A full-length dynamic restraint device for a rod

Abstract

The present invention belongs to the field of medical devices, and specifically relates to a full-length dynamic restraint device for a rod body. The technical solution of the present invention is as follows: a full-length dynamic restraint device for a rod body, comprising a multi-stage restraint mechanism connected in series, the front end of which is fixedly connected to a frame, and the rear end of which is fixedly connected to a rod body conveying mechanism; the rod body is placed inside the multi-stage restraint mechanism, and the multi-stage restraint mechanism extends and shortens as the rod body conveying mechanism drives the rod body to move back and forth, and can restrain the full length of the rod body throughout the entire process. The full-length dynamic restraint device for a rod body provided by the present invention can dynamically restrain the full-length rod body inside in real time by changing its own length as the rod body is conveyed, so as to ensure that the rod body is not easily bent or deformed, thereby completing related work more efficiently.

Description

Technical Field

[0001] The invention belongs to the field of medical devices, and in particular relates to a full-length dynamic restraint device for a rod. Background Art

[0002] In the fields of medical devices, medical robots, and continuum robotics, catheter guidewires and flexible endoscopes are common examples of flexible rods. During robotic-assisted interventional surgery, issues such as low rod delivery accuracy and a lack of force feedback arise. In particular, when the flexible rod interacts with human tissue, it can easily bend and deform, resulting in failure to achieve the desired rod delivery and surgical procedure. Summary of the Invention

[0003] The present invention provides a full-length dynamic restraint device for a rod body, which can dynamically restrain the internal full-length rod body in real time by changing its own length as the rod body is transported, so as to ensure that the rod body is not easily bent or deformed, thereby completing related work more efficiently.

[0004] The technical solutions of the present invention are as follows:

[0005] A full-length dynamic rod restraint device comprises a series of multi-stage restraint mechanisms, each with its front end fixedly connected to a frame and its rear end fixedly connected to a rod conveyor mechanism. The rod is positioned within the multi-stage restraint mechanisms, which extend and contract as the rod is driven back and forth by the rod conveyor mechanism, effectively restraining the rod's entire length. The number of restraint mechanisms is appropriately planned based on the rod's material parameters and specific length.

[0006] Furthermore, the full-length dynamic restraint device of the rod body is composed of a first-level restraint mechanism, a second-level restraint mechanism, a third-level restraint mechanism, a fourth-level restraint mechanism and a fifth-level restraint mechanism. The first-level restraint mechanism includes a first-level restraint tube and a first-level restraint claw, the second-level restraint mechanism includes a second-level restraint tube and a second-level restraint claw, the third-level restraint mechanism includes a third-level restraint tube and a third-level restraint claw, the fourth-level restraint mechanism includes a fourth-level restraint tube and a fourth-level restraint claw, and the fifth-level restraint mechanism includes a fifth-level restraint tube and a fifth-level restraint claw.

[0007] Furthermore, the full-length dynamic restraint device of the rod body is provided with a front-end thread at the front end of the first-level restraint tube, a first-level circumferential limit block is provided on the outer wall of the first-level restraint tube, three first-level clamping platforms are evenly arranged along the circumference at the tail end of the first-level restraint tube, 12 internal restraint claw inclined surface grooves are evenly arranged on the inner wall of the first-level restraint tube along the circumference, and the inner diameter of the discontinuous circle surrounded by the tip of the internal restraint claw inclined surface groove is 0.2mm-1mm larger than the outer diameter of the rod; 12 first-level restraint claw inclined surface grooves are evenly arranged at the center of the bottom wall of the first-level restraint claw along the circumference, and the first-level restraint claw inclined surface grooves are The inner diameter of the discontinuous circle surrounded by the tip is the same as the inner diameter of the discontinuous circle surrounded by the tip of the internal constraint claw inclined slide; the front end of the first-level constraint claw is provided with 3 first-level notches along the circumference, and the inner wall of the front end of the first-level constraint claw is provided with 3 first-level clamping grooves; the front end of the first-level constraint tube is screwed together with the frame through the front-end thread; the first-level constraint claw is pressed toward the first-level constraint tube, so that the first-level clamping platform and the first-level clamping groove are clamped together to realize the fixed connection between the first-level constraint tube and the first-level constraint claw; the internal constraint claw inclined slide and the first-level constraint claw inclined slide correspond to each other in position.

[0008] Furthermore, the full-length dynamic restraint device of the rod body is provided with a secondary circumferential limit groove on the inner wall of the secondary restraint tube, a secondary limit boss is provided inside the front end of the secondary restraint tube, a secondary circumferential limit block is provided on the outer wall of the secondary restraint tube, and three secondary clamping platforms are evenly provided along the circumference at the tail end of the secondary restraint tube; three secondary slender restraint claw bodies are provided on the bottom wall of the secondary restraint claw, and 9 secondary restraint claw inclined grooves are provided at the center of the bottom wall of the secondary restraint claw, and the inner diameter of the discontinuous circle surrounded by the tip of the secondary restraint claw inclined groove is the same as the inner diameter of the discontinuous circle surrounded by the tip of the internal restraint claw inclined groove; the secondary The front end of the restraining claw is evenly provided with three secondary notches along the circumference, and the front inner wall of the secondary restraining claw is provided with three secondary clamping grooves; the front end of the primary restraining tube is inserted by the tail end of the secondary restraining tube, and the primary circumferential limit block is installed in conjunction with the secondary circumferential limit groove, and the secondary limit boss is used to clamp the primary restraining claw to realize the axial movement limit of the primary restraining mechanism; the three secondary slender restraining claw bodies are inserted into the three primary restraining claw inclined grooves and the three internal restraining claw inclined grooves, pressing the secondary restraining claw toward the secondary restraining tube, so that the secondary clamping platform and the secondary clamping groove are clamped together to realize the fixed connection between the secondary restraining tube and the secondary restraining claw.

[0009] Furthermore, the full-length dynamic restraint device of the rod body is provided with a three-level circumferential limit groove on the inner wall of the three-level restraint tube, a three-level limit boss is provided inside the front end of the three-level restraint tube, a three-level circumferential limit block is provided on the outer wall of the three-level restraint tube, and three three-level clamping platforms are evenly provided along the circumference at the tail end of the three-level restraint tube; three three-level slender restraint claw bodies are provided on the bottom wall of the three-level restraint claw, and six three-level restraint claw inclined grooves are provided at the center of the bottom wall of the three-level restraint claw, and the inner diameter of the discontinuous circle surrounded by the tip of the three-level restraint claw inclined groove is the same as the inner diameter of the discontinuous circle surrounded by the tip of the internal restraint claw inclined groove; the front end of the three-level restraint claw Three three-level notches are evenly arranged along the circumference, and three three-level clamping grooves are arranged on the inner wall of the front end of the three-level constraint claw; the front end of the secondary constraint tube is inserted by the tail end of the three-level constraint tube, and the secondary circumferential limit block is installed in conjunction with the three-level circumferential limit groove, and the three-level limit boss is used to clamp the secondary constraint claw to realize the axial movement limit of the secondary constraint mechanism; three three-level slender constraint claw bodies are inserted into the three first-level constraint claw inclined grooves, three internal constraint claw inclined grooves and three second-level constraint claw inclined grooves, pressing the three-level constraint claw toward the three-level constraint tube, so that the three-level clamping platform and the three-level clamping groove are clamped together to realize the fixed connection between the three-level constraint tube and the three-level constraint claw.

[0010] Furthermore, the full-length dynamic restraint device of the rod body is provided with a four-stage circumferential limit groove on the inner wall of the four-stage restraint tube, a four-stage limit boss is provided inside the front end of the four-stage restraint tube, a four-stage circumferential limit block is provided on the outer wall of the four-stage restraint tube, and three four-stage clamping platforms are evenly provided along the circumference at the tail end of the four-stage restraint tube; three four-stage slender restraint claw bodies are provided on the bottom wall of the four-stage restraint claw, and three four-stage restraint claw inclined grooves are provided at the center of the bottom wall of the four-stage restraint claw, and the inner diameter of the discontinuous circle surrounded by the tip of the four-stage restraint claw inclined groove is the same as the inner diameter of the discontinuous circle surrounded by the tip of the internal restraint claw inclined groove; the front end of the four-stage restraint claw is evenly provided along the circumference There are 3 four-level notches, and the front inner wall of the four-level constraint claw is provided with 3 four-level clamping grooves; the front end of the three-level constraint tube is inserted by the tail end of the four-level constraint tube, and the three-level circumferential limit block is installed in conjunction with the four-level circumferential limit groove, and the four-level limit boss is used to clamp the three-level constraint claw to realize the axial movement limit of the three-level constraint mechanism; three four-level slender constraint claw bodies are inserted into the three first-level constraint claw inclined grooves, three internal constraint claw inclined grooves, three second-level constraint claw inclined grooves and three third-level constraint claw inclined grooves, pressing the four-level constraint claw to the four-level constraint tube, so that the four-level clamping platform and the four-level clamping groove are clamped together to realize the fixed connection between the four-level constraint tube and the four-level constraint claw.

[0011] Furthermore, the full-length dynamic restraint device of the rod body is provided with a five-level circumferential limit groove on the inner wall of the five-level restraint tube, a five-level limit boss is provided inside the front end of the five-level restraint tube, and three five-level clamping platforms are evenly arranged along the circumference at the tail end of the five-level restraint tube; three five-level slender restraint claw bodies are provided on the bottom wall of the five-level restraint claw, and a through hole is provided at the center of the bottom wall of the five-level restraint claw, and the inner diameter of the through hole is the same as the inner diameter size of the discontinuous circle surrounded by the tip of the internal restraint claw inclined groove; three five-level notches are evenly arranged along the circumference at the front end of the five-level restraint claw, and three five-level clamping grooves are provided on the inner wall of the front end of the five-level restraint claw; the front end of the four-level restraint tube is inserted by the tail end of the five-level restraint tube, and the four-level circumferential limit block is installed in conjunction with the five-level circumferential limit groove. The five-level limiting boss is used to clamp the four-level constraint claw to realize the axial movement limit of the four-level constraint mechanism; three five-level slender constraint claw bodies are inserted into three first-level constraint claw inclined grooves, three internal constraint claw inclined grooves, three second-level constraint claw inclined grooves, three third-level constraint claw inclined grooves and three fourth-level constraint claw inclined grooves, pressing the five-level constraint claw toward the five-level constraint tube, so that the five-level clamping platform and the five-level clamping groove are clamped together to realize the fixed connection between the five-level constraint tube and the five-level constraint claw; a screwing structure is provided on the bottom surface of the five-level constraint claw, the outer wall of the screwing structure is provided with multiple ridges along the circumferential direction, and the inner wall of the screwing structure is provided with a screwing thread, and the screwing structure is screwed together with the rod body conveying mechanism by applying force to the ridges through a tool.

[0012] Furthermore, the full-length dynamic restraint device of the rod body is made of medical plastic.

[0013] The beneficial effects of the present invention are:

[0014] 1. The full-length dynamic restraint device of the rod body provided by the present invention can dynamically restrain the internal full-length rod body in real time by changing its own length as the rod body is transported, so as to ensure that the rod body is not easily bent or deformed, thereby completing related work more efficiently.

[0015] 2. The three slender restraining claws of each level of the restraining claws of the present invention are similar to three fingers of a person, which together pinch a rod inward to ensure that the rod is not easily bent or deformed.

[0016] 3. The outer diameter of each level of the constraint claw of the present invention is slightly larger than that of each level of the constraint tube, and cooperates with the corresponding internal limiting bosses at each level to realize the constraint of the axial stroke of each level of the constraint mechanism.

[0017] 4. The present invention is easy to assemble as a whole and can be installed and disassembled quickly.

[0018] 5. The structure of the present invention has good force and displacement transmission performance, strong stability, light weight, easy disassembly and assembly, and convenient disinfection. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the full-length dynamic restraint device of the rod in the extended state;

[0020] Figure 2 Schematic diagram of the full-length dynamic restraint device of the rod in the contracted state;

[0021] Figure 3 A schematic diagram of the internal structure of the full-length dynamic restraint device of the rod in the extended state;

[0022] Figure 4 Schematic diagram of the internal structure of the full-length dynamic restraint device of the rod in a contracted state;

[0023] Figure 5 It is a schematic diagram of the primary restraint pipe;

[0024] Figure 6 for Figure 5 Middle B-direction view;

[0025] Figure 7 Schematic diagram of the first-level restraint claw;

[0026] Figure 8 Schematic diagram of the secondary restraint tube;

[0027] Figure 9 for Figure 8 Middle C-direction view;

[0028] Figure 10 This is a schematic diagram of the assembly of the primary restraint mechanism and the secondary restraint tube;

[0029] Figure 11 Schematic diagram of the secondary restraint claw;

[0030] Figure 12 This is a schematic diagram of the assembly of the secondary restraint mechanism and the tertiary restraint tube;

[0031] Figure 13 for Figure 12 Enlarged view of point D in the middle;

[0032] Figure 14 It is a schematic diagram of the three-level restraint tube;

[0033] Figure 15 Schematic diagram of the three-level restraint claw;

[0034] Figure 16 This is a schematic diagram of the assembly of the three-stage restraint mechanism and the four-stage restraint tube;

[0035] Figure 17 It is a schematic diagram of the four-stage restraint tube;

[0036] Figure 18 Schematic diagram of the four-level restraint claw;

[0037] Figure 19This is a schematic diagram of the assembly of the four-level restraint mechanism and the five-level restraint tube;

[0038] Figure 20 It is a schematic diagram of the five-level restraint tube;

[0039] Figure 21 This is a schematic diagram of the five-level restraint claw;

[0040] Figure 22 for Figure 21 Middle E-direction view;

[0041] Figure 23 This is a schematic diagram of the assembly of the five-level restraint tube and the five-level restraint claw;

[0042] Figure 24 Schematic diagram of the full-length dynamic restraint device in use. DETAILED DESCRIPTION

[0043] like Figure 1-23 As shown, a full-length dynamic restraint device of a rod body is made of medical plastic; it consists of a primary restraint mechanism, a secondary restraint mechanism, a tertiary restraint mechanism, a fourth restraint mechanism and a fifth restraint mechanism, the primary restraint mechanism includes a primary restraint tube 1 and a primary restraint claw 2, the secondary restraint mechanism includes a secondary restraint tube 3 and a secondary restraint claw 4, the tertiary restraint mechanism includes a tertiary restraint tube 5 and a tertiary restraint claw 6, the fourth restraint mechanism includes a fourth restraint tube 7 and a fourth restraint claw 8, and the fifth restraint mechanism includes a fifth restraint tube 9 and a fifth restraint claw 10.

[0044] The front end of the first-level constraint tube 1 is provided with a front-end thread 11, the outer wall of the first-level constraint tube 1 is provided with a first-level circumferential limit block 12, the tail end of the first-level constraint tube 1 is evenly provided with 3 first-level clamping platforms 13 along the circumference, and the inner wall of the first-level constraint tube 1 is evenly provided with 12 internal constraint claw inclined surface grooves 14 along the circumference, and the intermittent circular inner diameter surrounded by the tip of the internal constraint claw inclined surface groove 14 is 0.4mm larger than the outer diameter of the rod body 0; 12 first-level constraint claw inclined surface grooves 22 are evenly provided at the center of the bottom wall of the first-level constraint claw 2 along the circumference, and the intermittent circular inner diameter surrounded by the tip of the first-level constraint claw inclined surface groove 22 is 0.4mm larger than the outer diameter of the rod body 0. The inner diameter size is the same as that of the discontinuous circle surrounded by the tip of the internal constraint claw inclined groove 14; the front end of the first-level constraint claw 2 is provided with 3 first-level notches along the circumferential direction, and the inner wall of the front end of the first-level constraint claw 2 is provided with 3 first-level clamping grooves 21; the front end of the first-level constraint tube 1 is screwed together with the frame through the front end thread 11; the first-level constraint claw 2 is pressed toward the first-level constraint tube 1, so that the first-level clamping platform 13 is clamped together with the first-level clamping groove 21, realizing a fixed connection between the first-level constraint tube 1 and the first-level constraint claw 2; the internal constraint claw inclined groove 14 and the first-level constraint claw inclined groove 22 correspond to each other in position.

[0045] The inner wall of the secondary constraint tube 3 is provided with a secondary circumferential limit groove 31, the front end of the secondary constraint tube 3 is provided with a secondary limit boss 32, the outer wall of the secondary constraint tube 3 is provided with a secondary circumferential limit block 33, and the tail end of the secondary constraint tube 3 is evenly provided with 3 secondary clamping platforms 34 along the circumference; three secondary slender constraint claw bodies 41 are provided on the bottom wall of the secondary constraint claw 4, and 9 secondary constraint claw inclined grooves 43 are provided at the center of the bottom wall of the secondary constraint claw 4. The inner diameter of the discontinuous circle surrounded by the tip of the secondary constraint claw inclined groove 43 is the same as the inner diameter of the discontinuous circle surrounded by the tip of the internal constraint claw inclined groove 14; the front end of the secondary constraint claw 4 is evenly provided with a secondary circumferential limit block 33. There are three secondary notches, and the front end inner wall of the secondary restraint claw 4 is provided with three secondary clamping grooves 42; the front end of the primary restraint tube 1 is inserted by the tail end of the secondary restraint tube 3, and the primary circumferential limit block 12 is installed in conjunction with the secondary circumferential limit groove 31, and the secondary limit boss 32 is used to clamp the primary restraint claw 2 to realize the axial movement limit of the primary restraint mechanism; three secondary slender restraint claw bodies 41 are inserted into the three primary restraint claw inclined grooves 22 and the three internal restraint claw inclined grooves 14, pressing the secondary restraint claw 4 toward the secondary restraint tube 3, so that the secondary clamping platform 34 is clamped together with the secondary clamping groove 42, realizing a fixed connection between the secondary restraint tube 3 and the secondary restraint claw 4.

[0046] The inner wall of the three-level constraint tube 5 is provided with a three-level circumferential limit groove 51, the front end of the three-level constraint tube 5 is provided with a three-level limit boss 52, the outer wall of the three-level constraint tube 5 is provided with a three-level circumferential limit block 53, and the tail end of the three-level constraint tube 5 is evenly provided with three three-level clamping platforms 54 along the circumference; three three-level slender constraint claw bodies 61 are provided on the bottom wall of the three-level constraint claw 6, and six three-level constraint claw inclined grooves 62 are provided at the center of the bottom wall of the three-level constraint claw 6. The inner diameter of the discontinuous circle surrounded by the tip of the three-level constraint claw inclined groove 62 is the same as the inner diameter of the discontinuous circle surrounded by the tip of the internal constraint claw inclined groove 14; the front end of the three-level constraint claw 6 is evenly provided with three three-level notches along the circumference The front end inner wall of the tertiary restraint claw 6 is provided with three tertiary clamping grooves 63; the front end of the secondary restraint tube 3 is inserted by the tail end of the tertiary restraint tube 5, and the secondary circumferential limit block 33 is installed in conjunction with the tertiary circumferential limit groove 51, and the tertiary limit boss 52 is used to clamp the secondary restraint claw 4 to realize the axial movement limit of the secondary restraint mechanism; three tertiary slender restraint claw bodies 61 are inserted into the three primary restraint claw inclined surface grooves 22, the three internal restraint claw inclined surface grooves 14 and the three secondary restraint claw inclined surface grooves 43, pressing the tertiary restraint claw 6 toward the tertiary restraint tube 5, so that the tertiary clamping platform 54 is clamped together with the tertiary clamping groove 63, realizing a fixed connection between the tertiary restraint tube 5 and the tertiary restraint claw 6.

[0047] The inner wall of the four-stage constraint tube 7 is provided with a four-stage circumferential limit groove 71, the front end of the four-stage constraint tube 7 is provided with a four-stage limit boss 72, the outer wall of the four-stage constraint tube 7 is provided with a four-stage circumferential limit block 73, and the tail end of the four-stage constraint tube 7 is evenly provided with three four-stage clamping platforms 74 along the circumference; three four-stage slender constraint claw bodies 81 are provided on the bottom wall of the four-stage constraint claw 8, and three four-stage constraint claw inclined grooves 83 are provided at the center of the bottom wall of the four-stage constraint claw 8. The inner diameter of the discontinuous circle surrounded by the tip of the four-stage constraint claw inclined groove 83 is the same as the inner diameter of the discontinuous circle surrounded by the tip of the internal constraint claw inclined groove 14; the front end of the four-stage constraint claw 8 is evenly provided with three four-stage notches along the circumference, and the four-stage constraint claw 8 The front end inner wall is provided with three four-level clamping grooves 82; the front end of the three-level constraint tube 5 is inserted by the tail end of the four-level constraint tube 7, and the three-level circumferential limit block 53 is installed in conjunction with the four-level circumferential limit groove 71, and the four-level limit boss 72 is used to clamp the three-level constraint claw 6 to realize the axial movement limit of the three-level constraint mechanism; three four-level slender constraint claw bodies 81 are inserted into the three first-level constraint claw inclined surface grooves 22, three internal constraint claw inclined surface grooves 14, three second-level constraint claw inclined surface grooves 43 and three third-level constraint claw inclined surface grooves 62, pressing the four-level constraint claw 8 toward the four-level constraint tube 7, so that the four-level clamping platform 74 is clamped together with the four-level clamping groove 82, realizing a fixed connection between the four-level constraint tube 7 and the four-level constraint claw 8.

[0048] The inner wall of the five-level constraint tube 9 is provided with a five-level circumferential limit groove 91, the front end of the five-level constraint tube 9 is provided with a five-level limit boss 92, and the tail end of the five-level constraint tube is evenly provided with three five-level clamping platforms 93 along the circumference; three five-level slender constraint claw bodies 101 are provided on the bottom wall of the five-level constraint claw 10, and a through hole 103 is provided at the center of the bottom wall of the five-level constraint claw 10, and the inner diameter of the through hole 103 is the same as the inner diameter size of the discontinuous circle surrounded by the tip of the internal constraint claw inclined slide groove 14; the front end of the five-level constraint claw 10 is evenly provided with three five-level notches along the circumference, and the inner wall of the front end of the five-level constraint claw 10 is provided with three five-level clamping grooves 102; the front end of the four-level constraint tube 7 is inserted by the tail end of the five-level constraint tube 9, and the four-level circumferential limit block 73 is installed in conjunction with the five-level circumferential limit groove 91, and the five-level limit boss 92 is used to clamp the four-level approximately The restraining claw 8 is used to realize the axial movement limit of the four-level constraint mechanism; three five-level slender constraint claw bodies 101 are inserted into three first-level constraint claw inclined grooves 22, three internal constraint claw inclined grooves 14, three second-level constraint claw inclined grooves 43, three third-level constraint claw inclined grooves 62 and three fourth-level constraint claw inclined grooves 83, pressing the five-level constraint claw 10 toward the five-level constraint tube 9, so that the five-level clamping platform 93 and the five-level clamping groove 102 are clamped together to realize the fixed connection between the five-level constraint tube 9 and the five-level constraint claw 10; a screwing structure 104 is provided on the bottom surface of the five-level constraint claw 10, and the outer wall of the screwing structure 104 is provided with multiple ridges along the circumferential direction, and the inner wall of the screwing structure 104 is provided with a screwing thread 105, and the screwing structure 104 is screwed together with the rod body conveying mechanism by applying force to the ridges through a tool.

[0049] like Figure 24 As shown, the working process of the above-mentioned device is as follows: the front end of the first-level constraint tube 1 is screwed together with the frame through the front-end thread 11, and the fifth-level constraint claw 10 is screwed together with the rod conveying mechanism through the screwing structure 104. The rod conveying mechanism moves backward to pull the full-length dynamic constraint device of the rod into an extended state, and the rod 0 is inserted through the through hole 103 and extended from the front end of the first-level constraint tube 1; the rod conveying mechanism moves forward, compresses the full-length dynamic constraint device of the rod and gradually becomes a contracted state, and the rod 0 extends forward to interact with human tissue to start medical work; during the working process, the rod conveying mechanism moves back and forth to drive the rod 0 to move back and forth in the human tissue to perform various operations. The full-length dynamic constraint device of the rod dynamically constrains the internal full-length rod 0 in real time during the process to ensure that the rod 0 is not prone to bending and deformation, and completes related work more efficiently.

Claims

1. A full-length dynamic restraint device for a rod, characterized in that: It includes a multi-stage restraint mechanism connected in series, the front end of which is fixedly connected to the frame, and the rear end of which is fixedly connected to the rod conveying mechanism; the rod is placed inside the multi-stage restraint mechanism, and the multi-stage restraint mechanism extends and shortens as the rod conveying mechanism drives the rod to move back and forth, thereby constraining the entire length of the rod throughout the entire process; It is composed of a primary restraint mechanism, a secondary restraint mechanism, a tertiary restraint mechanism, a fourth restraint mechanism and a fifth restraint mechanism. The primary restraint mechanism includes a primary restraint tube and a primary restraint claw. The secondary restraint mechanism includes a secondary restraint tube and a secondary restraint claw. The tertiary restraint mechanism includes a tertiary restraint tube and a tertiary restraint claw. The fourth restraint mechanism includes a fourth restraint tube and a fourth restraint claw. The fifth restraint mechanism includes a fifth restraint tube and a fifth restraint claw. The front end of the first-level constraint tube is provided with a front-end thread, the outer wall of the first-level constraint tube is provided with a first-level circumferential limit block, the tail end of the first-level constraint tube is evenly provided with 3 first-level clamping platforms along the circumference, the inner wall of the first-level constraint tube is evenly provided with 12 internal constraint claw inclined surface grooves along the circumference, and the inner diameter of the discontinuous circle surrounded by the tip of the internal constraint claw inclined surface groove is 0.2mm-1mm larger than the outer diameter of the rod; 12 first-level constraint claw inclined surface grooves are evenly provided at the center of the bottom wall of the first-level constraint claw along the circumference, and the discontinuous circle surrounded by the tip of the first-level constraint claw inclined surface groove is 0.2mm-1mm larger than the outer diameter of the rod. The inner diameter of the shape is the same as the inner diameter of the discontinuous circle surrounded by the tip of the internal constraint claw inclined slide groove; the front end of the first-level constraint claw is provided with 3 first-level notches along the circumference, and the inner wall of the front end of the first-level constraint claw is provided with 3 first-level clamping grooves; the front end of the first-level constraint tube is screwed together with the frame through the front-end thread; the first-level constraint claw is pressed toward the first-level constraint tube, so that the first-level clamping platform and the first-level clamping groove are clamped together to realize the fixed connection between the first-level constraint tube and the first-level constraint claw; the internal constraint claw inclined slide groove corresponds to the first-level constraint claw inclined slide groove one by one.

2. The full-length dynamic restraint device for a rod according to claim 1, characterized in that: The inner wall of the secondary constraint tube is provided with a secondary circumferential limit groove, the front end of the secondary constraint tube is provided with a secondary limit boss, the outer wall of the secondary constraint tube is provided with a secondary circumferential limit block, and the tail end of the secondary constraint tube is evenly provided with 3 secondary clamping platforms along the circumference; three secondary slender constraint claw bodies are provided on the bottom wall of the secondary constraint claw, and 9 secondary constraint claw inclined grooves are provided at the center of the bottom wall of the secondary constraint claw. The inner diameter of the discontinuous circle surrounded by the tip of the secondary constraint claw inclined groove is the same as the inner diameter of the discontinuous circle surrounded by the tip of the internal constraint claw inclined groove; the front end of the secondary constraint claw is evenly provided along the circumference There are three secondary notches evenly arranged, and three secondary clamping grooves are arranged on the inner wall of the front end of the secondary constraint claw; the front end of the primary constraint tube is inserted by the tail end of the secondary constraint tube, and the primary circumferential limit block is installed in conjunction with the secondary circumferential limit groove, and the secondary limit boss is used to clamp the primary constraint claw to realize the axial movement limit of the primary constraint mechanism; three secondary slender constraint claw bodies are inserted into the three primary constraint claw inclined grooves and the three internal constraint claw inclined grooves, pressing the secondary constraint claw toward the secondary constraint tube, so that the secondary clamping platform and the secondary clamping groove are clamped together to realize the fixed connection between the secondary constraint tube and the secondary constraint claw.

3. The full-length dynamic restraint device for a rod according to claim 2, characterized in that: The inner wall of the three-stage constraint tube is provided with a three-stage circumferential limit groove, the front end of the three-stage constraint tube is provided with a three-stage limit boss, the outer wall of the three-stage constraint tube is provided with a three-stage circumferential limit block, and the tail end of the three-stage constraint tube is evenly provided with 3 three-stage clamping platforms along the circumference; three three-stage slender constraint claw bodies are provided on the bottom wall of the three-stage constraint claw, and 6 three-stage constraint claw inclined grooves are provided at the center of the bottom wall of the three-stage constraint claw. The inner diameter of the discontinuous circle surrounded by the tip of the three-stage constraint claw inclined groove is the same as the inner diameter of the discontinuous circle surrounded by the tip of the internal constraint claw inclined groove; the front end of the three-stage constraint claw is evenly provided with 3 three-stage The front end inner wall of the three-level constraint claw is provided with three three-level clamping grooves; the front end of the secondary constraint tube is inserted by the tail end of the three-level constraint tube, the secondary circumferential limit block is installed in conjunction with the three-level circumferential limit groove, and the three-level limit boss is used to clamp the secondary constraint claw to realize the axial movement limit of the secondary constraint mechanism; three three-level slender constraint claw bodies are inserted into the three first-level constraint claw inclined grooves, the three internal constraint claw inclined grooves and the three second-level constraint claw inclined grooves, and the three-level constraint claw is pressed toward the three-level constraint tube, so that the three-level clamping platform and the three-level clamping groove are clamped together to realize the fixed connection between the three-level constraint tube and the three-level constraint claw.

4. The full-length dynamic restraint device for a rod according to claim 3, characterized in that: The inner wall of the four-stage constraint tube is provided with a four-stage circumferential limit groove, the front end of the four-stage constraint tube is provided with a four-stage limit boss, the outer wall of the four-stage constraint tube is provided with a four-stage circumferential limit block, and the tail end of the four-stage constraint tube is evenly provided with 3 four-stage clamping platforms along the circumference; three four-stage slender constraint claw bodies are provided on the bottom wall of the four-stage constraint claw, and three four-stage constraint claw inclined grooves are provided at the center of the bottom wall of the four-stage constraint claw. The inner diameter of the discontinuous circle surrounded by the tip of the four-stage constraint claw inclined groove is the same as the inner diameter of the discontinuous circle surrounded by the tip of the internal constraint claw inclined groove; the front end of the four-stage constraint claw is evenly provided with 3 four-stage notches along the circumference, and the four The front end inner wall of the restraining claw is provided with three four-level clamping grooves; the front end of the three-level restraining tube is inserted by the tail end of the four-level restraining tube, and the three-level circumferential limit block is installed in conjunction with the four-level circumferential limit groove, and the four-level limit boss is used to clamp the three-level restraining claw to realize the axial movement limit of the three-level restraining mechanism; three four-level slender restraining claw bodies are inserted into the three first-level restraining claw inclined grooves, three internal restraining claw inclined grooves, three second-level restraining claw inclined grooves and three third-level restraining claw inclined grooves, pressing the four-level restraining claw toward the four-level restraining tube, so that the four-level clamping platform and the four-level clamping groove are clamped together to realize the fixed connection between the four-level restraining tube and the four-level restraining claw.

5. The full-length dynamic restraint device for a rod according to claim 4, characterized in that: The inner wall of the five-level constraint tube is provided with a five-level circumferential limit groove, the front end of the five-level constraint tube is provided with a five-level limit boss, and the tail end of the five-level constraint tube is evenly provided with three five-level clamping platforms along the circumference; three five-level slender constraint claw bodies are provided on the bottom wall of the five-level constraint claw, and a through hole is provided at the center of the bottom wall of the five-level constraint claw, and the inner diameter of the through hole is the same as the inner diameter of the discontinuous circle surrounded by the tip of the internal constraint claw inclined groove; the front end of the five-level constraint claw is evenly provided with three five-level notches along the circumference, and the inner wall of the front end of the five-level constraint claw is provided with three five-level clamping grooves; the front end of the four-level constraint tube is inserted by the tail end of the five-level constraint tube, the four-level circumferential limit block is installed in conjunction with the five-level circumferential limit groove, and the five-level limit boss is used to clamp the four The five-level constraint claw is used to realize the axial movement limit of the four-level constraint mechanism; three five-level slender constraint claw bodies are inserted into three first-level constraint claw inclined grooves, three internal constraint claw inclined grooves, three second-level constraint claw inclined grooves, three third-level constraint claw inclined grooves and three fourth-level constraint claw inclined grooves, and the five-level constraint claw is pressed toward the five-level constraint tube, so that the five-level clamping platform and the five-level clamping groove are clamped together to realize the fixed connection between the five-level constraint tube and the five-level constraint claw; a screwing structure is provided on the bottom surface of the five-level constraint claw, and the outer wall of the screwing structure is provided with multiple ridges along the circumferential direction, and the inner wall of the screwing structure is provided with a screwing thread, and the screwing structure is screwed together with the rod body conveying mechanism by applying force to the ridges through a tool.

6. The full-length dynamic restraint device for a rod according to claim 1, characterized in that: Made of medical grade plastic.

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