Clamping conveyor and interventional procedure system

Abstract

The present specification provides a clamping conveying device and an interventional surgery system. The device comprises a clamping module and a conveying module, the conveying module is used to drive the clamping module to move linearly along a rotation axis, the clamping module comprises a first clamping block and a second clamping block, a linkage unit connected with the first clamping block, a first elastic member capable of applying a pushing force to the first clamping block towards a clamping gap, a slider having a first position and a second position, the slider is in contact with the linkage unit when moving to the first position, and then the first clamping block resists the pushing force of the first elastic member, and the clamping gap is increased; the slider is separated from the linkage unit when moving to the second position, the first elastic member pushes the first clamping block, and the clamping gap is reduced; and a driving unit is used to make the slider reciprocate between the first position and the second position. The clamping conveying device and the interventional surgery system provided by the present application can solve the problem of slipping and improve the transmission accuracy.

Description

Technical Field

[0001] This application relates to the field of medical device technology, specifically to a clamping and delivery device and an interventional surgical system. Background Technology

[0002] Catheters and guidewires are used in many minimally invasive medical procedures for the diagnosis and treatment of various vascular system diseases, including neurovascular intervention (NVI), percutaneous coronary intervention (PCI), and peripheral vascular intervention (PVI). These procedures all involve traversing the vascular system with a guidewire and advancing a working catheter through the guidewire to deliver the therapeutic device. Catheter insertion begins with establishing access to the vessel using standard percutaneous techniques and a sheath or guide catheter. The sheath or guide catheter is then advanced along the guidewire to the primary location, such as the internal carotid artery for NVI, the coronary ostium for PCI, or the superficial femoral artery for PVI. Subsequently, a guidewire and / or microcatheter appropriate for the vascular system is delivered through the sheath or guide catheter to the target location within the vascular system.

[0003] The aforementioned surgical procedures require X-rays emitted by DSA equipment. When doctors perform traditional manual catheter insertion, they are exposed to significant amounts of radiation, which can harm their health over long-term exposure. To reduce X-ray radiation exposure, surgical robotic systems have been developed to assist doctors in performing catheter insertion procedures. These systems can remotely control the catheter or guidewire, delivering it to the target location within the patient's body.

[0004] In existing technologies, guide wires or guide tubes are typically clamped using rollers, and then a motor drives the rollers to rotate clockwise and counterclockwise to advance and retract the guide wire or tube while maintaining the clamping position. However, driving the guide wire or guide tube using rollers can lead to slippage, resulting in low transmission accuracy. Summary of the Invention

[0005] To address at least one technical problem existing in the prior art, this application provides a clamping and conveying device and an interventional surgical system that can solve the slippage problem and improve transmission accuracy.

[0006] To achieve the above objectives, the technical solution provided in this application is as follows:

[0007] A clamping and conveying device includes: a clamping module and a conveying module, wherein the conveying module is used to drive the clamping module to move linearly along a rotation axis, and the clamping module includes:

[0008] A first clamping block and a second clamping block are arranged radially on both sides of the rotation axis, and a clamping gap is formed between the first clamping block and the second clamping block.

[0009] The linkage unit is connected to the first clamping block;

[0010] The first elastic element can apply a thrust toward the clamping gap to the first clamping block;

[0011] The slider has a first position and a second position. When the slider moves to the first position, it contacts the linkage unit, and the first clamping block resists the thrust of the first elastic element, increasing the clamping gap. When the slider moves to the second position, it separates from the linkage unit, and the first elastic element pushes the first clamping block, decreasing the clamping gap.

[0012] A drive unit is provided to cause the slider to reciprocate between the first position and the second position.

[0013] In a preferred embodiment, the device includes: a rotary driven gear and a main support, the rotary driven gear being rotatably connected to the main support, the slider being slidably connected to the main support, the linkage unit being disposed on the rotary driven gear, and the first clamping block and the second clamping block being rotatably fixed relative to the rotary driven gear and capable of being driven to rotate by the rotary driven gear.

[0014] In a preferred embodiment, the slider is constructed with an arc-shaped structure that bends away from the clamping gap direction. The linkage unit includes a moving column, the end of which cooperates with the arc-shaped structure. When the slider moves to the first position, the arc-shaped structure cooperates with the moving column to drive the moving column to move towards the rotation from the center of the gear.

[0015] In a preferred embodiment, there are at least two movable columns connected by a connecting rod. The rotating follower gear is provided with a groove for the movable columns to move, wherein the two movable columns are spaced apart at a predetermined angle relative to the center of the rotating follower gear.

[0016] In a preferred embodiment, the slider includes a first slider and a second slider, with a synchronization mechanism between the first slider and the second slider for synchronous movement. The moving column includes a first moving column, a second moving column, and a third moving column connected in sequence, with the first moving column and the third moving column positioned at 120° relative to the center of the rotational gear. When the slider moves to the first position, the first moving column contacts the first slider, and the third moving column contacts the second slider.

[0017] In a preferred embodiment, the movable column includes a first movable column and a second movable column, the first movable column and the second movable column being arranged at 120° relative to the center of the rotational gear, and when the slider moves to the first position, the first movable column and the second movable column simultaneously come into contact with the slider.

[0018] In a preferred embodiment, a first rack is provided on the movable column, and a second rack is provided on the first clamping block that is pulsatorically connected to the first rack.

[0019] In a preferred embodiment, the movable column includes: a first movable column and a second movable column, wherein the first movable column is provided with a first rack, the second movable column is provided with a first second rack, the second clamping block is provided with a third rack, the third rack meshes with the first second rack, and the first rack and the first second rack are connected in a transmission manner.

[0020] In a preferred embodiment, the device includes a second elastic element capable of providing thrust to the slider, the second elastic element cooperating with the drive unit to move the slider from a first position to a second position.

[0021] In a preferred embodiment, the driving unit is a cam, which has a rotation center and opposite first and second ends. The straight-line distance between the first end and the rotation center is less than the straight-line distance between the second end and the rotation center. The first end and the second end alternately face the slider under the drive of the power component.

[0022] In a preferred embodiment, there are at least two clamping modules arranged along the rotation axis; wherein, two clamping modules are defined as a pair, and the pair of clamping modules move towards each other or away from each other; and when one of the pair of clamping modules clamps the interventional device, the other releases the interventional device; the device further includes: a rotation module for driving the clamping modules to rotate around the rotation axis, so that the interventional device rotates around its own axis.

[0023] In a preferred embodiment, the conveying module includes: a bidirectional lead screw arranged parallel to the rotation axis, the clamping module being disposed on the bidirectional lead screw; and a first power mechanism providing rotational power to the bidirectional lead screw.

[0024] In a preferred embodiment, the rotating module includes: a main rotating gear and a second power mechanism that drives the main rotating gear to rotate. The driven rotating gear can be driven by the main rotating gear to rotate around the rotation axis. When the clamping module moves linearly, the driven rotating gear moves between a third position and a fourth position. At the third position and the fourth position, the driven rotating gear and the main rotating gear maintain a transmission connection.

[0025] An interventional surgical system comprising any of the clamping and delivery devices described above.

[0026] Beneficial effects:

[0027] The clamping and conveying device and interventional surgical system provided in this application, when the slider in the clamping module moves back and forth between a first position and a second position, changes the clamping gap between the first clamping block and the second clamping block through the cooperation of the linkage unit and the first elastic element. This allows for the clamping or releasing of the interventional instrument, ensuring that the interventional instrument does not slip during clamping and improving transmission accuracy. Furthermore, the clamping module can be rotated as a whole by the rotating module, ensuring that the rotation angle of the interventional instrument is unlimited and continuous rotation can be achieved.

[0028] Specific embodiments of this application are disclosed in detail with reference to the following description and accompanying drawings, indicating how the principles of this application can be adopted. It should be understood that the scope of the embodiments of this application is not limited thereto.

[0029] Features described and / or illustrated for one embodiment may be used in the same or similar manner in one or more other embodiments, combined with features in other embodiments, or substituted for features in other embodiments.

[0030] It should be emphasized that the term "including / comprises" as used herein refers to the presence of a feature, whole, step, or component, but does not exclude the presence or addition of one or more other features, wholes, steps, or components. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this application 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 only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 The figure shown is an overall structural diagram of the clamping and conveying device in the embodiment of this application;

[0033] Figure 2The diagram shown is a schematic diagram of the first clamping block and the second clamping block in a released state in the first embodiment of this application;

[0034] Figure 3 The diagram shown is a schematic diagram of the first clamping block and the second clamping block in a clamping state in the first embodiment of this application;

[0035] Figure 4 The figure shown is a cross-sectional view of the clamping and conveying device in the second position according to the first embodiment of this application;

[0036] Figure 5 The figure shown is a cross-sectional view of the clamping and conveying device in the first embodiment of this application when the slider is in the first position;

[0037] Figure 6 The diagram shown is a top-view illustration of the clamping module in the first embodiment of this application.

[0038] Figure 7 The diagram shown is a structural schematic of the clamping module in the second embodiment of this application;

[0039] Figure 8 The diagram shown is a structural schematic of the clamping module in the third embodiment of this application.

[0040] Explanation of reference numerals in the attached figures:

[0041] 1. Clamping module; 100. Clamping protection block; 10. Moving column; 101. First moving column; 102. Second moving column; 103. Third moving column; 104. Connecting rod; 105. First rack; 106. First rack; 107. Second rack; 108. Third rack; 109. Idler wheel; 11. First clamping block; 12. Second clamping block; 13. First elastic element; 14. Slider; 141. First slider; 142. Second slider; 151. Left rack; 152. Right rack; 161. Left gear; 162. Right gear; 17. Second elastic element; 18. Drive unit; 181. Cam rotating shaft; 19. Power assembly; 20. Rotating driven gear; 21. Main support; 22. Rotating main gear; 23. Second power mechanism; 30. First power mechanism; 31. Bidirectional lead screw; 40. Interventional instrument. Detailed Implementation

[0042] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not intended to limit the scope. After reading the present invention, any modifications of the present invention in various equivalent forms by those skilled in the art fall within the scope defined by this application.

[0043] It should be noted that when a component is said to be "set on" another component, it can be directly on the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component.

[0044] The following will combine Figures 1 to 8 This specification explains and describes the clamping and delivery device and the interventional surgical system according to embodiments. It should be noted that in the embodiments of the present invention, the same reference numerals denote the same components. For brevity, detailed descriptions of the same components are omitted in different embodiments, and the descriptions of the same components can be cross-referenced and used.

[0045] As used herein, the terms "front" or "forward" refer to the side of the clamping and delivery device facing the patient. The terms "rear" or "rear" refer to the side of the clamping and delivery device away from the patient. The terms "advance," "push," or "deliver" refer to the process of movement from the side away from the patient toward the side facing the patient. The terms "retract," "backward," or "withdraw" refer to the process of movement from the side facing the patient toward the side away from the patient.

[0046] This application provides a clamping and conveying device, such as... Figures 1 to 8 As shown, the device includes: a clamping module 1 and a conveying module. The conveying module is used to drive the clamping module 1 to move linearly along a rotation axis. The clamping module 1 includes: a first clamping block 11 and a second clamping block 12, which are radially disposed on both sides of the rotation axis, and a clamping gap is formed between the first clamping block 11 and the second clamping block 12; a linkage unit connected to the first clamping block 11; a first elastic element 13, which can apply a pushing force to the first clamping block 11 toward the clamping gap; a slider 14 having a first position and a second position. When the slider 14 moves to the first position, it contacts the linkage unit, and the first clamping block 11 resists the pushing force of the first elastic element 13, and the clamping gap increases; when the slider 14 moves to the second position, it separates from the linkage unit, and the first elastic element 13 pushes the first clamping block 11, and the clamping gap decreases; and a driving unit 18, which causes the slider 14 to reciprocate between the first position and the second position.

[0047] The clamping and conveying device and interventional surgical system provided in this application have the following characteristics: When the slider 14 in the clamping module 1 moves back and forth between the first position and the second position, the clamping gap between the first clamping block 11 and the second clamping block 12 changes through the cooperation of the linkage unit and the first elastic element 13. This allows for the clamping or releasing of the interventional instrument 40, ensuring that the interventional instrument 40 does not slip during the clamping process and improving transmission accuracy. In addition, the clamping module 1 can be rotated as a whole by the rotating module, ensuring that the rotation angle of the interventional instrument 40 is unlimited and continuous rotation can be achieved.

[0048] The interventional device 40 often has a slender structure for the diagnosis and treatment of various vascular system diseases, such as guidewires, guiding catheters, microcatheters, embolization coils, working catheters like balloon catheters, aspiration catheters, and atherosclerosis resection catheters. This specification does not limit the type of interventional device; it can be a catheter or guidewire used for performing NVI, PCI, and PVI procedures. The following description primarily focuses on PCI procedures. However, based on the above description, the scope of protection of the embodiments in this specification is not limited thereto.

[0049] The clamping module 1 includes a first clamping block 11 and a second clamping block 12. A clamping gap is formed between the first clamping block 11 and the second clamping block 12 to accommodate the interventional device 40. When the clamping gap increases, the first clamping block 11 and the second clamping block 12 are in a state of releasing the interventional device 40; when the clamping gap decreases, the first clamping block 11 and the second clamping block 12 are in a state of clamping the interventional device 40. In this specification, the clamping and conveying device also includes a rotating module. The first clamping block 11 and the second clamping block 12 can be driven to rotate by the rotating module, so as to drive the interventional device 40 to rotate around a rotation axis when clamping the interventional device 40. In this specification, the rotation axis coincides with the axis of the interventional device 40.

[0050] like Figure 2 and Figure 3 As shown, to avoid damage to the interventional device 40 during clamping, clamping protection blocks 100 can also be provided on the first clamping block 11 and the second clamping block 12. The clamping protection blocks 100 can be made of silicone or rubber. The first clamping block 11 and the second clamping block 12 are clamped or released through a linkage unit and a first elastic member 13. During this process, one of the first clamping block 11 and the second clamping block 12 can be fixed and the other can be movable, or both can be movable.

[0051] The linkage unit is at least connected to the first clamping block 11. The first elastic element 13 is a spring, with one end connected to the first clamping block 11 and the other end mounted on a spring seat. When the slider 14 moves toward the first position, the linkage unit acts on the first clamping block 11 under the push of the slider 14. The first clamping block 11 reacts to the first elastic element 13, increasing the elastic potential energy of the first elastic element 13 and increasing the clamping gap between the first clamping block 11 and the second clamping block 12. When the slider 14 moves toward the second position, the first clamping block 11 loses the force exerted on it by the linkage unit, and the first elastic element 13 releases its accumulated elastic potential energy, pushing the first clamping block 11 to reduce the clamping gap.

[0052] Alternatively, in some embodiments, the linkage unit is connected to both the first clamping block 11 and the second clamping block 12. The sliding block 14 pushes the linkage unit, causing the first clamping block 11 and the second clamping block 12 to move in opposite directions synchronously. Furthermore, under the push of the first elastic member 13, the linkage unit can cooperate to make the first clamping block 11 and the second clamping block 12 move in opposite directions synchronously.

[0053] Specifically, such as Figure 4 and Figure 5 As shown, the slider 14 has a first position and a second position. When the slider 14 moves to the first position, the first clamping block 11 and the second clamping block 12 are in a state of releasing the interventional device 40. When the slider 14 moves to the second position, the first clamping block 11 and the second clamping block 12 are in a state of clamping the interventional device 40. The device includes a rotary driven gear 20 and a main support 21. The rotary driven gear 20 is rotatably connected to the main support 21, and the slider 14 is slidably connected to the main support 21. The linkage unit is disposed on the rotary driven gear 20. The first clamping block 11 and the second clamping block 12 are rotatably fixed relative to the rotary driven gear 20 and can be driven to rotate by the rotary driven gear 20. When the rotary driven gear 20 rotates, it can drive the main support 21, the slider 14, the first clamping block 11, the second clamping block 12, and the linkage unit to rotate together.

[0054] In this specification, the slider 14 is constructed with an arc-shaped structure that bends away from the clamping gap direction. The linkage unit includes a moving column 10, the end of which cooperates with the arc-shaped structure. When the slider 14 moves to the first position, the arc-shaped structure cooperates with the moving column 10 to drive the moving column 10 to move toward the center of the rotational gear 20.

[0055] In one embodiment, there are at least two movable columns 10 connected by a connecting rod 104. The rotating follower gear 20 has a groove for the movable columns 10 to move. The two movable columns 10 are spaced apart at a predetermined angle relative to the center of the rotating follower gear 20. The predetermined angle can be 90°, 120°, or 180°, and can be determined according to the position and number of the movable columns 10.

[0056] In one embodiment, the slider 14 includes a first slider 141 and a second slider 142, with a synchronization mechanism between the first slider 141 and the second slider 142 for synchronized movement. The moving column 10 includes a first moving column 101, a second moving column 102, and a third moving column 103 connected in sequence. The first moving column 101 and the third moving column 103 are arranged at 120° relative to the center of the rotational gear 20. When the slider 14 moves to the first position, the first moving column 101 contacts the first slider 141, and the third moving column 103 contacts the second slider 142.

[0057] like Figures 2 to 5 As shown, the first moving column 101 is also connected to the first clamping block 11 via a connecting rod 104, and the second clamping block 12 remains fixed relative to it. When the first moving column 101 is pushed by the first slider 141 to rotate from the center of the gear 20, the connecting rod 104 drives the first clamping block 11 to move outward. Since the first elastic element 13 is connected to the first clamping block 11, the first elastic element 13 is compressed, and the clamping gap between the first clamping block 11 and the second clamping block 12 increases.

[0058] In this embodiment, the slider 14 includes a first slider 141 and a second slider 142. The first slider 141 contacts the first moving post 101, and the second slider 142 contacts the third moving post 103, with a 120° interval between them. This allows the first moving post 101 and the third moving post 103 to move synchronously toward or away from the center of the rotating gear 20. Furthermore, the 120° interval between the first moving post 101 and the third moving post 103 ensures that at least one moving post is in contact with the slider at any given time, guaranteeing that the interventional device 40 can be successfully released.

[0059] To ensure that the first slider 141 and the second slider 142 slide synchronously, a synchronization mechanism is provided between the first slider 141 and the second slider 142. For example... Figure 6As shown, the synchronization mechanism includes: a left rack 151, a right rack 152, a left gear 161, and a right gear 162. A first slider 141 is connected to the left rack 151, which meshes with the left gear 161. A second slider 142 is connected to the right rack 152, which meshes with the right gear 162. The left gear 161 also meshes with the right gear 162. For example, when the second slider 142 is pushed inward, the right rack 152 drives the right gear 162 to rotate, which in turn drives the left gear 161 to rotate, thus causing the first slider 141 to move inward synchronously.

[0060] In one embodiment, such as Figure 7 As shown, the movable column 10 includes a first movable column 101 and a second movable column 102. The first movable column 101 and the second movable column 102 are arranged at 120° relative to the center of the rotational gear 20. When the slider 14 moves to the first position, the first movable column 101 and the second movable column 102 simultaneously come into contact with the slider 14.

[0061] In this embodiment, the first moving post 101 and the second moving post 102 can simultaneously contact a slider. The movement of this single slider simultaneously drives the first moving post 101 and the second moving post 102 to move in the direction of rotation from the center of the gear 20. Alternatively, the slider 14 includes a first slider 141 and a second slider 142, with the first moving post 101 contacting the first slider 141 and the second moving post 102 contacting the second slider 142.

[0062] In another embodiment, a first rack is provided on the movable column 10, and a second rack 107 is provided on the first clamping block 11 that is pulsatorically connected to the first rack.

[0063] In this embodiment, one movable column 10 may be provided, corresponding to the first clamping block 11, while the second clamping block 12 remains relatively fixed. The movable column 10 is located on the same side as the first clamping block 11. An idler gear transmission connection may be provided between the first rack and the second rack 107. When the slider 14 pushes the movable column 10 to move, the first clamping block 11 is moved through the cooperation of the first rack and the second rack 107.

[0064] Alternatively, in one embodiment, the first clamping block 11 and the second clamping block 12 can move synchronously inward or outward. For example... Figure 8As shown, the movable column 10 includes: a first movable column 101 and a second movable column 102. The first movable column 101 is provided with a first rack 105, the second movable column 102 is provided with a first rack 106, and the second clamping block 12 is provided with a third rack 108. The third rack 108 meshes with the first rack 106, and the first rack 105 and the first rack 106 are connected in a transmission manner.

[0065] Furthermore, the slider 14 may include: a first slider 141 and a second slider 142, with a first moving post 101 in contact with the first slider 141 and a second moving post 102 in contact with the second slider 142. A first rack 105 and a second rack 107 on the first moving post 101 are connected by a first gear, and a first rack 106 and a third rack 108 on the second moving post 102 are connected by an idler gear 109. Alternatively, the first rack 105 and the third rack 108 on the first moving post 101 are connected by a second gear and an idler gear 109.

[0066] In one embodiment, the device further includes a second elastic element 17 that provides a pushing force to the slider 14. The second elastic element 17 cooperates with the drive unit 18 to move the slider 14 from a first position to a second position. The second elastic element 17 is a spring, with one end connected to the main support 21 and the other end connected to the slider 14. This helps the slider 14 return to the second position when the drive unit stops pushing it.

[0067] In this embodiment, the driving unit 18 is a cam with a rotation center and opposing first and second ends. The straight-line distance between the first end and the rotation center is less than the straight-line distance between the second end and the rotation center. The first and second ends alternately face the slider 14 under the drive of the power component. When the second end of the cam faces the slider 14, a large pushing force is applied to the slider 14, thereby pushing the slider 14 to the first position. When the first end of the cam faces the slider 14, the slider 14 loses its pushing force or the pushing force on the slider 14 decreases, thereby returning to the second position under the action of the second elastic element 17.

[0068] Furthermore, the device may include a positioning seat for mounting the cam and a cam rotation shaft 181, with a cam mounted at one end and a bevel gear mounted at the other end, thereby enabling a transmission connection with the power assembly.

[0069] In another embodiment, the drive unit 18 can be a lead screw assembly, and the slider 14 is disposed on the lead screw assembly, thereby moving back and forth between the first position and the second position under the drive of the lead screw assembly. In this embodiment, the second elastic element 17 is not required.

[0070] In this instruction manual, such as Figure 1 As shown, there are at least two clamping modules 1 arranged along the rotation axis; wherein, two clamping modules 1 are defined as a pair, and when a pair of clamping modules 1 moves, they move towards each other or away from each other; and when one of the pair of clamping modules 1 clamps the interventional device 40, the other releases the interventional device 40; the device further includes: a rotation module for driving the clamping modules 1 to rotate around the rotation axis, so that the interventional device 40 rotates around its own axis.

[0071] In this embodiment, the interventional device 40 is continuously pushed forward by the reciprocating motion of the dual clamping modules in opposite directions. In addition, since one of the pair of clamping modules 1 always holds the interventional device 40, a motion mode of clamping and rotating can be achieved. This device delivery device can meet the various motion modes of the interventional device 40.

[0072] At least two clamping modules 1 are arranged along the rotation axis. The two clamping modules 1 form a group, and each clamping module 1 moves between a third position and a fourth position along the rotation axis, reciprocating between the third and fourth positions. The two clamping modules 1 move towards each other or away from each other, so that the two clamping modules 1 in a group synchronously approach or move away from each other along the rotation axis. When both clamping modules 1 are in the third position, they are at their farthest distance along the rotation axis; when both clamping modules 1 are in the fourth position, they are at their closest distance along the rotation axis.

[0073] The rotating module includes a main rotating gear 22 and a second power mechanism 23 that drives the main rotating gear 22 to rotate. The driven rotating gear 20 can be driven by the main rotating gear 22 to rotate around the rotation axis. When the clamping module 1 moves linearly, the driven rotating gear 20 moves between a third position and a fourth position. At both the third and fourth positions, the driven rotating gear 20 and the main rotating gear 22 maintain a transmission connection. Specifically, the second power mechanism 23 is a motor, and the main rotating gear 22 is connected to the output shaft of the motor. A conversion unit, such as a pair of bevel gears, can be provided between the two.

[0074] In one embodiment, the conveying module includes: a bidirectional lead screw 31 arranged parallel to the rotation axis, and the clamping module 1 disposed on the bidirectional lead screw 31; and a first power mechanism 30 providing rotational power to the bidirectional lead screw 31. In this embodiment, the first power mechanism 30 is a motor, which can drive a set of clamping modules 1 to move synchronously by only the rotational movement of the bidirectional lead screw 31, eliminating the need to configure corresponding transmission and drive components for each clamping module 1, thus reducing the number of components and simplifying the mechanical structure.

[0075] Furthermore, the clamping module 1 may include a base, which is mounted on the bidirectional lead screw 31. The bidirectional lead screw 31 rotates to drive the base to move along the axis of the bidirectional lead screw 31, thereby causing the clamping module 1 to move linearly.

[0076] This specification also provides an interventional surgical system, including any of the described clamping and transporting devices. The interventional surgical system further includes a control console, which includes an input device and a controller. The input device is triggered by a user, and the controller is communicatively connected to the power mechanism in the clamping and transporting device. In response to the user's triggering operation, the input device sends a corresponding command to the controller, which then controls the power mechanism to perform corresponding actions. This interventional surgical system can solve the technical problems addressed by the above embodiments and achieve the corresponding technical effects of the above implementation methods; specific details will not be elaborated further in this application.

[0077] The above embodiments are only for illustrating the technical concept and features of this application, and are intended to enable those skilled in the art to understand the content of this application and implement it accordingly. They should not be construed as limiting the scope of protection of this application. All equivalent changes or modifications made in accordance with the spirit and essence of this application should be included within the scope of protection of this application.

[0078] It should be understood that the above description is for illustrative purposes and not for limitation. Many embodiments and applications beyond the provided examples will be apparent to those skilled in the art upon reading the above description. For purposes of completeness, all articles and references, including patent applications and publications, are incorporated herein by reference.

Claims

1. A gripper conveyor, characterized by include: A clamping module and a conveying module, wherein the conveying module is used to drive the clamping module to move linearly along a rotation axis, and the clamping module includes: A first clamping block and a second clamping block are arranged radially on both sides of the rotation axis, and a clamping gap is formed between the first clamping block and the second clamping block. The linkage unit is connected to the first clamping block; The first elastic element can apply a thrust toward the clamping gap to the first clamping block; The slider has a first position and a second position. When the slider moves to the first position, it contacts the linkage unit, and the first clamping block resists the thrust of the first elastic element, increasing the clamping gap. When the slider moves to the second position, it separates from the linkage unit, and the first elastic element pushes the first clamping block, decreasing the clamping gap. A drive unit is provided to cause the slider to reciprocate between the first position and the second position; The device includes: a rotary driven gear and a main support, the rotary driven gear being rotatably connected to the main support, the slider being slidably connected to the main support, the linkage unit being disposed on the rotary driven gear, and the first clamping block and the second clamping block being rotatably fixed relative to the rotary driven gear and being able to be driven to rotate by the rotary driven gear; The slider has an arc-shaped structure that bends away from the clamping gap. The linkage unit includes a moving column, the end of which cooperates with the arc-shaped structure. When the slider moves to the first position, the arc-shaped structure cooperates with the moving column to drive the moving column to move towards the rotation from the center of the gear.

2. The gripper conveyor of claim 1, wherein, There are at least two movable columns, which are connected by a connecting rod. The rotating follower gear is provided with a groove for the movable columns to move, and the two movable columns are arranged at a predetermined angle relative to the center of the rotating follower gear.

3. The gripper conveyor of claim 2, wherein, The slider includes a first slider and a second slider. A synchronization mechanism is provided between the first slider and the second slider to achieve synchronous movement. The moving column includes a first moving column, a second moving column, and a third moving column connected in sequence. The first moving column and the third moving column are set at 120° relative to the center of the rotational gear. When the slider moves to the first position, the first moving column contacts the first slider, and the third moving column contacts the second slider.

4. The clamping and conveying device as described in claim 2, characterized in that, The movable column includes a first movable column and a second movable column, which are set at 120° relative to the center of the rotational gear. When the slider moves to the first position, the first movable column and the second movable column simultaneously come into contact with the slider.

5. The clamping and conveying device as described in claim 1, characterized in that, The movable column is provided with a first rack, and the first clamping block is provided with a second rack that is pulsatorically connected to the first rack.

6. The clamping and conveying device as described in claim 5, characterized in that, The movable column includes: a first movable column and a second movable column. The first movable column is provided with a first rack, the second movable column is provided with a first second rack, and the second clamping block is provided with a third rack. The third rack meshes with the first second rack, and the first rack and the first second rack are connected in a transmission manner.

7. The clamping and conveying device as described in claim 1, characterized in that, The device includes a second elastic element that can provide a thrust to the slider, the second elastic element and the drive unit working together to move the slider from a first position to a second position.

8. The clamping and conveying device as described in claim 7, characterized in that, The driving unit is a cam, which has a rotation center and opposite first and second ends. The straight-line distance between the first end and the rotation center is less than the straight-line distance between the second end and the rotation center. The first end and the second end alternately face the slider under the drive of the power component.

9. The clamping and conveying device as described in claim 1, characterized in that, The clamping modules are at least two in number and arranged along the axis of rotation; wherein, two clamping modules are defined as a pair, and the pair of clamping modules move towards each other or away from each other; and when one of the pair of clamping modules clamps the interventional device, the other releases the interventional device; the device further includes: a rotating module for driving the clamping modules to rotate around the axis of rotation, so that the interventional device rotates around its own axis.

10. The clamping and conveying device as described in claim 9, characterized in that, The conveying module includes: a bidirectional lead screw arranged parallel to the rotation axis, the clamping module being disposed on the bidirectional lead screw; and a first power mechanism providing rotational power to the bidirectional lead screw.

11. The clamping and conveying device as described in claim 9, characterized in that, The rotating module includes a main rotating gear and a second power mechanism that drives the main rotating gear to rotate. The driven rotating gear can be driven by the main rotating gear to rotate around the rotation axis. When the clamping module moves linearly, the driven rotating gear moves between a third position and a fourth position. At the third position and the fourth position, the driven rotating gear and the main rotating gear maintain a transmission connection.

12. An interventional surgical system, characterized in that, Includes the clamping and conveying device as described in any one of claims 1-11.

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