Slave end execution device and medical system

Abstract

The invention discloses slave end execution equipment and a medical system. The slave end execution equipment is used for conveying a guide wire and / or a catheter and comprises a main body power device, a movable power device, a first bearing device and a first control mechanism. The main body power device comprises a main body driving mechanism used for providing driving force. The moving power device is connected to the main body power device and used for moving front and back in the conveying direction of the guide wire and / or the catheter under driving of the main body driving mechanism, and the moving power device comprises a first driving mechanism used for providing driving force. The first bearing device is arranged on the moving power device, moves synchronously with the moving power device, and is used for bearing medical equipment comprising a catheter. The first control mechanism is arranged on the first bearing device and used for controlling the guide wire to move back and forth relative to the first bearing device in the conveying direction under driving of the first driving mechanism.

Description

Technical Field

[0001] The present application generally relates to the technical field of surgical robots, and more particularly to a slave-end execution device for delivering a guide wire and / or a catheter and a medical system having the same. Background Art

[0002] At present, the aging of the population is getting worse, and the incidence of cardiovascular and cerebrovascular diseases is increasing, which seriously affects people's life and health. In addition, traditional open chest and craniotomy surgery is highly traumatic to patients and takes a long time to recover after surgery.

[0003] With the continuous development of science and technology, various minimally invasive cardiovascular implant intervention surgeries have emerged. They are characterized by small incisions and short recovery time after surgery. The main surgical method is that doctors use a delivery system to deliver implants such as artificial heart valves through the human body's vascular channels to the lesion for relevant treatment under the guidance of real-time images of DSA (Digital Subtraction Angiography). However, current cardiovascular implant intervention treatments also have their limitations.

[0004] During the operation, DSA will emit X-rays, and the lead protective clothing worn by the doctor cannot completely protect the doctor. Doctors are prone to cancer and other diseases if they are exposed to radiation for a long time. Another situation is that the lead protective clothing is relatively heavy, and doctors wearing it for a long time will also cause a certain load on the body, affecting the operation. In addition, some implantable interventional surgeries (such as aortic valve replacement) are complicated to operate, requiring the cooperation of multiple doctors, and sometimes the doctor needs to rely on experience and feeling to operate, which makes the operation difficult and risky.

[0005] Therefore, there is a need for a slave end-implementing device and a medical system for delivering a guidewire and / or a catheter to at least partially solve the above problems. Summary of the invention

[0006] A series of simplified concepts are introduced in the Summary of the Invention section, which will be further described in detail in the Detailed Description of the Invention section. The Summary of the Invention section of this application does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the scope of protection of the claimed technical solution.

[0007] In order to at least partially solve the above problems, the first aspect of the present application provides a slave end execution device for delivering a guide wire and / or a catheter, the slave end execution device comprising:

[0008] A main body power device, which is used to be installed beside the operating table and is immovable relative to the operating table, and the main body power device includes a main body driving mechanism for providing driving force;

[0009] A first carrying device, detachably connected to the mobile power device, and moving synchronously with the mobile power device along the conveying direction relative to the main power device, the first carrying device is used to carry a medical device, the medical device including the catheter; and

[0010] The first operating mechanism is arranged on the base device, and is used for controlling the guide wire to move forward and backward relative to the first carrying device along the conveying direction under the drive of the first driving mechanism.

[0011] According to the present application, the doctor can control the slave end execution device of the slave end in the main control room, thereby avoiding exposure to radiation. The components of the slave end execution device for contacting the guide wire and / or catheter are passive components (no need to connect to a power source), can be configured as consumables, are easy to install, and can avoid infection.

[0012] Optionally, the mobile power device includes a second driving mechanism for providing driving force;

[0013] The first carrying device includes a second operating mechanism, the second operating mechanism is used to contact the medical device, and the second operating mechanism is connected to the second driving mechanism to operate the medical device to perform a medical function under the drive of the second driving mechanism.

[0014] According to the present application, the component of the slave execution device for contacting the guidewire and / or catheter is a passive component (no power supply is required), can be configured as a consumable, is easy to install, and can avoid infection.

[0015] Optionally, the slave execution device further includes:

[0016] A moving assembly, arranged on the main body power device, the moving assembly is configured to move forward and backward relative to the main body power device along the conveying direction under the drive of the main body driving mechanism, wherein the moving power device is connected to the moving assembly;

[0017] A first transmission mechanism, connected between the first driving mechanism and the first operating mechanism, for transmitting the driving force of the first driving mechanism to the first operating mechanism; and

[0018] The second transmission mechanism is connected between the second driving mechanism and the second operating mechanism, and is used to transmit the driving force of the second driving mechanism to the second operating mechanism.

[0019] According to the present application, the passive components of the slave-end execution device are transmission-connected to the drive mechanism via a transmission structure.

[0020] Optionally, the first transmission mechanism includes:

[0021] A first power shaft, disposed on the mobile power device, wherein the first power shaft is configured to be rotatable relative to the mobile power device around its own axis;

[0022] A first transmission assembly, disposed in the mobile power device and connected between the first drive mechanism and the first power shaft, so that the first power shaft rotates under the drive of the first drive mechanism; and

[0023] The first power transmission mechanism is arranged on the first bearing device and connected between the first operating mechanism and the first power shaft so that the first power shaft drives the first operating mechanism to work.

[0024] According to the present application, the first transmission mechanism includes a first power shaft, which is simple to control.

[0025] Optionally, the first operating mechanism comprises:

[0026] a first operating mechanism base, connected to the first carrying device;

[0027] at least one first roller, disposed on the first operating mechanism base, the axis of the first roller being not parallel to the conveying direction, the first roller being configured to be rotatable about its axis relative to the first operating mechanism base, and

[0028] at least one second roller, disposed on the first operating mechanism base and arranged opposite to the first roller, so as to clamp the guide wire together with the first roller, the second roller being configured to be rotatable around its axis relative to the first operating mechanism base;

[0029] Wherein, the first roller and the second roller are both used to be connected to the first transmission mechanism so as to rotate under the drive of the first transmission mechanism, and the slave-end execution device is constructed so that the rotation direction of the first roller is opposite to the rotation direction of the second roller.

[0030] According to the present application, the first roller and the second roller are both configured as active rollers, so that the slave end actuator has sufficient driving force to transport the guide wire. In addition, the first roller and the second roller are driven by the same driving mechanism, which can ensure that the two rotate synchronously.

[0031] Optionally, the first operating mechanism further includes:

[0032] A second fixed seat, disposed on the first operating mechanism base, wherein the second roller is disposed on the second fixed seat; and

[0033] a first movable seat, which is arranged on the first operating mechanism base and is movable along a first direction relative to the second fixed seat between a first position and a second position, wherein the first roller is arranged on the first movable seat,

[0034] The first direction is perpendicular to the conveying direction and a plane defined by the axis of the first roller, and the distance between the first movable seat and the second fixed seat when the first movable seat is in the first position is smaller than the distance between the first movable seat and the second fixed seat when the first movable seat is in the second position.

[0035] According to the present application, the distance between the first roller and the second roller is adjustable. When the distance between the two rollers is far, it is convenient to take and place the guide wire, and when the distance between the two rollers is close, the guide wire can be clamped.

[0036] Optionally, the first operating mechanism further includes:

[0037] a first biasing assembly connected between the second fixed seat and the first movable seat, for providing a force to move the first movable seat away from the second fixed seat along the first direction; and

[0038] The first pressing mechanism is arranged on the first operating mechanism base and connected to the first movable seat, and is used for being operated by a user to make the first movable seat approach the second fixed seat along the first direction.

[0039] According to the present application, the distance between the first roller and the second roller is adjusted by the first biasing assembly and the first clamping mechanism.

[0040] Optionally, the first biasing assembly comprises an elastic component, and the elastic component is deformable along the first direction.

[0041] According to the present application, the first biasing component has low cost and stable performance.

[0042] Optionally, the first pressing mechanism includes:

[0043] a cam connected to the first operating mechanism base and rotatable relative to the first operating mechanism base about a rotation axis extending in a second direction, wherein the second direction is perpendicular to the first direction and parallel to a plane defined by the conveying direction and the axis of the first roller, and a circumferential surface of the cam is connected to a side of the first movable seat facing away from the second fixed seat;

[0044] A wrench is connected to the cam and is used for being operated by a user to rotate the cam relative to the first operating mechanism base.

[0045] According to the present application, the first clamping mechanism has a simple structure and stable performance.

[0046] Optionally,

[0047] A protrusion extending along the first direction is connected to a side of the first movable seat facing the cam and is used to contact the circumferential surface of the cam; and / or

[0048] The wrench is exposed from an outer surface of the base device.

[0049] According to the present application, the cam is connected to the first movable seat through the protrusion, so that the distance between the cam and the first movable seat is increased, which is convenient for operating the wrench. The wrench is exposed from the outer surface of the base device, which is also convenient for users to operate the wrench.

[0050] Optionally, the first power transmission mechanism comprises a first transmission shaft, and the first transmission shaft is used to be connected to the first driving mechanism so as to rotate under the drive of the first driving mechanism;

[0051] The first operating mechanism also includes:

[0052] a first roller transmission mechanism, used to connect the first transmission shaft and the first roller, so that the rotation direction of the first roller is the same as the rotation direction of the first transmission shaft, and

[0053] The second roller transmission mechanism is used to connect the first transmission shaft and the second roller, so that the rotation direction of the second roller is opposite to the rotation direction of the first transmission shaft.

[0054] According to the present application, the first roller and the second roller are driven by different transmission mechanisms respectively, so that even if the transmission mechanism of one of them fails, the roller of the failed party can passively rotate under the action of friction force, without affecting the delivery of the guide wire, thereby greatly ensuring the stable performance of the equipment.

[0055] Optionally, the first roller transmission mechanism includes at least one first operating synchronous belt, the first transmission shaft and the first roller are both connected with a structure for connecting the first operating synchronous belt, and the slave-end execution device is constructed so that the first transmission shaft drives all the first rollers to rotate through the first operating synchronous belt.

[0056] According to the present application, the first roller transmission mechanism has a simple structure, low cost and stable performance.

[0057] Optionally, the first operating mechanism includes N first rollers and N first operating synchronous belts, where N is an integer greater than or equal to 1, wherein:

[0058] Each of the first rollers is connected to the first transmission shaft via a first steering synchronous belt; or

[0059] Each of a portion of the N first rollers is connected to the first transmission shaft via a first steering synchronous belt, and each of another portion of the N first rollers is connected to another first roller via a first steering synchronous belt.

[0060] According to the present application, the first roller transmission mechanism is flexibly arranged.

[0061] Optionally, the first operating mechanism includes N first rollers and N first operating synchronous belts, where N is an integer greater than or equal to 1, wherein:

[0062] The first one of the N first rollers is connected to the first transmission shaft via a first steering synchronous belt, and each of the other first rollers is connected to the previous first roller via a first steering synchronous belt.

[0063] According to the present application, the first transmission shaft and all the first rollers are driven one by one in sequence, which can unify the specifications of the first rollers and reduce costs.

[0064] Optionally, the first operating mechanism further includes:

[0065] A first additional roller, disposed on the first movable seat, wherein the first additional roller is configured to be rotatable relative to the first movable seat about its axis;

[0066] A second additional roller is arranged on the second fixing seat and is arranged opposite to the first additional roller, so as to clamp the guide wire together with the first additional roller, and the second additional roller is configured to be rotatable around its axis relative to the second fixing seat;

[0067] a first additional roller transmission mechanism, used for connecting the first additional roller and the Nth first roller, so that the first additional roller rotates in the same direction as the rotation direction of the first transmission shaft under the drive of the Nth first roller; and

[0068] An encoder is connected to the second additional roller and is used to detect a rotation angle of the second additional roller.

[0069] According to the present application, when the first transmission shaft and all the first rollers are driven one by one in sequence, it is possible to detect whether the first operating synchronous belt is slipping or damaged by the rotation angle detected by the encoder.

[0070] Optionally, the second additional roller has a second additional roller axle;

[0071] The mobile power device also includes a third rotating shaft, which is arranged on the mobile power device and is used to be connected to the second additional roller axle and rotate synchronously with the second additional roller axle, wherein the encoder is arranged on the third rotating shaft.

[0072] According to the present application, the encoder is connected to the passive component via the third rotating shaft, so that the passive component can be used as a consumable.

[0073] Optionally,

[0074] The first additional roller transmission mechanism is configured as a synchronous belt, and / or

[0075] The axis of the first additional roller is parallel to the axis of the first roller.

[0076] According to the present application, the first additional roller transmission mechanism has a simple structure, low cost and stable performance. The axis of the first additional roller is parallel to the axis of the first roller, which can simplify the design.

[0077] Optionally,

[0078] The diameter of the first additional roller is the same as the diameter of the first roller, and the diameter of the second additional roller is the same as the diameter of the second roller; and / or

[0079] The diameter of the first additional roller is the same as the diameter of the second additional roller.

[0080] According to the present application, the first roller, the second roller, the first additional roller and the second additional roller can be constructed as the same roller, thereby unifying component specifications, simplifying design and reducing costs.

[0081] Optionally, the second roller transmission mechanism includes:

[0082] A fourth transmission shaft, arranged on the first operating mechanism base;

[0083] A second roller first transmission mechanism, used to connect the first transmission shaft and the fourth transmission shaft, so that the fourth transmission shaft rotates under the drive of the first transmission shaft; and

[0084] The second roller second transmission mechanism is used to connect the fourth transmission shaft and the second roller, so that the second roller rotates under the drive of the fourth transmission shaft.

[0085] According to the present application, by designing the fourth transmission shaft, the first transmission shaft drives the fourth transmission shaft to rotate, and then the fourth transmission shaft drives the second roller to rotate, so that the rotation direction of the second roller can be different from the rotation direction of the first transmission shaft.

[0086] Optionally, one of the second roller first transmission mechanism and the second roller second transmission mechanism is configured to be driven by a synchronous belt, and the other of the second roller first transmission mechanism and the second roller second transmission mechanism is configured to be driven by a gear.

[0087] According to the present application, the synchronous belt transmission makes the rotation direction of the driven member the same as the rotation direction of the driving member, and the gear transmission makes the rotation direction of the driving member different from the rotation direction of the driving member, thereby making the rotation directions of the second roller and the first transmission shaft different.

[0088] Optionally, the component of the first roller transmission mechanism used for connecting the first transmission shaft and the component of the second roller transmission mechanism used for connecting the first transmission shaft are both synchronous belts.

[0089] According to the present application, the first transmission shaft is connected to the first roller transmission mechanism and the second roller transmission mechanism through a synchronous belt, which is conducive to simplifying the design of the first transmission shaft.

[0090] Optionally,

[0091] The diameter of the first roller is the same as the diameter of the second roller, and / or

[0092] The axis of the first roller is perpendicular to the conveying direction.

[0093] According to the present application, the first roller and the second roller can be configured as the same roller, thereby unifying component specifications, simplifying design, and reducing costs. The axis of the first roller is perpendicular to the conveying direction, which can improve the conveying efficiency.

[0094] Optionally, the position of the first power transmission mechanism corresponds to the position of the first power shaft and is meshedly connected to the first power shaft. The first power transmission mechanism includes a transmission synchronous wheel, and a synchronous belt drive is formed between the first power transmission mechanism and the first operating mechanism.

[0095] According to the present application, the connection between the first power transmission mechanism and the first power shaft is stable.

[0096] Optionally, the second transmission mechanism includes:

[0097] A second power shaft, disposed on the mobile power device, the second power shaft being configured to be rotatable relative to the mobile power device around its own axis;

[0098] A second transmission assembly, disposed in the mobile power device and connected between the second drive mechanism and the second power shaft, so that the second power shaft rotates under the drive of the second drive mechanism; and

[0099] The second power transmission mechanism is arranged on the first bearing device and connected between the second operating mechanism and the second power shaft so that the second power shaft drives the second operating mechanism to work.

[0100] According to the present application, the second transmission mechanism includes a second power shaft, and the second transmission mechanism is easy to control.

[0101] Optionally, the main power device further includes:

[0102] a frame, wherein the main body driving mechanism and the moving assembly are both arranged on the frame; and

[0103] The housing is covered on the frame, the housing has a long slot extending along the conveying direction, the moving assembly has a protruding portion extending from the long slot out of the housing, and the moving power device is connected to the protruding portion.

[0104] According to the present application, the main power device has a compact structure.

[0105] Optionally, the mobile power device further comprises:

[0106] a connecting frame, one end of which is connected to the protruding portion of the moving assembly; and

[0107] A base is connected to the other end of the connecting frame, wherein the first supporting device is detachably connected to the base.

[0108] Furthermore, the first driving mechanism and the second driving mechanism are arranged on the connecting frame.

[0109] According to the present application, the mobile power device has a compact structure.

[0110] Optionally, the first power shaft is arranged to penetrate the base, and one end of the first power shaft facing the first bearing device is transmission-connected to the first operating mechanism;

[0111] The first transmission assembly is connected between the first driving mechanism and an end of the first power shaft facing away from the first bearing device;

[0112] The second power shaft is arranged to penetrate the base, and one end of the second power shaft facing the first bearing device is transmission-connected to the second operating mechanism;

[0113] The second transmission assembly is connected between the second driving mechanism and an end of the second power shaft facing away from the first bearing device.

[0114] According to the present application, the first power shaft is stably connected to the first transmission assembly, and the second power shaft is stably connected to the second transmission assembly.

[0115] Optionally, a buckle seat is provided at the end of the base;

[0116] The first carrying device includes a carrying base, wherein the medical device and the first operating mechanism are both detachably connected to the carrying base, and a snap-fit ​​assembly is provided at the end of the carrying base, and the snap-fit ​​assembly is constructed to be able to snap-fit ​​with the snap-fit ​​seat so that the carrying base can be detachably connected to the base.

[0117] According to the present application, the first carrying device is snap-connected to the mobile power device.

[0118] Optionally, the clamping assembly includes:

[0119] A rotating shaft, arranged at the end of the bearing base and passing through the bearing base;

[0120] A knob for user operation, wherein the knob is disposed at an end of the rotating shaft away from the base, and the knob and the rotating shaft can rotate synchronously around the axis of the rotating shaft; and

[0121] A buckle is arranged at one end of the rotating shaft facing the base and is used for engaging with the buckle seat. The buckle and the rotating shaft can rotate synchronously around the axis of the rotating shaft.

[0122] Optionally, the bearing base is provided with a functional operating seat for mounting the medical device, the functional operating seat comprises a first side of the functional operating seat and a second side of the functional operating seat which are arranged opposite to each other, wherein the medical device is detachably connected to the first side of the functional operating seat, and the functional operating seat is provided with an operating port;

[0123] The second operating mechanism comprises:

[0124] a functional gear, the functional gear being rotatably disposed on the second side of the functional operating seat and at least partially exposed from the operating port to the first side of the functional operating seat so as to be meshed with the medical device, and

[0125] A bevel gear is coaxially connected to the functional gear, and the bevel gear is meshingly connected to the second power transmission mechanism.

[0126] According to the present application, the second operating mechanism has a compact structure.

[0127] Optionally, the first carrying device further includes:

[0128] A first bracket, the first bracket is arranged on a first side of the functional operating seat;

[0129] A second bracket, the second bracket is arranged at a first side of the functional operating seat and is spaced apart from the first bracket along the conveying direction so as to support the medical device together with the first bracket, and the second bracket is configured to be movable relative to the functional operating seat along the conveying direction;

[0130] A second elastic member is connected to the second bracket and is used to apply a force to the second bracket to make the second bracket move away from the first bracket along the conveying direction.

[0131] Furthermore, the functional operating seat is provided with an opening extending along the conveying direction, and a portion of the second bracket is disposed in the opening and can move in the opening along the conveying direction;

[0132] The first carrying device also includes:

[0133] a connecting seat, the connecting seat being arranged on the second side of the functional operating seat, the connecting seat being closer to the first bracket than the opening, the connecting seat having a channel extending along the conveying direction, and

[0134] a base connected to the portion of the second bracket located in the opening and extending at least partially into the channel,

[0135] Wherein, the second elastic member is arranged in the channel and connected between the connecting seat and the base.

[0136] According to the present application, the supporting structure of the slave execution device for carrying the medical device is compact.

[0137] Optionally, the main power device further includes:

[0138] a first guide rail, the first guide rail being arranged on the frame and extending along the conveying direction;

[0139] A lead screw pair, the lead screw pair comprising a lead screw and a lead screw nut, the lead screw being arranged on the frame and extending along the conveying direction;

[0140] A main body transmission assembly, wherein the main body transmission assembly is connected between the main body drive mechanism and the lead screw, so that the lead screw rotates around its own axis under the drive of the main body drive mechanism,

[0141] Wherein, the moving assembly is connected to the lead screw nut and the first guide rail, and is constructed to be able to move along the first guide rail. The main driving mechanism is connected to the lead screw transmission to drive the lead screw nut to move along the lead screw to drive the moving assembly to move.

[0142] According to the present application, the active power device has a compact structure, simple control and stable performance.

[0143] Optionally, the moving component comprises:

[0144] A moving frame connected to the lead screw nut, the moving frame having two end walls spaced apart along the conveying direction and a second guide rail disposed between the two end walls, the second guide rail extending along the conveying direction;

[0145] a movable seat, the movable seat being disposed on the second guide rail and movable along the second guide rail, the protrusion being disposed on the movable seat; and

[0146] The tension and pressure sensor is arranged between the movable seat and one of the two end walls. The tension and pressure sensor abuts against both the movable seat and the one of the two end walls to sense the resistance encountered by the movable seat when the catheter is transported.

[0147] According to the present application, the moving assembly has a compact structure. The tension pressure sensor can measure the resistance encountered when the catheter is delivered, so that the user can better control the delivery of the catheter.

[0148] Optionally, the position of the second power transmission mechanism corresponds to the position of the second power shaft and is meshedly connected to the second power shaft. The second power transmission mechanism includes a transmission gear, and a gear meshing transmission is formed between the second power transmission mechanism and the second operating mechanism.

[0149] According to the present application, the second power transmission mechanism is stably connected to the second power shaft.

[0150] Optionally, at least one of the main body drive mechanism, the first drive mechanism and the second drive mechanism comprises a motor.

[0151] According to the present application, a motor is used to output driving force, which has low cost and stable performance.

[0152] Optionally, the medical device is configured for delivery of a prosthetic valve.

[0153] According to the present application, the slave execution device is used to deliver an artificial valve.

[0154] Optionally, the slave execution device further includes:

[0155] A second power assembly, for installation beside an operating table and being immovable relative to the operating table, the second power assembly comprising a fourth driving mechanism for providing driving force; and

[0156] a second conveying assembly, detachably connected to the second power assembly, for conveying the guidewire and / or catheter under the drive of the fourth driving mechanism;

[0157] The second power assembly is used to be installed in front of the main power device along the conveying direction of the guide wire and / or catheter.

[0158] According to the present application, the second delivery component is used to support and assist in delivering the guide wire and / or catheter at the front end.

[0159] Optionally, the second conveying assembly comprises:

[0160] a second conveying assembly base, detachably connected to the second power assembly;

[0161] At least one third roller is disposed on the second conveying assembly base, and the axis of the third roller is not parallel to the conveying direction;

[0162] at least one fourth roller, disposed on the second conveying assembly base and arranged opposite to the third roller, so as to clamp the guide wire and / or catheter together with the third roller;

[0163] The third roller transmission mechanism is arranged on the base of the second conveying assembly and is used to connect with the fourth driving mechanism and the third roller to drive the third roller to rotate under the drive of the fourth driving mechanism.

[0164] According to the present application, the third roller is an active roller, and the fourth roller is a passive roller.

[0165] Optionally, the second conveying assembly further includes:

[0166] A third fixed seat, disposed on the second conveying assembly base, wherein the third roller and the third roller transmission mechanism are disposed on the third fixed seat; and

[0167] a fourth movable seat, which is arranged on the second conveying assembly base and is movable between a third position and a fourth position relative to the third fixed seat along a first additional direction, wherein the fourth roller is arranged on the fourth movable seat,

[0168] Wherein, the first additional direction is perpendicular to the conveying direction and the plane determined by the axis of the third roller, and the distance between the fourth movable seat and the third fixed seat when in the third position is smaller than the distance between the fourth movable seat and the third fixed seat when in the fourth position.

[0169] According to the present application, the distance between the third roller and the fourth roller is adjustable, so as to accommodate catheters of different sizes.

[0170] Optionally,

[0171] The second conveying assembly further includes a positioning mechanism, and the positioning mechanism is arranged on the fourth moving seat.

[0172] The second conveying assembly base includes a third clamping portion and a fourth clamping portion arranged along the first additional direction,

[0173] The second conveying assembly is constructed such that when the locking mechanism engages with the third locking portion, the fourth movable seat is located at the third position relative to the third fixed seat, and when the locking mechanism engages with the fourth locking portion, the fourth movable seat is located at the fourth position relative to the third fixed seat.

[0174] According to the present application, the combination of the locking mechanism and the locking portion enables the fourth movable seat to be stably maintained at the third position or the fourth position.

[0175] Optionally, it is characterized in that

[0176] The locking mechanism comprises a locking member,

[0177] The third locking portion and the fourth locking portion are configured to include locking grooves having a shape matching the outer shape of the locking member to accommodate the locking member.

[0178] According to the present application, the engagement method between the locking member and the locking portion has stable performance.

[0179] Optionally,

[0180] The fourth movable seat comprises a first movable seat side and a second movable seat side which are arranged in opposite directions along the axis of the third roller.

[0181] The third clamping portion and the fourth clamping portion are located on one side of the second side of the moving seat of the fourth moving seat, the clamping groove of the third clamping portion and the clamping groove of the fourth clamping portion are configured as through grooves along the axial direction of the third roller, and are connected along the first additional direction,

[0182] The locking mechanism also includes:

[0183] an operating member for operation by a user, wherein the operating member is movable relative to the fourth movable seat along the axis direction of the third roller and is immovable relative to the fourth movable seat along the first additional direction, wherein the operating member comprises a first operating member portion located at a first side of the movable seat and a second operating member portion located at a second side of the movable seat, wherein the locking member is connected to the second operating member portion, and

[0184] A fourth biasing assembly is connected between the first side of the moving seat and the first portion of the operating member, and is used to apply a force to the operating member to move toward the first side of the moving seat.

[0185] According to the present application, the components used for locking are compact in structure and the locking operation is simple.

[0186] Optionally,

[0187] The fourth mobile seat also includes:

[0188] a moving seat through hole, the moving seat through hole communicating with the first side of the moving seat and the second side of the moving seat, and

[0189] A blind hole of the movable seat, the opening of which is located on the first side of the movable seat;

[0190] The fourth biasing component is configured as an elastic component disposed in the blind hole of the moving seat;

[0191] The operating member comprises:

[0192] An operating portion, used for user operation, located on the first side of the moving base,

[0193] a connecting portion connected to the operating portion, extending from the first side of the moving base through the through hole of the moving base to the second side of the moving base, and

[0194] An action portion connected to the operating portion and configured to extend into the blind hole of the moving seat to squeeze the fourth biasing component

[0195] The locking member is connected to the connecting portion at the second side of the moving seat.

[0196] According to the present application, the locking mechanism has a compact structure and stable performance.

[0197] Optionally,

[0198] The portion of the operating member for user operation is configured as an arc-shaped groove, and / or

[0199] A portion of the operating element for user operation is structured with textures.

[0200] According to the present application, the design of the operating parts takes ergonomics into consideration and can enhance the user experience.

[0201] Optionally, the operating member is exposed from the second conveying assembly base.

[0202] According to the present application, the operation of the operating element is simple.

[0203] Optionally, the second conveying assembly base comprises:

[0204] A first portion of a second conveying assembly base, detachably connected to the second power assembly; and

[0205] The second part of the second conveying assembly base is pivotally connected to the first part of the second conveying assembly base and is used to cover the first part of the second conveying assembly base.

[0206] Wherein, the third fixed seat and the fourth movable seat are arranged on the first part of the base of the second conveying component.

[0207] According to the present application, the guide wire and / or catheter is installed to the first part of the second delivery component base, and the second part of the second delivery component base covers the first part of the second delivery component base, which can protect the guide wire and / or catheter.

[0208] Optionally, the first portion of the second conveying assembly base is provided with a channel for accommodating the guide wire and / or catheter, and the channel extends along the axial direction of the third roller to the outer surface of the first portion of the second conveying assembly base.

[0209] According to the present application, the guide wire and / or catheter is installed in a simple manner.

[0210] Optionally, the second conveying assembly further includes:

[0211] a fourth roller seat connected to the fourth movable seat and movable relative to the fourth movable seat along the first additional direction, wherein the fourth roller is disposed on the fourth roller seat; and

[0212] The third biasing assembly is connected between the fourth roller seat and the fourth moving seat, and is used for applying a force to the fourth roller seat to move toward the third roller.

[0213] According to the present application, the third biasing assembly pushes the fourth roller toward the third roller, which is beneficial for clamping the guidewire and / or catheter.

[0214] Optionally, the third biasing assembly is configured as an elastic member extending along the first additional direction.

[0215] According to the present application, the third biasing component has a simple structure, low cost and stable performance.

[0216] Optionally, the fourth driving mechanism comprises a motor.

[0217] According to the present application, the fourth driving mechanism is simple to control, low in cost and has stable performance.

[0218] Optionally, the third roller transmission mechanism includes:

[0219] A third transmission shaft is disposed on the second conveying assembly base and connected to the output shaft of the motor;

[0220] The third transmission assembly is connected to the third transmission shaft and the third roller respectively, and is used to make the third roller rotate under the drive of the third transmission shaft.

[0221] Further, the third transmission assembly is configured as a gear assembly.

[0222] According to the present application, the driving method of the third roller is simple and has stable performance.

[0223] Optionally,

[0224] The axis of the third roller is perpendicular to the conveying direction, and / or

[0225] The diameter of the third roller is the same as the diameter of the fourth roller.

[0226] According to the present application, the axis of the third roller is perpendicular to the conveying direction, which can improve the conveying efficiency. The third roller and the fourth roller can be configured as the same roller, thereby unifying the component specifications, simplifying the design, and reducing the cost.

[0227] A second aspect of the present application provides a medical system, comprising:

[0228] A first bracket is used to be arranged beside an operating table;

[0229] The slave execution device according to any one of the above technical solutions, wherein the main power device is connected to the first bracket; and

[0230] A medical device is detachably connected to the first carrying device.

[0231] According to the present application, the doctor can control the slave end execution device of the slave end in the main control room, thereby avoiding exposure to radiation. The components of the slave end execution device for contacting the guide wire and / or catheter are passive components (no need to connect to a power source), can be configured as consumables, are easy to install, and can avoid infection.

[0232] Optionally, the first support is configured as a robotic arm, and the robotic arm is configured to be movable relative to the operating bed in at least one spatial dimension.

[0233] According to the present application, the first bracket is constructed as a mechanical arm, so that the position and angle of the slave end execution device can be adjusted.

[0234] A third aspect of the present application provides a medical system, characterized in that it includes:

[0235] A first bracket is used to be arranged beside an operating table;

[0236] A second stent is used to be arranged beside the operating table and is located in front of the first stent along the conveying direction of the guide wire and / or the catheter;

[0237] A slave-end execution device according to any one of the above technical solutions including a second conveying assembly, wherein the main power device is connected to the first bracket, and the second power assembly is connected to the second bracket; and

[0238] A medical device is detachably connected to the first carrying device.

[0239] According to the present application, the doctor can control the slave end execution device of the slave end in the main control room, thereby avoiding exposure to radiation. The components of the slave end execution device for contacting the guide wire and / or catheter are passive components (no need to connect to a power source), can be configured as consumables, are easy to install, and can avoid infection.

[0240] Optionally, the first support and / or the second support is configured as a robotic arm, and the robotic arm is configured to be movable relative to the operating bed in at least one spatial dimension.

[0241] According to the present application, the first bracket and / or the second bracket is configured as a mechanical arm, so that the position and angle of the slave end execution device can be adjusted.

[0242] Optionally, the medical system further comprises:

[0243] Host operating equipment; and

[0244] A processor module is signal-connected to both the master-end operating device and the slave-end execution device.

[0245] According to the present application, the doctor can operate the device on the master side to control the slave side to execute the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0246] The following drawings of the present application are used as a part of the present application for understanding the present application. The drawings show the implementation modes of the present application and the description thereof, and are used to explain the principle of the present application.

[0247] In the attached figure:

[0248] Figure 1 It is a three-dimensional schematic diagram of a medical system according to a preferred embodiment of the present application;

[0249] Figure 2 It is a three-dimensional exploded schematic diagram of a slave execution device according to a preferred embodiment of the present application;

[0250] Figure 3 for Figure 2 An exploded schematic diagram of the rear consumables box shown;

[0251] Figure 4 and Figure 5 for Figure 2 The schematic diagram of some components of the slave execution device shown, wherein the main power device and the mobile power device are shown;

[0252] Figure 6 for Figure 2 The exploded schematic diagram of some components of the slave execution device shown, wherein the main power device and the mobile power device are shown;

[0253] Figure 7 for Figure 3 An exploded schematic diagram of the bearing base shown, showing the snap-on assembly;

[0254] Figure 8 and Fig. 9 for Figure 2 A schematic diagram of the internal structure of the main power unit shown;

[0255] Fig.10 for Figure 8 An exploded schematic diagram of the mobile assembly shown;

[0256] Fig.11 for Figure 6 The schematic diagram of the internal structure of the mobile power unit shown;

[0257] Fig.12 for Figure 3 Another exploded schematic diagram of the bearing base shown, showing the first power transmission mechanism and the second power transmission mechanism;

[0258] Fig.13 For the general Figure 2 A schematic diagram showing the first operating mechanism being taken out from the first carrying device;

[0259] Fig.14 for Figure 2 A schematic diagram of the first operating mechanism shown when placed in the first carrying device;

[0260] Fig.15 for Figure 2 A perspective exploded schematic diagram of the first operating mechanism shown;

[0261] Fig.16 for Figure 2 A bottom view of the first operating mechanism shown;

[0262] Fig.17 for Figure 2 Another exploded perspective view of the first operating mechanism shown;

[0263] Fig.18 for Figure 2Another exploded perspective view of the first operating mechanism shown;

[0264] Fig.19 for Figure 2 A bottom view schematically shows a portion of the first operating mechanism, wherein the clamping mechanism has clamped the first movable wheel set to the first fixed wheel set;

[0265] Fig. 20 for Figure 2 A bottom view schematically shows a portion of the first operating mechanism, wherein the clamping mechanism does not clamp the first movable wheel set to the first fixed wheel set;

[0266] Fig.21 for Figure 2 A three-dimensional schematic diagram of a first moving wheel set of a first operating mechanism shown;

[0267] Fig. 22 for Figure 2 A three-dimensional schematic diagram of a first fixed wheel set of a first operating mechanism shown;

[0268] Fig.23 for Figure 3 A schematic diagram of some parts of the rear consumables box shown, wherein the functional operating seat and the second operating mechanism are shown;

[0269] Fig.24 for Fig.23 An exploded schematic view of the components shown;

[0270] Fig.25 for Figure 2 A perspective schematic diagram of a second conveying assembly shown;

[0271] Fig.26 for Figure 2 The exploded perspective view of the second conveying assembly shown;

[0272] Fig. 27 for Figure 2 The bottom perspective exploded schematic diagram of the second conveying assembly shown;

[0273] Fig.28 for Figure 2 The bottom perspective schematic diagram of the second conveying assembly shown, wherein the locking mechanism is engaged with the fourth locking portion;

[0274] Fig.29 for Figure 2 A bottom perspective schematic diagram of the second conveying assembly is shown, wherein the locking mechanism is disengaged from the locking portion;

[0275] Fig.30 for Figure 2 The bottom perspective schematic diagram of the second conveying assembly shown, wherein the locking mechanism is engaged with the third locking portion;

[0276] Fig.31 for Fig.26 A three-dimensional schematic diagram of the second movable wheel set shown;

[0277] Fig.32 for Fig.26 The exploded perspective view of the second movable wheel assembly shown;

[0278] Fig.33 for Fig.26 The exploded perspective view of some components of the second movable wheel set shown in FIG. 1 , wherein the locking mechanism and the fourth movable seat are shown;

[0279] Fig.34 for Fig.33 A schematic cross-sectional view of the assembled components shown.

[0280] Description of reference numerals:

[0281] 10: Medical equipment

[0282] 11: Catheter

[0283] 12: Guidewire

[0284] 13: Medical Functional Institutions

[0285] 14: Second power assembly

[0286] 15: Rear consumables box

[0287] 17: First bracket

[0288] 18: Open window

[0289] 19: Second bracket

[0290] 30: First operating mechanism

[0291] 30A: First moving wheel set

[0292] 30B: First fixed wheel set

[0293] 31: First operating mechanism base

[0294] 31C: First base channel

[0295] 32: First bias component

[0296] 32A: First spring blind hole

[0297] 33: First clamping mechanism

[0298] 34: First mobile seat

[0299] 35: Second fixed seat

[0300] 36: Cam

[0301] 36A: Cam seat

[0302] 37: Wrench

[0303] 38: Bump

[0304] 38A: Bump through slot

[0305] 41 / 41A / 41B: First roller

[0306] 41X: First roller shaft

[0307] 42 / 42A / 42B: Second roller

[0308] 43: First additional roller

[0309] 44: Second additional roller

[0310] 44A: Second additional roller axle

[0311] 46: First additional roller transmission mechanism

[0312] 47: First additional roller axle

[0313] 48: First guide rod

[0314] 48A: First guide hole

[0315] 48B: First stopper

[0316] 49: Synchronous belt clamp

[0317] 51: First roller transmission mechanism

[0318] 52: Second roller transmission mechanism

[0319] 53 / 53A / 53B: First control timing belt

[0320] 55: Fourth transmission shaft

[0321] 56: Second roller first transmission mechanism

[0322] 57: Second roller second transmission mechanism

[0323] 57A / 57B / 57C: Gear

[0324] 60: Second conveying component

[0325] 60A: Second moving wheel set

[0326] 60B: Second fixed wheel set

[0327] 61: Second conveyor assembly base

[0328] 62: Mobile seat through hole

[0329] 63: The third fixed seat

[0330] 64: Fourth mobile seat

[0331] 64A: First side of mobile seat

[0332] 64B: Second side of mobile seat

[0333] 65: Cardboard

[0334] 66A: Third card position

[0335] 66B: Fourth card position

[0336] 67: Fourth Rail

[0337] 68: Second guide rod

[0338] 68A: Second guide hole

[0339] 68B: Second blocking member

[0340] 69: Mobile seat blind hole

[0341] 71: Third bias component

[0342] 71A: Third spring blind hole

[0343] 72: Fourth bias component

[0344] 73 / 73A / 73B: Third roller

[0345] 74 / 74A / 74B: Fourth roller

[0346] 75: The third roller transmission mechanism

[0347] 76: Fourth roller seat

[0348] 77: Third transmission shaft

[0349] 78: Third transmission assembly

[0350] 78A / 78B / 78C: Gear

[0351] 80: Positioning mechanism

[0352] 81: Card position piece

[0353] 82: Operating parts

[0354] 82A: Operation part 1

[0355] 82B: Operation part 2

[0356] 83: Operation Department

[0357] 84: Connection

[0358] 85: Action Department

[0359] 86: Arc groove

[0360] 87: Second conveyor assembly base part 1

[0361] 87A: Main body

[0362] 87B: Bottom plate

[0363] 87C: Second base channel

[0364] 87D: Bottom plate through hole

[0365] 88: Second conveyor assembly base part 2

[0366] 89A / 89B: Gap

[0367] 92: Main transmission assembly

[0368] 94: First transmission assembly

[0369] 95: Second transmission assembly

[0370] 97: Support structure

[0371] 111: Rack

[0372] 112: Shell

[0373] 113: Long groove

[0374] 114: First rail

[0375] 115: Screw

[0376] 116: Screw nut

[0377] 124: Main driving mechanism

[0378] 126: Main driven wheel

[0379] 127: Main synchronous belt

[0380] 117: Mobile rack

[0381] 118: End wall

[0382] 119: Second rail

[0383] 120: Mobile seat

[0384] 121: protrusion

[0385] 132: Linear bearings

[0386] 141: Connecting frame

[0387] 142: Base

[0388] 153: Buckle seat

[0389] 143: First drive mechanism

[0390] 144: Second drive mechanism

[0391] 145: First power shaft

[0392] 147: First prime mover

[0393] 148: First driven wheel

[0394] 149: First synchronous belt

[0395] 146: Second power shaft

[0396] 151: Second driven wheel

[0397] 152: Second synchronous belt

[0398] 162: Functional control seat

[0399] 164: Card assembly

[0400] 171: Operation port

[0401] 175: First bracket

[0402] 176: Second bracket

[0403] 177: Second elastic member

[0404] 178: Connecting seat

[0405] 179: Bottom bracket

[0406] 172: Functional gear

[0407] 173: Bevel gear

[0408] 200: slave execution device

[0409] 210: Main power unit

[0410] 224: Pull pressure sensor

[0411] 240: Mobile Power Plant

[0412] 260: First bearing device

[0413] 261: Bearing base

[0414] 261A: The first part of the bearing base

[0415] 261B: The second part of the bearing base

[0416] 261C: Gap

[0417] 262A: Flip

[0418] 265: First power transmission mechanism

[0419] 266: Second power transmission mechanism

[0420] 290: Second operating mechanism

[0421] 291: Mobile Components

[0422] 300: Medical system

[0423] 1641: Knob

[0424] 1642: Buckle

[0425] 1643: Axis

[0426] 1644: Damping parts

[0427] 1645: Cover

[0428] 1651: The first limit frame

[0429] 1652: First bearing

[0430] 1653: First transmission shaft

[0431] 1654: Transmission synchronous wheel

[0432] 1661: Second limit frame

[0433] 1662: Second transmission shaft

[0434] 1663: Second bearing

[0435] 1664: Transmission gear

[0436] 1721: Gear seat

[0437] 1722: Third bearing

[0438] 1781: Channel

[0439] DF: conveying direction

[0440] DF1: First conveying direction

[0441] DF2: Second conveying direction

[0442] D1: First direction

[0443] D11: First additional direction

[0444] D2: Second direction

[0445] D21: Second additional direction DETAILED DESCRIPTION

[0446] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present application. However, it is apparent to those skilled in the art that the present application can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present application, some technical features well known in the art are not described.

[0447] In order to thoroughly understand the present application, a detailed description will be provided in the following description. It should be understood that these embodiments are provided to make the disclosure of the present application thorough and complete, and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art. Obviously, the implementation of the embodiments of the present application is not limited to the specific details familiar to those skilled in the art. The preferred embodiments of the present application are described in detail below, but in addition to these detailed descriptions, the present application may also have other embodiments.

[0448] Ordinal numbers such as "first" and "second" cited in this application are merely identifiers and do not have any other meaning, such as a specific order, etc. Moreover, for example, the term "first component" itself does not imply the existence of a "second component", and the term "second component" itself does not imply the existence of a "first component". The use of the words "first", "second", and "third" does not indicate any order, and these words can be interpreted as names.

[0449] It should be noted that the terms "upper", "lower", "front", "back", "left", "right", "inside", "outside" and similar expressions used in this application are for illustrative purposes only and are not limiting.

[0450] The present application provides a slave-end execution device (slave-end delivery apparatus) of a surgical robot for delivering a guide wire and / or a catheter, and a medical system (surgical robot system) using the slave-end execution device.

[0451] Now, exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings.

[0452] like Figure 1 and Figure 2As shown, in a preferred embodiment of the present application, the medical system 300 includes a first bracket 17, a slave end actuator 200 according to a preferred embodiment of the present application, and a medical device 10. Preferably, the medical system 300 also includes a second bracket 19. The second bracket 19 is located in front of the first bracket 17 along the conveying direction DF of the guide wire 12 and / or the catheter 11. When in use, the first bracket 17 and the second bracket 19 are arranged next to the operating bed for installing the slave end actuator 200. For example, the first bracket 17 and the second bracket 19 can be configured as a robotic arm, such as a passive robotic arm. The slave end actuator 200 is used to convey the guide wire 12 and / or the catheter 11. The robotic arm has a joint and can move in multiple spatial dimensions relative to the operating bed, so that the position and angle of the slave end actuator 200 can be adjusted.

[0453] In the present application, the direction in which the guidewire 12 and / or catheter 11 enters the blood vessel is the front (front end), and the direction in which the guidewire 12 and / or catheter 11 exits the blood vessel is the back (rear end).

[0454] Preferably, the medical system 300 also includes a master-end operating device and a processor module. The master-end operating device is arranged in the doctor's studio for manual operation by the doctor. For example, the master-end operating device may be a doctor's operating table. The processor module is signal-connected to both the master-end operating device and the slave-end execution device 200. The processor module may be a control device such as a central processing unit or a computer. After receiving the command signal from the master-end operating device, the processor module processes the command signal and sends it to the slave-end execution device 100, or directly sends the command signal to the slave-end execution device 100. After receiving the signal transmitted by the processor module, the slave-end execution device 100 performs a corresponding action in response to the action of the master-end operating device, so that the doctor can control the slave-end execution device 200 on the master-end operating device.

[0455] like Figure 1 and Figure 2 As shown, in a preferred embodiment, the slave execution device 200 includes a main power device 210 , a mobile power device 240 , a first carrying device 260 and a first operating mechanism 30 .

[0456] The main power device 210 is used to be installed beside the operating bed and is immovable relative to the operating bed. For example, the main power device 210 can be installed to the first bracket 17 so that the main power device 210 is immovable relative to the operating bed. The main power device 210 includes a main driving mechanism for providing a driving force. The mobile power device 240 is connected to the main power device 210 and is used to move forward and backward relative to the main power device 210 along the conveying direction DF of the guide wire 12 and / or the catheter 11 under the drive of the main driving mechanism. The mobile power device 240 includes a first driving mechanism for providing a driving force. The first bearing device 260 is used to carry the medical device 10, and the medical device 10 has a catheter 11. The first bearing device 260 is detachably connected to the mobile power device 240 and moves synchronously with the mobile power device 240 along the conveying direction DF relative to the main power device 210. The first operating mechanism 30 is connected to the first bearing device 260 and is used to control the conveying of the guide wire 12 under the drive of the first driving mechanism, that is, to control the guide wire 12 to move forward and backward relative to the first bearing device 260 along the conveying direction DF. The first operating mechanism 30 is located at the rear end of the first carrying device 260 along the conveying direction DF, or in other words, the first operating mechanism 30 is used to be arranged at the rear of the medical device 10 .

[0457] It can be understood that the conveying direction DF is a bidirectional direction, including a first conveying direction DF1 (forward direction) and a second conveying direction DF2 (backward direction), and the forward direction DF1 is opposite to the backward direction DF2.

[0458] The mobile power device 240 includes a second driving mechanism for providing driving force. The medical device 10 is detachably connected to the first carrying device 260. Figure 3 As shown, the first carrying device 260 includes a second operating mechanism 290, and the second operating mechanism 290 is used to contact the medical device 10. The second operating mechanism 290 is connected to the second driving mechanism to operate the medical device 10 to perform a medical function under the driving of the second driving mechanism.

[0459] The medical device 10 is, for example, configured to deliver an artificial valve, and may provide a catheter 11. For example, the medical device 10 is a valve delivery device functional handle, which is used to perform functions such as releasing or recovering the artificial valve, and to achieve relative movement and bending of the inner and outer shaft sheaths. Figure 2 As shown, the medical device 10 has at least one set of medical function mechanisms 13. When the medical function mechanisms 13 work, the medical device 10 performs the expected medical function. For example, the medical function mechanism 13 is configured as an operating gear 13 disposed on the periphery of the medical device 10. When the operating gear 13 rotates, the operating gear 13 drives the mechanism inside the medical device 10 to work, so as to achieve the expected medical function.

[0460] Preferably, the slave-end execution device 200 also includes a second power assembly 14 and a second conveying assembly 60. The second power assembly 14 is used to be installed next to the operating bed and is immovable relative to the operating bed. For example, the second power assembly 14 can be installed to the second bracket 19 so that the second power assembly 14 is immovable relative to the operating bed. The second power assembly 14 includes a fourth drive mechanism (not shown) for providing a driving force. The second conveying assembly 60 is detachably connected to the second power assembly 14, and is used to convey the guide wire 12 and / or the catheter 11 under the drive of the fourth drive mechanism.

[0461] like Figure 3 As shown, the first carrying device 260 is configured as a box. The medical device 10 and the first operating mechanism 30 are arranged in the first carrying device 260. The first carrying device 260 includes a carrying base 261, a functional operating seat 162 and a flip cover 262A. Among them, the carrying base 261 is used to be connected to the mobile power device 240. The carrying base 261 includes a first carrying base part 261A and a second carrying base part 261B. The first carrying base part 261A and the second carrying base part 261B are arranged along the conveying direction DF. The first carrying base part 261A and the second carrying base part 261B are both configured as a box. The first carrying base part 261A is used to accommodate the first operating mechanism 30. The first operating mechanism 30 can be stably maintained in the first carrying base part 261A. The second carrying base part 261B is used to accommodate the second operating mechanism 290. Specifically, the second operating mechanism 290 is arranged on the functional operating seat 162, and the functional operating seat 162 covers the second part 261B of the bearing base. The medical device 10 is mounted on the functional operating seat 162. For example, the functional operating seat 162 is provided with brackets 175 and 176 for mounting the medical device 10. The flip cover 262A is pivotally connected to the functional operating seat 162, and is used to cover the functional operating seat 162, thereby covering the medical device 10.

[0462] The first portion 261A of the carrying base is provided with a notch 261C, so that the guide wire located in the first portion 261A of the carrying base can pass through the notch 261C and extend to the medical device 10 corresponding to the position of the second portion 261B of the carrying base.

[0463] In the present application, the first bearing device 260 and the first operating mechanism 30 do not include a driving device for providing a driving force, and are passive devices. Therefore, the first bearing device 260 and the first operating mechanism 30 can be used as consumables, and the two can be collectively referred to as the rear consumable box 15. The medical device 10 is also a passive device, which is used to be installed in the first bearing device 260 and can also be considered as a part of the rear consumable box 15. Similarly, the second power assembly 14 is also a passive device, which can be used as a consumable and can be referred to as a front consumable box.

[0464] During the operation, first, the first operating mechanism 30, under the action of the first driving mechanism, delivers the guide wire 12 into the blood vessel and reaches the expected position. Then, the catheter 11 is sheathed around the guide wire 12 from the rear end, so that the guide wire 12 runs through the catheter 11. Under the action of the main driving mechanism, the mobile power device 240 and the first bearing device 260 move forward along the conveying direction DF, driving the medical device 10 to move forward, that is, driving the catheter 11 to move forward into the blood vessel. That is, the catheter 11 enters the blood vessel under the support and guidance of the guide wire 12. At this time, the rear consumable box 15 also drives the first operating mechanism 30 to move forward. In order to prevent the guide wire 12 from deviating from the expected position, while conveying the catheter 11, the first driving mechanism acts on the first operating mechanism 30, so that the first operating mechanism 30 moves the guide wire 12 backward along the conveying direction DF. It can be understood that the medical system 300 includes a control module (for example, arranged in the main end operating device), and the control module controls the main driving mechanism and the first driving mechanism to cooperate so that only the catheter 11 moves forward, while the guide wire 12 remains relatively stationary. The second delivery assembly 60 is relatively located at the front end, and plays a role in supporting and assisting the delivery of the guide wire 12 and / or the catheter 11. When the catheter 11 is delivered in place, the second driving mechanism controls the medical device 10 to work and complete the release of the artificial valve.

[0465] Preferably, at least one of the main driving mechanism, the first driving mechanism, the second driving mechanism and the fourth driving mechanism comprises a motor. Alternatively, the main driving mechanism, the first driving mechanism, the second driving mechanism and the fourth driving mechanism all use motors to output driving force.

[0466] like Figures 4 to 6 As shown, the mobile power device 240 is connected to the main power device 210, and is used to move forward and backward relative to the main power device 210 along the conveying direction DF of the guide wire 12 and / or catheter 11 under the drive of the main driving mechanism.

[0467] The main power device 210 includes a shell 112, and a moving assembly and a main driving mechanism are arranged inside the shell 112. The moving assembly is configured to move forward and backward relative to the main power device 210 along the conveying direction DF under the drive of the main driving mechanism, wherein the moving power device 240 is connected to the moving assembly. Specifically, the shell 112 has a long groove 113 extending along the conveying direction DF, the moving assembly has a protrusion 121 extending from the long groove 113 out of the shell 112, and the moving power device 240 is connected to the protrusion 121. For example, the moving power device 240 includes a connecting frame 141 and a base 142. One end of the connecting frame 141 is connected to the protrusion 121, and the other end of the connecting frame 141 is connected to the base 142. Among them, the first bearing device 260 is detachably connected to the base 142.

[0468] Specifically, the bearing base 261 of the first bearing device 260 is detachably connected to the base 142. Figure 7 As shown, a snap-fit ​​assembly 164 is disposed at the end of the bearing base 261. A snap-fit ​​seat 153 (such as Figure 5 The snap-fit ​​assembly 164 is configured to snap-fit ​​with the snap-fit ​​seat 153 so that the supporting base 261 is detachably connected to the base 142 .

[0469] For example, the clamping assembly 164 includes a knob 1641, a buckle 1642, and a rotating shaft 1643. The rotating shaft 1643 is disposed at the end of the bearing base 261 and penetrates the bearing base 261. The knob 1641 is used for user operation. The knob 1641 is disposed at the end of the rotating shaft 1643 away from the base 142, and the knob 1641 and the rotating shaft 1643 can rotate synchronously around the axis of the rotating shaft 1643. The buckle 1642 is disposed at the end of the rotating shaft 1643 facing the base 142, and the buckle 1642 and the rotating shaft 1643 can rotate synchronously around the axis of the rotating shaft 1643. When the user rotates the knob 1641, the buckle 1642 rotates synchronously with the knob 1641 through the rotating shaft 1643, for example, it can be rotated into the groove of the buckle seat 153, so that the bearing base 261 is engaged and connected with the base 142. When the buckle 1642 is rotated out of the groove of the buckle seat 153 , the support base 261 is disconnected from the base 142 .

[0470] Preferably, the clamping assembly 164 further includes a damping member 1644 and a cover plate 1645. The damping member 1644 is sleeved on the rotating shaft 1643 and embedded in the bearing base 261. That is, the damping member 1644 is arranged between the rotating shaft 1643 and the bearing base 261. The cover plate 1645 is connected to the bearing base 261 to limit the damping member 1644 and the rotating shaft 1643.

[0471] The first carrying device 260 can also be connected to the mobile power device 240 by, for example, magnetic attraction, suspension, etc.

[0472] like Figure 8 and Fig. 9As shown, the main power device 210 also includes a frame 111, and the housing 112 is covered on the frame 111. The main driving mechanism 124 and the moving assembly 291 are both arranged on the frame 111. The main power device 210 also includes a first guide rail 114, a lead screw pair and a main transmission assembly 92. The first guide rail 114 is arranged on the frame 111. The first guide rail 114 extends along the conveying direction DF. The lead screw pair includes a lead screw 115 and a lead screw nut 116, and the lead screw 115 is arranged on the frame 111, and the lead screw 115 also extends along the conveying direction DF. The main transmission assembly 92 is connected between the main driving mechanism 124 and the lead screw 115 so that the lead screw 115 rotates around its own axis under the drive of the main driving mechanism 124. The moving assembly 291 is connected to the lead screw nut 116 and the first guide rail 114, and is configured to be able to move along the first guide rail 114. The main driving mechanism 124 is in transmission connection with the lead screw 115, so as to drive the lead screw nut 116 to move along the extension direction of the lead screw 115, thereby driving the moving assembly 291 to move along the extension direction of the lead screw 115. Furthermore, the moving assembly 291 drives the moving power device 240 to move through its protrusion 121.

[0473] Preferably, the bottom of the moving frame 117 is connected to the first guide rail 114 .

[0474] like Figures 8 to 10 As shown, the moving assembly 291 includes a moving frame 117, a moving seat 120 and a tension and pressure sensor 224. The moving frame 117 is fixedly connected to the lead screw nut 116. The moving frame 117 has two end walls 118 arranged at intervals along the conveying direction DF and a second guide rail 119 arranged between the two end walls 118, and the second guide rail 119 extends along the conveying direction DF. The moving seat 120 is arranged on the second guide rail 119 and is movable along the second guide rail 119. For example, the second guide rail 119 extends through the moving seat 120. Among them, the moving seat 120 is preferably arranged on the second guide rail 119 through a linear bearing 132. In other words, the linear bearing 132 is sleeved outside the second guide rail 119, and the moving seat 120 is arranged outside the linear bearing 132. In addition, the lead screw 115 preferably passes through the moving frame 117 and the moving seat 120 as a whole, and preferably does not interfere with the moving frame 117 and the moving seat 120. The protrusion 121 is arranged on the moving seat 120. The tension pressure sensor 224 is disposed between the movable seat 120 and one of the two end walls 118, and abuts against both the movable seat 120 and the one of the two end walls 118 to sense the resistance encountered by the movable seat 120 when the conduit 11 is transported, that is, to sense the transport resistance.

[0475] It can be understood by those skilled in the art that the tension and pressure sensor 224 is constructed to be tension-compression integrated, and can read the force in the positive and negative directions. The tension and pressure sensor 224 is electrically connected to the control module, so that the doctor can know the resistance encountered by the medical device 10 when delivering the guidewire and make timely adjustments. After assembling the components of the slave execution device 200 and installing the main power device 210 to the bracket 17 (at this time the medical device 10 has been installed on the first bearing device 260), the measurement value of the tension and pressure sensor 224 must be set to zero first, and then the measurement value of the tension and pressure sensor 224 can be directly used to reflect the delivery resistance.

[0476] The slave execution device 200 further includes a first transmission mechanism, which is connected between the first driving mechanism and the first operating mechanism 30 and is used to transmit the driving force of the first driving mechanism to the first operating mechanism 30 .

[0477] like Figure 5 , Fig.11 and Fig.12 As shown, the first transmission mechanism includes, for example, a first power shaft 145 , a first transmission assembly 94 and a first power transmission mechanism 265 .

[0478] The first power shaft 145 is connected to the first operating mechanism 30. The first power shaft 145 is disposed on the mobile power device 240. The first power shaft 145 is configured to be rotatable relative to the mobile power device 240 around its own axis. The first power shaft 145 is, for example, disposed on the base 142 and penetrates the base 142, and one end of the first power shaft 145 facing the first bearing device 260 is transmission-connected to the first operating mechanism 30.

[0479] The first driving mechanism 143 is, for example, disposed on the connecting frame 141 of the mobile power device 240. The first transmission assembly 94 is disposed on the mobile power device 240, for example, on the base 142. The first transmission assembly 94 is connected between the first driving mechanism 143 and the end of the first power shaft 145 facing away from the first bearing device 260, so that the first power shaft 145 rotates under the drive of the first driving mechanism 143. For example, the first transmission assembly 94 includes a first driving wheel 147, a first driven wheel 148 and a first synchronous belt 149. The first driving wheel 147 is connected to the driving end of the first driving mechanism 143. The first driven wheel 148 is connected to the end of the first power shaft 145 facing away from the first bearing device 260. The first synchronous belt 149 is connected between the first driving wheel 147 and the first driven wheel 148 to transmit the power generated by the first driving mechanism 143 to the first power shaft 145 so as to rotate it.

[0480] The first power transmission mechanism 265 is disposed in the first bearing device 260, for example, in the second portion 261B of the bearing base. The first power transmission mechanism 265 is connected between the first operating mechanism 30 and the first power shaft 145, so that the first power shaft 145 drives the first operating mechanism 30 to work. The position of the first power transmission mechanism 265 corresponds to the position of the first power shaft 145, and is meshed and connected with the first power shaft 145. The first power transmission mechanism 265 includes a transmission synchronous wheel 1654, and a synchronous belt transmission is formed between the first power transmission mechanism 265 and the first operating mechanism 30.

[0481] For example, the first power transmission mechanism 265 includes a first bearing 1652, a first transmission shaft 1653, a transmission synchronous wheel 1654 and a transmission synchronous belt. A hole corresponding to the first power shaft 145 is provided at the bottom of the bearing base 261, and a first limiting frame 1651 is provided at a position corresponding to the hole on the bearing base 261, and two first bearings 1652 corresponding to each other are provided at the hole and on the first limiting frame 1651. The first transmission shaft 1653 is connected between the inner rings of the two first bearings 1652, and one end of the first transmission shaft 1653 facing the mobile power device 240 is meshed and connected with the first power shaft 145. The first transmission shaft 1653 is also fixedly connected to the two transmission synchronous wheels 1654. The transmission synchronous belt is connected between the transmission synchronous wheel 1654 and the first operating mechanism 30, so that a synchronous belt transmission is formed between the first power transmission mechanism 265 and the first operating mechanism 30.

[0482] The structure of the first operating mechanism 30 will be described below.

[0483] like Fig.13 and Fig.14 As shown, the first operating mechanism 30 is removably disposed in the first portion 261A of the supporting base, and the first power transmission mechanism 265 drives the first operating mechanism 30 .

[0484] like Fig.15As shown, the first operating mechanism 30 includes a first operating mechanism base 31, at least one first roller 41 and at least one second roller 42. The first operating mechanism base 31 is used to be detachably connected to the first bearing device 260 (specifically the first portion 261A of the bearing base). The first roller 41 is arranged on the first operating mechanism base 31, and the axis of the first roller 41 is not parallel to the conveying direction DF. Preferably, the axis of the first roller 41 is perpendicular to the conveying direction DF, for example, the second direction D2. The second roller 42 is also arranged on the first operating mechanism base 31, and is arranged opposite to the first roller 41 (one-to-one relative arrangement), so as to clamp the guide wire 12 together with the first roller 41. It can be understood that the axis of the second roller 42 is parallel to the axis of the first roller 41. The first roller 41 and the second roller 42 are both used to be connected to the first transmission mechanism to rotate under the drive of the first transmission mechanism, and the slave end execution device 200 is configured so that the rotation direction of the first roller 41 is opposite to the rotation direction of the second roller 42.

[0485] It can be understood that when the first roller 41 and the second roller 42 rotate, the guide wire 12 sandwiched therebetween will move along the conveying direction DF under the action of friction. Therefore, both the first roller 41 and the second roller 42 are actively rolled under the drive of the driving mechanism, which enables the first operating mechanism 30 to have sufficient conveying force. In addition, since both the first roller 41 and the second roller 42 can actively roll, even if the structure used to drive one of them to rotate fails, the roller on that side can also passively rotate under the action of friction, and the two groups of rollers can still clamp and convey the guide wire 12 together.

[0486] Preferably, the first operating mechanism 30 includes a plurality of first rollers 41 and second rollers 42. In the illustrated embodiment, the first operating mechanism 30 includes two first rollers 41A, 41B and two second rollers 42A, 42B (see FIG. Fig.16 ). Preferably, the plurality of first rollers 41 are arranged in parallel, and / or the plurality of second rollers 42 are also arranged in parallel. Preferably, the plurality of first rollers 41 are arranged at equal intervals, and / or the plurality of second rollers 42 are also arranged at equal intervals. Preferably, the diameter of the first roller 41 is the same as the diameter of the second roller 42, or the first roller 41 and the second roller 42 are configured as the same roller.

[0487] Specifically, Figures 15 to 18As shown, the first operating mechanism 30 is divided into two parts: a first moving wheel group 30A and a first fixed wheel group 30B. The first moving wheel group 30A and the first fixed wheel group 30B are arranged along a first direction D1. The first direction D1 is perpendicular to a plane defined by the conveying direction DF and the axis of the first roller 41. For example, the first direction D1 is perpendicular to a plane defined by the conveying direction DF and the second direction D2 (the conveying direction DF, the first direction D1 and the second direction D2 are perpendicular to each other).

[0488] The first roller 41 is included in the first movable wheel group 30A, and the second roller 42 is included in the first fixed wheel group 30B. The first fixed wheel group 30B includes a second fixed seat 35. The second fixed seat 35 is arranged on the first operating mechanism base 31 and is immovable relative to the first operating mechanism base 31, and the second roller 42 is arranged on the second fixed seat 35. The first movable wheel group 30A includes a first movable seat 34. The first movable seat 34 is also arranged on the first operating mechanism base 31, and is movable along the first direction D1 relative to the second fixed seat 35 (or the first operating mechanism base 31) between a first position and a second position, and the first roller 41 is arranged on the first movable seat 34. The distance between the first movable seat 34 and the second fixed seat 35 when the first movable seat 34 is in the first position is smaller than the distance between the first movable seat 34 and the second fixed seat 35 when the first movable seat 34 is in the second position.

[0489] Therefore, the distance between the first movable seat 34 and the second fixed seat 35 along the first direction D1 can be changed, that is, the distance between the first movable wheel group 30A and the first fixed wheel group 30B can be changed, that is, the distance between the first roller 41 and the second roller 42 can be changed, so that the first roller 41 and the second roller 42 can clamp the guide wire 12 when they are close to each other, and release the guide wire 12 when they are far away from each other. Figure 3 and Fig.15 As shown, the first operating mechanism base 31 is provided with a first base channel 31C for passing the guide wire 12. The first movable wheel group 30A and the first fixed wheel group 30B are respectively located on both sides of the first base channel 31C, and can clamp the guide wire 12 in the channel 31C.

[0490] like Fig.18 As shown, the first operating mechanism base 31 is provided with a first guide rod 48 extending along the first direction D1, and the first movable seat 34 is provided with a first guide hole 48A extending along the first direction D1. The first guide rod 48 extends through the first guide hole 48A, so that the first movable seat 34 can stably move along the first direction D1 relative to the second fixed seat 35.

[0491] like Fig.17 and Fig.18As shown, in order to change the distance between the first roller 41 and the second roller 42, the first operating mechanism 30 further includes a first biasing assembly 32 and a first pressing mechanism 33. The first biasing assembly 32 is connected between the second fixed seat 35 and the first movable seat 34, and is used to provide a force to move the first movable seat 34 away from the second fixed seat 35 along the first direction D1. The first pressing mechanism 33 is disposed on the first operating mechanism base 31 and connected to the first movable seat 34, and is used for being operated by a user to move the first movable seat 34 closer to the second fixed seat 35 along the first direction D1.

[0492] Specifically, the first biasing assembly 32 includes an elastic component that is deformable along the first direction D1. For example, the first biasing assembly 32 is configured as at least one spring 32 extending along the first direction D1. The first movable seat 34 and the second fixed seat 35 are both provided with first spring blind holes 32A for accommodating the two ends of the spring 32 (see Fig.21 and Fig. 22 ), so that the spring 32 is stably clamped between the first movable seat 34 and the second fixed seat 35.

[0493] The first clamping mechanism 33 includes a cam 36 and a wrench 37. The cam 36 is connected to the first operating mechanism base 31 and is rotatable relative to the first operating mechanism base 31 around a rotation axis extending along the second direction D2. For example, the cam 36 is mounted to a cam seat 36A, and the cam seat 36A is mounted to the first operating mechanism base 31, so that the cam 36 is mounted to the first operating mechanism base 31. The cam 36 has different radial dimensions, and its circumferential surface is used to connect to the side of the first movable seat 34 away from the second fixed seat 35. The wrench 37 is connected to the cam 36 for user operation to rotate the cam 36 relative to the first operating mechanism base 31. It can be understood that when the rotation axis of the cam 36 remains unchanged relative to the first operating mechanism base 31, when different positions of the circumferential surface of the cam 36 contact the first movable seat 34, the distance between the first movable seat 34 and the rotation axis of the cam 36 changes, that is, the first movable seat 34 is moved along the first direction D1.

[0494] like Fig.17 and Fig.18As shown, in order to make it easier for the cam 36 to act on the first movable seat 34, a projection 38 extending along the first direction D1 is connected to the side of the first movable seat 34 facing the cam 36, and is used to contact the circumferential surface of the cam 36. The projection 38 can be a part of the first movable seat 34, for example, the projection 38 can be formed as a whole with the first movable seat 34. The projection 38 can also form a separate component from the first movable seat 34. In the illustrated embodiment, the first operating mechanism base 31 is provided with a projection groove 38A for accommodating the projection 38. The cam 36 can be at least partially located in the projection groove 38A, so as to contact the projection 38.

[0495] like Fig.19 As shown, when the larger radius portion of the cam 36 contacts the protrusion 38, the cam 36 presses the first movable seat 34 along the first direction D1 through the protrusion 38, so that the first movable seat 34 moves toward the first fixed wheel group 30B, so that the first roller 41 and the second roller 42 are close to each other. At this time, the spring 32 is compressed. Fig. 20 As shown in FIG. 1 , when the smaller radius portion of the cam 36 contacts the protrusion 38, the squeezing force of the cam 36 on the protrusion 38 is reduced, and the squeezing force of the spring 32 is reduced. The spring 32 rebounds and pushes the first movable seat 34 away from the first fixed wheel set 30B along the first direction D1, so that the first roller 41 and the second roller 42 are separated from each other. Fig.19 The position in can be understood as the first position, and the first movable seat 34 is in Fig. 20 The position in can be understood as the second position.

[0496] like Fig.17 As shown, in order to prevent the first moving wheel set 30A from excessively moving along the first direction D1, preferably, first blocking members 48B are respectively provided at both ends of the first guide rod 48. The first blocking member 48B protrudes along the radial direction of the first guide rod 48, and its radial dimension is larger than the aperture of the first guide hole 48A, thereby preventing the excessive movement of the first guide hole 48A at both ends, that is, the first moving seat 34 will not excessively move along the first direction D1. It can be understood that the length of the first guide rod 48 between the two first blocking members 48B will not affect the movement of the first moving seat 34 between the first position and the second position. In other words, the portion of the length of the first guide rod 48 between the two first blocking members 48B that is more than the length of the first guide hole 48A is not less than the distance between the first position and the second position.

[0497] Preferably, the wrench 37 is exposed from the outer surface of the rear consumable box 15, so as to facilitate the user's operation. Fig.13 As shown, the first carrying device 260 is provided with a window 18 for exposing the wrench 37 .

[0498] In order to make the first roller 41 and the second roller 42 rotate, Fig.16 and Fig.17 As shown, the first operating mechanism 30 further includes a first roller transmission mechanism 51 and a second roller transmission mechanism 52. The first roller transmission mechanism 51 is used to connect the first transmission shaft 1653 and all the first rollers 41, so that the rotation direction of all the first rollers 41 is the same as the rotation direction of the first transmission shaft 1653. The second roller transmission mechanism 52 is used to connect the first transmission shaft 1653 and all the second rollers 42, so that the rotation direction of the second rollers 42 is opposite to the rotation direction of the first transmission shaft 1653. Thus, the first rollers 41 and the second rollers 42 rotate in opposite directions.

[0499] Preferably, if Fig.21 As shown, the first roller transmission mechanism 51 includes at least one first manipulation synchronous belt 53, and the first transmission shaft 1653 and the first roller 41 are both connected with a structure (such as a synchronous belt collar 49, also referred to as a synchronous wheel 49) for connecting the first manipulation synchronous belt 53. The slave end execution device 200 is configured so that the first transmission shaft 1653 drives all the first rollers 41 to rotate through the first manipulation synchronous belt 53, so that the rotation direction of all the first rollers 41 is the same as the rotation direction of the first transmission shaft 1653. For example, the first roller 41 has a first roller shaft 41X, and the synchronous belt clamping ring 49 is respectively sleeved on the first transmission shaft 1653 and the first roller shaft 41X (the synchronous belt clamping ring 49 sleeved on the first transmission shaft 1653 is also the transmission synchronous wheel 1654. Since the first transmission shaft 1653 needs to drive the first roller 41 and the second roller 42 respectively, the first transmission shaft 1653 is provided with two transmission synchronous wheels 1654). The first operating synchronous belt 53 is tightened by the two synchronous belt clamping rings 49, so that the first transmission shaft 1653 drives the first roller shaft 41X to rotate through the first operating synchronous belt 53, so that the first roller 41 rotates.

[0500] It can be understood that the first operating synchronous belt 53 is elastic. When the first movable seat 34 moves along the first direction D1, the first operating synchronous belt 53 can always be tensioned by the two synchronous belt clamps 49 of the first transmission shaft 1653 and the first roller shaft 41X due to its elasticity.

[0501] For example, the first manipulation mechanism 30 includes N first rollers 41 and N first manipulation synchronous belts 53 (N is an integer greater than or equal to 1), and the slave-end execution device 200 can be constructed so that each first roller 41 is connected to the first transmission shaft 1653 through a first manipulation synchronous belt 53, that is, each first roller 41 is directly driven by the first transmission shaft 1653. Alternatively, the slave-end execution device 200 can be constructed so that each of a part of the N first rollers 41 (one or more first rollers 41) is connected to the first transmission shaft 1653 through a first manipulation synchronous belt 53, and each of another part of the N first rollers 41 is connected to another first roller 41 through a first manipulation synchronous belt 53, that is, only a part of the first rollers 41 is driven by the first transmission shaft 1653, and the other first rollers 41 are driven to rotate by another first roller 41.

[0502] Preferably, the slave execution device 200 may be configured such that the first of the N first rollers 41 is connected to the first transmission shaft 1653 via a first manipulation synchronous belt 53, and each of the other first rollers 41 is connected to the previous first roller 41 via a first manipulation synchronous belt 53. That is, the first first roller 41 is driven by the first transmission shaft 1653, the second first roller 41 is driven by the first first roller 41, the third first roller 41 is driven by the second first roller 41, and so on. For example, Fig.17 As shown, the first operating mechanism 30 includes two first rollers 41, a first roller 41A and a first roller 41B. The first first roller 41A is connected to the first transmission shaft 1653 via a first operating synchronous belt 53A, and the second first roller 41B is connected to the first first roller 41 via a first operating synchronous belt 53B. In this way, the first operating synchronous belts 53 can be evenly distributed, for example, the first operating synchronous belts 53 can be made into the same specifications, and each first roller shaft 41X can also have a similar size (each first roller shaft 41X basically only needs to be connected to two synchronous belt clamps 49), thereby reducing the difficulty of processing and reducing costs.

[0503] The first operating timing belt 53A is also the transmission timing belt in the first power transmission mechanism 265 .

[0504] In such a connection mode, in order to detect the slippage of the first operating synchronous belt 53, as Figures 16 to 22As shown, the first operating mechanism 30 is also provided with a first additional roller 43, a second additional roller 44, a first additional roller transmission mechanism 46 and an encoder (not shown). Among them, the first additional roller 43 is arranged on the first moving seat 34, for example, it is arranged side by side with the N first rollers 41 on the first moving seat 34. The second additional roller 44 is arranged on the second fixed seat 35, for example, it is arranged side by side with the N second rollers 42 on the second fixed seat 35. The second additional roller 44 is arranged opposite to the first additional roller 43, so that the guide wire 12 can be clamped together with the first additional roller 43. The first additional roller transmission mechanism 46 is used to connect the first additional roller 43 with the Nth first roller 41, so that the first additional roller 43 rotates in the same direction as the rotation direction of the first transmission shaft 1653 under the drive of the Nth first roller 41. The encoder is connected to the second additional roller 44 for detecting the rotation angle of the second additional roller 44. The encoder is electrically connected to the control module so that the control module can obtain the rotation angle of the second additional roller 44.

[0505] In this way, in the absence of the first operating synchronous belt 53 slipping, all the first rollers 41 rotate normally. Under the action of the first additional roller transmission mechanism 46, the first additional roller 43 rotates actively. The first additional roller 43 and the second additional roller 44 clamp the guide wire 12 together, so that the second additional roller 44 rotates passively under the action of friction, so that the rotation angle detected by the encoder will change continuously. Since the first transmission shaft 1653 forms a one-by-one driving connection relationship with the N first rollers 41, if any of the first operating synchronous belts 53 slips or breaks, the Nth first roller 41 (the last first roller 41) will not be able to rotate, so that the first additional roller 43 and the second additional roller 44 will not be able to rotate, and the rotation angle recorded by the encoder will not change, so the control module can detect equipment failure.

[0506] Preferably, if Figures 16 to 18 As shown, the encoder is connected to the axle 44A of the second additional roller 44, and detects the rotation of the second additional roller 44 by detecting the rotation of the axle 44A of the second additional roller.

[0507] like Figure 5 and Fig.11 As shown, the mobile power device 240 further includes a third rotating shaft 253, which is used to be connected to the second additional roller shaft 44A and rotate synchronously with the second additional roller shaft 44A, wherein the encoder is arranged on the third rotating shaft 253. The third rotating shaft 253 is, for example, arranged on the base 142 and passes through the base 142, and one end of the third rotating shaft 253 facing the first bearing device 260 is transmission-connected to the second additional roller shaft 44A, for example, by a toothed connection.

[0508] Preferably, the first additional roller transmission mechanism 46 is configured as a synchronous belt. For example, in the illustrated embodiment, the second first roller 41 is connected to the axle 47 of the first additional roller 43 via the second operating synchronous belt 46 to drive the first additional roller 43 to rotate.

[0509] Preferably, the diameter of the first additional roller 43 is the same as the diameter of the first roller 41, and the diameter of the second additional roller 44 is the same as the diameter of the second roller 42. Preferably, the diameter of the first additional roller 43 is the same as the diameter of the second additional roller 44. In other words, the first roller 41, the second roller 42, the first additional roller 43 and the second additional roller 44 are configured as the same roller. Preferably, the axis of the first additional roller 43 is parallel to the axis of the first roller 41, and the axis of the second additional roller 44 is parallel to the axis of the second roller 42. In other words, the first roller 41, the second roller 42, the first additional roller 43 and the second additional roller 44 are configured to be arranged parallel to each other.

[0510] like Fig.16 and Fig.17 As shown, the second roller transmission mechanism 52 includes a fourth transmission shaft 55, a second roller first transmission mechanism 56 and a second roller second transmission mechanism 57. The fourth transmission shaft 55 is disposed on the first operating mechanism base 31. The second roller first transmission mechanism 56 is used to connect the first transmission shaft 1653 and the fourth transmission shaft 55, so that the fourth transmission shaft 55 rotates under the drive of the first transmission shaft 1653. The second roller second transmission mechanism 57 is used to connect the fourth transmission shaft 55 and all the second rollers 42, so that all the second rollers 42 rotate under the drive of the fourth transmission shaft 55.

[0511] Preferably, one of the second roller first transmission mechanism 56 and the second roller second transmission mechanism 57 is configured to be driven by a synchronous belt, and the other of the second roller first transmission mechanism 56 and the second roller second transmission mechanism 57 is configured to be driven by a gear. It can be understood that the synchronous belt transmission mode does not change the rotation direction (the driving member and the driven member have the same rotation direction), while the gear transmission mode can change the rotation direction, so under such a configuration, the rotation direction of all the second rollers 42 can be opposite to that of the first transmission shaft 1653.

[0512] Preferably, the first operating mechanism 30 is configured so that the component of the first roller transmission mechanism 51 for connecting the first transmission shaft 1653 and the component of the second roller transmission mechanism 52 for connecting the first transmission shaft 1653 are both synchronous belts. That is, the component of the first roller transmission mechanism 51 for connecting the first transmission shaft 1653 and the first roller 41 is a synchronous belt (first operating synchronous belt 53), and the second roller first transmission mechanism 56 is also configured as a synchronous belt (third synchronous belt 56). That is, the first transmission shaft 1653 is connected to the fourth transmission shaft 55 through the third synchronous belt 56. In this way, the first transmission shaft 1653 drives the first roller 41 and the second roller 42 through the same driving mode, which is conducive to simplifying the design. The third synchronous belt 56 is also the transmission synchronous belt in the first power transmission mechanism 265.

[0513] Therefore, if Fig. 22 As shown, the second roller second transmission mechanism 57 is configured as a gear assembly. In the illustrated embodiment, the first operating mechanism 30 includes two second rollers 42, a second roller 42A and a second roller 42B. The gear assembly 57 includes a gear 57C coaxially connected to the fourth transmission shaft 55, a gear 57A coaxially connected to the second roller 42A and a gear 57B coaxially connected to the second roller 42B. The gear 57C meshes with the gear 57A and the gear 57B respectively. Thereby, the rotation direction of the fourth transmission shaft 55 is opposite to the rotation direction of the first transmission shaft 1653, and the rotation direction of the second roller 42 is opposite to the rotation direction of the fourth transmission shaft 55, that is, the rotation direction of the second roller 42 is opposite to the rotation direction of the first transmission shaft 1653.

[0514] In the present application, the first additional roller 43 and the second additional roller 44 also participate in the conveying of the guide wire 12, and can also be considered as part of the first operating mechanism 30. The first additional roller 43 can also be considered as a first roller 41. The second additional roller 44 can also be considered as a second roller 42 that does not have self-driving force and cannot actively rotate.

[0515] It can be understood that in the above-mentioned mechanism driven by a synchronous belt, the synchronous belt clamp 49 can be provided on the driving shaft and the driven shaft so that the synchronous belt is tightened by the two synchronous belt clamps 49, thereby completing the transmission. During operation, the shaft and the synchronous belt clamp 49 are connected, for example, by a key and a keyway, so that the two rotate synchronously, and the synchronous belt clamp 49 and the synchronous belt rotate synchronously through friction.

[0516] In the present application, the first operating mechanism 30 may also be referred to as a first conveying assembly 30 , and the first driving mechanism 143 may be referred to as a first power assembly 143 .

[0517] In actual application, the base 142 of the mobile power device 240 extends substantially along a vertical plane, and the first power shaft 145 and the first transmission shaft 1653 extend substantially in a horizontal direction. This allows the first bearing device 260 to be connected to the side of the mobile power device 240, and the first roller 41 and the second roller 42 of the first operating mechanism 30 both extend substantially in a horizontal direction, that is, the first roller 41 and the second roller 42 are opposite to each other in the vertical direction.

[0518] In the present application, the specific structure of the first transmission mechanism is not limited. It can be understood that the first transmission mechanism includes a part arranged in the mobile power device 240 and a part arranged in the first carrying device 260 .

[0519] The following describes how the slave execution device 200 controls the second operating mechanism 290 .

[0520] The slave execution device 200 further includes a second transmission mechanism, which is connected between the second driving mechanism and the second operating mechanism 290 and is used to transmit the driving force of the second driving mechanism to the second operating mechanism 290 .

[0521] The second transmission mechanism is similar to the first transmission mechanism, and includes a portion disposed in the mobile power device 240 and a portion disposed in the first carrying device 260. Figure 5 , Fig.11 and Fig.12 As shown, the second transmission mechanism includes a second power shaft 146 , a second transmission assembly 95 and a second power transmission mechanism 266 .

[0522] The second power shaft 146 is used to connect the second operating mechanism 290. The second power shaft 146 is disposed on the mobile power device 240. The second power shaft 146 is configured to be rotatable relative to the mobile power device 240 around its own axis. The second power shaft 146 is, for example, disposed on the base 142 and penetrates the base 142, and one end of the second power shaft 146 facing the first bearing device 260 is transmission-connected to the second operating mechanism 290.

[0523] The second driving mechanism 144 is, for example, disposed on the connecting frame 141 of the mobile power device 240. The second transmission assembly 95 is disposed on the mobile power device 240, for example, on the base 142. The second transmission assembly 95 is connected between the second driving mechanism 144 and the end of the second power shaft 146 facing away from the first bearing device 260, so that the second power shaft 146 rotates under the drive of the second driving mechanism 144. For example, the second transmission assembly 95 includes a second driving wheel (not shown), a second driven wheel 151 and a second synchronous belt 152. The second driving wheel is connected to the driving end of the second driving mechanism 144. The second driven wheel 151 is connected to the end of the second power shaft 146 facing away from the first bearing device 260. The second synchronous belt 152 is connected between the second driving wheel and the second driven wheel 151 to transmit the power generated by the second driving mechanism 144 to the second power shaft 146 so as to rotate it.

[0524] The second power transmission mechanism 266 is disposed in the first bearing device 260, for example, in the second portion 261B of the bearing base. The second power transmission mechanism 266 is connected between the second operating mechanism 290 and the second power shaft 146, so that the second power shaft 146 drives the second operating mechanism 290 to work. The position of the second power transmission mechanism 266 corresponds to the position of the second power shaft 146, and is meshedly connected with the second power shaft 146. The second power transmission mechanism 266 includes a transmission gear 1664, and a gear meshing transmission is formed between the second power transmission mechanism 266 and the second operating mechanism 290.

[0525] For example, the second power transmission mechanism 266 includes a second limiting frame 1661, a second bearing 1663, a second transmission shaft 1662 and a transmission gear 1664. The bottom of the bearing base 261 is also provided with a hole corresponding to the second power shaft 146, the second limiting frame 1661 is arranged on the bearing base 261 and corresponds to the hole, and the second limiting frame 1661 is provided with a second bearing 1663. The second transmission shaft 1662 is connected to the inner ring of the second bearing 1663, and one end of the second transmission shaft 1662 facing the mobile power device 240 is meshed and connected with the second power shaft 146. One end of the second transmission shaft 1662 facing away from the mobile power device 240 is fixedly connected with the transmission gear 1664. The transmission gear 1664 is used to connect the second operating mechanism 290, so that a gear meshing transmission is formed between the second power transmission mechanism 266 and the second operating mechanism 290. The transmission gear 1664 is configured as a bevel gear, for example.

[0526] like Fig.23 and Fig.24As shown, as mentioned above, the supporting base 261 is provided with a functional operating seat 162 for mounting the medical device 10. The functional operating seat 162 includes a functional operating seat first side 162A and a functional operating seat second side 162B arranged opposite to each other, wherein the medical device 10 is detachably connected to the functional operating seat first side 162A. The functional operating seat 162 is provided with an operation port 171.

[0527] The second operating mechanism 290 includes a functional gear 172 and a bevel gear 173. The functional gear 172 is rotatably disposed on the second side 162B of the functional operating seat, and at least partially exposed from the operating port 171 to the first side 162A of the functional operating seat, so as to be able to form an engagement with the operating gear 10A of the medical device 10. The bevel gear 173 is coaxially connected to the functional gear 172, and can thus rotate synchronously with the functional gear 172. The bevel gear 173 is meshedly connected with the transfer gear 1664 of the second power transmission mechanism 266. When the transfer gear 1664 rotates, the transfer gear 1664 drives the bevel gear 173 to rotate, thereby driving the functional gear 172 to rotate, and finally driving the operating gear 10A to rotate.

[0528] Specifically, the second side 162B of the functional operating seat is provided with two gear seats 1721 located at both ends of the operating port 171, and a third bearing 1722 is respectively provided on the two gear seats 1721, and the two ends of the rotating shaft of the functional gear 172 are respectively fixedly connected to the inner rings of the two third bearings 1722. One end of the rotating shaft of the functional gear 172 is also fixedly connected to the bevel gear 173, so that the functional gear 172 and the bevel gear 173 can rotate coaxially. The second side 162B of the functional operating seat is used to face the inside of the second part 261B of the bearing base, and the transmission mechanism 266 is arranged in the second part 261B of the bearing base, so that the bevel gear 173 can easily mesh with the transmission gear 1664.

[0529] The first bearing device 260 also includes a supporting structure 97 for supporting the medical device 10. The supporting structure 97 is arranged on the functional operating seat 162. The supporting structure 97 includes a first bracket 175, a second bracket 176 and a second elastic member 177. The first bracket 175 is arranged on the first side 162A of the functional operating seat. The second bracket 176 is also arranged on the first side 162A of the functional operating seat and is spaced apart from the first bracket 175 along the conveying direction DF to support the medical device 10 together with the first bracket 175. The second bracket 176 is configured to be movable relative to the functional operating seat 162 along the conveying direction DF. The second elastic member 177 is connected to the second bracket 176 and is used to apply a force to the second bracket 176 to move the second bracket 176 away from the first bracket 175 along the conveying direction DF.

[0530] Specifically, the function manipulation seat 162 is provided with an opening (not shown) extending along the conveying direction DF, and a portion of the second bracket 176 is arranged in the opening and can move in the conveying direction DF in the opening. The supporting structure 97 also includes a connecting seat 178 and a bottom bracket 179. The connecting seat 178 is arranged at the second side 162B of the function manipulation seat, and the connecting seat 178 is closer to the first bracket 175 relative to the opening. The connecting seat 178 has a channel 1781 extending along the conveying direction DF. The bottom bracket 179 is connected to the portion of the second bracket 176 located in the opening, and the bottom bracket 179 at least partially extends into the channel 1781. Among them, the second elastic member 177 is arranged in the channel 1781 and connected between the connecting seat 178 and the bottom bracket 179. The second elastic member 177 is, for example, a spring. Thus, the first bracket 175 and the second bracket 176 can be used to install the medical device 10, and the medical device 10 can be conveniently clamped and removed by using the movable second bracket 176.

[0531] In an embodiment not shown in the present application, the first carrying device 260 is provided with a plurality of second operating mechanisms 290, which are respectively used to operate different medical devices 10 to achieve different medical functions. Alternatively, the plurality of second operating mechanisms 290 are respectively used to operate different medical function mechanisms 13 of the medical device 10.

[0532] The structure of the second conveying assembly 60 is described below.

[0533] like Fig.25 and Fig.26 As shown, the second conveying assembly 60 includes a second conveying assembly base 61, at least one third roller 73, at least one fourth roller 74 and a third roller transmission mechanism 75. Wherein, the second conveying assembly base 61 is detachably connected to the second power assembly 14. The third roller 73 is arranged on the second conveying assembly base 61. The axis of the third roller 73 is not parallel to the conveying direction DF. Preferably, the axis of the third roller 73 is perpendicular to the conveying direction DF, for example, the second additional direction D21. The fourth roller 74 is arranged on the second conveying assembly base 61, and is arranged relative to the third roller 73 (one-to-one relative arrangement), so as to clamp the guide wire 12 and / or the catheter 11 together with the third roller 73. It can be understood that the axis of the fourth roller 74 is parallel to the axis of the third roller 73. The third roller transmission mechanism 75 is also arranged on the second conveying assembly base 61, and is used to be connected with the fourth drive mechanism and the third roller 73, so as to drive the third roller 73 to rotate under the drive of the fourth drive mechanism.

[0534] Therefore, in the second conveying assembly 60, the third roller 73 is an active roller, and the fourth roller 74 is a passive roller. According to the aforementioned method of using the slave-end execution device 200 in surgery, even if the fourth drive mechanism and / or the third roller transmission mechanism 75 fails, the third roller 73 and the fourth roller 74 can be passively rotated under the action of friction force to complete the clamping and supporting of the guide wire 12 and / or the catheter 11. It can be seen that in the present application, the first roller 41 and the second roller 42 are designed as active rollers, which can ensure the stability of the working performance of the slave-end execution device 200 to a great extent. Of course, it is also possible to control whether the fourth drive mechanism outputs the driving force according to the needs of the operation, that is, to flexibly control the third roller 73 to be an active roller or a passive roller.

[0535] Preferably, the diameter of the third roller 73 is the same as the diameter of the fourth roller 74. In other words, the third roller 73 and the fourth roller 74 are constructed as the same roller.

[0536] The second conveying assembly base 61 is connected to the second power assembly 14 by means of, for example, locking, magnetic attraction, etc.

[0537] The second conveying assembly base 61 includes a second conveying assembly base first part 87 and a second conveying assembly base second part 88. Wherein, the second conveying assembly base first part 87 is detachably connected to the second power assembly 14. The second conveying assembly base second part 88 is pivotally connected to the second conveying assembly base first part 87 for covering the second conveying assembly base first part 87. The third roller 73, the fourth roller 74 and the third roller transmission mechanism 75 are all arranged in the second conveying assembly base first part 87. The second conveying assembly base first part 87 is provided with a notch 89A for passing the guide wire 12 and / or the catheter 11 on both sides along the conveying direction DF. The second conveying assembly base second part 88 is also provided with a notch 89A for passing the guide wire 12 and / or the catheter 11 on both sides along the conveying direction DF. Thereby, when the second conveying assembly base second part 88 covers the second conveying assembly base first part 87, the conveying of the guide wire 12 and / or the catheter 11 is not affected.

[0538] like Fig. 27 As shown, the second conveying assembly base first part 87 includes a main body 87A and a bottom plate 87B. The third roller 73, the fourth roller 74 and the third roller transmission mechanism 75 are all arranged in the main body 87A. The bottom plate 87B is used to block the bottom of the main body 87A and is used to be detachably connected to the second power assembly 14. At the same time, the bottom plate 87B is provided with a bottom plate through hole 87D for connecting the fourth drive mechanism with the third roller transmission mechanism 75.

[0539] Similar to the first operating mechanism 30, the second conveying assembly 60 is also composed of two major parts: a second moving wheel group 60A and a second fixed wheel group 60B. The second moving wheel group 60A and the second fixed wheel group 60B are arranged along the first additional direction D11. The fourth roller 74 is included in the second moving wheel group 60A, and the third roller 73 is included in the second fixed wheel group 60B. The second fixed wheel group 60B includes a third fixed seat 63. The third fixed seat 63 is arranged on the second conveying assembly base 61 and is immovable relative to the second conveying assembly base 61, and the third roller 73 is arranged on the third fixed seat 63. The second moving wheel group 60A includes a fourth moving seat 64. The fourth moving seat 64 is also arranged on the second conveying assembly base 61, and is movable between the third position and the fourth position relative to the third fixed seat 63 (or the second conveying assembly base 61) along the first additional direction D11, and the fourth roller 74 is arranged on the fourth moving seat 64. When the fourth movable seat 64 is at the third position, the distance between the fourth movable seat 64 and the third fixed seat 63 is smaller than the distance between the fourth movable seat 64 and the third fixed seat 63 when the fourth movable seat 64 is at the fourth position.

[0540] It can be understood that when the fourth movable seat 64 is close to the third fixed seat 63, the fourth roller 74 is close to the third roller 73, so that a thinner catheter 11 can be clamped; when the fourth movable seat 64 is far from the third fixed seat 63, the fourth roller 74 is far from the third roller 73, which is suitable for clamping a thicker catheter 11.

[0541] It can be understood that the third fixed seat 63 and the fourth movable seat 64 are both arranged on the first part 87 of the second conveying component base.

[0542] In order to enable the fourth movable seat 64 to be stably in the third position or the fourth position, the second conveying assembly 60 also includes a latching mechanism 80. The latching mechanism 80 is arranged on the fourth movable seat 64. The second conveying assembly base 61 includes a third latching portion 66A and a fourth latching portion 66B arranged along the first additional direction D11. The second conveying assembly 60 is configured so that when the latching mechanism 80 engages with the third latching portion 66A, the fourth movable seat 64 is located at the third position relative to the third fixed seat 63, and when the latching mechanism 80 engages with the fourth latching portion 66B, the fourth movable seat 64 is located at the fourth position relative to the third fixed seat 63. It can be understood that the third latching portion 66A and the fourth latching portion 66B are arranged on the second conveying assembly base first portion 87.

[0543] like Figures 27 to 30As shown, the latch mechanism 80 includes a latch member 81, and the third latch portion 66A and the fourth latch portion 66B are configured to include a latch groove having a shape matching the outer shape of the latch member 81 to accommodate the latch member 81. When the latch member 81 is located in the latch groove, the latch member 81 is immovable relative to the latch groove, so that the fourth movable seat 64 is immovable relative to the second conveying assembly base 61 (or the second conveying assembly base first portion 87, or the third fixed seat 63), and thus the fourth movable seat 64 can be maintained at this position.

[0544] like Fig.31 and Fig.32 As shown, both sides of the fourth movable seat 64 along the conveying direction DF are configured as convex edges protruding along the conveying direction DF, and the convex edges form a fourth guide rail 67 extending along the first additional direction D11. Correspondingly, a guide groove (not shown) for accommodating the fourth guide rail 67 is provided in the first part 87 of the second conveying assembly base, and the fourth guide rail 67 is movable in the first additional direction D11 in the guide groove, so that the fourth movable seat 64 is movable relative to the first part 87 of the second conveying assembly base along the first additional direction D11.

[0545] like Figure 32 to Figure 34 As shown, the fourth mobile seat 64 includes a first side 64A (upper side in the illustrated embodiment) and a second side 64B (lower side in the illustrated embodiment) of the mobile seat oppositely arranged along the axis direction of the third roller 73 (for example, the second additional direction D21). The third clamping portion 66A and the fourth clamping portion 66B are located on one side of the second side 64B of the mobile seat of the fourth mobile seat 64. The clamping mechanism 80 also includes an operating member 82 and a fourth biasing assembly 72. The operating member 82 is used for user operation, that is, the user operates the operating member 82 to make the fourth mobile seat 64 located at the third position or the fourth position. The operating member 82 is movable relative to the fourth mobile seat 64 along the axis direction of the third roller 73, and is immovable relative to the fourth mobile seat 64 along the first additional direction D11. Thus, the operating member 82 can drive the fourth mobile seat 64 to move along the first additional direction D11. Among them, the operating member 82 has an operating member first portion 82A located at the first side 64A of the mobile seat and an operating member second portion 82B located at the second side 64B of the mobile seat. The locking member 81 is connected to the second portion 82B of the operating member. The fourth biasing component 72 is connected between the first side 64A of the moving seat and the first portion 82A of the operating member, and is used to apply a force to the operating member 82 to move toward the first side 64A of the moving seat.

[0546] Since the locking member 81 needs to be located in the locking grooves of the third locking portion 66A and the fourth locking portion 66B, and the second portion 82B of the operating member needs to move along the first additional direction D11, the locking groove of the third locking portion 66A and the locking groove of the fourth locking portion 66B are configured as through grooves along the axial direction of the third roller 73, and the two through grooves are connected along the first additional direction D11 (see Figures 27 to 30 ), forming a larger opening so that the second portion 82B of the operating member can move in the opening along the first additional direction D11.

[0547] During operation, the user presses the operating member 82 toward the second side 64B of the movable seat, and the second portion 82B of the operating member drives the locking member 81 to move along the second additional direction D21, so that the locking member 81 is disengaged from the locking groove of the third locking portion 66A or the fourth locking portion 66B (such as Fig.29 As shown). At this time, the second part 82B of the operating member is located in the slot. Then, the user pushes the operating member 82 to move along the first additional direction D11, and the fourth movable seat 64 and the locking member 81 move synchronously along the first additional direction D11. By correspondingly designing the fourth guide rail 67 and the guide groove corresponding thereto, the fourth movable seat 64 can be moved a limited distance along the first additional direction D11 in the first part 87 of the second conveying component base. When the fourth movable seat 64 moves to the extreme position along the first additional direction D11, the user removes the force pressing the operating member 82, and the operating member 82 moves toward the first side 64A of the movable seat along the second additional direction D21 under the action of the fourth weaving component, so that the locking member 81 also moves toward the first side 64A of the movable seat and returns to the slot of the third locking portion 66A or the fourth locking portion 66B (as shown in FIG. 1 ). Fig.28 and Fig.30 As shown), the first movable seat 34 is thereby maintained at a corresponding position.

[0548] Specifically, the fourth mobile seat 64 is also provided with a mobile seat through hole 62 and a mobile seat blind hole 69. The mobile seat through hole 62 communicates with the mobile seat first side 64A and the mobile seat second side 64B. The mobile seat blind hole 69 opens at the mobile seat first side 64A. The mobile seat through hole 62 and the mobile seat blind hole 69 both extend along the second additional direction D21. The fourth biasing assembly 72 is configured as an elastic component arranged in the mobile seat blind hole 69, which is elastically deformable along the second additional direction D21. The operating member 82 includes an operating portion 83, a connecting portion 84 and an action portion 85. The operating portion 83 is used for user operation, is located at the mobile seat first side 64A, and is a part of the operating member first portion 82A. The connecting portion 84 is connected to the operating portion 83, extends from the mobile seat first side 64A to the mobile seat second side 64B through the mobile seat through hole 62, and the portion exposed to the mobile seat second side 64B constitutes the operating member second portion 82B. The locking member 81 is connected to the connecting portion 84 at the second side 64B of the moving seat. The acting portion 85 is also connected to the operating portion 83 and is used to extend into the blind hole 69 of the moving seat to press the fourth biasing component 72.

[0549] Preferably, the portion of the operating member 82 for user operation (i.e., the operating portion 83) is constructed as an arcuate groove 86 (at least one arcuate groove 86) to adapt to the shape of the finger. Preferably, a texture is provided in the arcuate groove 86 to increase friction, so as to facilitate the user to push the operating member 82 along the first additional direction D11. The texture is, for example, provided as horizontal stripes or mesh patterns perpendicular to the finger. Of course, the surface of the operating portion 83 can also be constructed as a rough surface in other ways, or the friction coefficient between the surface of the operating portion 83 and the finger can be increased. Preferably, the operating member 82 (specifically, the operating portion 83) is exposed from the second conveying assembly base 61 (specifically, the second conveying assembly base first portion 87) (see Fig.25 ), so that the user can perform the operation without opening the first part 87 of the second conveying assembly base. At the same time, preferably, the second conveying assembly base 61 (specifically, the first part 87 of the second conveying assembly base) is provided with a second base channel 87C for accommodating the guide wire 12 and / or the catheter 11, and the channel 87C extends along the axis direction of the third roller 73 (for example, the second additional direction D21) to the outer surface of the second conveying assembly base 61. The two ends of the channel 87C are notches 89A.

[0550] Based on the above structure, when installing the guide wire 12 and / or the catheter 11 to the second conveying assembly 60, the user opens the second portion 88 of the second conveying assembly base, adjusts the position of the operating member 82 according to the thickness of the catheter 11, and then puts the guide wire 12 and / or the catheter 11 into the second base channel 87C. Finally, the second portion 88 of the second conveying assembly base is re-covered. The second portion 88 of the second conveying assembly base and the first portion 87 of the second conveying assembly base can be prevented from easily detaching from each other by means of buckles, magnetic attraction, etc.

[0551] like Figures 27 to 30 As shown, the third locking portion 66A and the fourth locking portion 66B can be formed in the locking plate 65. The locking plate 65 is installed at the bottom of the main body 87A of the first part 87 of the second conveying assembly base, and is located below the fourth moving seat 64.

[0552] In order to enable the third roller 73 and the fourth roller 74 to clamp the guide wire 12 and / or the catheter 11, as shown in FIG. Fig.31 and Fig.32 As shown, the second conveying assembly 60 further includes a fourth roller seat 76 and a third biasing assembly 71. The fourth roller seat 76 is connected to the fourth movable seat 64 and is movable relative to the fourth movable seat 64 along the first additional direction D11. The fourth roller 74 is arranged on the fourth roller seat 76. The third biasing assembly 71 is connected between the fourth roller seat 76 and the fourth movable seat 64, and is used to apply a force to the fourth roller seat 76 to move toward the third roller 73.

[0553] For example, the fourth movable seat 64 is provided with a second guide rod 68 extending along the first additional direction D11, and the fourth roller seat 76 is provided with a second guide hole 68A extending along the first additional direction D11, and the second guide rod 68 extends through the second guide hole 68A, so that the fourth roller seat 76 stably moves relative to the fourth movable seat 64 along the first additional direction D11. Preferably, second blocking members 68B are respectively provided at both ends of the second guide rod 68. The second blocking member 68B protrudes in the radial direction of the second guide rod 68, and its radial dimension is larger than the aperture of the second guide hole 68A, so as to prevent the second guide hole 68A from excessive movement at both ends, that is, the fourth roller seat 76 will not excessively move along the first additional direction D11.

[0554] Preferably, the third biasing assembly 71 is configured as an elastic component, such as a spring, extending along the first direction D1. The fourth movable seat 64 and the fourth roller seat 76 are both provided with third spring blind holes 71A for accommodating both ends of the spring 71, so that the spring 71 is stably clamped between the fourth movable seat 64 and the fourth roller seat 76.

[0555] Preferably, the fourth driving mechanism comprises a motor (not shown). Figures 26 to 30 Shown, the 3rd roller transmission mechanism 75 comprises the 3rd transmission shaft 77 and the 3rd transmission assembly 78.The 3rd transmission shaft 77 is arranged on the second conveying assembly base 61 (specifically, the main body 87A of the second conveying assembly base first part 87), and is connected to the output shaft of the motor of the 4th driving mechanism.The 3rd transmission shaft 77 is for example connected with the output shaft of the motor by base plate through hole 87D.The 3rd transmission assembly 78 is connected with the 3rd roller 73 with the 3rd transmission shaft 77 respectively, for making the 3rd roller 73 rotate under the drive of the 3rd transmission shaft 77.

[0556] Preferably, the third transmission assembly 78 is configured as a gear assembly.Gear assembly 78 comprises a plurality of gears, comprises a gear connected to the third transmission shaft 77 and a gear connected to the third roller 73 in a plurality of gears, and a plurality of gears realize transmission by mutual engagement.For example, the second conveying assembly 60 comprises two the third rollers 73, the third roller 73A and the third roller 73B.Gear assembly 78 comprises a gear 78C coaxially connected with the third transmission shaft 77, a gear 78A coaxially connected with the third roller 73A and a gear coaxially connected with the third roller 73B.Gear 78C meshes with gear 78A and gear 78B respectively.

[0557] Of course, the third transmission assembly 78 may also be constructed in other forms, such as through synchronous belt transmission.

[0558] like Fig.32 As shown, corresponding to the two third rollers 73, the second conveying assembly 60 includes two fourth rollers 74, a fourth roller 74A and a fourth roller 74B, wherein the fourth roller 74A corresponds to the third roller 73A, and the fourth roller 74B corresponds to the third roller 73B.

[0559] It can be understood that the second transport component 60 also has a guiding and supporting function for the guide wire 12 and / or the catheter 11. Therefore, in the present application, the second transport component 60 can also be referred to as a guiding component.

[0560] In the present application, all rolling wheels are configured to be rotatable around their own axes relative to the corresponding base (base), and in the absence of a driving component (such as a motor) to drive them to rotate, all rolling wheels can be passively rotated under the action of friction. All rolling wheels are equipped with a wheel axle, and the driving mechanism or transmission mechanism drives the wheel axle to rotate to rotate the rolling wheel. In the present application, each transmission shaft and wheel axle are configured to be rotatable around its own axis relative to the corresponding base (base).

[0561] According to the slave execution device 200 of the present application, the components contacting the guide wire 12 and / or the catheter 11 are all detachable and passive components, so these components can be presented in the form of consumables, which is easy to install and can avoid cross infection.

[0562] It can be understood that the medical system 300 according to the present application includes all the features and effects of the slave execution device 200 according to the present application.

[0563] The processes and steps described in all the above preferred embodiments are only examples. Unless adverse effects occur, various processing operations can be performed in a sequence different from the sequence of the above processes. The sequence of steps in the above processes can also be increased, merged or deleted according to actual needs.

[0564] In understanding the scope of the present application, the term "comprising" and its derivatives as used herein are intended to be open terms, which specify the existence of the recorded features, elements, components, groups, wholes and / or steps, but do not exclude the existence of other unrecorded features, elements, components, groups, wholes and / or steps. This concept also applies to words with similar meanings, such as the terms "including", "having" and their derivatives.

[0565] The terms "attached" or "attached" as used herein include: a configuration where an element is directly secured to another element by directly securing the element to the other element; a configuration where an element is indirectly secured to another element by securing the element to an intermediate member which in turn is secured to the other element; and a configuration where one element is integral with the other element, i.e., one element is substantially a part of the other element. This definition also applies to words with similar meanings such as "connect," "connect," "couple," "mount," "bond," "fix," and their derivatives. Finally, terms of degree such as "substantially," "approximately," and "approximately" as used herein represent the amount of deviation that modifies the term such that the end result will not be significantly changed.

[0566] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art of the present application. The terms used herein are only for describing specific implementation purposes and are not intended to limit the present application. The features described herein in one embodiment may be applied to another embodiment individually or in combination with other features, unless the feature is not applicable or otherwise specified in the other embodiment.

[0567] The present application has been described through the above-mentioned embodiments, but it should be understood that the above-mentioned embodiments are only for the purpose of example and description, and are not intended to limit the present application to the described embodiments. In addition, it can be understood by those skilled in the art that the present application is not limited to the above-mentioned embodiments, and more variations and modifications can be made according to the teachings of the present application, and these variations and modifications all fall within the scope of protection claimed by the present application.

Claims

1. A slave end execution device for delivering a guide wire and / or a catheter, characterized in that: include: A main body power device, which is used to be installed beside the operating table and is immovable relative to the operating table, and the main body power device includes a main body driving mechanism for providing driving force; A mobile power device, connected to the main power device, used to move forward and backward relative to the main power device along the conveying direction of the guide wire and / or catheter under the drive of the main driving mechanism, wherein the mobile power device includes a first driving mechanism for providing driving force; A first carrying device, detachably connected to the mobile power device, and moving synchronously with the mobile power device along the conveying direction relative to the main power device, the first carrying device is used to carry a medical device, the medical device including the catheter; and The first operating mechanism is arranged on the first carrying device, and is used for controlling the guide wire to move forward and backward relative to the first carrying device along the conveying direction under the drive of the first driving mechanism.

2. The slave execution device according to claim 1, characterized in that: The mobile power device includes a second driving mechanism for providing driving force; The first carrying device includes a second operating mechanism, the second operating mechanism is used to contact the medical device, and the second operating mechanism is connected to the second driving mechanism to operate the medical device to perform a medical function under the drive of the second driving mechanism.

3. The slave execution device according to claim 2, characterized in that: The slave execution device also includes: A moving assembly, arranged on the main body power device, the moving assembly is configured to move forward and backward relative to the main body power device along the conveying direction under the drive of the main body driving mechanism, wherein the moving power device is connected to the moving assembly; A first transmission mechanism, connected between the first driving mechanism and the first operating mechanism, for transmitting the driving force of the first driving mechanism to the first operating mechanism; and The second transmission mechanism is connected between the second driving mechanism and the second operating mechanism, and is used to transmit the driving force of the second driving mechanism to the second operating mechanism.

4. The slave execution device according to claim 3, characterized in that: The first transmission mechanism comprises: A first power shaft, disposed on the mobile power device, wherein the first power shaft is configured to be rotatable relative to the mobile power device around its own axis; A first transmission assembly, disposed in the mobile power device and connected between the first drive mechanism and the first power shaft, so that the first power shaft rotates under the drive of the first drive mechanism; and The first power transmission mechanism is arranged on the first bearing device and connected between the first operating mechanism and the first power shaft so that the first power shaft drives the first operating mechanism to work.

5. The slave execution device according to claim 4, characterized in that: The first operating mechanism comprises: a first operating mechanism base, connected to the first carrying device; at least one first roller, disposed on the first operating mechanism base, the axis of the first roller being not parallel to the conveying direction, the first roller being configured to be rotatable about its axis relative to the first operating mechanism base, and at least one second roller, disposed on the first operating mechanism base and arranged opposite to the first roller, so as to clamp the guide wire together with the first roller, the second roller being configured to be rotatable around its axis relative to the first operating mechanism base; Wherein, the first roller and the second roller are both used to be connected to the first transmission mechanism so as to rotate under the drive of the first transmission mechanism, and the slave-end execution device is constructed so that the rotation direction of the first roller is opposite to the rotation direction of the second roller.

6. The slave execution device according to claim 5, characterized in that: The first operating mechanism also includes: A second fixed seat, disposed on the first operating mechanism base, wherein the second roller is disposed on the second fixed seat; and a first movable seat, which is arranged on the first operating mechanism base and is movable along a first direction relative to the second fixed seat between a first position and a second position, wherein the first roller is arranged on the first movable seat, The first direction is perpendicular to the conveying direction and a plane defined by the axis of the first roller, and the distance between the first movable seat and the second fixed seat when the first movable seat is in the first position is smaller than the distance between the first movable seat and the second fixed seat when the first movable seat is in the second position.

7. The slave execution device according to claim 6, characterized in that: The first operating mechanism also includes: a first biasing assembly connected between the second fixed seat and the first movable seat, for providing a force to move the first movable seat away from the second fixed seat along the first direction; and The first pressing mechanism is arranged on the first operating mechanism base and connected to the first movable seat, and is used for being operated by a user to make the first movable seat approach the second fixed seat along the first direction.

8. The slave execution device according to claim 7, characterized in that: The first biasing assembly includes a resilient member that is deformable along the first direction.

9. The slave execution device according to claim 7, characterized in that: The first pressing mechanism comprises: a cam connected to the first operating mechanism base and rotatable relative to the first operating mechanism base about a rotation axis extending in a second direction, wherein the second direction is perpendicular to the first direction and parallel to a plane defined by the conveying direction and the axis of the first roller, and a circumferential surface of the cam is connected to a side of the first movable seat facing away from the second fixed seat; A wrench is connected to the cam and is used for being operated by a user to rotate the cam relative to the first operating mechanism base.

10. The slave execution device according to claim 9, characterized in that: A protrusion extending along the first direction is connected to a side of the first movable seat facing the cam and is used to contact the circumferential surface of the cam; and / or The wrench is exposed from an outer surface of the first carrier.

11. The slave execution device according to claim 6, characterized in that: The first power transmission mechanism comprises a first transmission shaft, and the first transmission shaft is used to be connected to the first driving mechanism so as to rotate under the drive of the first driving mechanism; The first operating mechanism also includes: a first roller transmission mechanism, used to connect the first transmission shaft and the first roller, so that the rotation direction of the first roller is the same as the rotation direction of the first transmission shaft, and The second roller transmission mechanism is used to connect the first transmission shaft and the second roller, so that the rotation direction of the second roller is opposite to the rotation direction of the first transmission shaft.

12. The slave execution device according to claim 11, characterized in that: The first roller transmission mechanism includes at least one first operating synchronous belt, the first transmission shaft and the first roller are both connected with a structure for connecting the first operating synchronous belt, and the slave-end execution device is constructed so that the first transmission shaft drives all the first rollers to rotate through the first operating synchronous belt.

13. The slave execution device according to claim 12, characterized in that: The first operating mechanism includes N first rollers and N first operating synchronous belts, where N is an integer greater than or equal to 1, wherein: Each of the first rollers is connected to the first transmission shaft via a first steering synchronous belt; or Each of a portion of the N first rollers is connected to the first transmission shaft via a first steering synchronous belt, and each of another portion of the N first rollers is connected to another first roller via a first steering synchronous belt.

14. The slave execution device according to claim 12, characterized in that: The first operating mechanism includes N first rollers and N first operating synchronous belts, where N is an integer greater than or equal to 1, wherein: The first one of the N first rollers is connected to the first transmission shaft via a first steering synchronous belt, and each of the other first rollers is connected to the previous first roller via a first steering synchronous belt.

15. The slave execution device according to claim 14, characterized in that: The first operating mechanism also includes: A first additional roller, disposed on the first movable seat, wherein the first additional roller is configured to be rotatable relative to the first movable seat about its axis; A second additional roller is arranged on the second fixing seat and is arranged opposite to the first additional roller, so as to clamp the guide wire together with the first additional roller, and the second additional roller is configured to be rotatable around its axis relative to the second fixing seat; a first additional roller transmission mechanism, used for connecting the first additional roller and the Nth first roller, so that the first additional roller rotates in the same direction as the rotation direction of the first transmission shaft under the drive of the Nth first roller; and An encoder is connected to the second additional roller and is used to detect a rotation angle of the second additional roller.

16. The slave execution device according to claim 15, characterized in that: The second additional roller has a second additional roller axle; The mobile power device also includes a third rotating shaft, which is arranged on the mobile power device and is used to be connected to the second additional roller axle and rotate synchronously with the second additional roller axle, wherein the encoder is arranged on the third rotating shaft.

17. The slave execution device according to claim 15, characterized in that: The first additional roller transmission mechanism is configured as a synchronous belt, and / or The axis of the first additional roller is parallel to the axis of the first roller.

18. The slave execution device according to claim 15, characterized in that: The diameter of the first additional roller is the same as the diameter of the first roller, and the diameter of the second additional roller is the same as the diameter of the second roller; and / or The diameter of the first additional roller is the same as the diameter of the second additional roller.

19. The slave execution device according to claim 11, characterized in that: The second roller transmission mechanism comprises: A fourth transmission shaft, arranged on the first operating mechanism base; A second roller first transmission mechanism, used to connect the first transmission shaft and the fourth transmission shaft, so that the fourth transmission shaft rotates under the drive of the first transmission shaft; and The second roller second transmission mechanism is used to connect the fourth transmission shaft and the second roller, so that the second roller rotates under the drive of the fourth transmission shaft.

20. The slave execution device according to claim 19, characterized in that: One of the second roller first transmission mechanism and the second roller second transmission mechanism is configured to be driven by a synchronous belt, and the other of the second roller first transmission mechanism and the second roller second transmission mechanism is configured to be driven by a gear.

21. The slave execution device according to claim 11, characterized in that: The component of the first roller transmission mechanism used for connecting the first transmission shaft and the component of the second roller transmission mechanism used for connecting the first transmission shaft are both synchronous belts.

22. The slave execution device according to claim 5, characterized in that: The diameter of the first roller is the same as the diameter of the second roller, and / or The axis of the first roller is perpendicular to the conveying direction.

23. The slave execution device according to claim 4, characterized in that: The position of the first power transmission mechanism corresponds to the position of the first power shaft and is meshed and connected with the first power shaft. The first power transmission mechanism includes a transmission synchronous wheel, and a synchronous belt transmission is formed between the first power transmission mechanism and the first operating mechanism.

24. The slave execution device according to claim 4, characterized in that: The second transmission mechanism comprises: A second power shaft, disposed on the mobile power device, the second power shaft being configured to be rotatable relative to the mobile power device around its own axis; A second transmission assembly, disposed in the mobile power device and connected between the second drive mechanism and the second power shaft, so that the second power shaft rotates under the drive of the second drive mechanism; and The second power transmission mechanism is arranged on the first bearing device and connected between the second operating mechanism and the second power shaft so that the second power shaft drives the second operating mechanism to work.

25. The slave execution device according to claim 24, characterized in that: The main power device also includes: a frame, wherein the main body driving mechanism and the moving assembly are both arranged on the frame; and The housing is covered on the frame, the housing has a long slot extending along the conveying direction, the moving assembly has a protruding portion extending out of the housing from the long slot, and the moving power device is connected to the protruding portion.

26. The slave execution device according to claim 25, characterized in that: The mobile power device also includes: a connecting frame, one end of which is connected to the protruding portion of the moving assembly; and A base is connected to the other end of the connecting frame, wherein the first supporting device is detachably connected to the base.

27. The slave execution device according to claim 26, characterized in that: The first driving mechanism and the second driving mechanism are arranged on the connecting frame.

28. The slave execution device according to claim 26, characterized in that: The first power shaft is arranged to penetrate the base, and one end of the first power shaft facing the first bearing device is transmission-connected to the first operating mechanism; The first transmission assembly is connected between the first driving mechanism and an end of the first power shaft facing away from the first bearing device; The second power shaft is arranged to penetrate the base, and one end of the second power shaft facing the first bearing device is transmission-connected to the second operating mechanism; The second transmission assembly is connected between the second driving mechanism and an end of the second power shaft facing away from the first bearing device.

29. The slave execution device according to claim 26, characterized in that: A buckle seat is provided at the end of the base; The first carrying device includes a carrying base, wherein the medical device and the first operating mechanism are both detachably connected to the carrying base, and a snap-fit ​​assembly is provided at the end of the carrying base, and the snap-fit ​​assembly is constructed to be able to snap-fit ​​with the snap-fit ​​seat so that the carrying base can be detachably connected to the base.

30. The slave execution device according to claim 29, characterized in that: The clamping assembly comprises: A rotating shaft, arranged at the end of the bearing base and passing through the bearing base; A knob for user operation, the knob being arranged at an end of the rotating shaft away from the base, and the knob and the rotating shaft being capable of synchronously rotating around the axis of the rotating shaft; and A buckle is arranged at one end of the rotating shaft facing the base and is used for engaging with the buckle seat. The buckle and the rotating shaft can rotate synchronously around the axis of the rotating shaft.

31. The slave execution device according to claim 29, characterized in that: The bearing base is provided with a functional operating seat for mounting the medical device, the functional operating seat comprises a first side of the functional operating seat and a second side of the functional operating seat which are arranged opposite to each other, wherein the medical device is detachably connected to the first side of the functional operating seat, and the functional operating seat is provided with an operating port; The second operating mechanism comprises: a functional gear, the functional gear being rotatably disposed on the second side of the functional operating seat and at least partially exposed from the operating port to the first side of the functional operating seat so as to be meshed with the medical device, and A bevel gear is coaxially connected to the functional gear, and the bevel gear is meshingly connected to the second power transmission mechanism.

32. The slave execution device according to claim 31, characterized in that: The first carrying device further comprises: A first bracket, the first bracket is arranged on a first side of the functional operating seat; A second bracket, the second bracket is arranged at a first side of the functional operating seat and is spaced apart from the first bracket along the conveying direction so as to support the medical device together with the first bracket, and the second bracket is configured to be movable relative to the functional operating seat along the conveying direction; A second elastic member is connected to the second bracket and is used to apply a force to the second bracket to make the second bracket move away from the first bracket along the conveying direction.

33. The slave execution device according to claim 32, characterized in that: The functional operating seat is provided with an opening extending along the conveying direction, and a portion of the second bracket is arranged in the opening and can move in the opening along the conveying direction; The first carrying device further comprises: a connecting seat, the connecting seat being arranged on the second side of the functional operating seat, the connecting seat being closer to the first bracket than the opening, the connecting seat having a channel extending along the conveying direction, and a base connected to the portion of the second bracket located in the opening and extending at least partially into the channel, Wherein, the second elastic member is arranged in the channel and connected between the connecting seat and the base.

34. The slave execution device according to claim 25, characterized in that: The main power device also includes: a first guide rail, the first guide rail being arranged on the frame and extending along the conveying direction; A lead screw pair, the lead screw pair comprising a lead screw and a lead screw nut, the lead screw being arranged on the frame and extending along the conveying direction; A main body transmission assembly, wherein the main body transmission assembly is connected between the main body drive mechanism and the lead screw, so that the lead screw rotates around its own axis under the drive of the main body drive mechanism, Wherein, the moving assembly is connected to the lead screw nut and the first guide rail, and is constructed to be able to move along the first guide rail. The main driving mechanism is connected to the lead screw transmission to drive the lead screw nut to move along the lead screw to drive the moving assembly to move.

35. The slave execution device according to claim 34, characterized in that: The mobile assembly comprises: A moving frame connected to the lead screw nut, the moving frame having two end walls spaced apart along the conveying direction and a second guide rail disposed between the two end walls, the second guide rail extending along the conveying direction; a movable seat, the movable seat being disposed on the second guide rail and movable along the second guide rail, the protrusion being disposed on the movable seat; and The tension and pressure sensor is arranged between the movable seat and one of the two end walls. The tension and pressure sensor abuts against both the movable seat and the one of the two end walls to sense the resistance encountered by the movable seat when the catheter is transported.

36. The slave execution device according to claim 24, characterized in that: The position of the second power transmission mechanism corresponds to the position of the second power shaft, and is meshedly connected with the second power shaft. The second power transmission mechanism includes a transmission gear, and a gear meshing transmission is formed between the second power transmission mechanism and the second operating mechanism.

37. The slave execution device according to claim 2, characterized in that: At least one of the main body drive mechanism, the first drive mechanism, and the second drive mechanism includes a motor.

38. The slave execution device according to any one of claims 1 to 37, characterized in that: The medical device is configured for delivery of a prosthetic valve.

39. The slave execution device according to any one of claims 1 to 37, characterized in that: Also includes: A second power assembly is used to be installed beside the operating table and is immovable relative to the operating table, and the second power assembly includes a fourth driving mechanism for providing driving force; and a second conveying assembly, detachably connected to the second power assembly, for conveying the guidewire and / or catheter under the drive of the fourth driving mechanism; The second power assembly is used to be installed in front of the main power device along the conveying direction of the guide wire and / or catheter.

40. The slave execution device according to claim 39, characterized in that: The second conveying assembly comprises: a second conveying assembly base, detachably connected to the second power assembly; At least one third roller is disposed on the second conveying assembly base, and the axis of the third roller is not parallel to the conveying direction; at least one fourth roller, disposed on the second conveying assembly base and arranged opposite to the third roller, so as to clamp the guide wire and / or catheter together with the third roller; The third roller transmission mechanism is arranged on the base of the second conveying assembly and is used to connect with the fourth driving mechanism and the third roller to drive the third roller to rotate under the drive of the fourth driving mechanism.

41. The slave execution device according to claim 40, characterized in that: The second conveying assembly also includes: A third fixed seat, disposed on the second conveying assembly base, wherein the third roller and the third roller transmission mechanism are disposed on the third fixed seat; and a fourth movable seat, which is arranged on the second conveying assembly base and is movable between a third position and a fourth position relative to the third fixed seat along a first additional direction, wherein the fourth roller is arranged on the fourth movable seat, Wherein, the first additional direction is perpendicular to the conveying direction and the plane determined by the axis of the third roller, and the distance between the fourth movable seat and the third fixed seat when in the third position is smaller than the distance between the fourth movable seat and the third fixed seat when in the fourth position.

42. The slave execution device according to claim 41, characterized in that: The second conveying assembly further includes a positioning mechanism, and the positioning mechanism is arranged on the fourth moving seat. The second conveying assembly base includes a third clamping portion and a fourth clamping portion arranged along the first additional direction, The second conveying assembly is constructed such that when the locking mechanism engages with the third locking portion, the fourth movable seat is located at the third position relative to the third fixed seat, and when the locking mechanism engages with the fourth locking portion, the fourth movable seat is located at the fourth position relative to the third fixed seat.

43. The slave execution device according to claim 42, characterized in that: The locking mechanism comprises a locking member, The third locking portion and the fourth locking portion are configured to include locking grooves having a shape matching the outer shape of the locking member to accommodate the locking member.

44. The slave execution device according to claim 43, characterized in that: The fourth movable seat comprises a first movable seat side and a second movable seat side which are arranged in opposite directions along the axis of the third roller. The third clamping portion and the fourth clamping portion are located on one side of the second side of the moving seat of the fourth moving seat, the clamping groove of the third clamping portion and the clamping groove of the fourth clamping portion are configured as through grooves along the axial direction of the third roller, and are connected along the first additional direction, The locking mechanism also includes: an operating member for operation by a user, wherein the operating member is movable relative to the fourth movable seat along the axis direction of the third roller and is immovable relative to the fourth movable seat along the first additional direction, wherein the operating member comprises a first operating member portion located at a first side of the movable seat and a second operating member portion located at a second side of the movable seat, wherein the locking member is connected to the second operating member portion, and A fourth biasing assembly is connected between the first side of the moving seat and the first portion of the operating member, and is used to apply a force to the operating member to move toward the first side of the moving seat.

45. The slave execution device according to claim 44, characterized in that: The fourth mobile seat also includes: a moving seat through hole, the moving seat through hole communicating with the first side of the moving seat and the second side of the moving seat, and A blind hole of the movable seat, the opening of which is located on the first side of the movable seat; The fourth biasing component is configured as an elastic component disposed in the blind hole of the moving seat; The operating member comprises: An operating portion, used for user operation, located on the first side of the moving base, a connecting portion connected to the operating portion, extending from the first side of the moving base through the through hole of the moving base to the second side of the moving base, and An action portion connected to the operating portion and configured to extend into the blind hole of the moving seat to squeeze the fourth biasing component The locking member is connected to the connecting portion at the second side of the moving seat.

46. ​​The slave execution device according to claim 44, characterized in that: The portion of the operating member for user operation is configured as an arc-shaped groove, and / or A portion of the operating element for user operation is structured with textures.

47. The slave execution device according to claim 44, characterized in that: The operating member is exposed from the second conveying assembly base.

48. The slave execution device according to claim 41, characterized in that: The second conveying assembly base comprises: A first portion of a second conveying assembly base, detachably connected to the second power assembly; and The second part of the second conveying assembly base is pivotally connected to the first part of the second conveying assembly base and is used to cover the first part of the second conveying assembly base. Wherein, the third fixed seat and the fourth movable seat are arranged on the first part of the base of the second conveying component.

49. The slave execution device according to claim 48, characterized in that: The first portion of the second conveying assembly base is provided with a channel for accommodating the guide wire and / or catheter, and the channel extends along the axial direction of the third roller to the outer surface of the first portion of the second conveying assembly base.

50. The slave execution device according to claim 42, characterized in that: The second conveying assembly also includes: a fourth roller seat connected to the fourth movable seat and movable relative to the fourth movable seat along the first additional direction, wherein the fourth roller is disposed on the fourth roller seat; and The third biasing assembly is connected between the fourth roller seat and the fourth moving seat, and is used for applying a force to the fourth roller seat to move toward the third roller.

51. The slave execution device according to claim 50, characterized in that: The third biasing assembly is configured as a resilient member extending along the first additional direction.

52. The slave execution device according to claim 40, characterized in that: The fourth driving mechanism includes a motor.

53. The slave execution device according to claim 52, characterized in that: The third roller transmission mechanism comprises: A third transmission shaft is disposed on the second conveying assembly base and connected to the output shaft of the motor; The third transmission assembly is connected to the third transmission shaft and the third roller respectively, and is used to make the third roller rotate under the drive of the third transmission shaft.

54. The slave execution device according to claim 53, characterized in that: The third transmission assembly is configured as a gear assembly.

55. The slave execution device according to claim 40, characterized in that: The axis of the third roller is perpendicular to the conveying direction, and / or The diameter of the third roller is the same as the diameter of the fourth roller.

56. A medical system, characterized in that: include: A first bracket is used to be arranged beside an operating table; The slave end execution device according to any one of claims 1 to 55, wherein the main body power device is connected to the first bracket; and A medical device is detachably connected to the first carrying device.

57. The medical system according to claim 56, characterized in that The first support is configured as a robotic arm, and the robotic arm is configured to be movable relative to the operating bed in at least one spatial dimension.

58. A medical system, characterized in that: include: A first bracket is used to be arranged beside an operating table; A second stent is used to be arranged beside the operating table and is located in front of the first stent along the conveying direction of the guide wire and / or the catheter; The slave execution device according to any one of claims 39 to 58, wherein the main power device is connected to the first bracket, and the second power assembly is connected to the second bracket; and A medical device is detachably connected to the first carrying device.

59. The medical system according to claim 58, characterized in that The first support and / or the second support is configured as a robot arm, and the robot arm is configured to be movable relative to the operating bed in at least one spatial dimension.

60. The medical system according to any one of claims 56 to 59, characterized in that Also includes: Host operation equipment; and A processor module is signal-connected to both the master-end operating device and the slave-end execution device.

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