Damping assembly and conveying device

Abstract

The embodiment of the invention relates to the technical field of medical instruments, and discloses a damping assembly and a conveying device.The damping assembly is arranged on a rotating shaft of the conveying device, an elastic part in the damping assembly is arranged between a fixing base and the damping part and extruded by an abutting face, and when the rotating shaft drives an adjustable bending sheathing canal to be bent, the elastic part is pressed by the abutting face. The elastic piece overcomes static friction force between the elastic piece and the abutting wall and can move relative to the damping piece along with a fixing seat arranged on the rotating shaft. When the external force applied to the rotating shaft is removed, the static friction force between the elastic piece and the abutting wall is larger than the restoring force applied to the rotating shaft by the adjustable bending sheath tube, so that the rotating shaft and the outer base are relatively static. Therefore, the rotating shaft can be prevented from rotating reversely under the action of the control wire, so that the bending-adjustable sheathing canal keeps the bending-adjustable state after the bending-adjustable sheathing canal is bent, the reliability of the conveying device is improved, and the surgical risk is reduced.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of medical devices, and in particular to a damping component and a conveying device. Background Art

[0002] Blood in the heart flows from the atria to the ventricles, and the valves between the atria and ventricles prevent fluid from flowing back. However, these valves may fail or weaken due to congenital and acquired factors. For example, the valve between the left atrium and the left ventricle is called the mitral valve. During cardiac contraction, the mitral valve cannot close completely, causing blood from the left ventricle to flow back into the left atrium, which is called mitral regurgitation. This type of disease is usually treated surgically, and one of the surgical methods is to directly suture the edge of the mitral valve leaflet (called "Alfieri" suture). This method is extremely difficult and prone to many complications.

[0003] Currently, transseptal techniques and related devices have been developed to treat this type of disease by simulating the "Alfieri" suture through minimally invasive intervention. Specifically, the transseptal technique involves inserting a catheter into the right femoral vein, up the inferior vena cava and into the right atrium, and then passing the catheter into the left atrium after puncturing the atrial septum. Through this technique, the mitral valve clip is delivered to the vicinity of the mitral valve, and then clamped to the coaptation edge of the mitral valve leaflet to keep the mitral valve leaflet parts together.

[0004] At present, such devices have become more and more popular at home and abroad. The existing products include a delivery device with an adjustable sheath tube and a bending control handle. The bending control handle adjusts the different bending angles of the end of the adjustable sheath tube through a control wire to deliver the mitral valve clamp to a suitable release and clamping position. However, the state of the adjustable sheath tube in the existing delivery device cannot be maintained after bending. The angle will change under the restoring force of the adjustable sheath tube, which may lead to surgical failure and bring risks to patients.

[0005] Therefore, there is a need in the art for a new delivery device. Summary of the invention

[0006] The purpose of an embodiment of the present invention is to provide a delivery device that can keep the adjustable sheath tube in its bent state after the adjustable sheath tube is bent, thereby improving the reliability of the delivery device and reducing surgical risks.

[0007] In order to solve the above technical problems, the first aspect of the present invention provides a damping assembly for a conveying device, the conveying device comprising an outer base, a rotating shaft, a wire winding assembly, a control wire and an adjustable bending sheath tube, the rotating shaft is rotatably arranged on the outer base, and the rotating shaft drives the distal end of the adjustable bending sheath tube to swing via the wire winding assembly and the control wire, comprising:

[0008] An upper base is sleeved on the rotating shaft and fixed relatively to the outer base; a damping member is arranged on the upper base; a fixed seat is fixed to the rotating shaft and is arranged at an axial interval with the damping member along the rotating shaft, and the damping member has an abutment wall opposite to the fixed seat; an elastic member is arranged between the fixed seat and the damping member and is squeezed by the abutment wall; the elastic member is configured as follows: when an external force is applied to the rotating shaft and the rotating shaft is rotated, the elastic member overcomes the static friction between it and the abutment wall, and moves relative to the abutment surface as the fixed seat rotates; when the external force applied to the rotating shaft is cancelled, the static friction between the elastic member and the abutment wall is greater than the restoring force applied to the rotating shaft by the adjustable bending sheath tube, so that the elastic member and the damping member are relatively stationary.

[0009] Compared with the related art, the embodiment of the present invention is characterized in that a damping assembly is arranged on the rotating shaft of the conveying device. The elastic member in the damping assembly is arranged between the fixed seat and the damping member and is squeezed by the abutting surface. When the rotating shaft drives the adjustable bending sheath tube to bend, the elastic member overcomes the static friction between it and the abutting wall and can move relative to the damping member along with the fixed seat arranged on the rotating shaft. When the external force applied to the rotating shaft is cancelled, the static friction between the elastic member and the abutting wall is greater than the restoring force applied by the adjustable bending sheath tube to the elastic member on the rotating shaft, so that the rotating shaft and the external base are relatively stationary. In this way, the rotating shaft can be prevented from being reversely rotated by the control wire, so that the adjustable bending sheath tube can maintain its bending state after being bent, thereby improving the reliability of the conveying device and reducing the surgical risk.

[0010] Optionally, the damping member has an initial position, and an axial distance between the damping member and the fixing seat decreases as the damping member moves away from the initial position in a circumferential direction.

[0011] Optionally, the damping member is a circular ring column structure or an arc column structure coaxially arranged with the rotating shaft, and the abutment wall is at least partially non-perpendicular to the axis of the rotating shaft; the vertical distance from the abutment wall to the axis of the rotating shaft matches.

[0012] Optionally, the abutting wall includes an initial position and a limit position, and the distance between the abutting wall and the upper base increases linearly from the initial position to the limit position.

[0013] Optionally, the abutment wall includes an initial position and an extreme position, and from the initial position to the extreme position, the distance between the abutment wall and the upper base increases in unit increments in the circumferential direction.

[0014] Optionally, the abutting wall includes an initial position and an extreme position, and the abutting wall includes a plurality of sub-side walls connected in sequence, and the distances between the plurality of sub-side walls and the upper base increase gradually from the initial position to the extreme position.

[0015] Optionally, the abutment surfaces of the multiple sub-side walls are curved surfaces, and the maximum value of the angle formed by the tangent of the sub-side wall close to the initial position and the plane perpendicular to the axis of the rotating shaft is smaller than the minimum value of the angle formed by the tangent of the sub-side wall far from the initial position and the plane perpendicular to the axis of the rotating shaft.

[0016] Optionally, a circumferential angle of the abutment wall from the initial position to the extreme position in the circumferential direction is 30° to 180°.

[0017] Optionally, it also includes a lower base having an accommodating cavity, the upper base, the lower base and the outer base are detachably fixed, and the damping member and the fixing seat are both accommodated in the accommodating cavity; the surface of the lower base facing the upper base is provided with an annular protrusion extending around the rotating shaft, and the elastic member axially abuts against the annular protrusion to prevent the elastic member from moving axially.

[0018] Optionally, the fixed seat includes a connecting portion and a mounting portion, the connecting portion is fixed to the rotating shaft, the mounting portion is arranged on the outside of the connecting portion and is axially spaced apart from the abutment wall, and the elastic member is fixed to the mounting portion and is at least partially located between the mounting portion and the abutment wall.

[0019] Optionally, the connecting part is a hollow column, which is sleeved and fixed on the rotating shaft; the mounting part is a column, which is fixed to the outer surface of the connecting part; the radial dimension of the mounting part is smaller than the axial height of the connecting part, so as to form a fixed area at the connection between the mounting part and the connecting part; the elastic member is arranged in the fixed area.

[0020] Optionally, the elastic member is in the shape of a hollow cylinder, sleeved on the mounting portion, and the shape of the elastic member on one side close to the connecting portion is in the shape of an intersecting line.

[0021] A second aspect of the present invention provides a conveying device, comprising:

[0022] An external base, an adjustable bending sheath tube, a rotating shaft, a wire winding assembly, a control wire and a damping assembly of any one of the above; the external base has a mounting groove, the rotating shaft is rotatably arranged on the external base and passes through the mounting groove, the damping assembly is located in the mounting groove and is sleeved on the rotating shaft; the axis of the adjustable bending sheath tube is perpendicular to the axis of the rotating shaft, the proximal end of the adjustable bending sheath tube is fixed to the external base, and the distal end of the adjustable bending sheath tube is swingable; the wire winding assembly is sleeved and fixed on the rotating shaft, one end of the control wire is wound on the wire winding assembly, and the other end of the control wire is connected to the distal end of the adjustable bending sheath tube; the rotating shaft is used to drive the wire winding assembly to rotate and wind or release the control wire to make the distal end of the adjustable bending sheath tube swing. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0024] Figure 1 It is a structural schematic diagram of a part of the damping assembly sleeved on the rotating shaft according to the first embodiment of the present invention;

[0025] Figure 2 is a cross-sectional schematic diagram of a damping assembly sleeved on a rotating shaft according to a first embodiment of the present invention;

[0026] Figure 3 It is a schematic structural diagram of a damping member disposed on an upper base of a damping assembly according to a first embodiment of the present invention;

[0027] Figure 4 is a schematic structural diagram of a conveying device according to a second embodiment of the present invention;

[0028] Figure 5 is a schematic cross-sectional view of the proximal end portion of the delivery device according to the second embodiment of the present invention along the axial direction;

[0029] Figure 6 is a schematic cross-sectional view perpendicular to the axis direction of the proximal end portion of the delivery device of the second embodiment of the present invention;

[0030] Figure 7 It is a schematic structural diagram of an outer base of a conveying device according to a second embodiment of the present invention. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the following will be described in detail with reference to the accompanying drawings. However, it will be appreciated by those skilled in the art that in the various embodiments of the present invention, many technical details are provided in order to enable the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present application can be implemented.

[0032] In the embodiments of the present invention, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. These terms are mainly used to better describe the present invention and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific direction, or to be constructed and operated in a specific direction.

[0033] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those skilled in the art, the specific meanings of these terms in the present invention can be understood according to specific circumstances.

[0034] In addition, the terms "installed", "set", "provided with", "opened", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0035] The terms “distal end” and “distal side” refer to the side away from the operator and closer to the patient, and correspondingly, “proximal end” and “proximal side” refer to the side close to the operator and away from the patient.

[0036] In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, elements or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated devices, elements or components. Unless otherwise specified, "plurality" means two or more.

[0037] The inventors have discovered that the adjustable sheath tube in the existing delivery device will exert a force on the control wire after being bent, so as to drive the control wire to move in the reverse direction, thereby driving the shaft in the bending control handle for driving the control wire to rotate in the reverse direction.

[0038] Based on the above findings, one embodiment of the present invention provides a damping assembly for a conveying device, which comprises an outer base, a rotating shaft, a wire winding assembly and an adjustable bending sheath tube, wherein the rotating shaft is rotatably arranged on the outer base, and the rotating shaft drives the distal end of the adjustable bending sheath tube to swing through the wire winding assembly and the control wire, and the damping assembly comprises: an upper base, which is sleeved on the rotating shaft and fixed relative to the outer base; a damping member, which is arranged on the upper base; a fixed seat, which is fixed to the rotating shaft and is spaced apart from the damping member along the axial direction of the rotating shaft; the damping member has a fixed seat with a fixed seat. An abutment surface relative to the fixed seat; an elastic member, the elastic member is arranged between the fixed seat and the damping member and is squeezed by the abutment surface, the elastic member is configured as follows: when an external force is applied to the rotating shaft and the rotating shaft is rotated, the elastic member overcomes the static friction between it and the abutment wall and can move relative to the abutment surface as the fixed seat rotates; when the external force applied to the rotating shaft is cancelled, the static friction between the elastic member and the abutment wall is greater than the restoring force applied to the elastic member by the adjustable bending sheath tube rotating shaft, so that the elastic member and the damping member are relatively stationary.

[0039] Another embodiment of the present invention provides a conveying device, including: an external base, an adjustable bending sheath tube, a rotating shaft, a wire winding assembly, a control wire and a damping assembly; the external base has a mounting groove, the rotating shaft is rotatably arranged on the external base and passes through the mounting groove, and the damping assembly is located in the mounting groove and is sleeved on the rotating shaft; the axis of the adjustable bending sheath tube is perpendicular to the axis of the rotating shaft, the proximal end of the adjustable bending sheath tube is fixed to the external base, and the distal end of the adjustable bending sheath tube is swingable; the wire winding assembly is sleeved and fixed on the rotating shaft, one end of the control wire is wound around the wire winding assembly, and the other end of the control wire is connected to the distal end of the adjustable bending sheath tube; the rotating shaft is used to drive the wire winding assembly to rotate and wind or release the control wire so that the distal end of the adjustable bending sheath tube swings.

[0040] Compared with the related art, the damping assembly is arranged on the rotating shaft of the conveying device in the embodiment of the present invention. The elastic member in the damping assembly is arranged between the fixed seat and the damping member and is squeezed by the abutting surface. When the rotating shaft drives the adjustable bending sheath tube to bend, the elastic member overcomes the static friction between the elastic member and the abutting wall and can move relative to the damping member along with the fixed seat arranged on the rotating shaft. When the external force applied to the rotating shaft is cancelled, the static friction between the elastic member and the abutting wall is greater than the restoring force applied by the adjustable bending sheath tube to the elastic member, so that the rotating shaft and the external base are relatively stationary. In this way, the rotating shaft can be prevented from being reversely rotated by the restoring force of the adjustable bending sheath tube, so that the adjustable bending sheath tube can maintain its bending state after being bent, thereby improving the reliability of the conveying device and reducing the risk of surgery.

[0041] The implementation details of the damping assembly of this embodiment are described in detail below. The following content is only provided for easy understanding of the implementation details and is not necessary for implementing this solution.

[0042] See also Figures 1 to 3 The damping assembly 100 of this embodiment includes: an upper base 101, which is sleeved on the rotating shaft 202 and fixed relative to the outer base of the conveying device. A damping member 102, which is arranged on the upper base 101. A fixing seat 103, which is fixed to the rotating shaft 202 and is spaced apart from the damping member 102 along the axial direction of the rotating shaft 202, and the damping member 102 has an abutting wall 1021 opposite to the fixing seat 103. An elastic member 104, which is arranged between the fixing seat 103 and the damping member 102 and is pressed by the abutting wall 1021. The elastic member 104 is configured such that: when an external force is applied to the rotating shaft 202 to rotate the rotating shaft 202, the elastic member 104 overcomes the static friction between it and the abutting wall 1021, and moves relative to the abutting wall 1021 as the fixing seat 103 rotates; when the external force applied to the rotating shaft 202 is removed, the static friction between the elastic member 104 and the abutting wall 1021 is greater than the restoring force applied to the elastic member 104 by the distal end of the adjustable bending sheath tube 203, so that the elastic member 104 and the damping member 102 are relatively stationary. In this embodiment, the wire winding assembly includes at least one wire winding wheel.

[0043] In this embodiment, the elastic member in the damping assembly is arranged between the fixed seat and the damping member, and is squeezed by the abutting surface. When the adjustable bending sheath tube 203 is driven to bend by the rotating shaft 202, the elastic member overcomes the static friction between the abutting wall and can move relative to the damping member 102 along with the fixed seat 103 arranged on the rotating shaft 202; when the external force applied to the rotating shaft 202 is cancelled, the static friction between the elastic member 104 and the abutting wall 1021 is greater than the restoring force applied by the adjustable bending sheath tube 203 to the elastic member, so that the rotating shaft 202 and the external base are relatively stationary. Such an arrangement can prevent the rotating shaft 202 from rotating in the opposite direction due to the restoring force of the adjustable bending sheath tube, so that the adjustable bending sheath tube 203 can maintain its bending state after being bent, thereby improving the reliability of the conveying device and reducing the risk of surgery.

[0044] In one example, when the distal end of the adjustable bending sheath tube 203 is in the initial state, that is, straightened and not bent, the elastic member 104 is in the initial position of the damping member 102. At this time, the elastic member 104 may just contact the abutment wall 1021 of the damping member 102, or the elastic member 104 may be squeezed by the abutment wall 1021 of the damping member 102 to be slightly deformed, preferably the latter. In this way, when the rotating shaft 202 has a tendency to rotate, there is a static friction force between the elastic member 104 and the abutment wall 1021. Only when the external force applied to the rotating shaft 202 is greater than the static friction force, the rotating shaft 202 can be rotated, thereby ensuring the stability of the rotating shaft 202 and improving the reliability of the conveying device. When the rotating shaft 202 is rotated, the rotating shaft 202 drives the distal end of the adjustable bending sheath tube 203 to swing, and at the same time, the fixing seat 103 is driven by the rotating shaft 202 to rotate, so that the elastic member 104 follows the rotation. At this time, the elastic member 104 is separated from the initial position, and as the elastic member 104 moves, the distance between the abutting wall 1021 of the damping member 102 and the fixing seat 103 changes as needed, so that the degree of compression of the damping member 102 on the elastic member 104 changes. For example, when rotating in a direction away from the initial position, the axial spacing between the abutting wall 1021 and the fixing seat 103 becomes smaller, so that the degree of squeezing of the damping member 102 on the elastic member 104 increases, and the friction between the abutting wall 1021 of the damping member 102 and the elastic member 104 increases; when rotating in a direction close to the initial position, the degree of squeezing of the damping member 102 on the elastic member 104 decreases, and the friction between the abutting wall 1021 of the damping member 102 and the elastic member 104 decreases.

[0045] In some examples, as the distal end swing angle of the adjustable bending sheath tube 203 is larger, the restoring force that tries to restore to the initial state is larger. Therefore, the static friction between the abutting wall 1021 and the elastic member 104 required to maintain the bending state of the adjustable bending sheath tube 203 is larger, and the distance between the abutting wall 1021 of the damping member 102 and the fixed seat 103 is set smaller; conversely, the smaller the distal end swing angle of the adjustable bending sheath tube 203 is, the static friction between the abutting wall 1021 and the elastic member 104 required to maintain the bending state of the adjustable bending sheath tube 203 is smaller, and the distance between the abutting wall 1021 of the damping member 102 and the fixed seat 103 is set larger.

[0046] See again Figure 1In some embodiments, the fixing seat 103 includes a connecting portion 1031 and a mounting portion 1032, wherein the connecting portion 1031 is fixedly mounted on the rotating shaft 202, and the mounting portion 1032 is disposed outside the connecting portion 1031, i.e., on a side away from the rotating shaft 202, and is axially spaced from the abutting wall 1021. The elastic member 104 is fixedly mounted on the mounting portion 1032, and is at least partially located between the mounting portion 1032 and the abutting wall 1021.

[0047] In one example, the connecting portion 1031 is a hollow column, which is sleeved and fixed on the rotating shaft 202, and the mounting portion 1032 is also a column, which is fixed on the outer surface of the connecting portion 1031. The radial dimension of the mounting portion 1032 is smaller than the axial height of the connecting portion 1031, and the mounting portion 1032 is similar to a protruding structure and is arranged on the outer side of the connecting portion 1031. A fixed area is formed at the connection between the mounting portion 1032 and the connecting portion 1031, and the elastic member 104 is arranged in the fixed area. In this way, when the elastic member 104 is squeezed by the abutting wall 1021, the fixed area can prevent the elastic member 104 from moving in a direction away from the upper base, thereby preventing the elastic member 104 from leaving the preset position.

[0048] This example has no particular restrictions on the fixing method of the connecting portion 1031 and the rotating shaft 202. For example, the connecting portion 1031 is provided with a receiving hole extending along its own axis, and a fixing hole connected to the receiving hole. Preferably, the extending direction of the fixing hole is perpendicular to the extending direction of the receiving hole and the axis of the rotating shaft 202. At the same time, the rotating shaft 202 is provided with a threaded hole 2021 connected to the fixing hole. After the rotating shaft 202 passes through the receiving hole, the threaded hole 2021 and the fixing hole are adjusted circumferentially to align (connect) with each other, and then screws are used to pass through the threaded hole 2021 and the fixing hole to fix the connecting portion 1031 and the rotating shaft 202.

[0049] Similarly, this example does not particularly limit the specific manner in which the elastic member 104 is fixed to the mounting portion 1032. For example, the elastic member 104 may be a hollow cylindrical rubber ring, which is sleeved on the mounting portion 1032, and the shape of the elastic member 104 close to the connecting portion 1031 is in the shape of an intersecting line. Here, the intersecting line is the intersection line when the cylinder (elastic member 104 shape) and the cylinder (connecting portion 1031 shape) intersect. In this way, the elastic member 104 intersects with the connecting portion 1031 to prevent the elastic member 104 from rotating relative to the mounting portion 1032, ensuring that there is a sufficiently large static friction force between the damping member 102 and the elastic member 104. In other feasible embodiments, the elastic member 104 and the mounting portion 1032 may be fixed by gluing, interlocking, or the like.

[0050] See again Figure 3 In some embodiments, since the elastic member 104 rotates around the rotating shaft 202, the damping member 102 is a circular column structure or a circular arc column structure coaxially arranged with the rotating shaft 202, and at least part of the abutting wall 1021 is not perpendicular to the axis of the rotating shaft 202. The vertical distance from the abutting wall to the axis of the rotating shaft 202 matches the vertical distance from the elastic member 104 to the axis of the rotating shaft 202. In this way, the elastic member 104 is located between the mounting portion 1032 and the abutting wall 1021. Further, by setting the shape of the abutting wall 1021, the distance between the abutting wall 1021 and the mounting portion 1032 is adjusted, thereby adjusting the pressure of the damping member 102 on the elastic member 104, and even the static friction between the damping member 102 and the elastic member 104.

[0051] In one example, the damping member 102 is a circular column structure, and the surface of the damping member 102 of the circular column structure facing the fixing seat 103 is the abutment wall 1021, which is used to contact the elastic member 104 and apply pressure to the elastic member 104. When the rotating shaft 202 drives the fixing seat 103 to drive the elastic member 104 to rotate, the elastic member 104 moves along the extension direction of the abutment wall 1021.

[0052] In one example, the position where the distance between the abutment wall 1021 and the upper base 101 (i.e., the height of the abutment wall 1021) is the smallest is the initial position, corresponding to the situation where the distal end of the adjustable bending sheath tube 203 is straight and not bent; the position where the distance between the abutment wall 1021 and the upper base 101 is the largest is the limit position, corresponding to the situation where the distal end of the adjustable bending sheath tube 203 is at the maximum deflection. Since the distance between the fixed seat 103 and the upper base 101 remains unchanged, the distance between the abutment wall 1021 and the fixed seat 101 changes accordingly. In one example, the distance between the abutment wall 1021 and the upper base 101 increases linearly from the initial position to the limit position. Specifically, the abutment wall 1021 may be an inclined plane. When the elastic member 104 moves from the initial position of the abutment wall 1021 along the extension direction of the abutment wall 1021 toward the extreme position of the abutment wall 1021, the squeezing effect of the damping member 102 on the elastic member 104 increases as the height of the abutment wall 1021 increases, that is, the distance between the abutment wall 1021 and the fixing seat 103 decreases. Correspondingly, the far-end swing angle of the adjustable bending sheath tube 203 increases. In this process, as the far-end swing angle of the adjustable bending sheath tube 203 increases, the restoring force applied to the rotating shaft 202 via the control wire and the winding wheel becomes greater, and the corresponding static friction force required between the abutment wall 1021 and the elastic member 104 becomes greater. Through the above configuration, when the rotating shaft 202 stops rotating, the static friction force between the abutting wall 1021 and the elastic member 104 is always greater than the restoring force applied by the adjustable bending sheath tube 203 to the rotating shaft 202 .

[0053] In another example, the distance between the abutment wall 1021 and the upper base 101 increases nonlinearly from the initial position to the extreme position. That is, at this time, the abutment wall 1021 is a curved surface, and from the initial position to the extreme position, the distance between the abutment wall 1021 and the upper base 101 increases in unit increments in the axial direction, that is, the height of the abutment wall 1021 increases faster and faster. In other words, along the circumferential direction, for each path corresponding to a unit angle, not only is the height of the abutment wall 1021 greater than the height of the abutment wall 1021 per unit angle in the previous circumferential direction, but also at this circumferential unit angle, the height increase value of the abutment wall 1021 (the height increment of the current circumferential unit angle, i.e., the unit increment) is greater than the height increase value of the side wall 1021 per unit angle in the previous circumferential direction (i.e., the height increment of the previous circumferential unit angle). In one example, the height increase value is a geometric progression with a proportional coefficient greater than 1. In one example, the abutment wall 1021 is unfolded to be a parabola, a hyperbola, an exponential function or a trigonometric function. With such arrangement, when the elastic member 104 moves toward the extreme position along the circumferential direction, the friction between the abutting wall 1021 and the elastic member 104 increases. This also meets the requirement that as the swing angle of the distal end of the adjustable bending sheath tube 203 increases, the greater the increase in the restoring force applied to the rotating shaft 202 via the control wire and the winding wheel, the greater the static friction between the abutting wall 1021 and the upper base 101.

[0054] In other examples, the damping member 102 includes a plurality of sub-side walls connected in sequence, the sub-side walls are in an arc column structure, and the heights of the plurality of sub-side walls increase from the initial position to the limit position. It is understandable that the sub-side wall may be the above-mentioned inclined plane, or the curved surface in the above-mentioned embodiment, or a combination of the above-mentioned inclined plane and the above-mentioned curved surface.

[0055] When the abutting surfaces of the multiple sub-side walls are curved surfaces, an angle is formed between the tangent of the abutting surface of the sub-side wall and the plane perpendicular to the axis of the rotating shaft 202. Obviously, in a sub-side wall, the angle increases as it moves away from the initial position, that is, in a sub-side wall, the angle has a minimum value and a maximum value. In one example, the maximum value of the angle between the tangent of the sub-side wall close to the initial position and the plane perpendicular to the axis of the rotating shaft 202 is smaller than the minimum value of the angle between the tangent of the sub-side wall far from the initial position and the plane perpendicular to the axis of the rotating shaft 202.

[0056] Exemplarily, the damping member 102 has a first sub-side wall close to the initial position, and a second sub-side wall connected to the first sub-side wall and away from the initial position. The first sub-side wall is a curved surface, and its tangent is set at an angle with a plane perpendicular to the axis of the rotating shaft 202, and has a first angle. The second sub-side wall is also a curved surface, and its tangent is set at an angle with a plane perpendicular to the axis of the rotating shaft 202, and has a second angle. In addition, since the first angle and the second angle are continuously increasing from the direction starting from the initial position, the first angle and the second angle both have a minimum value and a maximum value. In addition, the maximum value of the first angle is less than the minimum value of the second angle. Preferably, the minimum value of the second angle is 1.1-3 times the maximum value of the first angle. For example, the maximum value of the first angle is 10°, and the minimum value of the second angle is 15°. In this way, when the rotating shaft 202 is rotated close to the initial position, since the first sub-side wall is set relatively flat, it can rotate quickly after applying external force, so that it can quickly approach the desired angle. The second sub-side wall is set relatively steeply, and the knob rotates relatively slowly after the external force is applied, so that it can be slowly adjusted until it reaches the limit position. In this way, the efficiency is improved while the bend is adjusted accurately.

[0057] In one example, the circumferential angle between the initial position and the limit position in the circumferential direction is 30° to 180°. That is, the elastic member can reach the limit position by rotating 30° to 180° from the initial position. The operator can select the damping member 102 with a suitable circumferential angle according to actual needs.

[0058] In one example, when the circumferential angle is 180°, the initial position and the limit position are symmetrically arranged. Furthermore, when the damping member 102 is a circular cylindrical structure, the side wall 1021 can be symmetrically arranged, that is, when the rotating shaft 202 rotates clockwise from the initial position toward the limit position, the friction between the damping member 102 and the elastic member 104 increases, and when the rotating shaft 202 rotates counterclockwise from the initial position toward the limit position, the friction between the damping member 102 and the elastic member 104 also increases. In this way, one damping assembly 100 can be used for controlling the bidirectional bending of the adjustable bending sheath 203.

[0059] In one example, the circumferential angle is less than 180°. In order to control the bidirectional bending of the adjustable bending sheath tube 203, two extreme positions need to be set on the abutment wall 1021. Preferably, the two extreme positions are symmetrically arranged about the line connecting the axis of the rotating shaft and the initial position. The damping member 102 can be a circular arc column structure or a circular ring column structure.

[0060] In a preferred embodiment, after rotating the shaft 202, in order to maintain a stable state between the damping member 102 and the elastic member 104 when the damping member 102 squeezes the elastic member 104, the abutment wall where the damping member 102 and the elastic member 104 contact each other can be set to be rougher to increase the friction coefficient therebetween.

[0061] See again Figure 3 In one example, the upper base 101 is a square plate, and the length direction of the upper base 101 is arranged along the axial direction of the adjustable bending sheath tube.

[0062] See again Figure 2 In some embodiments, the damping assembly 100 further includes a lower base 105 having a housing cavity 106, the upper base 101, the lower base 105 and the outer base are detachably fixed, and the damping member 102 and the fixing seat 103 are both accommodated in the housing cavity 106. In one example, the upper base 101 and the outer base 201 are respectively provided with countersunk holes, and the lower base 105 is provided with a connecting hole connecting the two countersunk holes. The upper base 101, the lower base 105 and the outer base 201 are placed in sequence, and then fixed by countersunk screws and nuts. It can be understood that the outer contour of the upper base 101 is roughly matched with the outer contour of the lower base 105. After the upper base 101 is fixed to the lower base 105, the damping member 102 and the fixing seat 103 are enclosed in the housing cavity 106. The damping member 102 is disposed on the inner surface of the upper base 10 and protrudes toward the accommodating cavity 106 of the lower base 105. The upper base 10 and the damping member 102 may be provided integrally, or may be provided independently of each other and then fixedly connected.

[0063] Furthermore, the surface of the lower base 105 facing the upper base 101 is provided with an annular protrusion 1051 extending around the rotating shaft 202, and the elastic member 104 axially abuts against the annular protrusion 1051 to prevent the axial movement of the elastic member 104. In one example, the annular protrusion 1051 and the damping member 102 are arranged opposite to each other, the fixed seat is located between the damping member 102 and the annular protrusion 1051, and the elastic member 104 is fixed to the fixed seat, and a part of it is located between the fixed seat and the damping member, and a part of it is located between the fixed seat and the annular protrusion 1051. In this way, when the rotating shaft 202 is rotated and the abutting wall 1021 squeezes the elastic member 104, the annular protrusion 1051 cooperates with the elastic member 104, which can prevent the elastic member 104 from moving in a direction away from the damping member 102 due to being squeezed.

[0064] In an alternative embodiment, a bearing is provided between the lower base 105 and the rotating shaft 202. In this way, the rotating shaft 202 can rotate relative to the lower base 105 and is prevented from axially moving relative to the lower base 105. In this case, the elastic member 104 can be fixedly connected to the lower base 105 using a structure similar to the above embodiment. The elastic member 104 can also be fixed in a block shape (e.g., embedded or glued) on the side of the fixing seat 103 facing the abutting surface.

[0065] See also Figures 4 to 7 The second embodiment of the present invention relates to a conveying device 200, which has the above-mentioned damping assembly 100. This embodiment is described by taking the damping member 102 as a circular cylindrical structure as an example. The conveying device 200 includes: an outer base 201, an adjustable bending sheath tube 203, a rotating shaft 202, a wire winding assembly 204, a control wire 205 and the damping assembly 100. The outer base 201 has a mounting groove 2011, the rotating shaft 202 is rotatably arranged on the outer base 201 and passes through the mounting groove 2011, and the damping assembly 100 is located in the mounting groove 2011 and is sleeved on the rotating shaft 202. The axis of the adjustable bending sheath tube 203 is perpendicular to the axis of the rotating shaft 202, the proximal end of the adjustable bending sheath tube 203 is fixed to the outer base 201, and the distal end of the adjustable bending sheath tube 203 can swing. The wire winding assembly 204 is sleeved and fixed on the rotating shaft 202, one end of the control wire 205 is wound on the wire winding assembly 204, and the other end of the control wire 205 is connected to the distal end of the adjustable bending sheath tube 203. The rotating shaft 202 is used to drive the wire winding assembly 204 to rotate and wind or release the control wire to make the distal end of the adjustable bending sheath tube 203 swing.

[0066] Continue to see Figure 4-6The wire winding assembly 204 includes a first wire winding wheel 2041 and a second wire winding wheel 2042. The first wire winding wheel 2041 and the second wire winding wheel 2042 are symmetrically arranged on opposite sides of the outer base 201 about the axis of the adjustable bending sheath tube 203, and are fixed to the rotating shaft 202 by means of screws, clamping, etc. Correspondingly, the control wire 205 includes a first control wire and a second control wire. The proximal end of the first control wire is fixed to the first wire winding wheel 2041 and wound around the first wire winding wheel 2041 in a first direction, and the distal end of the first control wire is fixedly connected to the distal end of the adjustable bending sheath tube 203; the proximal end of the second control wire is fixed to the second wire winding wheel 2042 and wound around the second wire winding wheel 2042 in a second direction, and the distal end of the second control wire is fixed to the distal end of the adjustable bending sheath tube 203. Wherein, the first direction is opposite to the second direction, and the connection position of the first control wire and the distal end of the adjustable bending sheath tube 203 is symmetrically arranged, or roughly symmetrically arranged, with the connection position of the second control wire and the distal end of the adjustable bending sheath tube 203, that is, the circumferential angle around the axis of the adjustable bending sheath tube 203 is 180°, or close to 180°, such as between 170° and 190°, preferably between 175° and 185°. In this way, when the rotating shaft 202 is rotated to make the first winding wheel 2041 wind the first control wire, the second winding wheel 2042 releases the second control wire, and the length of the first control wire being wound is approximately equal to the length of the second control wire being released. At this time, the distal end of the adjustable bending sheath tube 203 swings toward the side where the first winding wheel 2041 is provided, and conversely, the distal end of the adjustable bending sheath tube 203 can be swung toward the side where the second winding wheel 2042 is provided.

[0067] In order to prevent the first control wire and the second control wire from causing friction or even cutting damage to human tissue when the distal end of the adjustable bending sheath tube 203 swings, the control wire can be extended into the interior of the adjustable bending sheath tube 203 to the distal end of the adjustable bending sheath tube 203 and fixedly connected to the distal end of the adjustable bending sheath tube 203.

[0068] In one example, a threading hole (not shown) may be provided at the proximal end of the adjustable bending sheath tube 203, so that the control wire extends from the proximal end of the adjustable bending sheath tube 203 into the interior thereof. More specifically, the threading holes may be provided in two numbers, and symmetrically arranged on opposite sides of the adjustable bending sheath tube 203, the first control wire extends into the interior of the adjustable bending sheath tube 203 via one threading hole, and the second control wire extends into the interior of the adjustable bending sheath tube 203 via another threading hole.

[0069] Further, the adjustable bending sheath tube 203 can be configured as a double-layer structure with a gap, or two channels are formed in the axial direction of the adjustable bending sheath tube 203, so as to form a control wire channel (not shown in the figure) extending from the proximal end to the distal end on the adjustable bending sheath tube 203, and the control wire channel is connected to the wire threading hole. When the control wire channel is two independent channels, the two control wire channels and the two wire threading holes are connected one by one, and the two control wire channels are symmetrically arranged on opposite sides of the adjustable bending sheath tube 203. After the first control wire and the second control wire extend into the interior of the adjustable bending sheath tube 203 via the wire threading hole, they extend to the distal end of the adjustable bending sheath tube 203 through the control wire channel.

[0070] In one example, the distal end of the adjustable bending sheath tube 203 may be a tube made of elastic material, or a mechanical structure with multiple bending degrees of freedom, such as a Hooke's hinge, or a hypotube structure or a bellows structure.

[0071] Continue to see Figure 7 The mounting groove 2011 of the outer base 201 is provided with a shaft-accommodating through hole 2012, and the shaft-accommodating through hole 2012 is perpendicular to the arrangement of the outer base 201. The upper base 101 and the lower base 105 each have a through hole arranged coaxially, and the shaft-accommodating through hole 2012 is arranged coaxially with the above two through holes. In this way, the rotating shaft 202 passes through the shaft-accommodating through hole 2012 and the above two through holes, so as to be rotatably arranged on the outer base 201. In addition to being used to accommodate the rotating shaft 202, the shaft-accommodating through hole 2012 is also used to accommodate part of the lower base 105, thereby making the conveying device more compact.

[0072] Continue to see Figure 6-7 In addition to the shaft-accommodating through hole 2012, the mounting groove 2011 also includes a support platform 20111, which is used to fix the damping assembly to the outer base. The lower base 105 is also provided with a support portion 1051, which is arranged on the outer surface of the lower base 105 and can be arranged on the support platform and fixedly connected to the support platform, for example, by screw connection.

[0073] The outer base 201 is also provided with a fixed through hole 2013 extending in a direction perpendicular to the axis of the rotating shaft 202. The proximal end of the adjustable bending sheath tube 203 extends into the fixed through hole 2013 and is fixedly connected to the outer base 201. It can be understood that the fixed through hole 2013 and the shaft-containing through hole 2012 are staggered with each other.

[0074] In some examples, a knob 2022 is further provided at one end of the rotating shaft 202 , and an operator can drive the rotating shaft 202 to rotate by turning the knob 2022 .

[0075] The damping assembly and conveying device provided in the embodiments of the present invention are introduced in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above implementation methods is only used to help understand the ideas of the present invention. There may be changes in the specific implementation methods and application scope. In summary, the contents of this specification should not be understood as limiting the present invention.

Claims

1. A damping assembly for a conveying device, the conveying device comprising an outer base, a rotating shaft, a wire winding assembly, a control wire and an adjustable bending sheath tube, the rotating shaft is rotatably arranged on the outer base, the rotating shaft drives the distal end of the adjustable bending sheath tube to swing via the wire winding assembly and the control wire, characterized in that: include: An upper base, sleeved on the rotating shaft and fixed relatively to the outer base; A damping member, arranged on the upper base; A fixing seat, fixed to the rotating shaft and spaced apart from the damping member along the axial direction of the rotating shaft, wherein the damping member has an abutting wall opposite to the fixing seat; An elastic member, wherein the elastic member is arranged between the fixing seat and the damping member and is squeezed by the abutting wall; the elastic member is configured as follows: when an external force is applied to the rotating shaft to rotate the rotating shaft, the elastic member overcomes the static friction between the elastic member and the abutting wall and moves relative to the abutting wall as the fixing seat rotates; when the external force applied to the rotating shaft is removed, the static friction between the elastic member and the abutting wall is greater than the restoring force applied by the adjustable bending sheath tube to the rotating shaft, so that the elastic member and the damping member are relatively stationary.

2. The damping assembly according to claim 1, characterized in that: The damping member has an initial position, and as the damping member moves away from the initial position in the circumferential direction, the axial distance between the damping member and the fixing seat decreases.

3. The damping assembly according to claim 1, characterized in that: The damping member is a circular column structure or an arc column structure coaxially arranged with the rotating shaft, and the abutment wall is at least partially non-perpendicular to the axis of the rotating shaft; the vertical distance from the abutment wall to the axis of the rotating shaft matches the vertical distance from the elastic member to the axis of the rotating shaft.

4. The damping assembly according to claim 3, characterized in that: The abutting wall includes an initial position and a limit position, and the distance between the abutting wall and the upper base increases linearly from the initial position to the limit position.

5. The damping assembly according to claim 3, characterized in that: The abutting wall includes an initial position and an extreme position. From the initial position to the extreme position, the distance between the abutting wall and the upper base increases in unit increments in the circumferential direction.

6. The damping assembly according to claim 3, characterized in that: The abutting wall includes an initial position and an extreme position, and the abutting wall includes a plurality of sub-side walls connected in sequence, and the distances between the plurality of sub-side walls and the upper base increase gradually from the initial position to the extreme position.

7. The damping assembly according to claim 6, characterized in that The abutment surfaces of the multiple sub-side walls are curved surfaces, and the maximum value of the angle formed by the tangent of the sub-side wall close to the initial position and the plane perpendicular to the axis of the rotating shaft is smaller than the minimum value of the angle formed by the tangent of the sub-side wall far from the initial position and the plane perpendicular to the axis of the rotating shaft.

8. The damping assembly according to any one of claims 3 to 7, characterized in that: A circumferential angle of the abutment wall from the initial position to the limit position in the circumferential direction is 30° to 180°.

9. The damping assembly according to claim 1, characterized in that It also includes a lower base having a receiving cavity, the upper base, the lower base and the outer base are detachably fixed, and the damping member and the fixing seat are both received in the receiving cavity; An annular protrusion extending around the rotating shaft is arranged on the surface of the lower base facing the upper base, and the elastic member axially abuts against the annular protrusion to prevent the elastic member from moving axially.

10. The damping assembly according to claim 1, characterized in that The fixing seat includes a connecting portion and a mounting portion, the connecting portion is fixed on the rotating shaft, the mounting portion is arranged outside the connecting portion and is axially spaced apart from the abutting wall, and the elastic member is fixed on the mounting portion and is at least partially located between the mounting portion and the abutting wall.

11. The damping assembly according to claim 10, characterized in that The connecting portion is in the shape of a hollow column, which is sleeved on and fixed to the rotating shaft; the mounting portion is in the shape of a column, which is fixed to the outer surface of the connecting portion; the radial dimension of the mounting portion is smaller than the axial height of the connecting portion, so as to form a fixed area at the connection between the mounting portion and the connecting portion; the elastic member is arranged in the fixed area.

12. The damping assembly according to claim 11, characterized in that The elastic member is in the shape of a hollow cylinder and is sleeved on the mounting portion, and the shape of the elastic member on one side close to the connecting portion is in the shape of an intersecting line.

13. A conveying device, characterized in that: include: An outer base, an adjustable bending sheath tube, a rotating shaft, a wire winding assembly, a control wire, and a damping assembly as described in any one of claims 1 to 12; The outer base has a mounting groove, the rotating shaft is rotatably arranged on the outer base and passes through the mounting groove, and the damping assembly is located in the mounting groove and sleeved on the rotating shaft; The axis of the adjustable bending sheath tube is perpendicular to the axis of the rotating shaft, the proximal end of the adjustable bending sheath tube is fixed to the external base, and the distal end of the adjustable bending sheath tube is swingable; the wire winding assembly is sleeved and fixed to the rotating shaft, one end of the control wire is wound on the wire winding assembly, and the other end of the control wire is connected to the distal end of the adjustable bending sheath tube; The rotating shaft is used to drive the wire winding assembly to rotate and wind or release the control wire to make the distal end of the adjustable bending sheath tube swing.

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