Open type anti-drop clamping structure and open type sterile module

Abstract

The invention provides an open type anti-falling clamping structure which comprises a first rotating set, a second rotating set and an anti-falling piece, the first rotating set and the second rotating set are provided with a first center hole and a second center hole respectively, and the anti-falling piece is rotatably fixed in the second center hole. A third center hole communicated with the first center hole and the second center hole is formed in the rotating center of the anti-disengaging piece, and the first rotating set, the second rotating set and the anti-disengaging piece are further provided with a first penetrating groove, a second penetrating groove and a third penetrating groove correspondingly. The first penetrating groove, the second penetrating groove and the third penetrating groove are aligned, so that the first center hole, the second center hole and the third center hole are communicated with the outside and can be used for accommodating intracavity medical instruments; when the anti-falling piece is rotated to enable the third penetrating groove and the second penetrating groove to be staggered, the intracavity medical instrument can be prevented from falling off accidentally, the operation efficiency is improved, and the invention further provides an open type sterile module.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to an open anti-slip clamping structure and an open sterile module clinically used for operating intracavitary medical devices such as catheters and guidewires. Background Art

[0002] Currently, during manual procedures involving catheter guidewires, the surgeon must stand close to the patient to insert or remove intraluminal medical devices, such as guidewires, guiding catheters, or angioplasty catheters, into or out of the patient's vascular system. The surgeon is exposed to radiation from the medical imaging equipment throughout the procedure. Although protective equipment such as lead vests are available, the prolonged use of lead vests increases the surgeon's physical exertion, increasing the risk of hand tremors and compromising the quality of already inefficient procedures. Furthermore, the surgeon, exposed to radiation for extended periods, experiences significant occupational hazards and is labor-intensive.

[0003] Robotic-assisted surgery boasts precision, reliability, precise movements, and minimally invasive procedures. It significantly improves surgical accuracy while effectively reducing radiation exposure to the surgeon, and its promising development prospects have made it a key research area within the field of surgical robotics. Existing surgical robots require a corresponding gripping mechanism to advance, withdraw, and / or rotate intracavitary medical devices. However, existing designs are not only complex and costly, but also inconvenient and cumbersome to operate. The gripping mechanism can also easily slip out, delaying the procedure and even causing surgical accidents. Summary of the Invention

[0004] Based on this, it is necessary to provide an open anti-dropping clamping structure and an open sterile module that are reliable and accident-free in order to address the deficiencies in the existing technology.

[0005] The present invention provides an open anti-slip clamping structure, which includes a first rotating group, a second rotating group and an anti-slip member that are rotatably connected together, wherein the rotation centers of the first rotating group and the second rotating group respectively have a first center hole and a second center hole, and the anti-slip member is rotatably fixed in the second center hole, and the rotation center of the anti-slip member has a third center hole, and the first center hole, the second center hole and the third center hole extend along the same straight line and are connected to each other. The first rotating group, the second rotating group and the anti-slip member also respectively have a first through-hole, a second through-hole and a third through-hole, and the first through-hole, the second through-hole and the third through-hole extend from the outside to the first center hole, the second center hole and the third center hole respectively. When the first rotating group and the second rotating group rotate relative to each other and the anti-slip member is rotated, the first through-hole, the second through-hole and the third through-hole are aligned, so that the first center hole, the second center hole and the third center hole are connected to the outside and intracavitary medical devices can be placed; when the anti-slip member is rotated to make the third through-hole staggered with the second through-hole, the intracavitary medical devices can be prevented from falling out.

[0006] Preferably, a first flare is provided on the wall of the first center hole, and the open anti-slip clamping structure further includes a linkage rod rotatably arranged in the second center hole, the first end of the linkage rod extends out of the second center hole to form a large head accommodated in the first flare, and the opposite second end passes through the second center hole and is clamped on the edge of the second center hole, and the linkage rod can rotate with the first rotating group while maintaining an unchanged position in the extension direction with the rotation center of the second rotating group.

[0007] Preferably, the linkage rod is provided with a fourth center hole communicating with the first center hole and the third center hole, and a fourth penetration groove aligned with the first penetration groove.

[0008] Preferably, the anti-slip component includes a twisting portion and a center rod extending from one side of the twisting portion and rotatably passing through the second center hole.

[0009] Preferably, the anti-slip part also extends a sleeve portion from one side of the torsion portion, and a receiving groove for accommodating the second end tail of the linkage rod is formed between the sleeve portion and the center rod, and the sleeve portion is sleeved outside the second end tail of the linkage rod.

[0010] Preferably, the open anti-slip clamping structure further comprises two clamping members and two corresponding tightening members installed on the first rotating group, and the two tightening members respectively force the two clamping members to approach each other and slide into the first center hole to clamp the intracavitary medical device.

[0011] Preferably, a second flare close to the first flare is formed on the wall of the first central hole, and the two clamping members are located in the second flare.

[0012] Preferably, the two clamping members are both provided with an elongated sliding groove, and the large head is provided with two sliding posts that can be slidably passed through the elongated sliding grooves of the corresponding clamping members. When the two sliding posts of the large head slide from the near point to the far point, the two clamping members respectively force the two clamping members to approach each other.

[0013] Preferably, the first rotating group includes a first notch ring and a first center body located at the rotation center of the first notch ring, the first center body is recessed to form a longitudinal section connecting the first flare and the second flare, and the two tightening members are two curved levers arranged on the longitudinal section for interlocking.

[0014] Preferably, the second rotating group includes a second notch ring and a second center body located at the rotation center of the second notch ring. When the first notch ring and the second notch ring rotate relative to each other and approach each other, the linkage rod drives the two clamping members to rotate toward each other and respectively force the two clamping members to clamp the intracavitary medical device.

[0015] Preferably, a sleeve is formed on one side of the first notch ring, and a sleeve shaft is provided on one side of the second notch ring and is rotatably mounted in the sleeve.

[0016] Preferably, a first support column is provided on the other opposite side of the first notch ring, and a second support column is provided on the other opposite side of the second notch ring facing the sleeve portion.

[0017] Preferably, the first gap ring and the second gap ring are both configured as rotational followers for contactless, airborne control / transmission.

[0018] The present invention also provides an open sterile module, which includes an outer shell and the above-mentioned open anti-slip clamping structure rotatably fixed to the inside of the outer shell. The outer shell is provided with a placement groove connected to the interior, so that intracavitary medical devices can enter the interior of the outer shell through the placement groove and be clamped by the open anti-slip clamping structure.

[0019] Preferably, a first placement hole and a second placement hole connected to the interior of the shell are respectively opened on two opposite sides of the shell, and the two ends of the placement groove extend to the first placement hole and the second placement hole respectively. The first center hole of the first rotating group and the third center hole of the anti-slip component are respectively opposite to the first placement hole and the second placement hole.

[0020] Preferably, one end of the anti-dropping member is placed outside the housing.

[0021] Preferably, the open sterile module further comprises two second bearing seats fixed inside the shell, and the first rotating group and the anti-slip member are rotatably supported on the two second bearing seats respectively.

[0022] Preferably, a movable driven block is fixed on the housing for contactless remote control / transmission.

[0023] The open anti-slip clamping structure of the present invention has an alignable first penetration groove, a second penetration groove and a third penetration groove, which can allow intracavitary medical devices to conveniently enter the first center hole, the second center hole and the third center hole directly from the outside and be clamped. When the anti-slip component is rotated, the third penetration groove is staggered with the first penetration groove and the second penetration groove, preventing the intracavitary medical device from accidentally falling out, making the delivery of the intracavitary medical device smoother and more reliable, and improving the surgical efficiency. The placement groove is provided on the shell of the open sterile module, which allows the intracavitary medical device to conveniently enter the shell and be clamped by the open anti-slip clamping structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is an exploded schematic diagram of the first embodiment of the open anti-dropout clamping structure of the present invention.

[0025] Figure 2 This is a partial assembly diagram of the first embodiment of the open anti-dropout clamping structure of the present invention.

[0026] Figure 3 This is a schematic assembly diagram of the first embodiment of the open anti-dropout clamping structure of the present invention.

[0027] Figure 4 This is a partially exploded schematic diagram of the open sterile module of the present invention.

[0028] Figure 5 for Figure 4 Schematic diagram of assembly, in which the open anti-drop clamping structure is in the open state. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solutions and advantages of the invention more clearly understood, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the invention and are not intended to limit the invention.

[0030] In the description of the present invention, the term "proximal end" refers to the end closer to the operator, and the term "distal end" refers to the end farther from the operator; the terms "deliver," "push," "advance," "pull," or "drag" refer to the process of moving from a location farther from the operator toward the operator, and the terms "withdraw" or "retreat" refer to the process of moving from a location closer to the operator toward a location farther from the operator. The terms "horizontal," "vertical," "up," "down," "left," "right," "inside," "outside," "between," and the like, indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific direction, be constructed, or operate in a specific direction, and therefore should not be construed as limiting the present invention. Unless otherwise expressly specified or limited, the terms "connect," "connected," "fixed," and "mounted" should be understood in a broad sense, for example, to mean a fixed connection, a detachable connection, or an integral connection; a mechanical connection, an electrical connection, or a magnetic connection; a direct connection, an indirect connection through an intermediate medium, or an internal connection between two components or an interaction between two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0031] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified with "first," "second," etc., may explicitly or implicitly include one or more of such features. In the description of the present invention, "plurality" means more than one, unless otherwise specifically defined.

[0032] The open anti-drop clamping structure and the open sterile module of the present invention are used to clamp, deliver or withdraw, for example, intracavitary medical devices. It should be understood that the term "intracavitary" includes cavities such as natural cavities, pan-vascular cavities, and organ cavities. The term "intracavitary medical device" can refer to any shape or any type of catheter, finger guide wire, guide catheter, angioplasty catheter, or endoscope, various laparoscopy, tube mirror, etc., including any catheter-type or guidewire-type consumable or non-consumable device suitable for natural cavities, pan-vascular intervention, electrophysiology, structural heart disease and other procedures. The guidewires here include but are not limited to finger guidewires, loach guidewires, angiographic guidewires and microguidewires, etc., and guiding and supporting intracavitary medical devices, and catheters include but are not limited to guiding catheters, microcatheters, angiographic catheters, intermediate tubes (also called intermediate catheters), thrombolytic catheters, balloon dilatation catheters and balloon expansion stent catheters, etc., and diagnostic and therapeutic intracavitary medical devices. It should be understood that the scope and spirit of the present invention are not limited to these examples of the present invention.

[0033] Finally, it should be noted that, if there is no conflict, the embodiments of the present invention and the various features therein can be combined with each other and are all within the protection scope of the present invention.

[0034] Please refer to Figure 1-3 , which is a schematic diagram of a first embodiment of an open anti-slip clamping structure according to the present invention. For clarity, certain components are omitted from the figure, but they are nonetheless important. The open anti-slip clamping structure 100 includes a first rotating group 10, a second rotating group 30, at least two clamping members 40 and two pressing members, a linkage rod 60, and an anti-slip member 70.

[0035] The first rotating assembly 10 includes a first notched ring 11 and a first central body 12 located at the rotational center of the first notched ring 11 (i.e., the rotational center of the first rotating assembly 10). The first central body 12 includes a main body 13, a left block 14, and a right block 15. The main body 13 extends outward from two opposing sides to form a first support column 16 and a sleeve 17. In this embodiment, the first notched ring 11 is removably mounted on the first central body 12, with the first support column 16 and sleeve 17 located on two opposing sides of the main body 13 and extending in opposite directions. The inner wall of the sleeve 17 is formed with an internal thread 171. The first central body 12 defines a first central hole 18 and a first through-hole 19. The first central hole 18 is formed along the direction of the rotational center of the first central body 12 (i.e., the rotational center of the first notched ring 11) and extends through the main body 13, the first support column 16, and the sleeve 17. The first through-hole 19 extends radially from the outside to the first central hole 18, connecting the first central hole 18 to the outside. The notch of the first notch ring 11 faces the first penetration groove 19 so as to be connected to the first center hole 18 through the first penetration groove 19 . Therefore, the notch of the first notch ring 11 can also be regarded as a part of the first penetration groove 19 .

[0036] The main body 13 is provided with at least two receiving holes 20 corresponding to the two clamping members 40 between the first support column 16 and the sleeve 17, and is recessed to form a longitudinal section 21 that crosses the first center hole 18 and the receiving holes 20. The two receiving holes 20 are arranged opposite each other and are connected to the first center hole 18. In this embodiment, the two receiving holes 20 are located on the same straight line that passes through the rotation center of the first central body 12 and is perpendicular to the extension direction of the rotation center. Two pivot shafts 22 and two locating pins 23 are protruding on the longitudinal section 21 corresponding to the clamping member, the left block 14, and the right block 15. The two pivot shafts 22 and the two locating pins 23 are arranged opposite each other, just like the two receiving holes 20 arranged opposite each other, and are respectively located on opposite sides of the two receiving holes 20 arranged opposite each other. In this embodiment, the two pivot shafts 22 and the two locating pins 23 on the longitudinal section 21 are respectively arranged symmetrically with respect to the extension direction of the rotation center of the first central body 12. A first flared opening 24 and a second flared opening 25 are formed on the wall of the main body 13 located between the first support column 16 and the sleeve 17 in the first central hole 18 .

[0037] The second rotating group 30 includes a second notched ring 31 and a second central body 32 located at the rotational center of the second notched ring 31 (i.e., the rotational center of the second rotating group 30). The second central body 32 includes a second support post 33 and a sleeve 34, respectively projecting from two opposing sides of the second notched ring 31. The second support post 33 and sleeve 34 extend outward in opposite directions. The second central body 32 defines a second central hole 35 and a second through-hole 36. The second central hole 35 is formed along the direction of the rotational center of the second central body 32 (i.e., the rotational center of the second notched ring 31) and extends through the second support post 33 and sleeve 34. The second through-hole 36 extends radially from the outside to the second central hole 35, connecting the second central hole 35 to the outside world. The notch in the second notched ring 31 faces the second through-hole 36, connecting the second central hole 35 through the second through-hole 36. Therefore, the notch in the second notched ring 31 can also be considered part of the second through-hole 36. The outer wall of the sleeve 34 is formed with an external thread 341 to cooperate with the internal thread 171 of the sleeve 17, allowing the sleeve 34 to rotate relative to the sleeve 14. The sleeve 34 is then coaxially positioned within the sleeve 17, realizing the rotational connection between the first rotating group 10 and the second rotating group 30, and allowing the first through-groove 19 and the second through-groove 36 to be aligned and connected to each other.

[0038] Each clamping member 40 includes a sliding portion 42 that can be slidably accommodated in the corresponding accommodating hole 20 and an abutting top portion 44 formed on the sliding portion 42 and located at the second flared opening 25 in the first center hole 18. The sliding portion 42 is provided with a through hole 46, and the abutting top portion 44 has a clamping end face 48. In this embodiment, the extension direction of the through hole 46 (parallel to the extension direction of the rotation center of the first center body 12) is perpendicular to the same straight line direction where the two accommodating holes 20 are located. In order to ensure that the clamping end faces 48 of the two clamping members 40 can reliably clamp the intracavitary medical device 80, they can be of any shape or have any structure that increases friction or clamping force on them. At the same time, in this embodiment, in order to prevent damage to the intracavitary medical device 80 during clamping, a protective pad 49 is applied to the clamping end faces 48 of the two clamping members 40.

[0039] The linkage rod 60 is inserted into the second center hole 35 of the second rotating group 30. Its first end extends out of the sleeve 34 to form a large head 62. The opposite second end is clamped to the end of the second support column 33 via a structure such as a snap ring 64. This allows the linkage rod 60 and the second rotating group 30 to rotate relative to each other and not to move relative to each other along the extension direction (i.e., axial direction) of the rotation center of the second central body 32. The large head 62 is accommodated in the first flared opening 24 within the first center hole 18 and has a platform 64. The platform 64 is provided with two sliding posts 66. The linkage rod 60 defines a fourth center hole 68 and a fourth through-hole 69. The fourth center hole 68 extends through the entire linkage rod 60 along the extension direction of the rotation center of the linkage rod 60. The fourth through-hole 69 extends through the entire linkage rod 60 along the extension direction of the rotation center of the linkage rod 60 and extends radially from the outside to the fourth center hole 68, thereby connecting the fourth center hole 68 to the outside world. In this way, the fourth center hole 68 is connected to the first center hole 18 , and the fourth penetration groove 69 is aligned with the first penetration groove 19 of the first rotating group 10 and is located on the same straight line.

[0040] In this embodiment, the two clamping members are each a bending lever 50, rotatably fixed to the two pivot shafts 22 of the main body 13, thereby being positioned in a locking arrangement on the longitudinal section 21 of the main body 13. Each bending lever 50 includes a first arm 52 extending into the receiving hole 20 and positioned within the through-hole 46 of the corresponding clamping member 40, and a second arm 54 connected to the first arm 52. The first arm 52 extends at an obtuse angle to the second arm 54. The second arm 54 defines an elongated slot 56 corresponding to the slide post 66 of the linkage rod 60, allowing the slide post 66 to slide within the slot 56 when the bending lever 50 rotates.

[0041] Two locating pins 23 are used to secure the left and right blocks 14, 15 to the longitudinal section 21 of the main body 13. The first notched ring 11 is fitted over the outer peripheries of the main body 13, the left and right blocks 14, 15, and the first central body 12, thereby forming a first through-hole 19 in the notch of the first notched ring 11, between the left and right blocks 14, 15, and on the first support column 16 and sleeve 17 of the main body 13. Two receiving holes 20 are formed between the left and right blocks 14, 15, and the main body 13, respectively, extending radially from the wall of the first central hole 18 to the outer periphery. In other words, the two receiving holes 20 are located on the same straight line perpendicular to the extension direction of the first central hole 18. Furthermore, two bending levers 50 are positioned between the left and right blocks 14, 15, and the main body 13. The left and right blocks 14 and 15 are each provided with a positioning cap 26 and 27 sleeved on the two pivot shafts 22 to restrict the two bending levers 50 from rotating only about the corresponding pivot shafts 22. Two positioning pins 23 are used to position the left and right blocks 14 and 15. To prevent the first notched ring 11 from moving relative to the main body 13, the left and right blocks 14, and the right block 15, a retaining structure is provided between the left and right blocks 14, 15, and the first notched ring 11. As shown in the figure, the left and right blocks 14 and 15 each have a groove 28, and the first notched ring 11 has a ridge 111 on the inside thereof that engages with the corresponding groove 28 to restrict relative rotation of the first notched ring 11 with the main body 13, the left and right blocks 14, and the right block 15 in both clockwise and counterclockwise directions. As shown in the figure, the left and right blocks 14 and 15 each have a step structure 29 to restrict movement of the first notched ring 11 along the extension direction (i.e., axial direction) of the rotation center of the first central body 12.

[0042] The anti-slip part 70 includes a torsion portion 71 and a center rod 72 extending from one side of the torsion portion 71, and a sleeve portion 73. The sleeve portion 73 is sleeved outside the center rod 72, and a receiving groove 74 is formed between the sleeve portion 73 and the center rod 72. The anti-slip part 70 is provided with a third center hole 75 and a third penetration groove 76. The third center hole 75 passes through the entire anti-slip part 70 along the extension direction of the rotation center of the anti-slip part 70. The third penetration groove 76 passes through the entire anti-slip part 70 along the extension direction of the rotation center of the anti-slip part 70 and extends radially from the outside to the third center hole 75, so that the third center hole 75 is connected to the outside. The torsion portion 71 can be provided with an anti-slip pattern, as shown in the figure. A protrusion 77 is provided on the outer periphery of the sleeve portion 73.

[0043] The center rod 72 of the anti-slip member 70 is inserted into the fourth center hole 68 of the linkage rod 60, and the tail end of the second end is inserted into the receiving groove 74, thereby allowing the anti-slip member 70 to be rotatably fixed to the linkage rod 60. In this way, the third center hole 75 is connected to the first center hole 18 and the fourth center hole 68. The twisting portion 71 allows the center rod 72 to rotate in the fourth center hole 68, while the sleeve portion 73 rotates relative to the second end of the linkage rod 60, so that the third penetration groove 76 of the anti-slip member 70 is aligned with the fourth penetration groove 69 of the linkage rod 60, thus connecting them.

[0044] To clamp an intracavitary medical device 80, the first notched ring 11 (first rotating assembly 10) and the second notched ring 31 (second rotating assembly 30) are rotated relative to each other in different clockwise directions. Specifically, the sleeve 17 of the first rotating assembly 10 and the sleeve shaft 34 of the second rotating assembly 30 rotate relative to each other, causing the first notched ring 11 and the second notched ring 31 to approach each other. Simultaneously, the large head 62 of the linkage rod 60 gradually approaches the two clamping members 40. The two slide posts 66 on the platform 64 slide from the distal point (i.e., the distal end of the second arm 54) to the proximal point within the two elongated slots 56 of the two bending levers 50, forcing the two bending levers 50 to rotate about the two pivot axes 22. The two second arms 54 of the two bending levers 50 approach each other, while the two first arms 52 move away from each other. As the two first arms 52 move within the through-holes 46 of the two clamping members 40, they are forced to slide within the corresponding receiving holes 20, separating the two clamping members 40. In this embodiment, the two first arms 52 each form two opposing protrusions 58 that abut against opposite sides of the corresponding perforations 46, thereby more effectively forcing the two clamping members 40 to move away from or toward each other. At this point, the open anti-slip clamping structure is in the open position, aligning the first and fourth perforation slots 19 and 69 of the first rotating group 10 with the second perforation slot 36 of the second rotating group 30 and placing them on the same straight line. The second perforation slot 36 of the second rotating group 30 is then connected to the fourth perforation slot 69 of the linkage rod 60. The operator manually rotates the twisting portion 71 of the anti-slip member 70, causing its third perforation slot 76 to connect to the fourth perforation slot 69 of the linkage rod 60. Thus, the first through-hole 19 of the first rotating group 10, the second through-hole 36 of the second rotating group 30, the fourth through-hole 69 of the linkage rod 60, and the third through-hole 76 of the anti-slip member 70 are aligned and located on the same straight line, so that the first center hole 18, the fourth center hole 68, and the third center hole 75 are in communication with the outside world, allowing the intracavitary medical device 80 to be conveniently passed through the first through-hole 19 (including the notch of the first notch ring 11), the second through-hole 36 (including the notch of the second notch ring 31), the fourth through-hole 69, and the third through-hole 76 and placed within the first center hole 18, the fourth center hole 68, and the third center hole 75. Because the sizes of the first through-hole 19, the second through-hole 36, the fourth through-hole 69, and the third through-hole 76 and the first center hole 19, the fourth center hole 68, and the third center hole 75 can be arbitrarily set, intracavitary medical devices 80 of different sizes (e.g., thickness) can be placed.

[0045] The operator manually rotates the torsion portion 71 of the anti-slip member 70, causing the third penetration groove 76 to be offset from the second penetration groove 36, the fourth penetration groove 69, and the first penetration groove 19. This causes the third center hole 75 to no longer communicate with the outside world. The sleeve 17 (first notched ring 11) of the first rotating assembly 10 and the sleeve shaft 34 (second notched ring 31) of the second rotating assembly 30 to rotate relative to each other in directions opposite to their original rotational directions. This causes the first notched ring 11 and the second notched ring 31 to move away from each other, thereby driving the large head 62 of the linkage rod 60 to gradually move away from the two clamping members 40. The two slide posts 66 on the platform 64 slide from a near point to a far point within the two elongated slots 56 of the two bending levers 50, respectively. This forces the two bending levers 50 to rotate about the two pivot axes 22, causing the two second arms 54 of the two bending levers 50 to move away from each other and the two first arms 52 to move toward each other. Thus, when the two first arms 52 respectively move within the through-holes 46 of the two clamping members 40, their protrusions 58 force the two clamping members 40 to slide within the corresponding receiving holes 20 and approach each other until the clamping end surfaces 48 of the two clamping members 40 or the protective pads 49 thereon clamp the intracavitary medical device 80. At this point, the open anti-slip clamping structure is in a closed state, and the first notched ring 11 and the second notched ring 31 stop rotating relative to each other in different clockwise directions. Instead, the first notched ring 11 (first rotating group 10) and the second notched ring 31 (second rotating group 30) rotate together in the same clockwise direction to drive the intracavitary medical device 80 to rotate. During the rotation process, since the anti-slip component 70 is fixed to the linkage rod 60, the anti-slip component 70 rotates with the second rotating group 30 like the linkage rod 60. In this way, even if the second penetration groove 36 of the second rotating group 30 is aligned with the fourth penetration groove 69 of the linkage rod 60, the intracavitary medical device 80 will not accidentally fall out, because the third penetration groove 76 and the fourth penetration groove 69 of the anti-slip component 70 are staggered, so that the third center hole 75 is no longer connected to the outside world, forming a closed space.

[0046] To release the intracavitary medical device 80, the first notched ring 11 (first rotating assembly 10) and the second notched ring 31 (second rotating assembly 30) are rotated relative to each other in different clockwise directions. The sleeve shaft 34 again approaches the two clamping members 40, and the large head 62 of the linkage rod 60 forces the two bending levers 50 to rotate about the two pivot axes 22. The two second arms 54 of the two bending levers 50 then approach each other, while the two first arms 52 move away from each other. Consequently, the protrusions 58 of the two first arms 52 respectively abut against the two clamping members 40, gradually moving them apart. This allows the clamping end faces 48 or their protective pads 49 to separate from the intracavitary medical device 80, and aligns the first, second, and fourth penetration grooves 19, 36, and 69. At this point, the operator manually rotates the twisting portion 71 of the anti-slip member 70, aligning the third penetration groove 76 with the fourth penetration groove 69, connecting them. The intracavitary medical device 80 can be conveniently taken out from the first center hole 18 , the fourth center hole 68 , and the third center hole 75 through the first penetration groove 19 , the second penetration groove 36 , the fourth penetration groove 69 , and the third penetration groove 76 .

[0047] The aforementioned “relative rotation in different clockwise directions” means that when one of the first notch ring 11 (first rotating group 10) and the second notch ring 31 (second rotating group 30) rotates in the clockwise direction, the other rotates in the counterclockwise direction; the aforementioned “rotation in the same clockwise direction” means that the first notch ring 11 (first rotating group 10) and the second notch ring 31 (second rotating group 30) rotate in the clockwise direction or counterclockwise direction at the same time.

[0048] Furthermore, both the first and second notched rings 11 and 31 have annular recesses 112 and 312, into which permanent magnet rings 113 and 313 are embedded. This allows the first notched ring 11 (first rotating group 10) and the second notched ring 31 (second rotating group 30) to form magnetic gears for contactless, remote control / transmission. Specifically, the permanent magnet rings 113 and 313 can be integral or comprised of multiple permanent magnet segments. When the permanent magnet rings 113 and 313 are integral, adjacent magnetic poles have opposite polarities after magnetization. When the permanent magnet rings 113 and 313 are comprised of multiple permanent magnet segments, adjacent permanent magnet segments have opposite polarities. Regarding magnetic gears and their non-contact, remote control / transmission, please refer to Chinese patent application 202310565522.5 for a surgical execution module and surgical robot, 202310237481.7 for a surgical execution device and a surgical robot having the same, as well as Chinese patent application 202210803401.5 for a surgical robot device and its operating method, and Chinese patent application 202211105526.7 for a surgical robot, all of which are incorporated into the present invention. The figure in this embodiment shows a discontinuous magnetic gear with a gap, but in other embodiments, it can also be a continuous magnetic gear. Therefore, in essence, the magnetic gear composed of the first gap ring 11 (first rotating group 10) and its permanent magnet ring 113 and the second gap ring 31 (second rotating group 30) and its permanent magnet ring 313 can be regarded as a rotating follower (also called a rotating induction member) in the general sense, and frictionless power transmission is achieved by using the "non-contact, remote control / transmission" method.

[0049] The "non-contact control / transmission in the air" here means that the transmission mechanism realizes control / transmission without contact in space, rather than control / transmission through the air medium, that is, it can also realize control in the air in a vacuum. In other words, "non-contact control in the air" is achieved by various field forces such as electric field force, magnetic field force, etc., without the need for a medium, and it can also be done in a vacuum. In short, any use of the force of any field on the material placed therein to achieve "non-contact control in the air" falls within the scope of protection of the present invention. The above magnetic gears can also be called magnetic wheels, magnetic wheels, magnetic gears, magnetic suspension wheels, magnetic power wheels, non-contact transmission wheels, magnetic couplers, magnetic transmissions, etc.

[0050] As can be seen from the above, the open anti-slip clamping structure is not only provided with a first notched ring 11 and a second notched ring 31 with a notch, but also respectively provides a first penetration groove 19, a second penetration groove 36, a fourth penetration groove 69 and a third penetration groove 76 on the first rotating group 10, the second rotating group 30, the linkage rod 60 and the anti-slip part 70. When they are aligned and connected to each other, the intracavitary medical device 80 can be conveniently entered into the first center hole 18, the fourth center hole 68 and the third center hole 75 and clamped, and can also be conveniently taken out from the first center hole 18, the fourth center hole 68 and the third center hole 75 through the first penetration groove 19, the second penetration groove 36, the fourth penetration groove 69 and the third penetration groove 76. Furthermore, when the third through-hole 76 and the fourth through-hole 69 are offset and not connected, the intracavitary medical device 80 can be prevented from accidentally dislodging from the first center hole 18, the fourth center hole 68, and the third center hole 75 during the relative rotation and / or co-rotation of the first rotating group 10 and the second rotating group 30. This not only facilitates both clamping and removal, preventing the intracavitary medical device 80 from accidentally dislodging, but also makes delivery of the intracavitary medical device 80 smoother and more reliable, improving surgical efficiency and enabling the clamping of intracavitary medical devices 80 of different sizes. Furthermore, since the third through-hole 76 of the anti-slip member 70 and the fourth through-hole 69 of the linkage rod 60 are offset from each other, the intracavitary medical device 80 can be prevented from accidentally dislodging, ensuring stable and smooth delivery of the intracavitary medical device 80. To facilitate smooth delivery of the intracavitary medical device 80, a retaining structure such as a magnetic column 161 can be provided on the first support column 16 to ensure that the intracavitary medical device 80 is always positioned within the first center hole 18. Likewise, when the third penetration groove 76 of the anti-slip member 70 and the fourth penetration groove 69 of the linkage rod 60 are staggered with each other, the intracavitary medical device 80 can always be kept in the third center hole 75 .

[0051] The present invention also provides an open sterile module, which includes a housing, a bearing seat fixed in the housing, and an open anti-slip clamping structure supported by the bearing seat, and a first placement hole and a second placement hole are respectively provided on the housing corresponding to the first center hole and the third center hole of the open anti-slip clamping structure. Figure 4-5 In the embodiment shown, the open sterile module includes a housing 90, two bearing blocks 97 fixed to the interior of the housing 90, and the open anti-dropout clamping structure 100 supported on the bearing blocks 97. The housing 90 includes a bottom plate 91 and a cover 96 that can be fixed to the bottom plate 91 to form a receiving space for placing the open anti-dropout clamping structure 100.

[0052] The base plate 91 is provided with two pairs of positioning holes 92 and two pairs of clamping blocks 93 corresponding to the two bearing seats 97. The two positioning holes 92 in each pair of positioning holes 92 are arranged opposite each other, and the two clamping blocks 93 in each pair of clamping blocks 93 are arranged opposite each other. Each pair of clamping blocks 93 corresponds to a pair of positioning holes 92 and is located between the two opposing positioning holes 92 and is arranged one-to-one close to each other. The base plate 91 is provided with a middle groove 94, which is located between the two clamping blocks 93 in each pair of clamping blocks 93. The two clamping blocks 93 in each pair of clamping blocks 93 are respectively located on two opposite sides of the middle groove 94. In this way, each pair of clamping blocks 93 and the corresponding pair of positioning holes 92 are located on both sides of the middle groove 94, and the two positioning holes 92 and the two clamping blocks 93 located on the same side of the middle groove 94 are spaced apart. Magnets 95 are also provided at the edge of the base plate 91.

[0053] The cover 96 is a hollow housing. It has first placement holes 961 (not visible in the figure) on opposite sides corresponding to the first support column 16 and first center hole 18 of the open anti-slip clamping structure 100, and second placement holes 963 corresponding to the sleeve portion 73 and third center hole 75 of the anti-slip member 70. The first placement holes 961 and the second placement holes 963 are arranged to face each other. A placement slot 965 is defined at the top of the cover 96. The two ends of the placement slot 965 extend to opposite sides, connecting the first and second placement holes 961 and 963.

[0054] Each bearing seat 97 includes a central portion 98, two elastic positioning posts 981 extending from the outer edge of the central portion 98, and two elastic hooks 983. In this embodiment, the central portion 98 is circular, with a slot 985 defined on the outer edge and a circular hole 987 defined in the center. The slot 985 extends from the outer side to the circular hole 987.

[0055] During assembly, the first support column 16 of the open anti-slip clamping structure 100 is rotatably inserted into the circular hole 987 of the corresponding bearing seat 97 and secured with a snap ring 99 to prevent the bearing seat 97 from automatically slipping out. The anti-slip member 70 is removed from the fourth center hole 68 of the linkage rod 60 of the open anti-slip clamping structure 100. The second end of the linkage rod 60 is rotatably inserted into the circular hole 987 of the corresponding bearing seat 97. They are then placed together above the middle groove 94 of the base plate 91, with the two bearing seats 97 straddling the middle groove 94. The positioning columns 981 of the two bearing seats 97 are respectively inserted into the two pairs of positioning holes 92 of the base plate 91. The two pairs of clamping blocks 93 of the base plate 91 respectively abut against the two hooks 983 of the corresponding bearing seat 97, causing the two hooks 983 to elastically deform and jump over the corresponding clamping blocks 93, thereby clamping them together. In this way, the two bearing seats 97 are restricted from moving in two opposite directions (vertically downward and vertically upward in the figure) so as to be fixed to the base plate 91 at intervals.

[0056] At this point, the housing cover 96 is placed on the base plate 91 and secured, forming an internal space that accommodates the two bearing seats 97 and the open anti-slip clamping structure 100 supported on the bearing seats 97. The placement slot 965 of the housing cover 96 communicates with the internal space of the outer shell 90. The first center hole 18 of the first rotating group 10 and the fourth center hole 68 of the linkage rod 60 are respectively aligned with the first placement hole 961 and the second placement hole 963 of the housing cover 96. At this point, the center rod 72 of the anti-slip member 70 is passed through the second placement hole 963 and into the fourth center hole 68 of the linkage rod 60. Simultaneously, the second end of the linkage rod 60 is inserted into the accommodating slot 74, and the sleeve portion 73 is passed through the second placement hole 963. When the protrusion 77 on the sleeve portion 73 abuts the edge of the circular hole 987, it further compresses the torsion portion 71, allowing the protrusion 77 to pass through the circular hole 987 to the opposite side edge, preventing the bearing seat 97 from axial movement. This allows the central portion 98 of the bearing seat 97 to be sleeved on the sleeve portion 73. The sleeve portion 73 is then inserted into the second placement hole 963 and positioned within the circular hole 987 of the corresponding bearing seat 97. The torsion portion 71 is positioned outside the second placement hole 963 (i.e., outside the internal space formed by the shell cover 96 and the base plate 91). In this way, the first support column 16 of the open anti-slip clamping structure 100 and the sleeve portion 73 of the anti-slip member 70 are respectively rotatably positioned within the circular holes 987 of the two bearing seats 97. The two slots 985 of the two bearing seats 40 are located on the same straight line and directly opposite the placement slots 965 of the shell cover 96. The placement slots 965 of the shell cover 96 and the middle slot 94 of the base plate 91 are respectively located on opposite sides of the open anti-slip clamping structure 100.

[0057] To clamp an intracavitary medical device 80, the first rotating group 10 and the second rotating group 30 of the open anti-slip clamping structure 100 are rotated relative to each other in different clockwise directions using the method described above. Specifically, the sleeve 17 of the first rotating group 10 rotates relative to the sleeve shaft 34 of the second rotating group 30. The first support column 16 and the sleeve portion 73 rotate within the circular holes 987 of the two bearing blocks 97, respectively. This aligns the first through-hole 19 and the fourth through-hole 69 of the first rotating group 10, and the second through-hole 36 of the second rotating group 30 with the two slots 985 of the two bearing blocks 97, allowing them to be aligned and interconnected, located on the same straight line, and facing the placement slot 965 of the housing 96. Similarly, the operator manually rotates the anti-slip member 70, aligning its third through-hole 76 with the fourth through-hole 69 of the linkage rod 60. This allows the first center hole 18, the fourth center hole 68 of the first rotating group 10, and the third center hole 75 of the anti-slip member 70 to communicate with the outside world. At this time, the open anti-slip clamping structure 100 is in an open state, allowing the intracavitary medical device 80 to be placed in the first center hole 19, the fourth center hole 68 and the third center hole 75 through the placement groove 965, the notches of the first rotation group 10 and the second rotation group 30, the slot 985, the first through-groove 19, the second through-groove 36, the fourth through-groove 69 and the third through-groove 76.

[0058] The operator manually rotates the anti-slip part 70 again, so that the third penetration groove 76 is staggered with the second penetration groove 36, the fourth penetration groove 69 and the first penetration groove 19, and the third center hole 75 is no longer connected to the outside world. Then let the first rotating group 10 and the second rotating group 30 rotate relative to each other in different clockwise directions, and the open anti-slip clamping structure 100 clamps the intracavitary medical device 80 to rotate the intracavitary medical device 80, as described above, and will not be repeated. The bottom plate 91 is provided with an intermediate groove 94, which can be more conducive to driving the first rotating group 10 and the second rotating group 30 to rotate relative to each other. Furthermore, the open sterile module can also refer to an open sterile box described in Chinese patent application 202310517391.3, all of which are introduced into the present invention.

[0059] The open sterile module can be installed together with the intracavitary medical device 80 when in use, as described above, or it can be pre-installed together with the intracavitary medical device 80 before leaving the factory or before use, and used as an operating component of the surgical robot. Regarding the rotation drive of the first rotating group 10 and the second rotating group 30, please refer to the surgical execution module and surgical robot described in Chinese patent application 202310565522.5, the surgical execution device and the surgical robot having the surgical execution device described in 202310237481.7, the surgical robot device and the operating method thereof described in Chinese patent application 202210803401.5, and the surgical robot described in Chinese patent application 202211105526.7, all of which are incorporated into the present invention.

[0060] The magnet 95 disposed on the housing base plate 91 of the open sterile module allows the surgical robot's drive assembly to drive the magnet 95 through non-contact field forces, thereby driving the open sterile module. In fact, any method that utilizes the field force of the surgical robot's drive assembly to drive the open sterile module to achieve non-contact, remote control / transmission of the movement of the open sterile module and the intracavitary medical device 80 falls within the scope of protection of the invention. The magnet 95 can be a permanent magnet, an electromagnetic magnet, or a hybrid of a permanent and electromagnetic magnet. The movement of the open sterile module can also be driven through other non-contact, remote control methods such as electromagnetic induction, electric field coupling, and DC resonance. In fact, any method that utilizes field forces (including magnetic field forces, electric field forces, etc.) to drive the movement of the open sterile module to achieve non-contact, remote control / transmission of the movement of the open sterile module and the intracavitary medical device 80 falls within the scope of protection of the invention, that is, fixing a generally defined mobile follower block (also known as a mobile sensing block) on the base plate 91. Regarding this method of "non-contact remote control / transmission" to achieve power transmission, please refer specifically to a surgical execution module and surgical robot described in Chinese patent application 202310565522.5, a surgical execution device and a surgical robot having the surgical execution device described in 202310237481.7, a surgical robot device and its operation method described in Chinese patent application 202210803401.5, and a surgical robot described in Chinese patent application 202211105526.7, all of which are introduced into the present invention.

[0061] As can be seen from the above, the shell 90 of the open sterile module has a placement groove 965, which allows the intracavitary medical device 80 to easily enter from the outside into the open anti-slip clamping structure 100 placed in the shell 90 and be clamped, and can also be easily taken out. Both clamping and removal are very convenient, and the intracavitary medical device 80 can be reliably maintained in a certain position without accidental separation, ensuring smooth delivery and improving surgical operation efficiency.

[0062] The above-described embodiments represent only limited implementations of the invention. While their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that those skilled in the art would be able to devise various modifications, improvements, or refinements without departing from the inventive concept. For example, a notched discontinuous magnetic gear could be fitted around the outer circumference of a notched ring, and all of these modifications would fall within the scope of the invention. Therefore, the scope of patent protection is governed by the claims.

Claims

1. An open anti-drop clamping structure, characterized in that:

14. The swiftly and minutely adjusting device for a wood-planer working table as claimed in claim 13, wherein said linking rod and said adjusting base are pivotally connected to each other with a bolt, and said bolt has a round shank to contact with said linking rod.

2. The open anti-drop clamping structure according to claim 1, characterized in that: A first flared opening is provided on the wall of the first center hole, and the open anti-slip clamping structure further includes a linkage rod rotatably arranged in the second center hole, a first end of the linkage rod extends out of the second center hole to form a large head portion accommodated in the first flared opening, and an opposite second end passes through the second center hole and is clamped on the edge of the second center hole, and the linkage rod can rotate with the first rotating group while maintaining an unchanged position in the extension direction relative to the rotation center of the second rotating group.

3. The open anti-drop clamping structure according to claim 2, characterized in that: The linkage rod is provided with a fourth center hole connected with the first center hole and the third center hole, and is provided with a fourth penetration groove aligned with the first penetration groove.

4. The open anti-drop clamping structure according to claim 2, characterized in that: The anti-dropping component includes a twisting portion and a center rod extending from one side of the twisting portion and rotatably passing through the second center hole.

5. The open anti-drop clamping structure according to claim 4, characterized in that: The anti-slip part also extends a sleeve portion from one side of the torsion portion, and a receiving groove for accommodating the second end tail of the linkage rod is formed between the sleeve portion and the center rod, and the sleeve portion is sleeved outside the second end tail of the linkage rod.

6. The open anti-drop clamping structure according to claim 5, characterized in that: The open anti-dropout clamping structure further includes two clamping members and two corresponding tightening members installed on the first rotating group. The two tightening members respectively force the two clamping members to approach each other and slide into the first center hole to clamp the intracavitary medical device.

7. The open anti-drop clamping structure according to claim 6, characterized in that: A second flare close to the first flare is formed on the wall of the first central hole, and the two clamping members are located in the second flare.

8. The open anti-drop clamping structure according to claim 7, characterized in that: The two clamping members are both provided with an elongated sliding groove, and the large head is provided with two sliding posts that can be slidably passed through the elongated sliding grooves of the corresponding clamping members. When the two sliding posts of the large head slide from the near point to the far point, the two clamping members respectively force the two clamping members to approach each other.

9. The open anti-drop clamping structure according to claim 8, characterized in that: The first rotating group includes a first notch ring and a first center body located at the rotation center of the first notch ring. The first center body is recessed to form a longitudinal section connecting the first flare and the second flare. The two tightening members are two curved levers that are buckled and arranged on the longitudinal section.

10. The open anti-drop clamping structure according to claim 9, characterized in that: The second rotating group includes a second notch ring and a second center body located at the rotation center of the second notch ring. When the first notch ring and the second notch ring rotate relative to each other and approach each other, the linkage rod drives the two tightening parts to rotate toward each other and force the two clamping parts to clamp the intracavitary medical device.

11. The open anti-drop clamping structure according to claim 10, characterized in that: A sleeve is formed on one side of the first notch ring, and a sleeve shaft is rotatably installed in the sleeve on one side of the second notch ring.

12. The open anti-drop clamping structure according to claim 11, characterized in that: A first supporting column is provided on another opposite side surface of the first notch ring, and a second supporting column is provided on another opposite side surface of the second notch ring facing the sleeve portion.

13. The open anti-drop clamping structure according to claim 12, characterized in that: The first gap ring and the second gap ring are both configured as rotational followers for contactless, airborne control / transmission.

14. An open sterile module, characterized in that: The open sterile module includes an outer shell and an open anti-slip clamping structure rotatably fixed to the interior of the outer shell. The outer shell is provided with a placement groove connected to the interior so that intracavitary medical devices can enter the interior of the outer shell through the placement groove and be clamped by the open anti-slip clamping structure. The open anti-slip clamping structure is an open anti-slip clamping structure as described in any one of claims 1 to 13.

15. An open sterile module according to claim 14, characterized in that: A first placement hole and a second placement hole connected to the interior of the shell are respectively opened on two opposite sides of the shell, and both ends of the placement groove extend to the first placement hole and the second placement hole respectively. The first center hole of the first rotating group and the third center hole of the anti-slip component are respectively opposite to the first placement hole and the second placement hole.

16. The open sterile module according to claim 14, characterized in that: One end of the anti-dropping member is placed outside the shell.

17. The open sterile module according to claim 14, characterized in that: The open sterile module further includes two second bearing seats fixed inside the shell, and the first rotating group and the anti-slip component are rotatably supported on the two second bearing seats respectively.

18. The open sterile module according to claim 14, characterized in that: A movable driven block is fixed on the housing for contactless airborne control / transmission.

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