A cuff tube mounting device

Abstract

The application belongs to the technical field of medical apparatus and discloses a CUFF pipe mounting device; the mounting device comprises a device main body and a control system; the device main body comprises a device bottom plate; the control system comprises a man-machine interactive interface and a central processing unit; the device bottom plate comprises a movable assembly; the movable assembly comprises a supporting rod, a first telescopic piece, a second telescopic piece, a first mechanical arm and a second mechanical arm. According to the set coordinate system and the set coordinates, the main pipe and the branch pipe are spliced, and then fusion welding is carried out; the placement plate with the coordinate system can supervise the error between the actual welding point and the set welding point through the human eye.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, and specifically relates to a CUFF tube mounting device. Background Technology

[0002] Vascular access is the lifeline for patients undergoing maintenance hemodialysis. Currently, autogenous arteriovenous fistulas (AVCs) are widely used as the preferred vascular access method both domestically and internationally. However, due to extremely poor vascular conditions, advanced age, and heart failure in some patients, it is impossible to establish an autogenous AVC. For patients who have difficulty establishing autogenous vascular access, have a short life expectancy, or whose autogenous fistulas require a long maturation time, tunneled cuff catheters are the preferred vascular access method. Data shows that the number of maintenance hemodialysis (MHD) patients worldwide increased by 134% from 1990 to 2010. With the increasing number of patients with end-stage renal disease and the longer survival time of MHD patients, vascular access is particularly important in maintenance hemodialysis. Good vascular access can ensure the quality of hemodialysis for MHD patients, especially for elderly patients, where the establishment and maintenance of vascular access is currently a challenging and hot research topic. The internationally recognized standard for elderly patients is age over 65 years. After age 65, the function of various organs declines significantly with age, leading to a relatively higher incidence of complications during hemodialysis, especially cardiovascular and cerebrovascular complications, which are relatively difficult to treat and prone to recurrence. Establishing good vascular access is a prerequisite for elderly patients to undergo hemodialysis successfully.

[0003] The use of indwelling internal jugular vein tunneled CUFF catheters has gradually become a common method for establishing vascular access in maintenance hemodialysis patients, and its application in elderly patients shows promising prospects. Before use, the CUFF catheter position needs to be adjusted, then the arterial and venous ends need to be aspirated to ensure patency. After confirming no obstruction, the catheter is fixed, sealed with heparin, and then left for use. The skin is sutured, and the area is covered with sterile gauze. Postoperatively, the catheter position can be confirmed using chest X-rays (PA and lateral views).

[0004] Existing CUFF catheters require surgical operators to adjust their position during use, which is difficult. Furthermore, CUFF catheters themselves have a certain degree of flexibility, and they will deform after installation. This is especially true for CUFF catheters used to connect multiple blood vessels, as the angle between the branch tubes and the main tube on the CUFF catheter is fixed. Adjusting the position of such catheters is difficult, and the branch tubes usually undergo significant deformation after installation, which in turn affects the treatment effect. Summary of the Invention

[0005] To address the above problems, this invention proposes a CUFF tube installation device. The installation device includes a device body and a control system. The device body includes a device base plate, and the control system includes a human-machine interface and a central processing unit. The device base plate includes movable components, which include a support rod, a first telescopic component, a second telescopic component, a first robotic arm, and a second robotic arm.

[0006] The first robotic arm is rotatably connected to one end of the support rod, the second robotic arm is rotatably connected to one end of the first robotic arm, one end of the first telescopic member is rotatably connected to the first robotic arm and the other end is rotatably connected to the support rod, and one end of the second telescopic member is rotatably connected to the first robotic arm and the other end is rotatably connected to the second robotic arm.

[0007] Furthermore, the device base plate is provided with a fixed platform and a protective shell. The fixed platform is located on one side of the protective shell. A first sealing element and a second sealing element are slidably provided on the protective shell. A driven gear disk and a mounting frame are provided inside the protective shell. The driven gear disk is rotatably connected to the device base plate. A support rod is fixedly installed on the driven gear disk and is coaxial with the driven gear disk.

[0008] Furthermore, a first motor is provided at the upper end of the mounting frame, the mounting frame is fixedly mounted on the device base plate, the mounting frame is located on one side of the driven gear disk, a driving gear is provided below the mounting frame, the driving gear meshes with the driven gear disk, and the first motor is electrically connected to the central processing unit.

[0009] Furthermore, the support rod includes a rod body, the upper end of which is provided with a first connecting frame, and the lower end of one side of the first connecting frame is provided with a first connector.

[0010] Furthermore, the fixed platform is provided with a placement plate, the placement plate is provided with a fixed frame, the fixed frame is provided with a clamping rod, the clamping rod passes through the fixed frame and slides in cooperation with the fixed frame, the upper end of the clamping rod is provided with a toggle plate, the lower end of the clamping rod is provided with an arc-shaped component, and an elastic component is fitted on the clamping rod, one end of the elastic component is connected to the arc-shaped component, and the other end is connected to the fixed frame.

[0011] Furthermore, the first robotic arm includes a first articulated arm, one end of which is provided with a second connector and the other end with a first mounting bracket. The first articulated arm is placed inside a first connecting frame and rotatably connected to the first connecting frame. The first articulated arm is provided with a first mounting groove. A first electric telescopic rod is mounted on the first mounting bracket. The first electric telescopic rod is placed inside the first mounting groove and is electrically connected to the central processing unit.

[0012] Furthermore, the first robotic arm also includes a second connecting frame, the telescopic end of the first electric telescopic rod passes through the first mounting frame and is fixedly connected to the second connecting frame, and the upper end of the second connecting frame is provided with a fourth connector.

[0013] Furthermore, the second robotic arm includes a second articulated arm, one end of which is provided with a third connector and the other end with a second mounting bracket. A second electric telescopic rod is mounted on the second mounting bracket. The second articulated arm is placed inside the second connecting frame and is rotatably connected to the second connecting frame. A second mounting groove is provided inside the second articulated arm, and the second electric telescopic rod is placed inside the second mounting groove. The second electric telescopic rod is electrically connected to the central processing unit.

[0014] Furthermore, the second robotic arm also includes a fixed frame. The telescopic end of the second electric telescopic rod passes through the second mounting frame and is connected to the fixed frame. A stepper motor is provided inside the fixed frame. The stepper motor is electrically connected to the central processing unit. The output shaft of the stepper motor passes through the fixed frame and is fixedly connected to the mounting plate. One end of the mounting plate is provided with symmetrically distributed limiting plates. A guide rod is provided between two of the limiting plates, and a bidirectional lead screw is provided between the other two limiting plates for rotational connection.

[0015] Furthermore, a second motor is provided at one end of the limiting plate, the output shaft of the second motor passes through the limiting plate and is connected to a bidirectional lead screw, and clamping components are symmetrically distributed between the limiting plates, a guide rod passes through the clamping components and slides with the clamping components, the bidirectional lead screw passes through the clamping components and is threaded with the clamping components, and an incompletely arc-shaped part is provided at the lower end of the clamping components.

[0016] This invention is equipped with a central processing unit, a motor, and an electric telescopic component, achieving a high degree of automation and more precise control over the angle between the main pipe and the branch pipe. The main pipe and the branch pipe are spliced ​​according to a set coordinate system and set coordinates, and then fusion welding is performed. The placement plate with a coordinate system allows for visual monitoring of the error between the actual welding point and the set welding point.

[0017] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures pointed out in the description, claims and drawings. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A schematic diagram of the overall structure of the installation device according to an embodiment of the present invention is shown;

[0020] Figure 2 A schematic diagram of the main body of the device according to an embodiment of the present invention is shown;

[0021] Figure 3 A partial structural schematic diagram of the main body of the device according to an embodiment of the present invention is shown;

[0022] Figure 4 It shows Figure 3 Enlarged structural diagram at point A in the middle;

[0023] Figure 5 A schematic diagram of the structure of the first robotic arm 17 according to an embodiment of the present invention is shown;

[0024] Figure 6 A schematic diagram of the structure of the second robotic arm according to an embodiment of the present invention is shown;

[0025] Figure 7 It shows Figure 6 Enlarged structural diagram at point B;

[0026] Figure 8 A schematic diagram of the structure of the first telescopic member 19 according to an embodiment of the present invention is shown;

[0027] Figure 9 A schematic diagram of the structure of the first sealing element according to an embodiment of the present invention is shown;

[0028] Figure 10 A schematic diagram of the structure of the second sealing element according to an embodiment of the present invention is shown;

[0029] In the diagram: 1. Main body of the device; 2. Control system; 11. Device base plate; 12. Fixing platform; 13. Protective shell; 14. First sealing element; 15. Second sealing element; 16. Support rod; 17. First robotic arm; 18. Second robotic arm; 19. First telescopic component; 110. Second telescopic component; 121. Placement plate; 122. Fixing frame; 123. Clamping rod; 124. Actuating plate; 125. Arc-shaped component; 126. Elastic component; 131. Driven gear disk; 132. Mounting frame; 133. First motor; 134. Drive gear; 141. First limiting strip; 142. Sealing groove; 151. Second plate; 152. Second limiting strip; 161. Rod; 162. First connecting frame; 63. First connector; 171. First articulated arm; 172. Second connector; 173. First mounting slot; 174. First mounting bracket; 175. First electric telescopic rod; 176. Second connecting frame; 177. Fourth connector; 181. Second articulated arm; 182. Third connector; 183. Second mounting slot; 184. Second mounting bracket; 185. Second electric telescopic rod; 186. Fixing frame; 187. Stepper motor; 188. Mounting plate; 189. Limiting plate; 1810. Guide rod; 1811. Bidirectional lead screw; 1812. Second motor; 1813. Clamping component; 1814. Incomplete arc-shaped component; 191. Electric cylinder; 192. First connecting block; 193. Second connecting block. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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 embodiments of the present invention, not all embodiments. 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.

[0031] To address the challenges of adjusting the position of CUFF conduits and the significant deformation of branch pipes after installation, this invention proposes a CUFF conduit installation device to facilitate subsequent use of CUFF conduits and reduce the difficulty of adjusting their position. This device uses a control system to install and splice the conduits, and can adjust the angle between the main pipe and branch pipes according to actual usage requirements.

[0032] The CUFF tube mounting device includes a main body 1 and a control system 2, such as Figure 1As shown, the control system 2 includes a human-machine interface and a central processing unit; the human-machine interface includes a control panel 21 and a display screen 22. The control panel 21 and the display screen 22 are located at the upper end of the control system housing. The control panel 21 includes a coordinate setting interface and an angle setting interface. The coordinate setting interface is used to set the coordinates of the intersection point of the branch pipe and the main pipe, and the angle setting interface is used to set the included angle between the branch pipe and the main pipe.

[0033] The central processing unit is located inside the control system housing. The central processing unit is electrically connected to the parameter setting interface 21 and the display screen 22. The control system housing also has a power supply, which supplies power to the central processing unit.

[0034] The main body of the device 1 includes a device base plate 11, such as Figure 2 As shown, the device base plate 11 is provided with a fixed platform 12 and a protective housing 13 that are fixedly connected. The fixed platform 12 is located on one side of the protective housing 13. The protective housing 13 is provided with a first sealing element 14 and a second sealing element 15 that are slidably connected. The first sealing element 14 and the second sealing element 15 can slide on the protective housing 13 to achieve sealing and opening of the protective housing 13.

[0035] The protective housing 13 contains a driven gear disk 131 and a mounting frame 132, such as Figure 3 As shown, the driven gear disk 131 is connected to the device base plate 11 and can rotate on the device base plate 11. Gear teeth are provided at the four ends of the driven gear disk 131. The upper end of the mounting frame 132 is provided with a first motor 133 fixedly connected. The mounting frame 132 is fixedly mounted on the device base plate 11 and is located on one side of the driven gear disk 131. The lower part of the mounting frame 132 is provided with a driving gear 134.

[0036] The drive gear 134 is rotatably connected to the mounting frame 132 via a gear shaft. The output shaft of the first motor 133 passes through the mounting frame 132 and is fixedly connected to the gear shaft. The first motor 133 drives the drive gear 134 to rotate. The drive gear 134 meshes with the driven gear disk 131. The first motor 133 is electrically connected to the central processing unit.

[0037] The device base plate 11 is provided with a movable component, which includes a support rod 16, a first robotic arm 17, and a second robotic arm 18. The support rod 16 is fixedly mounted on the driven gear disk 131 and is arranged coaxially with the driven gear disk 131. The first robotic arm 17 is rotatably connected to one end of the support rod 16, and the second robotic arm 18 is rotatably connected to one end of the first robotic arm 17. A first telescopic member 19 is also provided between the support rod 16 and the first robotic arm 17. One end of the first telescopic member 19 is rotatably connected to the first robotic arm 17, and the other end is rotatably connected to the support rod 16. The first telescopic member 19 is electrically connected to the central processing unit, which controls the extension or retraction of the first telescopic member 19.

[0038] The first robotic arm 17 and the second robotic arm 18 are provided with a second telescopic member 110. One end of the second telescopic member 110 is rotatably connected to the first robotic arm 17, and the other end is rotatably connected to the second robotic arm 18. The second telescopic member 110 is electrically connected to the central processing unit. The central processing unit controls the extension or retraction of the second telescopic member 110. The extension and retraction of the first telescopic member 19 and the second telescopic member 110 drive the first robotic arm 17 and the second robotic arm 18 to rotate. The first telescopic member 19 and the second telescopic member 110 coordinately extend and retract to adjust the position of the clamped branch pipe, complete the connection between the branch pipe and the main pipe, and then perform manual melting welding.

[0039] Support rod 16 includes rod body 161, such as Figure 3 As shown, the upper end of the rod 161 is provided with a first connecting frame 162 for fixed connection. The first connecting frame 162 is provided with a connecting shaft for connecting the first robotic arm 17. The lower end of one side of the first connecting frame 162 is provided with a first connecting member 163 for fixed connection. The present invention does not specifically limit the shape of the first connecting member 163, as long as it can achieve rotatable connection with the first telescopic member 19. For example, the first connecting member 163 is provided with a connecting shaft for connecting the first telescopic member 19, and the first connecting member 163 is also provided with a connecting block for fixing the connecting shaft.

[0040] The fixed platform 12 is equipped with a fixedly connected placement plate 121. The placement plate 121 is used to place and clamp the main guide tube. The center point of the upper end face of the placement plate 121 is the origin of the coordinate system. The placement plate 121 is equipped with two fixing brackets 122, which are located on both sides of the origin of the coordinate system. The fixing brackets 122 are fixedly mounted on the placement plate 121. Figure 4 As shown, the fixing frame 122 is provided with a clamping rod 123, which passes through the fixing frame 122 and slides in cooperation with the fixing frame 122. The upper end of the clamping rod 123 is provided with a toggle plate 124 that can lift and lower the clamping rod 123, and the lower end of the clamping rod 123 is provided with an arc-shaped member 125. The arc-shaped member 125 is used to clamp and fix the main tube. The arc-shaped member 125 is made of a relatively soft material, which is not limited in this invention, and can be plastic, rubber or silicone.

[0041] The clamping rod 123 is provided with an elastic element 126, which is fitted onto the clamping rod 123. One end of the elastic element 126 is connected to the arc-shaped element 125, and the other end is connected to the fixing frame 122. The elastic element 126 is in a compressed state, and the elastic force of the elastic element 126 can fix the main tube on the placement plate 121.

[0042] The first robotic arm 17 includes a first articulated arm 171, such as Figure 5 As shown, one end of the first articulated arm 171 is provided with a second connector 172 for fixed connection, and the other end is provided with a first mounting bracket 174 for mounting the first electric telescopic rod 175. The present invention does not specifically limit the shape of the second connector 172, as long as it can be rotatably connected with the first telescopic member 19. The first articulated arm 171 is placed in the first connecting frame 162 and can rotate within the first connecting frame 162. In this embodiment, the rotating shaft in the first connecting frame 162 passes through the first articulated arm 171 and rotatably engages with the first articulated arm 171. The first articulated arm 171 is provided with a first mounting groove 173 for placing the first electric telescopic rod 175. The first electric telescopic rod 175 is electrically connected to the central processing unit.

[0043] A second connecting frame 176 is provided on one side of the first articulated arm 171. The telescopic end of the first electric telescopic rod 175 passes through the first mounting frame 174 and is fixedly connected to the second connecting frame 176. The second connecting frame 176 has the same structure as the first connecting frame 162, except that the size is different. A fourth connecting member 177 is fixedly connected at the upper end of the second connecting frame 176. The present invention does not specifically limit the structure of the fourth connecting member 177, as long as it can be rotatably connected to the second telescopic member 110. For example, the fourth connecting member 177 includes two fixing plates, and a connecting shaft is provided between the fixing plates, which is rotatably connected to the second telescopic member 110.

[0044] The second robotic arm 18 includes a second articulated arm 181, such as Figure 6 As shown, one end of the second articulated arm 181 is provided with a third connector 182 for fixed connection, and the other end is provided with a second mounting bracket 184 for mounting the second electric telescopic rod 185. The second articulated arm 181 is placed in the second connecting frame 176 and is rotatably connected to the second connecting frame 176. The second articulated arm 181 is provided with a second mounting groove 183 for placing the second electric telescopic rod 185. The second electric telescopic rod 185 is electrically connected to the central processing unit.

[0045] A fixed frame 186 is provided on one side of the second articulated arm 181. The telescopic end of the second electric telescopic rod 185 passes through the second mounting bracket 184 and is fixedly connected to the fixed frame 186. A stepper motor 187 is fixedly connected inside the fixed frame 186. The stepper motor 187 is electrically connected to the central processing unit and is used to control the angle between the branch pipe and the main pipe.

[0046] The second articulated arm 181 also includes a fixing frame 186, such as Figure 7 As shown, the fixed frame 186 is located on one side of the mounting plate 188. The output shaft of the stepper motor 187 passes through the fixed frame 186 and is fixedly connected to the mounting plate 188. The stepper motor 187 drives the mounting plate 188 to rotate, thereby controlling the angle between the branch pipe and the main pipe. One end of the mounting plate 188 is provided with symmetrically distributed limiting plates 189, which are fixedly connected to the mounting plate 188. A guide rod 1810 is provided between two limiting plates 189, and a bidirectional lead screw 1811 is provided between the other two limiting plates 189. A second motor 1812 is fixedly connected to the upper end of one limiting plate 189. The output shaft of the second motor 1812 passes through the limiting plate 189 and is fixedly connected to the bidirectional lead screw 1811.

[0047] A clamping member 1813 is symmetrically distributed between the limiting plates 189. A guide rod 1810 passes through the clamping member 1813 and slides in cooperation with it. A bidirectional lead screw 1811 passes through the clamping member 1813 and is threaded in cooperation with it. The lower end of the clamping member 1813 is provided with two L-shaped rods. One end of each L-shaped rod is provided with an incomplete arc-shaped part 1814, which is used to clamp the branch pipe. The second motor 1812 is electrically connected to the central processing unit. The second motor 1812 drives the bidirectional lead screw 1811 to rotate. The rotation of the bidirectional lead screw 1811 can cause the two clamping members 1813 to move towards or away from each other, thereby clamping and releasing the branch pipe.

[0048] In this embodiment, the first telescopic member 19 includes an electric cylinder 191, a first connecting block 192, and a second connecting block 193, as follows: Figure 8 As shown, the first connecting block 192 is disposed at the upper end of the electric cylinder 191 and is fixedly connected to the telescopic end of the electric cylinder 191. The second connecting block 193 is disposed at the lower end of the electric cylinder 191 and is fixedly connected to the base of the electric cylinder 191. The first connecting block 192 is rotatably connected to the second connecting member 172, and the second connecting block 193 is rotatably connected to the first connecting member 163. The second telescopic member 110 has the same structure as the first telescopic member 19, the only difference being the size. The connecting blocks on the second telescopic member 110 are rotatably connected to the third connecting member 182 and the fourth connecting member 177 respectively.

[0049] In some embodiments of the present invention, the first seal 14 includes a first plate 141, such as... Figure 9 As shown, the first plate 141 has first limiting strips 141 on both sides, a sealing groove 142 at one end of the first plate 141, and a semi-circular notch at the middle of one end of the first plate 141.

[0050] The second seal 15 includes a second plate 151, such as Figure 10 As shown, the second plate 151 has second limiting strips 152 on both sides, and a sealing strip and a semi-circular notch at one end of the second plate 151. The semi-circular groove is located in the middle of one end of the second plate 151. The first plate 141 and the second plate 151 slide on the protective shell 13. When the sealing strip is placed in the sealing groove 142, the first plate 141 and the second plate 151 completely seal the internal space of the protective shell 13. The two semi-circular notches are joined together to form a circular hole, and the rod 161 passes through the circular hole.

[0051] In use, the main tube is first placed on the placement plate 121 and clamped and fixed by the clamping rod 123, the arc-shaped member 125 and the elastic member 126. The central processing unit controls the second motor 1812 to rotate, and the clamping members 1813 move towards each other until the incomplete arc-shaped member 1814 clamps the branch tube, and the second motor 1812 stops rotating. Then, the coordinates of the intersection point of the branch tube and the main tube are set through the coordinate setting interface and the angle setting interface. The angle setting interface is used to set the included angle between the branch tube and the main tube. The central processing unit controls the first telescopic member 19, the second telescopic member 110, the first motor 133, the first electric telescopic rod 175, the second electric telescopic rod 185 and the stepper motor 187 to work together to determine the positional relationship between the branch tube and the main tube. Then, the fusion welding is performed manually.

[0052] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A CUFF tube installation device for use in the field of hemodialysis, the installation device comprising a device body (1) and a control system (2), the device body (1) comprising a device base plate (11), and the control system (2) comprising a human-machine interface and a central processing unit, characterized in that, The human-machine interface includes a control panel (21) and a display screen (22). The control panel (21) includes a coordinate setting interface and an angle setting interface. The coordinate setting interface is used to set the coordinates of the intersection point of the branch pipe and the main pipe. The angle setting interface is used to set the angle between the branch pipe and the main pipe. The device base plate (11) includes movable components. The movable components include a support rod (16), a first telescopic member (19), a second telescopic member (110), a first robotic arm (17), and a second robotic arm (18). The first robotic arm (17) is rotatably connected to one end of the support rod (16), the second robotic arm (18) is rotatably connected to one end of the first robotic arm (17), one end of the first telescopic member (19) is rotatably connected to the first robotic arm (17), and the other end is rotatably connected to the support rod (16), one end of the second telescopic member (110) is rotatably connected to the first robotic arm (17), and the other end is rotatably connected to the second robotic arm (18); A placement plate (121) is provided on the fixed platform (12). The placement plate (121) is used to place and clamp the main tube. A fixed frame (122) is provided on the placement plate (121). A clamping rod (123) is provided on the fixed frame (122). The clamping rod (123) passes through the fixed frame (122) and slides with the fixed frame (122). A toggle plate (124) is provided at the upper end of the clamping rod (123). An arc-shaped piece (125) is provided at the lower end of the clamping rod (123). An elastic piece (126) is fitted on the clamping rod (123). One end of the elastic piece (126) is connected to the arc-shaped piece (125), and the other end is connected to the fixed frame (122). The second robotic arm (18) includes a second articulated arm (181), one end of which is provided with a third connector (182), and the other end is provided with a second mounting bracket (184). A second electric telescopic rod (185) is mounted on the second mounting bracket (184). The second articulated arm (181) is placed inside the second connecting frame (176) and is rotatably connected to the second connecting frame (176). A second mounting groove (183) is provided inside the second articulated arm (181). The second electric telescopic rod (185) is placed inside the second mounting groove (183). The second electric telescopic rod (185) is electrically connected to the central processing unit. The second robotic arm (18) also includes a fixed frame (186). The telescopic end of the second electric telescopic rod (185) passes through the second mounting frame (184) and is connected to the fixed frame (186). A stepper motor (187) is provided inside the fixed frame (186). The stepper motor (187) is electrically connected to the central processing unit. The output shaft of the stepper motor (187) passes through the fixed frame (186) and is fixedly connected to the mounting plate (188). The stepper motor (187) is used to control the angle between the branch pipe and the main pipe. One end of the mounting plate (188) is provided with symmetrically distributed limiting plates (189). A guide rod (1810) is provided between two of the limiting plates (189), and a bidirectional lead screw (1811) is provided between the other two limiting plates (189). The limiting plate (189) is provided with a second motor (1812) at one end. The output shaft of the second motor (1812) passes through the limiting plate (189) and is connected to the bidirectional lead screw (1811). The limiting plates (189) are provided with symmetrically distributed clamping members (1813). The guide rod (1810) passes through the clamping member (1813) and is slidably engaged with the clamping member (1813). The bidirectional lead screw (1811) passes through the clamping member (1813) and is threadedly engaged with the clamping member (1813). The lower end of the clamping member (1813) is provided with an incomplete arc-shaped part (1814), which is used to clamp the branch pipe.

2. The CUFF tube mounting device according to claim 1, characterized in that, The device base plate (11) is provided with a fixed platform (12) and a protective shell (13). The fixed platform (12) is located on one side of the protective shell (13). The protective shell (13) is slidably provided with a first seal (14) and a second seal (15). The protective shell (13) is provided with a driven gear disk (131) and a mounting frame (132). The driven gear disk (131) is rotatably connected to the device base plate (11). The support rod (16) is fixedly installed on the driven gear disk (131). The support rod (16) is coaxial with the driven gear disk (131).

3. The CUFF tube mounting device according to claim 2, characterized in that, The upper end of the mounting frame (132) is provided with a first motor (133). The mounting frame (132) is fixedly mounted on the device base plate (11). The mounting frame (132) is located on one side of the driven gear disk (131). The lower part of the mounting frame (132) is provided with a driving gear (134). The driving gear (134) meshes with the driven gear disk (131). The first motor (133) is electrically connected to the central processing unit.

4. The CUFF tube mounting device according to any one of claims 1-3, characterized in that, The support rod (16) includes a rod body (161), the upper end of the rod body (161) is provided with a first connecting frame (162), and the lower end of one side of the first connecting frame (162) is provided with a first connector (163).

5. The CUFF tube mounting device according to claim 4, characterized in that, The first robotic arm (17) includes a first articulated arm (171), one end of which is provided with a second connector (172) and the other end is provided with a first mounting bracket (174). The first articulated arm (171) is placed in a first connecting frame (162) and rotatably connected to the first connecting frame (162). The first articulated arm (171) is provided with a first mounting groove (173). A first electric telescopic rod (175) is mounted on the first mounting bracket (174). The first electric telescopic rod (175) is placed in the first mounting groove (173) and is electrically connected to the central processing unit.

6. The CUFF tube mounting device according to claim 5, characterized in that, The first robotic arm (17) also includes a second connecting frame (176). The telescopic end of the first electric telescopic rod (175) passes through the first mounting frame (174) and is fixedly connected to the second connecting frame (176). The upper end of the second connecting frame (176) is provided with a fourth connector (177).

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