 inside (see reference). Figure 13 One end of the compression spring 581 is fitted onto the first positioning post 419, and the other end of the compression spring 581 is inserted into the mounting cavity 591.

[0084] See Figure 8The first translation drive mechanism 3 includes a translation frame 31, a translation arm 32, a slide rail 33, and a second translation drive mechanism 34. One end of the translation arm 32 is connected to the translation frame 31, and the other end of the translation arm 32 drives the moving frame 5. The translation frame 31 is connected to the fixed frame 4 via the slide rail 33. The second translation drive mechanism 34 drives the translation frame 31 to move. In this embodiment, the second translation drive mechanism 34 is an electric cylinder 341 (see [reference]). Figure 8 Of course, in other embodiments, the second translation drive mechanism 34 can be other structures such as a linear motor, as long as it can meet the requirement that it can drive the translation frame 31 to move along the slide rail 33.

[0085] The translation frame 31 is connected to the linear motion output end of the electric cylinder 341. (See reference...) Figure 19 , Figure 19 for Figure 4 A schematic diagram of the slide rail is shown. The slide rail 33 includes a fixed rail 331 and a moving rail 332. The moving rail 332 is provided with a groove 3321, and the moving rail 332 is fitted onto the fixed rail 331 through the groove 3321, allowing the moving rail 332 to slide along the fixed rail 331. Two protrusions 3322 are respectively provided on the two side walls of the groove 3321, and the protrusions 3322 are arranged along the sliding direction of the moving rail 332. A corresponding slot 3311 is provided on the fixed rail 3311 for each protrusion 3322, and the protrusion 3322 is located within the slot 3311 to prevent the moving rail 332 from detaching from the fixed rail 331. The moving rail 332 is mounted on the translation frame 31 facing the fixed frame 4. The base 41 of the fixed frame 4 is provided with a limit hole 417 (see reference). Figure 9 The limiting hole 417 is elongated, and the side of the moving frame 5 facing the translation frame 31 is provided with an insert arm hole 500 corresponding to the limiting hole 417 (see reference). Figure 12 The translation arm 32 is perpendicular to the translation frame 31 (see reference). Figure 8One end of the translation arm 32 is connected to one side of the translation frame 31, and the other end of the translation arm 32 passes through the limiting hole 417 and is inserted into the insertion arm hole 500. When it is necessary to clamp the slender medical device 100, the linear motion output end of the electric cylinder 341 moves away from the electric cylinder 341. The linear motion output end drives the translation frame 31 to slide along the fixed rail 331. The translation frame 31 drives the translation arm 32 to move in the limiting hole 417. The translation arm 32 drives the moving frame 5 to slide along the guide rod 46 on the fixed frame 4 towards the fixed wheel 11. When it is necessary to release the slender medical device 100, the linear motion output end of the electric cylinder 341 moves towards the electric cylinder 341. The linear motion output end drives the translation frame 31 to slide in the opposite direction along the fixed rail 331. The translation frame 31 drives the translation arm 32 to move in the opposite direction in the limiting hole 417. The translation arm 32 drives the moving frame 5 to slide along the guide rod 46 on the fixed frame 4 towards the direction away from the fixed wheel 11. The limiting hole 417 is used to guide the movement of the translation arm 32 and limit the extreme position of the translation arm 32. The extreme position of the moving frame 5 is thus limited to avoid damage to the slender medical device 100 due to excessive clamping.

[0086] Furthermore, in this embodiment, an unlocking mechanism 7 is provided between the moving frame 5 and the fixed frame 4 (see [reference]). Figure 17 The unlocking mechanism 7 includes an operating part 71 and a push rod 72. The operating part 71 is installed in the fixed frame 4, one end of the push rod 72 is connected to the operating part 71, and the other end of the push rod 72 is installed in the movable frame 5. Operating the operating part 71 can cause the other end of the push rod 72 to push the movable frame 5 away from the fixed wheel 11. Specifically, in this embodiment, the base 41 of the fixed frame 4 is provided with an unlocking hole 47 (see...). Figure 17 The operating part 71 is installed inside the unlocking hole 47, and the operating part 71 and the unlocking hole 47 are fitted with a clearance fit. One end of the push rod 72 is directly fixed to the operating part 71. A push rod hole 50 is provided in the moving frame 5 (see reference). Figure 12 The other end of the push rod 72 is fixedly installed in the push rod hole 50. The push rod 72 is located between the two fixed wheels 11 on the same side as the first drive gear 213 and between the two moving wheels 12 on the same side as the power transmission gear 212. Of course, in other embodiments, the operating part 71 can also be threadedly engaged with the fixed frame 4, with one end of the push rod 72 directly fixed to the operating part 71 and the other end of the push rod 72 rotatably installed in the push rod hole 50. In other embodiments, the position of the push rod 72 can be adjusted, as long as it does not interfere with the operation of the fixed wheels 11 and the moving wheels 12. When it is necessary to release the clamping of the slender medical device 100, first cut off the power supply of the electric cylinder 341 to stop the electric cylinder 341 from working, then manually lift the fixed frame 4 to disengage the moving frame 5 from the translation arm 32, and then press the operating part 71. The push rod 72 on the operating part 71 can push the moving frame 5 to slide away from the fixed wheels 11 along the guide rod 46 on the fixed frame 4, thereby releasing the clamping of the slender medical device 100.

[0087] Furthermore, in this embodiment, the feeding device 1000 also includes a detection device 8 for detecting the movement distance of the elongated medical device 100 (see [reference]). Figure 4 This is used to determine whether the actual distance traveled by the slender medical device 100 matches the required distance. Specifically, see [link to relevant documentation]. Figure 25 , Figure 25 for Figure 4 A schematic diagram of the detection device is shown. In this embodiment, the detection device 8 includes a first detection gear 81, a second detection gear 82, and an encoder 83. The first detection gear 81 is mounted on the straight shaft 1412 of the mounting shaft 2141 (see...). Figure 22 On the first detection gear 81, the first detection gear 81 is located between the first drive gear 213 and the second drive gear 2142 (see [reference]). Figure 7 The second detection gear 82 meshes with the first detection gear 81. The second detection gear 82 is connected to the encoder 83. The first detection gear 81 and the second detection gear 82 convert the movement distance of the slender medical device 100 into angular displacement. The encoder 83 converts the angular displacement into an electrical signal. The feeding device 1000 also includes a control system. After receiving the electrical signal of angular displacement converted by the encoder 83, the control system determines whether the actual movement distance of the slender medical device 100 is consistent with the distance commanded by the control system. If they are inconsistent, the control system will control the motor 2144 (see...). Figure 7 The operation of the device is corrected to form a closed-loop control of the movement distance of the slender medical device 100.

[0088] See Figure 3 Furthermore, in this embodiment, the feeding device 1000 also includes a power box housing 6. The power box housing 6 includes an intermediate plate 61, a bottom plate 62, a first end plate 63, a second end plate 64, a first side plate 65, and a second side plate 66. The intermediate plate 61 is arranged parallel to the bottom plate 62, the first end plate 63 is arranged parallel to the second end plate 64, and the first side plate 65 is arranged parallel to the second side plate 66. The first end plate 63, the first side plate 65, the second end plate 64, and the second side plate 66 are connected end to end in sequence. The intermediate plate 61, the bottom plate 62, the first end plate 63, the second end plate 64, the first side plate 65, and the second side plate 66 enclose and form a first cavity.

[0089] Intermediate plate 61 is used to install the fixed frame 4, motor 2144, electric cylinder 341, encoder 83 and the fixed rail 331 of slide rail 33.

[0090] The mounting bracket 4 is positioned on the side of the intermediate plate 61 away from the first cavity. Figure 18 for Figure 4 A schematic diagram of the intermediate plate in the diagram shows that the frame 4 and the intermediate plate 61 are connected by two positioning pins 611 (see reference). Figure 18The installation connection is as follows: positioning pins 611 are set on two opposite sides of the intermediate plate 61. One end of each positioning pin 611 is fixed in the fixed frame 4, and the other end of each positioning pin 611 protrudes from the side of the intermediate plate 61 facing the fixed frame 4 at a set height. The base 41 of the fixed frame 4 is provided with a pin hole 411 corresponding to each positioning pin 611 (see reference). Figure 10 The tightness of the fit between the positioning pin 611 and the pin hole 411 allows the mounting bracket 4 to be removed from the intermediate plate 61 and reinstalled at any time as needed (e.g., using an unlocking mechanism).

[0091] Motor 2144 is mounted on intermediate plate 61 (see reference) Figure 3 The motor 2144 is located on the side of the intermediate plate 61 away from the first cavity, and the intermediate plate 61 is located at the end of the intermediate plate 61 near the first end plate 63. The intermediate plate 61 is provided with a through shaft hole 615 (see Figure 8 The rotational power output shaft of motor 2144 passes through shaft hole 615 to reach the first cavity. The second drive gear 2142, belt 2145, third drive gear 2143, first detection gear 81, second detection gear 82, encoder 83, slide rail 33, translation frame 31 and electric cylinder 341 are located in the first cavity to isolate them from the outside world and ensure safe operation.

[0092] The intermediate plate 61 is provided with a through hole 612 (see reference). Figure 8 The mounting shaft 2141 can rotate within the shaft hole 612. The fixed rail 331 of the slide rail 33 is mounted on the intermediate plate 61 (see...). Figure 4 The encoder 83 is mounted on the side facing the first cavity of the intermediate plate 61 (see...). Figure 25 The side facing the first cavity.

[0093] One end of the electric cylinder 341 is mounted on the first end plate 63 (see reference). Figure 3 On the intermediate plate 61, a sleeve 613 is provided on the side facing the first cavity (see reference). Figure 8 The other end of the electric cylinder 341 is inserted into the sleeve 613.

[0094] The intermediate plate 61 corresponds to the limiting hole 417 (see reference). Figure 9 It is equipped with a through arm opening 614 (see reference) Figure 8 The through-arm opening 614 is elongated. The translation frame 31 drives the translation arm 32 to move within the through-arm opening 614 and the limiting hole 417.

[0095] Furthermore, in this embodiment, the feeding device 1000 also includes a first cover 9 (see...). Figure 3 ) and the second cover 10 (see Figure 3The first cover 9 covers the fixed frame 4, forming a second cavity with the fixed frame 4. The moving frame 5, fixed wheel 11, moving wheel 12, first spur gear 211, first drive gear 213, power transmission gear 212, first intermediate gear 215, second spur gear 221, second intermediate gear 222, first elastic element 121, second elastic element 58, and unlocking mechanism 7 are located within the second cavity, which can be isolated from the outside world to ensure safe operation. An inlet / outlet for the passage of the slender medical device 100 is provided between the first cover 9 and the fixed frame 4. The second cover 10 covers the intermediate plate 61, forming a third cavity with the intermediate plate 61. The motor 2144 is located within the third cavity, which can be isolated from the outside world to ensure safe operation.

[0096] In summary, the feeding device 1000 of this application rotates via both the fixed wheel 11 and the movable wheel 12, driven by the first rotation drive mechanism 2. Both the fixed wheel 11 and the movable wheel 12 can actively drive the elongated medical device 100 forward, which can greatly increase the delivery force of the elongated medical device 100. The movable wheel 12 is driven by the first translation drive mechanism 3 to move closer to or further away from the fixed wheel 11, making it easy to clamp or release the elongated medical device 100, and capable of clamping elongated medical devices 100 of different diameters. The horizontal arrangement of the second spur gear 221 and the power transmission gear 212 on the movable wheel 12 increases the meshing between the second spur gear 221 and the power transmission gear 212. The range of the fixed wheel 11 and the movable wheel 12 is increased, allowing the fixed wheel 11 and the movable wheel 12 to clamp and deliver a wider range of slender medical devices 100 with different diameters. By allowing the second distance d2 to vary between greater than and less than the first distance d1, the range of slender medical devices 100 that the fixed wheel 11 and the movable wheel 12 can clamp is further increased, enabling the clamping of slender medical devices 100 with more diameters. By providing the movable wheel 12, each movable wheel 12 can make good contact with and clamp the slender medical device 100. The steel wire 1211 abuts against the movable wheel 12, saving installation space for the movable wheel 12 compared to a spring.

[0097] This application also provides a slave device for an interventional surgical robot, which includes the aforementioned feeding device 1000. Because this slave device uses the feeding device 1000 of this application, it has a large delivery force, can clamp and deliver elongated medical devices 100 with a wider diameter range, and each of the moving wheels 12 can make good contact with and clamp the elongated medical devices 100, thus delivering the elongated medical devices 100 very well.

[0098] Obviously, the embodiments described above are only some embodiments of this application, not all embodiments. The accompanying drawings show preferred embodiments of this application, but do not limit the patent scope of this application. This application can be implemented in many different forms; rather, the purpose of providing these embodiments is to provide a more thorough and comprehensive understanding of the disclosure of this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this application's specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the scope of patent protection of this application.

Claims

1. A feeder device, characterized by: The feeding device (1000) is used to deliver a slender medical device (100), and the feeding device (1000) includes a clamping mechanism (1), a first rotation drive mechanism (2) and a first translation drive mechanism (3). The clamping mechanism (1) includes a fixed wheel (11) and a movable wheel (12), which are located on both sides of the elongated medical device (100); The first translation drive mechanism (3) is used to drive the moving wheel (12) to move toward or away from the fixed wheel (11) to clamp or release the elongated medical device (100). The first rotation drive mechanism (2) is used to provide a power source for the fixed wheel (11) and the moving wheel (12), which deliver the elongated medical device (100) during active rotation. The first rotation drive mechanism (2) includes a fixed end drive mechanism (21) and a moving end drive mechanism (22). The fixed end drive mechanism (21) is used to drive the fixed wheel (11) to rotate, and the moving end drive mechanism (22) is used to drive the moving wheel (12) to rotate. One power output end of the fixed end drive mechanism (21) transmits the rotational power to the power input end of the mobile end drive mechanism (22); The fixed end drive mechanism (21) and the mobile end drive mechanism (22) are connected by a gear pair. The gear pair includes a gear as the power output end and a gear as the power input end. The gear pair is arranged on the same side of the elongated medical device (100) along the delivery direction of the elongated medical device (100). The plane formed by the rotation axis of the gear pair is not perpendicular to the delivery direction of the elongated medical device (100).

2. The feeder of claim 1, wherein: The fixed end drive mechanism (21) and the mobile end drive mechanism (22) are located on both sides of the elongated medical device (100). The first translation drive mechanism (3) can drive the mobile end drive mechanism (22) to move closer to or further away from the fixed end drive mechanism (21). The power output end of the fixed end drive mechanism (21) extends to one side of the mobile end drive mechanism (22) and transmits the rotational power to the mobile end drive mechanism (22).

3. The feeder of claim 2, wherein: The fixed-end drive mechanism (21) includes a first spur gear (211), a power transmission gear (212), a first drive gear (213), and a second rotation drive mechanism (214). The first spur gear (211) is connected to the fixed wheel (11) in a transmission connection, and the power transmission gear (212) serves as the power output end to transmit power to the moving end drive mechanism (22); The first spur gear (211) and the power transmission gear (212) mesh with the first drive gear (213) respectively, and the second rotation drive mechanism (214) transmits power to the first spur gear (211) and the power transmission gear (212) through the first drive gear (213). The mobile end drive mechanism (22) includes a second spur gear (221), which is connected to the moving wheel (12) for transmission. The second spur gear (221) meshes with the power transmission gear (212), and the second spur gear (221) and the power transmission gear (212) are arranged along the delivery direction of the elongated medical device (100).

4. The feeder of claim 3, wherein: A first plane is formed along the centerline of the first drive gear (213) parallel to the delivery direction of the elongated medical device (100). The centerline of the power transmission gear (212) forms a first distance (d1) with the first plane, and the centerline of the second spur gear (221) forms a second distance (d2) with the first plane. Under the drive of the first translation drive mechanism (3), the second distance (d2) can vary between being greater than the first distance (d1) and less than the first distance (d1).

5. A feeder device according to claim 3 or 4, wherein: At least three of the fixed wheel (11) and the movable wheel (12) are provided respectively; the feeding device (1000) also includes a fixed frame (4) and a movable frame (5). The fixed wheel (11), the first spur gear (211), the first drive gear (213) and the power transmission gear (212) are rotatably installed in the fixed frame (4), and the movable wheel (12) and the second spur gear (221) are rotatably installed in the movable frame (5). The first translation drive mechanism (3) drives the movable frame (5) to move relative to the fixed frame (4).

6. The feeder of claim 5, wherein: The feeding device (1000) further includes a first elastic element (121), at least one of the moving wheels (12) and the corresponding second spur gear (221) are movably mounted on the moving frame (5) through the first elastic element (121); among the moving wheels (12), in the initial stage of clamping the slender medical device (100), the movably mounted moving wheel (12) is the first to contact the slender medical device (100), and after the slender medical device (100) is clamped, each of the moving wheels (12) contacts the slender medical device (100).

7. The feeder of claim 5, wherein: An unlocking mechanism (7) is provided between the moving frame (5) and the fixed frame (4). The unlocking mechanism (7) includes an operating part (71) and a push rod (72). The operating part (71) is installed in the fixed frame (4). One end of the push rod (72) is connected to the operating part (71), and the other end of the push rod (72) is installed in the moving frame (5). Operating the operating part (71) can cause the other end of the push rod (72) to push the moving frame (5) to move away from the fixed wheel (11).

8. The feeder of claim 5, wherein: The movable frame (5) is connected to the fixed frame (4) via a guide rod (46), and the movable frame (5) can slide along the guide rod (46); The first translation drive mechanism (3) includes a translation frame (31), a translation arm (32), a slide rail (33), and a second translation drive mechanism (34). One end of the translation arm (32) is connected to the translation frame (31), and the other end of the translation arm (32) drives the moving frame (5). The translation frame (31) is connected to the fixed frame (4) through the slide rail (33). The second translation drive mechanism (34) drives the translation frame (31) to move.

9. The feeding device according to claim 3 or 4, characterized in that: The second rotation drive mechanism (214) includes a second drive gear (2142), a third drive gear (2143), and a motor (2144). The motor (2144) drives the third drive gear (2143) to rotate, the third drive gear (2143) drives the second drive gear (2142) to rotate, and the second drive gear (2142) drives the first drive gear (213) to rotate.

10. A slave device of an interventional surgical robot, characterized in that; The slave device includes the feeding device according to any one of claims 1 to 9.

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