Delivery device for elongated medical instrument and surgical robot

Abstract

The invention discloses a delivery device of a slender medical instrument and a surgical robotic.The part, making contact with the slender medical instrument, of the delivery device is independently made into a drawer module, that is, the delivery device of the slender medical instrument is divided into a base and the drawer module, the drawer module can be embedded into the base, and the basic function of the delivery device is achieved; the drawer module can be pulled out of the base, and the drawer module can be replaced. The drawer module can be used as a disposable consumable and can be free of cleaning and disinfection, cross infection is avoided, and therefore the problem that the delivery device is polluted after being used and is not easy to clean and disinfect is solved.

Description

Technical Field

[0001] The invention relates to a delivery device for an elongated medical device and a surgical robot. Background Art

[0002] Interventional surgical robots are usually provided with a delivery device to deliver the slender medical device, so as to deliver the distal end of the slender medical device into or out of the patient's body. Specifically, as disclosed in the Chinese invention patent application "Endoscopic surgical equipment" with publication number CN115120352A, the soft endoscope used by the robot realizes automatic control during the surgical operation. Due to the physical structure of the soft endoscope, the forward and backward movement of its mirror body will not drive the forward and backward movement of its insertion part in the human body, so a mirror delivery mechanism is required to be placed at the patient's mouth to deliver the soft endoscope as a relay. However, before and after use, the endoscope needs to pass through this mirror delivery mechanism when it is delivered into and out of the patient's body, which inevitably causes pollution to the inside of the mirror delivery mechanism, so it is necessary to clean and disinfect the mirror delivery mechanism after each use. However, it is difficult to clean and disinfect the mirror delivery mechanism, and the manpower and material costs consumed in cleaning and disinfection are high. Summary of the invention

[0003] The present invention provides a delivery device for an elongated medical device and a surgical robot which can be safely and repeatedly used.

[0004] A delivery device for an elongated medical device having an elongated shaft, the delivery device comprising:

[0005] A base, the base comprising a containing space and a first driving mechanism;

[0006] A drawer module, the drawer module includes a box body and a traction mechanism, the box body has a channel running through it, and the channel is configured to receive the slender shaft of the medical device; the box body matches the accommodating space, and when the box body is embedded in the accommodating space, the first drive mechanism engages with the traction mechanism, and the first drive mechanism drives the traction mechanism, thereby driving the axial movement of the slender shaft.

[0007] In a preferred embodiment, the traction mechanism includes a pair of opposing rollers: a driving roller and a driven roller. When the first driving mechanism is engaged with the traction mechanism, the driving roller is driven by the first driving mechanism to rotate.

[0008] In a preferred embodiment, both ends of the driven roller are respectively connected with sliding adjustment members, and the sliding adjustment members include:

[0009] A sliding part, wherein the box body is provided with a first notch along the relative displacement direction between the driven roller and the active roller, and the sliding part is configured to slide in the first notch;

[0010] The limiting part, the accommodating space has a limiting groove for the limiting part to enter and exit, and the limiting groove is configured to apply a pushing force to the limiting part during the process of the box body being embedded in the accommodating space to reduce the relative displacement between the driven roller and the active roller.

[0011] In a preferred embodiment, the sliding portion has a rectangular block shape that can be slidably confined in the first notch, and the sliding portion is pivotally connected to the driven roller.

[0012] In a preferred embodiment, the limiting portion is configured to prevent the sliding adjustment member from completely passing through the first notch.

[0013] In a preferred embodiment, the limiting groove has an inclined surface, which is configured to make partial sliding contact with the limiting portion during the process of the box body being inserted into the accommodating space to generate a pushing force that changes the relative displacement between the driven roller and the active roller.

[0014] In a preferred embodiment, the limiting portion has an inclined surface, which is configured to partially slide in contact with the limiting groove during the process of the box body being inserted into the accommodating space to generate a pushing force that changes the relative displacement between the driven roller and the active roller.

[0015] In a preferred embodiment, an auxiliary guiding mechanism is provided between the limiting portion and the first notch, and the auxiliary guiding mechanism is composed of a protrusion formed at the end of the first notch and a sliding groove formed in the limiting portion, and when the sliding portion slides in the first notch, the protrusion slides in the sliding groove.

[0016] In a preferred embodiment, the first driving mechanism includes a first motor and a transmission mechanism, the transmission mechanism is configured as a gear transmission mechanism, the box body has a second notch, and the second notch is configured to facilitate the engagement of the transmission mechanism with the traction mechanism.

[0017] In a preferred embodiment, the box body includes a box body and an end cover, a bowl-shaped handle is provided on the outer side of the end cover, the bowl-shaped handle is open outward, and the channel passes through the axis of the bowl-shaped handle.

[0018] In a preferred embodiment, the channel forms an introduction portion and an outlet portion in front and rear of the traction mechanism, respectively, and both the introduction portion and the outlet portion are configured to isolate the slender shaft of the medical device from contacting the base.

[0019] In a preferred embodiment, the box body and the accommodating space can be locked to each other in a snap-fit ​​connection manner.

[0020] A delivery device for an elongated medical device having an elongated shaft, the delivery device comprising:

[0021] A base, the base comprising a rotating body and a second driving mechanism, the rotating body having a containing space and a first driving mechanism, the rotating body being arranged in the base through a bearing assembly, and the rotating body being driven by the second driving mechanism to rotate around the elongated shaft as an axis;

[0022] A drawer module, the drawer module includes a box body and a traction mechanism, the box body has a channel running through it, and the channel is configured to receive the slender shaft of the medical device; the box body matches the accommodating space, and when the box body is embedded in the accommodating space, the first drive mechanism engages with the traction mechanism, and the first drive mechanism drives the traction mechanism, thereby driving the axial movement of the slender shaft.

[0023] In a preferred embodiment, the second driving mechanism includes a second motor and a transmission mechanism, and the transmission mechanism is configured as a gear transmission mechanism, a belt transmission mechanism or a chain transmission mechanism.

[0024] In a preferred embodiment, the traction mechanism includes a pair of opposing rollers: a driving roller and a driven roller. When the first driving mechanism is engaged with the traction mechanism, the driving roller is driven by the first driving mechanism to rotate.

[0025] In a preferred embodiment, both ends of the driven roller are respectively connected with sliding adjustment members, and the sliding adjustment members include:

[0026] A sliding part, wherein the box body is provided with a first notch along the relative displacement direction between the driven roller and the active roller, and the sliding part is configured to slide in the first notch;

[0027] The limiting part, the accommodating space has a limiting groove for the limiting part to enter and exit, and the limiting groove is configured to apply a pushing force to the limiting part during the process of the box body being embedded in the accommodating space to reduce the relative displacement between the driven roller and the active roller.

[0028] In a preferred embodiment, the sliding portion has a rectangular block shape that can be slidably confined in the first notch, and the sliding portion is pivotally connected to the driven roller.

[0029] In a preferred embodiment, the limiting portion is configured to prevent the sliding adjustment member from completely passing through the first notch.

[0030] In a preferred embodiment, the limiting groove has an inclined surface, which is configured to make partial sliding contact with the limiting portion during the process of the box body being inserted into the accommodating space to generate a pushing force that changes the relative displacement between the driven roller and the active roller.

[0031] In a preferred embodiment, the limiting portion has an inclined surface, which is configured to partially slide in contact with the limiting groove during the process of the box body being inserted into the accommodating space to generate a pushing force that changes the relative displacement between the driven roller and the active roller.

[0032] In a preferred embodiment, an auxiliary guiding mechanism is provided between the limiting portion and the first notch, and the auxiliary guiding mechanism is composed of a protrusion formed at the end of the first notch and a sliding groove formed in the limiting portion, and when the sliding portion slides in the first notch, the protrusion slides in the sliding groove.

[0033] In a preferred embodiment, the first driving mechanism includes a first motor and a transmission mechanism, the transmission mechanism is configured as a gear transmission mechanism, the box body has a second notch, and the second notch is configured to facilitate the engagement of the transmission mechanism with the traction mechanism.

[0034] In a preferred embodiment, the box body includes a box body and an end cover, a bowl-shaped handle is provided on the outer side of the end cover, the bowl-shaped handle is open outward, and the channel passes through the axis of the bowl-shaped handle.

[0035] In a preferred embodiment, the channel forms an introduction portion and an outlet portion in front and rear of the traction mechanism, respectively, and both the introduction portion and the outlet portion are configured to isolate the slender shaft of the medical device from contacting the base.

[0036] In a preferred embodiment, the box body and the accommodating space can be locked to each other in a snap-fit ​​connection manner.

[0037] A surgical robot including a delivery device for the above-mentioned elongated medical instrument.

[0038] The delivery device of the slender medical device of the present invention makes the part in contact with the slender medical device into a drawer module, that is, the delivery device of the slender medical device is divided into a base and a drawer module. The drawer module can be embedded in the base to realize the basic functions of the delivery device; the drawer module can be pulled out of the base and replaced. The drawer module can be used as a disposable consumable, can be exempted from cleaning and disinfection, and avoids cross infection, thereby solving the problem that the delivery device is contaminated after use and is not easy to clean and disinfect. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1A schematic structural diagram of a delivery device for an elongated medical device according to an embodiment of the present invention;

[0040] Figure 2 for Figure 1 A schematic diagram of the structure of the base in the embodiment;

[0041] Figure 3 for Figure 1 A schematic structural diagram of a drawer module in an embodiment;

[0042] Figure 4 for Figure 3 A partial enlarged view of the middle A;

[0043] Figure 5 for Figure 3 A schematic diagram of the structure of the drawer module (excluding the end cover) in the embodiment;

[0044] Figure 6 for Figure 3 A schematic diagram of the structure of the end cover in the embodiment;

[0045] Figure 7 for Figure 3 A side view of a drawer module in an embodiment;

[0046] Figure 8 for Figure 1 A schematic structural diagram of a drawer module in an embodiment;

[0047] Fig. 9 A schematic diagram of the connection relationship between a drawer module and a first driving mechanism according to an embodiment of the present invention;

[0048] Fig.10 for Fig. 9 A schematic diagram of the connection relationship between the first driving mechanism and the active roller in the embodiment;

[0049] Fig.11 A schematic structural diagram of a driven roller according to an embodiment of the present invention;

[0050] Fig.12 A schematic diagram of a state of a sliding adjustment member according to an embodiment of the present invention;

[0051] Fig.13 A schematic diagram of a second state of a sliding adjustment member according to an embodiment of the present invention;

[0052] Fig.14 , Fig.15 A schematic diagram of the structure of a box body according to an embodiment of the present invention;

[0053] Fig.16 for Fig.15 A partial enlarged view of point B in the middle;

[0054] Fig.17A schematic structural diagram of a sliding adjustment member according to an embodiment of the present invention;

[0055] Fig.18 A schematic diagram of the internal structure of a delivery device for an elongated medical device according to another embodiment of the present invention;

[0056] Fig.19 for Fig.18 Schematic diagram of the internal structure of the base in the embodiment;

[0057] Fig. 20 , Fig.21 A schematic diagram of the structure of a rotating body according to an embodiment of the present invention;

[0058] Fig. 22 for Fig.21 A partial enlarged view of point C in the middle.

[0059] The above drawings include the following reference numerals:

[0060] Base 100, rotating body 101, second driving mechanism 102, second motor 103, fourth gear 104, ring gear 105, accommodating space 110, limiting groove 111, first inclined surface 1111, first driving mechanism 120, first motor 121, first gear 122, second gear 123, third gear 124, drawer module 200, box body 210, first notch 211, protrusion 212, second notch 213, box body 214, end cover 215, bowl-shaped handle 216, introduction part 217, export part 218, traction mechanism 220, active roller 221, driven roller 222, sliding adjustment member 223, sliding part 224, limiting part 225, slide groove 226, second inclined surface 2251, bearing 500. DETAILED DESCRIPTION

[0061] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0062] In the description of the present invention, the terms "proximal end" and "distal end" will be used to describe the axially opposite ends of the instrument and the axial ends of various component features. The term "proximal end" is used in its conventional sense to refer to the end of the device (or component) that is closest to the medical professional during use of the assembly. The term "distal end" is used in its conventional sense to refer to the end of the device (or component) that is initially inserted into the patient's body, or closest to the patient during use.

[0063] It should also be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0064] Embodiment 1:

[0065] like Figure 1 As shown in FIG. 1 , the delivery device for an elongated medical device is suitable for delivering an elongated medical device having an elongated shaft in a surgical operation. The delivery device comprises a base 100 and a drawer module 200. The base 100 comprises a receiving space 110 (such as Figure 2 ) and the first drive mechanism 120 (as shown Fig. 9 as shown); Figure 3 and Figure 5 As shown, the drawer module 200 includes a box body 210 and a traction mechanism 220. The box body 210 matches the accommodating space 110. When the box body 210 is embedded in the accommodating space 110, the first driving mechanism 120 engages with the traction mechanism 220, and the first driving mechanism 120 drives the traction mechanism 220, thereby driving the axial movement of the slender shaft; when the box body 210 is pulled out of the accommodating space 110, the first driving mechanism 120 disengages from the traction mechanism 220, and the first driving mechanism 120 no longer drives the traction mechanism 220.

[0066] The box body 210 has a channel penetrating therethrough, and the slender shaft of the medical device passes through the box body 210 through the channel. Under the traction of the traction mechanism 220, the slender shaft of the medical device can move axially along the channel.

[0067] like Figure 7 As shown, the front and rear of the box body 210 respectively form an introduction part 217 and an outlet part 218, which can constitute a channel for the slender shaft of the medical device. The introduction part 217 and the outlet part 218 are both configured to isolate the slender shaft of the medical device from contacting the base 100. From the structure of the box body 210 itself and the structure of the embedded accommodating space 110, it can be known that the introduction part 217 can easily isolate the slender shaft of the medical device from contacting the base 100; the outlet part 218 can be configured to be tubular and extend outside the base 100, thereby isolating the slender shaft of the medical device from contacting the base 100.

[0068] The traction mechanism 220 can traction the object with a slender shaft to move along its axial direction. The traction mechanism 220 can be a conveyor chain mechanism, a conveyor belt mechanism or a conveyor roller mechanism. The conveyor chain mechanism, the conveyor belt mechanism or the conveyor roller mechanism can be one group, two groups or multiple groups. The traction mechanism 220 can also be a slide rail and slide seat mechanism. As long as sufficient friction can be provided, the traction mechanism 220 can traction the object with a slender shaft to move along its axial direction. Specific implementation examples Figure 5 As shown, the traction mechanism 220 includes a pair of opposing rollers, the pair of opposing rollers includes an active roller 221 and a driven roller 222, and the slender shaft of the medical device can pass through the active roller 221 and the driven roller 222. When the first driving mechanism 120 is engaged with the traction mechanism 220, the active roller 221 is driven by the first driving mechanism 120 to rotate, while the driven roller 222 is not driven by power. When the relative displacement between the driven roller 222 and the active roller 221 is reduced, the necessary friction force can be provided for the axial movement of the slender shaft of the medical device.

[0069] The middle part of the active roller 221 and the driven roller 222 that clamps the slender shaft of the medical device can be provided with a rubber-coated part, and the rubber-coated part can be made of materials such as rubber to prevent damage to the medical device. Figure 5 , Fig.10 and Fig.11 As shown, the rubber-coated portion is provided with a roller groove along the axial movement direction of the slender shaft of the medical device and adapted to the radial size of the slender shaft.

[0070] like Fig.11 As shown, the two ends of the driven roller 222 are respectively connected with a sliding adjustment member 223, and the sliding adjustment member 223 includes a sliding portion 224 and a stopper 225. The box body 210 is provided with a first notch 211 along the relative displacement direction between the driven roller 222 and the active roller 221, and the sliding portion 224 is configured to slide in the first notch 211; the accommodating space 110 has a stopper groove 111 for the stopper 225 to enter and exit. When the box body 210 is embedded in the accommodating space 110, the stopper 225 enters the stopper groove 111 with the box body 210, and the stopper groove 111 is configured to apply a pushing force to the stopper 225 to reduce the relative displacement between the driven roller 222 and the active roller 221. The relative displacement between the driven roller 222 and the active roller 221 is reduced, and the driven roller 222 and the active roller 221 can hold the slender shaft of the medical device tightly.

[0071] like Fig.11 , Fig.17As shown, the sliding portion 224 has a rectangular block shape that can be confined to slide within the first notch 211, and the sliding portion 224 is provided with a bearing mounting groove, the outer ring of the bearing 500 is embedded in the bearing mounting groove, and the inner ring of the bearing 500 is fixedly connected to the end of the driven roller 222, so that the sliding portion 224 is pivotally connected to the driven roller 222.

[0072] like Fig.17 As shown, the stopper 225 is configured to prevent the sliding adjustment member 223 from completely passing through the first notch 211, that is, the width of the stopper 225 is greater than the width of the sliding portion 224. Fig.12 , Fig.13 As shown, when the sliding adjustment member 223 is connected to the end of the driven roller 222 by a connecting member, the sliding portion 224 can slide in the first notch 211 , and the limiting portion 225 will always be outside the box body 210 .

[0073] In this embodiment, the direction in which the stopper 225 enters the stopper groove 111 is perpendicular to the direction of the pushing force required to reduce the relative displacement between the driven roller 222 and the active roller 221. Fig. 22 As shown, the limiting groove 111 has a first inclined surface 1111, which is configured to partially slide in contact with the limiting portion 225 during the process of the box body 210 being inserted into the accommodating space 110 to generate a pushing force that reduces the relative displacement between the driven roller 222 and the active roller 221.

[0074] like Fig.12 , Fig.13 As shown, the limiting portion 225 has a second inclined surface 2251, which is configured to partially slide in contact with the limiting groove 111 during the process of the box body 210 being inserted into the accommodating space 110 to generate a pushing force that reduces the relative displacement between the driven roller 222 and the active roller 221.

[0075] The limiting portion 225 and the limiting groove 111 may be provided with an inclined surface at one or both, and both may lead to sliding contact with each other to generate a pushing force that reduces the relative displacement between the driven roller 222 and the active roller 221 .

[0076] like Fig.16 , Fig.17 As shown, an auxiliary guide mechanism is provided between the stopper 225 and the first notch 211, and the auxiliary guide mechanism is composed of a protrusion 212 formed at the end of the first notch 211 and a slide groove 226 formed in the stopper 225. When the sliding part 224 slides in the first notch 211, the protrusion 212 slides in the slide groove 226. The auxiliary guide mechanism can prevent the torque that may be generated by the sliding contact between the stopper 225 and the stop groove 111 from damaging the connection structure between the sliding adjustment member 223 and the box body 210.

[0077] The first drive mechanism 120 includes a first motor 121 and a transmission mechanism, wherein the transmission mechanism is configured as a gear transmission mechanism. The gear transmission mechanism may be a gear and a gear, a gear and a rack, or a worm gear transmission mechanism, such as Fig. 9 , Fig.10 As shown, the gear transmission mechanism includes a first gear 122, a second gear 123 and a third gear 124 connected in sequence, wherein the first gear 122 is connected to the output shaft of the first motor 121, the third gear 124 is fixedly connected to the transmission shaft of the active roller 221, and the second gear 123 serves as a transition between the first gear 122 and the third gear 124, extending the power transmission path and leaving enough space for the arrangement of the traction mechanism 220. Fig. 9 , Fig.14 As shown, the box body 210 has a second notch 213. Figure 7 , Figure 8 As shown, a small portion of the second gear 123 extends out of the second notch 213 and meshes with the first gear 122 , so as to facilitate the engagement of the transmission mechanism with the traction mechanism 220 .

[0078] like Figure 5 , Figure 6 As shown, the box body 210 includes a box body 214 and an end cover 215. A bowl-shaped handle 216 is provided on the outer side of the end cover 215. The opening of the bowl-shaped handle 216 faces outward, and the axis of the bowl-shaped handle 216 can be used as an entrance for introducing the slender axis of the medical device into the box body 210. The shape of the bowl-shaped handle 216 facilitates the assembly of the box body 210 and the grasping of the box body 210 when embedding the box body 210 into the accommodating space 110.

[0079] like Figure 3 , Figure 4 As shown, the opposite surfaces of the box body 210 are respectively provided with a clamping protrusion 219, and a continuous gap surrounded by three sides is provided around the clamping protrusion 219, such as Figure 2 As shown, the accommodating space 110 is correspondingly provided with a card slot 119. When the box body 210 is embedded in the accommodating space 110, the card protrusion 219 is inserted into the card slot 119, so that the box body 210 and the accommodating space 110 can be locked with each other in a snap-fit ​​connection, and the box body 210 and the accommodating space 110 can be quickly disassembled and assembled.

[0080] Embodiment 2:

[0081] like Fig.18 As shown, the delivery device for an elongated medical device is suitable for delivering an elongated medical device having an elongated shaft during a surgical operation. Similar to the first embodiment, the delivery device also includes a base 100 and a drawer module 200 .

[0082] The base 100 includes a rotating body 101 and a second driving mechanism 102. Fig.19 , Fig. 20 As shown, the rotating body 101 has a containing space 110 and a first driving mechanism 120 . The rotating body 101 is disposed in the base 100 through a bearing assembly, and the rotating body 101 is driven by the second driving mechanism 102 to rotate around the slender axis.

[0083] Fig.19 , Fig. 20 The accommodating space 110 shown can be Figure 2 The structure of the accommodation space 110 shown is the same as that of the first embodiment. Figure 3 and Figure 5 As shown, the drawer module 200 includes a box body 210 and a traction mechanism 220. The box body 210 matches the accommodating space 110. When the box body 210 is embedded in the accommodating space 110, the first driving mechanism 120 engages with the traction mechanism 220, and the first driving mechanism 120 drives the traction mechanism 220, thereby driving the axial movement of the slender shaft; when the box body 210 is pulled out of the accommodating space 110, the first driving mechanism 120 disengages from the traction mechanism 220, and the first driving mechanism 120 no longer drives the traction mechanism 220.

[0084] like Fig.18 , Fig.19 As shown, the second driving mechanism 102 includes a second motor 103 and a transmission mechanism, which can be configured as a gear transmission mechanism, a belt transmission mechanism or a chain transmission mechanism. In this embodiment, the transmission mechanism includes a fourth gear 104 and a ring gear 105 that mesh with each other, the output shaft of the second motor 103 is connected to the fourth gear 104, and the ring gear 105 is fixed to the outer periphery of the rotating body 101.

[0085] The difference between this embodiment and the first embodiment lies in the rotating body 101 and its driving mechanism, and the accommodation space 110 is provided on the rotating body 101, so that the drawer module 200 can rotate together with the rotating body 101. The same parts of this embodiment and the first embodiment are not repeated.

[0086] The endoscopic surgical robot disclosed in the Chinese invention patent application "Endoscopic surgical equipment" with publication number CN115120352A realizes automatic control of the soft endoscope used during the surgical operation. The aforementioned delivery device of the elongated medical instrument can be applied to the endoscopic surgical robot.

[0087] Here, the elongated medical device may be a flexible endoscope. The operating portion at the proximal end of the flexible endoscope is controlled by the endoscope control unit, and the distal end of the flexible endoscope is delivered into or withdrawn from the patient's body. When the operating portion of the flexible endoscope does not need to rotate (rotate), a delivery device such as the first embodiment may be used; when the operating portion of the flexible endoscope needs to rotate (rotate), a delivery device such as the second embodiment may be used, and at this time, the rotation of the flexible endoscope around its own axis needs to be synchronized with the rotation of the operating portion of the flexible endoscope.

Claims

1. A delivery device for an elongated medical device having an elongated shaft, the delivery device comprising: A base, the base comprising a containing space and a first driving mechanism; A drawer module, the drawer module includes a box body and a traction mechanism, the box body has a channel running through it, and the channel is configured to receive the slender shaft of the medical device; the box body matches the accommodating space, and when the box body is embedded in the accommodating space, the first drive mechanism engages with the traction mechanism, and the first drive mechanism drives the traction mechanism, thereby driving the axial movement of the slender shaft.

2. The delivery device according to claim 1, characterized in that The traction mechanism includes a pair of opposing rollers: a driving roller and a driven roller. When the first driving mechanism is engaged with the traction mechanism, the driving roller is driven by the first driving mechanism to rotate.

3. The delivery device according to claim 2, characterized in that Both ends of the driven roller are respectively connected with sliding adjustment members, and the sliding adjustment members include: A sliding part, wherein the box body is provided with a first notch along the relative displacement direction between the driven roller and the active roller, and the sliding part is configured to slide in the first notch; The limiting part, the accommodating space has a limiting groove for the limiting part to enter and exit, and the limiting groove is configured to apply a pushing force to the limiting part during the process of the box body being embedded in the accommodating space to reduce the relative displacement between the driven roller and the active roller.

4. The delivery device according to claim 3, characterized in that The sliding portion has a rectangular block shape that can be slidably confined in the first notch, and the sliding portion is pivotally connected to the driven roller.

5. The delivery device according to claim 4, characterized in that The stopper is configured to prevent the sliding adjustment member from completely passing through the first notch.

6. The delivery device according to claim 5, characterized in that The limiting groove has an inclined surface, which is configured to make partial sliding contact with the limiting portion during the process of the box body being inserted into the accommodating space to generate a pushing force for changing the relative displacement between the driven roller and the active roller.

7. The delivery device according to claim 5 or 6, characterized in that The limiting portion has an inclined surface, which is configured to partially slide in contact with the limiting groove during the process of the box body being inserted into the accommodating space to generate a pushing force for changing the relative displacement between the driven roller and the active roller.

8. The delivery device according to claim 5 or 6, characterized in that An auxiliary guiding mechanism is provided between the limiting portion and the first notch, and the auxiliary guiding mechanism is composed of a protrusion formed at the end of the first notch and a sliding groove formed in the limiting portion. When the sliding portion slides in the first notch, the protrusion slides in the sliding groove.

9. The delivery device according to claim 1, characterized in that The first driving mechanism includes a first motor and a transmission mechanism, the transmission mechanism is configured as a gear transmission mechanism, the box body has a second notch, and the second notch is configured to facilitate the engagement of the transmission mechanism with the traction mechanism.

10. The delivery device according to claim 1, characterized in that The box body comprises a box body and an end cover. A bowl-shaped handle is arranged on the outer side of the end cover. The opening of the bowl-shaped handle faces outward, and the channel runs through the axis of the bowl-shaped handle.

11. The delivery device according to claim 1, characterized in that The channel forms an introduction portion and an outlet portion in front and rear of the traction mechanism, respectively, and both the introduction portion and the outlet portion are configured to isolate the elongated shaft of the medical device from contacting the base.

12. The delivery device according to claim 1, characterized in that The box body and the accommodating space can be locked to each other in a snap-fit ​​connection manner.

13. A delivery device for an elongated medical device having an elongated shaft, the delivery device comprising: A base, the base comprising a rotating body and a second driving mechanism, the rotating body having a containing space and a first driving mechanism, the rotating body being arranged in the base through a bearing assembly, and the rotating body being driven by the second driving mechanism to rotate around the elongated shaft as an axis; A drawer module, the drawer module includes a box body and a traction mechanism, the box body has a channel running through it, and the channel is configured to receive the slender shaft of the medical device; the box body matches the accommodating space, and when the box body is embedded in the accommodating space, the first drive mechanism engages with the traction mechanism, and the first drive mechanism drives the traction mechanism, thereby driving the axial movement of the slender shaft.

14. The delivery device according to claim 13, characterized in that The second driving mechanism includes a second motor and a transmission mechanism, and the transmission mechanism is configured as a tooth transmission mechanism, a belt transmission mechanism or a chain transmission mechanism.

15. The delivery device according to claim 13, characterized in that The traction mechanism includes a pair of opposing rollers: a driving roller and a driven roller. When the first driving mechanism is engaged with the traction mechanism, the driving roller is driven by the first driving mechanism to rotate.

16. The delivery device according to claim 14, characterized in that Both ends of the driven roller are respectively connected with sliding adjustment members, and the sliding adjustment members include: A sliding part, wherein the box body is provided with a first notch along the relative displacement direction between the driven roller and the active roller, and the sliding part is configured to slide in the first notch; The limiting part, the accommodating space has a limiting groove for the limiting part to enter and exit, and the limiting groove is configured to apply a pushing force to the limiting part during the process of the box body being embedded in the accommodating space to reduce the relative displacement between the driven roller and the active roller.

17. The delivery device according to claim 15, characterized in that The sliding portion has a rectangular block shape that can be slidably confined in the first notch, and the sliding portion is pivotally connected to the driven roller.

18. The delivery device according to claim 16, wherein: The stopper is configured to prevent the sliding adjustment member from completely passing through the first notch.

19. The delivery device according to claim 17, characterized in that The limiting groove has an inclined surface, which is configured to make partial sliding contact with the limiting portion during the process of the box body being inserted into the accommodating space to generate a pushing force for changing the relative displacement between the driven roller and the active roller.

20. The delivery device according to claim 17 or 18, characterized in that The limiting portion has an inclined surface, which is configured to partially slide in contact with the limiting groove during the process of the box body being inserted into the accommodating space to generate a pushing force for changing the relative displacement between the driven roller and the active roller.

21. The delivery device according to claim 17 or 18, characterized in that An auxiliary guiding mechanism is provided between the limiting portion and the first notch, and the auxiliary guiding mechanism is composed of a protrusion formed at the end of the first notch and a sliding groove formed in the limiting portion. When the sliding portion slides in the first notch, the protrusion slides in the sliding groove.

22. The delivery device of claim 13, wherein: The first driving mechanism includes a first motor and a transmission mechanism, the transmission mechanism is configured as a gear transmission mechanism, the box body has a second notch, and the second notch is configured to facilitate the engagement of the transmission mechanism with the traction mechanism.

23. The delivery device of claim 13, wherein: The box body comprises a box body and an end cover. A bowl-shaped handle is arranged on the outer side of the end cover. The opening of the bowl-shaped handle faces outward, and the channel runs through the axis of the bowl-shaped handle.

24. The delivery device of claim 13, wherein: The channel forms an introduction portion and an outlet portion in front and rear of the traction mechanism, respectively, and both the introduction portion and the outlet portion are configured to isolate the elongated shaft of the medical device from contacting the base.

25. The delivery device of claim 13, wherein: The box body and the accommodating space can be locked to each other in a snap-fit ​​connection manner.

26. A surgical robot comprising a delivery device for an elongate medical device as claimed in any one of claims 1 to 25.

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