Flexible instrument delivery device and actuation components thereof

Abstract

The application discloses a flexible instrument conveying device and an execution component thereof, and the execution component comprises a moving execution mechanism and a clamping execution mechanism in an outer shell, the moving execution mechanism comprises a moving wheel, an auxiliary moving wheel, a first bevel gear set and a moving input member, the auxiliary moving wheel and the moving wheel are arranged at intervals in a first direction and are connected through a belt transmission mechanism; the clamping execution mechanism comprises a passive moving wheel, the passive moving wheel is arranged opposite to the moving wheel in a second direction, and the rotation axis lines of the moving wheel and the passive moving wheel are arranged along a third direction; the outer shell is provided with a through hole opened in the first direction, the moving input member is coaxially fixed with a driving wheel of the first bevel gear set, and a driven wheel of the first bevel gear set is coaxially fixed with the moving wheel. The execution component adopts a modular design, can be independently installed and disassembled, can be quickly removed after surgery, and has good operability. Meanwhile, on the basis of effectively avoiding cross contamination, the preparation time before surgery is greatly reduced.

Description

[0001] This application is a divisional application. The original application has the application number 202311650803.7 and the original application date is December 5, 2023. The entire contents of the original application are incorporated herein by reference. Technical Field

[0002] This invention relates to the field of medical device technology, specifically to a flexible medical device delivery device and its actuating components. Background Technology

[0003] The digestive tract, respiratory tract, and urinary tract are common sites for human diseases. Because lesions are located within these natural cavities, flexible endoscopes are necessary for examination and treatment. Robot-assisted flexible endoscopic interventional technology allows doctors to operate the flexible endoscope using a handpiece, significantly reducing the physical exertion and manual labor required by doctors. This reduces the reliance on skill and experience in surgical procedures, minimizes radiation exposure to medical personnel, and simultaneously improves surgical efficiency and safety.

[0004] Precise, continuous, and stable delivery of flexible endoscopes is a crucial prerequisite for completing tasks such as lesion screening, biopsy, and tissue dissection in complex natural cavities. Clinically, endoscopic delivery relies heavily on the surgeon's skill and experience. The endoscope and surgical instruments often undergo rotational movements during delivery to facilitate rapid observation and localization of diseases within natural cavities, improving surgical efficiency. Furthermore, in lower gastrointestinal endoscopic interventional procedures, the combined movement of the endoscope and rotation can quickly and safely smooth the intestines, facilitating endoscopic intervention in deeper parts of the colon and even the small intestine.

[0005] However, existing flexible endoscope delivery devices do not meet clinical needs for flexible endoscope delivery and cannot be taken over and controlled by the operator in emergency situations.

[0006] In view of this, there is an urgent need to optimize the design of flexible devices in order to overcome the above-mentioned defects. Summary of the Invention

[0007] The purpose of this application is to provide a flexible instrument delivery device and its actuators, which, through structural optimization, enables the operator to quickly take over the flexible instrument, effectively improving the safety and reliability of instrument operation.

[0008] The execution component provided in this application embodiment is used to transport a flexible instrument. The execution component includes a housing, and a transfer execution mechanism and a clamping execution mechanism located within the housing. The transfer execution mechanism includes a transfer wheel, an auxiliary transfer wheel, a first bevel gear set, and a transfer input component for transmission connection with a transfer output component of a drive component. The auxiliary transfer wheel and the transfer wheel are spaced apart in a first direction, and the transfer wheel and the auxiliary transfer wheel are connected by a belt drive mechanism. The outer rims of both the transfer wheel and the auxiliary transfer wheel are configured with concave arc surfaces. The clamping execution mechanism includes a passive transfer wheel, which is arranged opposite to the transfer wheel in a second direction, and their rotation axes are arranged along a third direction. The housing is provided with a through hole opened in the first direction for inserting the flexible instrument. The transfer input component... The clamping mechanism is coaxially fixed to the driving wheel of the first bevel gear set, and the driven wheel of the first bevel gear set is coaxially fixed to the transfer wheel; wherein, the second direction and the third direction are two directions in a plane perpendicular to the first direction; the clamping actuator further includes a clamping input component, a sliding bracket, a fixed bracket, a second bevel gear set, and a lead screw and nut mechanism; the lead screw of the lead screw and nut mechanism is pivotally connected to the fixed bracket and axially positioned on the fixed bracket, the nut of the lead screw and nut mechanism is fixedly mounted on the sliding bracket, the sliding bracket is slidably mounted relative to the outer shell in the second direction, and the driven transfer wheel is rotatably mounted relative to the sliding bracket; the clamping input component is coaxially fixed to the driving wheel of the second bevel gear set, and the driven wheel of the second bevel gear set can drive the lead screw of the lead screw and nut mechanism to rotate.

[0009] Optionally, the clamping actuator further includes a gear transmission mechanism, the axle of which is arranged along a third direction; the driven wheel of the second bevel gear set is coaxially fixed with the driving wheel of the gear transmission mechanism, and the driven wheel of the gear transmission mechanism is coaxially fixed with the lead screw.

[0010] Optionally, a plurality of passive transfer wheels are provided, and the plurality of passive transfer wheels are spaced apart in a first direction.

[0011] Optionally, the clamping actuator further includes a passive wheel bracket and a third elastic element, the third elastic element being disposed between the passive wheel bracket and the sliding bracket; the passive transfer wheel is rotatably disposed on the passive wheel bracket, and the passive wheel bracket is slidably disposed relative to the sliding bracket in a second direction.

[0012] Optionally, the clamping actuator further includes a torque output component, a flexible torque transmission component, and a third bevel gear set; one end of the flexible torque transmission component is fixedly connected to the passive transfer wheel, and the other end is fixedly connected to the driving wheel of the third bevel gear set, and the passive wheel of the third bevel gear set is coaxially fixed with the torque output component.

[0013] Optionally, the transfer input component is a fourth docking plate, the clamping input component is a fifth docking plate, and the outer end faces of the fourth docking plate and the fifth docking plate are respectively provided with recesses. The recesses on the fourth docking plate are adapted to match the protrusions on the transfer output component of the driving component, and the recesses on the fifth docking plate are adapted to match the protrusions on the clamping output component of the driving component.

[0014] The present invention also provides a flexible instrument transport device, comprising an actuating component for transporting a flexible instrument and a driving component for providing a driving force for transporting the flexible instrument; the driving component includes a support, and a rotary driving mechanism and a transfer driving mechanism located on the support, wherein the rotary driving mechanism includes a rotary output member rotatably disposed on the support; a base plate is fixedly disposed on the rotary output member, the base plate being disposed on the mating side of the driving component and the actuating component; the transfer driving mechanism is disposed on the base plate, the transfer driving mechanism including a transfer output member pivotally disposed on the base plate, for connecting with... The transfer input component of the execution component is drive-connected; wherein the rotation axis of the rotary output component and the pivot axis of the transfer output component are both arranged along a first direction; wherein a first slot is formed on the base plate, a second slot is formed on the rotary output component, and a third slot is formed on the bracket, the first slot, the second slot and the third slot respectively extend from the middle of the body to the side edge to form an extraction channel; the execution component adopts the execution component as described above, the execution component is disposed on the base plate of the drive component, and the transfer output component of the drive component and the transfer input component of the execution component establish a transfer transmission path.

[0015] Optionally, it also includes a quick-connect assembly, which includes a fixed buckle, a movable pressure rod, and a fourth elastic element: the fixed buckle is fixedly mounted on the base plate of the driving component, and the fixed buckle has a slot; the movable pressure rod is provided with a force-applying part and a movable hook, the movable hook can engage with the slot of the fixed buckle, and both the force-applying part and the movable hook are exposed on the side wall of the housing of the actuating component; the fourth elastic element is disposed on the inner side of the movable pressure rod, one end of the fourth elastic element abuts against the movable pressure rod, and the other end abuts against and is fixed to a fixed seat in the housing, and is configured to provide a reset force for the movable pressure rod when the movable pressure rod is pressed inward and the movable hook disengages from the slot of the fixed buckle.

[0016] Compared with existing technologies, this invention provides an execution component with better operability. Specifically, the execution component includes a housing, and a transfer execution mechanism and a clamping execution mechanism located within the housing. The auxiliary transfer wheel and the transfer wheel of the transfer execution mechanism are spaced apart in a first direction and connected by a belt drive mechanism. The outer rims of both the transfer wheel and the auxiliary transfer wheel are configured with concave arc surfaces to increase the friction between them and the outer peripheral surface of the flexible instrument, effectively controlling the possibility of slippage during transfer. The passive transfer wheel and the transfer wheel of the clamping execution mechanism are positioned opposite each other in a second direction, with their rotation axes aligned along a third direction, enabling clamping operations for efficient delivery. This modular design allows the execution component to be detachably mounted on the drive component, enabling independent installation and disassembly. It can be quickly removed after surgery, providing excellent operability. Furthermore, the execution component can be used in conjunction with the drive component, effectively avoiding cross-contamination and significantly reducing preoperative preparation time. In an emergency, after the actuator and drive components detach, the operator can remove the flexible instrument and complete a quick takeover operation, which can effectively avoid the possibility of the instrument going out of control and improve the safety and reliability of instrument operation. Attached Figure Description

[0017] Figure 1 This is a schematic diagram illustrating one usage state of the flexible medical device conveying device described in a specific embodiment; Figure 2 for Figure 1 A schematic diagram showing the assembly relationship between the actuator and drive components of the flexible medical device delivery device. Figure 3 This is a schematic diagram of the external structure of the driving component described in a specific embodiment; Figure 4 for Figure 3 A schematic diagram of the internal structure of the drive component shown; Figure 5 for Figure 4 View from direction A; Figure 6 This diagram illustrates a detached state of the actuator and the flexible device. Figure 7 This is a schematic diagram showing the assembly relationship of the driving components described in a specific embodiment; Figure 8 for Figure 7 A schematic diagram of the bearing arrangement on the bracket shown in the image; Figure 9 for Figure 7 BB section view in the middle; Figure 10 for Figure 5 CC section view in the middle; Figure 11 for Figure 5 DD section view in the middle; Figure 12 for Figure 11 Enlarged view of part E in the image; Figure 13 for Figure 5 FF section view; Figure 14 for Figure 5 GG section view in the middle; Figure 15 for Figure 5 HH section view in the middle; Figure 16 for Figure 15 Section II in the middle; Figure 17 This is a schematic diagram of the external structure of the execution component described in a specific embodiment; Figure 18 for Figure 17 A schematic diagram of the internal layout of the execution component shown; Figure 19 for Figure 18 JJ section view; Figure 20 This is a schematic diagram illustrating the adaptation relationship between the clamping actuator and the transfer actuator in a specific embodiment; Figure 21 This is a schematic diagram of the overall structure of the clamping actuator described in the specific embodiment; Figure 22 for Figure 21 The K-direction view in the middle; Figure 23 for Figure 18 LL section view in the middle; Figure 24 for Figure 18 MM section view in the middle; Figure 25 This is a schematic diagram illustrating the assembly relationship of the quick-connect components described in a specific embodiment.

[0018] In the picture: Flexible instrument delivery device 100, flexible instrument 200; Drive component 10, rotary drive mechanism 11, rotary motor 111, rotary output gear 112, second slot 1121, boss 1122, outer flange 11221, first transmission mechanism 113, first drive pulley 1131, first synchronous belt 1132, first driven pulley 1133, drive gear 1134, tensioning pulley 1135, transfer drive mechanism 12, transfer motor 121, first mating plate 122, protrusion 1221, spline bushing 1222, second transmission mechanism 123, second drive pulley 1231, second synchronous belt 1232, second driven pulley 1233, first self-lubricating bushing 1241, wheel and axle 1242 1243, external spline, 1244, first elastic element, 1245, shaft support, 13, clamping drive mechanism, 131, clamping motor, 132, second mating plate, 133, third transmission mechanism, 133, third driving pulley, 1331, third synchronous belt, 1332, third driven pulley, 14, bracket, 141, base plate, 15, first slot, 151, positioning post, 152, connecting post, 16, bearing, 17, detection mechanism, 18, third mating plate, 181, magnetic encoder, 182, magnetic block, 183, second self-lubricating bushing, 184, encoder base, 185, second elastic element, 186, guide post, 187, first housing, 191, second housing, 192; Execution component 20, transfer execution mechanism 21, fourth docking plate 211, recess 2111, first bevel gear set 212, transfer wheel 213, auxiliary transfer wheel 214, fourth driving pulley 215, fourth synchronous belt 216, fourth driven pulley 217, clamping execution mechanism 22, fifth docking plate 221, passive transfer wheel 222, sliding bracket 223, slider 2231, slide groove 2232, fixed bracket 224, second bevel gear set 225, gear transmission mechanism 226, lead screw and nut mechanism 227, passive wheel bracket 228, guide slider 2281, third elastic element 229, detection torque transmission mechanism 23, sixth docking plate 231, torque spring tube 232, third bevel gear set 233, outer shell 24, through hole 241; Quick-connect component 30, fixed buckle 31, bayonet 311, movable pressure rod 32, movable hook 321, force application part 322, fourth elastic element 33. Detailed Implementation

[0019] To enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0020] Without loss of generality, this embodiment provides a flexible instrument delivery device to perform reliable rotational, transfer, and transfer-rotation delivery movements for flexible instruments, meeting clinical operational needs for flexible instrument delivery. Please refer to... Figure 1 and Figure 2 ,in, Figure 1 This is a schematic diagram illustrating one usage state of the flexible medical device conveying device described in this embodiment. Figure 2 for Figure 1 The diagram shows the assembly relationship between the actuator and drive components of the flexible instrument delivery device.

[0021] The flexible instrument transport device 100 includes a drive component 10 and an execution component 20. The drive component 10 provides driving force to the execution component 20 to transport the flexible instrument 200. The drive component 10 can output clamping driving force to a clamping execution mechanism on the execution component 20 side to clamp the flexible instrument 200. Furthermore, the drive component 10 can output transfer driving force to a transfer execution mechanism on the execution component 20 side to transfer the flexible instrument 200. Additionally, the drive component 10 can drive the execution component 20 to rotate, causing the flexible instrument 200 to rotate synchronously.

[0022] Overall, the flexible instrument can independently perform transfer motion, rotational motion, and a combination of transfer and rotational motion. Here, "transfer motion" refers to transfer along the extension direction of the flexible instrument 200, that is, transfer along the first direction indicated by arrow X in the figure; "rotational motion" refers to rotation about the extension direction of the flexible instrument 200.

[0023] In a specific implementation, the drive component 10 can be installed at the end of a robotic arm (not shown in the figure) to achieve the basic assembly of the flexible instrument transport device 100, and the position adjustment of the flexible instrument transport device 100 can be achieved through the robotic arm. Of course, the basic assembly of the flexible instrument transport device 100 can also adopt other configuration forms, and is not limited to being installed on a robotic arm. It should be understood that any configuration that can meet the functional requirements of the flexible instrument independently performing transfer motion, rotation motion, and combined transfer and rotation motion is acceptable.

[0024] In this embodiment, the actuating component 20 is mounted on the driving component 10 via a quick-connect assembly 30, thereby establishing a clamping transmission path and a transfer transmission path between the two. The actuating component 20 adopts a modular design and is detachably mounted on the driving component 10, allowing for independent installation and removal. It can be quickly removed after the operation, providing good operability. Simultaneously, the actuating component can be used in conjunction with the driving component 10, effectively avoiding cross-contamination and significantly reducing preoperative preparation time.

[0025] To clearly describe the relative positional relationship between the components or structures of this solution, the first direction X is defined as the direction consistent with the transfer motion, and the execution component 20 can be assembled and disassembled relative to the drive component 10 along the first direction X.

[0026] Please see also Figure 3 , Figure 4 and Figure 5 ,in, Figure 3 This is a schematic diagram of the external structure of the driving component provided in an embodiment of this application. Figure 4 for Figure 3 The diagram shows the internal structure of the drive component. Figure 3 The view formed by removing the outer shell is based on this. Figure 5 for Figure 4 A-direction view.

[0027] The drive component 10 includes a rotary drive mechanism 11, a transfer drive mechanism 12, and a clamping drive mechanism 13, all of which are assembled on a bracket 14. After assembly, they can be enclosed by a housing. As shown in the figure, the bracket 14 is roughly L-shaped, which facilitates the arrangement of the corresponding functional mechanisms. One end is used to connect to the robotic arm, and the other end serves as the drive output end for mounting the drive output components, exhibiting good integration. In other specific implementations, the structural shape of the bracket 14 can be determined according to the overall product setup requirements, rather than being limited to the shape shown in the figure.

[0028] The rotary drive mechanism 11 can drive the transfer drive mechanism 12 and the clamping drive mechanism 13 in the drive component 10 to rotate as a whole, and at the same time, the torque is transmitted to the execution component 20 side through the quick-connect assembly 30, thereby driving the flexible instrument 200 to rotate.

[0029] like Figure 4 As shown, the power output from the rotary motor 111 of the rotary drive mechanism 11 drives the rotary output gear 112 to rotate through the transmission mechanism. As the rotary output component of the rotary drive mechanism 11, the rotary output gear 112 is rotatably mounted on the bracket 14.

[0030] The transfer drive mechanism 12 and clamping drive mechanism 13 on the drive component 10 side are respectively connected to the transfer execution mechanism and clamping execution mechanism on the execution component 20 side, thereby realizing the transfer movement of the flexible device 200 and the operation of clamping the flexible device 200.

[0031] In this embodiment, the transfer drive mechanism 12 and the clamping drive mechanism 13 are mounted on a base plate 15, which is fixedly connected to a rotary output gear 112. This allows the base plate 15 to drive the integrated transfer drive mechanism 12 and clamping drive mechanism 13 to rotate synchronously. The base plate 15 can be fixedly connected to the rotary output gear 112 via connecting posts 16, resulting in a simple and reliable structure. In specific implementations, the number of connecting posts 16 can be determined as needed and arranged reasonably to avoid interference with other components. This application does not limit the scope of the embodiment.

[0032] Meanwhile, a positioning post 152 is also provided on the substrate 15 to play a positioning and guiding role when the execution component 20 is docked and assembled.

[0033] The transfer drive mechanism 12 and the clamping drive mechanism 13 both include docking plates located on the base plate 15, and are respectively connected to the docking plates corresponding to the execution component 20 side to establish a transfer drive path and a clamping drive path.

[0034] like Figure 4 As shown, the first docking plate 122 and the second docking plate 132 are located on opposite sides of the substrate 15 and the execution component 20. The power output from the transfer motor 121 of the transfer drive mechanism 12 drives the first docking plate 122 to rotate through the transmission mechanism; that is, the first docking plate 122 is the transfer output component of the transfer drive mechanism 12. The power output from the clamping motor 131 of the clamping drive mechanism 13 drives the second docking plate 132 to rotate through the transmission mechanism; that is, the second docking plate 132 is the clamping output component of the clamping drive mechanism 13. Thus, the output of transfer driving force and clamping driving force are realized respectively.

[0035] In this embodiment, the substrate 15 and the rotary output gear 112 are spaced apart, and the transmission mechanisms of the transfer drive mechanism 12 and the clamping drive mechanism 13 are both located between the substrate 15 and the rotary output gear 112. The main bodies of the transfer motor 121 and the clamping motor 131 extend out of the substrate 15, which can reduce the internal space occupied.

[0036] Overall, the outer housing of the drive component 10 comprises two parts, combined Figure 3 and Figure 4 As shown, the first housing 191 is mounted on the outside of the transfer motor 121 and the clamping motor 131 and is fixed to the base plate 15; the second housing 192 is mounted on the component between the base plate 15 and the bracket 14 and is fixed to the bracket 14.

[0037] To enable takeover of the flexible device in an emergency, an retrieval channel can be configured on the drive component side. In a specific implementation, the base plate 15, the rotary output gear 112, and the support 14 all have laterally extending slots. The first slot 151 on the base plate 15, the second slot 1121 on the rotary output gear 112, and the third slot 141 on the support 14 extend from the center of their respective bodies to their side edges. Here, "center" refers to the region corresponding to the rotation center of the rotary output gear 112 and the base plate 15.

[0038] When the first slot 151, the second slot 1121, and the third slot 141 are aligned in the first direction X, an extraction channel P can be established. Under normal operating conditions, the flexible instrument 200 is located in the area corresponding to the rotation center of each slot. In emergency situations, such as... Figure 6 As shown, the flexible instrument 200 can be removed through the removal channel P to complete the quick take-off action.

[0039] In specific implementations, the widths of the first slot 151, the second slot 1121, and the third slot 141 can be the same or different, as long as they can accommodate the flexible instrument 200 and meet the functional requirements of rapid removal operation.

[0040] Furthermore, the rotational adaptation between the rotary output gear 112 and the bracket 14 can be achieved through the boss 1122 of the rotary output gear 112 and multiple bearings 17 disposed on the bracket 14. Please refer to [further details omitted]. Figure 7 , Figure 8 and Figure 9 ,in, Figure 7 This is a schematic diagram showing the assembly relationship of the driving components described in a specific embodiment. Figure 8 for Figure 7 The diagram shows the bearing arrangement on the bracket. Figure 9 for Figure 7 BB section view in the middle.

[0041] The boss 1122 of the rotary output gear 112 extends toward the bracket 14, and the outer ring of each bearing 17 is adapted to the outer peripheral surface of the boss 1122 of the rotary output gear 112. Figure 8 As shown, multiple bearings 17 are arranged on the bracket 14 beside the third slot 141, that is, the bearings 17 are arranged away from the third slot 141. Relative to the rotation center of the rotating output gear 112, each bearing 17 is arranged circumferentially.

[0042] In specific implementations, the wrap angle α formed by multiple bearings 17 in the rotation direction of the rotary output gear 112 can be determined according to the actual slot size. Preferably, a larger wrap angle is used to arrange the bearings 17 to maximize the stability and reliability of the rotational adaptation relationship. It is understood that, taking the upward-opening extraction channel P in the figure as an example, the wrap angle α formed by multiple bearings 17 spaced along the third slot 141 of the bracket 14, as shown in the figure, is not less than 180° to meet the basic functional requirements of rotational adaptation. This application does not limit the scope of the embodiments.

[0043] In this embodiment, the bearing 17 can be a U-groove bearing, meaning the cross-sectional shape of the outer circumferential surface of the bearing 17's outer ring is U-shaped. Correspondingly, the boss 1122 of the rotating output gear 112 has an annular protrusion structure 11221, which can be housed within the U-groove of the bearing 17 to form a stable rotational fit for axial positioning. It should be understood that the rotational fit of the rotating output gear 112 relative to the bracket 14 can also be achieved using a cylindrical roller bearing. This application does not limit the specific embodiments.

[0044] In a possible implementation, the output ends of the drive motors of the rotary drive mechanism 11, the transfer drive mechanism 12, and the clamping drive mechanism 13 on the drive component 10 side can be directly connected to the output component, resulting in better transmission efficiency. To fully utilize the assembly space, the output ends of each drive motor in this embodiment can be connected to the output component via a transmission mechanism.

[0045] For the transmission path of the rotary drive mechanism 11, please refer to [link / reference]. Figure 4 , Figure 5 and Figure 7 The rotary motor 111 outputs power through a first transmission mechanism 113 formed by a belt transmission mechanism and a gear transmission mechanism.

[0046] In this transmission mechanism 113, the first driving pulley 1131 is coaxially fixed to the output end of the rotary motor 111. The first driving pulley 1131 forms a belt drive mechanism with the first driven pulley 1133 via a matching first synchronous belt 1132. The first driven pulley 1133 is coaxially fixed to the drive gear 1134, which meshes with the rotary output gear 112 to form a gear drive mechanism. Here, the working surface of the synchronous belt is toothed, and the rim surface of the pulley is also toothed accordingly. The belt and pulley transmit power through meshing, ensuring a stable transmission ratio and good transmission accuracy.

[0047] To improve the transmission reliability between the drive gear 1134 and the rotary output gear 112, as shown in the figure, two sets of drive gears 1134 and first driven pulleys 1133 are provided. The two drive gears 1134 mesh with the rotary output gear 112, and the two first driven pulleys 1133 are adapted to the first synchronous belt 1132. In this way, based on this belt drive mechanism, the rotary output gear 112 can be driven to rotate synchronously by the two drive gears 1134.

[0048] In practical implementation, to further improve the reliability of power transmission in the belt drive mechanism, a tensioning pulley 1135 can be provided. This tensioning pulley 1135 can press against the first synchronous belt 1132 to provide belt tension that meets the transmission requirements. As shown in the figure, the tensioning pulley 1135 can be located between the two first driven pulleys 1133, that is, it abuts against the first synchronous belt 1132 between them, so that the tension force acting on the two first driven pulleys 1133 tends to be consistent, achieving effective load sharing.

[0049] For the transmission path of the transfer drive mechanism 12, please refer to [link / reference]. Figure 5 , Figure 10 and Figure 11 ,in, Figure 10 for Figure 5 CC section view in Figure 11 for Figure 5 The DD sectional view is shown here. This is to clearly illustrate the structure and connection relationships of the transfer drive mechanism 12. Figure 11 The drive motor and other components have been omitted.

[0050] The transfer motor 121 outputs power through a second transmission mechanism 123 formed by a belt drive mechanism. The second drive pulley 1231 of the second transmission mechanism 123 is coaxially fixed to the output end of the transfer motor 121. This second drive pulley 1231 forms a belt drive mechanism with a compatible second synchronous belt 1232 and a second driven pulley 1233. The second driven pulley 1233 is coaxially arranged with the first mating disc 122 and transmits torque.

[0051] To improve the operability of docking between the drive side and the execution side, in a specific implementation, the first docking plate 122 of the transfer drive mechanism 12 can be a flexible docking plate. See also... Figure 12 The image is Figure 11 Enlarged view of part E in the image.

[0052] The first mating disc 122 is inserted into the base plate 15 and pivotally connected to an opening on the base plate 15 via a first self-lubricating bushing 1241. The outer end face of the first mating disc 122 has a protrusion 1221 for fitting into the recess of the actuating side mating disc; simultaneously, the inner end of the first mating disc 122 has a splined bushing 1222. Correspondingly, an external spline 1243 is coaxially fixed on the axle 1242 of the second driven pulley 1233, and the splined bushing 1222 is inserted into and fitted with the external spline 1243. Thus, torque is transmitted from the second driving pulley 1231 at the output end of the transfer motor 121, via the second synchronous belt 1232, to the second driven pulley 1233 fixed on the axle 1242, and then transmitted to the first mating disc 122 via the external spline 1243 fixed on the axle 1242.

[0053] Meanwhile, the first mating disc 122 and the axle 1242 are provided with a first elastic element 1244. Based on this elastic mating disc, when the actuator 20 and the drive component 10 are assembled, the first mating disc 122 can be pressed against it, and the spline bushing 1222 of the first mating disc 122 can slide inward relative to the outer spline 1243 on the axle 1242 side. During this process, the first elastic element 1244 is deformed under pressure. When the protrusion 1221 on the outer end face of the first mating disc 122 is completely aligned with the concave part of the actuator mating disc, the first elastic element 1244 can release its elastic deformation energy and push the first mating disc 122 to move in the opposite direction until the protrusion 1221 and the concave part of the actuator mating disc are inserted into place.

[0054] like Figure 12 As shown, the first elastic element 1244 is a compression spring built into the spline bushing 1222, and the compression spring is fitted onto one end of the wheel axle 1242 to maintain a reliable basic assembly relationship. Of course, in other possible implementations, the first elastic element 1244 can also adopt other structural forms according to the overall design requirements, and is not limited to the compression spring shown in the figure.

[0055] In a specific implementation, the other end of the axle 1242 can be pivotally connected to the rotary output gear 112 via a bearing. Additionally, to improve the overall stability of the transfer drive mechanism's operation, optionally, the middle portion of the axle 1242 can also be mounted on a shaft support 1245 via a bearing. This shaft support 1245 can be fixed to the base plate 15 or to the rotary output gear 112. This application does not limit the scope of the embodiments.

[0056] For the transmission path of the clamping drive mechanism 13, please refer to [link / reference]. Figure 5 , Figure 13 and Figure 14 ,in, Figure 13 for Figure 5 FF section view, Figure 14 for Figure 5The GG cross-sectional view in the figure. To clearly illustrate the structure and connection relationship of the clamping drive mechanism 13, Figure 13 and Figure 14 The drive motor and other components have been omitted.

[0057] The clamping motor 131 outputs power through a third transmission mechanism 133 formed by a belt drive mechanism. The third driving pulley 1331 of the third transmission mechanism 133 is coaxially fixed to the output end of the clamping motor 131. This third driving pulley 1331 forms a belt drive mechanism with the third driven pulley 1333 via a compatible third synchronous belt 1332. The third driven pulley 1333 is coaxially arranged with the second mating disc 132, thus achieving torque transmission.

[0058] To improve the operability of docking between the drive side and the execution side, the second docking plate 132 of the clamping drive mechanism 13 can also be a flexible docking plate, and its specific structural form can be the same as that of the clamping drive mechanism 13. Figure 12 The flexible docking implementation method of the transfer drive mechanism described in the previous section is the same. It will not be repeated here.

[0059] It should be noted that, in other possible implementation schemes, the belt drive mechanisms configured in the first transmission mechanism 113, the second transmission mechanism 123 and the third transmission mechanism 133 may also adopt other structural forms as needed, rather than being limited to synchronous belts.

[0060] Furthermore, to facilitate accurate judgment and corresponding operations by doctors, the drive component 10 provided in this embodiment also includes a detection mechanism to determine the current transfer length of the flexible instrument based on the movement of the execution-side transfer actuator. Please refer to... Figure 5 , Figure 15 and Figure 16 ,in, Figure 15 for Figure 5 HH section view in Figure 16 for Figure 15 Section II is shown in the diagram. This is to clearly illustrate the composition and connection relationships of the testing mechanism. Figure 16 The drive motor and other components have been omitted.

[0061] The detection mechanism 18 includes a third docking plate 181, a magnetic encoder 182, and a magnetic block 183. The third docking plate 181 is inserted into the base plate 15 and can be pivotally connected to the base plate 15 via a second self-lubricating bushing 184. The magnetic block 183 is fixedly disposed at the inner end of the third docking plate 181, and the magnetic encoder 182, which is adapted to the magnetic block 183, is fixedly disposed, for example, but not limited to, via an encoder base 185. In this way, the transfer actuator on the execution side can drive the third docking plate 181 to rotate, and the magnetic encoder 182 can collect corresponding signals based on the rotation of the magnetic block 183, thereby determining the transfer length, which can provide corresponding reference information for doctors during use.

[0062] In addition, to improve the operability of the docking between the drive side and the execution side, the third docking plate 181 of the detection mechanism 18 can be an elastic docking plate. Specifically, a second elastic element 186 can be provided between the third docking plate 181 and the base plate 15. Correspondingly, the encoder base 185 can slide and adapt to the fixed guide post 187. Based on this elastic docking plate, when assembling the execution component 20 and the drive component 10, the third docking plate 181 can be pressed against it, and the third docking plate 181 pushes the encoder base 185 to slide inward along the guide post 187. During this process, the second elastic element 186 is deformed under pressure. When the outer end face of the third docking plate 181 is completely aligned with the execution side docking plate, the second elastic element 186 can release its elastic deformation energy and push the third docking plate 181 to move in the opposite direction until the outer end face of the third docking plate 181 is inserted into the execution side docking plate.

[0063] It is understood that the compatible magnetic encoder 182 and magnetic block 183 can be implemented using existing technology, and therefore will not be described in detail. Additionally, the second elastic element 186 shown in the figure is a compression spring; in other possible implementations, this second elastic element 186 can also adopt other structural forms according to overall design requirements. The embodiments in this application are not limited.

[0064] Please see Figure 17 and Figure 18 ,in, Figure 17 This is a schematic diagram of the external structure of the execution component described in a specific embodiment. Figure 18 for Figure 17 The diagram shows the internal layout of the actuator, which is an illustration formed from the perspective of the drive side along the first direction X.

[0065] In this embodiment, the actuating component 20 includes a transfer actuating mechanism 21, a clamping actuating mechanism 22, and a torque transmission detection mechanism 23 disposed within the housing 24. The housing 24 has a through hole 241 in the first direction X to allow the flexible instrument 200 to be inserted. The mating plates of the transfer actuating mechanism 21, the clamping actuating mechanism 22, and the torque transmission detection mechanism 23 are all exposed outside the housing 24 to be connected to corresponding mating plates on the drive side. For ease of description, the second direction Y and the third direction Z are defined as two directions in a plane perpendicular to the first direction X, where the second direction Y is the clamping movement direction.

[0066] The transfer actuator 21 includes a fourth docking plate 211, a first bevel gear set 212, and a transfer wheel 213. (Please refer to the attached document for further details.) Figure 18 and Figure 19 ,in, Figure 19 for Figure 18 JJ section view.

[0067] The rotation axis of the transfer wheel 213 is set along the third direction Z. The driving gear of the first bevel gear set 212 is coaxially fixed with the fourth docking plate 211, and the driven gear of the first bevel gear set 212 is coaxially fixed with the transfer wheel 213. Thus, after the fourth docking plate 211, as a transfer input component, docks with the first docking plate 122 of the drive-side transfer drive mechanism 12, power is transmitted to the transfer wheel 213 through the first bevel gear set 212. As the transfer wheel 213 rotates, its outer rim can drive the flexible device 200 to move along the first direction X. In specific implementation, the forward and reverse rotation of the transfer wheel 213 corresponds to the delivery or retraction operation of the flexible device 200, respectively.

[0068] Furthermore, the transfer actuator 21 may also include an auxiliary transfer wheel 214, which is spaced apart from the transfer wheel 213. The rotation axes of the transfer wheel 213 and the auxiliary transfer wheel 214 are parallel, and the transfer wheel 213 and the auxiliary transfer wheel 214 rotate synchronously through a belt drive mechanism.

[0069] Specifically, the fourth driving pulley 215 is coaxially fixed to the transfer wheel 213. The fourth driving pulley 215 forms the belt drive mechanism with the fourth driven pulley 217 via a compatible fourth synchronous belt 216. The fourth driven pulley 217 is coaxially fixed to the auxiliary transfer wheel 214. Based on the good transmission accuracy of the synchronous belt, the outer rims of the transfer wheel 213 and the auxiliary transfer wheel 214 jointly drive the flexible device 200 to move along the first direction X, effectively ensuring the reliable stability of the transfer operation.

[0070] For example, the figure illustrates the cooperative linkage between transfer wheel 213 and auxiliary transfer wheel 214 using one auxiliary transfer wheel 214 as an example. In other possible implementations, there can be multiple auxiliary transfer wheels 214, such as, but not limited to, two, which can also achieve synchronous rotation based on a timing belt. The specific configuration can be determined according to actual needs. This application does not limit the implementation.

[0071] In a specific implementation, the driven gear of the first bevel gear set 212, the transfer wheel 213, and the fourth driving pulley 215 can be coaxially fixed and secured by brackets located at both ends of the shaft. The shafts of the auxiliary transfer wheel 214 and the fourth driven pulley 217 can also be fixed by brackets located at both ends of the shaft.

[0072] In order to increase the contact area between the transfer wheel 213 and the auxiliary transfer wheel 214 and the outer peripheral surface of the flexible device 200, the outer rims of both can be configured as concave arc surfaces to improve the friction between them and reasonably control the possibility of slippage during transfer.

[0073] It should be noted that, corresponding to the protrusion 1221 on the outer end face of the first mating disc 122 on the drive side, as... Figure 18As shown, the fourth mating plate 211 on the execution side is provided with a matching recess 2111 to insert and adapt to transmit torque in the mating direction. Similarly, the fifth mating plate 221 on the execution side and the second mating plate 132 of the clamping drive mechanism 13 on the drive side can also use matching protrusions and recesses to achieve torque transmission.

[0074] The clamping actuator 22 provides clamping force to the flexible device 200. (See also...) Figure 20 The figure shows a schematic diagram of the adaptation relationship between the clamping actuator 22 and the transfer actuator 21. The passive transfer wheel 222 of the clamping actuator 22 can press against the flexible device 200 to achieve a clamping operation, so as to achieve efficient conveying operation.

[0075] The clamping actuator 22 includes a fifth docking plate 221, a passive transfer wheel 222, a sliding bracket 223, a fixed bracket 224, a second bevel gear set 225, a gear transmission mechanism 226, and a lead screw and nut mechanism 227. Please refer to the following: Figure 21 , Figure 22 and Figure 23 ,in, Figure 21 This is a schematic diagram of the overall structure of the clamping actuator 22. Figure 22 for Figure 21 K-direction view in the middle, Figure 23 for Figure 18 LL section view in the image.

[0076] The passive transfer wheel 222 is rotatably mounted on the sliding bracket 223, and its rotation axis is set along the third direction Z, that is, it is set opposite to the transfer wheel 213 in the second direction and their rotation axes are parallel. The driving gear of the second bevel gear set 225 is coaxially fixed to the fifth docking plate 221, the driven gear of the second bevel gear set 225 is coaxially fixed to the driving gear of the gear transmission mechanism 226, and the driven gear of the gear transmission mechanism 226 is coaxially fixed to the lead screw of the lead screw and nut mechanism 227. Here, the lead screw of the lead screw and nut mechanism 227 is pivotally connected to the fixed bracket 224 and axially positioned on the fixed bracket 224, which is fixedly installed inside the outer shell 24. The nut of the lead screw and nut mechanism 227 is fixedly installed on the sliding bracket 223, which can slide relative to the outer shell 24 in the second direction Y.

[0077] Thus, after the fifth docking plate 221, which serves as the clamping input component, docks with the second docking plate 132 of the driving side clamping drive mechanism 13, the power is transmitted to the lead screw and nut mechanism 227 through the second bevel gear set 225 and the gear transmission mechanism 226. Based on the transmission principle of the lead screw and nut mechanism 227, the power transmission torque can be converted into a positive pressure in the second direction Y. Finally, the passive transfer wheel 222 is driven to move toward the transfer wheel 213 through the sliding bracket 223 to realize the clamping operation.

[0078] It is understandable that, in the transmission path from the fifth docking plate 221 to the lead screw and nut mechanism 227, the gear transmission mechanism 226 achieves a reasonable layout of the external interface and internal components, thereby improving the overall integration of the actuator 20.

[0079] In other possible implementations, the gear transmission mechanism 226 can be selectively configured. That is, after the rotation direction is adaptively changed through the second bevel gear set 225, the driven gear of the second bevel gear set 225 can be directly fixed coaxially with the lead screw of the lead screw and nut mechanism 227, thus reliably achieving the aforementioned clamping operation. In comparison, this implementation scheme achieves better integration through the setting of the gear transmission mechanism 226.

[0080] In a specific implementation, multiple passive transfer wheels 222 can be spaced out in the first direction X, such as, but not limited to, the two passive transfer wheels 222 shown in the figure, to ensure reliable and stable transfer operation. Furthermore, the outer rims of the passive transfer wheels 222 can also be configured with concave arc surfaces to increase friction with the surface of the flexible instrument and effectively control slippage during transfer.

[0081] In other specific implementations, the fixing bracket 224 can be fixed to the inner wall of the adjacent outer shell 24, for example, but not limited to, the top wall of the outer shell 24 shown in the figure. This application does not limit the scope of the embodiments.

[0082] Furthermore, the specific implementation of the sliding bracket 223 sliding in the second direction Y can also be determined according to the overall product design requirements. For example, but not limited to, sliders 2231 can be provided on both sides of the sliding bracket 223 in the third direction Z, and as shown in the figure. Figure 18 The sliding bracket 223 is shown to slide and adapt to the fixed base that is fixed to the inner wall of the outer shell 24. Of course, in other possible implementations, the sliding bracket 223 can also directly establish a sliding adaptation relationship with the inner wall of the outer shell 24, which is not limited in this embodiment.

[0083] Furthermore, in order to reasonably control the positive pressure acting on the surface of the flexible device 200, a passive wheel support 228 and a third elastic element 229 can be added in the specific implementation.

[0084] Specifically, for example Figure 21 , Figure 22 and Figure 23 As shown, the passive transfer wheel 222 is integrated onto the passive wheel bracket 228, and the passive transfer wheel 222 is rotatably mounted on the passive wheel bracket 228. Simultaneously, the passive wheel bracket 228 is slidable relative to the sliding bracket 223 in the second direction Y. That is, the passive transfer wheel 222 indirectly achieves its rotatable configuration relative to the sliding bracket 223 through the passive wheel bracket 228. A third elastic element 229 is disposed between the passive wheel bracket 228 and the sliding bracket 223. The positive pressure of the sliding bracket 223's movement is transmitted to the passive wheel bracket 228 and the passive transfer wheel 222 through the third elastic element 229. In this way, the force exerted by the passive transfer wheel 222 when pressing against the flexible device is effectively buffered, obtaining reliable transfer friction while avoiding the adverse effects that may arise from excessive positive pressure.

[0085] In other specific implementations, the third elastic element 229 can be a spring, or it can be an elastic element with other structural forms.

[0086] In this embodiment, the passive wheel bracket 228 is partially embedded in the sliding bracket 223, and the two slide relative to each other through a matching groove and a guide slider. Figure 21 As shown, a guide slider 2281 is provided on the passive wheel bracket 228, and correspondingly, a sliding groove 2232 is provided on the sliding bracket 223. The guide slider 2281 is built into the sliding groove 2232, so as to realize the sliding setting of the passive wheel bracket 228 relative to the sliding bracket 223 in the second direction Y.

[0087] In other specific implementations, the groove and guide slider can also be arranged in opposite directions on the passive wheel bracket 228 and the sliding bracket 223 (not shown in the figure). In other possible implementations, other structural forms can also be used to achieve the sliding arrangement of the passive wheel bracket 228 relative to the sliding bracket 223. The embodiments in this application are not limited.

[0088] The detection torque transmission mechanism 23 transmits the rotation of the passive transfer wheel 222 to the drive side, and then to the detection mechanism 18 via the third docking plate 181. The transfer length is determined based on the detection of a high-precision magnetic angle encoder. Please refer to [further details omitted]. Figure 18 and Figure 24 ,in, Figure 24 This diagram illustrates the assembly relationship of the torque transmission mechanism 23. Figure 18 The MM sectioning positions shown are formed.

[0089] The torque transmission mechanism 23 includes a sixth mating plate 231, a torque spring tube 232, and a third bevel gear set 233. For example... Figure 24As shown, one end of the torque spring tube 232 is fixed to the passive transfer wheel 222, and the other end is fixed to the driving wheel of the third bevel gear set 233. The driven wheel of the third bevel gear set 233 is coaxially fixed to the sixth docking plate 231. In this way, when the passive transfer wheel 222 rotates during operation, the torque can be transmitted to the detection mechanism 18 in sequence through the torque spring tube 232, the third bevel gear set 233, and the matching sixth docking plate 231 and third docking plate 181.

[0090] In a specific implementation, the sixth mating disc 231, which serves as a torque output component, and the third mating disc 181, which serves as a torque input component, can be connected by end meshing teeth; in other words, the sixth mating disc 231 drives the third mating disc 181 to rotate through the meshing teeth.

[0091] Understandably, this solution uses a torque spring tube to transmit torque while adapting to the internal structural space. In other specific implementations, flexible torque transmission components such as flexible shafts, tightly wound springs, and torque sheaths can also be used, which can reliably transmit torque while adapting to the internal structural space.

[0092] Furthermore, the flexible medical device transport device provided in this embodiment is also equipped with a quick-connect assembly 30. Please refer to [link to previous document]. Figure 1 , Figure 2 , Figure 3 and Figure 25 ,in, Figure 25 This is a cross-sectional view of the quick-connect assembly described in this embodiment. Figure 1 The NN sectioning positions shown are formed.

[0093] The quick-connect assembly 30 includes a matching fixed buckle 31 and a movable hook 321. The fixed buckle 31 is fixedly mounted on the base plate 15 on the drive side, and has a slot 311 that matches the movable hook 321. The movable hook 321 is disposed on the movable pressure rod 32 on the execution side. Both the force-applying part 322 of the movable pressure rod 32 and the movable hook 321 are exposed in the opening on the side wall of the housing 24. A fourth elastic member 33 is also provided inside the movable pressure rod 32. One end of the fourth elastic member 33 abuts against the movable pressure rod 32, and the other end can abut against and be fixed to a fixed seat inside the housing 24.

[0094] During assembly, the actuator 20 moves toward the drive component 10 along the first direction X. Under the action of the fixed buckle 31, the movable hook 321 drives the movable pressure rod 32 to retract inward and presses the fourth elastic element 33 to deform. When the movable hook 321 is aligned with the slot 311 on the fixed buckle 31, the fourth elastic element 33 releases its elastic deformation energy and pushes the movable hook 321 back to its original position to engage with the slot 311.

[0095] When it is necessary to disassemble the actuator 20, the operator presses the force application part 322 of the movable pressure rod 32, pushing the movable pressure rod 32 inward until the movable hook 321 disengages from the latch 311 on the fixed buckle 31, at which point the actuator 20 can be removed from the drive component 10. This allows for quick removal or replacement during and after surgery, reducing surgical preparation or operation time and effectively preventing cross-contamination.

[0096] In a specific implementation, the fourth elastic element 33 can be a spring, or it can be an elastic element with other structural forms.

[0097] In addition, to improve operability and assembly reliability, the quick-connect assembly 30 can be used as follows: Figure 25 The arrangement shown is on two opposite sides of the actuator 20, allowing the operator to quickly assemble and disassemble the actuator 20 with one hand.

[0098] Furthermore, the flexible instrument delivery device provided in this embodiment also includes a cleaning component (not shown in the figure). This cleaning component can be disposed at the front end of the actuating component and is used to clean mucus and other adhering substances from the surface of the flexible instrument. For example, but not limited to, a cleaning bracket can be detachably disposed at a through hole in the outer shell, and a cleaning sponge can be installed on the cleaning bracket. The body of the flexible instrument can pass through the cleaning sponge and be cleaned through surface contact. It should be noted that the specific implementation of this cleaning component can adopt different implementation methods, and this application embodiment does not limit it.

[0099] The working principle of the flexible medical device delivery device described in this embodiment is briefly explained below: First, the actuator 20 is pressed along the positioning post 152 toward the drive component 10. The positioning recess on the actuator (not shown in the figure) is adapted to the positioning post 152 and is snapped in place by the quick-connect assembly 30. Then, each drive motor is activated to achieve elastic docking between the transfer, clamping and detection mechanism on the actuator side and the drive side. Next, the flexible instrument 200 is inserted along the first direction X. The clamping drive mechanism 13 is activated to drive the clamping actuator 22 to press down and clamp the flexible instrument 200.

[0100] In actual operation, the rotary drive mechanism 11 can drive the entire actuator 20 to rotate, realizing the rotation operation of the flexible instrument 200; the transfer drive mechanism 12 drives the transfer wheel of the transfer actuator 21 to complete the transfer operation of the flexible instrument. At the same time, the passive transfer wheel drives the detection mechanism 18 to determine the current transfer length.

[0101] In an emergency, the operator presses the quick-connect assembly 30, disconnecting the docking plate of the actuator 20 and the drive assembly 10. The actuator 20 then ceases to apply force to the flexible instrument, preventing secondary injury to the patient. Simultaneously, once the slot of the drive assembly 10 is aligned to form a retrieval channel P, the flexible instrument 200 can be quickly retrieved through this retrieval channel P, ensuring that the operator can take over the instrument promptly.

[0102] The ordinal numbers "first" and "second" used herein are only for describing the composition or structure of the same function in the technical solution. It is understood that the use of the ordinal numbers "first" and "second" does not constitute a limitation on the understanding of the technical solution for which protection is sought in this application.

[0103] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An actuating component for conveying a flexible instrument, characterized in that, The actuating component includes a housing, and within the housing: The transfer actuator includes a transfer wheel, an auxiliary transfer wheel, a first bevel gear set, and a transfer input component for transmission connection with the transfer output component of the drive component. The auxiliary transfer wheel and the transfer wheel are spaced apart in a first direction, and the transfer wheel and the auxiliary transfer wheel are connected by a belt drive mechanism. The outer rims of the transfer wheel and the auxiliary transfer wheel are both configured as concave arc surfaces. The clamping actuator includes a passive transfer wheel, wherein the passive transfer wheel and the transfer wheel are arranged opposite to each other in a second direction, and the rotation axis of both are arranged along a third direction; The outer shell is provided with a through hole opened along a first direction, the through hole being used to insert a flexible device; the transfer input component is coaxially fixed to the driving wheel of the first bevel gear set, and the driven wheel of the first bevel gear set is coaxially fixed to the transfer wheel; Wherein, the second direction and the third direction are two directions in a plane perpendicular to the first direction; The clamping actuator further includes a clamping input component, a sliding bracket, a fixed bracket, a second bevel gear set, and a lead screw and nut mechanism; The lead screw of the lead screw and nut mechanism is pivotally connected to the fixed bracket and is axially positioned on the fixed bracket. The nut of the lead screw and nut mechanism is fixedly mounted on the sliding bracket. The sliding bracket is slidably mounted relative to the outer shell in a second direction. The passive transfer wheel is rotatably mounted relative to the sliding bracket. The clamping input component is fixed coaxially with the driving wheel of the second bevel gear set, and the driven wheel of the second bevel gear set can drive the lead screw of the lead screw and nut mechanism to rotate.

2. The actuating component according to claim 1, characterized in that, The clamping actuator further includes a gear transmission mechanism, the axle of which is arranged along a third direction; the driven wheel of the second bevel gear set is coaxially fixed with the driving wheel of the gear transmission mechanism, and the driven wheel of the gear transmission mechanism is coaxially fixed with the lead screw.

3. The actuating component according to claim 1 or 2, characterized in that, The passive transfer wheel is configured as a plurality of wheels, which are spaced apart in a first direction.

4. The actuating component according to claim 3, characterized in that, The clamping actuator further includes a passive wheel bracket and a third elastic element, wherein the third elastic element is disposed between the passive wheel bracket and the sliding bracket; The passive transfer wheel is rotatably mounted on the passive wheel bracket, and the passive wheel bracket is slidably mounted relative to the sliding bracket in a second direction.

5. The actuating component according to claim 4, characterized in that, The clamping actuator further includes a torque output component, a flexible torque transmission component, and a third bevel gear set; one end of the flexible torque transmission component is fixedly connected to the passive transfer wheel, and the other end is fixedly connected to the driving wheel of the third bevel gear set, and the passive wheel of the third bevel gear set is coaxially fixed with the torque output component.

6. The actuating component according to claim 1 or 2, characterized in that, The transfer input component is a fourth docking plate, and the clamping input component is a fifth docking plate. The outer end faces of the fourth docking plate and the fifth docking plate are respectively provided with recesses. The recesses on the fourth docking plate are adapted to the protrusions on the transfer output component of the driving component, and the recesses on the fifth docking plate are adapted to the protrusions on the clamping output component of the driving component.

7. A flexible instrument transport device, comprising an actuating component for transporting a flexible instrument and a driving component for providing driving force for transporting the flexible instrument; characterized in that, The drive component includes a bracket, and a component located on the bracket: A rotary drive mechanism includes a rotary output component, which is rotatably mounted on the bracket; a base plate is fixedly mounted on the rotary output component, and the base plate is disposed on the mating side of the drive component and the actuation component. A transfer drive mechanism is disposed on the substrate. The transfer drive mechanism includes a transfer output component, which is pivotally disposed on the substrate and is used for transmission connection with the transfer input component of the execution component. Wherein, the rotation axis of the rotary output component and the pivot axis of the transfer output component are both arranged along the first direction; The substrate has a first slot, the rotating output component has a second slot, and the bracket has a third slot. The first slot, the second slot, and the third slot extend from the middle of the main body to the side edge to form an extraction channel. The execution component adopts the execution component according to any one of claims 1 to 6, the execution component is disposed on the substrate of the drive component, and the transfer output component of the drive component and the transfer input component of the execution component establish a transfer transmission path.

8. The flexible medical device conveying device according to claim 7, characterized in that, It also includes a quick-connect component, the quick-connect component comprising: A fixing buckle is fixedly mounted on the base plate of the driving component, and the fixing buckle has a slot; The movable pressure rod is provided with a force-applying part and a movable hook. The movable hook can be engaged with the snap-fit ​​of the fixed buckle. Both the force-applying part and the movable hook are exposed on the side wall of the outer shell of the actuator. A fourth elastic element is disposed on the inner side of the movable pressure rod. One end of the fourth elastic element abuts against the movable pressure rod, and the other end abuts against and is fixed to the fixed seat inside the outer shell. It is configured to provide a restoring force to the movable pressure rod when the movable pressure rod is pressed inward and the movable hook disengages from the locking slot of the fixed buckle.

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