Rolling module, drive, expansion and push assembly

Abstract

The application discloses a rolling module, a driving piece, a tensioning piece and a pushing module for an intervention surgery driving box, the rolling module comprises a shell, a roller, the shell is internally provided with a containing space, and the lateral surface of the shell is provided with a through groove in communication with the containing space; the roller is rotatably connected to the containing space, and a part of the peripheral surface of the roller extends out of the shell from the through groove. Through application of the above technical scheme, the driving of an elongated object in the driving box can be facilitated, the structure of the elongated object matched with the driving box can be realized through driving of the roller, and the elongated object can be clamped as an auxiliary structure to facilitate implementation of the intervention surgery.

Description

Technical Field

[0001] This invention relates to the field of interventional surgical instruments, and more specifically to a rolling module for an interventional surgical drive box, a drive member including the rolling module, a tensioning member including the rolling module, and a push assembly including at least one of the drive member and the tensioning member. Background Technology

[0002] In related technologies, patients requiring interventional surgery are first guided by a physician through vascular puncture to insert a vascular sheath into a specific surgical vessel (establishing the internal and external access points for interventional treatment). Then, through the vascular sheath, driven by a actuator, a catheter and guidewire are inserted to locate the specific lesion. After catheter insertion, a support is installed, and a Y-valve is fixed at the catheter's end. The Y-valve is connected to the rear end of the catheter to facilitate the injection of examination or treatment fluids, such as contrast fluid. Currently, interventional surgery actuators have been used to some extent in interventional procedures, but some shortcomings remain, such as the inconvenience of catheter and guidewire advancement, which affects the surgical outcome. Summary of the Invention

[0003] This invention aims to at least partially solve one of the technical problems in the related art. Therefore, one object of this invention is to provide a rolling module for an interventional surgery drive box, which facilitates stable driving of slender objects within the drive box and can serve as an auxiliary structure to clamp slender objects for easy interventional surgery.

[0004] Another object of the present invention is to provide a drive member that includes the aforementioned rolling module.

[0005] Another object of the present invention is to provide a tensioning member comprising the aforementioned rolling module.

[0006] Another object of the present invention is to provide a pushing assembly comprising at least one of the aforementioned driving member and the tightening member.

[0007] A rolling module for an interventional surgery drive box according to an embodiment of the present invention includes: a housing and a roller, wherein the housing has an accommodating space and a through groove communicating with the accommodating space is provided on the side of the housing; the roller is rotatably connected to the accommodating space and a portion of the circumferential surface of the roller extends out of the housing from the through groove.

[0008] The rolling module for the interventional surgery drive box according to an embodiment of the present invention facilitates stable driving of slender objects in the drive box and can serve as an auxiliary structure to clamp slender objects to facilitate interventional surgery.

[0009] In addition, the rolling module for the interventional surgery drive box according to the above embodiments of the present invention may also have the following additional technical features:

[0010] In some embodiments, the outer shell includes a first half-shell and a second half-shell, which are assembled together in a left-right direction to form the outer shell.

[0011] In some embodiments, the first half-shell is provided with a first hook and a first slot on both the upper and lower sides, and the second half-shell is provided with a second hook and a second slot on both the upper and lower sides. The first hook engages with the second slot, and the second hook engages with the first slot.

[0012] In some embodiments, the front end face and / or rear end face of the first half-shell are provided with a first positioning block, and the front end face of the second half-shell is provided with a first positioning block.

[0013] In some embodiments, the rear end face is provided with a second positioning block corresponding to the first positioning block, and the first positioning block and the corresponding second positioning block are opposite each other in the left-right direction.

[0014] In some embodiments, a first notch is provided on the inner surfaces of the upper and lower sides of the first half, and a second notch is provided on the inner surfaces of the upper and lower sides of the second half. The first notch and the corresponding second notch are joined together to form a groove. Both the upper and lower ends of the roller are provided with a rotating shaft that can be rotatably embedded in the corresponding groove.

[0015] In some embodiments, the housing is box-shaped extending in the front-to-back direction, and the housing contains one or more rollers spaced apart in the front-to-back direction, the rotation axis of the rollers extending in the vertical direction.

[0016] According to an embodiment of the present invention, a driving component includes: a driving module and a connecting shaft. The driving module includes the aforementioned rolling module. One end of the connecting shaft extends into the housing of the driving module and is connected to the roller via a transmission connection. The other end of the connecting shaft extends out of the housing of the driving module.

[0017] According to an embodiment of the present invention, the driving component is provided with a connecting shaft, through which external power can be transmitted to the driving module, thereby achieving the purpose of driving slender objects, etc., and effectively improving the stability of driving slender objects, etc.

[0018] In some embodiments, the drive component further includes: a first driven gear, a second driven gear, and a third driven gear, wherein the first driven gear is coaxially fixed to the roller, the two ends of the connecting shaft are coaxially connected to the second driven gear and the third driven gear, the second driven gear meshes with the first driven gear, and the third driven gear is located on the outside of the housing.

[0019] According to an embodiment of the present invention, an expansion member includes: an expansion module, a drive plate, wherein the expansion module is a rolling module as described above; the drive plate is movably disposed in the left-right direction on one side of the drive module away from the through groove of the expansion module; and an elastic support member, wherein the elastic support member is supported between the drive plate and the outer shell of the expansion module.

[0020] In some embodiments, the housing of the tensioning module has one or more actuating portions arranged at intervals, the actuating portions being configured to be manually driven by the tensioning element.

[0021] In some embodiments, the drive plate is provided with a guide extending in the left-right direction, the housing of the tensioning module is provided with a locking hole, the guide is movably inserted into the locking hole in the left-right direction, and the end of the guide is provided with a positioning hook to prevent the guide from disengaging.

[0022] In some embodiments, the guide includes two spaced-apart hooks configured in a cantilever shape connected to the drive plate, with the positioning hooks located on opposite sides of the free ends of the two hooks.

[0023] According to an embodiment of the present invention, a pushing component includes: a driving member and a tightening member, the tightening member being left-right opposite to the driving member, the tightening member being movable in the left-right direction to change the gap between the driving member and the tightening member, the driving member being configured to push an elongated object in the front-back direction, wherein the driving member is the aforementioned driving member.

[0024] In some embodiments, the tensioning element is the tensioning element described above.

[0025] In some embodiments, the pushing component further includes an inner box configured to allow an elongated object to pass through in a front-to-back direction. The inner box includes an inner box body and an inner box lid, with the upper side of the inner box body open. The inner box lid can be opened to cover the open side of the inner box body, wherein the inner box lid is configured such that when opened, the tensioning member and the driving member move in opposite directions to release the elongated object, and when closed, the tensioning member and the driving member move in opposite directions to clamp the elongated object.

[0026] In some embodiments, the inner cover is rotatably connected to the inner box body, and the inner cover is provided with a push block. The end face of the push block is configured as a helical surface extending about the rotation center axis of the inner cover. The end face of the push block is adapted to abut against the drive plate to drive the tensioning member to move towards and away from the drive member when the inner cover is opened and closed. Attached Figure Description

[0027] Figures 1 to 3 This is a schematic diagram of a push component according to an embodiment of the present invention. The inner box cover is open.

[0028] Figure 4 and 5 This is a schematic diagram of a push component according to an embodiment of the present invention. The inner box cover is closed.

[0029] Figure 6 This is an exploded view of a push component according to an embodiment of the present invention.

[0030] Figures 7 to 9 This is a schematic diagram of the driver of a push component according to an embodiment of the present invention.

[0031] Figure 10 This is an exploded view of the driver of a push component according to an embodiment of the present invention.

[0032] Figures 11 to 13 This is a schematic diagram of the tensioning element of a push component according to an embodiment of the present invention.

[0033] Figure 14 This is an exploded view of the expansion member of the push assembly according to an embodiment of the present invention.

[0034] Figure 15 and 16 This is a schematic diagram of a driver box according to an embodiment of the present invention, wherein both the outer cover and the inner cover are in an open state.

[0035] Figure 17 and Figure 18 This is a schematic diagram of a driver box according to an embodiment of the present invention, wherein both the outer cover and the inner cover are in a closed state.

[0036] Figure 19 This is an exploded view of a driver box according to an embodiment of the present invention.

[0037] Figure 20 This is a schematic diagram of the first end plate of the driver box according to an embodiment of the present invention.

[0038] Figure 21 This is a schematic diagram of the first transmission component of the drive box according to an embodiment of the present invention.

[0039] Figure 22 This is a schematic diagram of the structure of an execution device according to an embodiment of the present invention.

[0040] Figure 23 This is a schematic diagram of a partial structure of an execution device according to an embodiment of the present invention.

[0041] Figure 24 and Figure 25 This is an exploded view of a portion of the structure of an execution device according to an embodiment of the present invention.

[0042] Figure 26 and Figure 27 This is a schematic diagram of a driver for an execution device according to an embodiment of the present invention.

[0043] Figure 28 This is an exploded view of the driver of an actuator according to an embodiment of the present invention.

[0044] Figure 29 and Figure 30 This is a schematic diagram of the differential gear assembly of an actuator according to an embodiment of the present invention.

[0045] Figure 31 This is an exploded view of the differential gear assembly of an actuator according to an embodiment of the present invention.

[0046] Figure 32 This is a schematic diagram of the cooperation between the bracket and the cover plate of the actuator according to an embodiment of the present invention.

[0047] Figure 33 This is a partial structural schematic diagram of an execution device according to an embodiment of the present invention.

[0048] Figure label:

[0049] Actuating device 100, base 1, buckle 11, bracket 2, cover plate 21, first guide groove 201, second guide groove 202, mounting groove 203, drive box 3, outer box body 311, third positioning part 3111, U-shaped plate 311a, first end plate 311b, second end plate 311c, outer box cover 312, fourth positioning part 3121, pushing assembly 32, inner box body 321, first positioning part 3211, positioning boss 321a, first guide tube 321b, second guide tube 321c, inner box cover 322, second positioning part 3221, push block 322a, protrusion 322b, driving component 323, connecting shaft 323a, transmission shaft 323b, expansion Fastener 324, drive plate 324a, elastic support 324b, guide 324c, actuating part 324d, rolling module 320, outer shell 320a, first half-shell 3201, second half-shell 3202, roller 320b, through groove 3203, first hook 3204, first slot 3205, second hook 3206, second slot 3207, first positioning block 3208, second positioning block 3209, outer box wire hole 301a, second guide groove 301b, first guide groove 302a, mating groove 302b, inner box wire hole 302c, positioning hole 303a, first driven gear 304a, second driven gear 304b, third driven gear Wheel 304c, first transmission component 305a, second transmission component 305b, first transmission gear 306a, second transmission gear 306b, third transmission gear 306c, fourth transmission gear 306d, fourth driven gear 306e, fifth driven gear 306f, driver 4, housing 41, first housing 41a, first shaft hole 401a, second shaft hole 401b, second housing 41b, third shaft hole 401c, fourth shaft hole 401d, third housing 41c, fourth housing 41d, first input shaft 43a, second input shaft 43b, first output shaft 43c, second output shaft 43d, first transition sleeve 43e, second transition sleeve 43f. Differential gear assembly 42, first sun gear 421a, first planet gear 421b, first planet carrier 421c, first internal gear ring 421d, second sun gear 422a, second planet gear 422b, second internal gear ring 422d, first gear 423a, second gear 423b, third gear 423c, fourth gear 423d, fifth gear 423e, sixth gear 423f, seventh gear 423g, partition 424, first drive component 44a, second drive component 44b, first connector 45a, second connector 45b, bracket drive box 5, bracket driver 6, fourth transmission component 61b, slender object 7, vascular sheath 8, connector 9. Detailed Implementation

[0050] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0051] Combination Figures 7 to 14 According to an embodiment of the present invention, the rolling module 320 for the interventional surgery drive box 3 includes a housing 320a and a roller 320b. The housing 320a has an accommodating space, and the side of the housing 320a is provided with a through groove 3203 communicating with the accommodating space. The roller 320b is rotatably connected to the accommodating space, and a portion of the circumferential surface of the roller 320b extends out of the housing 320a from the through groove 3203 so that the roller 320b can contact components located outside the housing 320a (such as catheters, guide wires, etc. in interventional surgery). The roller 320b can be driven by other driving structures to achieve active movement; the roller 320b can also be driven to rotate by other structures (such as another rolling module 320) to achieve passive movement.

[0052] Specifically, when the scrolling module 320 acts as an active module (e.g., driver 323, such as...), Figures 7 to 10 When the roller 320b is used to drive the slender object 7 that is adapted to the drive box 3, the structure can be driven by the roller 320b; while when the roller 320 is used for the passive module (e.g., the tensioner 324, such as...), the structure can be driven by the roller 320b. Figures 11 to 14 As shown, the rolling module 320 can serve as an auxiliary structure to clamp slender objects 7, thereby improving the stability of pushing slender objects 7. In other words, the rolling module 320 in this invention can serve as a driving component 323 or a tightening component 324 in the drive box 3 of the interventional surgery, thereby driving the slender object 7, and thus satisfying the delivery of slender objects such as catheters or guidewires during interventional surgery, meeting the requirements of interventional surgery, facilitating the implementation of interventional surgery, and improving the stability of delivery of slender objects such as catheters or guidewires during interventional surgery.

[0053] According to an embodiment of the present invention, the rolling module 320 for the interventional surgery drive box 3 can be applied to the drive box 3 for interventional surgery to drive the elongated object 7. The rolling module 320 can be used as a drive element 323 to drive the roller 320b to achieve a structure such as the elongated object 7 adapted to the drive box 3; or the rolling module 320 can also be used as a clamping element 324, serving as an auxiliary structure to clamp the elongated object 7 to facilitate the implementation of interventional surgery.

[0054] In this invention, the outer shell 320a can be a one-piece molded shell structure, or it can be formed by assembling multiple parts along directions such as up / down, left / right, or front / back. Furthermore, this invention provides some specific embodiments.

[0055] like Figure 10 and Figure 14 In some embodiments of the present invention, the outer shell 320a includes a first half-shell 3201 and a second half-shell 3202, which are assembled in a left-right direction to form the outer shell 320a. The assembly of the first half-shell 3201 and the second half-shell 3202 simplifies the structure of the rolling module 320, facilitates its production and fabrication, and allows for the embedding of the roller 320b within the outer shell 320a, thus ensuring stable installation and rotation of the roller 320b.

[0056] Optionally, such as Figure 10 The first half-shell 3201 has a first hook 3204 and a first slot 3205 on both its upper and lower sides. The second half-shell 3202 has a second hook 3206 and a second slot 3207 on both its upper and lower sides. The first hook 3204 engages with the second slot 3207, and the second hook 3206 engages with the first slot 3205. The interlocking structure of the first half-shell 3201 and the second half-shell 3202 effectively improves the structural strength of the outer shell 320a.

[0057] In addition, the first half-shell 3201 and the second half-shell 3202 can also be spliced ​​together by other methods such as snap-fit ​​connection, bolt connection, screw connection, welding or bonding.

[0058] Optionally, combined Figure 7 and Figure 9 The first half-shell 3201 has a first positioning block 3208 on its front and / or rear face, and the second half-shell 3202 has a second positioning block 3209 corresponding to the first positioning block 3208 on its front and / or rear face. The first positioning block 3208 and the corresponding second positioning block 3209 are opposite each other in the left-right direction. For example, the first positioning block 3208 can be set on the front face of the first half-shell 3201, and the second positioning block 3209 can be set on the front face of the second half-shell 3202, and the first positioning block 3208 and the second positioning block 3209 can be assembled front to back; or the first positioning block 3208 can be set on the rear face of the first half-shell 3201, and the second positioning block 3209 can be set on the rear face of the second half-shell 3202, and the first positioning block 3208 and the second positioning block 3209 can be assembled front to back.

[0059] In conjunction with other embodiments of the present invention, Figure 6 and Figure 7In other embodiments of the present invention, the driving component 323 may have a first half-shell 3201 and a second half-shell 3202, and a first positioning block 3208 is provided on the front and rear end faces of the first half-shell 3201, and a second positioning block 3209 is provided on the front and rear end faces of the second half-shell 3202. The driving component 323 is installed in the inner box 321, and positioning grooves are provided on the front and rear walls of the inner box 321. The first positioning block 3208 on the front side of the first half-shell 3201 and the positioning block on the front side of the second half-shell 3202 are both provided in the positioning grooves on the front wall of the inner box 321, and the first positioning block 3208 on the rear side of the first half-shell 3201 and the positioning block on the rear side of the second half-shell 3202 are both provided in the positioning grooves on the rear wall of the inner box 321. The left side wall of the positioning groove is provided with a receiving groove, and the first positioning block 3208 and the second positioning block 3209 are both provided with protrusions that are embedded in the corresponding receiving grooves. This design is adapted to secure the housing 320a, improving connection stability. Additionally, the protruding structure can be wedge-shaped.

[0060] Optionally, the inner surfaces of the upper and lower sides of the first half-shell 3201 are provided with a first notch, and the inner surfaces of the upper and lower sides of the second half-shell 3202 are provided with a second notch. The first notch and the corresponding second notch are joined together to form a groove. Both the upper and lower ends of the roller 320b are provided with a rotating shaft that can be rotatably embedded in the corresponding groove. By joining the first and second notches, the installation of the roller 320b can be facilitated, allowing the roller 320b to be quickly and stably installed on the outer shell 320a, and facilitating the stable rotation of the roller 320b, thereby improving the operational stability of the rolling module 320.

[0061] In some embodiments of the present invention, combined with Figure 7 and Figure 11 The outer casing 320a is box-shaped, extending in the front-to-back direction, and contains one or more rollers 320b spaced apart in the front-to-back direction. The rotation axis of the rollers 320b extends in the vertical direction. The multiple rollers 320b further improve the stability of driving slender objects 7 using the rolling module 320.

[0062] In addition, combined Figures 7 to 10The present invention also provides a driving component 323, which may include a driving module and a connecting shaft 323a. The driving module may include the aforementioned rolling module 320. One end of the connecting shaft 323a extends into the housing 320a of the driving module and is connected to the roller 320b in a transmission manner. The other end of the connecting shaft 323a extends out of the housing 320a of the driving module. By setting the connecting shaft 323a, external power can be transmitted to the driving module, thereby realizing the active driving of the slender object 7 by the driving component 323. Moreover, the structure of the driving roller 320b can be set outside the housing 320a, simplifying the structure of the driving component 323, facilitating the production, design, and assembly of the driving component 323, and avoiding excessive integration that could affect the stability of the driving component 323.

[0063] In addition, combined Figure 10 The driving component 323 may further include: a first driven gear 304a, a second driven gear 304b, and a third driven gear 304c. The first driven gear 304a is coaxially fixed to the roller 320b. The two ends of the connecting shaft 323a are coaxially connected to the second driven gear 304b and the third driven gear 304c, respectively. The second driven gear 304b meshes with the first driven gear 304a, and the third driven gear 304c is located on the outer side of the housing 320a. This facilitates driving the roller 320b through a structure located on the outer side of the driving component 323. The connecting shaft 323a can extend vertically. Through the power transmission of the gears, the roller 320b can be driven more precisely, thereby achieving stable control of the guidewire and other pushing lengths, improving the stability and success rate of the interventional procedure. Optionally, the drive member 323 may include one or more rollers 320b. When the drive member 323 includes multiple rollers 320b, the multiple rollers 320b of the drive member 323 may be arranged in the front-back direction.

[0064] Furthermore, combined Figure 6 In conjunction with other embodiments of the present invention, the pushing component 32 of the present invention may include a drive shaft 323b, with a fourth driven gear 306e and a fifth driven gear 306f respectively connected to both ends of the drive shaft 323b. The fourth driven gear 306e meshes with the third driven gear 304c, and the fifth driven gear 306f is located outside the inner box and is used to connect to the second drive gear 306b.

[0065] In addition, the driving member 323 of the present invention may include a plurality of rollers 320b of the driving member 323 arranged in the front-back direction. Each roller 320b of the driving member 323 may be provided with a first driven gear 304a. The first driven gears 304a and second driven gears 304b on the rollers 320b of the plurality of driving members 323 are arranged in a preset order, and adjacent gears mesh, so that the first driven gears 304a on the rollers 320b of the plurality of driving members 323 can be driven to rotate by the second driven gears 304b.

[0066] Combination Figures 11 to 14 The present invention also provides a tensioning member 324. According to an embodiment of the present invention, the tensioning member 324 may include a tensioning module, a drive plate 324a, and an elastic support member 324b. The tensioning module may include the aforementioned rolling module 320. The drive plate 324a is movably disposed in the left-right direction on one side of the drive module away from the through groove 3203 of the tensioning module. The elastic support member 324b is supported between the drive plate 324a and the outer shell 320a of the tensioning module. By providing the elastic support member 324b between the drive plate 324a and the tensioning module, the tensioning module has a certain elastic movement capability relative to the drive plate 324a. When the tensioning member 324 is combined with the drive member 323 to drive a slender object 7, the elastic force of the elastic support member 324b can achieve stable clamping of the slender object 7, reducing the damage to the guide wire and other slender objects 7 caused by hard contact and improving the protection of the guide wire and other slender objects 7.

[0067] In addition, the clamping force of the expansion module can be adjusted by driving the drive board 324a, so as to clamp and release slender objects 7 such as guide wires.

[0068] Optionally, combined Figure 3 and Figure 11 The tensioning member 324 also includes a actuating part 324d, which is disposed on the housing 320a of the tensioning member 324. The actuating part 324d includes one or a plurality of actuating parts arranged at intervals. The actuating part 324d is configured to be suitable for manually driving the tensioning member 324. Thus, the tensioning member 324 can be driven by manually actuating the actuating part 324d, so as to realize the opposite movement of the tensioning member 324 and the driving member 323, so as to pick up, place or clamp the slender object 7. Of course, a mechanical drive structure can also be provided in this invention to realize the automatic driving of the tensioning member 324.

[0069] Optionally, combined Figure 13 and Figure 14The drive plate 324a is provided with a guide member 324c extending in the left-right direction. The outer shell 320a of the tensioning module is provided with a locking hole. The guide member 324c is movably inserted into the locking hole in the left-right direction, and the end of the guide member 324c is provided with a positioning hook to prevent the guide member 324c from falling out. This facilitates the elastic movable connection between the drive plate 324a and the outer shell 320a and improves the stability of the connection between the drive plate 324a and the outer shell 320a. The elastic support member 324b can be a spring sleeved on the outside of the guide member 324c.

[0070] Optionally, such as Figure 14 The guide member 324c includes two spaced-apart hooks configured as cantilever shapes connected to the drive plate 324a. Positioning hooks are provided on opposite sides of the free ends of the two hooks. The guide member 324c movably passes through a locking hole and is prevented from detaching by the positioning hooks. The relative and opposite elastic deformation between the two hooks facilitates the insertion of the guide member 324c into the locking hole. Additionally, it facilitates the assembly and disassembly of the drive plate 324a from the tensioning module.

[0071] In addition, in conjunction with other embodiments of the present invention, at least a portion of the tensioning member 324 is movably disposed within the inner box 321 in the left-right direction for cooperating with the driving member 323 to clamp and release the elongated object 7. The inner box cover 322 is configured such that when it is opened, it causes at least a portion of the tensioning member 324 to move away from the driving member 323 to release the elongated object 7, and when the inner box cover 322 is closed, it causes at least a portion of the tensioning member 324 to move towards the driving member 323 to clamp the elongated object 7. In conjunction with the foregoing embodiments, when the inner box cover 322 is closed, the inner box cover 322 applies a pushing force to the drive plate 324a, and under the action of the elastic support member 324b, drives the expansion member 324 to cooperate with the drive member 323 to clamp the slender object 7; when the inner box cover 322 is opened, the pushing force on the drive plate 324a will be released, and under the action of the elastic support member 324b, the drive plate 324a moves away from the expansion shell, while the elastic support member 324b releases the pressure on the expansion shell, thereby releasing the slender object 7.

[0072] In addition, combined Figure 6 The inner wall of the inner box 321 in the front and rear directions is provided with multiple positioning ribs. The multiple positioning ribs extend in the left and right directions and are spaced apart in the up and down directions to form a sliding track so that the expansion member 324 can slide in the left and right directions to cooperate with the multiple positioning ribs.

[0073] Combination Figures 1 to 6The present invention also provides a pushing component 32, including a driving member 323 and an expansion member 324. The expansion member 324 is positioned opposite the driving member 323, and is movable in the left-right direction to change the gap between the driving member 323 and the expansion member 324. The driving member 323 is configured to push an elongated object 7 in the front-back direction. The driving member 323 can be the aforementioned driving member 323, and the expansion member 324 can also be the aforementioned expansion member 324. For example, the driving member 323 in the pushing component can be the driving member 323 in the aforementioned embodiment, and the expansion member 324 can be other expansion structures; the driving member 323 in the pushing component can be other driving structures, and the expansion member 324 can be the expansion member 324 mentioned above in the present invention; the driving member 323 in the pushing component can be the driving member 323 in the aforementioned embodiment, and the expansion member 324 can be the expansion member 324 mentioned above in the present invention.

[0074] According to the present invention, the push component 32 can clamp and release the elongated object 7 through the cooperation of the drive component 323 and the tensioning component 324, so as to facilitate the installation and removal of the elongated object 7. At the same time, the drive component 323 can push the elongated object 7, thereby realizing the installation, removal and driving of the elongated object 7, which can be applied to interventional surgery or other fields.

[0075] In addition, such as Figure 1 As shown, in some embodiments of the invention, the pushing component 32 further includes an inner box configured to allow the elongated object 7 to pass through in the front-to-back direction.

[0076] Optionally, combined Figure 1 and Figure 3 The inner box includes an inner box body 321 and an inner box cover 322. The upper side of the inner box body 321 is open; the inner box cover 322 can be opened to seal the open side of the inner box body 321. Furthermore, the inner box cover 322 is configured such that when opened, the tensioning member 324 and the driving member 323 move in opposite directions to release the elongated object 7, and when closed, the tensioning member 324 and the driving member 323 move in opposite directions to clamp the elongated object 7. Therefore, when the inner box cover 322 is closed, the tensioning member 324 and the driving member 323 can be driven in a timely manner to clamp the elongated object 7, thereby pushing the elongated object 7 through the driving member 323; and when the inner box cover 322 is open, the elongated object 7 can be released in a timely manner, facilitating the removal, placement, and replacement of the elongated object 7.

[0077] Optionally, such as Figure 1The drive member 323 and the tensioning member 324 are both located inside the inner box. The tensioning member 324 is adapted to cooperate with the drive member 323 to clamp and release the elongated object 7. The drive member 323 is configured to push the elongated object 7 in the front-back direction. The elongated object 7 can pass through the inner box in the front-back direction. Under the combined action of the tensioning member 324 and the drive member 323, the portion of the elongated object 7 located inside the inner box can be clamped or released. When the tensioning member 324 and the drive member 323 are clamping the portion of the elongated object 7 located inside the inner box, the elongated object 7 can be pushed in the front-back direction by the drive member 323. The drive member 323 and the tensioning member 324 are arranged opposite each other, which can improve the rationality of the internal layout of the inner box and save space.

[0078] For example, the drive member 323 is fixedly installed inside the inner box, and the tensioning member 324 is movably installed inside the inner box in the left-right direction to clamp or release the elongated object 7, and the degree of clamping of the elongated object 7 is easily controlled, improving the stability effect. The tensioning member 324 is movably installed relative to the inner box body 321, and the drive member 323 is fixed relative to the inner box body 321. When the inner box cover 322 is opened, the tensioning member 324 moves away from the drive member 323, and the elongated object 7, such as a guide wire, catheter, or elongated object connected to the treatment stent, can be placed between the tensioning member 324 and the drive member 323. When the inner box cover 322 is closed, the tensioning member 324 moves closer to the drive member 323 to clamp the elongated object 7; when the inner box cover 322 is opened, the tensioning member 324 moves away from the drive member 323 to release the elongated object 7.

[0079] Optionally, such as Figure 5 As shown, the inner box of the present invention can be provided with inner box wire holes 302c at both the front and rear ends to facilitate the passage of a long and thin object 7 through the inner box in the front-back direction. The driving member 323 and the tensioning member 324 can be located on opposite sides of the area opposite to the inner box wire holes 302c, i.e., on both sides of the long and thin object 7. When it is necessary to insert or replace the long and thin object 7, the tensioning member 324 and the driving member 323 can be loosened to allow the long and thin object 7 to be inserted into or removed from the pushing component 32. After the long and thin object 7 is inserted, it can be clamped by the tensioning member 324 and the driving member 323. At this time, the driving member 323 can push the long and thin object 7 in the front-back direction, realizing the pushing of the long and thin object 7 in the front-back direction. Thus, the pushing or retraction of the long and thin object 7 can be realized, thereby improving the flexibility of the movement of the long and thin object 7, realizing continuous action and precise control.

[0080] Optionally, refer to Figure 3The inner cover 322 is rotatably connected to the inner box body 321. The inner cover 322 is provided with a push block 322a. The end face of the push block 322a is configured as a spiral surface extending around the rotation center axis of the inner cover 322. The end face of the push block 322a is adapted to abut against the tension member 324 so as to drive the tension member 324 and the drive member 323 to move towards and away from each other when the inner cover 322 is opened and closed. Specifically, when the inner lid 322 is closed, the end face of the push block 322a abuts against the tensioning member 324, and as the inner lid 322 closes, the push block 322a gradually pushes the tensioning member 324 toward the driving member 323 to clamp the elongated object 7. When the inner lid 322 is opened, the pressure exerted by the end face of the push block 322a on the tensioning member 324 gradually weakens, and as the inner lid 322 opens, the push block 322a gradually releases the tensioning member 324, causing the tensioning member 324 to move away from the driving member 323 to release the elongated object 7. Thus, by providing the push block 322a on the inner lid 322, the elongated object 7 can be clamped and released by opening and closing the inner lid 322.

[0081] Optionally, combined Figure 3 and Figure 5 The inner box 321 has a first guide groove 302a at both its front and rear ends, and the first guide groove 302a penetrates the upper surface of the inner box 321 to accommodate a long and thin object 7. That is, the long and thin object 7 can be inserted from the open side of the first guide groove 302a, thus passing through the inner box in the front-to-back direction. Furthermore, in conjunction with the aforementioned embodiment of the present invention, the inner box has an inner box wire hole 302c. The lower end of the first guide groove 302a connects to the inner box wire hole 302c, and the upper end is open. After the inner box cover 322 is opened, the long and thin object 7 can be inserted from the open end of the first guide groove 302a into the first guide groove 302a and finally installed into the inner box wire hole 302c, thereby realizing the placement of the long and thin object 7. Additionally, the open side of the first guide groove 302a can be configured as a flared shape.

[0082] Optionally, the inner box cover 322 is provided with a protrusion 322b opposite to the first guide groove 302a. When the inner box cover 322 is closed, the protrusion 322b is embedded in the first guide groove 302a. In other words, the protrusion 322b can close the first guide groove 302a and limit the swaying range of the elongated object 7, further improving the stability of the elongated object 7 and improving the structural stability of the pushing component 32. Thus, by opening the inner box cover 322, the elongated object 7 can be directly placed into the inner box 321 from the upper side, or removed from the inner box 321, facilitating the placement and removal of the elongated object 7. Of course, in other embodiments, other elongated objects 7 can also be placed, for example, the elongated object 7 can be passed through the inner box in the front-back direction.

[0083] Combination Figure 1Furthermore, the inner box body 321 of the present invention has a first positioning part 3211 on the side away from the hinge end, and the inner box cover 322 has a second positioning part 3221 on the side away from the hinge end. When the inner box cover 322 is closed, the second positioning part 3221 on the inner box cover 322 corresponds to the first positioning part 3211 on the inner box body 321, so as to achieve stable sealing of the inner box body 321 by the cooperation of the first positioning part 3211 and the second positioning part 3221. In addition, the inner box cover 322 has a handle on the side away from the hinge end.

[0084] The first positioning part 3211 and the second positioning part 3221 can be connected by magnetic attraction, snap-fit ​​connection or bolt connection, for example, the first positioning part 3211 and the second positioning part 3221 are magnets suitable for mutual attraction.

[0085] Optionally, such as Figure 1 The inner box has a first guide tube 321b and a second guide tube 321c connected to its front and rear sides respectively. Both the first guide tube 321b and the second guide tube 321c extend in the front-rear direction.

[0086] In addition, such as Figures 15 to 21 The present invention also provides a drive box 3, which, according to an embodiment of the present invention, includes an outer box and a pushing component 32. The outer box is configured to allow an elongated object 7 to pass through in a front-to-back direction, and the pushing component 32 is rotatably disposed within the outer box to rotate the elongated object 7. The pushing component 32 is the pushing component 32 described in the foregoing embodiment.

[0087] According to an embodiment of the present invention, the drive box 3 for interventional surgery can push and rotate the slender object 7, and can improve the stability when installing and using the slender object 7, improve the precision of control, and thus improve the surgical outcome.

[0088] In addition, combined Figure 19 In a specific example of the present invention, the outer box has wire-passing holes 301a at both its front and rear ends to allow an elongated object 7 to pass through it in the front-back direction. The rotation center axis of the inner box extends in the front-back direction, and the wire-passing hole 302c of the inner box is opposite to the wire-passing hole 301a in the front-back direction. The elongated object 7 can pass through the wire-passing holes 301a and 302c of the outer box to allow it to pass through the drive box 3 in the front-back direction. When the elongated object 7 is clamped by the drive member 323 and the tensioning member 324, the rotation of the drive pushing assembly 32 can realize the rotation of the elongated object 7.

[0089] Optionally, combined Figure 15 and Figure 19The drive box 3 also includes a first transmission gear 306a and a second transmission gear 306b. The first transmission gear 306a and the second transmission gear 306b are respectively located on the outer sides of the front and rear ends of the inner box, which improves the balance of the device and provides space for the rotation of the inner box within the outer box, thus reducing the volume of the drive box 3 used in interventional surgery. Specifically, the first transmission gear 306a is fixedly connected to the inner box to drive its rotation; the second transmission gear 306b is connected to the drive component 323, providing power to the drive component 323 to push the slender object 7. In other words, the first transmission gear 306a and the second transmission gear 306b can be used to transmit power separately, allowing for precise control of the pushing degree or rotation angle of the slender object 7 according to actual needs, improving control accuracy.

[0090] Optionally, combined Figure 6 and Figure 21 The outer end face of one end of the inner box is provided with a first mating part, and the first transmission gear 306a is provided with a second mating part. One of the first mating part and the second mating part is a positioning hole 303a extending in the front-back direction, and the other of the first mating part and the second mating part is a positioning boss 321a extending in the front-back direction and embedded in the positioning hole 303a, so as to fix the first transmission gear 306a to the inner box and improve stability.

[0091] Optionally, in conjunction with the foregoing embodiments, a first guide tube 321b and a second guide tube 321c are respectively connected to the front and rear sides of the inner box. A first transmission gear 306a is sleeved on the first guide tube 321b, and a second transmission gear 306b is sleeved on the second guide tube 321c. Specifically, when placing a long and thin object 7, the first guide tube 321b and the second guide tube 321c can provide support and limit the movement of the long and thin object 7, thereby improving the stability of the object. In addition, the first guide tube 321b and the second guide tube 321c can be connected to the first transmission gear 306a and the second transmission gear 306b to improve structural stability.

[0092] Among them, in conjunction with the foregoing embodiments, Figure 6 and Figure 21 The first guide tube 321b and the second guide tube 321c have cuts in the portions corresponding to the first guide groove 302a to facilitate the insertion of the slender object 7. At the same time, the first transmission gear 306a and the second transmission gear 306b also have notches to allow the slender object 7 to be installed into the drive box 3 through the notches on the first transmission gear 306a, the notches on the second transmission gear 306b, the first guide groove 302a, the cuts on the first guide tube 321b, etc.

[0093] Optionally, such as Figure 20The front and rear side walls of the outer box are respectively provided with mating grooves 302b. The first guide tube 321b and the second guide tube 321c are rotatably embedded in the mating grooves 302b at the corresponding positions to improve the structural stability of the push component 32 and the stability of the push component 32 during movement.

[0094] like Figure 15 In some embodiments of the present invention, the outer box includes an outer box body 311 and an outer box cover 312. The upper side of the outer box body 311 is open, and the outer box cover 312 can be opened to seal the open side of the outer box body 311. The outer box body 311 has second guide grooves 301b at both its front and rear ends, which penetrate the upper surface of the outer box to facilitate the placement of elongated objects 7. The structure of the outer box allows for easy opening to place, remove, or replace elongated objects 7, simplifying the structure of the drive box 3 and facilitating operation.

[0095] In addition, in conjunction with the foregoing embodiments, Figure 19 The outer box can be provided with a wire passage hole 301a. The lower end of the second guide groove 301b is connected to the wire passage hole 301a to serve as a wire passage. The structure is compact and easy to arrange.

[0096] In addition, combined Figure 15 The outer box body 311 of the present invention has a third positioning part 3111 on the side away from the hinge end, and the outer box cover 312 has a fourth positioning part 3121 on the side away from the hinge end. When the outer box cover 312 is closed, the fourth positioning part 3121 on the outer box cover 312 corresponds to the third positioning part 3111 on the outer box body 311, so as to achieve stable sealing of the outer box body 311 by the cooperation of the third positioning part 3111 and the fourth positioning part 3121. In addition, a handle is provided on the side of the outer box cover 312 away from the hinge end.

[0097] The third positioning part 3111 and the fourth positioning part 3121 can be connected by magnetic attraction, snap-fit ​​connection or bolt connection, for example, the third positioning part 3111 and the fourth positioning part 3121 are magnets suitable for mutual attraction.

[0098] Optionally, such as Figure 19The outer casing 311 includes a U-shaped plate 311a extending in the front-to-back direction. The front and rear ends of the U-shaped plate 311a are respectively covered by a first end plate 311b and a second end plate 311c, facilitating the installation and removal of the drive box 3 used in interventional surgery. The inner surfaces of the first end plate 311b and the second end plate 311c are provided with mesh-like reinforcing ribs, which can strengthen the structural strength, improve the stability of the drive box 3 during operation, and reduce the overall weight of the drive box 3 used in interventional surgery. As described above, a wire-passing hole 301a is provided on the first end plate 311b and the second end plate 311c to allow a slender object 7 to pass through the outer casing 311. Furthermore, the first end plate 311b and the second end plate 311c can be detachably connected to the U-shaped plate 311a.

[0099] Optionally, combined Figure 15 and Figure 17 The outer cover 312 covers the upper outer sides of the front and rear ends of the outer box body 311 to improve structural compactness and the tightness of the fit between the outer cover 312 and the outer box body 311. Specifically, a boss is provided at the location of the wire hole on the first end plate 311b and the second end plate 311c. When the outer cover 312 is closed, the periphery of the outer cover 312 is opposite to the boss and has the same thickness to improve structural compactness and aesthetics. Mounting holes are provided on the left and right sides of the first end plate 311b and the second end plate 311c, and corresponding mounting holes are also provided on the outer box body 311 to facilitate the stable installation of the first end plate 311b and the second end plate 311c on the outer box body 311. By covering the outer shell 320a outside the outer box body 311, the second guide groove 301b can be sealed by the fit between the outer cover 312 and the outer box body 311, improving the stability of the slender object 7.

[0100] Combination Figure 18 The drive box 3 also includes a first transmission component 305a and a second transmission component 305b. The first transmission gear 306a is connected to the first transmission component 305a, and the second transmission gear 306b is connected to the second transmission component 305b.

[0101] Optionally, refer to Figure 19 Additionally, the drive box 3 of the present invention may further include a third transmission gear 306c and a fourth transmission gear 306d. The third transmission gear 306c is connected to and drives the first transmission member 305a, and the fourth transmission gear 306d is connected to and drives the second transmission member 305b. The first transmission member 305a and the second transmission member 305b are configured to be suitable for connecting to the drive structure outside the outer box to provide power for the operation of the drive box 3 used in interventional surgery. Optionally, the first transmission member 305a and the second transmission member 305b are disposed on the same side wall of the outer box.

[0102] In addition, as mentioned above, combined with Figure 19 The outer box 311 includes a U-shaped plate 311a, a first end plate 311b, and a second end plate 311c. Optionally, the first transmission member 305a can be rotatably connected between the outer box 311 and the first end plate 311b; the second transmission member 305b can be rotatably connected between the outer box 311 and the second end plate 311c to improve transmission stability.

[0103] In actual operation, when a slender object 7 needs to move forward or backward (i.e., when the slender object 7 is pushed forward or retracted), the first transmission member 305a remains stationary, while the second transmission member 305b rotates. The second transmission member 305b drives the second transmission gear 306b to rotate. The second transmission gear 306b has internal teeth on its inner circle, which drive the fifth driven gear 306f to rotate. The fifth driven gear 306f is positioned with the transmission shaft 323b via a key engagement. The fifth driven gear 306f drives the fourth driven gear 306e of the transmission shaft 323b to rotate. The fourth driven gear 306e drives the third driven gear 304c to rotate. The third driven gear 304c drives the second driven gear 304b to rotate. The second driven gear 304b meshes with the first driven gear 304a on the drive wheel, thereby transmitting power to the drive wheel. The tensioning member 324 has two tensioning wheels corresponding to the drive wheel. The drive wheel acts as the driving wheel, and the tensioning wheels act as the driven wheels. The tensioning wheels and the drive wheel work simultaneously to press the slender object 7 to be driven, causing it to move forward and backward. Alternatively, the third transmission gear 306c, the first transmission gear 306a, the second transmission gear 306b, and the fourth transmission gear 306d form a bevel gear to improve transmission stability and structural reliability.

[0104] When the slender object 7 rotates, the second transmission component 305b and the first transmission component 305a rotate in opposite directions at the same speed. The first transmission component 305a drives the third transmission gear 306c to rotate, and the third transmission gear 306c drives the first transmission gear 306a to rotate. At the same time, the second transmission component 305b drives the fourth transmission gear 306d to rotate, and the fourth transmission gear 306d drives the second transmission gear 306b to rotate. At this time, the first transmission gear 306a and the second transmission gear 306b rotate in the same direction and at the same speed, driving the slender object 7 to rotate. At this time, the gears inside the pushing component 32 stop working.

[0105] When the slender object 7 simultaneously rotates and moves forward and backward, the first transmission component 305a and the second transmission component 305b move at different speeds. The first transmission component 305a drives the third transmission gear 306c to rotate, and the third transmission gear 306c drives the first transmission gear 306a to rotate. At the same time, the second transmission component 305b drives the fourth transmission gear 306d to rotate, and the fourth transmission gear 306d drives the second transmission gear 306b to rotate. At this time, the first transmission gear 306a and the second transmission gear 306b have different speeds or directions. The two work together to drive the slender object 7 to simultaneously rotate and move forward and backward.

[0106] Alternatively, the first transmission gear 306a may not rotate, while the second transmission gear 306b rotates. The rotation of the internal teeth drives the fifth driven gear 306f to rotate, which in turn drives the third driven gear 304c to rotate, thereby driving the drive wheel to roll, so as to drive the slender object 7 to move forward and backward.

[0107] Combination Figures 22 to 33 The present invention also provides an execution device 100 for interventional surgery, including a base 1 and a drive box 3, a driver 4, a stent drive box 5 and a stent driver 6 fixedly connected to the base 1; the drive box 3 is used to push and rotate an elongated object 7; the driver 4 is connected to the drive box 3 to provide power to the drive box 3; the stent drive box 5 is adapted to push the elongated object 7 along the pushing direction of the drive box 3; the stent driver 6 is fixedly connected to the stent drive box 5 and provides power to the stent drive box 5.

[0108] According to the embodiment of the present invention, the execution device 100 for interventional surgery can push and rotate the slender object 7, and can push different guide wires or stents using the drive box 3 and the stent drive box 5, thereby meeting different requirements in interventional surgery, improving the stability when installing and using the slender object 7, improving the precision of control, and thus improving the surgical effect.

[0109] In actual operation, a slender object 7 can be placed in the drive box 3 and the stent drive box 5. The driver 4 provides power to the drive box 3 to drive the slender object 7 to rotate or push it. The stent driver 6 provides power to the stent drive box 5 to push the slender object 7. Specifically, due to the complexity of blood vessels in the human body, different catheters and slender objects 7 (with different head shapes, thicknesses, etc.) are used for different blood vessels to locate them. The drive box 3 can simultaneously perform rotation and feeding actions, allowing the slender object 7 to rotate and feed at the same time. This allows for quick location of the specific blood vessel entrance, improving surgical efficiency. The stent drive box 5 can only provide feeding actions, as the guide slender object 7 is already in the appropriate position. The slender object 7 in the stent drive box 5 only needs to be fed to quickly reach the lesion location.

[0110] Furthermore, the drive box 3 is detachably mounted on the base 1 so that the driver 4 is connected to the drive box 3 to provide power to the drive box 3.

[0111] Optionally, the bracket drive box 5 is detachably mounted on the base 1 so that the bracket driver 6 can be connected to the bracket drive box 5 to provide power to the bracket drive box 5. By detachably mounting the drive box 3 and / or the bracket drive box 5 on the base 1, the actuator 100 can be quickly disassembled and assembled, facilitating replacement and maintenance, realizing modularity of each part, and improving the practicality of the actuator 100.

[0112] Optionally, combined Figure 23 and Figure 25 The drive box 3 has a first side and a second side. The first side of the drive box 3 engages with the base 1 via a snap-fit ​​11 to ensure stable installation of the drive box 3 on the base 1 and to enable quick assembly and disassembly of the drive box 3. Optionally, the second side of the drive box 3 is plugged into the base 1 or the driver 4. Specifically, the second side of the drive box 3 is plugged into the base 1, meaning that the opposite sides of the drive box 3 are connected to the base 1 respectively, which can improve the stability and balance of the connection between the drive box 3 and the base 1. The second side of the drive box 3 is plugged into the driver 4, thereby connecting the driver 4 to the drive box 3 and providing power to the drive box 3.

[0113] Furthermore, the drive box 3 has a first protrusion on the first side and a second protrusion on the second side, a hook on the base 1 to hold the first protrusion, a slot on the driver 4 to insert the second protrusion into the slot, and the driver 4 to restrict the second protrusion from coming out in a direction away from the base 1, thereby improving the stability of the installation.

[0114] In practical use, to prevent medical problems such as cross-infection, the drive box 3 and the bracket drive box 5 can be set as disposable parts. By making the drive box 3, the bracket drive box 5 and the driver 4 detachable, quick disassembly and assembly can be achieved, making replacement convenient and improving safety and work efficiency.

[0115] Optionally, combined Figure 22 and Figure 23 The base 1 also includes a support tray 62, located at the front end of the base 1, which reduces the travel distance and time of the elongated object 7 in the support drive box 5. The support drive box 5 and the support driver 6 are respectively connected to the two ends of the support tray 62, so that the drive box 3 is adapted to drive the elongated object 7 to pass through the space between the support drive box 5 and the support driver 6, facilitating the convergence of the elongated object 7 in the drive box 3 and the elongated object 7 in the support drive box 5, thereby improving work efficiency. Optionally, the support tray 62 can also be detachably mounted on the base 1, thereby realizing the modularity of the various parts of the actuator 100, which is convenient for manufacturing and use.

[0116] Optionally, such as Figure 23 The base 1 is provided with a mounting groove 203, and the support drive box 5 is installed in the mounting groove 203 to restrict the rotation of the support drive box 5 in the horizontal plane, thereby improving the stability of the actuator 100 during operation and ensuring the surgical effect. The actuator 100 also includes a third transmission component (not shown in the figure). A fourth transmission component 61b is provided on the bottom surface of the support drive box 5. The third transmission component is connected to both the support drive box 5 and the support driver 6. The fourth transmission component 61b passes through the base 1 and extends from the bottom surface of the mounting groove 203. The third transmission component and the fourth transmission component 61b are inserted to connect the support driver 6 and the support drive box 5, so that power is transmitted from the support driver 6 to the support drive box 5 to push the slender object 7.

[0117] Optionally, such as Figure 22 The actuator 100 further includes a bracket 2 connected to the base 1. The bracket 2 has a first guide groove 201 and a second guide groove 202. One end of the first guide groove 201 is opposite to the drive box 3 to guide the slender object 7 pushed by the drive box 3. One end of the second guide groove 202 is opposite to the support drive box 5 to guide the slender object 7 pushed by the support drive box 5, and the other end of the second guide groove 202 is connected to the first guide groove 201. Specifically, the bracket 2 has a first guide groove 201 for guiding the slender object 7 and the first guide groove 201 is opposite to the drive box 3. One end of the second guide groove 202 is opposite to the support drive box 5 and the other end is connected to the first guide groove 201. By setting the bracket 2, support force can be provided for the slender object 7, and the slender object 7 can be guided, thereby improving structural stability.

[0118] Furthermore, combined Figure 22 and Figure 23 The bracket 2 is positioned between the bracket driver 6 and the bracket driver box 5 so that the slender object 7 in the driver box 3 can directly enter the first guide groove 201. Specifically, a groove for mounting the bracket 2 can be provided in the middle area of ​​the bracket tray 62 to improve the stability and reliability of the connection between the bracket 2 and the base 1.

[0119] Optionally, such as Figure 32 The actuator 100 further includes a cover plate 21, which is connected to the bracket 2 and adapted to open and close the first guide groove 201 and the second guide groove 202 to protect the slender object 7. The cover plate 21 is connected to the bracket 2 and adapted to open and close the first guide groove 201 and the second guide groove 202. The cover plate 21 covers and shields the first guide groove 201 and the second guide groove 202 to provide protection.

[0120] Furthermore, this invention is mainly described using an elongated object 7 as an example, but this is not a limitation on the scope of protection of this invention. It is mainly to clearly express the technical solution to be protected by this application. This invention can also be applied to the pushing and rotating of other elongated objects 7.

[0121] Optionally, combined Figures 26 to 28 The driver 4 includes a housing 41, a differential gear assembly 42, and a first input shaft 43a, a second input shaft 43b, a first output shaft 43c, and a second output shaft 43d connected to the differential gear assembly 42, so that power can be transmitted from the input shaft to the output shaft. The first output shaft 43c is connected to the driver housing 3 to rotate the elongated object 7, and the second output shaft 43d is connected to the driver housing 3 to push the elongated object 7, thereby realizing the pushing and rotation of the elongated object 7, and enabling individual or simultaneous control of the elongated object 7, improving the flexibility and accuracy of control. Specifically, in conjunction with other embodiments of the present invention, the first output shaft 43c is drive-connected to the first transmission member 305a, and the second output shaft 43d is drive-connected to the second transmission member 305b.

[0122] Optionally, the differential gear assembly 42 is configured such that when the first input shaft 43a is stationary and the second input shaft 43b is rotating, the first output shaft 43c is stationary and the second output shaft 43d is rotating; and when the first input shaft 43a is rotating and the second input shaft 43b is stationary, the first output shaft 43c and the second output shaft 43d rotate in opposite directions and at the same speed.

[0123] Of course, there are many structures in the related technology that can realize the function of the differential gear assembly 42. The present invention provides a specific implementation method. Of course, this is not a limitation on the scope of protection of the present invention, but an illustration of the differential gear assembly 42 of a specific embodiment of the present invention.

[0124] Optionally, such as Figures 29 to 31 The differential gear assembly 42 includes a first planetary transmission mechanism and a second planetary transmission mechanism. The first planetary transmission mechanism includes a first sun gear 421a, a first planet gear 421b, a first planet carrier 421c, and a first internal gear ring 421d. The first sun gear 421a is driven by the second input shaft 43b, and the first planet carrier 421c is driven by the first input shaft 43a. The second planetary transmission mechanism includes a second sun gear 422a, a second planet gear 422b, and a second internal gear ring 422d. The second sun gear 422a is driven by the second output shaft 43d, the second planet gear 422b is fixed on the housing 41, and the second internal gear ring 422d is connected to the first internal gear ring 421d. By setting up the first planetary transmission mechanism and the second planetary transmission mechanism, a speed change function can be achieved, thereby improving the flexibility of controlling the slender object 7 and improving transmission efficiency, i.e., transmission stability.

[0125] Specifically, such as Figure 31 The differential gear assembly 42 further includes: a first gear 423a, a second gear 423b, a third gear 423c, a fourth gear 423d, and a fifth gear 423e. The first gear 423a is connected to the first input shaft 43a; the second gear 423b meshes with the first gear 423a to transmit the power of the first input shaft 43a from the first gear 423a to the second gear 423b; further, the third gear 423c meshes with the second gear 423b. The fourth gear 423d is connected to the third gear 423c; the fifth gear 423e is coaxially fixed to the first planetary carrier 421c, and meshes with the fourth gear 423d. Specifically, the second gear 423b may be located between the first gear 423a and the third gear 423c. During transmission, the first gear 423a and the third gear 423c rotate in the same direction, and then the transmission is transmitted to the fifth gear 423e through the fourth gear 423d connected to the third gear 423c.

[0126] Optionally, refer to Figures 26 to 28 The housing 41 includes a first housing 41a, a second housing 41b, and a third housing 41c stacked in sequence. The first housing 41a is provided with a first shaft hole 401a opposite to the first input shaft 43a and a second shaft hole 401b opposite to the second input shaft 43b. The first input shaft 43a and the second input shaft 43b can be installed on the first housing 41a by passing through the first shaft hole 401a and the second shaft hole 401b, respectively. The second housing 41b has a third shaft hole 401c opposite to the first output shaft 43c and a fourth shaft hole 401d opposite to the second output shaft 43d. The first output shaft 43c and the second output shaft 43d can be installed in the second housing 41b by passing through the third shaft hole 401c and the fourth shaft hole 401d, respectively. The first gear 423a, the second gear 423b, and the third gear 423c are located between the second housing 41b and the third housing 41c, while the first planetary transmission mechanism, the second planetary transmission mechanism, and the fourth gear 423d are located between the second housing 41b and the first housing 41a. Therefore, the differential gear assembly 42 can be fixedly installed inside the housing 41 to improve the operational stability of the differential gear assembly 42.

[0127] Optionally, refer to Figure 31 The differential gear assembly 42 also includes a sixth gear 423f and a seventh gear 423g. The sixth gear 423f is connected to the second sun gear 422a to transmit the power of the second planetary transmission mechanism to the sixth gear 423f. The seventh gear 423g meshes with the sixth gear 423f and is connected to the second output shaft 43d to output power.

[0128] Optionally, refer to Figure 28The housing 41 also includes a fourth housing 41d, which is stacked on the outside of the first housing 41a. A first transition sleeve 43e and a second transition sleeve 43f are provided between the fourth housing 41d and the third housing 41c. The first transition sleeve 43e is connected to the first input shaft 43a, and the second transition sleeve 43f is connected to the second input shaft 43b. The first transition sleeve 43e and the second transition sleeve 43f are suitable for connecting external driving components to improve connection stability.

[0129] Optionally, the positions on the first housing 41a, the second housing 41b, and the fourth housing 41d where no shaft holes are provided can be set as a grid-like hollow structure. The grid-like hollow structure can be set around the shaft holes to reduce the weight of the housing 41 and enhance the structural strength of the housing 41.

[0130] Optionally, such as Figure 31 A partition 424 can be provided inside the first internal gear ring 421d and the second internal gear ring 422d. The partition 424 separates the first planetary gear 421b and the second planetary gear 422b, thereby improving operational stability and durability.

[0131] In some embodiments of the present invention, the first input shaft 43a is connected to the first gear 423a via a first connecting rod, the first gear 423a meshes with the second gear 423b, the second gear 423b meshes with the third gear 423c, the third gear 423c is connected to the fourth gear 423d via a second connecting rod, the fourth gear 423d meshes with the fifth gear 423e, and the fifth gear 423e is fixed to the outer peripheral surface of the first planetary carrier 421c. The second input shaft 43b is connected to the first sun gear 421a. The first sun gear 421a meshes with the first planet gear 421b. The first planet gear 421b is fixed at the axis of the first planet carrier 421c. At least a portion of the first internal gear ring 421d is embedded in the first planet carrier 421c. The first internal gear ring 421d is connected to the second internal gear ring 422d, and a partition 424 is provided between the first internal gear ring 421d and the second internal gear ring 422d. The shaft of the second planet gear 422b is fixed on the second housing 41b. The second planet gear 422b meshes with the second sun gear 422a. The second sun gear 422a is connected to the sixth gear 423f. The sixth gear 423f meshes with the seventh gear 423g. The seventh gear 423g is connected to the second output shaft 43d.

[0132] For example, in actual operation: when the first input shaft 43a is stationary and the second input shaft 43b rotates clockwise, the first output shaft 43c is stationary. The second input shaft 43b drives the first sun gear 421a to rotate clockwise, and the first sun gear 421a drives the first planet gear 421b to rotate counterclockwise. The speed ratio can be 1:1. The first planet gear 421b is fixed on the first planet carrier 421c and arranged around the axis of the first planet carrier 421c. The first planet gear 421b drives the first internal gear ring 421d. The first internal gear ring 421d rotates counterclockwise at a speed ratio of 1:3; the second internal gear ring 422d drives the connected second internal gear ring 422d to rotate at the same speed, and the second internal gear ring 422d drives the second planetary gear 422b to rotate counterclockwise at a speed ratio of 3:1; the shaft of the second planetary gear 422b is fixed on the second housing 41b, and the second planetary gear 422b drives the second sun gear 422a to rotate clockwise at a speed ratio of 1:1. The second sun gear 422a drives the seventh gear 423g to rotate counterclockwise at a speed ratio of 1:1, that is, the second output shaft 43d rotates counterclockwise. As described above, when the first output shaft 43c is stationary, the slender object 7 does not rotate; the second output shaft 43d is connected to the drive box 3 to push the slender object 7; the second output shaft 43d rotates counterclockwise to push or retract the slender object 7.

[0133] When the second input shaft 43b is stationary and the first input shaft 43a rotates clockwise, the first output shaft 43c rotates clockwise. The first gear 423a drives the second gear 423b to rotate counterclockwise, with a speed ratio of 1:1. The second gear 423b drives the fourth gear 423d assembly to rotate clockwise, with a speed ratio of 1:1. The fourth gear 423d drives the fifth gear 423e to rotate counterclockwise, with a speed ratio of 1:4. The first planetary gear 421b is fixed to the first planetary carrier 421c. At this time, the first sun gear 421a is stationary, and the first planetary gear 421b... The first planetary gear 421b revolves around the sun gear, driving the first internal gear ring 421d to rotate clockwise at a speed ratio of 1:3. The first internal gear ring 421d drives the connected second internal gear ring 422d to rotate at the same speed and in the same direction. The second internal gear ring 422d drives the second planetary gear 422b to rotate counterclockwise at a speed ratio of 3:1. The axis of rotation of the second planetary gear 422b is fixed to the second housing 41b. The second planetary gear 422b drives the second sun gear 422a to rotate clockwise at a speed ratio of 1:1. The second sun gear 422a drives the seventh gear 423g seat to rotate counterclockwise at a speed ratio of 1:1. This means the second output shaft 43d rotates counterclockwise, thus achieving the same speed but opposite directions for the two output shafts. According to the aforementioned structure of the drive box 3, when the first output shaft 43c and the second output shaft 43d rotate at the same speed but opposite directions, the drive box 3 can rotate the slender object 7.

[0134] Specifically, refer to Figure 23The driver 4 may further include a first driving component 44a and a second driving component 44b. The first driving component 44a is connected to the first input shaft 43a of the differential gear assembly 42, and the second driving component 44b is connected to the second input shaft 43b of the differential gear assembly 42. The first driving component 44a and the second driving component 44b may be motors.

[0135] It should be noted that in the aforementioned embodiments, if the rotation direction of the first input shaft 43a changes, the rotation directions of both the first output shaft 43c and the second output shaft 43d also change. If the rotation direction of the second input shaft 43b changes, the rotation direction of the second output shaft 43d also changes. The change in rotation direction can be achieved by reversing the motor.

[0136] Optionally, such as Figure 24 The actuator 100 also includes a first connector 45a and a second connector 45b. The first connector 45a is elastically connected to the first output shaft 43c, and the second connector 45b is elastically connected to the second output shaft 43d. The first connector 45a and the second connector 45b are used to connect the drive box 3.

[0137] Optionally, in the first planetary transmission mechanism and the second transmission mechanism, the speed ratio between each gear can also be set according to actual needs, and the present invention is not limited thereto.

[0138] Optionally, such as Figure 22 The actuator 100 also includes: a connector 9, a catheter and a vascular sheath 8. The connector 9 has a main line and a branch line. The main line is configured to allow a slender object 7 to pass through. The branch line is connected to the main line to allow the flow of a medium into the main line for the injection of fluids for examination or medical purposes. The catheter is connected to the outlet end of the connector 9, and the vascular sheath 8 is connected to the catheter to establish an internal and external access channel for interventional treatment and improve the surgical outcome.

[0139] According to the present invention, the actuator 6 for interventional surgery can be a motor. The actuator 6 can be connected to a third output shaft, which can be mounted on a base 1 and is adapted to be connected to a stent drive box 5. For example, the stent driver 6 can provide feed power to the stent drive box 5 via a belt-driven third output shaft, which rotates in both forward and reverse directions to advance or retract the stent. The bracket 2 extends in the front-rear direction, and its rear end is adjacent to the outer box cable hole 301a. A first guide groove 201 is disposed opposite to the outer box cable hole 301a to facilitate guiding a long, thin object 7. The stent driver 6 is located on one side of the rear end of the bracket 2. The side of the bracket 2 adjacent to the stent driver 6 is constructed with an "L"-shaped notch. The stent driver 6 is located at the notch, and the stent extends through the stent drive box 5 to the second guide groove 202 to guide the stent. The first guide groove 201 and the second guide groove 202 converge at the front of the bracket 2, connecting the main pipeline of the connector 9. Furthermore, the main pipe of connector 9 is mounted on bracket 2 to accommodate the passage of slender objects 7; branch pipes extend upward from the main pipe to facilitate the injection of fluids for examination or medical purposes.

[0140] According to the embodiment of the present invention, the execution device 100 for interventional surgery, in conjunction with the accompanying drawings, in actual use, firstly, the doctor inserts a vascular sheath 8 into the specific surgical vessel through vascular puncture (establishing the internal and external access points for interventional treatment). Then, through the vascular sheath 8, and driven by the drive box 3, a catheter and a slender object 7 are inserted to locate the specific lesion. After the catheter is inserted, a bracket 2 is installed, and a connector 9 is fixed at the end of the catheter, which is fixed to the bracket 2. The slender object 7 is inserted into the catheter. Then, treatment or stent placement is performed. The connector 9 at the rear end of the catheter facilitates the injection of fluids for examination or treatment, such as contrast fluid.

[0141] Furthermore, the vascular sheath 8 can be fixed to the sheath support, which is then fixed to the puncture site using medical tape or similar materials to secure and position the vascular sheath 8 for subsequent operations. The actuator 4 provides power to the actuator box 3 and the stent actuator box 5. The bracket 2 supports the slender object 7 and the stent (specifically, the slender object 7 and the stent refer to the treatment stent and the treatment stent fixed to the slender object 7, where the slender object 7 refers to the slender object 7 passing through the stent actuator box 5 in the figure) and guides them to converge, preventing bending of the catheter slender object 7 due to insufficient rigidity.

[0142] Applying the technical solution provided in this invention, a first slender object such as a catheter is pushed to a preset position via a drive box 3 or manually. Then, a second slender object such as a guidewire is driven by the drive box 3 to move along the first slender object, such as inside the catheter. Finally, a treatment stent is placed on the second slender object, which has a third slender object. The third slender object is driven by the stent drive box 3 to deliver the treatment stent to the lesion location. During the push of the treatment stent, the second slender object, such as the guidewire, is first pushed a certain distance, and then the treatment stent is pushed by the third slender object. The position of the second slender object, such as the guidewire, is adjusted according to the position of the treatment stent. After adjusting the second slender object, the treatment stent is pushed again. This process is repeated until the second slender object and the treatment stent reach the lesion location. Compared to directly pushing the guidewire into position and then adjusting the position of the second slender object according to the treatment stent, the adjustment efficiency is higher. Meanwhile, the drive box 3 and the stent drive box 5 are integrated into one unit, which can simultaneously or alternately drive the second slender object such as the guide wire and the third slender object with the treatment stent, so as to push the treatment stent to the lesion location more efficiently.

[0143] In the description of this invention, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "bottom", "inner", "outer", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0144] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0145] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0146] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A rolling module for an interventional surgical drive box, characterized in that, include: The outer casing has an accommodating space inside, and the side of the outer casing is provided with a through groove communicating with the accommodating space; A roller, rotatably connected to the receiving space, with a portion of the roller's circumferential surface extending from the through slot into the housing; wherein an elongated object extends along the front-rear direction of the housing and engages with the roller in contact. The outer shell includes a first half-shell and a second half-shell, which are assembled into the outer shell along the left-right direction; The outer casing is box-shaped and extends in the front-to-back direction. Inside the outer casing, there is one or a plurality of rollers spaced apart in the front-to-back direction. The rotation center axis of the rollers extends in the vertical direction. The first half-shell is provided with a first hook and a first slot on both the upper and lower sides, and the second half-shell is provided with a second hook and a second slot on both the upper and lower sides. The first hook and the second slot are engaged in a corresponding engagement, and the second hook and the first slot are engaged in a corresponding engagement. The front and / or rear faces of the first half-shell are provided with a first positioning block, and the front and / or rear faces of the second half-shell are provided with a second positioning block corresponding to the first positioning block. The first positioning block and the corresponding second positioning block are opposite to each other in the left-right direction. The inner surfaces of the upper and lower sides of the first half-shell are provided with a first notch groove, and the inner surfaces of the upper and lower sides of the second half-shell are provided with a second notch groove. The first notch groove and the corresponding second notch groove are joined together to form a groove. The upper and lower ends of the roller are provided with a rotating shaft that can be rotatably embedded in the corresponding groove.

2. A driving component, characterized in that, include: The driving module includes the scrolling module according to claim 1; A connecting shaft, one end of which extends into the housing of the drive module and is connected to the roller drive, and the other end of which extends out of the housing of the drive module.

3. The driving component according to claim 2, characterized in that, The driving component further includes: a first driven gear, a second driven gear, and a third driven gear. The first driven gear is coaxially fixed to the roller. The two ends of the connecting shaft are coaxially connected to the second driven gear and the third driven gear, respectively. The second driven gear meshes with the first driven gear, and the third driven gear is located on the outside of the housing.

4. A type of expansion joint, characterized in that, include: An expansion module, wherein the expansion module includes the rolling module according to claim 1; A drive plate, which is movably disposed in the left-right direction on the side of the drive module away from the through slot of the tensioning module; An elastic support member is provided, which is supported between the drive plate and the housing of the expansion module; The driving module is the driving module according to claim 2.

5. The expansion joint according to claim 4, characterized in that, The housing of the expansion module has one or more actuating parts arranged at intervals, and the actuating parts are configured to be manually driven.

6. The expansion member according to claim 4, characterized in that, The drive plate is provided with a guide extending in the left and right direction. The housing of the expansion module is provided with a locking hole. The guide is movably inserted into the locking hole in the left and right direction, and the end of the guide is provided with a positioning hook to prevent the guide from falling out.

7. The expansion joint according to claim 6, characterized in that, The guide includes two spaced-apart hooks configured in a cantilever shape connected to the drive plate, and the positioning hooks are provided on opposite sides of the free ends of the two hooks.

8. A push component, characterized in that, include: A driving member and a tensioning member are provided, the tensioning member being horizontally opposite the driving member and movable in the left-right direction to change the gap between the driving member and the tensioning member. The driving member is configured to push an elongated object in the front-back direction. Wherein, the driving member is the driving member according to any one of claims 2 or 3, and the tightening member is the tightening member according to any one of claims 4-7.

9. The push component according to claim 8, characterized in that, The pushing component also includes an inner box configured to allow an elongated object to pass through it in a front-to-back direction, the inner box comprising: The inner box has an open upper side; An inner box lid that can be opened to seal the open side of the inner box body. The inner cover is configured such that when opened, the tensioning member and the drive member move in opposite directions to release the elongated object, and when closed, the tensioning member and the drive member move in opposite directions to clamp the elongated object.

10. The push component according to claim 9, characterized in that, The inner box cover is rotatably connected to the inner box body. The inner box cover is provided with a push block. The end face of the push block is configured as a helical surface extending about the rotation center axis of the inner box cover. The end face of the push block is adapted to abut against the drive plate to drive the expansion member to move towards and away from the drive member when opening and closing the inner box cover.

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