Manipulator feeding device of implantable medical device

Abstract

The invention relates to the technical field of manipulators, in particular to a manipulator feeding device of an implantable medical instrument, which comprises a mechanical arm and further comprises a connecting frame mounted on the mechanical arm and used for fixedly mounting a supporting seat; the connecting seat is used for mounting the mechanical clamping hand; the positioning and supporting mechanism is arranged on the connecting frame and used for precise butt joint when the supporting seat and the connecting seat are mounted and stable supporting when the supporting seat and the connecting seat are dismounted; the double-side limiting mechanism is located on the supporting base and used for limiting and fixing the inner side and the outer side of the connecting base at the same time, by arranging the positioning supporting mechanism, the zigzag-shaped supporting plate slides into the first spring, when the sliding block is aligned with the inner clamping groove, the bottom inserting plates on the two sides are pulled, the sliding block extends into the inner clamping groove under the elastic effect of the first spring, and then the sliding block is clamped in the inner clamping groove. The connecting base and the mechanical clamping hand are preliminarily fixed, the connecting base is pushed upwards, the zigzag supporting plate slides upwards, the positioning effect is achieved, and accurate butt joint of the supporting base and the connecting base during installation is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, in particular to a manipulator feeding device for an implantable medical device. Background Art

[0002] In the modern medical field, implantable medical devices are increasingly used and have become an indispensable technical means in key surgical scenarios. Especially in complex surgeries such as artificial joint replacements, mechanical grippers play a vital role. They can accurately grasp and install large implants such as artificial hip joints and knee joints to ensure the accuracy and stability of the operation. However, in order to ensure the hygiene and safety of the operation, the mechanical grippers need to be fully disinfected after each use, which usually requires the mechanical grippers to be removed from the feeding device.

[0003] There is a common problem with the robotic feeding devices of implantable medical devices on the market: the installation and disassembly of the robotic grippers usually require the use of corresponding professional tools, which makes the disassembly process complicated and time-consuming, increasing the workload and time cost of medical staff. In addition, during the disassembly process, since the robotic grippers need to be operated by hand, their stability is relatively low. This instability can easily cause the device to be damaged during the disassembly process, thereby affecting the efficiency and life of the medical device. Summary of the invention

[0004] The object of the present invention is to provide a manipulator feeding device for an implantable medical device to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solution: a manipulator feeding device for an implantable medical device, comprising a manipulator arm, and further comprising: A connecting frame, installed on the robot arm, used for fixing the support base; Connecting seat, used for installation of mechanical gripper; The positioning support mechanism is arranged on the connecting frame and is used for accurate docking between the supporting seat and the connecting seat during installation and stable support during disassembly; The double-side limit mechanism is located on the support seat and is used to limit and fix the inner and outer sides of the connecting seat at the same time, and firmly lock the connecting seat on the support seat, which is convenient for the installation and removal of the mechanical gripper; Among them, when the mechanical clamp needs to be disassembled, the support seat and the connecting seat are unlocked through the double-sided limiting mechanism. Under the action of the gravity of the connecting seat and the mechanical clamp, the positioning support mechanism supports the connecting seat and the mechanical clamp to automatically move downward. The positioning support mechanism includes a deceleration component, which realizes the slow downward movement of the connecting seat and the mechanical clamp through suction to improve the stability of the device.

[0006] Preferably, the double-sided limiting mechanism includes a limiting component for simultaneously limiting and fixing the inner side and the outer side of the connecting seat, and a clamping component for locking the limiting component.

[0007] Preferably, the positioning support mechanism also includes a support plate for supporting the deceleration component, the deceleration component includes a folding support plate for mobile support, a fixed cavity plate is fixedly mounted on the support plate, and a piston plate is slidably connected inside the fixed cavity plate.

[0008] Preferably, an air outlet pipe and a connecting pipe are connected to each other on the fixed cavity plate, and a one-way air outlet valve is provided on the air outlet pipe.

[0009] Preferably, the support seat is provided with a positioning groove, a limit block and an installation groove, the installation groove is opened on the limit block, and the connecting seat is provided with a positioning block, a limit groove, a sliding hole and a locking groove, the positioning groove can be inserted into the positioning block, the limit groove can be inserted into the limit block, and the sliding hole is opened on the positioning block.

[0010] Preferably, the limit assembly includes a connecting slide rod slidably connected to the middle part of the support seat, a return spring is sleeved on the connecting slide rod, one end of the return spring is connected to the lower pressure plate, and the other end is connected to the support seat, the lower end of the connecting slide rod is fixedly connected to a driving square plate, a driving connecting plate is hinged on the driving square plate, and the driving connecting plate is hinged to a limit plug plate at one end away from the driving square plate, and the limit plug plate can slide out of the mounting groove and extend into the locking groove to realize the limit fixation of the inner side of the connecting seat.

[0011] Preferably, a push plate is hinged on the lower pressure plate, a sliding folding plate is hinged on one end of the push plate, the sliding folding plate is slidably connected to the support seat, one end of the sliding folding plate is fixedly connected to a movable connecting plate, one end of the movable connecting plate is fixedly connected to a limiting column, and the limiting column can be extended into the sliding hole to realize limiting and fixing of the connecting seat from the outside.

[0012] Preferably, the clamping assembly includes a connecting slide fixedly mounted on the lower pressure plate and a fixed slide fixedly mounted on the support seat, the connecting slide being slidably connected in the fixed slide, a lower insert block and an upper insert block being slidably connected in the fixed slide, a card slot is provided on the connecting slide, and both the lower insert block and the upper insert block can be inserted into the card slot, one end of the lower insert block is fixedly connected to a first fixing plate, a third spring is fixedly connected between the fixed slide and the first fixing plate, the third spring is sleeved on the lower insert block, and a fourth spring is sleeved on the upper insert block, one end of the fourth spring is connected to the fixed slide, and the other end is connected to the second fixing plate.

[0013] Preferably, the positioning support mechanism also includes a connecting square plate fixedly mounted on the folding support plate, a pulling plate is slidably connected to the connecting square plate, one end of the pulling plate is fixedly connected to a sliding block, a first spring is sleeved on the pulling plate, one end of the first spring is fixedly connected to the connecting square plate, the other end of the first spring is fixedly connected to the sliding block, the lower end of the folding support plate is fixedly connected to a support frame, a bottom plug plate is slidably connected to the support frame, a second spring is sleeved on the bottom plug plate, one end of the bottom plug plate is connected to a sheet plate, one end of the sheet plate is connected to the second spring, and the other end of the second spring is connected to the pulling plate.

[0014] Preferably, the pulling plate is provided with a bottom groove for the bottom plug plate to extend into, and the connecting seat is provided with a sliding groove for the folding support plate to slide and an inner clamping groove for the sliding block to clamp into.

[0015] Compared with the prior art, the present invention has the following beneficial effects: By providing a positioning support mechanism, the folding support plate is slid into the first spring, and when the sliding block is aligned with the inner slot, the bottom plug plates on both sides are pulled, and under the elastic action of the first spring, the sliding block is extended into the inner slot, thereby achieving preliminary fixation of the connecting seat and the mechanical clamp, pushing the connecting seat upward, and the folding support plate slides upward, which plays a positioning role and achieves precise docking of the support seat and the connecting seat during installation. When the support seat and the connecting seat are disassembled, under the action of gravity of the connecting seat and the mechanical clamp, the connecting seat is separated from the support seat, and the connecting seat and the mechanical clamp move downward, and the folding support plate drives the piston plate to move downward, and the outside gas can only enter the fixed cavity plate through the connecting pipe, so that the folding support plate and the piston plate can move downward slowly, and then the connecting seat and the mechanical clamp can move downward slowly, thereby improving the stability of the connecting seat and the mechanical clamp moving downward.

[0016] By providing a double-sided limit mechanism, the connection slider can be limited and locked to ensure the stability of the connection slider. In the process of the lower pressure plate moving upward, the driving square plate drives the limit plug plate through the installation slot and extends into the locking slot via the driving connecting plate to achieve the limit fixation of the inner side of the connection seat. The moving connecting plate is driven to move by the sliding folding plate, and the moving connecting plate drives the limit column to extend into the sliding hole to achieve the limit fixation of the outer side of the connection seat, thereby realizing the installation of the mechanical clamp and improving the convenience. BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0017] Figure 2 It is a schematic diagram of the local first state structure of the present invention.

[0018] Figure 3 It is a schematic diagram of the partial second state structure of the present invention.

[0019] Figure 4 It is a schematic diagram of the disassembly structure of the connecting socket of the present invention.

[0020] Figure 5 It is a schematic structural diagram of the positioning support mechanism of the present invention from a first viewing angle.

[0021] Figure 6 This is a schematic structural diagram of the positioning support mechanism of the present invention from a second viewing angle.

[0022] Figure 7 It is a schematic diagram of the fixed cavity plate structure of the present invention.

[0023] Figure 8 It is a schematic structural diagram of another state of the folding support plate of the present invention.

[0024] Fig. 9 It is a schematic diagram of the support base structure of the present invention.

[0025] Fig.10 It is a schematic diagram of the connecting seat structure of the present invention.

[0026] Fig.11 It is a schematic diagram of the inner structure of the connecting socket of the present invention.

[0027] Fig.12 It is a schematic diagram of the partial structure of the double-sided limiting mechanism of the present invention.

[0028] Fig.13 It is a schematic diagram of the overall structure of the double-sided limiting mechanism of the present invention.

[0029] Fig.14 It is a schematic diagram of the local structure of the present invention.

[0030] Fig.15 For the present invention Fig.14 Schematic diagram of the structure at point A in the middle.

[0031] In the figure: 1, mechanical arm; 2, connecting frame; 3, supporting seat; 4, connecting seat; 5, mechanical gripper; 6, positioning support mechanism; 7, double-sided limiting mechanism; 31, positioning slot; 32, limiting block; 33, mounting slot; 41, positioning block; 42, limiting slot; 43, sliding hole; 44, locking slot; 45, sliding slot; 46, inner card slot; 60, bottom slot; 61, supporting plate; 62, folding support plate; 63, sliding block; 64, pulling plate; 65, first spring; 66, supporting frame; 67, bottom plug plate; 68, second spring; 69, movable Plug plate; 610, fixed cavity plate; 611, air outlet pipe; 612, connecting pipe; 613, connecting square plate; 71, lower pressure plate; 72, push plate; 73, sliding folding plate; 74, movable connecting plate; 75, limiting column; 76, connecting slide rod; 77, reset spring; 78, driving square plate; 79, driving connecting plate; 710, limiting plug plate; 711, connecting slide block; 712, fixed slide seat; 713, lower plug block; 714, first fixed plate; 715, third spring; 716, upper plug block; 717, fourth spring; 718, second fixed plate. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] See also Figures 1 to 15 The present invention provides a technical solution: a manipulator feeding device for an implantable medical device, comprising a manipulator arm 1, and further comprising: a connecting frame 2, mounted on the manipulator arm 1, for fixing and mounting a support seat 3; a connecting seat 4, for mounting a manipulator gripper 5; a positioning support mechanism 6, arranged on the connecting frame 2, for precise docking of the support seat 3 and the connecting seat 4 during installation and stable support during disassembly; a double-sided limiting mechanism 7, located on the supporting seat 3, for simultaneously limiting and fixing the inner and outer sides of the connecting seat 4, and firmly locking the connecting seat 4 on the supporting seat 3, so that For the installation and disassembly of the mechanical gripper 5; wherein, when the mechanical gripper 5 needs to be disassembled, the support seat 3 and the connecting seat 4 are unlocked by the double-sided limit mechanism 7, and under the gravity of the connecting seat 4 and the mechanical gripper 5, the positioning support mechanism 6 holds the connecting seat 4 and the mechanical gripper 5 to automatically move downward, and the positioning support mechanism 6 includes a mitigation component, which realizes the slow downward movement of the connecting seat 4 and the mechanical gripper 5 by suction to improve the stability of the device. In actual use, the mechanical arm 1 and the mechanical gripper 5 are both existing technologies to realize the clamping and feeding of implantable medical devices; By providing a positioning support mechanism, the folding support plate slides into the first spring, and when the sliding block is aligned with the inner slot, the bottom plug plates on both sides are pulled, and under the elastic action of the first spring, the sliding block extends into the inner slot, thereby achieving the initial fixation of the connecting seat and the mechanical clamp, pushing the connecting seat upward, and the folding support plate slides upward, playing a positioning role, and achieving accurate docking of the support seat and the connecting seat during installation. When the support seat and the connecting seat are disassembled, under the gravity action of the connecting seat and the mechanical clamp, the connecting seat is separated from the support seat, and the connecting seat and the mechanical clamp move downward, and the folding support plate drives the piston plate to move downward, and the outside gas can only enter the fixed cavity plate through the connecting pipe, which can realize the slow downward movement of the folding support plate and the piston plate, and then the slow downward movement of the connecting seat and the mechanical clamp can be realized, thereby improving the stability of the connecting seat and the mechanical clamp when moving downward; By providing a double-sided limit mechanism, the connection slider can be limited and locked to ensure the stability of the connection slider. In the process of the lower pressure plate moving upward, the driving square plate drives the limit plug plate through the installation slot and extends into the locking slot via the driving connecting plate to achieve the limit fixation of the inner side of the connection seat. The moving connecting plate is driven to move by the sliding folding plate, and the moving connecting plate drives the limit column to extend into the sliding hole to achieve the limit fixation of the outer side of the connection seat, thereby realizing the installation of the mechanical clamp and improving the convenience.

[0034] refer to Figure 7 as well as Figure 8 It is understood that the positioning support mechanism 6 also includes a support plate 61 for supporting the deceleration component, and the deceleration component includes a folding support plate 62 for mobile support. A fixed cavity plate 610 is fixedly installed on the support plate 61, and a piston plate 69 is slidably connected in the fixed cavity plate 610. An air outlet pipe 611 and a connecting pipe 612 are connected to the fixed cavity plate 610, and a one-way air outlet valve is provided on the air outlet pipe 611.

[0035] refer to Figure 4 as well as Fig.11 It is understood that the support seat 3 is provided with a positioning groove 31, a limit block 32 and an installation groove 33, the installation groove 33 is opened on the limit block 32, and the connecting seat 4 is provided with a positioning block 41, a limit groove 42, a sliding hole 43 and a locking groove 44. The positioning groove 31 can be inserted into the positioning block 41, the limit groove 42 can be inserted into the limit block 32, and the sliding hole 43 is opened on the positioning block 41.

[0036] refer to Fig.13It is understood that the double-sided limit mechanism 7 includes a limit assembly for simultaneously limiting and fixing the inner and outer sides of the connecting seat 4 and a clamping assembly for locking the limit assembly. The limit assembly includes a connecting slide bar 76 slidably connected to the middle part of the support seat 3. A return spring 77 is sleeved on the connecting slide bar 76. One end of the return spring 77 is connected to the lower pressure plate 71, and the other end is connected to the support seat 3. The lower end of the connecting slide bar 76 is fixedly connected to a driving square plate 78. A driving connecting plate 79 is hinged on the driving square plate 78. The end of the driving connecting plate 79 away from the driving square plate 78 is hinged to a limit plug plate 710. The limit plug plate 710 can slide out of the mounting groove 33 and extend into the locking groove 44 to achieve limit fixation of the inner side of the connecting seat 4.

[0037] refer to Fig.13 as well as Fig.15 The cam 72 is hinged on the lower pressure plate 71, and a sliding folding plate 73 is hinged on one end of the pushing plate 72. The sliding folding plate 73 is slidably connected to the support seat 3. One end of the sliding folding plate 73 is fixedly connected to a movable connecting plate 74. One end of the movable connecting plate 74 is fixedly connected to a limiting column 75. The limiting column 75 can extend into the sliding hole 43 to realize the limiting fixation of the connecting seat 4 from the outside. The clamping assembly includes a connecting slider 711 fixedly mounted on the lower pressure plate 71 and a fixed slide seat 712 fixedly mounted on the support seat 3. The connecting slider 711 is slidably connected to the fixed slide seat 712 Inside, a lower insert block 713 and an upper insert block 716 are slidably connected in the fixed slide 712, and a slot is provided on the connecting slide 711, and both the lower insert block 713 and the upper insert block 716 can be inserted into the slot, and one end of the lower insert block 713 is fixedly connected to the first fixing plate 714, and a third spring 715 is fixedly connected between the fixed slide 712 and the first fixing plate 714, and the third spring 715 is sleeved on the lower insert block 713, and a fourth spring 717 is sleeved on the upper insert block 716, and one end of the fourth spring 717 is connected to the fixed slide 712, and the other end is connected to the second fixing plate 718.

[0038] refer to Figure 5 as well as Figure 6It is understood that the positioning support mechanism 6 also includes a connecting square plate 613 fixedly mounted on the folding support plate 62, a pulling plate 64 is slidably connected to the connecting square plate 613, one end of the pulling plate 64 is fixedly connected to the sliding block 63, a first spring 65 is sleeved on the pulling plate 64, one end of the first spring 65 is fixedly connected to the connecting square plate 613, and the other end of the first spring 65 is fixedly connected to the sliding block 63, a support frame 66 is fixedly connected to the lower end of the folding support plate 62, a bottom plug plate 67 is slidably connected to the support frame 66, a second spring 68 is sleeved on the bottom plug plate 67, one end of the bottom plug plate 67 is connected to a sheet plate, one end of the sheet plate is connected to the second spring 68, and the other end of the second spring 68 is connected to the pulling plate 64, a bottom groove 60 is provided on the pulling plate 64 for the bottom plug plate 67 to extend into, and a sliding groove 45 for the folding support plate 62 to slide and an inner card groove 46 for the sliding block 63 to be clamped in are provided on the connecting seat 4.

[0039] In actual use, when installing the mechanical gripper 5, refer to Figure 5 as well as Figure 6 It is understood that the pulling plates 64 on both sides are pulled successively. When the bottom groove 60 moves to the top of the bottom plug plate 67, the bottom plug plate 67 is driven to snap into the bottom groove 60 under the elastic action of the second spring 68, so that the pulling plate 64 is fixed. At this time, the sliding block 63 is in a retracted state. Figure 4 Understand, slide the folding support plate 62 into the first spring 65, when the sliding block 63 is aligned with the inner slot 46, pull the bottom plug plates 67 on both sides, under the elastic action of the first spring 65, the sliding block 63 extends into the inner slot 46, and the initial fixation of the connecting seat 4 and the mechanical clamp 5 is achieved, and the connecting seat 4 is pushed upward, and the folding support plate 62 slides upward, which plays a positioning role and is used for the precise docking of the support seat 3 and the connecting seat 4 during installation. The folding support plate 62 drives the piston plate 69 to squeeze out the gas in the fixed cavity plate 610 through the outlet pipe 611 and the connecting pipe 612. When the support seat 3 contacts the connecting seat 4, the positioning block 41 extends into the positioning slot 31, and the limit block 32 extends into the limit slot 42. Fig.15When the locking cam 720 is in the state of being lifted up, the locking cam 720 of the locking cam 721 is in the state of being tightened, and the locking cam 720 of the locking cam 721 is in the state of being tightened. When the locking cam 72 is in the unlocking state, the locking cam 72 is in the unlocking state, and the locking cam 72 is in the unlocking state, so that the locking cam 72 is locked and the locking cam 72 is locked. When the locking cam 720 is in the state of being moved out of the locking cam 721, the locking cam 720 can be turned to the left of the locking cam 721, thereby locking the locking cam 720 in the state of being moved out of the locking cam 721. When the locking cam 720 is in the state of being moved out of the locking cam 721, the locking cam 720 can be turned to the right of the locking cam 721. Movement, since a one-way valve is provided on the air outlet pipe 611, external gas can only enter the fixed cavity plate 610 through the connecting pipe 612, so that the folding support plate 62 and the piston plate 69 can be slowly moved downward, and then the connecting seat 4 and the mechanical clamp 5 can be slowly moved downward, which improves the stability of the downward movement of the connecting seat 4 and the mechanical clamp 5, and finally pull the pulling plates 64 on both sides to make the bottom plug plate 67 snap into the bottom groove 60, so that the sliding block 63 can be moved out of the inner slot 46, and then the connecting seat 4 can be removed from the folding support plate 62, and the convenience is improved.

[0040] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A manipulator feeding device for an implantable medical device, comprising a manipulator arm, characterized in that: Also includes: A connecting frame, installed on the robot arm, used for fixing the support base; Connecting seat, used for installation of mechanical gripper; The positioning support mechanism is arranged on the connecting frame and is used for accurate docking between the supporting seat and the connecting seat during installation and stable support during disassembly; The double-side limit mechanism is located on the support seat and is used to limit and fix the inner and outer sides of the connecting seat at the same time, and firmly lock the connecting seat on the support seat, which is convenient for the installation and removal of the mechanical gripper; Among them, when the mechanical clamp needs to be disassembled, the support seat and the connecting seat are unlocked through the double-sided limiting mechanism. Under the action of the gravity of the connecting seat and the mechanical clamp, the positioning support mechanism supports the connecting seat and the mechanical clamp to automatically move downward. The positioning support mechanism includes a deceleration component, which realizes the slow downward movement of the connecting seat and the mechanical clamp through suction to improve the stability of the device.

2. A manipulator feeding device for an implantable medical device according to claim 1, characterized in that: The double-sided limiting mechanism comprises a limiting component for simultaneously limiting and fixing the inner side and the outer side of the connecting seat, and a clamping component for locking the limiting component.

3. A manipulator feeding device for an implantable medical device according to claim 2, characterized in that: The positioning support mechanism also includes a support plate for supporting the deceleration component, and the deceleration component includes a folding support plate for mobile support. A fixed cavity plate is fixedly installed on the support plate, and a piston plate is slidably connected in the fixed cavity plate.

4. A manipulator feeding device for an implantable medical device according to claim 3, characterized in that: An air outlet pipe and a connecting pipe are connected on the fixed cavity plate, and a one-way air outlet valve is arranged on the air outlet pipe.

5. The manipulator feeding device for an implantable medical device according to claim 4, characterized in that: The support seat is provided with a positioning groove, a limit block and an installation groove, the installation groove is opened on the limit block, the connecting seat is provided with a positioning block, a limit groove, a sliding hole and a locking groove, the positioning groove is for the positioning block to extend into, the limit groove is for the limit block to extend into, and the sliding hole is opened on the positioning block.

6. The manipulator feeding device for an implantable medical device according to claim 2, characterized in that: The limit assembly comprises a connecting slide rod slidably connected to the middle part of the support seat, a return spring is sleeved on the connecting slide rod, one end of the return spring is connected to the lower pressure plate, and the other end is connected to the support seat; The lower end of the connecting slide rod is fixedly connected to a driving square plate, and a driving connecting plate is hinged on the driving square plate. The end of the driving connecting plate away from the driving square plate is hinged to a limiting plug plate, and the limiting plug plate can slide out of the installation groove and extend into the locking groove to achieve limiting fixation of the inner side of the connecting seat.

7. A manipulator feeding device for an implantable medical device according to claim 6, characterized in that: A push plate is hinged on the lower pressure plate, a sliding folding plate is hinged on one end of the push plate, the sliding folding plate is slidably connected to the support seat, one end of the sliding folding plate is fixedly connected to a movable connecting plate, one end of the movable connecting plate is fixedly connected to a limiting column, and the limiting column can be slidably extended into the sliding hole to realize limiting and fixing of the connecting seat from the outside.

8. The manipulator feeding device for an implantable medical device according to claim 7, characterized in that: The clamping assembly comprises a connecting slider fixedly mounted on the lower pressing plate and a fixed slide fixedly mounted on the supporting seat, the connecting slider is slidably connected in the fixed slide, a lower insert block and an upper insert block are slidably connected in the fixed slide, and a clamping slot is arranged on the connecting slider; The lower insert block and the upper insert block can both be extended into the card slot, one end of the lower insert block is fixedly connected to the first fixing plate, a third spring is fixedly connected between the fixed slide and the first fixing plate, the third spring is sleeved on the lower insert block, and a fourth spring is sleeved on the upper insert block, one end of the fourth spring is connected to the fixed slide, and the other end is connected to the second fixing plate.

9. The manipulator feeding device for an implantable medical device according to claim 1, characterized in that: The positioning support mechanism also includes a connecting square plate fixedly mounted on the folding support plate, a pulling plate is slidably connected to the connecting square plate, one end of the pulling plate is fixedly connected to a sliding block, a first spring is sleeved on the pulling plate, one end of the first spring is fixedly connected to the connecting square plate, the other end of the first spring is fixedly connected to the sliding block, the lower end of the folding support plate is fixedly connected to a support frame, a bottom plug plate is slidably connected to the support frame, a second spring is sleeved on the bottom plug plate, one end of the bottom plug plate is connected to a sheet plate, one end of the sheet plate is connected to the second spring, and the other end of the second spring is connected to the pulling plate.

10. A manipulator feeding device for an implantable medical device according to claim 9, characterized in that: The pulling plate is provided with a bottom groove for the bottom plugging plate to extend into, and the connecting seat is provided with a sliding groove for the folding supporting plate to slide and an inner clamping groove for the sliding block to clamp into.

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