Surgical assistance system and method for controlling surgical assistance system

Abstract

The invention relates to an operation assisting system and a control method of the operation assisting system. The operation assisting system comprises a machine body, an actuator, an adapter assembly and a fixing assembly. The actuator is connected with the machine body; the adapter assembly comprises at least one adapter; the adapter is detachably connected with the actuator; the adapter is used for mounting an aortic valve repair instrument; the fixing assembly is connected with the actuator, and a fixing hole is formed in the fixing assembly and used for penetrating and fixing an inner sheath of the aortic valve repair instrument. When an aortic valve replacement operation is carried out through the operation auxiliary system, the inner sheath can better guide the outer sheath and the middle sheath of the catheter, so that the conveying tracks of the outer sheath and the inner sheath are more accurate, secondary injury to a patient is not easily caused, and when the catheter needs to release a balloon at a preset position for operation, the catheter is not prone to falling off. And the release position is more accurate.

Description

Technical Field

[0001] The present application relates to the technical field of surgical robots, and in particular to a surgical assistance system and a control method for the surgical assistance system. Background Art

[0002] Aortic Valve Replacement (AVR) is a cardiac surgical procedure used to treat aortic valve disease. When the aortic valve is severely stenotic or has regurgitation, an AVR may be necessary to replace the diseased valve. Related technologies include the use of surgical robots to control aortic valve repair devices. However, when the catheter of the aortic valve repair device enters the patient's body along a preset path under the control of the surgical robot, the accuracy of the catheter's delivery trajectory must be strictly controlled to reduce secondary damage to the patient. Summary of the Invention

[0003] Based on this, it is necessary to provide a surgical assistance system to address the problem that the delivery path of the catheter of the aortic valve repair device needs to be precisely controlled when performing aortic valve replacement surgery using a surgical robot.

[0004] A surgical assistance system comprising:

[0005] body;

[0006] Actuator; connected to the fuselage;

[0007] An adapter assembly, the adapter assembly comprising at least one adapter; the adapter is detachably connected to the actuator; the adapter is used to install an aortic valve repair device;

[0008] A fixing component is connected to the actuator; the fixing component is structured with a fixing hole, and the fixing hole is used to penetrate and fix the inner sheath of the aortic valve repair device.

[0009] In some embodiments, the fixing assembly includes a first fixing rod, a second fixing rod, and a third fixing rod connected to each other and arranged at an angle;

[0010] One end of the first fixing rod away from the second fixing rod is connected to the actuator;

[0011] A fixing hole is formed at one end of the third fixing rod away from the second fixing rod.

[0012] In some embodiments, the third fixing rod is configured with two fixing protrusions disposed opposite to and spaced apart from each other at one end thereof away from the second fixing rod, and the two fixing protrusions are configured to jointly surround the fixing hole;

[0013] The fixing assembly further includes a fixing piece; the fixing piece can pass through one of the fixing protrusions and move toward or away from the other fixing protrusion.

[0014] In some embodiments, the first fixing rod is configured with a magnetic attraction structure;

[0015] The magnetic attraction structure is detachably connected to the actuator.

[0016] In some embodiments, the actuator is rotatably connected to the body; and the actuator includes a first position transmission group and a second position transmission group; the actuator has a first installation position and a second installation position relative to the body;

[0017] The adapter assembly includes a first adapter and a second adapter;

[0018] In the first installation position, the first adapter is detachably connected to the first position transmission group; the first adapter is used to install the first aortic valve repair device;

[0019] In the second installation position, the second adapter is detachably connected to the second position transmission group; the second adapter is used to install a second aortic valve repair device.

[0020] In some embodiments, the surgical assistance system includes a rotation adjustment component; the rotation adjustment component is installed between the body and the actuator;

[0021] The rotation adjustment assembly is used to drive the actuator to switch between the first installation position and the second installation position relative to the fuselage.

[0022] In some embodiments, the rotation adjustment assembly includes:

[0023] A first rotating member is fixedly connected to the body and is configured with a mounting cavity; a side wall of the mounting cavity is configured with two first mounting holes that are oppositely arranged and pass through the mounting cavity;

[0024] a second rotating member fixedly connected to the actuator; the second rotating member at least partially extends into the mounting cavity and is rotatably connected to the cavity wall of the mounting cavity; and the second rotating member is configured with a second mounting hole;

[0025] locking member; when the second rotating member is rotated relative to the first rotating member to the first mounting position or the second mounting position, the first mounting hole is opposite to the second mounting hole, and the locking member can extend into the first mounting hole and the second mounting hole.

[0026] In some embodiments, the second rotating member includes a first rotating portion and a second rotating portion connected to each other and having different radial sizes; the radial size of the first rotating portion is larger than the radial size of the second rotating portion;

[0027] The mounting cavity comprises a first mounting sub-cavity and a second mounting sub-cavity that are connected to each other; the radial dimension of the first mounting sub-cavity is greater than the radial dimension of the second mounting sub-cavity;

[0028] The first rotating portion is accommodated in the first mounting sub-cavity; and the second rotating portion is at least partially accommodated in the second mounting sub-cavity.

[0029] In some embodiments, the second rotating member further includes a third rotating portion;

[0030] The third rotating portion is connected to a side of the second rotating portion facing away from the first rotating portion, and the radial dimension of the third rotating portion is greater than the radial dimension of the second rotating portion;

[0031] A side of the third rotating portion facing away from the second rotating portion is fixedly connected to the actuator.

[0032] In some embodiments, the side wall of the second mounting sub-cavity is recessed along its radial direction toward the side away from the cavity to form a first clamping groove;

[0033] The rotation adjustment assembly further includes a first bushing sleeved on the outer periphery of the second rotating portion; the first bushing includes a first clamping portion and a second clamping portion connected to each other and having different radial sizes;

[0034] The radial dimension of the first clamping portion is greater than the radial dimension of the second clamping portion;

[0035] The first clamping portion at least partially extends into the first clamping slot.

[0036] In some embodiments, a side wall of the second mounting sub-cavity is recessed along its radial direction toward a side away from the cavity body to form a second clamping groove, and the second clamping groove is spaced apart from the first clamping groove;

[0037] The rotation adjustment assembly further includes a second bushing sleeved on the outer periphery of the second rotating portion; the second bushing is spaced apart from the first bushing; the second bushing includes a third clamping portion and a fourth clamping portion connected to each other and having different radial sizes;

[0038] The radial dimension of the third clamping portion is greater than the radial dimension of the fourth clamping portion;

[0039] The third clamping portion at least partially extends into the second clamping slot.

[0040] In some embodiments, a first limiting protrusion is provided on a side of the cavity wall of the installation cavity facing the cavity;

[0041] The second rotating member is configured with a second limiting protrusion;

[0042] When the second rotating member rotates relative to the first rotating member to the first installation position or the second installation position, the first limiting protrusion abuts against the second limiting protrusion.

[0043] In some embodiments, the surgical assistance system further comprises a sliding assembly;

[0044] The sliding assembly is installed between the actuator and the body to drive the actuator to slide relative to the body.

[0045] In some embodiments, the first adapter comprises:

[0046] A first base is detachably connected to the actuator and is used to support the aortic valve repair device;

[0047] A first adjustment mechanism is mounted on the base; the first adjustment mechanism includes:

[0048] A first buckle is configured with a first snap-fitting hole, wherein the first snap-fitting hole is used to penetrate and snap-fit the middle sheath of the aortic valve repair device;

[0049] a first transmission member, fixedly connected to the first buckle;

[0050] a clutch assembly having a first position and a second position relative to the first transmission member; and

[0051] a first drive assembly, drivingly connected to the clutch assembly;

[0052] When the clutch assembly is in a first position relative to the first transmission member, the first drive assembly is in transmission connection with the first transmission member; when the clutch assembly is in a second position relative to the first transmission member, the first drive assembly is separated from the first transmission member.

[0053] In some embodiments, the first transmission member is configured as a first transmission rack;

[0054] The clutch assembly includes a clutch gear;

[0055] When the clutch assembly is in a first position relative to the first transmission member, the clutch gear is engaged with the first transmission rack, so that the first transmission rack and the clutch gear move synchronously;

[0056] When the clutch assembly is in the second position relative to the first transmission member, the clutch gear is separated from the first transmission rack, and the first transmission rack can drive the middle sheath to move freely along the tooth arrangement direction of the first transmission rack.

[0057] In some embodiments, the clutch assembly further comprises:

[0058] a first rotation axis;

[0059] a first transmission rod, one end of which is connected to the first rotating shaft, and the other end of which is fixedly connected to the clutch gear;

[0060] When the first rotating shaft rotates around its own rotating axis, it can drive the first transmission rod to rotate, so that the clutch gear is in the first position or the second position relative to the first transmission member.

[0061] In some embodiments, the first rotating shaft further includes a cam portion; the cam portion is in transmission connection with the first transmission rod;

[0062] The clutch assembly further includes a first fixed shaft;

[0063] The first fixed shaft is fixed to the first base and is located between the clutch gear and the first rotating shaft; the first transmission rod is sleeved on the first fixed shaft;

[0064] When the first rotating shaft rotates around its own rotating axis, it can drive the first transmission rod to rotate around the axis of the first fixed shaft.

[0065] In some embodiments, a first receiving groove is configured on a side of the first transmission rod close to the first rotating shaft;

[0066] When the short shaft end of the cam portion abuts against the upper groove wall of the first accommodating groove, the rotation axis of the clutch gear is higher than the axis of the first fixed shaft, so that the clutch gear is engaged with the first transmission rack;

[0067] When the long axis end of the cam portion abuts against the upper groove wall of the first accommodating groove, the rotation axis of the clutch gear is lower than the axis of the first fixed shaft, so that the clutch gear is separated from the first transmission rack.

[0068] In some embodiments, a first slide groove is further configured on the first base;

[0069] The first buckle includes a first clamping portion and a first sliding portion connected to each other;

[0070] The first clamping portion is configured with a first clamping hole;

[0071] At least a portion of the first sliding portion extends into the first sliding groove and is fixedly connected to the first transmission member. The first sliding portion can slide relative to the groove wall of the first sliding groove.

[0072] In some embodiments, the first clamping portion includes:

[0073] a first clamping body connected to the first sliding portion and having a first clamping groove with an opening;

[0074] The first openable and closable buckle cover is rotatably connected to the first snap body; when the first openable and closable buckle cover is in a closed state relative to the first snap body, the first snap groove and the first openable and closable buckle cover are jointly arranged to form the first snap hole.

[0075] In some embodiments, the second adapter comprises:

[0076] a second base, detachably connected to the actuator, and used to support a second aortic valve repair device;

[0077] a gear ring assembly, comprising at least one gear ring, each of the gear rings being connected to at least one rotating portion of the second aortic valve repair device;

[0078] The first transmission assembly is mounted on the second base and includes at least one transmission group; each transmission group is in transmission connection with one of the ring gears to drive the rotating part of the second aortic valve repair device to rotate.

[0079] In some embodiments, each of the gear rings includes at least two detachably connected tooth connection parts.

[0080] In some embodiments, one of the two adjacent tooth connecting portions is configured with a snap-fit protrusion, and the other one is configured with a snap-fit groove;

[0081] The clamping protrusion can at least partially extend into the clamping groove and be clamped and connected with the clamping groove.

[0082] In some embodiments, the engaging protrusion includes at least two spaced-apart engaging protrusion structures, and the outer peripheral wall of each engaging protrusion structure is configured with at least one engaging protrusion arm.

[0083] In some embodiments, the adapter further includes a fixing buckle rotatably connected to the second base;

[0084] The fixing buckle is structured with a fixing snap-fitting groove; the fixing snap-fitting groove is used to snap-fit the outer periphery of the second aortic valve repair device.

[0085] In some embodiments, the fixing buckle includes:

[0086] A fixed body, rotatably connected to the second base;

[0087] A closable buckle cover rotatably connected to the fixed body; and

[0088] A locking piece passes through the closable buckle cover and is connected to the fixed body.

[0089] In some embodiments, the second base includes a fixing plate;

[0090] The fixing plate is configured with a rotation groove, and the fixing buckle is at least partially accommodated in the rotation groove and is rotationally connected to the groove wall of the rotation groove.

[0091] In some embodiments, the outer periphery of the fixing buckle is configured with a tooth structure;

[0092] The adapter further includes a second transmission assembly; the second transmission assembly is mounted on the second base and engages with the tooth structure to drive the fixing buckle to rotate relative to the second base.

[0093] In some embodiments, the gear ring set includes four gear rings spaced apart;

[0094] The first transmission assembly includes four transmission groups;

[0095] Each transmission group is meshed with one of the ring gears.

[0096] The present application also provides a control method for a surgical assistance system, which includes:

[0097] Determining an execution procedure of the surgical assistance system;

[0098] determining an adapter according to an execution procedure of the surgical assistance system;

[0099] installing the determined adapter to the actuator;

[0100] installing an aortic valve repair device onto the adapter;

[0101] The inner sheath of the aortic valve repair device is installed into the fixing hole of the fixing component.

[0102] In some embodiments, the step of determining an adapter according to the procedure performed by the surgical assistance system specifically includes:

[0103] rotating the actuator according to the execution formula so that the actuator rotates relative to the fuselage to a first installation position or a second installation position;

[0104] When the actuator is in the first installation position relative to the body, the first adapter is connected to the first position transmission group on the actuator; and the first aortic valve repair device is installed on the first adapter; or

[0105] When the actuator is at the second installation position relative to the body, the second adapter is connected to the second position transmission group on the actuator; and the second aortic valve repair device is installed on the second adapter.

[0106] In some embodiments, before the step of rotating the actuator according to the surgical procedure so that the actuator rotates relative to the body to the first installation position or the second installation position, the control method of the surgical assistance system further includes:

[0107] The actuator is driven to slide to a preset position relative to the body by a sliding assembly installed between the actuator and the body.

[0108] In some embodiments, the step of installing the first aortic valve repair device on the first adapter specifically includes:

[0109] mounting a first aortic valve repair device to a first base of a first adapter;

[0110] Pass the catheter of the first aortic valve repair device through the first guide hole of the first guide rod and the second guide hole of the second guide rod.

[0111] In some embodiments, after the step of passing the catheter of the first aortic valve repair device through the first guide hole of the first guide rod and the second guide hole of the second guide rod, the control method of the surgery assistance system further includes:

[0112] Passing the middle sheath of the first aortic valve repair device through and clamping it into the first clamping hole of the first adjustment component of the adapter;

[0113] Controlling the first base to drive the first guide rod to synchronously move closer to the second guide hole so that the first guide rod abuts against the second guide rod;

[0114] The first base is controlled to move closer to the first guide hole.

[0115] In some embodiments, after the step of controlling the first base to drive the first guide rod to synchronously move closer to the first guide hole, the control method of the surgical assistance system further includes:

[0116] adjusting the clutch assembly in the first adjustment assembly to a first position relative to the first transmission member;

[0117] controlling the catheter of the first aortic valve repair device to move to a first preset position;

[0118] adjusting the clutch assembly to a second position relative to the first transmission member;

[0119] The catheter of the first aortic valve repair device is controlled to release the balloon.

[0120] In some embodiments, the step of mounting the second aortic valve repair device on the second adapter specifically includes:

[0121] installing each gear ring of the gear ring set on at least one rotating portion of the second aortic valve repair device;

[0122] The second aortic valve repair device is mounted to the second base of the second adapter.

[0123] When performing an aortic valve replacement surgery using the surgical assistance system provided by the present application, the aortic valve is mounted on the adapter, and the inner sheath of the aortic valve repair device is passed through and fixed into the fixing hole of the fixing assembly. The inner sheath at the innermost portion of the catheter can remain stationary relative to the human body under the fixing effect of the fixing hole. As a result, when the outer sheath and middle sheath of the catheter of the aortic valve repair device are transported along a preset path within the human body, the inner sheath can better guide the outer sheath and middle sheath of the catheter, making the transport trajectory of the outer sheath and inner sheath more precise and less likely to cause secondary damage to the patient. Moreover, when the catheter needs to release the balloon at a preset position, the release position is also more precise. BRIEF DESCRIPTION OF THE DRAWINGS

[0124] Figure 1 Schematic diagram of the catheter-through-femoral-artery approach during aortic valve replacement surgery using the surgical assistance system provided in some embodiments of the present application.

[0125] Figure 2 A schematic diagram of the catheter transapical approach during aortic valve replacement surgery using the surgical assistance system provided in some embodiments of the present application.

[0126] Figure 3 for Figure 1 The diagram shows the connection diagram of the actuator, the rotation adjustment component and the sliding component in the surgical assistance system.

[0127] Figure 4 for Figure 3 Schematic diagram of the internal structure of the actuator shown.

[0128] Figure 5 for Figure 3 Schematic diagram of the rotation adjustment assembly shown.

[0129] Figure 6 for Figure 5 The internal schematic diagram of the rotation adjustment assembly is shown.

[0130] Figure 7 for Figure 3 Schematic diagram of the first rotating member, the second rotating member and the locking member in the rotation adjustment assembly shown.

[0131] Figure 8 for Figure 7 A schematic diagram of the first rotating member in the rotation adjustment assembly is shown.

[0132] Figure 9 for Figure 8 A top view of the first rotating member is shown.

[0133] Figure 10 for Figure 7 The diagram shows a first rotating member in a rotation adjustment assembly rotated to a first installation position relative to a second rotating member.

[0134] Figure 11 for Figure 6 Schematic diagram of the connection between the second mounting portion and the third mounting portion in the second rotating member is shown.

[0135] Figure 12 for Figure 1 The diagram shows the cooperation of the first adapter, the first aortic valve repair instrument, the first guide rod, the second guide rod and the fixing assembly in the surgical assisting system.

[0136] Figure 13 for Figure 1 Schematic diagram showing the first adapter mounted on the actuator.

[0137] Figure 14 for Figure 1 The diagram shows a first adapter in which the first, second, and third openable / closable covers are all closed.

[0138] Figure 15 for Figure 1 The diagram shows a first adapter in which the first, second and third openable / closable covers are all opened.

[0139] Figure 16 for Figure 1 A schematic diagram showing a first adapter equipped with a first aortic valve repair device is shown.

[0140] Figure 17 for Figure 16 A schematic diagram showing a first aortic valve repair device in a first position relative to a first adapter is shown.

[0141] Figure 18 for Figure 16 A schematic diagram showing a first aortic valve repair device in a second position relative to a first adapter is shown.

[0142] Figure 19 for Figure 16 A schematic diagram showing the first aortic valve repair device in a third position relative to the first adapter is shown.

[0143] Figure 20 for Figure 13 A cross-sectional view at AA is shown.

[0144] Figure 21 for Figure 20 A partial enlarged view of point B is shown.

[0145] Figure 22 for Figure 1 A schematic diagram of the internal structure of the first adapter is shown.

[0146] Figure 23 for Figure 1 A partial schematic diagram of the internal structure of the first adapter is shown.

[0147] Figure 24 for Figure 23 Schematic diagram of the first rotation axis shown.

[0148] Figure 25 for Figure 2 A schematic diagram of the connection between the second base, the first transmission assembly, the fixing buckle and the second transmission assembly in the second adapter is shown.

[0149] Figure 26 for Figure 25 The diagram shows a second adapter with the fixing buckle in a locked state.

[0150] Figure 27 for Figure 25 Schematic diagram showing the fixing buckle in the second adapter in the open state.

[0151] Figure 28 for Figure 2 A schematic diagram showing the connection between a second adapter and a second aortic valve repair device is shown.

[0152] Figure 29 for Figure 28 Schematic diagram of the second aortic valve repair device connected to the gear ring assembly.

[0153] Figure 30 for Figure 29 Schematic diagram of the first tooth connection portion of any ring gear in the ring gear set shown.

[0154] Figure 31 for Figure 29 Schematic diagram of the second tooth connection portion of any ring gear in the ring gear set shown.

[0155] Figure 32 for Figure 29 Schematic diagram showing the connection between the first gear ring in the second adapter and the second aortic valve repair device.

[0156] Figure 33 for Figure 32 A partial enlarged view of point C is shown.

[0157] Figure 34 A flowchart of a control method for a surgical assistance system provided in some embodiments of the present application.

[0158] Reference numerals:

[0159] 100-fuselage; 110-bed;

[0160] 200-actuator; 200a-accommodation cavity;

[0161] 210 - first position transmission group; 211 - first driving shaft; 212 - second driving shaft; 213 - third driving shaft; 214 - fourth driving shaft;

[0162] 220 - second position transmission group; 221 - fifth driving shaft; 222 - sixth driving shaft; 223 - seventh driving shaft; 224 - eighth driving shaft; 225 - ninth driving shaft;

[0163] 230- transmission structure; 240- power source;

[0164] 300-first adapter;

[0165] 3100 - first base; 3110 - first chute; 3120 - second chute; 3130 - first mounting hole; 3140 - second mounting hole; 3150 - third mounting hole; 3160 - fourth mounting hole;

[0166] 3200 - first adjustment mechanism; 3210 - first buckle; 3210a - first engaging hole; 3211 - first engaging portion; 32111 - first engaging body; 321111 - first engaging groove; 32112 - first openable and closable buckle cover; 3212 - first sliding portion; 3220 - first transmission member; 3230 - clutch assembly; 3231 - clutch gear; 3232 - first rotating shaft; 32321 - cam portion; 3233 - first transmission rod; 32331 - first receiving groove; 32332 - second receiving groove; 3234 - first fixed shaft; 3235 - first driving member; 3240 - first driving assembly; 3241 - second driving member; 3242 - second rotating shaft; 3243 - first transmission gear; 3244 - third rotating shaft; 3245 - second transmission gear;

[0167] 3300 - second buckle; 3300a - second snap-fitting slot; 3310 - second snap-fitting body; 3320 - second removable buckle cover;

[0168] 3400-second drive assembly; 3410-ferrule; 3420-gear transmission member; 3430-third drive member;

[0169] 3500 - second adjustment mechanism; 3510 - third buckle; 3510a - second fastening hole; 3511 - second fastening portion; 35111 - third fastening body; 351111 - third fastening slot; 35112 - third removable buckle cover; 3512 - second sliding portion; 3520 - second transmission member; 3530 - third drive assembly; 3531 - fourth drive member; 3532 - fourth rotating shaft; 3533 - fifth rotating shaft; 3534 - third transmission gear;

[0170] 400-second adapter;

[0171] 4100-second base; 4110-fixed plate; 4111-rotating groove;

[0172] 4200 - Gear ring assembly; 4210 - Gear ring; 4211 - First tooth connecting portion; 4212 - Second tooth connecting portion; 4213 - Snap-fitting protrusion; 42131 - Snap-fitting protrusion structure; 42131a - Snap-fitting protrusion arm; 4214 - Snap-fitting groove; 4215 - Snap-fitting protrusion; 4220 - First gear ring; 4230 - Second gear ring; 4240 - Third gear ring; 4250 - Fourth gear ring;

[0173] 4300 - first transmission assembly; 4310 - first transmission group; 4311 - first transmission shaft; 4312 - second transmission shaft; 4313 - first transmission tooth; 4320 - second transmission group; 4321 - third transmission shaft; 4322 - fourth transmission shaft; 4323 - second transmission tooth; 4330 - third transmission group; 4331 - fifth transmission shaft; 4332 - sixth transmission shaft; 4333 - third transmission tooth; 4340 - fourth transmission group; 4341 - seventh transmission shaft; 4342 - eighth transmission shaft; 4343 - fourth transmission tooth;

[0174] 4400 - fixing buckle; 4400a - fixing snap groove; 4410 - fixing body; 4411 - locking hole; 4420 - closable buckle cover; 4430 - locking member; 4440 - tooth structure;

[0175] 4500 - second transmission assembly; 4510 - ninth transmission shaft; 4520 - tenth transmission shaft; 4530 - eleventh transmission shaft; 4540 - twelfth transmission shaft; 4550 - fifth transmission gear;

[0176] 500 - Rotation adjustment assembly; 510 - First rotating member; 511 - Mounting cavity; 511a - First mounting hole; 511b - First limiting protrusion; 511b1 - First limiting surface; 511b2 - Second limiting surface; 5111 - First mounting sub-cavity; 5112 - Second mounting sub-cavity; 51121 - First engaging groove; 51122 - Second engaging groove; 520 - Second rotating member; 520a - Second mounting hole; 5 20b - second limiting protrusion; 520b1 - third limiting surface; 520b2 - fourth limiting surface; 521 - first rotating portion; 522 - second rotating portion; 523 - third rotating portion; 530 - locking member; 540 - gasket; 550 - first bushing; 551 - first clamping portion; 552 - second clamping portion; 560 - second bushing; 561 - third clamping portion; 562 - fourth clamping portion; 570 - mounting seat;

[0177] 600-sliding assembly; 610-sliding block; 620-sliding slot;

[0178] 710 - first guide rod; 710a - first guide hole; 711 - first guide portion; 712 - first clamping arm;

[0179] 720 - second guide rod; 720a - second guide hole; 721 - second guide portion; 722 - second clamping arm;

[0180] 800 - fixing assembly; 800a - fixing hole; 810 - first fixing rod; 820 - second fixing rod; 830 - third fixing rod; 831 - fixing protrusion; 840 - fixing member;

[0181] 910 - first aortic valve repair device; 920 - second aortic valve repair device; 921 - unlocking slot; 922 - child lock key; 923 - first rotating part; 924 - second rotating part; 925 - third rotating part; 926 - fourth rotating part; 930 - catheter; 931 - outer sheath; 932 - middle sheath; 933 - inner sheath. DETAILED DESCRIPTION

[0182] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0183] In the description of this application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0184] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0185] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connected," "fixed," etc., should be interpreted broadly. For example, these terms may refer to fixed connections, removable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0186] In this application, unless otherwise expressly specified or limited, if a first feature is described as being "above" or "below" a second feature, or similar descriptions, this may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is described as being "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is described as being "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0187] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only embodiment.

[0188] See Figure 1 、 Figure 2 Combined with Figure 12 、 Figure 13 as well as Figure 17-Figure 19 , Figure 1 A schematic diagram shows the procedure of inserting a catheter 930 through the femoral artery during an aortic valve replacement surgery using the surgical assistance system provided by some embodiments of the present application. Figure 2 A schematic diagram of the procedure of using a catheter 930 via the apical approach during aortic valve replacement surgery using the surgical assistance system provided by some embodiments of the present application is shown. Figure 12 Shown Figure 1 The diagram shows the cooperation of the first adapter 300, the first aortic valve repair device 910, the first guide rod 710, the second guide rod 720 and the fixing assembly 800 in the surgical assisting system. Figure 13 Shown Figure 1 FIG. 1 is a schematic diagram showing the first adapter 300 being mounted on the actuator 200 . Figure 17 for Figure 16 The first aortic valve repair device 910 is shown in a schematic diagram in a first position compared to the first adapter 300 . Figure 18 Shown Figure 16 The first aortic valve repair device 910 is shown in a schematic diagram in a second position compared to the first adapter 300 . Figure 19 Shown Figure 16 The first aortic valve repair device 910 is shown in a schematic diagram in a third position compared to the first adapter 300 .

[0189] An embodiment of the present application provides a surgical assistance system comprising a body 100, an actuator 200, an adapter assembly, and a fixing assembly 800. The actuator 200 is connected to the body 100; the adapter assembly includes at least one adapter; the adapter is detachably connected to the actuator 200; the adapter is used to mount an aortic valve repair device; the fixing assembly 800 is connected to the actuator 200 and is configured with a fixing hole 800a for passing through and fixing the inner sheath 933 of the aortic valve repair device.

[0190] When performing an aortic valve replacement surgery using the surgical assistance system provided herein, the aortic valve is mounted on the adapter, and the inner sheath 933 of the aortic valve repair device is inserted into and fixed to the fixing hole 800a of the fixing assembly 800. The inner sheath 933 at the innermost portion of the catheter 930 can remain stationary relative to the human body due to the fixing action of the fixing hole 800a. As a result, when the outer sheath 931 and the middle sheath 932 of the catheter 930 of the aortic valve repair device are transported along a preset path within the human body, the inner sheath 933 can better guide the outer sheath 931 and the middle sheath 932 of the catheter 930, making the transport trajectory of the outer sheath 931 and the inner sheath 933 more precise, less likely to cause secondary damage to the patient, and when the catheter 930 needs to release the balloon at a preset position, the release position is also more accurate.

[0191] It should be noted that there are two access routes for aortic valve replacement surgery. One is the transfemoral approach: a catheter 930 is inserted through the femoral artery at the base of the thigh. After retrograde travel along the vessel through the aortic arch, the procedure is performed at the valve orifice where the left ventricle outputs the valve to the aorta. The other is the transapical approach: a small incision is made through the left intercostal space to directly reach the apex of the heart, where the catheter 930 is then inserted for the procedure. In clinical needs, physicians need to assess the appropriate surgical route for the patient based on their condition.

[0192] Therefore, the adapter assembly includes at least a first adapter 300 and a second adapter 400. The first adapter 300 is a structure adapted to surgical instruments via a transfemoral artery approach, and the second adapter 400 is a structure adapted to surgical instruments via a transapical approach.

[0193] The aortic valve repair device includes a first aortic valve repair device 910 and a second aortic valve repair device 920. The first aortic valve repair device 910 is a surgical device for a transfemoral approach. The second aortic valve repair device 920 is a surgical device for a transapical approach. The first adapter 300 is adapted to fit the first aortic valve repair device 910. The second adapter 400 is adapted to fit the second aortic valve repair device 920.

[0194] It should be noted that when aortic valve replacement surgery is required via the femoral artery, the fixing assembly 800 needs to be installed in Figure 1 When a transapical aortic valve replacement surgery is required, the fixing assembly 800 needs to be installed on the left end face of the actuator 200. Figure 2 The right end face side of the actuator 200 is shown.

[0195] The following is a detailed description of the structure of the surgical assistance system. Figure 11 、 Figure 14-16 as well as Figures 20-33 . Figure 3 Shown Figure 1 The diagram shows a connection diagram of the actuator 200, the rotation adjustment assembly 500 and the sliding assembly 600 in the surgical assistance system. Figure 4 Shown Figure 3 Schematic diagram of the internal structure of the actuator 200 is shown. Figure 5 Shown Figure 3 A schematic diagram of the rotation adjustment assembly 500 is shown.

[0196] Figure 6 Shown Figure 5 An internal schematic diagram of the rotation adjustment assembly 500 is shown. Figure 7 Shown Figure 3 FIG. 1 is a schematic diagram of a first rotating member 510 , a second rotating member 520 , and a locking member 530 in a rotation adjustment assembly 500 . Figure 8 Shown Figure 7 FIG. 1 is a schematic diagram of a first rotating member 510 in a rotation adjustment assembly 500 . Figure 9 Shown Figure 8 A top view of the first rotating member 510 is shown. Figure 10 Shown Figure 7 The diagram shows a first rotating member 510 in the rotation adjustment assembly 500 rotated to a first installation position relative to the second rotating member 520 . Figure 11 Shown Figure 6 Schematic diagram showing the connection between the second mounting portion and the third mounting portion in the second rotating member 520. Figure 14 Shown Figure 1 The diagram shows that the first openable and closable buckle cover 32112 , the second openable and closable buckle cover 3320 and the third openable and closable buckle cover 35112 of the first adapter 300 are all buckled together. Figure 15 Shown Figure 1 The diagram shows that the first openable and closable cover 32112 , the second openable and closable cover 3320 and the third openable and closable cover 35112 of the first adapter 300 are all opened. Figure 16 Shown Figure 1 The first adapter 300 is shown as a schematic diagram of a first aortic valve repair device 910 installed thereon. Figure 20 Shown Figure 13 A cross-sectional view at AA is shown. Figure 21 Shown Figure 20 A partial enlarged view of point B is shown. Figure 22 Shown Figure 1 A schematic diagram of the internal structure of the first adapter 300 is shown. Figure 23 Shown Figure 1 FIG. 1 is a partial schematic diagram of the internal structure of the first adapter 300 . Figure 24 Shown Figure 23 Schematic diagram of the first rotation axis 3232 shown. Figure 25 Shown Figure 2 The diagram shows a connection diagram of the second base 4100 , the first transmission assembly 4300 , the fixing buckle 4400 and the second transmission assembly 4500 in the second adapter 400 . Figure 26 Shown Figure 25 The diagram shows a schematic diagram of the fixing buckle 4400 in the second adapter 400 in a buckled state. Figure 27 Shown Figure 25 The diagram shows a schematic diagram of the fixing buckle 4400 in the second adapter 400 in an open state. Figure 28 Shown Figure 2 FIG. 4 is a schematic diagram showing the connection between the second adapter 400 and the second aortic valve repair device 920 . Figure 29 Shown Figure 28 Schematic diagram showing the connection between the second aortic valve repair device 920 and the gear ring assembly 4200. Figure 30 Shown Figure 29 A schematic diagram of the first tooth connecting portion 4211 of any ring gear 4210 in the ring gear set 4200 is shown. Figure 31 Shown Figure 29 A schematic diagram of the second tooth connection portion 4212 of any ring gear 4210 in the ring gear set 4200 is shown. Figure 32 Shown Figure 29 The diagram shows the connection between the first gear ring 4220 in the adapter and the second aortic valve repair device 920. Figure 33 Shown Figure 32 A partial enlarged view of point C is shown.

[0197] See also Figure 12 and Figure 13In some embodiments, the fixing assembly 800 includes a first fixing rod 810, a second fixing rod 820, and a third fixing rod 830 that are connected to each other and arranged at an angle. The end of the first fixing rod 810 that is remote from the second fixing rod 820 is connected to the actuator 200. The end of the third fixing rod 830 that is remote from the second fixing rod 820 is configured with a fixing hole 800a. By configuring the fixing assembly 800 as a plurality of fixing rods that are connected in sequence and arranged at an angle, the fixing assembly 800 can be easily connected to the actuator 200 and can also be provided with a fixing hole 800a that cooperates with the inner sheath 933.

[0198] See also Figure 13 In some embodiments, the end of the third fixing rod 830, distal from the second fixing rod 820, is configured with two oppositely disposed and spaced apart fixing protrusions 831. The two fixing protrusions 831 collectively enclose a fixing hole 800a. The fixing assembly 800 further includes a fixing member 840. The fixing member 840 is capable of passing through one of the fixing protrusions 831 and moving toward or away from the other fixing protrusion 831. The two spaced apart fixing protrusions 831 enclose the fixing hole 800a, making it easier to insert the inner sheath 933 into the fixing hole 800a through the gap between the two fixing protrusions 831. Furthermore, the fixing member 840 allows the inner sheath 933 to be abutted against the inner sheath 933 by movement, thereby securing the inner sheath 933 within the fixing hole 800a. This keeps the inner sheath 933 stationary relative to the fixing hole 800a, reducing the likelihood of movement of the inner sheath 933's fixed end.

[0199] In some embodiments, the first fixing rod 810 is configured with a magnetic structure that is detachably connected to the actuator 200. By providing the magnetic structure within the first fixing rod 810, the fixing assembly 800 and the actuator 200 can be quickly assembled and disassembled, thereby meeting the installation requirements of different surgical procedures.

[0200] See also Figure 1 、 Figure 2 Combined with Figure 3 and Figure 4In some embodiments, the actuator 200 is rotatably connected to the body 100 and includes a first position transmission group 210 and a second position transmission group 220. The actuator 200 has a first installation position and a second installation position relative to the body 100. The adapter assembly includes a first adapter 300 and a second adapter 400. In the first installation position, the first adapter 300 is detachably connected to the first position transmission group 210 and is used to mount a first aortic valve repair device 910. In the second installation position, the second adapter 400 is detachably connected to the second position transmission group 220 and is used to mount a second aortic valve repair device 920.

[0201] When the above-mentioned surgical assisting system is in use, if the doctor assesses that the patient needs to undergo aortic valve replacement surgery via the femoral artery, the actuator 200 is rotated relative to the body 100 to the first installation position, and the first adapter 300 is connected to the first position transmission group 210 of the actuator 200. After the surgical preparation is completed, the first aortic valve repair device 910 is installed on the first adapter 300, and the movement of the first aortic valve repair device 910 is controlled by the first adapter 300 (such as Figure 1 As shown). When the doctor assesses that the patient needs to undergo aortic valve replacement surgery via a transapical surgical approach, the actuator 200 is rotated relative to the body 100 to the second installation position, and the second adapter 400 is connected to the second position transmission group 220 of the actuator 200. After the surgical preparations are completed, the second aortic valve repair device 920 is installed on the second adapter 400, and the movement of the second aortic valve repair device 920 is controlled by the second adapter 400. In this way, the surgical assistance system can adjust the position of the actuator 200 relative to the body 100 according to the different clinical surgical approach requirements, and then assemble the first adapter 300 or the second adapter 400. Ultimately, only one surgical assistance system is needed to perform aortic valve replacement surgery via both a transfemoral surgical approach and a transapical surgical approach, meeting the needs of doctors on different operating sides of the patient.

[0202] Please note that Figure 1 When aortic valve replacement surgery is performed via the femoral artery, the doctor needs to be on the patient's right side to facilitate the doctor's operation. When aortic valve replacement surgery is performed via the transapical approach, the doctor needs to be on both sides of the patient's direction.

[0203] See also Figure 1-Figure 3In some embodiments, the surgical assistance system includes a rotation adjustment assembly 500 installed between the body 100 and the actuator 200. The rotation adjustment assembly 500 is used to drive the actuator 200 to switch between a first installation position and a second installation position relative to the body 100. By installing the rotation adjustment assembly 500 between the body 100 and the actuator 200, the rotation adjustment assembly 500 drives the actuator 200 to rotate relative to the body 100, thereby enabling the actuator 200 to switch between the first installation position and the second installation position.

[0204] In some embodiments, the rotation adjustment assembly 500 includes two rotating members rotatably connected to each other; one rotating member is mounted on the body 100, and the other rotating member is mounted on the actuator 200. The two rotating members rotatably connected to each other enable the actuator 200 to rotate relative to the body 100, thereby conveniently switching the actuator 200 between the first and second mounting positions.

[0205] See also Figure 3 Combined with Figure 6 and Figure 7 In some embodiments, the rotation adjustment assembly 500 includes a first rotating member 510, a second rotating member 520, and a locking member 530. The first rotating member 510 is fixedly connected to the body 100 and is configured with a mounting cavity 511; the side wall of the mounting cavity 511 is configured with two first mounting holes 511a arranged opposite to each other and passing through the mounting cavity 511; the second rotating member 520 is fixedly connected to the actuator 200; the second rotating member 520 at least partially extends into the mounting cavity 511 and is rotatably connected to the cavity wall of the mounting cavity 511; and the second rotating member 520 is configured with a second mounting hole 520a; when the second rotating member 520 rotates relative to the first rotating member 510 to the first mounting position or the second mounting position, the first mounting hole 511a and the second mounting hole 520a are opposite to each other, and the locking member 530 can extend into the first mounting hole 511a and the second mounting hole 520a.

[0206] When the doctor determines that the patient's aortic valve replacement surgery will be performed via the femoral route, the doctor then determines whether the actuator 200 is in the first installation position relative to the body 100. If it is, no adjustments are made. If it is not in the first installation position, and the locking member 530 is inserted into the first and second installation holes 511a, 520a, the doctor first separates the locking member 530 from the first and second installation holes 511a, 520a. The doctor then rotates the actuator 200, allowing it to rotate relative to the body 100 under the action of the second rotating member 520 until it reaches the first installation position. The doctor then inserts the locking member 530 into the first and second installation holes 511a, 520a to lock the second rotating member 520 relative to the first rotating member 510, preventing the second locking member 530 from further rotating relative to the first locking member 530. This ensures greater displacement accuracy for the first aortic valve repair device 910 during subsequent surgery.

[0207] Similarly, when the physician determines that the patient's aortic valve replacement surgery will be performed via a transapical approach, the physician then determines whether the actuator 200 is in the second installation position relative to the body 100. If it is in the second installation position, no adjustments are made. If it is not in the second installation position, and the locking member 530 is inserted into the first and second installation holes 511a, 520a, the locking member 530 is first separated from the first and second installation holes 511a, 520a. The actuator 200 is then rotated, allowing the second rotatable member 520 to rotate relative to the body 100 until it reaches the second installation position. The locking member 530 is then inserted into the first and second installation holes 511a, 520a to lock the second rotatable member 520 relative to the first rotatable member 510, preventing further rotation of the second locking member 530 relative to the first locking member 530. This, in turn, facilitates higher displacement accuracy of the second aortic valve repair device 920 during subsequent surgery.

[0208] See also Figure 6 In some embodiments, the second rotating member 520 includes a first rotating portion 521 and a second rotating portion 522 that are connected to each other and have different radial dimensions; the radial dimension of the first rotating portion 521 is greater than the radial dimension of the second rotating portion 522; the mounting cavity 511 includes a first mounting sub-cavity 5111 and a second mounting sub-cavity 5112 that are connected to each other; the radial dimension of the first mounting sub-cavity 5111 is greater than the radial dimension of the second mounting sub-cavity 5112; the first rotating portion 521 is accommodated in the first mounting sub-cavity 5111; the second rotating portion 522 is at least partially accommodated in the second mounting sub-cavity 5112.

[0209] By configuring the second rotating member 520 as a first rotating portion 521 and a second rotating portion 522 connected to each other and having different radial dimensions, the second rotating member 520 can be sized differently, making it difficult for the second rotating member 520 to disengage from the mounting cavity 511 when it is engaged. Specifically, the first rotating portion 521, which has a larger radial dimension, is engaged within the first mounting sub-cavity 5111, while the second rotating portion 522, which has a smaller radial dimension, is engaged within the second mounting sub-cavity 5112. This prevents the first mounting portion from disengaging from the mounting cavity 511 from the side closest to the second rotating portion 522.

[0210] See also Figure 6 Combined with Figure 11 In some embodiments, the first rotating portion 521 and the second rotating portion 522 are detachably connected. By detachably connecting the first rotating portion 521 and the second rotating portion 522, when assembling the second rotating member 520 with the first rotating member 510, the first rotating portion 521 and the second rotating portion 522 can be detached first, and then assembled together when the second rotating member 520 is installed in the installation cavity 511, thereby facilitating the assembly process.

[0211] See also Figure 6 In some embodiments, the second rotating member 520 further includes a third rotating portion 523; the third rotating portion 523 is connected to the side of the second rotating portion 522 away from the first rotating portion 521, and the radial dimension of the third rotating portion 523 is greater than the radial dimension of the second rotating portion 522; the side of the third rotating portion 523 away from the second rotating portion 522 is fixedly connected to the actuator 200.

[0212] By providing the third rotating portion 523 , and with a radial dimension greater than that of the second rotating portion 522 , the second rotating member 520 is not easily separated from the first rotating member 510 after the first rotating member 510 and the second rotating member 520 are assembled.

[0213] In one specific embodiment, the third rotating portion 523 is integrally formed with the second rotating portion 522, and the second rotating portion 522 is detachably connected to the first rotating portion 521. Therefore, when assembling the second rotating member 520 with the first rotating member 510, the second rotating portion 522 can be inserted into the second mounting sub-cavity 5112 from the side away from the first mounting sub-cavity 5111, and the first rotating portion 521 can be inserted into the first mounting sub-cavity 5111 from the side away from the second mounting sub-cavity 5112. The first rotating portion 521 is then connected to the second rotating portion via a connecting member, making the entire installation process more convenient.

[0214] See also Figure 6In some embodiments, the rotation adjustment assembly 500 further includes a gasket 540. The gasket 540 is sleeved onto the second rotating portion 522 and accommodated within the first mounting sub-cavity 5111. The gasket 540 abuts against the bottom wall of the first mounting sub-cavity 5111. This arrangement reduces the noise caused by direct contact between the second rotating member 520 and the first rotating member 510 when the second rotating member 520 rotates compared to the first rotating member 510. Specifically, the gasket 540 can be made of plastic.

[0215] See also Figure 6 In some embodiments, the side wall of the second mounting sub-cavity 5112 is recessed along its radial direction toward the side away from the cavity to form a first clamping groove 51121; the rotation adjustment assembly 500 also includes a first bushing 550 sleeved on the outer periphery of the second rotating part 522; the first bushing 550 includes a first clamping part 551 and a second clamping part 552 that are connected to each other and have different radial dimensions; the radial dimension of the first clamping part 551 is greater than the radial dimension of the second clamping part 552; the first clamping part 551 at least partially extends into the first clamping groove 51121.

[0216] Through the cooperation between the first bushing 550 and the first clamping groove 51121, the first bushing 550 can support the second rotating member 520 when the second rotating member 520 rotates relative to the first rotating member 510, and can reduce the friction between the second rotating member 520 and the first rotating member 510. It can also make the axial positional cooperation between the second rotating member 520 and the first rotating member 510 more accurate, and at the same time play a positioning role, so that when the second rotating member 520 and the first rotating member 510 rotate relative to each other, the rotation process is smoother and the abnormal noise is smaller.

[0217] See also Figure 6 In some embodiments, the side wall of the second mounting sub-cavity 5112 is recessed along its radial direction toward the side away from the cavity to form a second clamping groove 51122, and the second clamping groove 51122 is spaced apart from the first clamping groove 51121; the rotation adjustment assembly 500 also includes a second bushing 560 sleeved on the outer periphery of the second rotating part 522; the second bushing 560 is spaced apart from the first bushing 550; the second bushing 560 includes a third clamping part 561 and a fourth clamping part 562 that are connected to each other and have different radial dimensions; the radial dimension of the third clamping part 561 is greater than the radial dimension of the fourth clamping part 562; the third clamping part 561 at least partially extends into the second clamping groove 51122.

[0218] Through the cooperation between the second bushing 560 and the second clamping groove 51122, when the second rotating member 520 rotates relative to the first rotating member 510, the second bushing 560 can cooperate with the first bushing 550 to support the second rotating member 520, and can reduce the friction between the second rotating member 520 and the first rotating member 510. It can also make the axial position accuracy of the second rotating member 520 and the first rotating member 510 higher, and at the same time play a positioning role, so that when the second rotating member 520 and the first rotating member 510 rotate relative to each other, the rotation process is smoother and the abnormal noise is smaller.

[0219] See also Figure 7 、 Figure 9 and Figure 10 In some embodiments, a first position-limiting protrusion 511b is provided on the inner side of the wall of the mounting cavity 511; the second rotating member 520 is configured with a second position-limiting protrusion 520b; when the second rotating member 520 rotates relative to the first rotating member 510 to the first mounting position or the second mounting position, the first position-limiting protrusion 511b abuts against the second position-limiting protrusion 520b. This abutment between the first position-limiting protrusion 511b and the second position-limiting protrusion 520b enables the second rotating member 520 to output force feedback to the user through its own structure when rotating relative to the first rotating member 510 to the first mounting position or the second mounting position. This force feedback signal allows the user to know that the rotation position has been reached, facilitating operation.

[0220] Specifically, the first limiting protrusion 511b has a first limiting surface 511b1 and a second limiting surface 511b2 along its circumference. The second limiting protrusion 520b has a third limiting surface 520b1 and a fourth limiting surface 520b2 along its circumference. Figure 9 As shown, when the second rotating member 520 rotates to the first installation position relative to the first rotating member 510, the first limiting surface 511b1 can abut against the third limiting surface 520b1, thereby limiting further counterclockwise rotation of the second rotating member 520. When the second rotating member 520 rotates to the second installation position relative to the first rotating member 510, the second limiting surface 511b2 can abut against the fourth limiting surface 520b2, thereby also limiting further clockwise rotation of the second rotating member 520.

[0221] In some embodiments, in the first installation position, the first limiting surface 511b1 abuts the third limiting surface 520b1, while the second limiting surface 511b2 and the fourth limiting surface 520b2 are located on opposite sides of the second rotating member 520 in the radial direction. In the second installation position, the second limiting surface 511b2 abuts the fourth limiting surface 520b2, while the first limiting surface 511b1 and the third limiting surface 520b1 are located on opposite sides of the second rotating member 520 in the radial direction. This arrangement allows the actuator 200 to switch between the first and second installation positions every 180° of rotation.

[0222] See also Figure 3 and Figure 5 and Figure 6 In some embodiments, the rotation adjustment assembly 500 further includes a mounting base 570; the mounting base 570 is connected between the body 100 and the first rotating member 510; and the mounting base 570 covers the opening of the mounting cavity 511. The provision of the mounting base 570, which covers the opening of the mounting cavity 511, facilitates the connection between the body 100 and the first rotating member 510. The mounting base 570 also shields the structural components within the mounting cavity 511, making the entire rotation adjustment assembly 500 smooth and neat from the outside, reducing the possibility of dirt and grime accumulating within the mounting cavity 511. Furthermore, the entire rotation adjustment assembly 500 can be easily sterilized to meet the requirements of the surgical environment.

[0223] See also Figure 1-Figure 3 In some embodiments, the surgical assistance system further includes a sliding assembly 600 installed between the actuator 200 and the body 100 to drive the actuator 200 to slide relative to the body 100. The sliding assembly 600 enables the actuator 200 to slide relative to the body 100, thereby facilitating adjustment of the adapter relative to the body 100.

[0224] It should be noted that the actuator 200 in the present application is a rectangular parallelepiped structure. Along the length extension direction of the actuator 200, one end is a power source 240, and the other end is used to assemble the first adapter 300 or the second adapter 400. When it is necessary to adjust the position of the actuator 200 relative to the fuselage 100, the actuator 200 can be first driven by the sliding assembly 600 to slide to approximately the middle position relative to the fuselage 100, and then the position of the actuator 200 relative to the fuselage 100 can be adjusted by rotating the adjustment assembly 500, so that the longer actuator 200 can be easily rotated during the rotation process, thereby avoiding the mechanical arm on the fuselage 100 from restricting the rotation of the actuator 200.

[0225] In this application, the actuator 200 is designed such that the power source 240 is located at one end of the actuator 200 in its longitudinal direction, and the first adapter 300 or the second adapter 400 is located at the other end. This can more easily meet the requirement that the end of the medical device closest to the patient be a sterile environment.

[0226] See also Figure 1-Figure 3 In some embodiments, the sliding assembly 600 includes a slider 610 and a sliding slot 620. The slider 610 is fixedly connected to the first rotating member 510; the sliding slot 620 is mounted on the actuator 200 and slidably connected to the slider 610. The interaction between the slider 610 and the sliding slot 620 enables the actuator 200 to slide relative to the body 100, which is relatively simple and convenient.

[0227] See also Figure 4 In some embodiments, the actuator 200 is configured with a housing cavity 200a; the first position transmission group 210 and the second position transmission group 220 are at least partially housed within the housing cavity 200a. By providing the housing cavity 200a and allowing the first position transmission group 210 and the second position transmission group 220 to be at least partially housed within the housing cavity 200a, the overall structure of the surgical assistance system is simplified, making it easier to achieve sterility requirements and thus meeting the requirements of the surgical environment.

[0228] See also Figure 13 Combined with Figure 20-23 In some embodiments, the first adapter 300 includes a first base 3100 and a first adjustment mechanism 3200. The first base 3100 is used to support the first aortic valve repair device 910; the first adjustment mechanism 3200 is mounted on the first base 3100; and the first adjustment assembly 3200 includes a first buckle 3210, a first transmission member 3220, a clutch assembly 3230, and a first drive assembly 3240. The first clip 3210 is constructed with a first clip hole 3210a, which is used to penetrate and clip the middle sheath 932 of the first aortic valve repair device 910; the first transmission member 3220 is fixedly connected to the first clip 3210; the clutch assembly 3230 has a first position and a second position relative to the first transmission member 3220; the first drive assembly 3240 is transmission-connected to the clutch assembly 3230; wherein, when the clutch assembly 3230 is in the first position relative to the first transmission member 3220, the first drive assembly 3240 is transmission-connected to the first transmission member 3220; when the clutch assembly 3230 is in the second position relative to the first transmission member 3220, the first drive assembly 3240 is separated from the first transmission member 3220.

[0229] It should be noted that aortic valve replacement surgery has two pathways to enter the patient's body. One is the transfemoral approach: inserting a catheter 930 through the femoral artery at the root of the thigh, and after retrogradely following the blood vessel through the aortic arch, the operation is performed at the valve orifice where the left ventricle outputs the aorta. The other is the transapical approach: making a small incision through the left intercostal space to directly reach the apex of the heart, and then inserting the catheter 930 for operation. In clinical needs, doctors need to evaluate the appropriate surgical pathway for the patient based on the patient's condition. The first aortic valve repair device 910 provided in this application is a device for the transfemoral approach.

[0230] It should be noted that the catheter 930 of the first aortic valve repair device 910 is capable of passing through the femoral artery at the groin and, after retrogradely traveling along the vessel through the aortic arch, exiting the left ventricle to the aortic valve orifice. The balloon mounted on the catheter 930 is then released into the aortic valve orifice. The catheter 930 of the first aortic valve repair device 910 comprises a three-layer structure: an outer sheath 931, a middle sheath 932 positioned within the outer sheath 931, and an inner sheath 933 positioned within the middle sheath 932. The outer sheath 931 is a relatively thick guide sheath, providing access to the blood vessels. The middle sheath 932 is mounted with the balloon for release. The inner sheath 933 is the thinnest guide wire. One end of the inner sheath has been previously introduced into the human body along a pre-set path and secured during surgical preparation. This allows the outer sheath 931 and inner sheath 933 to be guided by the guide wire during movement. When the inner sheath 933 is connected to the first drive assembly 3240 and is not driven by the first drive assembly 3240, it moves synchronously with the outer sheath 931. When the inner sheath 933 is driven by the first drive assembly 3240, it moves relative to the outer sheath 931, thereby enabling the two to achieve a positioning function in clinical applications.

[0231] When performing an aortic valve replacement surgery using the first adapter 300, the first aortic valve repair device 910 is supported on the first base 3100, and the inner sheath 932 of the first aortic valve repair device 910 is inserted into and engaged with the first engaging hole 3210a of the first buckle 3210. When the inner sheath 932 of the first aortic valve repair device 910 and the outer sheath 931 disposed thereover need to be moved forward or backward synchronously within the patient's body along a predetermined path, the clutch assembly 3230 is positioned relative to the first transmission member 3220, thereby connecting the first drive assembly 3240 to the first transmission assembly. This prevents the first transmission member 3220 and the inner sheath 932 within the first buckle 3210 from freely moving. If no power is transmitted from the first drive assembly 3240, the inner sheath 933 moves synchronously with the outer sheath 931. When the inner sheath 933 needs to be moved relative to the outer sheath 931 to achieve alignment between the two, the inner sheath 933 can be moved relative to the outer sheath 931 under the drive of the first drive assembly 3240. When the catheter 930 of the first aortic valve repair device 910 moves to a preset position at the aortic valve and the balloon on the middle sheath 932 needs to be released, the clutch assembly 3230 is placed in the second position relative to the first transmission member 3220 to separate the first drive assembly 3240 from the first transmission member 3220, thereby allowing the first transmission member 3220 and the middle sheath 932 in the first buckle 3210 to move freely, thereby placing the middle sheath 932 in a naturally untensioned state, thereby preventing the balloon from generating large stress during the stress release process and pulling on the middle sheath 932, thereby causing secondary injury to the patient. When the first adapter 300 provided in the embodiment of the present application is installed on a surgical auxiliary system to perform an aortic valve replacement surgery on the first aortic valve repair device 910, it can simulate the power clutch requirements when the doctor manually operates the repair device, effectively meeting clinical needs.

[0232] The first adapter 300 provided in the embodiment of the present application enables the doctor to remotely control the first aortic valve repair device 910, for example, to operate it outside the operating room, thereby reducing the radiation damage to the doctor and reducing the doctor's operating intensity, while the accuracy of the surgical operation is further improved.

[0233] See also Figure 20-23In some embodiments, the first transmission member 3220 is configured as a first transmission rack; the clutch assembly 3230 includes a clutch gear 3231; when the clutch assembly 3230 is in a first position relative to the first transmission member 3220, the clutch gear 3231 is engaged with the first transmission rack, so that the first transmission rack and the clutch gear 3231 move synchronously; when the clutch assembly 3230 is in a second position relative to the first transmission member 3220, the clutch gear 3231 is separated from the first transmission rack, and the first transmission rack can drive the middle sheath 932 to move freely along the tooth arrangement direction of the first transmission rack; specifically, the tooth arrangement direction of the first transmission rack is Figure 20-23 xx' direction in .

[0234] By engaging or disengaging the clutch gear 3231 with the first transmission rack, the first transmission rack and the clutch gear 3231 move synchronously, or the first transmission rack drives the middle sheath 932 to move freely along the tooth arrangement direction of the first transmission rack, thereby achieving that when the catheter 930 of the first aortic valve repair device 910 moves to the preset position at the aortic valve and the balloon on the middle sheath 932 needs to be released, the clutch gear 3231 is separated from the first transmission rack, and the first transmission member 3220 and the middle sheath 932 in the first buckle 3210 are in a state of free movement, so that the middle sheath 932 is in a naturally tension-free state, which can avoid the balloon generating large stress and pulling the middle sheath 932 during the stress release process, thereby causing secondary damage to the patient. When the catheter 930 needs to be delivered, the clutch gear 3231 is engaged with the first transmission rack, and the clutch gear 3231 and the first transmission rack move together, thereby preventing the first transmission member 3220 and the inner sheath 932 in the first buckle 3210 from being in a state of free movement. If the first drive assembly 3240 does not transmit power, the inner sheath 933 will move synchronously with the outer sheath 931 (this is a function achieved by the structure of the conventional first aortic valve repair device 910 itself). When the inner sheath 933 needs to be moved relative to the outer sheath 931 to achieve the alignment function between the two, the inner sheath 933 can be moved relative to the outer sheath 931 under the drive of the first drive assembly 3240.

[0235] See also Figure 20-23In some embodiments, the clutch assembly 3230 further includes a first rotating shaft 3232 and a first transmission rod 3233. One end of the first transmission rod 3233 is connected to the first rotating shaft 3232, and the other end of the first transmission rod 3233 is fixedly connected to the clutch gear 3231. When the first rotating shaft 3232 rotates about its own rotation axis, it can drive the first transmission rod 3233 to rotate, so that the clutch gear 3231 is in the first position or the second position relative to the first transmission member 3220. The rotation of the first rotating shaft 3232 causes the first transmission rod 3233 to drive the clutch gear 3231 to rotate about the first rotating shaft 3232, so that the clutch gear 3231 can move closer to or farther away from the first transmission member 3220, thereby achieving engagement or disengagement of the clutch gear 3231 with the first transmission rack, which is relatively convenient.

[0236] See also Figure 23 Combined with Figure 24 In some embodiments, the first rotating shaft 3232 further includes a cam portion 32321, which is in transmission connection with the first transmission rod 3233. The clutch assembly 3230 further includes a first fixed shaft 3234, which is fixed to the first base 3100 and located between the clutch gear 3231 and the first rotating shaft 3232. The first transmission rod 3233 is sleeved on the first fixed shaft 3234. When the first rotating shaft 3232 rotates about its own rotation axis, it can drive the first transmission rod 3233 to rotate about the axis of the first fixed shaft 3234. The provision of the first fixed shaft 3234 allows the first transmission rod 3233 to be fixed to the first fixed shaft 3234. Furthermore, the provision of the cam portion 32321 on the first rotating shaft 3232 allows the first transmission rod 3233 to perform periodic oscillating motion due to the shape of the cam portion 32321, thereby driving the clutch gear 3231 toward or away from the first transmission rack.

[0237] It should be noted that when the clutch gear 3231 needs to be separated from the first transmission rack, the first rotating shaft 3232 is rotated to a predetermined angle and then fixed. When the clutch gear 3231 needs to be engaged with the first rack, the first rotating shaft 3232 is similarly rotated to a predetermined angle and then fixed. This ensures that the clutch gear 3231 is in a fixed state whether it is separated from or engaged with the first transmission rack.

[0238] See also Figure 21 and Figure 23In some embodiments, a first receiving groove 32331 is configured on one side of the first transmission rod 3233 close to the first rotating shaft 3232; when the short shaft end of the cam portion 32321 abuts against the upper groove wall of the first receiving groove 32331, the rotation axis of the clutch gear 3231 is higher than the axis of the first fixed shaft 3234, so that the clutch gear 3231 is engaged with the first transmission rack (e.g., Figure 21 when the long axis end of the cam portion 32321 abuts against the upper groove wall of the first accommodating groove 32331, the rotation axis of the clutch gear 3231 is lower than the axis of the first fixed shaft 3234, so that the clutch gear 3231 is separated from the first transmission rack.

[0239] When the cam portion 32321 rotates synchronously with the first rotating shaft 3232, the first transmission rod 3233 is able to rotate relative to the first fixed shaft 3234. By providing the first receiving groove 32331 on the first transmission rod 3233, when the minor axis end of the cam portion 32321 abuts the upper groove wall of the first receiving groove 32331, the rotation axis of the clutch gear 3231 is higher than the axis of the first fixed shaft 3234, thereby allowing the clutch gear 3231 to contact and engage with the first transmission rack. Furthermore, when the major axis end of the cam portion 32321 abuts the upper groove wall of the first receiving groove 32331, the rotation axis of the clutch gear 3231 is lower than the axis of the first fixed shaft 3234, thereby separating the clutch gear 3231 from the first transmission rack.

[0240] See also Figure 20-23 In some embodiments, the clutch assembly 3230 further includes a first driving member 3235; the first driving member 3235 is in transmission connection with the first rotating shaft 3232, and is used to drive the first rotating shaft 3232 to rotate about its own rotation axis. The first driving member 3235 drives the first rotating shaft 3232 in transmission connection, so that the first driving member 3235 can drive the first rotating shaft 3232 to rotate about its own rotation axis. Specifically, the first driving member 3235 can be a drive assembly in which a first bevel gear is mounted on the first motor, and a second bevel gear is mounted on the first rotating shaft 3232, which meshes with the first bevel gear. In this way, the first rotating shaft 3232 is driven to rotate by the first motor.

[0241] See also Figure 21 Combined with Figure 22 and Figure 23 In some embodiments, the first driving assembly 3240 includes a second driving member 3241, a second rotating shaft 3242, and a first transmission gear 3243 ( Figure 22(As shown). The second rotating shaft 3242 is in driving connection with the second driving member 3241; the first transmission gear 3243 is sleeved on and fixedly connected to the second rotating shaft 3242; and the first transmission gear 3243 is in driving connection with the clutch assembly 3230. The second driving member 3241 transmits driving force to the second rotating shaft 3242. The rotation of the second rotating shaft 3242 drives the first transmission gear 3243 to rotate synchronously. The first transmission gear 3243 is in driving connection with the clutch assembly 3230, ultimately transmitting the power of the second driving member 3241 to the clutch gear 3231.

[0242] See also Figure 22 and Figure 23 In some embodiments, the clutch assembly 3230 further includes a third rotating shaft 3244 and a second transmission gear 3245 ( Figure 23 (As shown). The clutch gear 3231 is sleeved on and fixedly connected to the third rotating shaft 3244; the second transmission gear 3245 is sleeved on and fixedly connected to the third rotating shaft 3244; the second transmission gear 3245 and the clutch gear 3231 are spaced apart along the extension direction of the third rotating shaft 3244; and the second transmission gear 3245 meshes with the first transmission gear 3243. The second transmission gear 3245 and the clutch gear 3231 are spaced apart along the extension direction of the third rotating shaft 3244. In other words, the second transmission gear 3245 and the first transmission rack are not coplanar in a plane radially extending from the third rotating shaft 3244. Therefore, the second transmission gear 3245 meshes only with the first transmission gear 3243 and does not mesh with the first transmission rack. When the clutch gear 3231 is engaged with the first transmission rack, the first transmission gear 3243 transmits power to the second transmission gear 3245, so that the third rotating shaft 3244 rotates, thereby driving the clutch gear 3231 to rotate. The clutch gear 3231 then transmits power to the first transmission rack, ultimately allowing the inner sheath 932 to move relative to the outer sheath 931 to achieve the alignment function between the two.

[0243] In some embodiments, the distance between the axis of the second transmission gear 3245 and the axis of the first transmission gear 3243 remains unchanged when the first transmission rod 3233 rotates about the axis of the first fixed shaft 3234. This arrangement ensures that the second transmission gear 3245 and the first transmission gear 3243 are always in a meshed state when the first transmission rod 3233 rotates about the axis of the first fixed shaft 3234, thereby making the clutch assembly 3230 safer and more stable when performing clutch adjustment for power transmission.

[0244] See also Figure 21 and Figure 23In some embodiments, a second receiving groove 32332 having an opening is formed on the side of the first transmission rod 3233 near the clutch gear 3231; the third rotating shaft 3244 is engaged in the second receiving groove 32332. By forming the second receiving groove 32332 having an opening on the side of the first transmission rod 3233 near the clutch gear 3231, the third rotating shaft 3244 can be more easily assembled into the second receiving groove 32332.

[0245] See also Figures 14-19 In some embodiments, the first base 3100 is further configured with a first slide groove 3110; the first clip 3210 includes a first clip portion 3211 and a first sliding portion 3212 connected to each other; the first clip portion 3211 is configured with a first clip hole 3210a; the first sliding portion 3212 at least partially extends into the first slide groove 3110 and is fixedly connected to the first transmission member 3220, and the first sliding portion 3212 is capable of sliding relative to the groove wall of the first slide groove 3110. By providing the first slide groove 3110 on the first base 3100 and configuring the first clip 3210 with the first clip portion 3211 and the first sliding portion 3212 connected to each other, the first sliding portion 3212 extends into the first slide groove 3110 and is fixedly connected to the first transmission member 3220, so that the first clip 3210 drives the middle sheath 932 to slide along the extension direction of the first slide groove 3110.

[0246] See also Figure 15 In some embodiments, the first engaging portion 3211 includes a first engaging body 32111 and a first retractable cover 32112. The first engaging body 32111 is connected to the first sliding portion 3212 and is configured with a first engaging groove 321111 having an opening. The first retractable cover 32112 is rotatably connected to the first engaging body 32111. When the first retractable cover 32112 is closed relative to the first engaging body 32111, the first engaging groove 321111 and the first retractable cover 32112 together form a first engaging hole 3210a. This arrangement allows the middle sheath 932 to be engaged with the first engaging hole 3210a by opening the first retractable cover 32112 and placing the middle sheath 932 therein, simplifying operation.

[0247] See also Figure 13-15 In some embodiments, the first adapter 300 further includes a second buckle 3300 having a second engaging groove 3300a configured to engage the outer periphery of the first aortic valve repair device 910. The second engaging groove 3300a may also be contoured to better engage the first aortic valve repair device 910.

[0248] See also Figure 13-15 In some embodiments, the second clip 3300 includes a second clip body 3310 and a second openable and closable clip cover 3320, and a second clip groove 3300a is configured on the second clip body 3310. By opening the second openable and closable clip cover 3320, the first aortic valve repair device 910 can be removed from or inserted into the second clip groove 3300a.

[0249] See also Figure 13 and Figure 17-Figure 19 The first adapter 300 also includes a second drive assembly 3400, which is in transmission connection with the first aortic valve repair device 910 to drive the catheter 930 of the first aortic valve repair device 910 to adjust the bend. Specifically, the first aortic valve repair device 910 is provided with a rotation handle. By rotating the rotation handle, the catheter 930 can be adjusted to bend, thereby making it easier to pass the catheter 930 through the arch in the blood vessel. It should be noted that the operation of passing the catheter 930 through the arch in the blood vessel means that the extension direction of the blood vessel has a large curvature, and the catheter 930 needs to be rotated within the blood vessel to adjust the large curvature.

[0250] See also Figure 16 In some embodiments, the second drive assembly 3400 includes a ferrule 3410 that is sleeved on the rotating handle. The inner ring of the ferrule 3410 matches the shape of the rotating handle, and the outer peripheral wall of the ferrule 3410 is formed with a gear structure. The second drive assembly 3400 also includes a gear transmission member 3420 and a third drive member 3430 that are transmission-connected to each other. The gear transmission member 3420 meshes with the ferrule 3410. In this way, the power of the third drive member 3430 is transmitted to the gear transmission member 3420, and the gear transmission member 3420 transmits the power to the ferrule 3410. The ferrule 3410 then drives the rotating handle to rotate.

[0251] See also Figure 13 Combined with Figure 20 and Figure 22In some embodiments, the first adapter 300 further includes a second adjustment mechanism 3500 mounted on the first base 3100. The second adjustment mechanism 3500 is disposed on a side of the first adjustment mechanism 3200 away from the second buckle 3300. The second adjustment mechanism 3500 includes a third buckle 3510, a second transmission member 3520, and a third drive assembly 3530. The third buckle 3510 is configured with a second engaging hole 3510a, which is configured to pass through and engage the inner sheath 933 of the catheter 930, i.e., the guidewire. The second transmission member 3520 is fixedly connected to the third buckle 3510 and slidably connected to the first base 3100. The third drive assembly 3530 is in transmission connection with the second transmission member 3520, configured to drive the second transmission member 3520 to cause the inner sheath 933 to slide relative to the first base 3100. By providing the second adjusting mechanism 3500 , the guide wire can slide relative to the middle sheath 932 under the drive of the second adjusting mechanism 3500 , thereby achieving the withdrawal of the guide wire.

[0252] See also Figure 14 Combined with Figure 15 In some embodiments, the first base 3100 is further configured with a second slide groove 3120; the third clip 3510 includes a second clipping portion 3511 and a second sliding portion 3512 connected to each other; the second clipping portion 3511 is configured with a second clipping hole 3510a; the second sliding portion 3512 at least partially extends into the second slide groove and is fixedly connected to the second transmission member 3520, and the second sliding portion 3512 is capable of sliding relative to the groove wall of the second slide groove 3120. By providing the second slide groove 3120 on the first base 3100 and configuring the third clip 3510 with the second clipping portion 3511 and the second sliding portion 3512 connected to each other, the second sliding portion 3512 extends into the second slide groove 3120 and is fixedly connected to the second transmission member 3520, so that the third clip 3510 drives the inner sheath 933 to slide along the extension direction of the second slide groove 3120.

[0253] See also Figure 14 and Figure 15In some embodiments, the second engaging portion 3511 includes a third engaging body 35111 and a third retractable cover 35112. The third engaging body 35111 is connected to the second sliding portion 3512 and is configured with a third engaging groove 351111 having an opening. The third retractable cover 35112 is rotatably connected to the third engaging body 35111. When the third retractable cover 35112 is closed relative to the third engaging body 35111, the third engaging groove 351111 and the third retractable cover 35112 together form a second engaging hole 3510a. This arrangement allows the inner sheath 933 to be inserted into the second engaging hole 3510a after the third retractable cover 35112 is opened, simplifying operation.

[0254] See also Figure 20 Combined with Figure 22 In some embodiments, the third drive assembly 3530 includes a fourth drive member 3531, a fourth rotating shaft 3532 drivingly connected to the fourth drive member 3531, a first intermediate transmission gear mounted on the fourth rotating shaft 3532, a second intermediate transmission gear mounted on the fifth rotating shaft 3533, and a third transmission gear 3534 mounted on the fifth rotating shaft 3533. The first intermediate transmission gear meshes with the second intermediate transmission gear, the second intermediate transmission gear is spaced apart from the third transmission gear 3534, and the third transmission gear 3534 meshes with the second transmission rack on the second transmission member 3520. The fourth drive member 3531 transmits power to the fourth rotating shaft 3532 via a bevel gear or the like drivingly connected thereto. The fourth rotating shaft 3532 then drives the first intermediate transmission gear to rotate, which in turn drives the second intermediate transmission gear to rotate. The rotation of the fifth rotating shaft 3533 then drives the third transmission gear 3534, ultimately driving the movement of the second transmission member 3520.

[0255] See also Figure 1 、 Figure 2 、 Figure 12 、 Figure 13 as well as Figure 17-Figure 19In some embodiments, the surgical assistance system further includes a first guide rod 710 and a second guide rod 720. The first guide rod 710 is slidably connected to the first base 3100 and is configured with a first guide hole 710a; the first guide hole 710a is used to pass the catheter 930 of the first aortic valve repair device 910 or the catheter 930 of the second aortic valve repair device 920; the second guide rod 720 is used to be connected to the body 3000 and is configured with a second guide hole 720a; the second guide hole 720a is spaced apart from the first guide hole 710a and is located on a side of the first guide hole 710a away from the first base 3100 or the second base 4100; the second guide hole 720a is used to pass the catheter 930 of the first aortic valve repair device 910 or the catheter 930 of the second aortic valve repair device 920.

[0256] It should be noted that the catheter 930 of the first aortic valve repair device 910 is capable of passing through the femoral artery at the groin and, after retrogradely traveling along the vessel through the aortic arch, exiting the left ventricle to the aortic valve orifice. The balloon mounted on the catheter 930 is then released into the aortic valve orifice. The catheter 930 of the first aortic valve repair device 910 comprises a three-layer structure: an outer sheath 931, a middle sheath 932 positioned within the outer sheath 931, and an inner sheath 933 positioned within the middle sheath 932. The outer sheath 931 is a relatively thick guide sheath, providing access to the blood vessels. The middle sheath 932 is mounted with the balloon for release. The inner sheath 933 is the thinnest guide wire. One end of the inner sheath has been previously introduced into the human body along a pre-set path and secured during surgical preparation. This allows the outer sheath 931 and inner sheath 933 to be guided by the guide wire during movement. When the inner sheath 933 is connected to the first drive assembly 3240 and is not driven by the first drive assembly 3240, it moves synchronously with the outer sheath 931. When the inner sheath 933 is driven by the first drive assembly 3240, it moves relative to the outer sheath 931, thereby enabling the two to achieve a positioning function in clinical applications.

[0257] The following describes an example of how the first guide rod 720 and the second guide rod 720 guide the catheter 930 of the first aortic valve repair device 910 . The guidance of the catheter 930 of the second aortic valve repair device 920 is similar and will not be described in detail.

[0258] The catheter 930 of the first aortic valve repair device 910 is inserted through the first guide hole 710a of the first guide rod 710 and the second guide hole 720a of the second guide rod 720. The catheter 930 is then delivered into the patient's body along a predetermined path. During delivery, the first base 3100 is controlled to synchronously move the first guide rod 710 relative to the second guide hole 720a. Once the first guide rod 710 and the second guide rod 720 abut, the first base 3100 is controlled to move closer to the first guide hole 710a. During this process, the first guide hole 710a and the second guide hole 720a provide two spaced support points for the catheter 930, supporting it and reducing the possibility of it buckling or bending, thereby preventing it from collapsing. The first adapter 300 also provides high precision in controlling the movement of the front end of the catheter 930, preventing secondary injury to the patient.

[0259] By setting up the first guide rod 710, the catheter 930 of the first aortic valve repair device 910 can be guided by the first guide hole 710 during transportation, so that the catheter 930 is not prone to collapse, and the accuracy of the moving path of the catheter 930 is high. In addition, since the first guide rod 710 and the slider 610 are detachably connected, the doctor can quickly disassemble and assemble the first guide rod 710 and the slider 610 when switching to different surgical procedures, thereby meeting different usage requirements. For example, when an aortic valve replacement surgery is required via the femoral artery, the first guide rod 710 needs to be installed on the Figure 1 When a transapical aortic valve replacement surgery is required, the first guide rod 710 needs to be installed on the left end face of the actuator 200. Figure 2 The right end face side of the actuator 200 is shown.

[0260] In the present application, the second guide rod 720 and the first guide rod 710 cooperate with each other, so that the catheter 930 can be delivered to the patient's body. Figure 17 The status shown moves to Figure 18 In this process, the first guide rod 710 and the first base 3100 are synchronously moved closer to the second guide rod 720 until the first guide rod 710 and the second guide rod 720 abut against each other. Figure 18 At this time, the first base 3100 continues to approach the second guide rod 720, and the first guide rod 710 slides relative to the first base 3100 until it reaches Figure 19 The state shown in FIG. 1 is then controlled to further transport the catheter 930 within the patient's body, thereby reducing the possibility of the catheter 930 collapsing outside the patient's body during transportation.

[0261] See also Figure 12 as well as Figure 14-19 In some embodiments, the first guide rod 710 includes a first guide portion 711 and a first clamping arm 712 that are connected to each other and arranged at an angle; the first guide portion 711 is slidably connected to the first base 3100; and the first clamping arm 712 is configured with a first guide hole 710a. By configuring the first guide rod 710 as the first guide portion 711 and the first clamping arm 712 that are connected to each other and arranged at an angle, and by making the first guide portion 711 slidably connected to the first base 3100, and by configuring the first guide hole 710a on the first clamping arm 712, the sliding guide portion is separated from the first guide hole 710a that clamps the inner sheath 933. This reduces the impact of the first guide portion 711 on the catheter 930 during transportation when the first guide portion 711 slides.

[0262] See also Figure 12 as well as Figure 17-Figure 19 In some embodiments, the second guide rod 720 includes a second guide portion 721 and a second clamping arm 722 connected to each other and arranged at an angle. The second guide portion 721 is connected to the body 100, and the second clamping arm 722 is configured with a second guide hole 720a. By configuring the second guide rod 720 with the second guide portion 721 and the second clamping arm 722 connected to each other and arranged at an angle, and the second clamping arm 722 is configured with the second guide hole 720a, the connected guide portion is separated from the second guide hole 720a that clamps the inner sheath 933. This reduces the impact of the second guide portion 721 on the catheter 930 during transportation when the first base 3100 slides relative to the second guide hole 720a.

[0263] See also Figure 14 and Figure 15 In some embodiments, the end of the first engaging arm 712 away from the first guide portion 711 is configured with two first engaging half-grooves disposed opposite and spaced apart from each other. The two first engaging half-grooves collectively enclose a first guide hole 710a. The two first engaging half-grooves disposed opposite and spaced apart from each other collectively form the first guide hole 710a. This allows the inner sheath 932 to be inserted into the first guide hole 710a through the gap between the two first engaging half-grooves, thereby facilitating the engagement of the inner sheath 932.

[0264] In some embodiments, the end of the second engaging arm 722 distal from the second guide portion 721 is configured with two opposing, spaced-apart second engaging half-grooves, which together enclose a second guide hole 720a. The two opposing, spaced-apart second engaging half-grooves together form the second guide hole 720a, allowing the inner sheath 932 to be inserted into the second guide hole 720a through the gap between the two second engaging half-grooves, thereby facilitating the engagement of the inner sheath 932.

[0265] In some embodiments, the second guide rod 720 is provided with a magnetic structure that is magnetically connected to the body 100. The magnetic structure provided on the second guide rod 720 enables quick assembly and disassembly of the second guide rod 720 and the body 100, thereby meeting the installation requirements of different techniques.

[0266] See also Figure 4 Combined with Figure 22 In some embodiments, at least four sets of independently arranged transmission structures 230 are arranged in the housing cavity 200a of the actuator 200, and each set of transmission structures 230 ultimately outputs a driving shaft. Figure 4 The first base 3100 is provided with a first mounting hole 3130, a second mounting hole 3140, a third mounting hole 3150 and a fourth mounting hole 3160 ( Figure 22 The first mounting hole 3130 is used to mount the first driving shaft 211, the second mounting hole 3140 is used to mount the second driving shaft 212, the third mounting hole 3150 is used to mount the third driving shaft 213, and the fourth mounting hole 3160 is used to mount the fourth driving shaft 214.

[0267] The power is transmitted to the first driving member 3235 , the second driving member 3241 , the third driving member 3430 and the fourth driving member 3531 through the first driving shaft 211 , the second driving shaft 212 , the third driving shaft 213 and the fourth driving shaft 214 respectively, thereby realizing power transmission to the first adapter 300 .

[0268] See also Figure 1 and Figure 2 In some embodiments, the body 100 further includes a bed 110, on which the patient lies flat. Figure 1 When the aortic valve replacement surgery is performed via the femoral artery, the doctor needs to be on the right side of the patient to facilitate the doctor's operation. Figure 1 and Figure 2Both sides along the yy' direction.

[0269] See also Figure 2 Combined with Figure 25-27 The second adapter 400 provided in one embodiment of the present application includes a second base 4100, a gear ring assembly 4200, and a first transmission assembly 4300. The second base 4100 is slidably connected to the body 100 and is used to support the second aortic valve repair device 920. The gear ring assembly 4200 includes at least one gear ring 4210, which is connected to the rotating portion of the second aortic valve repair device 920. The first transmission assembly 4300 is mounted on the second base 4100 and includes at least one transmission group. The transmission group is in transmission connection with the gear ring 4210 to drive the rotating portion of the second aortic valve repair device 920.

[0270] When the second adapter 400 is mounted on the actuator 200 for aortic valve replacement surgery, each ring gear 4210 of the ring gear assembly 4200 is first connected to at least one rotating portion of the second aortic valve repair device 920. The second aortic valve repair device 920 is then supported on the second base 4100, so that each transmission group within the first transmission assembly 4300 can be connected to a ring gear 4210. This allows the doctor to control the power on and off of each transmission group to achieve the effect of driving the rotating portion of the second aortic valve repair device 920. The second adapter 400 provided in this embodiment of the application has a relatively simple structure, and thus the structure of the resulting surgical assistance system is also relatively simple. The doctor only needs to operate the power on and off of each transmission group to achieve adjustment and control of the second aortic valve repair device 920, which is very simple and labor-saving.

[0271] See also Figure 30 Combined with Figure 31 In some embodiments, each gear ring 4210 includes at least two detachably connected tooth connection portions. By configuring each gear ring 4210 to include at least two detachably connected tooth connection portions, the engagement of the gear ring 4210 with the rotating portion of the second aortic valve repair device 920 is facilitated.

[0272] In one specific embodiment, each ring gear 4210 includes two detachably connected tooth connection portions, each of which is a half ring gear structure. This allows the two half ring gear structures to be quickly separated or installed when the ring gear 4210 is installed on the rotating part. Of course, in other embodiments, each ring gear 4210 may also include three or four detachably connected tooth connection portions, which are not particularly limited.

[0273] See also Figure 30 and Figure 31In some embodiments, one of two adjacent tooth connecting parts is configured with a locking protrusion 4213, and the other is configured with a locking groove 4214. The locking protrusion 4213 can at least partially extend into the locking groove 4214 and be locked with the locking groove 4214. The cooperation between the locking groove 4214 and the locking protrusion 4213 facilitates the assembly and disassembly of the two adjacent tooth connecting parts.

[0274] See also Figure 30 Combined with Figure 31 In some embodiments, each gear ring 4210 includes a first tooth connecting portion 4211 and a second tooth connecting portion 4212, which are detachably connected. The first tooth connecting portion 4211 is configured with a snap-fit groove 4214, and the second tooth connecting portion 4212 is configured with a snap-fit protrusion 4213.

[0275] See also Figure 31 In some embodiments, the engaging protrusion 4213 includes at least two spaced-apart engaging protrusions 42131, and the outer peripheral wall of each engaging protrusion 42131 is configured with at least one engaging protrusion arm 42131a. By configuring the engaging protrusion 4213 as at least two spaced-apart engaging protrusions 42131, when the engaging protrusion is inserted into the engaging groove 4214, the engaging protrusion 42131 can be easily inserted into the engaging groove 4214 due to the deformation of the engaging protrusion 42131. Furthermore, since the outer peripheral wall of each engaging protrusion 42131 is configured with at least one engaging protrusion arm 42131a, the engaging protrusion arm 42131a can abut against the groove wall of the engaging groove 4214, making the two more stable after the engaging. By such an arrangement, the present application takes into account both the convenience of assembly and disassembly of the tooth connection parts and the stability of the engaging connection.

[0276] See also Figure 25 Combined with Figure 26-Figure 28 In some embodiments, the second adapter 400 further includes a fixing buckle 4400 rotatably connected to the second base 4100; the fixing buckle 4400 is configured with a fixing engaging groove 4400a; the fixing engaging groove 4400a is used to engage the outer periphery of the second aortic valve repair device 920. The fixing buckle 4400 enables the outer periphery of the second aortic valve repair device 920 to be engaged through the fixing engaging groove 4400a of the fixing buckle 4400, thereby securing the second aortic valve repair device 920 to the second base 4100.

[0277] See also Figure 26-Figure 28In some embodiments, the fixing buckle 4400 includes a fixing body 4410, a closable buckle cover 4420, and a locking member 4430. The fixing body 4410 is rotatably connected to the second base 4100; the closable buckle cover 4420 is rotatably connected to the fixing body 4410; and the locking member 4430 passes through the closable buckle cover 4420 and is connected to the fixing body 4410. By providing the closable buckle cover 4420 that can be rotatably connected to the fixing body 4410, when the second aortic valve repair device 920 is fixed to the fixing clamping groove 4400a, the closable buckle cover 4420 can be opened to Figure 4 In the state shown, the closable buckle cover 4420 is then buckled, and the closable buckle cover 4420 is connected to the fixed body 4410 through the locking member 4430, so that it is more convenient to install the second aortic valve repair device 920 into the fixed buckle 4400.

[0278] In one specific embodiment, the fixing body 4410 is configured with a locking hole 4411, and the locking member 4430 is passed through the closable buckle cover 4420 and connected to the wall of the locking hole 4411. Optionally, the locking member 4430 can be a threaded connector, and the locking hole 4411 is a threaded hole that cooperates therewith.

[0279] See also Figure 26-Figure 28 In some embodiments, the second base 4100 includes a fixing plate 4110; the fixing plate 4110 is configured with a rotation slot 4111. The fixing buckle 4400 is at least partially accommodated in the rotation slot 4111 and is rotatably connected to the groove wall of the rotation slot 4111. This arrangement allows the fixing buckle 4400 to drive the entire second aortic valve repair device 920 to rotate relative to the groove wall of the rotation slot 4111, thereby achieving rotational adjustment of the catheter 930 on the second aortic valve repair device 920.

[0280] See also Figure 26-Figure 28 In some embodiments, the outer periphery of the fixing buckle 4400 is configured with a tooth structure 4440. The second adapter 400 further includes a second transmission assembly 4500. The second transmission assembly 4500 is mounted on the second base 4100 and engages with the tooth structure 4440 to drive the fixing buckle 4400 to rotate relative to the second base 4100. The engagement between the tooth structure 4440 on the outer periphery of the fixing buckle 4400 and the second transmission assembly 4500 enables the second transmission assembly 4500 to drive the fixing buckle 4400 to rotate relative to the second base 4100, thereby achieving rotational adjustment of the catheter 930 on the second aortic valve repair device 920.

[0281] See also Figure 29 Combined with Figure 32 and Figure 33In some embodiments, the gear ring assembly 4200 includes a first gear ring 4220; the inner ring of the first gear ring 4220 is configured with a latching protrusion 4215; the latching protrusion 4215 is configured to latch with an unlocking groove 921 on the second aortic valve repair device 920. The second aortic valve repair device 920 is configured with an unlocking groove 921 and a child lock key 922 that can slide along the extending direction of the unlocking groove 921. When the rotation of the rotating portion of the second aortic valve repair device 920 needs to be controlled, the child lock key 922 needs to be in the unlocked position. In this application, the latching protrusion 4215 is configured on the inner ring of the first gear ring 4220, and the latching protrusion 4215 is engaged with the unlocking groove 921 on the second aortic valve repair device 920, so that the child lock key 922 can slide to the unlocked position, thereby unlocking the second aortic valve repair device 920 and facilitating subsequent rotation control and adjustment.

[0282] See also Figure 29 In some embodiments, the gear ring assembly 4200 includes four gear rings 4210 spaced apart; see Figure 25-27 The first transmission assembly 4300 includes four transmission groups; each transmission group meshes with one of the ring gears 4210. By providing four ring gears 4210 and four transmission groups, each ring gear 4210 is controlled by one transmission group, thereby achieving higher control accuracy for the ring gears 4210.

[0283] See also Figure 29 The second aortic valve repair device 920 includes four rotating parts, which enable adjustment functions such as forward, backward, and turning of the catheter 930. The gear ring assembly 4200 includes a first gear ring 4220, a second gear ring 4230, a third gear ring 4240, and a fourth gear ring 4250. The first gear ring 4220 is mounted on the outer circumference of the first rotating part 923 of the second aortic valve repair device 920. The second gear ring 4230 is mounted on the outer circumference of the second rotating part 924 of the second aortic valve repair device 920. The third gear ring 4240 is mounted on the outer circumference of the third rotating part 925 of the second aortic valve repair device 920. The fourth gear ring 4250 is mounted on the outer circumference of the fourth rotating part 926 of the second aortic valve repair device 920. Thus, the four gear rings enable rotational control and adjustment of the four rotating parts of the aortic valve.

[0284] See also Figure 4 In some embodiments, at least five independently arranged transmission structures 230 are arranged in the housing cavity 200a of the actuator 200, and each transmission structure 230 ultimately outputs a driving shaft. Figure 9The actuator 200 is constructed with five spaced-apart drive shafts: a fifth drive shaft 221, a sixth drive shaft 222, a seventh drive shaft 223, an eighth drive shaft 224, and a ninth drive shaft 225. The first transmission assembly 4300 of the second adapter 400 includes four transmission groups: a first transmission group 4310, a second transmission group 4320, a third transmission group 4330, and a fourth transmission group 4340. The fifth drive shaft 221 is in transmission connection with the first transmission group 4310, the sixth drive shaft 222 is in transmission connection with the second transmission group 4320, the seventh drive shaft 223 is in transmission connection with the third transmission group 4330, the eighth drive shaft 224 is in transmission connection with the fourth transmission group 4340, and the ninth drive shaft 225 is in transmission connection with the second transmission assembly 4500. As a result, the fifth driving shaft 221 is used to output power to the first ring gear 4220, the sixth driving shaft 222 is used to output power to the second ring gear 4230, the seventh driving shaft 223 is used to output power to the third ring gear 4240, the eighth driving shaft 224 is used to output power to the fourth ring gear 4250, and the ninth driving shaft 225 is used to output power to the tooth structure 4440 on the fixing buckle 4400.

[0285] See also Figure 25-27 In some embodiments, the first transmission group 4310 includes a first transmission shaft 4311, a second transmission shaft 4312, and a first transmission tooth 4313. The first transmission shaft 4311 and the second transmission shaft 4312 are connected by a structure such as a cooperating helical gear set, and the first transmission shaft 4311 is connected to the fifth driving shaft 221. The first transmission tooth 4313 is fixedly mounted on the second transmission shaft 4312 and can engage with the first ring gear 4220, so that the power of the fifth driving shaft 221 can be transmitted to the first transmission tooth 4313 through the first transmission shaft 4311 and the second transmission shaft 4312, and finally transmitted to the first ring gear 4220, so that the first ring gear 4220 drives the first rotating portion 923 of the second aortic valve repair device 920 to rotate.

[0286] See also Figure 25-27 In some embodiments, the second transmission group 4320 includes a third transmission shaft 4321, a fourth transmission shaft 4322, and a second transmission tooth 4323. The third transmission shaft 4321 and the fourth transmission shaft 4322 are connected via a cooperating helical gear set or other structure, and the third transmission shaft 4321 is connected to the sixth driving shaft 222. The second transmission tooth 4323 is fixedly mounted on the fourth transmission shaft 4322 and is capable of meshing with the second ring gear 4230, so that the power of the sixth driving shaft 222 can be transmitted to the second transmission tooth 4323 via the third transmission shaft 4321 and the fourth transmission shaft 4322, and ultimately to the second ring gear 4230, so that the second ring gear 4230 drives the second rotating portion 924 of the second aortic valve repair device 920 to rotate.

[0287] See also Figure 25-27 In some embodiments, the third transmission group 4330 includes a fifth transmission shaft 4331, a sixth transmission shaft 4332, and a third transmission gear 4333. The fifth transmission shaft 4331 and the sixth transmission shaft 4332 are connected via a cooperating helical gear set or other structure, and the fifth transmission shaft 4331 is connected to the seventh driving shaft 223. The third transmission gear 4333 is fixedly mounted on the sixth transmission shaft 4332 and is capable of meshing with the third ring gear 4240, so that the power of the seventh driving shaft 223 can be transmitted to the third transmission gear 4333 via the fifth transmission shaft 4331 and the sixth transmission shaft 4332, and ultimately to the third ring gear 4240, so that the third ring gear 4240 drives the third rotating portion 925 of the second aortic valve repair device 920 to rotate.

[0288] See also Figure 25-27 In some embodiments, the fourth transmission group 4340 includes a seventh transmission shaft 4341, an eighth transmission shaft 4342, and a fourth transmission tooth 4343. The seventh transmission shaft 4341 and the eighth transmission shaft 4342 are connected by a structure such as a cooperating helical gear set, and the seventh transmission shaft 4341 is connected to the eighth driving shaft 224. The fourth transmission tooth 4343 is fixedly mounted on the eighth transmission shaft 4342 and can mesh with the fourth ring gear 4250, so that the power of the eighth driving shaft 224 can be transmitted to the fourth transmission tooth 4343 via the seventh transmission shaft 4341 and the eighth transmission shaft 4342, and finally to the fourth ring gear 4250, so that the fourth ring gear 4250 drives the fourth rotating portion 926 of the second aortic valve repair device 920 to rotate.

[0289] See also Figure 25 In some embodiments, the second transmission assembly 4500 includes a ninth transmission shaft 4510, a tenth transmission shaft 4520, an eleventh transmission shaft 4530, a twelfth transmission shaft 4540, and a fifth transmission tooth 4550. The ninth transmission shaft 4510, the tenth transmission shaft 4520, the eleventh transmission shaft 4530, and the twelfth transmission shaft 4540 are connected to each other via a cooperating helical gear set or other structure. The ninth transmission tooth is connected to the ninth driving shaft 225. The fifth transmission tooth 4550 is sleeved on the twelfth transmission shaft 4540 and can mesh with the tooth structure 4440. Therefore, the power of the ninth driving shaft 225 can be transmitted through the ninth transmission shaft 4510, the tenth transmission shaft 4520, the eleventh transmission shaft 4530, and the twelfth transmission shaft 4540 to the fifth transmission tooth 4550, and finally to the tooth structure 4440, so that the tooth structure 4440 drives the entire second aortic valve repair device 920 to rotate. By providing a plurality of transmission shafts, the structure of the entire second transmission assembly 4500 is made more compact, the space utilization rate is higher, and the size of the second adapter 400 finally formed is smaller.

[0290] This application also provides a control method for a surgical assistance system. Figure 34 , Figure 34 A flow chart showing a control method for a surgical assistance system provided in some embodiments of the present application is shown. The control method for the surgical assistance system includes:

[0291] S10: Determine the execution method of the surgical assistance system;

[0292] S20: determining an adapter according to an execution procedure of the surgical assistance system;

[0293] S30: Installing the determined adapter to the actuator 200;

[0294] S40: installing the aortic valve repair device onto the adapter;

[0295] S50 : Installing the inner sheath 933 of the aortic valve repair device into the fixing hole 800 a of the fixing assembly 800 .

[0296] When performing an aortic valve replacement surgery using the control method of the surgical assistance system provided in an embodiment of the present application, an adapter is determined according to the surgical assistance system's procedure, the aortic valve is then mounted on the determined adapter, and the determined adapter is mounted on the actuator 200. The inner sheath 933 of the aortic valve repair device is then inserted into and fixed to the fixing hole 800a of the fixing assembly 800. The inner sheath 933 at the innermost portion of the catheter 930 is then secured relative to the human body by the fixing hole 800a. Thus, when the outer sheath 931 and the middle sheath 932 of the catheter 930 of the aortic valve repair device are delivered along a predetermined path within the human body, the inner sheath 933 can better guide the outer sheath 931 and the middle sheath 932 of the catheter 930, making the delivery trajectory of the outer sheath 931 and the inner sheath 933 more precise, thus minimizing the risk of secondary injury to the patient. Furthermore, when the catheter 930 is required to release the balloon at a predetermined position, the release position is also more precise.

[0297] In some embodiments, S20: determining the adapter according to the procedure performed by the surgical assistance system specifically includes:

[0298] Rotating the actuator 200 according to the execution formula so that the actuator 200 rotates relative to the body 100 to the first installation position or the second installation position;

[0299] When the actuator 200 is at the first installation position relative to the body 100, the first adapter 300 is connected to the first position transmission group 210 on the actuator 200; and the first aortic valve repair device 910 is installed on the first adapter 300; or

[0300] When the actuator 200 is at the second installation position relative to the body 100 , the second adapter 400 is connected to the second position transmission assembly 220 on the actuator 200 ; and the second aortic valve repair device 920 is installed on the second adapter 400 .

[0301] The control method for the surgical assistance system provided in an embodiment of the present application can determine the surgical procedure to be performed by the surgical assistance system after the doctor has determined whether the aortic valve replacement surgery will be performed via the femoral or transapical route based on the patient's condition. The method then rotates the actuator 200 according to the surgical procedure, causing the actuator 200 to rotate relative to the body 100 to a first installation position or a second installation position. When the surgical procedure is performed via the femoral route, the actuator 200 is positioned in the first installation position relative to the body 100, and the first adapter 300 is connected to the first position transmission assembly 210 on the actuator 200. After surgical preparations are completed, the first aortic valve repair device 910 is installed on the first adapter 300. The movement of the first aortic valve repair device 910 is controlled by the first adapter 300. When the surgical procedure is performed via a transapical approach, the actuator 200 is positioned in the second installation position relative to the body 100, and the second adapter 400 is connected to the second position transmission assembly 220 on the actuator 200. After surgical preparations are completed, the second aortic valve repair device 920 is installed on the second adapter 400. The movement of the second aortic valve repair device 920 is controlled by the second adapter 400. This enables the surgical assistance system to adjust the position of the actuator 200 relative to the body 100 according to different clinical surgical pathway requirements, thereby assembling the first adapter 300 or the second adapter 400. Ultimately, only one surgical assistance system is required to perform aortic valve replacement surgery via both a transfemoral and a transapical approach, meeting the needs of the surgeon being located on different operating sides of the patient.

[0302] In some embodiments, before the step of rotating the actuator 200 according to the execution procedure so that the actuator 200 rotates to the first installation position or the second installation position relative to the body 100, the control method of the surgical assistance system also includes: driving the actuator 200 to slide to a preset position relative to the body 100 by a sliding assembly 600 installed between the actuator 200 and the body 100.

[0303] Since the actuator 200 in the present application is a rectangular parallelepiped structure, along the length extension direction of the actuator 200, one end is the power source 240, and the other end is used to assemble the first adapter 300 or the second adapter 400. When it is necessary to adjust the position of the actuator 200 relative to the fuselage 100, the sliding assembly 600 is first used to drive the actuator 200 to slide to a preset position of approximately the middle position relative to the fuselage 100, and then the position of the actuator 200 relative to the fuselage 100 is adjusted, so that the longer actuator 200 can be easily rotated during the rotation process, thereby avoiding the mechanical arm on the fuselage 100 from restricting the rotation of the actuator 200.

[0304] In some embodiments, the step of installing the first aortic valve repair device 910 on the first adapter 300 specifically includes:

[0305] Installing the first aortic valve repair device 910 to the first base 3100 of the first adapter 300;

[0306] The catheter 930 of the first aortic valve repair device 910 is passed through the first guide hole 710 a of the first guide rod 710 and the second guide hole 720 a of the second guide rod 720 .

[0307] When the surgical assistance system is controlled by the control method of the surgical assistance system provided in the embodiment of the present application to perform an aortic valve replacement surgery via the radial-femoral artery route, the first aortic valve repair device 910 is supported on the first base 3100, and the catheter 930 of the first aortic valve repair device 910 is passed through the first guide hole 710a on the first guide rod 710 and the second guide hole 720a on the second guide rod 720. The catheter 930 is then delivered into the patient's body along a preset path. During the delivery process, the first base 3100 is first controlled to drive the first guide rod 710 to move synchronously relative to the second guide hole 720a. After the first guide rod 710 and the second guide rod 720 abut, the first base 3100 is then controlled to move closer to the first guide hole 710a. During this process, the first guide hole 710a and the second guide hole 720a will provide two spaced support points for the catheter 930 to lift the catheter 930, thereby reducing the possibility of the catheter 930 being folded and bent, and making the catheter 930 less likely to collapse. The first adapter 300 has a higher accuracy in controlling the movement of the front end of the catheter 930, and is less likely to cause secondary damage to the patient.

[0308] In some embodiments, after the step of passing the catheter 930 of the first aortic valve repair device 910 through the first guide hole 710a of the first guide rod 710 and the second guide hole 720a of the second guide rod 720, the control method of the surgery assistance system further includes:

[0309] Insert the middle sheath 932 of the first aortic valve repair device 910 and clip it into the first clip hole 3210a of the first adjustment assembly of the adapter;

[0310] Control the first base 3100 to drive the first guide rod 710 to move closer to the second guide hole 720a so that the first guide rod 710 abuts against the second guide rod 720;

[0311] The first base 3100 is controlled to move closer to the first guide hole 710a.

[0312] When the middle sheath 932 of the first aortic valve repair device 910 and the outer sheath 931 disposed outside the middle sheath 932 need to be synchronously advanced or retreated along a preset path within the patient's body, the clutch assembly 3230 is placed in a first position relative to the first transmission member 3220, so that the first drive assembly 3240 is in transmission connection with the first transmission assembly, thereby preventing the first transmission member 3220 and the middle sheath 932 in the first buckle 3210 from being in a state of free movement. If the first drive assembly 3240 does not transmit power, the inner sheath 933 will move synchronously with the outer sheath 931. When the inner sheath 933 needs to be moved relative to the outer sheath 931 to achieve alignment between the two, the inner sheath 933 can be moved relative to the outer sheath 931 under the drive of the first drive assembly 3240. When the catheter 930 of the first aortic valve repair device 910 moves to a preset position at the aortic valve and the balloon on the middle sheath 932 needs to be released, the clutch assembly 3230 is placed in the second position relative to the first transmission member 3220, so that the first drive assembly 3240 is separated from the first transmission member 3220, thereby allowing the first transmission member 3220 and the middle sheath 932 in the first buckle 3210 to move freely, thereby placing the middle sheath 932 in a naturally untensioned state, thereby preventing the balloon from generating large stress during the stress release process, thereby causing secondary damage to the patient. When the control method of the first adapter 300 provided in the embodiment of the present application is applied to the first aortic valve repair device 910 for aortic valve replacement surgery, it can simulate the power clutch requirement when the doctor manually controls the repair device, effectively meeting clinical needs.

[0313] In some embodiments, after the step of controlling the first base 3100 to drive the first guide rod 710 to synchronously move closer to the first guide hole 710a, the control method of the surgical assistance system further includes:

[0314] Adjust the clutch assembly 3230 in the first adjustment assembly to a first position relative to the first transmission member 3220;

[0315] Controlling the catheter 930 of the first aortic valve repair device 910 to move to a first preset position;

[0316] Adjust the clutch assembly 3230 to a second position relative to the first transmission member 3220;

[0317] The catheter 930 of the first aortic valve repair device 910 is controlled to perform a balloon release operation.

[0318] When the middle sheath 932 of the first aortic valve repair device 910 and the outer sheath 931 disposed outside the middle sheath 932 need to be synchronously advanced or retreated along a preset path within the patient's body, the clutch assembly 3230 is placed in a first position relative to the first transmission member 3220, so that the first drive assembly 3240 is in transmission connection with the first transmission assembly, thereby preventing the first transmission member 3220 and the middle sheath 932 in the first buckle 3210 from being in a state of free movement. If the first drive assembly 3240 does not transmit power, the inner sheath 933 will move synchronously with the outer sheath 931. When the inner sheath 933 needs to be moved relative to the outer sheath 931 to achieve alignment between the two, the inner sheath 933 can be moved relative to the outer sheath 931 under the drive of the first drive assembly 3240. When the catheter 930 of the first aortic valve repair device 910 moves to a preset position at the aortic valve and the balloon on the middle sheath 932 needs to be released, the clutch assembly 3230 is placed in the second position relative to the first transmission member 3220, so that the first drive assembly 3240 is separated from the first transmission member 3220, thereby allowing the first transmission member 3220 and the middle sheath 932 in the first buckle 3210 to be in a state of free movement, thereby placing the middle sheath 932 in a naturally untensioned state, thereby preventing the balloon from generating large stress during the stress release process, thereby causing secondary damage to the patient. The control method of the surgical assistance system provided in the embodiment of the present application is applied to the first aortic valve repair device 910 during aortic valve replacement surgery, and can simulate the power clutch requirement when the doctor manually controls the repair device, effectively meeting clinical needs.

[0319] In some embodiments, the step of installing the second aortic valve repair device 920 on the second adapter 400 specifically includes: installing each gear ring 4210 of the gear ring group 4200 on at least one rotating part of the second aortic valve repair device 920; installing the second aortic valve repair device 920 to the second base 4100 of the second adapter 400.

[0320] When it is necessary to install the second aortic valve repair device 920 on the second adapter 400, each gear ring 4210 of the gear ring group 4200 is first installed on at least one rotating part of the second aortic valve repair device 920, and then the second aortic valve repair device 920 is installed on the second base 4100 of the second adapter 400, so that each gear ring 4210 on each gear ring group 4200 can be connected to the transmission group 4300a on the second adapter 400 for transmission, thereby realizing the subsequent control of the second aortic valve repair device 920 through the second adapter 400.

[0321] It should be understood that in the embodiments of the present application, at least part of the steps in the preparation method may include multiple steps or multiple stages, and these steps or stages are not necessarily performed at the same time, but can be performed at different times. The order of execution of these steps or stages is not necessarily to be carried out sequentially, but can be performed in turn or alternately with other steps or at least part of the steps or stages in other steps.

[0322] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0323] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A surgical assistance system, characterized in that: The surgical assistance system comprises: fuselage (100); An actuator (200) connected to the fuselage (100); An adapter assembly, the adapter assembly comprising at least one adapter; the adapter being detachably connected to the actuator (200); the adapter being used for installing an aortic valve repair device; A fixing assembly (800) is connected to the actuator (200); the fixing assembly (800) is configured with a fixing hole (800a), and the fixing hole (800a) is used to penetrate and fix the inner sheath (933) of the aortic valve repair device.

2. The surgical assistance system according to claim 1, wherein: The fixing assembly (800) comprises a first fixing rod (810), a second fixing rod (820) and a third fixing rod (830) which are connected to each other and arranged at an angle; One end of the first fixing rod (810) away from the second fixing rod (820) is connected to the actuator (200); A fixing hole (800a) is formed at one end of the third fixing rod (830) away from the second fixing rod (820).

3. The surgical assistance system according to claim 2, wherein: One end of the third fixing rod (830) away from the second fixing rod (820) is configured with two fixing protrusions (831) that are oppositely arranged and spaced apart from each other, and the two fixing protrusions (831) are jointly arranged to form the fixing hole (800a); The fixing assembly (800) further includes a fixing member (840); the fixing member (840) is capable of passing through one of the fixing protrusions (831) and moving toward or away from the other fixing protrusion (831).

4. The surgical assistance system according to claim 2, wherein: The first fixing rod (810) is configured with a magnetic attraction structure; The magnetic attraction structure is detachably connected to the actuator (200).

5. The surgical assisting system according to any one of claims 1 to 4, characterized in that: The actuator (200) is rotatably connected to the fuselage (100); the actuator (200) includes a first position transmission group (210) and a second position transmission group (220); the actuator (200) has a first installation position and a second installation position relative to the fuselage (100); The adapter assembly includes a first adapter (300) and a second adapter (400); In the first installation position, the first adapter (300) is detachably connected to the first position transmission group (210); the first adapter (300) is used to install the first aortic valve repair device (910); in the second mounting position; The second adapter (400) is detachably connected to the second position transmission group (220); the second adapter (400) is used to install a second aortic valve repair device (920).

6. The surgical assistance system according to claim 5, characterized in that: The surgical auxiliary system comprises a rotation adjustment component (500); the rotation adjustment component (500) is installed between the body (100) and the actuator (200); The rotation adjustment assembly (500) is used to drive the actuator (200) to switch between the first installation position and the second installation position relative to the fuselage (100).

7. The surgical assistance system according to claim 6, wherein: The rotation adjustment assembly (500) comprises: A first rotating member (510) is fixedly connected to the body (100) and is configured with a mounting cavity (511); a side wall of the mounting cavity (511) is configured with two first mounting holes (511a) that are oppositely arranged and pass through the mounting cavity (511); A second rotating member (520) is fixedly connected to the actuator (200); the second rotating member (520) at least partially extends into the installation cavity (511) and is rotatably connected to the cavity wall of the installation cavity (511); and the second rotating member (520) is configured with a second installation hole (520a); Locking member (530); when the second rotating member (520) rotates to the first installation position or the second installation position relative to the first rotating member (510), the first installation hole (511a) and the second installation hole (520a) are opposite to each other, and the locking member (530) can extend into the first installation hole (511a) and the second installation hole (520a).

8. The surgical assisting system according to claim 7, wherein: The second rotating member (520) comprises a first rotating portion (923) and a second rotating portion (924) which are connected to each other and have different radial sizes; the radial size of the first rotating portion (923) is larger than the radial size of the second rotating portion (924); The installation cavity (511) comprises a first installation sub-cavity (5111) and a second installation sub-cavity (5112) which are connected to each other; the radial dimension of the first installation sub-cavity (5111) is greater than the radial dimension of the second installation sub-cavity (5112); The first rotating portion (923) is accommodated in the first mounting sub-cavity (5111); and the second rotating portion (924) is at least partially accommodated in the second mounting sub-cavity (5112).

9. The surgical assisting system according to claim 8, wherein: The second rotating member (520) further includes a third rotating portion (925); The third rotating portion (925) is connected to a side of the second rotating portion (924) facing away from the first rotating portion (923), and a radial dimension of the third rotating portion (925) is larger than a radial dimension of the second rotating portion (924); The side of the third rotating portion (925) facing away from the second rotating portion (924) is fixedly connected to the actuator (200).

10. The surgical assisting system according to claim 8, wherein: The side wall of the second mounting sub-cavity (5112) is recessed along its radial direction toward the side away from the cavity to form a first clamping groove (51121); The rotation adjustment assembly (500) further includes a first bushing (550) sleeved on the outer periphery of the second rotating portion (924); the first bushing (550) includes a first clamping portion (551) and a second clamping portion (552) connected to each other and having different radial dimensions; The radial dimension of the first clamping portion (551) is greater than the radial dimension of the second clamping portion (552); The first clamping portion (551) at least partially extends into the first clamping groove (51121).

11. The surgical assistance system according to claim 10, wherein: The side wall of the second mounting sub-cavity (5112) is recessed along its radial direction toward the side away from the cavity to form a second clamping groove (51122), and the second clamping groove (51122) is spaced apart from the first clamping groove (51121); The rotation adjustment assembly (500) further includes a second bushing (560) sleeved on the outer periphery of the second rotating portion (924); the second bushing (560) is spaced apart from the first bushing (550); the second bushing (560) includes a third clamping portion (561) and a fourth clamping portion (562) connected to each other and having different radial dimensions; The radial dimension of the third clamping portion (561) is greater than the radial dimension of the fourth clamping portion (562); The third clamping portion (561) at least partially extends into the second clamping groove (51122).

12. The surgical assisting system according to claim 7, wherein: A first position-limiting protrusion (511b) is provided on the cavity wall of the installation cavity (511) on one side facing the cavity; The second rotating member (520) is configured with a second position-limiting protrusion (520b); When the second rotating member (520) rotates relative to the first rotating member (510) to the first installation position or the second installation position, the first position-limiting protrusion (511b) abuts against the second position-limiting protrusion (520b).

13. The surgical assisting system according to any one of claims 1 to 4 and 6 to 12, characterized in that: The surgical assistance system further includes a sliding assembly (600); The sliding assembly (600) is installed between the actuator (200) and the body (100) to drive the actuator (200) to slide relative to the body (100).

14. The surgical assistance system according to claim 5, characterized in that: The first adapter (300) comprises: A first base (3100) is detachably connected to the actuator (200) and is used to support the aortic valve repair device; A first adjustment mechanism (3200) is mounted on the base; the first adjustment mechanism (3200) comprises: The first buckle (3210) is configured with a first snap-fitting hole (3210a), wherein the first snap-fitting hole (3210a) is used to penetrate and snap-fit the middle sheath (932) of the aortic valve repair device; A first transmission member (3220) is fixedly connected to the first buckle (3210); a clutch assembly (3230) having a first position and a second position relative to the first transmission member (3220); and A first driving assembly (3240) is in transmission connection with the clutch assembly (3230); When the clutch assembly (3230) is in a first position relative to the first transmission member (3220), the first drive assembly (3240) is in transmission connection with the first transmission member (3220); when the clutch assembly (3230) is in a second position relative to the first transmission member (3220), the first drive assembly (3240) is separated from the first transmission member (3220).

15. The surgical assisting system according to claim 14, wherein: The first transmission member (3220) is configured as a first transmission rack; The clutch assembly (3230) includes a clutch gear (3231); When the clutch assembly (3230) is in a first position relative to the first transmission member (3220), the clutch gear (3231) is engaged with the first transmission rack, so that the first transmission rack and the clutch gear (3231) move synchronously; When the clutch assembly (3230) is in the second position relative to the first transmission member (3220), the clutch gear (3231) is separated from the first transmission rack, and the first transmission rack can drive the middle sheath (932) to move freely along the tooth arrangement direction of the first transmission rack.

16. The surgical assisting system according to claim 15, wherein: The clutch assembly (3230) further includes: a first rotating shaft (3232); a first transmission rod (3233), one end of the first transmission rod (3233) being connected to the first rotating shaft (3232), and the other end of the first transmission rod (3233) being fixedly connected to the clutch gear (3231); When the first rotating shaft (3232) rotates around its own rotating axis, it can drive the first transmission rod (3233) to rotate, so that the clutch gear (3231) is in the first position or the second position relative to the first transmission member (3220).

17. The surgical assisting system according to claim 16, wherein: The first rotating shaft (3232) further includes a cam portion (32321); the cam portion (32321) is in transmission connection with the first transmission rod (3233); The clutch assembly (3230) further includes a first fixed shaft (3234); The first fixed shaft (3234) is fixed to the first base (3100); and is located between the clutch gear (3231) and the first rotating shaft (3232); the first transmission rod (3233) is sleeved on the first fixed shaft (3234); When the first rotating shaft (3232) rotates around its own rotating axis, it can drive the first transmission rod (3233) to rotate around the axis of the first fixed shaft (3234).

18. The surgical assisting system according to claim 17, wherein: A first receiving groove (32331) is formed on one side of the first transmission rod (3233) close to the first rotating shaft (3232); When the short shaft end of the cam portion (32321) abuts against the upper groove wall of the first accommodating groove (32331), the rotation axis of the clutch gear (3231) is higher than the axis of the first fixed shaft (3234), so that the clutch gear (3231) is meshed with the first transmission rack; When the long axis end of the cam portion (32321) abuts against the upper groove wall of the first accommodating groove (32331), the rotation axis of the clutch gear (3231) is lower than the axis of the first fixed shaft (3234), so that the clutch gear (3231) is separated from the first transmission rack.

19. The surgical assisting system according to claim 14, wherein: The first base (3100) is further configured with a first sliding groove (3110); The first buckle (3210) comprises a first clamping portion (551) and a first sliding portion (3212) connected to each other; The first clamping portion (551) is configured with a first clamping hole (3210a); The first sliding portion (3212) at least partially extends into the first sliding groove (3110) and is fixedly connected to the first transmission member (3220), and the first sliding portion (3212) can slide relative to the groove wall of the first sliding groove (3110).

20. The surgical assisting system according to claim 19, wherein: The first clamping portion (551) comprises: A first clamping body (32111) is connected to the first sliding portion (3212) and is configured with a first clamping groove (51121) having an opening; The first openable and closable buckle cover (32112) is rotatably connected to the first snap-fit body (32111); when the first openable and closable buckle cover (32112) is in a closed state relative to the first snap-fit body (32111), the first snap-fit groove (51121) and the first openable and closable buckle cover (32112) are jointly arranged to form the first snap-fit hole (3210a).

21. The surgical assisting system according to claim 5, wherein: The second adapter (400) comprises: A second base (4100) is detachably connected to the actuator (200) and is used to support a second aortic valve repair device (920); A gear ring assembly (4200), comprising at least one gear ring (4210), each of the gear rings (4210) being connected to at least one rotating portion of the second aortic valve repair device (920); The first transmission assembly (4300) is mounted on the second base (4100) and includes at least one transmission group; each transmission group is in transmission connection with one of the gear rings (4210) to drive the rotating part of the second aortic valve repair device (920) to rotate.

22. The surgical assisting system according to claim 21, wherein: Each of the gear rings (4210) includes at least two detachably connected tooth connection parts.

23. The surgical assisting system according to claim 22, wherein: One of the two adjacent tooth connection parts is configured with a snap-fit protrusion (4213), and the other one is configured with a snap-fit groove (4214); The snap-fitting protrusion (4213) can at least partially extend into the snap-fitting groove (4214) and be snap-fitted to the snap-fitting groove (4214).

24. The surgical assisting system according to claim 23, wherein: The snap-fitting protrusion (4213) comprises at least two spaced-apart snap-fitting structures (42131), and the outer peripheral wall of each snap-fitting structure (42131) is configured with at least one snap-fitting arm (42131a).

25. The surgical assisting system according to claim 21, wherein: The adapter further comprises a fixing buckle (4400) rotatably connected to the second base (4100); The fixing buckle (4400) is configured with a fixing snap-fitting groove (4400a); the fixing snap-fitting groove (4400a) is used to snap-fit the outer periphery of the second aortic valve repair device (920).

26. The surgical assisting system according to claim 25, wherein: The fixing buckle (4400) comprises: A fixed body (4410) rotatably connected to the second base (4100); A closable buckle cover (4420) is rotatably connected to the fixed body (4410); and The locking member (530) passes through the closable buckle cover (4420) and is connected to the fixed body (4410).

27. The surgical assisting system according to claim 25, wherein: The second base (4100) includes a fixing plate (4110); The fixing plate (4110) is configured with a rotation groove (4111), and the fixing buckle (4400) is at least partially accommodated in the rotation groove (4111) and is rotationally connected to the groove wall of the rotation groove (4111).

28. The surgical assisting system according to claim 25, wherein: The outer periphery of the fixing buckle (4400) is configured with a tooth structure (4440); The adapter also includes a second transmission assembly (4500); the second transmission assembly (4500) is installed on the second base (4100) and engages with the tooth structure (4440) to drive the fixing buckle (4400) to rotate relative to the second base (4100).

29. The surgical assisting system according to any one of claims 21 to 28, characterized in that: The gear ring assembly (4200) includes four gear rings (4210) arranged at intervals; The first transmission assembly (4300) includes four transmission groups; Each transmission group is engaged with one of the gear rings (4210).

30. A control method for a surgical assistance system, characterized in that: The control method of the surgical assistance system includes: Determining an execution procedure of the surgical assistance system; determining an adapter according to an execution procedure of the surgical assistance system; Installing the determined adapter to the actuator (200); installing an aortic valve repair device onto the adapter; The inner sheath (933) of the aortic valve repair device is installed into the fixing hole (800a) of the fixing assembly (800).

31. The control method of the surgical assistance system according to claim 30, characterized in that: The step of determining the adapter according to the execution procedure of the surgical assistance system specifically includes: rotating the actuator (200) according to the execution method so that the actuator (200) rotates relative to the fuselage (100) to a first installation position or a second installation position; When the actuator (200) is in the first installation position relative to the body (100), the first adapter (300) is connected to the first position transmission group (210) on the actuator (200); and the first aortic valve repair device (910) is installed on the first adapter (300); or When the actuator (200) is in the second installation position relative to the body (100), the second adapter (400) is connected to the second position transmission group (220) on the actuator (200); and the second aortic valve repair device (920) is installed on the second adapter (400).

32. The control method of the surgical assistance system according to claim 31, characterized in that: Before the step of rotating the actuator (200) according to the execution procedure so that the actuator (200) rotates relative to the body (100) to the first installation position or the second installation position, the control method of the surgical assistance system further includes: The actuator (200) is driven to slide to a preset position relative to the body (100) by a sliding assembly (600) installed between the actuator (200) and the body (100).

33. The control method of the surgical assistance system according to claim 31, characterized in that: The step of installing the first aortic valve repair device (910) on the first adapter (300) specifically includes: Mounting the first aortic valve repair device (910) to the first base (3100) of the first adapter (300); The catheter (930) of the first aortic valve repair device (910) is passed through the first guide hole (710a) of the first guide rod (710) and the second guide hole (720a) of the second guide rod (720).

34. The control method of the surgical assistance system according to claim 33, characterized in that: After the step of passing the catheter (930) of the first aortic valve repair device (910) through the first guide hole (710a) of the first guide rod (710) and the second guide hole (720a) of the second guide rod (720), the control method of the surgery assistance system further comprises: Passing the middle sheath (932) of the first aortic valve repair device (910) through and snapping it into the first snap-fitting hole (3210a) on the first adjustment component of the adapter; Controlling the first base (3100) to drive the first guide rod (710) to synchronously move closer to the second guide hole (720a), so that the first guide rod (710) abuts against the second guide rod (720); The first base (3100) is controlled to move closer to the first guide hole (710a).

35. The control method of the surgical assistance system according to claim 34, characterized in that: After the step of controlling the first base (3100) to drive the first guide rod (710) to synchronously move closer to the first guide hole (710a), the control method of the surgical assistance system further includes: Adjusting the clutch assembly (3230) in the first adjustment assembly to a first position relative to the first transmission member (3220); controlling the catheter (930) of the first aortic valve repair device (910) to move to a first preset position; adjusting the clutch assembly (3230) to a second position relative to the first transmission member (3220); The catheter (930) of the first aortic valve repair device (910) is controlled to perform a balloon release operation.

36. The control method of the surgical assistance system according to claim 31, characterized in that: The step of installing the second aortic valve repair device (920) on the second adapter (400) specifically includes: Installing each gear ring (4210) of the gear ring set (4200) on at least one rotating portion of the second aortic valve repair device (920); The second aortic valve repair device (920) is mounted to the second base (4100) of the second adapter (400).

Images