Push assembly and drive cassette

Abstract

The application discloses a pushing assembly and a driving box. The pushing assembly comprises an inner box, a driving part and a tensioning part. The inner box is configured to be suitable for an elongated object to pass through in the front-back direction. The driving part is arranged in the inner box. The tensioning part is arranged in the inner box and is suitable for cooperating with the driving part to clamp and release the elongated object. The driving part is configured to be suitable for pushing the elongated object in the front-back direction. By applying the technical scheme, the elongated object can be pushed, the stability during installation and use of the elongated object can be improved, the control precision can be improved, and the operation effect can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of interventional surgical instruments, in particular to a pushing assembly and a driving box. BACKGROUND

[0002] In the related art, a patient in need of an interventional surgery is first inserted by a doctor through a blood vessel puncture with a vascular sheath into a specific blood vessel for the surgery (to establish an internal and external access inlet for interventional treatment), and then through the vascular sheath, a catheter and an elongated object are inserted under the driving action of a driving device to find a specific lesion position. After the catheter is inserted, a Y valve is fixed at the end of the catheter, and the rear end of the catheter is connected to the Y valve to facilitate the injection of liquid for examination or treatment, such as contrast medium. The current execution device for interventional surgery has been applied to interventional surgery to some extent, but still has some deficiencies, for example, the pushing of the catheter and the elongated object is not convenient, and slippage phenomenon is prone to occur during pushing, which affects the surgical effect. SUMMARY

[0003] The present application aims to at least partially solve one of the technical problems in the related art. To this end, the present application aims to provide a pushing assembly and a driving box, which facilitate the control of the pushing of an elongated object to improve the accuracy of control and thus improve the surgical effect.

[0004] The pushing assembly according to an embodiment of the present application comprises: an inner box, a driving member, and a tensioning member, wherein the inner box is configured to be suitable for an elongated object to pass through in a front-rear direction; the driving member is arranged in the inner box; the tensioning member is arranged in the inner box and is suitable for cooperating with the driving member to clamp and release the elongated object, and the driving member is configured to be suitable for pushing the elongated object in the front-rear direction.

[0005] The pushing assembly according to an embodiment of the present application can push the elongated object, and can improve the stability during installation and use of the elongated object, improve the accuracy of control, and thus improve the surgical effect.

[0006] In addition, the pushing assembly according to the above-mentioned embodiments of the present application can also have the following additional technical features:

[0007] In some embodiments, the inner box comprises: an inner box body and an inner box cover, wherein the upper side of the inner box body is open; the inner box cover can openably cover the open side of the inner box body, and the inner box cover is configured to move away from the tensioning member when opened to be suitable for releasing the elongated object, and to move towards the tensioning member when closed to be suitable for clamping the elongated object.

[0008] In some embodiments, the inner box cover is rotatably connected to the inner box body, and a push block is arranged on the inner box cover, an end surface of the push block is configured in a helical surface shape extending around a rotation center axis of the inner box cover, and the end surface of the push block is adapted to abut against the expansion member to drive the expansion member to move towards and away from the drive member when the inner box cover is opened and closed.

[0009] In some embodiments, the inner box body is provided with a first guide groove penetrating an upper end surface of the inner box at front and rear ends of the inner box body, the first guide groove being adapted to accommodate the elongated object, and the inner box cover is provided with a first protrusion opposite to the first guide groove, and the first protrusion is embedded in the first guide groove when the inner box cover is closed.

[0010] According to the drive box of the embodiments of the present application, the elongated object can be pushed and rotated, and the elongated object can be stably placed, so that the control precision is improved, and the surgical effect is improved.

[0011] According to the drive box of the embodiments of the present application, the elongated object can be pushed and rotated, and the elongated object can be stably placed, so that the control precision is improved, and the surgical effect is improved.

[0012] In some embodiments, the drive box further comprises a first transmission gear and a second transmission gear, the first transmission gear and the second transmission gear are arranged on the outside of the front and rear ends of the inner box, the first transmission gear is fixedly connected to the inner box, and the second transmission gear is in transmission connection with the drive member.

[0013] In some embodiments, the first guide tube and the second guide tube are respectively connected to the front and rear sides of the inner box, the first guide tube and the second guide tube both extend in the front and rear directions, and the first transmission gear and the second transmission gear are respectively sleeved in the first guide tube and the second guide tube.

[0014] In some embodiments, the inner sides of the front and rear side walls of the outer box are respectively provided with matching grooves, and the first guide tube and the second guide tube are respectively rotatably embedded in the matching grooves at the corresponding positions.

[0015] In some embodiments, the same side wall of the outer box is provided with a first transmission member and a second transmission member, the first transmission member is in transmission connection with the first transmission gear, and the second transmission member is in transmission connection with the second transmission gear.

[0016] In some embodiments, the outer box comprises an outer box body and an outer box cover, the upper side of the outer box body is open, and the outer box cover is adapted to openably cover the open side of the outer box body, and the front and rear ends of the outer box body are provided with a second guide groove penetrating an upper end surface of the outer box, the second guide groove being adapted to accommodate the elongated object.

[0017] In some embodiments, the outer box body comprises a U-shaped plate extending in the front-rear direction, the front and rear ends of the U-shaped plate are capped by a first end plate and a second end plate respectively, and the inner side surfaces of the first end plate and the second end plate are provided with a grid-shaped reinforcing rib.

[0018] In some embodiments, the outer box cover is located on the upper outer side of the front and rear ends of the outer box body. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figures 1 to 3 is a schematic view of a push assembly according to an embodiment of the present application. The inner box cover is open.

[0020] Figure 4 and 5 is a schematic view of a push assembly according to an embodiment of the present application. The inner box cover is closed.

[0021] Figure 6 is an exploded schematic view of a push assembly according to an embodiment of the present application.

[0022] Figures 7 to 9 is a schematic view of a drive member of a push assembly according to an embodiment of the present application.

[0023] Figure 10 is an exploded schematic view of a drive member of a push assembly according to an embodiment of the present application.

[0024] Figures 11 to 13 is a schematic view of a bulging member of a push assembly according to an embodiment of the present application.

[0025] Figure 14 is an exploded schematic view of a bulging member of a push assembly according to an embodiment of the present application.

[0026] Figure 15 and 16 is a schematic view of a drive box according to an embodiment of the present application, in which the outer box cover and the inner box cover are both in an open state.

[0027] Figure 17 and Figure 18 is a schematic view of a drive box according to an embodiment of the present application, in which the outer box cover and the inner box cover are both in a closed state.

[0028] Figure 19 is an exploded schematic view of a drive box according to an embodiment of the present application.

[0029] Figure 20 is a schematic view of a first end plate of a drive box according to an embodiment of the present application.

[0030] Figure 21 is a schematic view of a first transmission gear of a drive box according to an embodiment of the present application.

[0031] Figure 22 is a structural schematic diagram of an execution device of one embodiment of the present application.

[0032] Figure 23 is a partial structural schematic diagram of an execution device of one embodiment of the present application.

[0033] Figure 24 and Figure 25 is an exploded schematic diagram of a partial structure of an execution device of one embodiment of the present application.

[0034] Figure 26 and Figure 27 is a schematic diagram of a driver of an execution device of one embodiment of the present application.

[0035] Figure 28 is an exploded schematic diagram of a driver of an execution device of one embodiment of the present application.

[0036] Figure 29 and Figure 30 is a schematic diagram of a differential gear assembly of an execution device of one embodiment of the present application.

[0037] Figure 31 is an exploded schematic diagram of a differential gear assembly of an execution device of one embodiment of the present application.

[0038] Figure 32 is a schematic diagram of a cooperation of a bracket and a cover plate of an execution device of one embodiment of the present application.

[0039] Figure 33 is a partial structural schematic diagram of an execution device of one embodiment of the present application.

[0040] Reference Signs:

[0041] Execution 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 pipe 321b, second guide pipe 321c, inner box cover 322, second positioning part 3221, pushing block 322a, protruding block 322b, driving piece 323, connecting shaft 323a, transmission shaft 323b, expansion piece 324, driving plate 324a, elastic support piece 324b, guide piece 324c, poking part 324d, rolling module 320, outer shell 320a, first half shell 3201, second half shell 3202, rolling wheel 320b, through groove 3203, first clamping hook 3204, first clamping groove 3205, second clamping hook 3206, second clamping groove 3207, first positioning block 3208, second positioning block 3209, outer box wire passing hole 301a, second guide groove 301b, first guide groove 302a, matching groove 302b, inner box wire passing hole 302c, positioning hole 303a, first driven gear 304a, second driven gear 304b, third driven gear 304c, first transmission piece 305a, second transmission piece 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, box body 41, first box shell 41a, first shaft hole 401a, second shaft hole 401b, second box shell 41b, third shaft hole 401c, fourth shaft hole 401d, third box shell 41c, fourth box shell 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 inner ring gear 421d, second sun gear 422a, second planet gear 422b, second inner ring gear 422d, first gear 423a, second gear 423b, third gear 423c, fourth gear 423d, fifth gear 423e, sixth gear 423f, seventh gear 423g, partition plate 424, first driving component 44a, second driving component 44b, first connecting piece 45a, second connecting piece 45b, bracket drive box 5, bracket driver 6, fourth transmission piece 61b, elongated object 7, blood vessel sheath 8, connector 9. DETAILED DESCRIPTION

[0042] Embodiments of the present application are described below in detail with reference to the accompanying drawings, wherein the same or similar components or components having the same or similar functions are denoted by the same or similar reference numerals throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present application, and cannot be understood as limiting the present application.

[0043] In combination Figures 1 to 6 According to the pushing assembly 32 of the embodiments of the present application, the inner box, the driving member 323 and the expanding member 324 are provided.

[0044] Specifically, the inner box is configured to be suitable for the elongated object 7 to pass through in the front-rear direction, the driving member 323 is arranged in the inner box, the expanding member 324 is arranged in the inner box, the expanding member 324 is suitable for cooperating with the driving member 323 to clamp and release the elongated object 7, and the driving member 323 is configured to be suitable for pushing the elongated object 7 in the front-rear direction. Wherein, the elongated object 7 can pass through the inner box in the front-rear direction, and the part of the elongated object 7 located in the inner box can be clamped or released under the cooperation of the expanding member 324 and the driving member 323, and the elongated object 7 can be pushed in the front-rear direction by the driving member 323 when the part of the elongated object 7 located in the inner box is clamped by the cooperation of the expanding member 324 and the driving member 323.

[0045] According to the pushing assembly 32 of the embodiments of the present application, the inner box can be suitable for the elongated object 7 to pass through, and the clamping and releasing of the elongated object 7 can be achieved by the cooperation of the driving member 323 and the expanding member 324, so as to facilitate the installation and removal of the elongated object 7, and meanwhile the driving member 323 can push the elongated object 7, thereby achieving the installation, removal and driving of the elongated object 7, which can be applied to interventional surgery or other fields.

[0046] Optionally, as shown in Figure 2 and Figure 5 , the front and rear ends of the inner box can be provided with inner box wire passing holes 302c to be suitable for the elongated object 7 to pass through the inner box in the front-rear direction. In combination Figure 1 , the driving member 323 and the expanding member 324 can be located on the opposite sides of the inner box in the opposite regions of the inner box wire passing holes 302c, i.e. on the two sides of the elongated object 7. When the elongated object 7 needs to be put in or replaced, the expanding member 324 can be released from the driving member 323, so as to facilitate the installation of the elongated object 7 into the pushing assembly 32 or the removal of the elongated object 7 from the pushing assembly 32; after the elongated object 7 is put in, the elongated object 7 can be clamped by the expanding member 324 and the driving member 323, and at this time the driving member 323 can push the elongated object 7 in the front-rear direction, thereby achieving the pushing of the elongated object 7 in the front-rear direction. Thus, the pushing or withdrawal of the elongated object 7 can be achieved, thereby improving the flexibility of the movement of the elongated object 7 and realizing continuous action and precise control.

[0047] For example, the driving member 323 is fixedly installed in the inner box, and the expansion member 324 is movably installed in the inner box in the left-right direction to clamp or release the elongated object 7 and facilitate control of the clamping degree of the elongated object 7 and improvement of the stability effect. The expansion member 324 is movably installed relative to the inner box body 321, and the driving member 323 is fixed relative to the inner box body 321. When the inner box cover 322 is opened, the expansion member 324 moves away from the driving member 323, and the elongated object 7 such as a guide wire, a catheter or an elongated object connected to a treatment stent can be placed between the expansion member 324 and the driving member 323. When the inner box cover 322 is closed, the expansion member 324 moves toward the driving member 323 to clamp the elongated object 7. When the inner box cover 322 is opened, the expansion member 324 moves away from the driving member 323 to release the elongated object 7.

[0048] Optionally, in combination with Figure 1 and Figure 3 , the inner box comprises: an inner box body 321 and an inner box cover 322, the upper side of the inner box body 321 being open; and the inner box cover 322 being openably sealed to the open side of the inner box body 321. In addition, the inner box cover 322 is configured to move away from the driving member 323 when opened to release the elongated object 7, and to move toward the driving member 323 when closed to clamp the elongated object 7. Therefore, when the inner box cover 322 is closed, the expansion member 324 and the driving member 323 can be timely driven to clamp the elongated object 7, so that the elongated object 7 can be conveniently pushed by the driving member 323, and when the inner box cover 322 is opened, the elongated object 7 can be timely released for taking and placing and replacing.

[0049] Optionally, in combination with Figure 3 , the inner box cover 322 is rotatably connected to the inner box body 321, and the inner box cover 322 is provided with a push block 322a, and the end face of the push block 322a is configured in a spiral face shape extending around the rotation center axis of the inner box cover 322, and the end face of the push block 322a is adapted to abut against the expansion member 324 to drive the expansion member 324 and the driving member 323 to move toward and away from each other when the inner box cover 322 is opened and closed. Specifically, when the inner box cover 322 is closed, the end face of the push block 322a abuts against the expansion member 324, and gradually pushes the expansion member 324 to move toward the driving member 323 to clamp the elongated object 7 as the inner box cover 322 is closed; when the inner box cover 322 is opened, the abutting pressure of the end face of the push block 322a against the expansion member 324 gradually weakens, and gradually releases the expansion member 324 as the inner box cover 322 is opened, so that the expansion member 324 moves away from the driving member 323 to release the elongated object 7. Thus, by providing the push block 322a on the inner box cover 322, the elongated object 7 can be clamped and released by opening and closing the inner box cover 322.

[0050] Optionally, in combination with Figure 3 and Figure 5 , the front and rear ends of the inner box body 321 are provided with first guide grooves 302a, and the first guide grooves 302a penetrate the upper end face of the inner box body 321, so as to be suitable for placing the elongated object 7, that is, the elongated object 7 can be placed from the open side of the first guide groove 302a, so as to pass the elongated object 7 through the inner box in the front and rear directions. In addition, in combination with the foregoing embodiments of the present application, the inner box is provided with an inner box wire passing hole 302c, the lower end of the first guide groove 302a is communicated with the inner box wire passing hole 302c and the upper end is open, after the inner box cover 322 is opened, the elongated object 7 can be placed into the first guide groove 302a from the open end of the first guide groove 302a, and finally installed to the inner box wire passing hole 302c, so as to realize the placement of the elongated object 7. In addition, the open side of the first guide groove 302a can be configured in a flared shape.

[0051] Optionally, the inner box cover 322 is provided with a protrusion 322b opposite to the first guide groove 302a, and 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 can limit the swing range of the elongated object 7, further improve the stability of the placement of the elongated object 7, and can improve the structural stability of the pushing assembly 32. Therefore, by opening the inner box cover 322, the elongated object 7 can be directly placed into the inner box body 321 from the upper side of the inner box body 321, or the elongated object 7 can be taken out from the inner box body 321, so as to facilitate the taking and placing of the elongated object 7. Of course, in other embodiments, other elongated objects 7 can also be placed, for example, the elongated object 7 is passed through the inner box in the front and rear directions.

[0052] in combination with Figure 1 In addition, the side of the inner box body 321 away from the hinged end is provided with a first positioning part 3211, and the side of the inner box cover 322 away from the hinged end is provided with a second positioning part 3221, 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 be suitable for realizing that the inner box cover 322 stably covers the inner box body 321 through the cooperation of the first positioning part 3211 and the second positioning part 3221. In addition, the side of the inner box cover 322 away from the hinged end is provided with a handle part.

[0053] Among them, the first positioning part 3211 and the second positioning part 3221 can be connected in a manner of magnetic attraction, buckle connection or bolt connection, for example, the first positioning part 3211 and the second positioning part 3221 are magnets suitable for mutual attraction.

[0054] Optionally, as Figure 1The first guide tube 321b and the second guide tube 321c are connected to the front and back of the inner box respectively and extend along the front and back direction.

[0055] In addition, in combination with Figures 7 to 14 In some embodiments of the present application, at least one of the driving member 323 and the expansion member 324 comprises a rolling module 320, the rolling module 320 comprises an outer shell 320a and a rolling wheel 320b, the outer shell 320a has a containing space inside, and the side of the outer shell 320a is provided with a through slot 3203 communicating with the containing space, the rolling wheel 320b is rotatably connected to the containing space, and a part of the circumferential surface of the rolling wheel 320b extends out of the outer shell 320a from the through slot 3203, so as to facilitate the rolling wheel 320b to contact the components (such as catheters, guide wires and the like in interventional surgery) located outside the outer shell 320a, wherein the rolling wheel 320b can be driven by other driving structures to realize active motion; or it can be driven to rotate by other structures (such as another rolling module 320) to realize passive motion.

[0056] Specifically, when the rolling module 320 is used as an active module (for example, the driving member 323, as Figures 7 to 10 indicated), the driving of the elongated object 7 and the like structure matched with the driving box 3 can be realized by driving the rolling wheel 320b; and when the rolling module 320 is used as a passive module (for example, the expansion member 324, as Figures 11 to 14 indicated), it can be used as an auxiliary structure to clamp the elongated object 7 and the like, so as to improve the stability of pushing the elongated object 7 and the like. In other words, the rolling module 320 in the present application can be used as the driving member 323 or the expansion member 324 in the driving box 3 in interventional surgery, so as to realize the driving of the elongated object 7, and further to meet the delivery of the catheter or the guide wire and the like elongated object in interventional surgery, so as to meet the requirements of interventional surgery, facilitate the implementation of interventional surgery, and improve the stability of delivering the catheter or the guide wire and the like elongated object in interventional surgery. The rolling module 320 in the present application can be applied to the driving box 3 used in interventional surgery to realize the driving of the elongated object 7. The rolling module 320 can be used as the driving member 323, so as to realize the driving of the elongated object 7 and the like structure matched with the driving box 3 by driving the rolling wheel 320b; or the rolling module 320 can also be used as the expansion member 324, which can be used as an auxiliary structure to clamp the elongated object 7, so as to facilitate the implementation of interventional surgery.

[0057] In the present application, the outer shell 320a can be an integrally formed shell structure, or the outer shell 320a can be formed by combining a plurality of parts along the up and down, left and right, or front and back directions. In addition, some specific embodiments are provided in the present application.

[0058] As Figure 10 and Figure 14In some embodiments of the present application, the shell 320a comprises a first half shell 3201 and a second half shell 3202, which are spliced together along the left-right direction to form the shell 320a. By splicing the first half shell 3201 and the second half shell 3202, the structure of the rolling module 320 can be simplified, the production and manufacture of the rolling module 320 can be facilitated, and the roller 320b can be embedded in the shell 320a, so as to facilitate the stable installation and rotation of the roller 320b.

[0059] Optionally, as Figure 10 , the upper and lower sides of the first half shell 3201 are provided with a first clasp 3204 and a first clamping groove 3205, and the upper and lower sides of the second half shell 3202 are provided with a second clasp 3206 and a second clamping groove 3207. The first clasp 3204 corresponds to the second clamping groove 3207 and is clamped, and the second clasp 3206 corresponds to the first clamping groove 3205 and is clamped. By the interlocking structure of the first half shell 3201 and the second half shell 3202, the structural strength of the shell 320a can be effectively improved.

[0060] In addition, the first half shell 3201 and the second half shell 3202 can also be spliced by clamping connection, bolt connection, screw connection, welding or adhesion, etc.

[0061] Optionally, in combination with Figure 7 and Figure 9 , the front end face and / or the rear end face of the first half shell 3201 is provided with a first positioning block 3208, and the front end face and / or the rear end face of the second half shell 3202 is provided with a second positioning block 3209 corresponding to the first positioning block 3208. The first positioning block 3208 and the corresponding second positioning block 3209 are opposite along the left-right direction. For example, the first positioning block 3208 can be arranged on the front end face of the first half shell 3201, and the second positioning block 3209 can be arranged on the front end face of the second half shell 3202, and the first positioning block 3208 and the second positioning block 3209 are spliced together front and back. The first positioning block 3208 can also be arranged on the rear end face of the first half shell 3201, and the second positioning block 3209 can be arranged on the rear end face of the second half shell 3202, and the first positioning block 3208 and the second positioning block 3209 are spliced together front and back.

[0062] In combination with other embodiments of the present application, in combination with Figure 6 and Figure 7In other embodiments of the present application, the driving member 323 can have a first half shell 3201 and a second half shell 3202, and the first half shell 3201 is provided with first positioning blocks 3208 on the front and rear end surfaces, and the second half shell 3202 is provided with second positioning blocks 3209 on the front and rear end surfaces. The driving member 323 is installed in the inner box body 321, and the inner box body 321 is provided with positioning grooves on the front and rear wall surfaces. The first positioning blocks 3208 on the front side of the first half shell 3201 and the positioning blocks on the front side of the second half shell 3202 are arranged in the positioning grooves on the front wall surface of the inner box body 321, and the first positioning blocks 3208 on the rear side of the first half shell 3201 and the positioning blocks on the rear side of the second half shell 3202 are arranged in the positioning grooves on the rear wall surface of the inner box body 321. The left side wall surface of the positioning groove is provided with a receiving groove, and the first positioning blocks 3208 and the second positioning blocks 3209 are provided with protruding structures embedded in the corresponding receiving grooves. The protruding structures can be wedge-shaped, which is suitable for fixedly connecting the shell 320a and improving the connection stability.

[0063] Optionally, the inner surfaces on the upper and lower sides of the first half shell 3201 are provided with first notched grooves, and the inner surfaces on the upper and lower sides of the second half shell 3202 are provided with second notched grooves. The first notched grooves and the corresponding second notched grooves are combined into groove portions in front and back. The upper and lower ends of the roller 320b are provided with rotating shafts rotatably embedded in the corresponding groove portions. Through the combination of the first notched grooves and the second notched grooves, the installation of the roller 320b is facilitated, so that the roller 320b can be quickly and stably installed on the shell 320a, and the stable rotation of the roller 320b is facilitated, thereby improving the stability of the rolling module 320.

[0064] In some embodiments of the present application, in combination with Figure 7 and Figure 11 The shell 320a is in the shape of a box extending in the front-rear direction, and the shell 320a is provided with one or a plurality of rollers 320b arranged in the front-rear direction, and the rotation center axis of the roller 320b extends in the up-down direction. Through the plurality of rollers 320b, the stability of driving the elongated object 7 and the like by using the rolling module 320 can be further improved.

[0065] In combination with Figures 7 to 10In some examples of the present application, the driving member 323 comprises the aforementioned rolling module 320, and the driving member 323 of the present application further comprises a connecting shaft 323a, one end of the connecting shaft 323a extends into the shell 320a of the driving module and is in transmission connection with the rolling wheel 320b, and the other end of the connecting shaft 323a extends out of the shell 320a of the driving module. By arranging the connecting shaft 323a, the connecting shaft 323a can transmit external power to the driving module, so as to realize the active driving of the elongated object 7 and the like by the driving member 323. Moreover, the structure of the driving rolling wheel 320b can be arranged outside the shell 320a, which simplifies the structure of the driving member 323, facilitates the production, design and assembly of the driving member 323, and avoids excessive integration affecting the stability of the driving member 323.

[0066] In addition, in combination with Figure 10 , the driving member 323 can further comprise a first driven gear 304a, a second driven gear 304b and a third driven gear 304c, the first driven gear 304a is coaxially fixedly connected with the rolling wheel 320b, the two ends of the connecting shaft 323a are coaxially connected with the second driven gear 304b and the third driven gear 304c respectively, the second driven gear 304b is in engagement with the first driven gear 304a, and the third driven gear 304c is arranged outside the shell 320a. Thus, the rolling wheel 320b can be driven by the structure arranged outside the driving member 323. The connecting shaft 323a can extend in the up-down direction. Through the power transmission of the gears, the rolling wheel 320b can be driven more accurately, so as to realize the stable control of the pushing length of the guide wire and the like, and improve the stability and success rate of the interventional surgery process. Optionally, the driving member 323 can comprise one or more rolling wheels 320b of the driving member 323, and when the driving member 323 comprises a plurality of rolling wheels 320b of the driving member 323, the plurality of rolling wheels 320b of the driving member 323 can be arranged in the front-rear direction.

[0067] Further, in combination with Figure 6 In combination with other embodiments of the present application, the pushing assembly 32 can further comprise a transmission shaft 323b, the two ends of the transmission shaft 323b are connected with a fourth driven gear 306e and a fifth driven gear 306f respectively, the fourth driven gear 306e is in engagement with the third driven gear 304c, and the fifth driven gear 306f is located outside the inner box and is used for connecting the second transmission gear 306b.

[0068] In addition, the driving member 323 can include a plurality of driving members 323 arranged along the front-rear direction, and each of the driving members 323 can be provided with a first driven gear 304a, and the first driven gears 304a on the plurality of driving members 323 are arranged in a predetermined order and are engaged with each other, so that the first driven gears 304a on the plurality of driving members 323 can be driven to rotate by the second driven gear 304b.

[0069] In addition, in combination with Figures 11 to 14 In one example of the present application, the expansion member 324 includes the rolling module 320, and the expansion member 324 further includes a driving plate 324a and an elastic support 324b, the driving plate 324a is movably arranged on the side of the driving module away from the through slot 3203 of the expansion module in the left-right direction, and the elastic support 324b is arranged between the driving plate 324a and the shell 320a of the expansion module. By arranging the elastic support 324b between the driving plate 324a and the expansion module, the expansion module has a certain elastic movement ability relative to the driving plate 324a, and when the expansion member 324 is combined with the driving member 323 to drive the elongated object 7, the elastic force of the elastic support 324b can be used to stably clamp the elongated object 7, thereby reducing the damage of the hard contact to the guide wire and the like, and improving the protection of the guide wire and the like.

[0070] In addition, the clamping force of the expansion module can be adjusted by driving the driving plate 324a, so as to clamp and release the guide wire and the like.

[0071] Optionally, in combination with Figure 3 and Figure 11 The expansion member 324 further includes a pushing part 324d arranged on the shell 320a of the expansion member 324, and the pushing part 324d is one or a plurality of spaced arrangements, and is configured to manually drive the expansion member 324. Thus, the driving of the expansion member 324 can be realized by manually fluctuating the pushing part 324d, so as to realize the reverse movement of the expansion member 324 and the driving member 323, so as to take, place or clamp the elongated object 7. Of course, a mechanical driving structure can also be provided to realize the automatic driving of the expansion member 324.

[0072] Optionally, in combination with Figure 13 and Figure 14The driving plate 324a is provided with a guide 324c extending along the left-right direction, the outer shell 320a of the expansion module is provided with a clamping hole, the guide 324c is movably inserted into the clamping hole along the left-right direction, and the end of the guide 324c is provided with a positioning hook for limiting the guide 324c from being pulled out. Thus, the elastic connection between the driving plate 324a and the outer shell 320a is facilitated, and the stability of the connection between the driving plate 324a and the outer shell 320a is improved. The elastic support 324b can be a spring sleeved outside the guide 324c.

[0073] Optionally, as Figure 14 The guide 324c includes two spaced-apart clamping hooks, the clamping hooks are configured in a cantilever shape connected to the driving plate 324a, and the mutually opposite sides of the free ends of the two clamping hooks are provided with the positioning hooks. The guide 324c is movably inserted into the clamping hole and prevented from being pulled out by the positioning hooks. The elastic support 324b can be a spring sleeved outside the guide 324c. Thus, the gap between the driving member 323 and the expansion member 324 is further adjusted, the relative and opposite elastic deformation between the two clamping hooks facilitates the extraction of the elongated object 7, and the guide 324c is conveniently inserted into the clamping hole. In addition, the disassembly and assembly of the driving plate 324a and the expansion module are facilitated.

[0074] In addition, in combination with other embodiments of the present application, at least a part of the expansion member 324 is movably arranged in the inner box body 321 along the left-right direction, so as to clamp and release the elongated object 7 in cooperation with the driving member 323. The inner box cover 322 is configured to drive at least a part of the expansion member 324 to move away from the driving member 323 when the inner box cover 322 is opened, so as to release the elongated object 7, and drive at least a part of the expansion member 324 to move close to the driving member 323 when the inner box cover 322 is closed, so as to clamp the elongated object 7. In combination with the foregoing embodiments, when the inner box cover 322 is closed, the inner box cover 322 exerts a pushing force on the driving plate 324a, and drives the expansion member 324 to clamp the elongated object 7 in cooperation with the driving member 323 under the action of the elastic support 324b. When the inner box cover 322 is opened, the pushing force on the driving plate 324a is released, the driving plate 324a moves away from the expansion shell under the action of the elastic support 324b, and the elastic support 324b releases the pressure on the expansion shell, so as to release the elongated object 7.

[0075] In addition, in combination with Figure 6 The inner wall of the inner box body 321 in the front-rear direction is provided with a plurality of positioning ribs extending along the left-right direction and spaced apart along the up-down direction, so as to form a sliding track, so that the expansion member 324 is slidably matched with the plurality of positioning ribs along the left-right direction.

[0076] In addition, as Figures 15 to 21The application further provides a drive box 3, the drive box 3 according to the embodiment of the application comprises: an outer box and a pushing assembly 32. The outer box is configured to allow the elongated object 7 to pass through in the front-rear direction, and the pushing assembly 32 is rotatably arranged in the outer box to rotate the elongated object 7. The pushing assembly 32 is the pushing assembly 32 according to the foregoing embodiment.

[0077] The drive box 3 for interventional surgery according to the embodiment of the application can push and rotate the elongated object 7, and can improve the stability during installation and use of the elongated object 7, improve the accuracy of control, and thus improve the surgical effect.

[0078] In addition, in combination with Figure 4 , 5 and Figure 19 , in one specific example of the application, the outer box is provided with outer box wire passing holes 301a at the front and rear ends to allow the elongated object 7 to pass through the outer box in the front-rear direction. The rotation center axis of the inner box extends in the front-rear direction, the inner box wire passing holes 302c are opposite to the outer box wire passing holes 301a in the front-rear direction, and the elongated object 7 can pass through the outer box wire passing holes 301a and the inner box wire passing holes 302c to allow the elongated object 7 to pass through the drive box 3 in the front-rear direction. When the elongated object 7 is clamped by the driving member 323 and the expansion member 324, the rotation of the driving pushing assembly 32 can realize the rotation of the elongated object 7.

[0079] Optionally, in combination with Figure 15 and Figure 19 , the drive box 3 further comprises a first transmission gear 306a and a second transmission gear 306b. The first transmission gear 306a and the second transmission gear 306b are arranged on the outer side of the front and rear ends of the inner box, and can improve the balance of the device, facilitate the provision of space for driving the rotation of the inner box in the outer box, and facilitate the reduction of the volume of the drive box 3 for interventional surgery. The first transmission gear 306a is fixedly connected to the inner box to drive the rotation of the inner box. The second transmission gear 306b is in transmission connection with the driving member 323 to provide power for the driving member 323 to realize the pushing of the elongated object 7. That is, the first transmission gear 306a and the second transmission gear 306b can be in the form of separate transmission power, and the pushing degree or the rotation angle of the elongated object 7 can be accurately controlled according to actual needs, and the accuracy of control is improved.

[0080] Optionally, in combination with Figure 6 and Figure 21The outer end surface of one end of the inner box is provided with a first matching part, the first transmission gear 306a is provided with a second matching part, one of the first matching part and the second matching part is a positioning hole 303a extending in the front-rear direction, and the other of the first matching part and the second matching part is a positioning boss 321a extending in the front-rear direction and embedded in the positioning hole 303a, so as to fixedly connect the first transmission gear 306a to the inner box and improve the stability.

[0081] Optionally, in combination with the foregoing embodiments, the front and rear sides of the inner box are respectively connected with a first guide pipe 321b and a second guide pipe 321c, the first guide pipe 321b and the second guide pipe 321c both extend in the front-rear direction, the first transmission gear 306a is sleeved on the first guide pipe 321b, and the second transmission gear 306b is sleeved on the second guide pipe 321c. Specifically, when the elongated object 7 is placed, the first guide pipe 321b and the second guide pipe 321c can play a supporting and limiting role, so as to improve the stability of the placement of the elongated object 7; in addition, the first guide pipe 321b and the second guide pipe 321c can be connected with the first transmission gear 306a and the second transmission gear 306b, so as to improve the structural stability.

[0082] In combination with the foregoing embodiments, in combination with Figure 6 and Figure 21 , the first guide pipe 321b and the second guide pipe 321c are formed with cutouts corresponding to the corresponding first guide groove 302a, so as to facilitate the installation of the elongated object 7, and the first transmission gear 306a and the second transmission gear 306b are also provided with notches, so as to realize the installation of the elongated object 7 to the driving 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 cutouts of the first guide pipe 321b, and the cutouts on the first guide pipe 321b.

[0083] Optionally, as Figure 20 , the front and rear side walls of the outer box are respectively provided with matching grooves 302b, and the first guide pipe 321b and the second guide pipe 321c are respectively rotatably embedded in the matching grooves 302b at the corresponding positions, so as to improve the structural stability of the pushing assembly 32 and the stability during the movement of the pushing assembly 32.

[0084] As Figure 15 , in some embodiments of the present application, the outer box comprises 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 openably cover the open side of the outer box body 311. Wherein, the front and rear ends of the outer box body 311 are both provided with a second guide groove 301b, and the second guide groove 301b penetrates the upper end surface of the outer box, so as to be suitable for placing the elongated object 7. Through the structure of the outer box, the outer box can be conveniently opened to place, take out or replace the elongated object 7, etc., and the structure of the driving box 3 can be simplified, and the operation is convenient.

[0085] In addition, in combination with the foregoing embodiments, in combination with Figure 19 , the outer box can be provided with an outer box wire passing hole 301a, and the lower end of the second guide groove 301b is communicated with the outer box wire passing hole 301a to play a wire passing role, and the structure is compact and beneficial to arrangement.

[0086] In addition, in combination with Figure 15 , the outer box body 311 is provided with a third positioning part 3111 away from the hinged end, and the outer box cover 312 is provided with a fourth positioning part 3121 away from the hinged 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 realize stable sealing of the outer box cover 312 on the outer box body 311 through the cooperation of the third positioning part 3111 and the fourth positioning part 3121. In addition, the outer box cover 312 is provided with a handle part away from the hinged end.

[0087] Among them, the third positioning part 3111 and the fourth positioning part 3121 can be connected in a magnetic attraction, buckle connection or bolt connection manner, for example, the third positioning part 3111 and the fourth positioning part 3121 are magnets suitable for mutual attraction.

[0088] Optionally, as Figure 19 , the outer box body 311 includes a U-shaped plate 311a extending in the front-rear direction, and the front-rear two ends of the U-shaped plate 311a are respectively sealed by a first end plate 311b and a second end plate 311c, which is convenient for installing and dismounting the drive box 3 for interventional surgery. The inner side surfaces of the first end plate 311b and the second end plate 311c are provided with a grid-shaped reinforcing rib, which can enhance the structural strength, improve the stability of the drive box 3 for interventional surgery during work, and reduce the overall weight of the drive box 3 for interventional surgery. According to the foregoing, the outer box wire passing hole 301a is arranged on the first end plate 311b and the second end plate 311c, so that the elongated object 7 penetrates the outer box body 311. In addition, the first end plate 311b and the second end plate 311c can be arranged to be detachably connected with the U-shaped plate 311a.

[0089] Optionally, in combination with Figure 15 and Figure 17The outer box cover 312 covers the upper outer side of the front and rear ends of the outer box body 311 to improve structural compactness and the tightness of the outer box cover 312 and the outer box body 311. Specifically, the first end plate 311b and the second end plate 311c are provided with bosses at positions where the wire holes are located. When the outer box cover 312 is closed, the periphery of the outer box cover 312 is opposite to the bosses and has the same thickness, so as to improve structural compactness and aesthetics. The first end plate 311b and the second end plate 311c are provided with mounting holes on the left and right sides, and the outer box body 311 is also provided with mounting holes at corresponding positions, so as to stably mount the first end plate 311b and the second end plate 311c on the outer box body 311. By covering the shell 320a on the outer box body 311, the second guide groove 301b can be sealed by the cooperation of the outer box cover 312 and the outer box body 311, and the stability of the elongated object 7 is improved.

[0090] In combination with the foregoing embodiments, Figure 18 The drive box 3 further comprises a first transmission member 305a and a second transmission member 305b. The first transmission gear 306a is in transmission connection with the first transmission member 305a, and the second transmission gear 306b is in transmission connection with the second transmission member 305b.

[0091] Optionally, in combination with the foregoing embodiments, Figure 19 In addition, the drive box 3 of the present application can further comprise a third transmission gear 306c and a fourth transmission gear 306d. The third transmission gear 306c is connected with the first transmission member 305a and in transmission connection with the first transmission gear 306a. The fourth transmission gear 306d is connected with the second transmission member 305b and in transmission connection with the second transmission gear 306b. The first transmission member 305a and the second transmission member 305b are configured to be connected with a driving structure outside the outer box to provide power for the operation of the drive box 3 used for interventional surgery. Optionally, the first transmission member 305a and the second transmission member 305b are arranged on the same side wall of the outer box.

[0092] In addition, as described above, in combination with the foregoing embodiments, Figure 19 The outer box body 311 comprises 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 body 311 and the first end plate 311b. The second transmission member 305b can be rotatably connected between the outer box body 311 and the second end plate 311c, so as to improve transmission stability.

[0093] In combination with the foregoing embodiments, the first transmission gear 306a is in transmission connection with the first transmission member 305a, and the second transmission gear 306b is in transmission connection with the second transmission member 305b.

[0094] The driving box 3 of the application, in actual operation, when the elongated object 7 needs to perform forward and backward movement, that is, the elongated object 7 needs to be pushed or withdrawn, the first transmission member 305a is stationary, 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 the inner circle, the internal teeth drive the fifth driven gear 306f to rotate, the fifth driven gear 306f is positioned by key matching with the transmission shaft 323b, 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 is engaged with the first driven gear 304a on the driving wheel, so that power transmission to the driving wheel is realized. The expansion member 324 has two expansion wheels corresponding to the driving wheel, the driving wheel acts as the driving wheel, the expansion wheel acts as the driven wheel, the expansion wheel and the driving wheel act at the same time, and the elongated object 7 to be driven can be compressed to perform forward and backward movement. It can also be understood that the third transmission gear 306c and the first transmission gear 306a and the second transmission gear 306b and the fourth transmission gear 306d form bevel gears to improve the stability of transmission and improve the structural reliability.

[0095] When the elongated object 7 performs a rotating action, the second transmission member 305b and the first transmission member 305a rotate in opposite directions at the same speed, the first transmission member 305a drives the third transmission gear 306c to rotate, the third transmission gear 306c drives the first transmission gear 306a to rotate, and at the same time, the second transmission member 305b drives the fourth transmission gear 306d to rotate, 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, and at the same time, the elongated object 7 performs a rotating action, at this time, the gears inside the pushing assembly 32 stop working.

[0096] When the elongated object 7 performs a rotating and forward and backward movement, the first transmission member 305a and the second transmission member 305b rotate at different speeds, the first transmission member 305a drives the third transmission gear 306c to rotate, the third transmission gear 306c drives the first transmission gear 306a to rotate, and at the same time, the second transmission member 305b drives the fourth transmission gear 306d to rotate, 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 at different speeds or in different directions, and the two together drive the elongated object 7 to perform a rotating and forward and backward movement.

[0097] Alternatively, the first transmission gear 306a does not rotate, the second transmission gear 306b rotates, the inner tooth rotates to drive the fifth driven gear 306f to rotate, the third driven gear 304c is driven, and the driving wheel rolls to drive the elongated object 7 to move forward and backward.

[0098] In combination Figures 22 to 33 , the application further provides an execution device 100 for interventional surgery, comprising a base 1, a driving box 3, a driver 4, a support driving box 5 and a support driver 6 fixedly connected with the base 1; the driving box 3 is used for pushing and rotating the elongated object 7; the driver 4 is connected with the driving box 3 to provide power for the driving box 3; the support driving box 5 is adapted to push the elongated object 7 in the pushing direction of the driving box 3; and the support driver 6 is fixedly connected with the support driving box 5 and provides power for the support driving box 5.

[0099] The execution device 100 for interventional surgery according to the embodiment of the application can push and rotate the elongated object 7, and can push different guide wires or stents by using the driving box 3 and the support driving box 5, so that different requirements in interventional surgery can be met, the stability during installation and use of the elongated object 7 can be improved, the control accuracy can be improved, and thus the surgical effect can be improved.

[0100] In actual work, the elongated object 7 can be placed in the driving box 3 and the support driving box 5, the driver 4 can provide power for the driving box 3 to drive the elongated object 7 in the driving box 3 to rotate or push the elongated object 7, and the support driver 6 can provide power for the support driving box 5 to push the elongated object 7. Specifically, because the blood vessel pipeline in the human body is complex, different catheters and elongated objects 7 (different in head shape, group, etc.) are specially used for pipe searching operation for different blood vessels, the driving box 3 can simultaneously realize rotation and feeding action, and the rotation and feeding of the catheter elongated object 7 can be simultaneously performed, so that the specific blood vessel inlet can be quickly found, and the efficiency of surgery can be improved. The support driving box 5 can only provide feeding action, because the guide elongated object 7 has been placed in the appropriate position, the elongated object 7 in the support driving box 5 only needs to pass through the feeding action to quickly reach the lesion position along the guide elongated object 7.

[0101] Further, the driving box 3 is detachably arranged on the base 1, so that the driver 4 is connected with the driving box 3 to provide power for the driving box 3.

[0102] Alternatively, the support driving box 5 is detachably arranged on the base 1, so that the support driver 6 is connected with the support driving box 5 to provide power for the support driving box 5. By detachably arranging the driving box 3 and / or the support driving box 5 on the base 1, the execution device 100 can also be quickly disassembled, which is beneficial to replacement and maintenance, realizes the modularity of each part, and improves the practicability of the execution device 100.

[0103] Optionally, in combination with Figure 23 and Figure 25 , the driving box 3 has opposite first and second sides, the first side of the driving box 3 is snap-fitted with the base 1 to stably mount the driving box 3 on the base 1 and realize quick disassembly and assembly of the driving box 3. Optionally, the second side of the driving box 3 is plugged with the base 1 or the driver 4. Specifically, the second side of the driving box 3 is plugged with the base 1, that is, the opposite two sides of the driving box 3 are connected with the base 1, which can improve the stability and balance of the connection between the driving box 3 and the base 1; the second side of the driving box 3 is plugged with the driver 4, so that the driver 4 is connected with the driving box 3 and can provide power for the driving box 3.

[0104] Further, the first side of the driving box 3 is provided with a first clamping protrusion and the second side is provided with a second clamping protrusion, the base 1 is provided with a clamping hook clamping the first clamping protrusion, the driver 4 is provided with a clamping groove, the second clamping protrusion is embedded in the clamping groove, and the driver 4 limits the second clamping protrusion from being pulled out in a direction away from the base 1, thereby improving the stability of the installation.

[0105] In actual use, to prevent medical problems such as cross infection, the driving box 3 and the bracket driving box 5 can be set as disposable items. By setting the driving box 3, the bracket driving box 5 and the driver 4 in a detachable form, quick disassembly and assembly can be realized, which is convenient for replacement and improves safety and work efficiency.

[0106] Optionally, in combination with Figure 22 and Figure 23 , the base 1 further includes a bracket tray located at the front end of the base 1, which can shorten the moving distance and time of the elongated object 7 in the bracket driving box 5. The bracket driving box 5 and the bracket driver 6 are respectively connected to the two ends of the bracket tray, so that the driving box 3 is suitable for driving the elongated object 7 to pass between the bracket driving box 5 and the bracket driver 6, which is beneficial to the convergence of the elongated object 7 in the driving box 3 and the elongated object 7 in the bracket driving box 5, thereby improving work efficiency. Optionally, the bracket tray can also be set as detachable and mounted on the base 1, thereby realizing the modularization of each part of the execution device 100 and being convenient for manufacturing and use.

[0107] Optionally, as Figure 23The base 1 is provided with a mounting groove 203, and the support driving box 5 is mounted in the mounting groove 203 to limit the rotation of the support driving box 5 in the horizontal plane, improve the stability of the execution device 100 during operation, and ensure the operation effect. The execution device 100 further comprises a third transmission member (not shown in the figure), and the bottom surface of the support driving box 5 is provided with a fourth transmission member 61b. The third transmission member is in transmission connection with the support driving box 5 and the support driver 6 respectively, and the fourth transmission member 61b penetrates through the base 1 and extends from the bottom surface of the mounting groove 203. The support driving box 5 is inserted with the fourth transmission member 61b, so that the support driver 6 is in transmission connection with the support driving box 5, and the power is transmitted from the support driver 6 to the support driving box 5 to push the elongated object 7.

[0108] Optionally, as Figure 22 The execution device 100 further comprises a bracket 2 connected with the base 1, and the bracket 2 is provided with a first guide groove 201 and a second guide groove 202. One end of the first guide groove 201 is opposite to the driving box 3 to guide the elongated object 7 pushed by the driving box 3. One end of the second guide groove 202 is opposite to the support driving box 5 to guide the elongated object 7 pushed by the support driving box 5, and the other end of the second guide groove 202 is in communication with the first guide groove 201. Specifically, the bracket 2 is provided with the first guide groove 201 for guiding the elongated object 7 and the first guide groove 201 for guiding the elongated object 7 opposite to the driving box 3. One end of the second guide groove 202 is opposite to the support driving box 5 and the other end is in communication with the first guide groove 201. By providing the bracket 2, support force can be provided for the elongated object 7, and the bracket 2 can guide the elongated object 7 and improve the structural stability.

[0109] Further, in combination with Figure 22 and Figure 23 The bracket 2 is arranged between the support driver 6 and the support driving box 5, so that the elongated object 7 in the driving box 3 directly enters the first guide groove 201. Specifically, a groove for mounting the bracket 2 can be arranged in the middle region of the support tray to improve the stability and reliability of the connection between the bracket 2 and the base 1.

[0110] Optionally, as Figure 32 The execution device 100 further comprises a cover plate 21 connected with the bracket 2 and adapted to open and cover the first guide groove 201 and the second guide groove 202 to protect the elongated object 7. The cover plate 21 is connected with the bracket 2 and adapted to open and cover 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 play a protection role.

[0111] In addition, the application mainly takes the elongated object 7 as an example for illustration, but is not limited to the protection scope of the application, and is mainly for clearly expressing the technical solution to be protected by the application. The application can also be applied to pushing and rotating of other elongated objects 7.

[0112] Optionally, in combination with Figures 26 to 28 The driver 4 comprises a box body 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 with 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 with the driving box 3 to rotate the elongated object 7, and the second output shaft 43d is connected with the driving box 3 to push the elongated object 7, so as to realize pushing and rotating of the elongated object 7, and can realize separate control or simultaneous control of the elongated object 7, improving the flexibility and accuracy of control. Specifically, in combination with other embodiments of the application, the first output shaft 43c is in driving connection with the first transmission member 305a, and the second output shaft 43d is in driving connection with the second transmission member 305b.

[0113] Optionally, the differential gear assembly 42 is configured such that when the first input shaft 43a is stationary and the second input shaft 43b rotates, the first output shaft 43c is stationary and the second output shaft 43d rotates; and when the first input shaft 43a rotates and the second input shaft 43b is stationary, the first output shaft 43c and the second output shaft 43d rotate in opposite directions at the same speed.

[0114] Of course, there are a large number of structures in the related art that can realize the function of the differential gear assembly 42, and the application provides a specific implementation, of course, which is not a limitation on the protection scope of the application, but a description of the differential gear assembly 42 of one specific embodiment in the application.

[0115] Optionally, as Figures 29 to 31 The differential gear assembly 42 comprises a first planetary transmission mechanism and a second planetary transmission mechanism. The first planetary transmission mechanism comprises a first sun gear 421a, a first planetary gear 421b, a first planetary carrier 421c and a first ring gear 421d. The first sun gear 421a is in driving connection with the second input shaft 43b, and the first planetary carrier 421c is in driving connection with the first input shaft 43a. The second planetary transmission mechanism comprises a second sun gear 422a, a second planetary gear 422b and a second ring gear 422d. The second sun gear 422a is in driving connection with the second output shaft 43d, the second planetary gear 422b is fixedly arranged on the box body 41, and the second ring gear 422d is connected with the first ring gear 421d. By arranging the first planetary transmission mechanism and the second planetary transmission mechanism, the speed can be changed, so as to improve the flexibility of controlling the elongated object 7, and the transmission efficiency, i.e. transmission stability, can be improved.

[0116] Specifically, as Figure 31 , the differential gear assembly 42 further comprises a first gear 423a connected with the first input shaft 43a, a second gear 423b meshing 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, a third gear 423c meshing with the second gear 423b, a fourth gear 423d connected with the third gear 423c, and a fifth gear 423e coaxially fixed with the first carrier 421c and meshing with the fourth gear 423d. Specifically, the second gear 423b can 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 power is transmitted to the fifth gear 423e through the fourth gear 423d connected with the third gear 423c.

[0117] Optionally, referring to Figures 26 to 28 , the box body 41 comprises a first box shell 41a, a second box shell 41b and a third box shell 41c stacked in sequence, the first box shell 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 respectively installed in the first box shell 41a through the first shaft hole 401a and the second shaft hole 401b. The second box shell 41b is provided with 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 respectively installed in the second box shell 41b through the third shaft hole 401c and the fourth shaft hole 401d; wherein the first gear 423a, the second gear 423b and the third gear 423c are arranged between the second box shell 41b and the third box shell 41c, the first planetary transmission mechanism, the second planetary transmission mechanism and the fourth gear 423d are arranged between the second box shell 41b and the first box shell 41a. Thus, the differential gear assembly 42 can be fixedly installed in the box body 41 to improve the stability of the differential gear assembly 42 in operation.

[0118] Optionally, referring to Figure 31 , the differential gear assembly 42 further comprises a sixth gear 423f connected with the second sun gear 422a to transmit the power of the second planetary transmission mechanism to the sixth gear 423f, a seventh gear 423g meshing with the sixth gear 423f, and the seventh gear 423g is connected with the second output shaft 43d to output power.

[0119] Optionally, referring to Figure 28The box body 41 further comprises a fourth box shell 41d which is stacked outside the first box shell 41a, and the first transition sleeve 43e and the second transition sleeve 43f are arranged between the fourth box shell 41d and the third box shell 41c, the first transition sleeve 43e is connected with the first input shaft 43a, the second transition sleeve 43f is connected with the second input shaft 43b, and the first transition sleeve 43e and the second transition sleeve 43f are adapted to be externally connected with driving members to improve the connection stability.

[0120] Optionally, the positions of the first box shell 41a, the second box shell 41b and the fourth box shell 41d which are not provided with shaft holes can be provided with a grid-shaped hollow structure which can be arranged around the shaft holes to reduce the weight of the box body 41 and enhance the structural strength of the box body 41.

[0121] Optionally, as Figure 31 A partition plate 424 can be arranged in the first inner gear ring 421d and the second inner gear ring 422d to separate the first planetary gear 421b and the second planetary gear 422b to improve the operation stability and durability.

[0122] In some embodiments of the present application, the first input shaft 43a is connected with the first gear 423a through a first connecting rod, the first gear 423a and the second gear 423b are in mesh with each other, the second gear 423b and the third gear 423c are in mesh with each other, the third gear 423c and the fourth gear 423d are connected through a second connecting rod, the fourth gear 423d is in mesh with the fifth gear 423e which is fixed to the outer circumferential surface of the first planetary carrier 421c. The second input shaft 43b is in driving connection with the first sun gear 421a, the first sun gear 421a and the first planetary gear 421b are in mesh with each other, the first planetary gear 421b is fixed to the axial position of the first planetary carrier 421c, at least a part of the first inner gear ring 421d is embedded in the first planetary carrier 421c, the first inner gear ring 421d is connected with the second inner gear ring 422d, and the partition plate 424 is arranged between the first inner gear ring 421d and the second inner gear ring 422d; the rotating shaft of the second planetary gear 422b is fixed to the second box shell 41b, the second planetary gear 422b and the second sun gear 422a are in mesh with each other, the second sun gear 422a is in driving connection with the sixth gear 423f, the sixth gear 423f and the seventh gear 423g are in mesh with each other, and the seventh gear 423g is in driving connection with the second output shaft 43d.

[0123] For example, in actual operation: when the first input shaft 43a is stationary, the second input shaft 43b rotates clockwise, at this time, the first output shaft 43c is stationary, the second input shaft 43b drives the first sun gear 421a to rotate clockwise, 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 is arranged around the axis of the first planet carrier 421c, the first planet gear 421b drives the first inner ring gear 421d to rotate counterclockwise, the speed ratio is 1:3; the first inner ring gear 421d drives the second inner ring gear 422d connected thereto to rotate at the same speed, the second inner ring gear 422d drives the second planet gear 422b to rotate counterclockwise, the speed ratio is 3:1; the rotating shaft of the second planet gear 422b is fixed on the second box shell 41b, the second planet gear 422b drives the second sun gear 422a to rotate clockwise, the speed ratio is 1:1, the second sun gear 422a drives the seventh gear 423g to rotate counterclockwise, the speed ratio is 1:1, that is, the second output shaft 43d rotates counterclockwise. According to the foregoing, the first output shaft 43c is stationary, the elongated object 7 does not rotate, the second output shaft 43d is connected to the driving box 3 to push the elongated object 7, and the second output shaft 43d rotates counterclockwise to push or retract the elongated object 7.

[0124] When the second input shaft 43b is stationary, 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, the speed ratio is 1:1, the second gear 423b drives the fourth gear 423d assembly to rotate clockwise, the speed ratio is 1:1; the fourth gear 423d drives the fifth gear 423e to rotate counterclockwise, the speed ratio is 1:4, the first planet gear 421b is fixed on the first planet carrier 421c, at this time, the first sun gear 421a is stationary, the first planet gear 421b rotates around the sun gear, or revolves; while the first planet gear 421b revolves, it drives the first inner ring gear 421d to rotate clockwise, the speed ratio is 1:3, the first inner ring gear 421d drives the second inner ring gear 422d connected thereto to rotate at the same speed and in the same direction, the second inner ring gear 422d drives the second planet gear 422b to rotate counterclockwise, the speed ratio is 3:1, wherein the rotating shaft of the second planet gear 422b is fixed on the second box shell 41b, the second planet gear 422b drives the second sun gear 422a to rotate clockwise, the speed ratio is 1:1, the second sun gear 422a drives the seventh gear 423g to rotate counterclockwise, the speed ratio is 1:1. That is, the second output shaft 43d rotates counterclockwise, so that the two output shafts rotate in opposite directions at the same speed. According to the structure of the driving box 3, when the first output shaft 43c and the second output shaft 43d rotate in opposite directions at the same speed, the driving box 3 can drive the elongated object 7 to rotate.

[0125] Specifically, referring to Figure 23The driver 4 can further comprise a first driving component 44a connected with the first input shaft 43a of the differential gear assembly 42 and a second driving component 44b connected with the second input shaft 43b of the differential gear assembly 42. The first driving component 44a and the second driving component 44b can be motors.

[0126] It should be noted that in the foregoing embodiment, if the rotation direction of the first input shaft 43a is changed, the rotation directions of the first output shaft 43c and the second output shaft 43d are changed. If the rotation direction of the second input shaft 43b is changed, the rotation direction of the second output shaft 43d is changed. The change of the rotation direction can be realized by the forward and reverse rotation of the motor.

[0127] Optionally, the first input shaft 43a and the second input shaft 43b can be connected with the first driving component 44a and the second driving component 44b respectively. Figure 24 The execution device 100 further comprises a first connecting member 45a and a second connecting member 45b, the first connecting member 45a is elastically connected between the first output shaft 43c, the second connecting member 45b is elastically connected with the second output shaft 43d, and the first connecting member 45a and the second connecting member 45b are used to connect the driving box 3.

[0128] Optionally, the rotation speed ratio between the gears in the first planetary transmission mechanism and the second transmission mechanism can also be set according to actual needs, and the present application is not limited thereto.

[0129] Optionally, the first input shaft 43a and the second input shaft 43b can be connected with the first driving component 44a and the second driving component 44b respectively. Figure 22 The execution device 100 further comprises a connector 9, a catheter and a vascular sheath 8. The connector 9 has a main pipe and a branch pipe. The main pipe is configured to be suitable for the elongated object 7 to pass through. The branch pipe is connected with the main pipe to pass the medium into the main pipe so as to inject the liquid for examination or medical treatment. The catheter is connected to the outlet end of the connector 9. The vascular sheath 8 is connected with the catheter to establish the internal and external access entrance of the interventional therapy and improve the operation effect.

[0130] Referring to the drawings, the execution device 100 for interventional surgery according to the present application, the stent driver 6 can be a motor, the stent driver 6 can be connected with a third output shaft, the third output shaft can be installed on the base 1, and is suitable for being connected with the stent driving box 5. For example, the stent driver 6 can provide feeding power for the stent driving box 5 through the third output shaft of the belt drive, the third output shaft shows forward and reverse rotation, so as to advance or withdraw the stent. The bracket 2 extends in the front and back direction, and the rear end of the bracket 2 is adjacent to the outer box wire passing hole 301a, the first guide groove 201 is arranged opposite to the outer box wire passing hole 301a, so as to facilitate guiding the elongated object 7; the stent driver 6 is located at one side of the rear end of the bracket 2, the side of the bracket 2 adjacent to the stent driver 6 is configured as an “L”-shaped notch, the stent driver 6 is located in the notch, and the stent extends to the second guide groove 202 through the stent driving box 5, so as to guide the stent; the first guide groove 201 and the second guide groove 202 converge at the front part of the bracket 2, and the main pipe line of the connector 9 is connected in communication. Further, the main pipe line of the connector 9 is installed on the bracket 2, so as to be suitable for the elongated object 7 to pass through; the branch pipe line branches out upward from the main pipe line, so as to facilitate injecting liquid for examination or medical treatment.

[0131] The execution device 100 for interventional surgery according to the embodiment of the present application, in combination with the drawings, in actual use, first, the doctor inserts the vascular sheath 8 into the specific blood vessel for surgery (establishes the internal and external access entrance for interventional treatment) through vascular puncture, then inserts the catheter and the elongated object 7 into the specific lesion position through the vascular sheath 8 and under the driving action of the driving box 3, after the catheter is inserted, the bracket 2 is installed, the connector 9 is fixed at the end of the catheter, the connector 9 is fixed on the bracket 2, and the elongated object 7 is inserted into the catheter. Then, treatment or stent is placed, etc., the rear end of the catheter is connected with the connector 9, so as to facilitate injecting liquid for examination or treatment, such as contrast medium, etc.

[0132] Further, the vascular sheath 8 can be fixed on the sheath pipe support, the sheath pipe support is fixed on the puncture position of the human body by medical tape, etc., so as to fix and position the vascular sheath 8, and facilitate subsequent operation. The driver 4 is used for providing power for the driving box 3 and the stent driving box 5, the bracket 2 is used for supporting the convergence and guidance of the elongated object 7 and the stent (the elongated object 7 and the stent specifically refer to including a treatment stent and the treatment stent being fixed on the elongated object 7, wherein the elongated object 7 refers to the elongated object 7 passing through the stent driving box 5 in the figure), and preventing the catheter elongated object 7, etc. from being bent due to insufficient rigidity of itself.

[0133] The technical scheme provided by the embodiment of the application is applied, the first elongated object such as the catheter is pushed to the preset position by the driving box 3 or manually, then the second elongated object such as the guide wire is driven by the driving box 3 to move along the inside of the first elongated object such as the catheter. Finally, the treatment stent is placed on the second elongated object such as the guide wire, the treatment stent has a third elongated object, the third elongated object is driven by the stent driving box 3 to send the treatment stent to the lesion position, in the process of pushing the treatment stent, the second elongated object such as the guide wire is pushed for a distance first, then the treatment stent is pushed by pushing the third elongated object, the position of the second elongated object such as the guide wire is adjusted according to the position of the treatment stent, the treatment stent is pushed again after the second elongated object is adjusted, and the step is repeated to finally make the second elongated object such as the guide wire and the treatment stent reach the lesion position. Compared with directly pushing the guide wire to the position and then adjusting the position of the second elongated object such as the guide wire according to the treatment stent, the adjustment efficiency is higher. Meanwhile, the driving box 3 and the stent driving box 5 are integrated, the second elongated object such as the guide wire and the third elongated object with the treatment stent can be driven simultaneously or alternately, so that the treatment stent can be pushed to the lesion position more efficiently.

[0134] In the description of the present application, it should be understood that the terms "center", "upper", "lower", "front", "back", "left", "right", "bottom", "inner", "outer", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0135] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0136] In the present application, unless otherwise specifically defined and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integral; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise specifically limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0137] Although the embodiments of the present application have been shown and described above, it is understood that the above-described embodiments are exemplary and are not to be construed as limiting the present application, and that changes, modifications, substitutions and variations can be made by those skilled in the art without departing from the scope of the present application.

Claims

1. A drive box (3), characterized in that, include: Outer box, the outer box being configured to allow an elongated object (7) to pass through in the front-to-back direction; A push component (32), which is rotatably disposed within the outer box to rotate an elongated object (7), the push component (32) comprising: The inner box is configured to allow an elongated object (7) to pass through in the front-to-back direction; A drive unit (323) is disposed inside the inner box; An expansion member (324) is disposed within the inner box, and the expansion member (324) is adapted to cooperate with the drive member (323) to clamp and release the elongated object (7). The drive element (323) is configured to push the elongated object (7) in the front-back direction; The drive box (3) further 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 disposed on the outer sides of the front and rear ends of the inner box. The first transmission gear (306a) is fixedly connected to the inner box, and the second transmission gear (306b) is connected to the drive member (323) in a transmission manner. The driving component (323) includes a rolling module (320), which has a housing (320a) and a roller (320b). The driving component also includes a connecting shaft (323a), 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 outside of the housing (320a). A drive shaft (323b) has a fourth driven gear (306e) and a fifth driven gear (306f) connected to its two ends respectively. 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).

2. The driver box (3) according to claim 1, characterized in that, The inner box includes: The inner box (321) has an open upper side; Inner box cover (322), which can be opened to seal the open side of the inner box body (321), The inner cover (322) is configured such that when opened, the expansion member (324) and the drive member (323) move in opposite directions to release the elongated object (7), and when closed, the expansion member (324) and the drive member (323) move in opposite directions to clamp the elongated object (7).

3. The drive box (3) according to claim 2, characterized in that, The 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 helical surface extending about the rotation center axis of the inner cover (322). The end face of the push block (322a) is adapted to abut against the expansion member (324) to drive the expansion member (324) and the drive member (323) to move towards and away from each other when the inner cover (322) is opened and closed.

4. The drive box (3) according to claim 2, characterized in that, The inner box (321) has a first guide groove (302a) extending through the upper surface of the inner box (321) at both the front and rear ends to accommodate a long and thin object (7). The inner box cover (322) has a first protrusion (322b) opposite to the first guide groove (302a), and when the inner box cover (322) is closed, the first protrusion (322b) is embedded in the first guide groove (302a).

5. The drive box (3) according to claim 1, characterized in that, The inner box is connected to a first guide tube (321b) and a second guide tube (321c) on its front and rear sides respectively. The first guide tube (321b) and the second guide tube (321c) both extend in the front-rear direction. The first transmission gear (306a) and the second transmission gear (306b) are respectively sleeved on the first guide tube (321b) and the second guide tube (321c).

6. The drive box (3) according to claim 5, characterized in that, The inner sides of the front and rear side walls of the outer box are respectively provided with mating grooves (302b), and the first guide tube (321b) and the second guide tube (321c) are rotatably embedded in the mating grooves (302b) at the corresponding positions.

7. The driver box (3) according to claim 1, characterized in that, The outer box has a first transmission component (305a) and a second transmission component (305b) on the same side wall. The first transmission component (305a) is connected to the first transmission gear (306a), and the second transmission component (305b) is connected to the second transmission gear (306b).

8. The drive box (3) according to claim 1, characterized in that, The outer box includes: The outer box (311) has an open upper side; The outer box cover (312) is unclamped to seal the open side of the outer box body (311). The outer box (311) is provided with a second guide groove (301b) at both the front and rear ends, which penetrates the upper surface of the outer box to accommodate a long and thin object (7).

9. The drive box (3) according to claim 8, characterized in that, The 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). The inner surfaces of the first end plate (311b) and the second end plate (311c) are provided with mesh-like reinforcing ribs; and / or The outer cover (312) covers the upper outer sides of the front and rear ends of the outer box body (311).

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