Manipulator for implanting devices
By introducing a second operating mechanism and an actuator into the control device of the implanted device, the sealing and unsealing of the gap between the implanted component and the device are realized, solving the problems of body fluid leakage and bacterial infection, and ensuring the flexible movement and safety of the implanted device.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- HANGZHOU GENLIGHT MEDTECH CO LTD
- Filing Date
- 2023-10-27
- Publication Date
- 2026-07-21
Smart Images
Figure CN117257447B_ABST
Abstract
Description
Technical Field
[0001] This invention generally relates to the field of medical device technology. More specifically, this invention relates to a control device for implanted medical devices. Background Technology
[0002] An implantable device is a device inserted into the body to diagnose and / or treat lesions. Implantable devices, such as those used in Laser Interstitial Thermal Therapy (LITT) devices, require a control mechanism after insertion. Similar control mechanisms include an execution unit, an operating unit, and a transmission unit connecting the execution unit and the operating unit. During use, both the insertion component of the execution unit and the implantable device passing through it must be inserted into the patient's body. The operating unit can drive the implantable device to perform linear motion relative to the insertion component and / or rotation around its own axis via the execution unit, allowing for a wider range of diagnosis and / or treatment of the lesion. However, while similar control mechanisms can control the implantable device to perform corresponding movements, bodily fluids from the patient often leak between the insertion component and the implantable device, and external bacteria can also enter the body through this point, causing infection. Summary of the Invention
[0003] In order to solve at least one or more of the technical problems mentioned above, the present invention proposes a control device for implantation devices, which can not only drive the implantation device to perform linear and / or rotational movements, but also prevent the leakage of bodily fluids between the implantation component and the implantation device and prevent infection caused by bacteria entering the body through this.
[0004] This invention proposes a control device for implantable devices. The control device includes an execution unit, an operation unit, and a transmission unit. The execution unit includes: an execution unit frame; an implantation component detachably mounted on the execution unit frame and extending away from the execution unit frame; a first execution mechanism disposed within the execution unit frame and for connection to the implantation device passing through the implantation component; and a second execution mechanism disposed within the execution unit frame and connected to the implantation component. The operation unit includes: a first operation mechanism connected to the first execution mechanism via the transmission unit and capable of controlling the first execution mechanism to drive the implantation device to perform linear motion and / or rotation about its own axis relative to the implantation component; and a second operation mechanism connected to the second execution mechanism via the transmission unit and capable of controlling the second execution mechanism to selectively seal or unseal the gap between the implantation component and the implantation device.
[0005] In the control device for implanted devices provided above, the applicant innovatively adds a second operating mechanism and a second execution mechanism to similar technologies, thus obtaining the control device of the present invention. That is, the control unit of this control device includes a second operating mechanism in addition to the first operating mechanism, and its execution unit includes a second execution mechanism in addition to the first execution mechanism. During diagnosis or treatment, the second operating mechanism can manipulate the second execution mechanism to seal the gap between the implanted component and the implanted device. This prevents leakage of the patient's bodily fluids between the implanted component and the implanted device, and also prevents external bacteria from entering the body and causing infection. When it is necessary to change the diagnostic or treatment position, the second operating mechanism can again manipulate the second execution mechanism to temporarily unseal the gap between the implanted component and the implanted device. Then, the first operating mechanism can manipulate the first execution mechanism to drive the implanted device to perform linear movement relative to the implanted component and / or rotation around its own axis, ensuring that the implanted component can continue to perform a wider range of diagnosis and / or treatment on the lesion. The temporary unseal between the implanted component and the implanted device ensures that the implanted device can move smoothly within the implanted component at this time. Attached Figure Description
[0006] The above and other objects, features, and advantages of exemplary embodiments of the present invention will become readily apparent upon reading the following detailed description with reference to the accompanying drawings. In the drawings, several embodiments of the invention are illustrated by way of example and not limitation, and like or corresponding reference numerals denote like or corresponding parts, wherein:
[0007] Figure 1 This is a perspective view of the control device for implantation devices according to an embodiment of the present invention;
[0008] Figure 2 for Figure 1 A perspective view of the control device at the execution unit;
[0009] Figure 3 for Figure 1 A perspective view of the control device at the operating unit;
[0010] Figure 4 for Figure 1 An exploded view of the control device at the execution unit;
[0011] Figure 5 for Figure 1 A cross-sectional view of the control device at the execution unit;
[0012] Figure 6 for Figure 1 An exploded view of the control device at the operating unit.
[0013] Explanation of reference numerals in the attached drawings: 1. Actuating unit; 11. Actuating unit frame; 111. Frame; 112. Pin seat plate; 12. Insertion component; 13. First actuating mechanism; 131. Slider; 132. Worm gear; 133. Gear; 134. Rack; 135. Driven bevel gear; 1351. Slot; 136. Driving bevel gear; 14. Second actuating mechanism; 141. Sealing sleeve; 142. Hollow bolt; 15. Locking assembly; 151. Base sleeve; 1511. Claw; 1512. Claw; 152. Rotating sleeve; 153. Pushing sleeve; 16. Gear cover plate; 2. Operating unit; 21. Control end housing; 211. Upper housing; 2111. First sub-housing; 2112. Second sub-housing; 2113. Handle; 212. Lower... 22. Housing; 22. First operating mechanism; 221. First rotating component; 222. First manual component; 224. Third rotating component; 225. Third manual component; 23. Second operating mechanism; 231. Second rotating component; 232. Second manual component; 3. Transmission unit; 31. First transmission assembly; 311. First driving reel; 312. First driven reel; 313. First transmission rope; 32. Second transmission assembly; 321. Second driving reel; 322. Second driven reel; 323. Second transmission rope; 324. Reversing component; 33. Third transmission assembly; 331. Third driving reel; 332. Third driven reel; 333. Third transmission rope; 34. First pipe connector; 35. Second pipe connector; 200. Insertion device. Detailed Implementation
[0014] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0015] Figure 1 This is a perspective view of the control device for implantation of an instrument according to an embodiment of the present invention. Figure 1As shown, this embodiment of the invention provides a control device for implanted medical devices. The control device mainly includes an execution unit 1, an operation unit 2, and a transmission unit 3. The operation unit 2 controls the execution unit 1 through the transmission unit 3, enabling the execution unit 1 to not only drive the implanted medical device 200 to perform linear and / or rotational movements, but also selectively seal or unseal the gap between the implanted component 12 (described in detail below) and the implanted medical device 200. As an example, when the implanted medical device is a laser interstitial hyperthermia device, the operation unit 2 can be located outside the MRI scanner, and the execution unit 1 can be located inside the MRI scanner. Part of the transmission unit 3 is located inside the MRI scanner and connected to the execution unit 1, while another part is located outside the MRI scanner and connected to the operation unit 2. This allows the execution unit 1 to be controlled without removing the patient from the MRI scanner, avoiding potential accidental injuries caused by patient movement and significantly saving surgical time.
[0016] like Figure 1 , Figure 2 and Figure 4 As shown, the execution unit 1 includes an execution unit frame 11, an insertion component 12 detachably mounted on the execution unit frame 11, a first execution mechanism 13 disposed within the execution unit frame 11, and a second execution mechanism 14 disposed within the execution unit frame 11 and connected to the insertion component 12. The insertion component 12 extends away from the execution unit frame 11 and allows the insertion device 200 to pass through its interior. As an example, when the insertion device 200 is selected as a laser interstitial hyperthermia device, the insertion component 12 can be selected as a hollow cranial nail, fixed to the patient's skull to ensure the stability of the execution unit frame 11 and to establish an accurate insertion channel for the insertion device 200, thereby ensuring that the laser interstitial hyperthermia device can accurately treat the patient's lesion. The first execution mechanism 13 is connected to the insertion device 200 and is used to drive the insertion device 200 to perform linear and / or rotational movements. The second actuator 14 and the insertion component 12 are used to seal or unseal the gap between the insertion component 12 and the insertion device 200.
[0017] like Figure 1 and Figure 3 As shown, the operating unit 2 includes a first operating mechanism 22 connected to the first actuator 13 via a transmission unit 3, and a second operating mechanism 23 connected to the second actuator 14 via the transmission unit 3. The first operating mechanism 22 can control the first actuator 13 to drive the insertion device 200 to perform linear motion and / or rotation about its own axis relative to the insertion member 12. The second operating mechanism 23 can control the second actuator 14 to select whether to seal or unseal the gap between the insertion member 12 and the insertion device 200.
[0018] During diagnosis or treatment, the second operating mechanism 23 can control the second actuator 14 to seal the gap between the implanted component 12 and the implanted device 200 to prevent leakage of bodily fluids. When it is necessary to adjust the diagnostic or treatment position, the second operating mechanism 23 can control the second actuator 14 to temporarily unseal the gap, allowing the implanted device 200 to move smoothly within the implanted component 12. Subsequently, the first operating mechanism 22 controls the first actuator 13 to drive the implanted device 200 to perform linear and / or rotational movements relative to the implanted component 12, thereby ensuring that the implanted device 200 can act on the lesion site over a wider area. By sealing and unsealing the gap between the implanted component 12 and the implanted device 200, leakage of bodily fluids and infection caused by bacterial entry into the body can be prevented, while ensuring the flexibility of movement of the implanted device 200.
[0019] Next, combine Figure 4 and Figure 5 The execution unit 1 mentioned above will be described exemplarily. For example... Figure 4 and Figure 5 As shown, the first actuator 13 further includes a slider 131 slidably disposed within the actuator frame 11 and connected to the insertion device 200; a worm 132 rotatably disposed on the slider 131 and connected to the first operating mechanism 22 via the transmission unit 3; a gear 133 rotatably disposed on the slider 131 and meshing with the worm 132; and a rack 134 fixedly disposed within the actuator frame 11 and meshing with the gear 133. The first operating mechanism 22 can drive the worm 132 to rotate in both directions, so that the worm 132 can drive the gear 133 to roll on the rack 134, thereby forcing the gear 133 to drive the slider 131, the worm 132, and the insertion device 200 to perform linear motion.
[0020] The second actuator 14 includes a sealing sleeve 141 fitted over the implantation device 200 and disposed within the channel of the implantation component 12, and a hollow bolt 142 fitted over the implantation device 200 and threadedly connected to the channel of the implantation component 12. The hollow bolt 142 is connected to the second operating mechanism 23 via a transmission unit 3, allowing the second operating mechanism 23 to drive it. When sealing is required, the second operating mechanism 23 drives the hollow bolt 142 to rotate forward within the channel of the implantation component 12, causing the hollow bolt 142 to apply pressure to the sealing sleeve 141 within the implantation component 12, forcing the compressed sealing sleeve 141 to seal the gap between the implantation component 12 and the implantation device 200. When unsealing is required, the second operating mechanism 23 can drive the hollow bolt 142 to rotate in the opposite direction within the channel of the insertion component 12, so that the hollow bolt 142 can release the pressure on the sealing sleeve 141 within the insertion component 12, and force the sealing sleeve 141 to return to its original state and unseal the gap between the insertion component 12 and the insertion device 200.
[0021] To enable the execution unit 1 to drive the insertion device 200 to rotate around its own axis, the first execution mechanism 13 may further include a driven bevel gear 135 rotatably mounted on the slider 131 and lockably fitted onto the insertion device 200, and a driving bevel gear 136 rotatably mounted inside the execution unit frame 11 and meshing with the driven bevel gear 135. The driving bevel gear 136 is connected to the transmission unit 3, so that the first operating mechanism 22 drives the driving bevel gear 136 through the transmission unit 3, and forces the driving bevel gear 136 to drive the driven bevel gear 135 to rotate the insertion device 200 around its own axis.
[0022] The insertion device 200 and the driven bevel gear 135 can be connected by an interference fit. However, for ease of assembly and disassembly, it is recommended to add a locking component 15 between the insertion device 200 and the driven bevel gear 135 instead of an interference fit. Specifically, the first actuator 13 also includes a locking component 15 that is lockably fitted onto the insertion device 200 and coaxially connected to the driven bevel gear 135. As an example, the locking component 15 includes a base sleeve 151, a rotating sleeve 152, and a pushing sleeve 153. The driven bevel gear 135 has a central hole and a plurality of slots 1351 spaced circumferentially on the wall of the central hole. The base sleeve 151 includes a plurality of grippers 1511 spaced circumferentially at its first end and a plurality of grippers 1512 spaced circumferentially at its second end. The rotating sleeve 152 is fitted onto the first end of the base sleeve 151 and threadedly connected to the base sleeve 151. The push sleeve 153 is slidably fitted onto the base sleeve 151 and can slide into the second end of the base sleeve 151. The mating point between the rotating sleeve 152 and the base sleeve 151 is tapered, allowing the rotating sleeve 152 to selectively retract or release multiple grippers 1511 when rotated, and forcing the multiple grippers 1511 to clamp the insertion device 200 passing through the base sleeve 151 when retracted. The mating point between the push sleeve 153 and the base sleeve 151 is also tapered, allowing the push sleeve 153 to selectively retract or release multiple clasps 1512 when pushed, and forcing the multiple clasps 1512 to disengage from the corresponding slots 1351 of the driven bevel gear 135 when retracted, thereby releasing the engagement between the base sleeve 151 and the driven bevel gear 135.
[0023] As an alternative example, for ease of assembly, the execution unit frame 11 can be a split assembly structure, mainly composed of a frame 111 and a needle seat plate 112 detachably disposed at the end of the frame 111, wherein the needle seat plate 112 is used to support the insertion component 12 and the second execution mechanism 14, and the remaining components of the execution unit 1 are supported by the frame 111.
[0024] As an optional example, the execution unit 1 may also include a gear cover plate 16 disposed on the slider 131 and covering the driven bevel gear 135, the gear cover plate 16 being used to protect the driven bevel gear 135.
[0025] Next, combine Figure 3 , Figure 4 and Figure 6 The operating unit 2 and transmission unit 3 mentioned above are described exemplarily. For example... Figure 3 , Figure 4 and Figure 6 As shown, the operation unit 2 includes a control end housing 21 that is separate from and stationary relative to the execution unit 1. The first operation mechanism 22 includes a first rotating member 221 partially disposed within the control end housing 21 and a first manual member 222 disposed outside the control end housing 21 and connected to the first rotating member 221. The transmission unit 3 includes a first transmission assembly 31, one end of which is connected to the first rotating member 221 and the other end to a worm gear 132, such that when the first manual member 222 is rotated to drive the first rotating member 221, the first rotating member 221 can move through the first transmission assembly 31 (see...). Figure 1 This drives the worm gear 132 to rotate around its own axis.
[0026] The second operating mechanism 23 includes a second rotating member 231 partially disposed within the control end housing 21, and a second manual member 232 disposed outside the control end housing 21 and connected to the second rotating member 231. The transmission unit 3 includes a second transmission assembly 32, which connects the second rotating member 231 and the hollow bolt 142, such that when the second manual member 232 is rotated to drive the second rotating member 231, the second rotating member 231 can move through the second transmission assembly 32 (see...). Figure 1 This drives the hollow bolt 142 to rotate around its own axis.
[0027] The first operating mechanism 22 may further include a third rotating member 224 partially disposed within the control end housing 21, and a third manual member 225 disposed outside the control end housing 21 and connected to the third rotating member 224. The transmission unit 3 further includes a third transmission assembly 33, one end of which is connected to the third rotating member 224 and the other end to the driving bevel gear 136, such that when the third manual member 225 is rotated to drive the third rotating member 224, the third rotating member 224 can be driven by the third transmission assembly 33 (see...). Figure 1 This drives the active bevel gear 136 to rotate around its own axis.
[0028] As an example, the first manual component 222, the second manual component 232, and the third manual component 225 can be selected as a technologically mature and cost-effective knob, wheel, or crank. The first rotating component 221, the second rotating component 231, and the third rotating component 224 can be selected as a technologically mature and cost-effective rotating shaft structure that penetrates the wall of the control end housing 21. Each manual component and its corresponding rotating component can be selected as a one-piece molded structure or a separate assembly structure, but a separate assembly structure that is easy to assemble is preferred.
[0029] As an example, such as Figure 3 and Figure 6 As shown, the control end housing 21 is mainly composed of an upper housing 211 and a lower housing 212 spliced together. The upper housing 211 is mainly composed of a first sub-housing 2111 and a second sub-housing 2112 spliced together. A convex and curved handle portion 2113 is formed at the splice of the first sub-housing 2111 and the second sub-housing 2112. The first rotating member 221 and the third rotating member 224 pass through the first sub-housing 2111 and the second sub-housing 2112 respectively in a top-to-bottom direction. The third rotating member 224 passes through the handle portion 2113 and is perpendicular to the first rotating member 221 and the third rotating member 224. The third rotating component 224, which controls the sealing and unsealing operations described above, is isolated on the handle 2113, distinct from the first rotating component 221 and the third rotating component 224. This helps to reduce the possibility that the surgeon might mistakenly identify the third rotating component 224 as the part that controls the linear and / or rotational movement of the insertion device 200, thereby significantly reducing the adverse effects on the surgery caused by incorrect operation.
[0030] Next, combine Figure 1 , Figure 4 and Figure 6 The first transmission assembly 31, the second transmission assembly 32, and the third transmission assembly 33 are described by way of example. Figure 1 , Figure 4 and Figure 6 As shown, the first transmission assembly 31 described above includes a first driving reel 311 disposed within the control end housing 21 and connected to the first rotating member 221, a first driven reel 312 disposed within the execution unit frame 11 and coaxially connected to the worm gear 132, and a first transmission rope 313 wound around the first driven reel 312 and sleeved on the first driving reel 311. When the first manual member 222 is rotated, driving the first driving reel 311 to rotate via the first rotating member 221, the rotating first driving reel 311 can drive the first driven reel 312 and the worm gear 132 to rotate via the first transmission rope 313, thereby enabling the first transmission assembly 31 to realize the transmission between the first rotating member 221 and the worm gear 132. As an example, the first driven reel 312 and the worm gear 132 can be selected as an integrally formed structure.
[0031] The second transmission assembly 32 includes a second drive pulley 321 disposed within the control end housing 21 and connected to the second rotating member 231, a second driven pulley 322 disposed within the execution unit frame 11 and connected to the hollow bolt 142, and a second transmission rope 323 wound around the second driven pulley 322 and sleeved on the second drive pulley 321, as well as a reversing member 324 disposed within the execution unit frame 11 and reversing the direction of the second transmission rope 323 located between the second driven pulley 322 and the second drive pulley 321. When the second manual member 232 is rotated and drives the second drive pulley 321 to rotate via the second rotating member 231, the rotating second drive pulley 321 can drive the second driven pulley 322 and the hollow bolt 142 to rotate via the second transmission rope 323, thereby enabling the second transmission assembly 32 to realize the transmission between the second rotating member 231 and the hollow bolt 142.
[0032] As an optional example, the reversing member 324 includes a bobbin rotatably disposed within the actuator frame 11, the central axis of the bobbin being perpendicular to the central axis of the insertion member 12. The bobbin can reverse the second drive rope 323 located between the second driven bobbin 322 and the second driving bobbin 321 by approximately 90 degrees, thereby improving the smoothness of the second driving bobbin 321 driving the second driven bobbin 322 through the second drive rope 323.
[0033] The third transmission assembly 33 includes a third driving reel 331 disposed within the control end housing 21 and connected to the third rotating member 224, a third driven reel 332 disposed within the execution unit frame 11 and coaxially connected to the driving bevel gear 136, and a third transmission rope 333 wound around the third driven reel 332 and sleeved on the third driving reel 331. When the third manual member 225 is rotated, driving the third driving reel 331 to rotate via the third rotating member 224, the rotating third driving reel 331 can drive the third driven reel 332 and the driving bevel gear 136 to rotate via the third transmission rope 333, thereby enabling the third transmission assembly 33 to realize the transmission between the third rotating member 224 and the driving bevel gear 136. As an example, the driving bevel gear 136 and the third driven reel 332 can be selected as an integrally formed structure.
[0034] In this embodiment, a flexible outer tube (not shown) is fitted over the first transmission rope 313, the second transmission rope 323, and the third transmission rope 333. The flexible outer tube can be made of a material with compressive strength, such as high-density polyethylene (HDPE), to prevent changes in the relative position between the operating unit 2 and the execution unit 1 due to deformation of the flexible outer tube when the transmission rope transmits torque. Preferably, a first pipe joint 34 and a second pipe joint 35 are fitted over the first transmission rope 313, the second transmission rope 323, and the third transmission rope 333. The first pipe joint 34 is elastically and telescopically disposed in the execution unit frame 11 and abuts or connects to one end of the corresponding flexible outer tube. The second pipe joint 35 is elastically and telescopically disposed in the control end housing 21 and abuts or connects to the other end of the corresponding flexible outer tube. On any of the first transmission rope 313, the second transmission rope 323, and the third transmission rope 333, the first pipe joint 34 and the second pipe joint 35, which are sleeved on it, can increase the preload of the transmission rope through elastic expansion and contraction, so that the transmission rope is in a taut state, while the flexible outer tube is in a compressed state, avoiding deformation of the flexible outer tube under stress. As an example, the elastic expansion and contraction of the pipe joint can be achieved by a spring. For example, the pipe joint has a shoulder structure and can be slidably inserted into the control end housing 21, with the spring sleeved on the outside of the pipe joint and located between the shoulder structure and the shell wall of the control end housing 21.
[0035] As an example, the first drive cord 313, the second drive cord 323 and the third drive cord 333 are all made of ceramic fiber cord, nylon cord or rubber cord, etc., but ceramic fiber cord is preferred. Ceramic fiber cord has high strength, is non-conductive, easy to clean and has good biocompatibility, and is less likely to cause allergies and infections in patients.
[0036] It is worth noting that the first operating mechanism 22 and the second operating mechanism 23 mentioned above can be selected as either the manually driven structure mentioned above or an electrically driven component, such as a servo driver. Similarly, the first transmission component 31, the second transmission component 32, and the third transmission component 33 mentioned above can be selected as either the pulley component mentioned above or other structures capable of transmitting rotation and having a certain degree of flexibility, such as a flexible shaft.
[0037] In the foregoing description of this application, unless otherwise expressly specified and limited, the terms "fixed," "installed," "connected," or "linked" should be interpreted broadly. For example, the term "linked" can refer to a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; or it can refer to the internal communication of two components or the interaction between two components. Therefore, unless otherwise expressly limited in this application, those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.
[0038] Based on the above description of this application, those skilled in the art will also understand that the terms used, such as "inner" and "outer," which indicate orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings of this application. They are only for the purpose of facilitating the explanation of the present invention and simplifying the description, and do not imply that the device or element involved must have the specific orientation, or be constructed and operated in a specific orientation. Therefore, the above-mentioned orientation or positional relationship terms cannot be understood or interpreted as a limitation on the present invention.
[0039] Furthermore, the terms "first" or "second," etc., used in this application to refer to numbers or ordinal numbers are for descriptive purposes only and should not be construed as explicitly or implicitly indicating relative importance or specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, or more, unless otherwise explicitly specified.
[0040] While numerous embodiments of the invention have been shown and described herein, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Many modifications, alterations, and alternatives will occur to those skilled in the art without departing from the spirit and essence of the invention. It should be understood that various alternatives to the embodiments of the invention described herein may be employed in the practice of the invention. The appended claims are intended to define the scope of protection of the invention and therefore cover equivalents or alternatives within the scope of these claims.
Claims
1. A control device for implantation of a medical device, characterized in that: The control device includes an execution unit (1), an operation unit (2), and a transmission unit (3). The execution unit (1) includes: Execution unit frame (11); Insertion component (12) is detachably mounted on the execution unit frame (11) and extends away from the execution unit frame (11); A first actuator (13), which is disposed within the actuator frame (11) and is used to connect with the insertion device passing through the insertion member (12); and The second actuator (14) is located inside the actuator frame (11) and connected to the insertion component (12); The operation unit (2) includes: A first operating mechanism (22), connected to the first actuator (13) via the transmission unit (3), and capable of manipulating the first actuator (13) to drive the implantation device to perform linear motion and / or rotation about its own axis relative to the implantation component (12); and A second operating mechanism (23), which is connected to the second actuator (14) via the transmission unit (3), and is capable of manipulating the second actuator (14) to select whether to seal or unseal the gap between the insertion component (12) and the insertion device, the second actuator (14) comprising: A sealing sleeve (141) is fitted over the insertion device and disposed within the channel of the insertion component (12); and Hollow bolt (142) is sleeved on the outside of the insertion device and threadedly connected to the channel of the insertion component (12); The hollow bolt (142) is connected to the second operating mechanism (23) through the transmission unit (3), and can be driven by the second operating mechanism (23) to apply pressure or release pressure to the sealing sleeve (141) in the insertion component (12), so that the sealing sleeve (141) can seal or release the gap between the inner wall of the insertion component (12) channel and the insertion device.
2. The control device according to claim 1, characterized in that: The operation unit (2) includes a control end housing (21) that is separate from the execution unit (1) and stationary relative to the execution unit (1); The second operating mechanism (23) includes: A second rotating member (231) is partially disposed within the control end housing (21); and The second manual component (232) is disposed outside the control end housing (21) and connected to the second rotating component (231); The transmission unit (3) includes a second transmission component (32), which connects the second rotating component (231) and the hollow bolt (142); when the second manual component (232) is rotated, it can drive the hollow bolt (142) to rotate around its own axis through the second transmission component (32).
3. The control device according to claim 2, characterized in that, The second transmission assembly (32) includes: The second drive pulley (321) is located inside the control end housing (21) and connected to the second rotating member (231); The second driven wheel (322) is located inside the execution unit frame (11) and connected to the hollow bolt (142); A second drive rope (323) is wound around the second driven pulley (322) and looped around the second drive pulley (321); and A reversing component (324) is provided inside the execution unit frame (11) and reverses the second transmission rope (323) located between the second driven pulley (322) and the second driving pulley (321).
4. The control device according to claim 2, characterized in that, The first actuator (13) includes: A slider (131) is slidably disposed within the execution unit frame (11) and connected to the insertion device; A worm gear (132) is rotatably mounted on the slider (131) and connected to the first operating mechanism (22) via the transmission unit (3); A gear (133), rotatably mounted on the slider (131) and engaging with the worm (132); and A rack (134) is fixedly installed inside the execution unit frame (11) and meshes with the gear (133); The worm (132) can be driven by the first operating mechanism (22) to drive the gear (133) to roll on the rack (134), so as to force the gear (133) to drive the slider (131), the worm (132) and the insertion device to make linear movements.
5. The control device according to claim 4, characterized in that, The first operating mechanism (22) includes: A first rotating member (221) is partially disposed within the control end housing (21); and A first manual component (222) is disposed outside the control end housing (21) and connected to the first rotating component (221); The transmission unit (3) further includes a first transmission component (31), one end of which is connected to the first rotating member (221) and the other end of which is connected to the worm (132); When the first manual component (222) is rotated, it can drive the worm (132) to rotate about its own axis via the first transmission assembly (31).
6. The control device according to claim 5, characterized in that, The first transmission assembly (31) includes: The first drive pulley (311) is located inside the control end housing (21) and connected to the first rotating member (221); A first driven wheel (312) is disposed within the actuator frame (11) and coaxially connected to the worm gear (132); and The first drive cord (313) is wound around the first driven spool (312) and looped around the first drive spool (311).
7. The control device according to claim 5, characterized in that: The first actuator (13) includes: Driven bevel gear (135), which is rotatably mounted on the slider (131) and lockably fitted onto the insertion device; The driving bevel gear (136) is rotatably disposed in the execution unit frame (11) and is connected to the first operating mechanism (22) through the transmission unit (3) while meshing with the driven bevel gear (135); The active bevel gear (136) can be driven by the first operating mechanism (22) and drive the driven bevel gear (135) to rotate the insertion device around its own axis.
8. The control device according to claim 7, characterized in that: The first operating mechanism (22) further includes: A third rotating member (224) is partially disposed within the control end housing (21); and The third manual component (225) is located outside the control end housing (21) and connected to the third rotating component (224); The transmission unit (3) further includes a third transmission component (33), one end of which is connected to the third rotating member (224) and the other end of which is connected to the driving bevel gear (136); When the third manual component (225) is rotated, it can drive the active bevel gear (136) to rotate about its own axis via the third transmission assembly (33).
9. The control device according to claim 8, characterized in that, The third transmission assembly (33) includes: The third drive pulley (331) is located inside the control end housing (21) and connected to the third rotating member (224); The third driven bevel gear (332) is disposed within the actuator frame (11) and coaxially connected to the driving bevel gear (136); and The third drive rope (333) is wound around the third driven spool (332) and looped around the third drive spool (331).
10. The control device according to claim 8, characterized in that, The control end housing (21) is mainly composed of an upper housing (211) and a lower housing (212) spliced together. The upper housing (211) is mainly composed of a first sub-shell (2111) and a second sub-shell (2112) spliced together. A convex and curved handle (2113) is formed at the splice of the first sub-shell (2111) and the second sub-shell (2112). The first rotating member (221) and the third rotating member (224) pass through the first sub-shell (2111) and the second sub-shell (2112) respectively in a top-to-bottom direction. The third rotating member (224) passes through the handle (2113) and is perpendicular to the first rotating member (221) and the third rotating member (224).
11. The control device according to claim 7, characterized in that, The first actuator (13) includes a locking assembly (15) that is lockably fitted outside the insertion device and coaxially connected to the driven bevel gear (135).
12. The control device according to claim 11, characterized in that: The driven bevel gear (135) has a central hole and a plurality of slots (1351) provided circumferentially on the wall of the central hole; The locking component (15) includes: The base sleeve (151) includes a plurality of grippers (1511) disposed at its first end and arranged circumferentially spaced apart, and a plurality of latches (1512) disposed at its second end and arranged circumferentially spaced apart. A rotating sleeve (152) is fitted onto the first end of the base sleeve (151) and threadedly connected to the base sleeve (151); and A push sleeve (153) is slidably sleeved on the base sleeve (151) and can slide into its second end; The rotating sleeve (152) and the base sleeve (151) are tapered at the joint, so that the rotating sleeve (152) can selectively retract the multiple grippers (1511) when it is rotated, and force the multiple grippers (1511) to clamp the insertion device passing through the base sleeve (151). The mating point between the push sleeve (153) and the base sleeve (151) is also tapered, so that the push sleeve (153) can retract multiple claws (1512) when pushed, and force multiple claws (1512) to exit from the corresponding slots (1351) of the driven bevel gear (135), thereby releasing the engagement between the base sleeve (151) and the driven bevel gear (135).
13. The control device according to claim 8, characterized in that, The first manual component (222), the second manual component (232), and the third manual component (225) are knobs, finger wheels, or cranks.
14. The control device according to claim 3, characterized in that, The reversing component (324) includes an I-beam wheel rotatably disposed within the execution unit frame (11), the central axis of the I-beam wheel being perpendicular to the central axis of the insertion component (12).
15. The control device according to claim 9, characterized in that, The first transmission assembly (31) includes: a first drive spool (311), which is disposed in the control end housing (21) and connected to the first rotating member (221); a first driven spool (312), which is disposed in the execution unit frame (11) and coaxially connected to the worm gear (132); and a first transmission rope (313), which is wound around the first driven spool (312) and sleeved on the first drive spool (311); The second transmission assembly (32) includes: a second driving pulley (321), which is disposed in the control end housing (21) and connected to the second rotating member (231); a second driven pulley (322), which is disposed in the execution unit frame (11) and connected to the hollow bolt (142); a second transmission rope (323), which is wound around the second driven pulley (322) and sleeved on the second driving pulley (321); and a reversing member (324), which is disposed in the execution unit frame (11) and reverses the second transmission rope (323) located between the second driven pulley (322) and the second driving pulley (321), and a flexible outer tube is sleeved on the first transmission rope (313), the second transmission rope (323) and the third transmission rope (333).
16. The control device according to claim 15, characterized in that, A first pipe joint (34) and a second pipe joint (35) are fitted around the first transmission cable (313), the second transmission cable (323) and the third transmission cable (333). The first pipe joint (34) is elastically and telescopically disposed in the execution unit frame (11) and abuts or connects to one end of the corresponding flexible outer tube. The second pipe joint (35) is elastically and telescopically disposed in the control end housing (21) and abuts or connects to the other end of the corresponding flexible outer tube.