Sternum retractor for cardiothoracic surgery

Abstract

The invention discloses a sternum retractor for cardiothoracic surgery, which comprises two retraction mechanisms, and each retraction mechanism comprises a traction structure and an adjusting arm assembly; a traditional traction plate is replaced with the square pipe, the square pipe is composed of the two side traction plates and the main traction plate, the horizontal positions of the two side traction plates can be changed to adapt to different traction modes, the downward positions of the side traction plates and the main traction plate can be adjusted to adapt to different muscle thicknesses, and besides horizontal movement traction, the traction plate can be used for traction of different muscle thicknesses. The traction strip plate can rotate to adjust the angle, traction modes of different angles are further adapted, and the traction requirements of most operations can be met without replacing the traction plate; the traction structures are carried through the adjusting arm assemblies, movement of the two traction structures is achieved, a guide rail does not need to be arranged between the two traction structures, in this way, the body surface position of a patient cannot be shielded, and surgical operation of a doctor cannot be affected.

Description

Technical Field

[0001] The invention relates to the technical field of sternum retractors, in particular to a sternum retractor used in cardiothoracic surgery. Background Art

[0002] A sternal retractor is a medical device used in cardiac surgery, mainly used to open the sternum so that doctors can access the heart and other organs in the chest cavity. It is often used in open-chest surgery in cardiothoracic surgery. The current sternal retractor consists of two pulling arms, adopts a structure of a fixed arm and a movable arm, and is provided with a guide rail on which a movable arm that can move horizontally is mounted. In this case, the retractor can only be retracted in one direction, which easily causes different pressures on both sides. In this regard, a Chinese utility model patent with a publication number of CN207220842U discloses a sternal retractor, which includes a rack plate, a movable arm, a baffle, a handle and a dial wheel; the movable arm is mounted on the rack plate, the baffle is mounted on the front end of the movable arm, the inner side of the rack plate is provided with sliding teeth, the sliding teeth match the dial wheel, and the handle is provided with a clamping column for turning the dial wheel; the retractor provided by the utility model has two movable arms and retracts in both directions; however, the sternal retractor of this structure still has the following defects:

[0003] During retraction, the traction plate on the traction arm is used to contact the skin for traction. Different traction methods are used according to the patient's body shape and traction position, and the corresponding traction plate needs to be replaced. Even when the same person undergoes surgery, there is a need to change the traction method, which makes the entire traction process more troublesome. The current sternal retractor needs to be equipped with a guide rail to carry the movable traction arm. This guide rail will be located on the surface of the patient's body, which will cause certain obstructions and affect the doctor's surgical operation to a certain extent.

[0004] For this reason, we propose a sternum retractor for cardiothoracic surgery to solve the above problems. Summary of the invention

[0005] The object of the present invention is to provide a sternal retractor for cardiothoracic surgery to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solutions: A sternal retractor for cardiothoracic surgery, comprising two retracting mechanisms, wherein the retracting mechanisms comprise a pulling structure and an adjusting arm assembly, wherein two adjusting arm assemblies on the two retracting mechanisms are provided with a driving structure, wherein a valve retractor assembly is provided on the pulling structure of one of the retracting mechanisms;

[0007] The pulling structure comprises a main strip, the end of the main strip is fixedly connected to a hinge seat, a pulling strip is rotatably arranged at the end of the hinge seat, a pulling plate assembly is arranged on the pulling strip, and one end of the main strip away from the pulling strip is fixedly connected to a block;

[0008] The pull plate assembly includes a square tube which is horizontally and slidably sleeved on a pulling strip plate. The top surface of the square tube is fixedly connected to the bottom surface of the end of a middle plate body. The end of the middle plate body is fixedly connected to a first square sleeve. A main pulling plate is vertically and slidably sleeved on the first square sleeve. Two third square sleeves are fixedly connected to the top surface of the square tube at positions on both sides of the middle plate body. A side plate body is horizontally and slidably sleeved on each third square sleeve. One end of the side plate body close to the first square sleeve is fixedly connected to a second square sleeve. A side pulling plate is vertically and slidably sleeved on the second square sleeve. The bottom ends of the main pulling plate and the side pulling plates are in a bent shape.

[0009] Preferably, a rotating opening is formed at the end of the hinge seat. The end of the pulling strip plate is rotatably arranged in the rotating opening. Two damping rotating holes are formed at the top end and the bottom end of the rotating opening. Two damping columns are fixedly connected to the top surface and the bottom surface of one end of the pulling strip plate located in the rotating opening. The damping columns are rotatably sleeved in the damping rotating holes. A locking opening is formed at one end of the pulling strip plate located in the rotating opening. A locking gear is fixedly connected in the locking opening. A sliding opening is formed in the side wall of the rotating opening. A carrying block is horizontally and slidably connected in the sliding opening. An arc-shaped tooth block is fixedly connected to one end of the carrying block located in the rotating opening.

[0010] Preferably, the arc-shaped tooth block meshes with the locking gear. A sliding groove is formed in the side wall of the hinge seat. The sliding groove communicates with the sliding opening. A sliding block is horizontally and slidably connected in the sliding groove. One end of the sliding block is fixedly connected to the side wall of the carrying block. A dial plate is fixedly connected to one end of the sliding block located outside the hinge seat. A spring is fixedly connected between the end of the carrying block and the end of the sliding opening. A spring is fixedly connected between the side wall of the sliding block and the side wall of the sliding groove. A limiting plate is fixedly connected to one end of the pulling strip plate far from the main strip plate. A limiting frame plate is fixedly sleeved at a position of the pulling strip plate close to the main strip plate.

[0011] Preferably, the adjusting arm assembly includes a bottom block. A main vertical arm is fixedly connected to the top surface of the bottom block. A sub-vertical arm is vertically and slidably arranged on the main vertical arm. One end of a main horizontal arm is horizontally and fixedly connected to the side wall of the top end of the sub-vertical arm. The other end of the main horizontal arm is horizontally and slidably provided with a sub-horizontal arm. A block body is fixedly connected to the end of the sub-horizontal arm. The sub-horizontal arm is perpendicular to the main strip plate.

[0012] Preferably, the valve retractor assembly includes an n-shaped mounting bracket. A top strip plate is fixedly connected to the top surface of the n-shaped mounting bracket. A fourth square sleeve is fixedly connected to the position of the top strip plate far from the n-shaped mounting bracket. A long strip plate is horizontally and slidably sleeved on the fourth square sleeve. An end plate is fixedly connected to the end of the long strip plate. An annular opening is formed in the end plate. The vertical cross-section of the annular opening is arc-shaped. A spherical rotating block is rotatably connected in the annular opening. A sleeve hole is formed in the spherical rotating block. A sleeve rod is movably sleeved on the sleeve hole. A retractor is fixedly connected to the end of the sleeve rod. A first opening is formed in the side part of the end plate. The first opening communicates with the annular opening. A pressing block is fixedly connected to the position of the end plate close to the first opening. The pressing block and the end plate are of an integral structure. A second opening is formed in the side wall of the spherical rotating block. The second opening communicates with the sleeve hole.

[0013] Preferably, a horizontal transverse hole is formed in the pressing block, a second threaded through hole is formed in the end plate at the same horizontal position as the transverse hole, a sixth hand-turned bolt is sleeved on the transverse hole, the sixth hand-turned bolt is threadedly connected to the second threaded through hole, the top surface of the fourth square sleeve is fixedly sleeved with the bottom end of the fifth threaded cylinder, the fifth threaded cylinder is threadedly connected to the fifth hand-turned bolt, the bottom end of the fifth hand-turned bolt contacts the long strip plate, the n-shaped mounting frame is sleeved on the main strip plate of one of the retracting mechanisms, two long rack teeth are fixedly connected to both sides of the main strip plate, two short toothed plates are fixedly connected to both sides inside the n-shaped mounting frame, the short toothed plates mesh with any position of the long rack teeth, a through opening is horizontally formed in the bottom side wall of the n-shaped mounting frame, a baffle is horizontally slidably sleeved in the through opening, a limiting strip plate is fixedly connected to the outer end of the baffle located outside the n-shaped mounting frame, the top surface of the baffle contacts the bottom surface of the main strip plate, two tension springs are fixedly connected between the side walls of both ends of the limiting strip plate and the side wall of the main strip plate, and a pull rod is fixedly connected to the side wall of the limiting strip plate.

[0014] Preferably, a first threaded cylinder is vertically and fixedly sleeved on the top surface of the square pipe and the middle plate body, the first threaded cylinder is threadedly connected to the first hand-turned bolt, a rough plate is fixedly embedded on the top surface of the pulling strip plate, the bottom end of the first hand-turned bolt contacts the top surface of the rough plate, a second threaded cylinder is vertically and fixedly sleeved on the top surface of the third square sleeve, the second threaded cylinder is threadedly connected to the second hand-turned bolt, the bottom end of the second hand-turned bolt contacts the top surface of the side plate body, a third threaded cylinder is horizontally and fixedly sleeved on the side wall of the first square sleeve, a third hand-turned bolt is threadedly connected to the third threaded cylinder, the end of the third hand-turned bolt contacts the side wall of the main retracting plate, a fourth threaded cylinder is horizontally and fixedly sleeved on the side wall of the second square sleeve, a fourth hand-turned bolt is threadedly connected to the fourth threaded cylinder, and the end of the fourth hand-turned bolt contacts the side wall of the side retracting plate.

[0015] Preferably, a vertical opening is formed at the top end of the main vertical arm, the sub-vertical arm is vertically slidably sleeved in the vertical opening, a horizontal opening is formed at one end of the main horizontal arm away from the sub-vertical arm, the sub-horizontal arm is slidably sleeved in the horizontal opening, a first lead screw is horizontally rotatably connected in the horizontal opening, a second inner cavity is formed inside the sub-horizontal arm, the end of the first lead screw is located inside the second inner cavity, a first threaded sleeve is fixedly connected to one end of the second inner cavity close to the main horizontal arm, the first lead screw is threadedly connected to the first threaded sleeve, the first lead screw on the adjusting arm assembly of one of the retracting mechanisms is a left-handed lead screw, the first lead screw on the adjusting arm assembly of the other retracting mechanism is a right-handed lead screw, and a mounting portion is fixedly connected to the side wall of the main vertical arm.

[0016] Preferably, the bottom surface of the vertical opening is vertically rotatably connected to the sleeve. A first cavity opening is provided at the position of the sub-vertical arm corresponding to the sleeve. The top end of the first cavity opening is vertically rotatably connected to a short shaft. The bottom end of the short shaft is fixedly sleeved with a third driving bevel gear. The bottom end of the short shaft is fixedly connected to an inner shaft. The inner shaft is vertically slidably sleeved inside the sleeve. A horizontal shaft is horizontally rotatably connected to the side wall of the first cavity opening near the main cross arm. A third driven bevel gear is fixedly connected to one end of the horizontal shaft located inside the first cavity opening. The other end of the horizontal shaft passes through the end of the main cross arm and is fixedly connected to a first lead screw. The third driving bevel gear is meshed with the third driven bevel gear. The bottom end of the vertical opening is vertically rotatably connected to a second lead screw. A third cavity opening is provided at the position of the sub-vertical arm corresponding to the second lead screw. The top end of the second lead screw is located inside the third cavity opening. A second threaded sleeve is fixedly connected to the bottom end of the third cavity opening. The second lead screw is threadedly connected to the second threaded sleeve. Two side grooves are provided on both sides of the inner shaft. Two side bars are fixedly connected to the inner side wall of the sleeve. The side bars are vertically slidably connected to the side grooves. A first ball spline is horizontally rotatably connected to the position directly below the sleeve inside the bottom block. A second ball spline is horizontally rotatably connected to the position directly below the second lead screw inside the bottom block. A first driving bevel gear is fixedly sleeved on the first ball spline. A first vertical shaft is fixedly connected to the bottom end of the sleeve. The bottom end of the first vertical shaft is located inside the bottom block and is fixedly connected to a first driven bevel gear. The first driving bevel gear is meshed with the first driven bevel gear. A second driving bevel gear is fixedly sleeved on the second ball spline. A second vertical shaft is fixedly connected to the bottom end of the second lead screw. The bottom end of the second vertical shaft is located inside the bottom block and is fixedly connected to a second driven bevel gear. The second driving bevel gear is meshed with the second driven bevel gear.

[0017] Preferably, the driving structure includes a driving chamber. An installation opening is provided at the end of the driving chamber. The end of the bottom block of one of the retracting mechanisms is sleeved in the installation opening. A first splined long rod is horizontally rotatably connected to one side of the installation opening. A second splined long rod is horizontally rotatably connected to the other side of the installation opening. The first splined long rod is inserted into the two first ball splines on the two retracting mechanisms. The second splined long rod is inserted into the two second ball splines on the two retracting mechanisms. A first servo reduction motor and a second servo reduction motor are fixedly sleeved on the side of the driving chamber away from the installation opening. The rotating shaft end of the first servo reduction motor is fixedly connected to the end of the first splined long rod. The rotating shaft end of the second servo reduction motor is fixedly connected to the end of the second splined long rod. Two first threaded through holes are provided on both sides of the driving chamber near the installation opening end. Two threaded holes are provided on both sides of the bottom block at the position inside the installation opening. The threaded holes and the first threaded through holes are threadedly connected with fixing bolts.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] In the present invention, square tubes are used to replace the traditional traction plates. The square tube is composed of two side retractors and one main retractor. The horizontal positions of the two side retractors can be changed to adapt to different traction methods, and the downward positions of the side retractors and the main retractor are adjustable to suit different muscle thicknesses. In addition to horizontal movement for traction, the traction strip can be rotated to adjust the angle, further adapting to different-angle traction methods. Most of the traction requirements for surgeries can be met without replacing the traction plate. The present invention uses an adjustment arm assembly to carry the traction structure to achieve the movement of the two traction structures, eliminating the need to set up guide rails between the two traction structures, thus not blocking the surface position of the patient's body and not affecting the doctor's surgical operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 Schematic diagrams of the main structure in the first and second embodiments of the present invention;

[0021] Figure 2 Schematic diagrams of the structure at the traction structure in the first and second embodiments of the present invention;

[0022] Figure 3 Schematic diagrams of the sectional structure at the pull plate assembly in the first and second embodiments of the present invention;

[0023] Figure 4 Schematic diagram of the sectional structure at the adjustment arm assembly in the second embodiment of the present invention;

[0024] Figure 5 Schematic diagram of the sectional structure at the valve retractor assembly in the second embodiment of the present invention;

[0025] Figure 6 Schematic diagram of the sectional structure at the traction strip and hinge seat in the second embodiment of the present invention;

[0026] Figure 7 Schematic diagram of the sectional structure at the main arm and sub-arm in the second embodiment of the present invention;

[0027] Figure 8 In the present invention Figure 5 Schematic diagram of the enlarged structure at position A;

[0028] Figure 9 In the present invention Figure 7 Schematic diagram of the enlarged structure at position B;

[0029] Figure 10 Schematic diagram of the structure at the drive structure in the second embodiment of the present invention;

[0030] Figure 11 Schematic diagram of the sectional structure at the drive structure in the second embodiment of the present invention.

[0031] In the figure: 1, retractor mechanism; 4, valve retractor assembly; 5, drive structure; 2, pulling structure; 3, adjusting arm assembly; 21, main strip; 22, hinge seat; 23, pulling strip; 24, pulling plate assembly; 25, block; 26, turning port; 27, damping turning hole; 28, damping column; 29, locking port; 210, locking gear; 211, sliding port; 212, carrying block; 213, arc-shaped tooth block; 214, sliding groove; 215, slider; 216, shifting plate; 217, spring; 218, long rack; 219, rough plate; 220, limiting plate; 221, limiting frame plate; 241, square tube; 242, middle plate body; 243, first square sleeve; 244, main pulling plate; 245, third square sleeve; 246, side plate body; 247, second square sleeve; 248, side pulling plate; 249, first threaded cylinder; 2410, first hand-turning bolt; 2411, second threaded cylinder; 2412, second hand-turning bolt; 2413, third threaded cylinder; 2414, third hand-turning bolt; 2415, fourth threaded cylinder; 2416, fourth hand-turning bolt; 31, bottom block; 32, main vertical arm; 33, sub-vertical arm; 34, main horizontal arm; 35, sub-horizontal arm; 36, vertical port; 37, horizontal port; 38, first cavity port; 39, short shaft; 310, third driving bevel gear; 311, inner shaft; 312, sleeve; 313, first lead screw; 314, second inner cavity; 315, first threaded sleeve; 316, horizontal shaft; 317, third driven bevel gear; 318, third cavity port; 319, second lead screw; 320, second threaded sleeve; 321, first ball spline; 322, second ball spline; 323, first driving bevel gear; 324, first vertical shaft; 325, first driven bevel gear; 326, second driving bevel gear; 327, second vertical shaft; 328, second driven bevel gear; 329, side strip; 330, side groove; 331, mounting part; 332, threaded hole; 41, n-shaped mounting frame; 42, top strip; 43, fourth square sleeve; 44, long strip; 45, end plate; 46, ring port; 47, spherical rotating block; 48, sleeve hole; 49, sleeve rod; 410, retractor hook; 411, first opening; 412, pressing block; 413, second opening; 414, second threaded through hole; 415, horizontal hole; 416, sixth hand-turning bolt; 417, short tooth plate; 418, through port; 419, baffle; 420, limiting strip; 421, pull rod; 422, tension spring; 423, fifth threaded cylinder; 424, fifth hand-turning bolt; 51, drive chamber; 52, mounting port; 53, first spline long rod; 54, second spline long rod; 55, first servo reduction motor; 56, second servo reduction motor; 57, first threaded through hole; 58, fixing bolt. Detailed implementation mode

[0032] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0033] Embodiment 1:

[0034] Please refer to Figures 1-3 , the present invention provides a technical solution: a sternal retractor for cardiothoracic surgery, including a retraction mechanism 1, the retraction mechanism 1 includes a traction structure 2 and an adjustment arm assembly 3, a driving structure 5 is arranged on the two adjustment arm assemblies 3 of the two retraction mechanisms 1, and a valve hook assembly 4 is arranged on the traction structure 2 of one of the retraction mechanisms 1. The adjustment arm assembly 3 is used to carry the traction structure 2 to realize the movement of the two traction structures 2. There is no need to set a guide rail between the two traction structures 2, so that the position on the patient's body surface will not be blocked and the doctor's surgical operation will not be affected;

[0035] The traction structure 2 includes a main strip plate 21, a hinge seat 22 is fixedly connected to the end of the main strip plate 21, a traction strip plate 23 is rotatably arranged at the end of the hinge seat 22, a pull plate assembly 24 is arranged on the traction strip plate 23, and a block 25 is fixedly connected to the end of the main strip plate 21 away from the traction strip plate 23;

[0036] The pull plate assembly 24 includes a square tube 241, the square tube 241 is horizontally slidably sleeved on the traction strip plate 23, the top surface of the square tube 241 is fixedly connected to the bottom surface of the end of the middle plate body 242, the end of the middle plate body 242 is fixedly connected to the first square sleeve 243, a main retractor plate 244 is vertically slidably sleeved on the first square sleeve 243, two third square sleeves 245 are fixedly connected to the top surface of the square tube 241 at positions on both sides of the middle plate body 242, a side plate body 246 is horizontally slidably sleeved on each third square sleeve 245, a second square sleeve 247 is fixedly connected to the end of the side plate body 246 close to the first square sleeve 243, and a side retractor plate 248 is vertically slidably sleeved on the second square sleeve 247. The bottom ends of the main retractor plate 244 and the side retractor plate 248 are bent. The square tube 241 is used to replace the traditional traction plate. The square tube 241 is composed of two side retractor plates 248 and a main retractor plate 244. The horizontal positions of the two side retractor plates 248 can be changed to adapt to different traction methods. In addition, the positions of the side retractor plate 248 and the main retractor plate 244 downward are adjustable to suit different muscle thicknesses. In addition to horizontal movement and traction, the traction strip plate 23 can be rotated to adjust the angle to further adapt to different angle traction methods. Most of the traction requirements of the operation can be adapted without replacing the traction plate.

[0037] Embodiment 2:

[0038] Please refer toFigures 1-11 , which is the second embodiment of the present invention. This embodiment is based on the previous embodiment. A swivel opening 26 is provided at the end of the hinge seat 22. The end of the pulling strip plate 23 is rotatably arranged in the swivel opening 26. Two damping rotation holes 27 are provided at the top and bottom ends of the swivel opening 26. Two damping columns 28 are fixedly connected to the top and bottom surfaces of one end of the pulling strip plate 23 located in the swivel opening 26. The damping columns 28 are rotatably sleeved in the damping rotation holes 27. A locking opening 29 is provided at one end of the pulling strip plate 23 located in the swivel opening 26. A locking gear 210 is fixedly connected in the locking opening 29. A sliding opening 211 is provided on the side wall of the swivel opening 26. A carrying block 212 is horizontally slidably connected in the sliding opening 211. An arc-shaped tooth block 213 is fixedly connected to one end of the carrying block 212 located in the swivel opening 26.

[0039] The arc-shaped tooth block 213 meshes with the locking gear 210, and a slide groove 214 is provided on the side wall of the hinge seat 22. The slide groove 214 is connected to the slide port 211. The slide groove 214 is horizontally slidably connected to the slider 215. The end of the slider 215 is fixedly connected to the side wall of the carrying block 212. The slider 215 is located outside the hinge seat 22 and is fixedly connected to the paddle 216. A spring 217 is fixedly connected between the end of the carrying block 212 and the end of the slide port 211. The side wall of the slider 215 is fixedly connected to the side wall of the slide groove 214. The spring 217 is connected, and the end of the pulling strip 23 away from the main strip 21 is fixedly connected to the limit plate 220, and the position of the pulling strip 23 close to the main strip 21 is fixedly sleeved with the limit frame plate 221. By toggling the dial plate 216, the arc-shaped tooth block 213 can be moved away from the locking gear 210, so that the pulling strip 23 can adjust its angle. After completion, the dial plate 216 is released to allow the arc-shaped tooth block 213 to engage with the locking gear 210, thereby locking the position of the pulling strip 23.

[0040] The adjusting arm assembly 3 includes a bottom block 31, a main vertical arm 32 is fixedly connected to the top surface of the bottom block 31, a sub-vertical arm 33 is vertically slidably arranged on the main vertical arm 32, the top side wall of the sub-vertical arm 33 is horizontally fixedly connected to one end of a main horizontal arm 34, a sub-horizontal arm 35 is horizontally slidably arranged on the other end of the main horizontal arm 34, the end of the sub-horizontal arm 35 is fixedly connected to the block 25, and the sub-horizontal arm 35 is vertical to the main strip 21.

[0041] The valve retractor assembly 4 includes an n-shaped mounting frame 41. A top strip plate 42 is fixedly connected to the top surface of the n-shaped mounting frame 41. A fourth square sleeve 43 is fixedly connected to a position on the top surface of the top strip plate 42 away from the n-shaped mounting frame 41. A long strip plate 44 is horizontally slidably sleeved in the fourth square sleeve 43. An end plate 45 is fixedly connected to the end of the long strip plate 44. An annular opening 46 is formed in the end plate 45. The vertical cross-section of the annular opening 46 is arc-shaped. A spherical rotating block 47 is rotatably connected to the annular opening 46. A sleeve hole 48 is formed in the spherical rotating block 47. A sleeve rod 49 is movably sleeved in the sleeve hole 48. A retractor 410 is fixedly connected to the end of the sleeve rod 49. A first opening 411 is formed in the side of the end plate 45. The first opening 411 communicates with the annular opening 46. A pressing block 412 is fixedly connected to the end plate 45 near the first opening 411. The pressing block 412 and the end plate 45 are of an integral structure. A second opening 413 is formed in the side wall of the spherical rotating block 47. The second opening 413 communicates with the sleeve hole 48.

[0042] A horizontal hole 415 is opened on the pressing block 412, and a second threaded through hole 414 is opened on the end plate 45 at the same horizontal position as the horizontal hole 415. A sixth hand-turn bolt 416 is sleeved on the horizontal hole 415, and the sixth hand-turn bolt 416 is threadedly connected to the second threaded through hole 414. The top surface of the fourth square sleeve 43 is fixedly sleeved with the bottom end of the fifth threaded cylinder 423, and the fifth threaded cylinder 423 is threadedly connected to the fifth hand-turn bolt 424. The bottom end of the fifth hand-turn bolt 424 contacts the long strip plate 44. The n-shaped mounting bracket 41 is sleeved on the main strip plate 21 of one of the retracting mechanisms 1. Two long racks 218 are fixedly connected to both sides of the main strip plate 21. Two short toothed plates 417 are fixedly connected to both sides inside the n-shaped mounting bracket 41. The short toothed plates 417 mesh with any position of the long racks 218. A through opening 418 is horizontally opened on the bottom side wall of the n-shaped mounting bracket 41. A baffle 419 is horizontally slidably sleeved in the through opening 418. A limiting strip plate 420 is fixedly connected to the outer end of the baffle 419 located outside the n-shaped mounting bracket 41. The top surface of the baffle 419 contacts the bottom surface of the main strip plate 21. Two tension springs 422 are fixedly connected between the side walls of both ends of the limiting strip plate 420 and the side walls of the main strip plate 21. A pull rod 421 is fixedly connected to the side wall of the limiting strip plate 420. During valve surgery, when it is necessary to retract the heart valve, the valve retractor assembly 4 can be installed. The sleeve rod 49 is movably arranged on the spherical rotating block 47, and the valve can be retracted at various angles and in various directions. A first opening 411 is opened at the annular opening 46, so that the end plate 45 has a certain deformation effect. A second opening 413 is opened on the spherical rotating block 47, so that it has a certain deformation effect. After adjusting the position of the sleeve rod 49, tighten the sixth hand-turn bolt 416. In this way, the annular opening 46 is deformed and pressed, the spherical rotating block 47 is locked, and the spherical rotating block 47 is stressed to press the sleeve rod 49, so that the sleeve rod 49 is fixed. In this way, after retracting the heart valve, the sleeve rod 49 can be fixed. When installing the valve retractor assembly 4, pull the pull rod 421 to open the bottom of the n-shaped mounting bracket 41, sleeve the n-shaped mounting bracket 41 on the main strip plate 21, and install it at different positions according to needs. Use the meshing of the long racks 218 and the short toothed plates 417 to lock the position of the n-shaped mounting bracket 41. After loosening the pull rod 421, under the action of the tension springs 422, the baffle 419 blocks the bottom surface of the main strip plate 21, so that the position of the n-shaped mounting bracket 41 is fixed.

[0043] On the top surface of the square tube 241 and vertically and fixedly sleeved on the middle plate body 242 is the first threaded cylinder 249. The first threaded cylinder 249 is threadedly connected to the first hand-turned bolt 2410. On the top surface of the pulling strip plate 23 is fixedly embedded with the rough plate 219. The bottom end of the first hand-turned bolt 2410 contacts the top surface of the rough plate 219. On the top surface of the third square sleeve 245 is vertically and fixedly sleeved the second threaded cylinder 2411. The second threaded cylinder 2411 is threadedly connected to the second hand-turned bolt 2412. The bottom end of the second hand-turned bolt 2412 contacts the top surface of the side plate body 246. On the side wall of the first square sleeve 243 is horizontally and fixedly sleeved the third threaded cylinder 2413. Threadedly connected to the third threaded cylinder 2413 is the third hand-turned bolt 2414. The end of the third hand-turned bolt 2414 contacts the side wall of the main retractor plate 244. On the side wall of the second square sleeve 247 is horizontally and fixedly sleeved the fourth threaded cylinder 2415. Threadedly connected to the fourth threaded cylinder 2415 is the fourth hand-turned bolt 2416. The end of the fourth hand-turned bolt 2416 contacts the side wall of the side retractor plate 248. The position is locked by using multiple hand-turned bolts.

[0044] At the top end of the main vertical arm 32 is provided a vertical opening 36. The sub-vertical arm 33 is vertically and slidably sleeved in the vertical opening 36. At one end of the main horizontal arm 34 away from the sub-vertical arm 33 is provided a horizontal opening 37. The sub-horizontal arm 35 is slidably sleeved in the horizontal opening 37. Horizontally rotatably connected in the horizontal opening 37 is the first lead screw 313. Inside the sub-horizontal arm 35 is provided a second inner cavity 314. The end of the first lead screw 313 is located inside the second inner cavity 314. At one end of the second inner cavity 314 close to the main horizontal arm 34 is fixedly connected with the first threaded sleeve 315. The first lead screw 313 is threadedly connected to the first threaded sleeve 315. The first lead screw 313 on the adjustment arm assembly 3 of one of the retractor mechanisms 1 is a left-handed lead screw, and the first lead screw 313 on the adjustment arm assembly 3 of the other retractor mechanism 1 is a right-handed lead screw. By using different lead screws, the moving directions of the two pulling structures 2 of the two retractor mechanisms 1 are opposite. Fixedly connected to the side wall of the main vertical arm 32 is the installation part 331, and the installation part 331 is used to be fixed on the operating bed.

[0045] The vertical opening 36 is vertically rotatably connected to the sleeve 312. A first cavity opening 38 is provided at the position of the sub-vertical arm 33 corresponding to the sleeve 312. The top end of the first cavity opening 38 is vertically rotatably connected to a short shaft 39. The bottom end of the short shaft 39 is fixedly sleeved with a third driving bevel gear 310. The bottom end of the short shaft 39 is fixedly connected to an inner shaft 311. The inner shaft 311 is vertically slidably sleeved inside the sleeve 312. A horizontal shaft 316 is horizontally rotatably connected to the side wall of the first cavity opening 38 near the main horizontal arm 34. One end of the horizontal shaft 316 located inside the first cavity opening 38 is fixedly connected to a third driven bevel gear 317. The other end of the horizontal shaft 316 passes through the end of the main horizontal arm 34 and is fixedly connected to a first lead screw 313. The third driving bevel gear 310 is meshed with the third driven bevel gear 317. The bottom end of the vertical opening 36 is vertically rotatably connected to a second lead screw 319. A third cavity opening 318 is provided inside the sub-vertical arm 33 at the position corresponding to the second lead screw 319. The top end of the second lead screw 319 is located inside the third cavity opening 318. A second threaded sleeve 320 is fixedly connected to the bottom end of the third cavity opening 318. The second lead screw 319 is threadedly connected to the second threaded sleeve 320. Two side grooves 330 are provided on both sides of the inner shaft 311. Two side bars 329 are fixedly connected to the inner side wall of the sleeve 312. The side bars 329 are vertically slidably connected to the side grooves 330. A first ball spline 321 is horizontally rotatably connected to the bottom block 31 at the position directly below the sleeve 312. A second ball spline 322 is horizontally rotatably connected to the bottom block 31 at the position directly below the second lead screw 319. A first driving bevel gear 323 is fixedly sleeved on the first ball spline 321. A first vertical shaft 324 is fixedly connected to the bottom end of the sleeve 312. The bottom end of the first vertical shaft 324 is located inside the bottom block 31 and is fixedly connected to a first driven bevel gear 325. The first driving bevel gear 323 is meshed with the first driven bevel gear 325. A second driving bevel gear 326 is fixedly sleeved on the second ball spline 322. A second vertical shaft 327 is fixedly connected to the bottom end of the second lead screw 319. The bottom end of the second vertical shaft 327 is located inside the bottom block 31 and is fixedly connected to a second driven bevel gear 328. The second driving bevel gear 326 is meshed with the second driven bevel gear 328. When the first ball spline 321 rotates, it can drive the first lead screw 313 to rotate, realizing the horizontal movement of the sub-horizontal arm 35, so that the pulling structure 2 can perform a pulling action. When the second ball spline 322 rotates, it can drive the second lead screw 319 to rotate, realizing the height adjustment of the sub-vertical arm 33, and further adjusting the height position of the pulling structure 2.

[0046] The driving structure 5 includes a driving chamber 51. An installation opening 52 is formed at the end of the driving chamber 51. The end of the bottom block 31 of one of the retracting mechanisms 1 is sleeved in the installation opening 52. A first spline long rod 53 is horizontally rotatably connected to one side of the installation opening 52, and a second spline long rod 54 is horizontally rotatably connected to the other side of the installation opening 52. The first spline long rod 53 is inserted into two first ball splines 321 on the two retracting mechanisms 1, and the second spline long rod 54 is inserted into two second ball splines 322 on the two retracting mechanisms 1. A first servo reduction motor 55 and a second servo reduction motor 56 are fixedly sleeved on the side of the driving chamber 51 away from the installation opening 52. The end of the rotating shaft of the first servo reduction motor 55 is fixedly connected to the end of the first spline long rod 53, and the end of the rotating shaft of the second servo reduction motor 56 is fixedly connected to the end of the second spline long rod 54. Two first threaded through holes 57 are formed on both sides of the end of the driving chamber 51 close to the installation opening 52. Two threaded holes 332 are formed on both sides of the position of the bottom block 31 inside the installation opening 52. The threaded holes 332 and the first threaded through holes 57 are threadedly connected with fixing bolts 58. The first servo reduction motor 55 is used to drive the first spline long rod 53 to rotate, and then drive the first ball spline 321 to rotate. The second servo reduction motor 56 is used to drive the second spline long rod 54 to rotate, and then drive the second ball spline 322 to rotate, so as to realize the adjustment of the adjusting arm assembly 3.

[0047] Embodiment 3:

[0048] Please refer to Figures 1-11, which is the third embodiment of the present invention. This embodiment is based on the above two embodiments. When the present invention is used, the two retracting mechanisms 1 are installed on both sides of the operating table and fixed on the operating table by the mounting portion 331. Then the driving structure 5 is installed on the two retracting mechanisms 1. During installation, the first spline long rod 53 passes through the two first ball splines 321 of the two retracting mechanisms 1, and the second spline long rod 54 passes through the two second ball splines 322 of the two retracting mechanisms 1 until the mounting port 52 is inserted into the end of one of the bottom blocks 31. The fixing bolt 58 is installed to fix the driving chamber 51. When traction is required, the depth position of the main retracting plate 244 and the side retracting plate 248 is adjusted according to the surgical requirements and the patient's own condition, and the screws are turned by hand. The bolt is locked, the horizontal position of the side plate body 246 is adjusted, and the bolt is locked by hand. The height of the pulling structure 2 is adjusted by using the adjusting arm assembly 3. Then, the bottom ends of the main pulling plate 244 and the side pulling plate 248 are inserted into the skin muscle incision, and the adjusting arm assembly 3 is used to drive the two pulling structures 2 to move outward for pulling. After completion, the angle of the pulling strip plate 23 can be adjusted according to needs. During adjustment, the arc-shaped tooth block 213 can be moved away from the locking gear 210 position by toggling the dial plate 216, so that the pulling strip plate 23 can adjust its angle. After completion, the dial plate 216 is released so that the arc-shaped tooth block 213 engages with the locking gear 210 and locks the position of the pulling strip plate 23. If a heart valve operation is performed and there is a need to pull the valve, A valve hook assembly 4 is installed on one of the pulling structures 2. When installing the valve hook assembly 4, the pull rod 421 is pulled to open the bottom of the n-type mounting frame 41, and the n-type mounting frame 41 is sleeved on the main strip 21. It is installed in different positions according to needs, and the long rack 218 is engaged with the short tooth plate 417 to lock the position of the n-type mounting frame 41. After loosening the pull rod 421, under the action of the tension spring 422, the baffle 419 blocks the bottom surface of the main strip 21, so that the position of the n-type mounting frame 41 is fixed, and then the position of the sleeve rod 49 is adjusted to hook the valve with the hook 410, and then the position of the sleeve rod 49 is adjusted to be pulled to a suitable position, and the sixth hand-turned bolt 416 is tightened to lock the position of the sleeve rod 49. The present invention adopts a square tube 241 to replace the traditional pulling plate The square tube 241 is composed of two side retractor plates 248 and a main retractor plate 244. The horizontal positions of the two side retractor plates 248 can be changed to adapt to different traction methods, and the downward positions of the side retractor plates 248 and the main retractor plates 244 are adjustable to suit different muscle thicknesses. In addition to being able to move horizontally for traction, the traction strip plate 23 can be rotated to adjust the angle to further adapt to traction methods at different angles. It is not necessary to replace the traction plate to adapt to the traction requirements of most surgeries. The present invention uses an adjusting arm assembly 3 to carry the traction structure 2 to achieve the movement of the two traction structures 2. There is no need to set a guide rail between the two traction structures 2, so that the surface position of the patient's body will not be blocked and the doctor's surgical operation will not be affected.

[0049] The above are only the specific embodiments of the present invention, but the design concept of the present invention is not limited thereto. Any non-substantive improvement made to the present invention using this concept should fall within the scope of infringement of the protection scope of the present invention.

Claims

1. A sternal retractor for cardiothoracic surgery, comprising two retracting mechanisms (1), characterized in that: The retraction mechanism (1) comprises a retraction structure (2) and an adjustment arm assembly (3), two adjustment arm assemblies (3) on the two retraction mechanisms (1) are provided with a driving structure (5), and the retraction structure (2) of one of the retraction mechanisms (1) is provided with a valve retractor assembly (4); The pulling structure (2) comprises a main strip (21), the end of the main strip (21) is fixedly connected to a hinge seat (22), a pulling strip (23) is rotatably arranged at the end of the hinge seat (22), a pulling plate assembly (24) is arranged on the pulling strip (23), and one end of the main strip (21) away from the pulling strip (23) is fixedly connected to a block (25); The pulling plate assembly (24) comprises a square tube (241), the square tube (241) is horizontally slidably sleeved on the pulling strip plate (23), the top surface of the square tube (241) is fixedly connected to the bottom surface of the end of the middle plate body (242), the end of the middle plate body (242) is fixedly connected to the first square sleeve (243), the first square sleeve (243) is vertically slidably sleeved with a main pulling plate (244), the top surface of the square tube (241) is located at the middle plate body (24 2) Two third-party sleeves (245) are fixedly connected at both sides, and a side plate (246) is horizontally slidably sleeved on each of the third-party sleeves (245). One end of the side plate (246) close to the first square sleeve (243) is fixedly connected to the second square sleeve (247). A side retraction plate (248) is vertically slidably sleeved on the second square sleeve (247). The bottom ends of the main retraction plate (244) and the side retraction plate (248) are bent.

2. A sternal retractor for cardiothoracic surgery according to claim 1, characterized in that: The hinge seat (22) has a swivel opening (26) at the end thereof, the end of the pulling strip plate (23) is rotatably arranged in the swivel opening (26), the top and bottom ends of the swivel opening (26) have two damping swivel holes (27), the top and bottom surfaces of one end of the pulling strip plate (23) located in the swivel opening (26) are fixedly connected to two damping columns (28), the damping columns (28) are rotatably sleeved in the damping swivel holes (27), the pulling strip plate (23) has a locking opening (29) at one end thereof located in the swivel opening (26), a locking gear (210) is fixedly connected in the locking opening (29), a sliding opening (211) is provided on the side wall of the swivel opening (26), a carrying block (212) is horizontally slidably connected in the sliding opening (211), and one end of the carrying block (212) located in the swivel opening (26) is fixedly connected to an arc-shaped tooth block (213).

3. A sternal retractor for cardiothoracic surgery according to claim 2, characterized in that: The arc-shaped tooth block (213) meshes with the locking gear (210); a sliding groove (214) is provided on the side wall of the hinge seat (22); the sliding groove (214) is connected to the sliding opening (211); a slider (215) is horizontally slidably connected in the sliding groove (214); an end of the slider (215) is fixedly connected to the side wall of the carrying block (212); one end of the slider (215) located outside the hinge seat (22) is fixedly connected to a paddle plate (216); a spring (217) is fixedly connected between the end of the carrying block (212) and the end of the sliding opening (211); a spring (217) is fixedly connected between the side wall of the slider (215) and the side wall of the sliding groove (214); one end of the pulling strip (23) away from the main strip (21) is fixedly connected to a limiting plate (220); and a position of the pulling strip (23) close to the main strip (21) is fixedly sleeved with a limiting frame plate (221).

4. A sternal retractor for cardiothoracic surgery according to claim 1, characterized in that: The adjusting arm assembly (3) comprises a bottom block (31), the top surface of the bottom block (31) is fixedly connected to a main vertical arm (32), a sub-vertical arm (33) is vertically slidably arranged on the main vertical arm (32), the top end side wall of the sub-vertical arm (33) is horizontally fixedly connected to one end of a main horizontal arm (34), the other end of the main horizontal arm (34) is horizontally slidably arranged to have a sub-horizontal arm (35), the end of the sub-horizontal arm (35) is fixedly connected to a block body (25), and the sub-horizontal arm (35) is in a vertical state with the main strip board (21).

5. The sternal retractor for cardiothoracic surgery according to claim 1, characterized in that: The valve hook assembly (4) comprises an n-shaped mounting frame (41), the top surface of the n-shaped mounting frame (41) is fixedly connected to a top strip plate (42), the top surface of the top strip plate (42) is fixedly connected to a fourth square sleeve (43) at a position away from the n-shaped mounting frame (41), the fourth square sleeve (43) is horizontally slidably sleeved to a long strip plate (44), the end of the long strip plate (44) is fixedly connected to an end plate (45), a ring opening (46) is provided on the end plate (45), the vertical cross section of the ring opening (46) is in an arc shape, the ring opening (46) is rollingly connected to a spherical rotating block (47), and the spherical rotating block (47) is ) is provided with a sleeve hole (48), a sleeve rod (49) is movably sleeved on the sleeve hole (48), a draw hook (410) is fixedly connected to the end of the sleeve rod (49), a first opening (411) is provided on the side of the end plate (45), the first opening (411) is connected to the ring opening (46), a clamping block (412) is fixedly connected to the end plate (45) near the first opening (411), the clamping block (412) and the end plate (45) are an integrated structure, and a second opening (413) is provided on the side wall of the spherical rotating block (47), the second opening (413) is connected to the sleeve hole (48).

6. A sternal retractor for cardiothoracic surgery according to claim 5, characterized in that: The clamping block (412) is provided with a horizontal transverse hole (415), and the end plate (45) is provided with a second threaded through hole (414) at the same horizontal position as the transverse hole (415). A sixth hand-turned bolt (416) is sleeved on the transverse hole (415), and the sixth hand-turned bolt (416) is threadedly connected to the second threaded through hole (414). The top surface of the fourth square sleeve (43) is fixedly sleeved with the bottom end of the fifth threaded tube (423), and the fifth threaded tube (423) is threadedly connected to the fifth hand-turned bolt (424), and the bottom end of the fifth hand-turned bolt (424) contacts the long strip plate (44). The n-shaped mounting frame (41) is sleeved on the main strip plate (21) on one of the pulling mechanisms (1), and the main strip plate (21) is connected to the main strip plate (21). 1) Two long racks (218) are fixedly connected on both sides, two short tooth plates (417) are fixedly connected on both sides of the N-type mounting frame (41), the short tooth plates (417) engage with any position of the long racks (218), a through hole (418) is horizontally opened on the side wall of the bottom end of the N-type mounting frame (41), the through hole (418) is horizontally slidably sleeved with a baffle plate (419), the baffle plate (419) is located at one end of the outside of the N-type mounting frame (41) and is fixedly connected to a limiting strip plate (420), the top surface of the baffle plate (419) contacts the bottom surface of the main strip plate (21), two tension springs (422) are fixedly connected between the side walls at both ends of the limiting strip plate (420) and the side walls of the main strip plate (21), and the side wall of the limiting strip plate (420) is fixedly connected to a pull rod (421).

7. A sternal retractor for cardiothoracic surgery according to claim 1, characterized in that: The top surface of the square tube (241) and the middle plate (242) are vertically fixedly sleeved with a first threaded tube (249), the first threaded tube (249) is threadedly connected to a first hand-turned bolt (2410), the top surface of the pulling strip (23) is fixedly embedded in the rough plate (219), the bottom end of the first hand-turned bolt (2410) contacts the top surface of the rough plate (219), the top surface of the third sleeve (245) is vertically fixedly sleeved with a second threaded tube (2411), the second threaded tube (2411) is threadedly connected to a second hand-turned bolt (2412), the second hand-turned bolt (2412) The bottom end contacts the top surface of the side plate body (246); the side wall of the first square sleeve (243) is horizontally fixedly sleeved with the third threaded tube (2413); the third threaded tube (2413) is threadedly connected to the third hand-turned bolt (2414); the end of the third hand-turned bolt (2414) contacts the side wall of the main retraction plate (244); the side wall of the second square sleeve (247) is horizontally fixedly sleeved with the fourth threaded tube (2415); the fourth threaded tube (2415) is threadedly connected to the fourth hand-turned bolt (2416); the end of the fourth hand-turned bolt (2416) contacts the side wall of the side retraction plate (248).

8. A sternal retractor for cardiothoracic surgery according to claim 4, characterized in that: The top of the main vertical arm (32) is provided with a vertical opening (36), the sub-vertical arm (33) is vertically slidably sleeved in the vertical opening (36), the main cross arm (34) is provided with a horizontal opening (37) at one end away from the sub-vertical arm (33), the sub-cross arm (35) is slidably sleeved in the horizontal opening (37), the horizontal opening (37) is horizontally rotatably connected to a first screw rod (313), a second inner cavity (314) is provided inside the sub-cross arm (35), and the end of the first screw rod (313) is located in the second inner cavity (314) Inside, the second inner cavity (314) is fixedly connected to the first threaded sleeve (315) near one end of the main cross arm (34), and the first screw rod (313) is threadedly connected to the first threaded sleeve (315), wherein the first screw rod (313) on the adjusting arm assembly (3) of one of the retraction mechanisms (1) is a left-handed screw rod, and the first screw rod (313) on the adjusting arm assembly (3) of the other retraction mechanism (1) is a right-handed screw rod, and the side wall of the main vertical arm (32) is fixedly connected to the mounting portion (331).

9. A sternal retractor for cardiothoracic surgery according to claim 8, characterized in that: The bottom surface of the vertical opening (36) is vertically rotatably connected to the sleeve (312); the sub-vertical arm (33) is provided with a first cavity (38) at a position corresponding to the sleeve (312); the top of the first cavity (38) is vertically rotatably connected to a short shaft (39); the bottom end of the short shaft (39) is fixedly sleeved with a third active bevel gear (310); the bottom end of the short shaft (39) is fixedly connected to an inner shaft (311); the inner shaft (311) is vertically slidably sleeved inside the sleeve (312); the side wall of the first cavity (38) is horizontally rotatably connected to a transverse shaft (316) near a side of the main transverse arm (34); the transverse shaft (316) is located inside the first cavity (38). One end is fixedly connected to the third driven bevel gear (317), the other end of the horizontal shaft (316) passes through the end of the main horizontal arm (34) and is fixedly connected to the first screw rod (313), the third active bevel gear (310) is meshed and connected to the third driven bevel gear (317), the bottom end of the vertical opening (36) is vertically rotated to connect to the second screw rod (319), a third cavity (318) is opened inside the sub-vertical arm (33) corresponding to the position of the second screw rod (319), the top end of the second screw rod (319) is located inside the third cavity (318), the bottom end of the third cavity (318) is fixedly connected to the second threaded sleeve (320), and the second screw rod (319) The second threaded sleeve (320) is threadedly connected, two side grooves (330) are provided on both sides of the inner shaft (311), the inner side wall of the sleeve (312) is fixedly connected to two side strips (329), the side strips (329) are vertically slidably connected to the side grooves (330), the interior of the bottom block (31) is located directly below the sleeve (312) and is horizontally rotatably connected to the first ball spline (321), the interior of the bottom block (31) is located directly below the second screw rod (319) and is horizontally rotatably connected to the second ball spline (322), the first ball spline (321) is fixedly sleeved with a first active bevel gear (323), the sleeve (31 2) The bottom end is fixedly connected to the first vertical shaft (324), the bottom end of the first vertical shaft (324) is located inside the bottom block (31) and fixedly connected to the first driven bevel gear (325), the first active bevel gear (323) is meshedly connected to the first driven bevel gear (325), the second ball spline (322) is fixedly sleeved with the second active bevel gear (326), the bottom end of the second screw rod (319) is fixedly connected to the second vertical shaft (327), the bottom end of the second vertical shaft (327) is located inside the bottom block (31) and fixedly connected to the second driven bevel gear (328), and the second active bevel gear (326) is meshedly connected to the second driven bevel gear (328).

10. A sternal retractor for cardiothoracic surgery according to claim 9, characterized in that: The driving structure (5) comprises a driving bin (51), an installation opening (52) is provided at the end of the driving bin (51), the installation opening (52) is sleeved with the end of the bottom block (31) of one of the retracting mechanisms (1), one side of the installation opening (52) is horizontally rotatably connected to a first spline long rod (53), and the other side of the installation opening (52) is horizontally rotatably connected to a second spline long rod (54), the first spline long rod (53) is plugged into two first ball splines (321) on the two retracting mechanisms (1), the second spline long rod (54) is plugged into two second ball splines (322) on the two retracting mechanisms (1), and the driving bin (51) is connected to the first spline long rod (53) and the second spline long rod (54) is plugged into the second ball splines (322) on the two retracting mechanisms (1). ) is fixedly sleeved with a first servo reduction motor (55) and a second servo reduction motor (56) on a side away from the mounting opening (52); the rotating shaft end of the first servo reduction motor (55) is fixedly connected to the end of the first spline long rod (53); the rotating shaft end of the second servo reduction motor (56) is fixedly connected to the end of the second spline long rod (54); two first threaded through holes (57) are formed on both sides of one end of the drive compartment (51) close to the mounting opening (52); two threaded holes (332) are formed on both sides of the bottom block (31) located inside the mounting opening (52); the threaded holes (332) and the first threaded through holes (57) are threadedly connected to fixing bolts (58).

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