Operation execution device and operation auxiliary equipment

Abstract

The invention provides an operation execution device and operation auxiliary equipment, and the device comprises a transmission cabin which comprises a chassis assembly, and a first adapter transmission assembly, a second adapter transmission assembly and a third adapter transmission assembly which are sequentially arranged on the chassis assembly along an adjustment direction; the first adapter transmission assembly comprises a first output shaft group, the second adapter transmission assembly comprises a second output shaft group, and the third adapter transmission assembly comprises a third output shaft group; the first output shaft set, the second output shaft set and the third output shaft set are all in transmission connection with the power cabin, and at least one output shaft in the third output shaft set is connected with the power cabin through a magnetic coupling. The device carries out overload protection on the third output shaft and the catheter system, the requirement of the operation execution device for the accuracy of control software is lowered, and the situation that control data output by the control software exceed the hard limit position of the catheter system, and consequently the operation execution device or the catheter system is damaged is avoided.

Description

Technical Field

[0001] This application belongs to the field of medical device technology, specifically relating to a surgical execution device and surgical auxiliary equipment. Background Technology

[0002] Minimally invasive valve repair surgery is an advanced surgical method used to treat valvular diseases such as mitral and tricuspid valve disorders. Taking mitral valve repair surgery as an example, this procedure is mainly performed via catheterization, which reduces surgical trauma and recovery time. Specifically, the surgeon will insert a catheter to the mitral valve location through a femoral vein or apex puncture and use specialized instruments to repair the damaged valve. This surgical method has the advantages of minimal trauma, less bleeding, and faster recovery, while also effectively reducing the incidence of postoperative complications.

[0003] Currently, minimally invasive mitral valve repair surgery allows surgeons to operate surgical actuators to control the catheter system and complete the movement of the damaged valve. However, traditional surgical actuators require a high degree of precision in their built-in surgical execution control software, which is often difficult to achieve in practice, leading to damage to the surgical actuator or catheter system. Summary of the Invention

[0004] To address the problems existing in the prior art, a surgical execution device and surgical auxiliary equipment are proposed. By using this surgical execution device and surgical auxiliary equipment, the control accuracy requirements of the built-in surgical execution control software of the surgical execution device can be reduced to a certain extent.

[0005] This application provides the following solutions.

[0006] In a first aspect, this application provides a surgical execution device, comprising:

[0007] The transmission compartment includes a chassis assembly and a first adapter transmission assembly, a second adapter transmission assembly, and a third adapter transmission assembly arranged sequentially on the chassis assembly along the adjustment direction.

[0008] The power compartment is used to drive the first adapter transmission assembly, the second adapter transmission assembly, and the third adapter relative chassis assembly to move in the adjustment direction;

[0009] The first adapter transmission assembly includes a first output shaft group, the second adapter transmission assembly includes a second output shaft group, and the third adapter transmission assembly includes a third output shaft group;

[0010] The first output shaft group, the second output shaft group, and the third output shaft group are all connected to the power compartment via a drive, and at least one output shaft in the third output shaft group is connected to the power compartment via a magnetic coupling.

[0011] In some possible embodiments, multiple output shafts in the third output shaft group are on the same straight line.

[0012] In some possible embodiments, the third output shaft group includes a first output shaft, a second output shaft, and a third output shaft;

[0013] The first output shaft is connected to the power compartment via the first transmission rod, the second output shaft is connected to the power compartment via the second transmission rod, and the third output shaft is connected to the power compartment via the third transmission rod.

[0014] The first transmission rod is equipped with a first magnetic coupling, the second transmission rod is equipped with a second magnetic coupling, and the third transmission rod is equipped with a third magnetic coupling.

[0015] In some possible embodiments, the surgical execution device is used to drive the catheter system, which includes an external catheter system, a middle catheter system, and an internal catheter system;

[0016] The first output shaft group is used to drive the outer conduit system, the second output shaft group is used to drive the middle conduit system, and the third output shaft group is used to drive the inner conduit system. The inner conduit system includes an inner conduit, a first clamping element, a second clamping element, a first clamping element operating lever, a clamping element drive wheel, a first clamping element operating lever, and a second clamping element operating lever.

[0017] The first output shaft is used to drive the first clamping element operating lever, the second output shaft is used to drive the clamping element drive wheel, and the third output shaft is used to drive the first clamping element operating lever.

[0018] In some possible embodiments, the third output shaft group further includes a fourth output shaft and a fifth output shaft;

[0019] The fourth output shaft is connected to the power compartment via the fourth transmission rod, and the fifth output shaft is connected to the power compartment via the fifth transmission rod.

[0020] In some possible embodiments, the third output shaft group is connected to the drive rod group via a commutator, and the drive rod group is connected to the power compartment via a ball spline assembly.

[0021] The power compartment is used to rotate the third output shaft assembly by driving the transmission rod assembly to rotate circumferentially.

[0022] In some possible embodiments, the third adapter transmission assembly further includes a slider, a base, a first partition, a second partition, a third partition, and a fourth partition;

[0023] The first partition, the second partition, the third partition, and the fourth partition are all mounted on the base. The transmission rod assembly passes through the first partition, the second partition, the third partition, and the fourth partition. The slider is located below the base and connects the base and the chassis assembly.

[0024] The first partition is located on the side of the third output shaft assembly near the magnetic coupling, the second and third partitions are located on both sides of the magnetic coupling, and the fourth partition is located on the side of the ball spline assembly near the magnetic coupling.

[0025] In some possible embodiments, the power compartment is provided with a metal shell, the bottom of which has heat dissipation holes and a power compartment cable outlet. A connector assembly is installed at the power compartment cable outlet, and the metal shell of the connector assembly completely covers the power compartment cable outlet.

[0026] In some possible embodiments, the chassis assembly includes a chassis body, handles, and a display screen;

[0027] Both ends of the handle are connected to the chassis body;

[0028] The display screen's cable outlet is equipped with a metal cable outlet box, which completely covers the display screen's cable outlet.

[0029] In some possible embodiments, the display screen is mounted on the handle or on the engine compartment.

[0030] Secondly, this application provides a surgical aid device, including the aforementioned surgical execution device and catheter system;

[0031] The surgical execution device is used to drive the catheter system to perform actions corresponding to the catheter system driving operation based on the user's operation terminal.

[0032] Therefore, the surgical execution device provided in this application embodiment has a magnetic coupling between the third output shaft and the power compartment. When the catheter system driven by the third output shaft reaches the hard limit position, the third output shaft and the catheter system are overload protected, reducing the accuracy requirements of the control software on the surgical execution device and preventing the control data output by the control software from exceeding the hard limit position of the catheter system, thereby causing damage to the surgical execution device or the catheter system.

[0033] Other advantages of this application will be explained in more detail with reference to the following description and figures.

[0034] It should be understood that the above description is merely an overview of the technical solution of this application, so as to enable a clearer understanding of the technical means of this application and thus allow for its implementation in accordance with the contents of the specification. To make the above and other objects, features, and advantages of this application more apparent and understandable, specific embodiments of this application are illustrated below. Attached Figure Description

[0035] By reading the detailed description of the exemplary embodiments below, those skilled in the art will understand the advantages and benefits described herein, as well as other advantages and benefits. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0036] Figure 1 A schematic diagram of a surgical execution device provided in an embodiment of this application;

[0037] Figure 2 A schematic diagram of a third adapter transmission assembly provided in an embodiment of this application;

[0038] Figure 3 A schematic diagram of another third adapter transmission assembly provided in an embodiment of this application;

[0039] Figure 4 A schematic diagram of a third adapter transmission assembly provided in an embodiment of this application;

[0040] Figure 5 A schematic diagram of another third adapter transmission assembly provided in an embodiment of this application;

[0041] Figure 6 A schematic diagram of a power compartment provided for an embodiment of this application;

[0042] Figure 7 A schematic diagram of another power compartment provided for an embodiment of this application;

[0043] Figure 8 A schematic diagram of a surgical execution device provided in an embodiment of this application;

[0044] Figure 9 This is a schematic diagram of another surgical execution device provided in an embodiment of this application.

[0045] The attached diagram lists the components represented by each number as follows:

[0046] Transmission compartment 1000; chassis assembly 1100; chassis body 1110; handle 1120; display screen 1130; first adapter transmission assembly 1200; first output shaft group 1210; second adapter transmission assembly 1300; second output shaft group 1310; third adapter transmission assembly 1400; third output shaft group 1410; first output shaft 1411; second output shaft 1412; third output shaft 1413; fourth output shaft 1414; fifth output shaft 1415; positioning pin 1420; adapter mounting plate 1430; transmission rod group 1440; first transmission rod 1441; second transmission rod 1 442; Third transmission rod 1443; Fourth transmission rod 1444; Fifth transmission rod 1445; First magnetic coupling 1451; Second magnetic coupling 1452; Third magnetic coupling 1453; Reversing device 1460; Ball spline assembly 1470; Slider 1480; Base 1490; First partition 1491; Second partition 1492; Third partition 1493; Fourth partition 1494; Power compartment 2000; Rotary drive unit 2100; Frame plate 2110; Drive motor 2120; External encoder 2130; Metal housing 2200; Heat dissipation holes 2300; Plug-in assembly 2400.

[0047] In the accompanying drawings, the same or corresponding reference numerals indicate the same or corresponding parts. Detailed Implementation

[0048] Exemplary embodiments of this application will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of this application are shown in the drawings, it should be understood that this application can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of this application and to fully convey the scope of this application to those skilled in the art.

[0049] In the description of embodiments of this application, it should be understood that terms such as "comprising" or "having" are intended to indicate the presence of the disclosed features, numbers, steps, actions, components, portions, or combinations thereof in this specification, and do not exclude the possibility of the presence of one or more other features, numbers, steps, actions, components, portions, or combinations thereof. The terms "first," "second," etc., are used only for ease of description to distinguish identical or similar technical features and should not be construed as indicating or implying the relative importance or number of these technical features. Thus, a feature defined by "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of embodiments of this application, unless otherwise stated, the term "multiple" means two or more.

[0050] Unless otherwise stated, " / " signifies "or," for example, A / B can mean either A or B. "And / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. For ease of description, spatial relation terms such as "below," "under," "above," and "upper" may be used here to describe the relationship between one element or feature shown in the accompanying drawings and other elements or features. It will be understood that these spatial relation terms are intended to include directions other than those depicted in the accompanying drawings for devices in use or operation.

[0051] It should also be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0052] like Figure 1 As shown, this application provides a surgical execution device, including:

[0053] The transmission compartment 1000 includes a chassis assembly 1100 and a first adapter transmission assembly 1200, a second adapter transmission assembly 1300 and a third adapter transmission assembly 1400 arranged sequentially on the chassis assembly along the adjustment direction.

[0054] The power compartment 2000 is used to drive the first adapter transmission assembly 1200, the second adapter transmission assembly 1300 and the third adapter relative chassis assembly 1100 to move in the adjustment direction;

[0055] The first adapter transmission assembly 1200 includes a first output shaft group 1210, the second adapter transmission assembly 1300 includes a second output shaft group 1310, and the third adapter transmission assembly 1400 includes a third output shaft group 1410.

[0056] The first output shaft group 1210, the second output shaft group 1310 and the third output shaft group 1410 are all connected to the power compartment 2000 for transmission, and at least one output shaft in the third output shaft group 1410 is connected to the power compartment 2000 through a magnetic coupling.

[0057] Therefore, the surgical execution device provided in this application embodiment has a magnetic coupling between the third output shaft and the power compartment. When the catheter system driven by the third output shaft reaches the hard limit position, the third output shaft and the catheter system are overload protected, reducing the accuracy requirements of the control software on the surgical execution device and preventing the control data output by the control software from exceeding the hard limit position of the catheter system, thereby causing damage to the surgical execution device or the catheter system.

[0058] like Figure 2As shown, the third output shaft group 1410 in the third adapter transmission assembly 1400 is used to connect the sheath adapter, which drives the piping system to operate. In this embodiment, multiple output shafts in the third output shaft group 1410 can be aligned in a straight line, facilitating assembly with the sheath adapter. This application may also provide a positioning pin 1420 on the adapter mounting plate 1430 of the third adapter transmission assembly 1400 to assist in positioning the sheath adapter. Figure 3 As shown, the third output shaft assembly 1410 is connected to the transmission rod assembly 1440 via a commutator 1460, and the transmission rod assembly 1440 is connected to the power compartment 2000 via a ball spline assembly 1470. In this embodiment, the commutator 1460 can be a bevel gear set. The power compartment 2000 is used to drive the transmission rod assembly 1440 to rotate circumferentially, thereby causing the third output shaft assembly 1410 to rotate.

[0059] like Figure 4 As shown, the third output shaft group 1410 provided in this embodiment includes a first output shaft 1411, a second output shaft 1412, and a third output shaft 1413; the third output shaft group 1410 may also include a fourth output shaft 1414 and a fifth output shaft 1415. Specifically, the first output shaft 1411 is connected to the power compartment 2000 via a first transmission rod 1441, the second output shaft 1412 is connected to the power compartment 2000 via a second transmission rod 1442, the third output shaft 1413 is connected to the power compartment 2000 via a third transmission rod 1443, the fourth output shaft 1414 is connected to the power compartment 2000 via a fourth transmission rod 1444, and the fifth output shaft 1415 is connected to the power compartment 2000 via a fifth transmission rod 1445. The first transmission rod 1441 is equipped with a first magnetic coupling 1451, the second transmission rod 1442 is equipped with a second magnetic coupling 1452, and the third transmission rod 1443 is equipped with a third magnetic coupling 1453.

[0060] It should be noted that the surgical execution device provided in this application embodiment is used to drive the catheter system, which includes an external catheter system, a middle catheter system, and an internal catheter system; the first output shaft group 1210 is used to drive the external catheter system, the second output shaft group 1310 is used to drive the middle catheter system, and the third output shaft group 1410 is used to drive the internal catheter system. The internal catheter system includes an internal catheter, a first clamping element, a second clamping element, a first clamping element operating rod, a clamping element drive wheel, a first clamping element operating rod, and a second clamping element operating rod; the first output shaft 1411 is used to drive the clamping element locking rod, the second output shaft 1412 is used to drive the clamping element drive wheel, and the third output shaft 1413 is used to drive the first clamping element operating rod.

[0061] like Figure 5As shown, in this embodiment, the third adapter transmission assembly 1400 may further include a slider 1480, a base 1490, a first partition 1491, a second partition 1492, a third partition 1493, and a fourth partition 1494. The first partition 1491, second partition 1492, third partition 1493, and fourth partition 1494 are all mounted on the base. The transmission rod assembly passes through the first partition 1491, second partition 1492, third partition 1493, and fourth partition 1494. The slider is located below the base and connects the base and the chassis assembly 1100. The first partition 1491 is located on the side of the third output shaft assembly 1410 near the magnetic coupling. The second partition 1492 and third partition 1493 are located on both sides of the magnetic coupling. The fourth partition 1494 is located on the side of the ball spline assembly 1470 near the magnetic coupling.

[0062] As one possible implementation method, such as Figure 6 As shown, in the above embodiment, a power compartment 2000 is provided to provide rotary driving force, and multiple rotary drive units 2100 are housed therein. Each rotary drive unit 2100 includes a mounted frame plate 2110, a drive motor 2120 mounted on the frame plate 2110, and an external encoder 2130 mounted on the output shaft of the drive motor 2120. The output end of the drive motor 2120 passes through the frame plate 2110 and is detachably connected to the input ends of the first adapter transmission assembly 1200, the second adapter transmission assembly 1300, and the third adapter transmission assembly 1400 via the external encoder 2130. The external encoder 2130 in this application can prevent runaway phenomena caused by damage to the original encoder of the drive motor 2120; and can compensate for the lack of multi-turn feedback function in the original encoder of the drive motor 2120, enabling precise control over multiple turns. Both the original encoder of the drive motor 2120 and the external encoder 2130 include incremental encoders and / or absolute encoders.

[0063] The drive motor 2120 provides power to the first adapter transmission assembly 1200, the second adapter transmission assembly 1300, and the third adapter transmission assembly 1400. Each input connector of the first adapter transmission assembly 1200, the second adapter transmission assembly 1300, and the third adapter transmission assembly 1400 is coaxially and detachably connected to the output end of a drive motor 2120. This enables smooth transmission between the power compartment 2000 and the transmission compartment 1000, realizes the modular design of the power compartment 2000 and the transmission compartment 1000, improves the flexibility of the surgical execution device, and helps to expand the surgical execution device to more surgical applications.

[0064] In the above embodiments, such as Figure 7As shown, the power compartment 2000 is equipped with a metal outer shell 2200. The bottom of the metal outer shell 2200 is provided with heat dissipation holes 2300 and a cable outlet. A plug-in assembly 2400 is installed at the cable outlet. The metal outer shell of the plug-in assembly 2400 completely covers the cable outlet of the power compartment 2000 to improve the shielding performance of the power compartment 2000 and reduce the influence of external electric fields on the interior of the power compartment.

[0065] The power compartment 2000 also houses a drive assembly and a communication connection to the drive motor 2120. Because the power compartment 2000 contains numerous active components, it generates a significant amount of heat during operation, potentially leading to excessively high internal temperatures and increased risk of damage. Therefore, a blower is installed inside the compartment to extract air from within the power compartment 2000 through pipes and discharge it to the outside. This creates a negative pressure inside, allowing air to flow into the power compartment 2000 through the bottom heat dissipation vents 2300 and the built-in heat sink, achieving air cooling. To increase the heat dissipation area, the power compartment 2000 is encased in a metal shell 2200. This metal shell 2200 is in direct contact with the outside air, allowing for rapid heat transfer from the inside to the outside. This, combined with the internal structure of the blower, achieves efficient cooling, improves equipment safety, and extends its service life.

[0066] In the embodiments of this application, such as Figure 8 As shown, the chassis assembly 1100 may include a chassis body 1110, a handle 1120, and a display screen 1130. Both ends of the handle 1120 are connected to the chassis body 1110, which can improve the rigidity of the chassis assembly to a certain extent. The display screen 1130's cable outlet is equipped with a metal cable outlet box, which completely covers the cable outlet of the display screen 1130 to improve the shielding performance of the internal wiring of the display screen 1130 and reduce the influence of external electric fields on the internal wiring. Figure 8 As shown in the embodiment of this application, the display screen 1130 is mounted on the handle 1120, as... Figure 9 As shown in the embodiment of this application, the display screen 1130 can also be installed on the power compartment 2000.

[0067] In summary, the surgical execution device provided in this application embodiment features a magnetic coupling between the third output shaft and the power compartment. When the catheter system driven by the third output shaft reaches its hard limit position, overload protection is provided for both the third output shaft and the catheter system. This reduces the precision requirements of the control software on the surgical execution device and prevents the control data output by the control software from exceeding the hard limit position of the catheter system, thereby avoiding damage to the surgical execution device or the catheter system. Furthermore, this application incorporates metal-cased plug-in components or cable outlets at the cable outlets of the power compartment and the display screen, which enhances shielding performance and reduces the impact of external electric fields on the internal wiring.

[0068] According to the surgical execution device provided in the above embodiments, this application also provides a surgical auxiliary device.

[0069] The surgical aid device provided in this application includes the surgical execution device and the catheter system described above; the surgical execution device is used to drive the catheter system to perform actions corresponding to the catheter system driving operation based on the user's operation terminal.

[0070] The internal catheter system includes an internal catheter, a first clamping element, a second clamping element, a clamping element locking lever, a clamping element drive wheel, a first clamping element operating lever, a second clamping element operating lever, and an internal catheter system handle. The proximal end of the internal catheter is disposed on the internal catheter system handle. The clamping element locking lever is used to control the unlocking and locking of the first clamping element located at the distal end of the internal catheter. The clamping element drive wheel is used to control the opening and closing of the first clamping element. The first clamping element operating lever is used to control the capture state of the two capture arms of the second clamping element located at the distal end of the internal catheter. The second clamping element operating lever is used to control the lifting and capture of the second clamping element.

[0071] The third adapter transmission assembly in this embodiment may include an inner catheter system base, an inner catheter rotation transmission assembly, a clamping element locking rod transmission assembly, a clamping element drive wheel transmission assembly, a first clamping element operating rod transmission assembly, and a second clamping element operating rod transmission assembly. The inner catheter rotation transmission assembly is matched with the inner catheter system handle, the clamping element locking rod transmission assembly is matched with the clamping element locking rod, the clamping element drive wheel transmission assembly is matched with the clamping element drive wheel, the first clamping element operating rod transmission assembly is matched with the first clamping element operating rod, and the second clamping element operating rod transmission assembly is matched with the second clamping element operating rod.

[0072] The operating end of the internal catheter system includes a clamping element locking lever operation button, a clamping element drive wheel operation button, a first clamping element operating lever operation button, a second clamping element operating lever operation button, and an internal catheter system operating handle;

[0073] The internal catheter system can respond to the user's internal catheter movement operation based on the internal catheter system operating handle. The main console sends an internal catheter movement command to the surgical execution device so that the internal catheter movement drive component can extend and retract the surgical execution device to drive the internal catheter system to move, so as to adjust the internal catheter movement by moving the internal catheter system.

[0074] The internal catheter system can respond to the user's internal catheter rotation operation based on the internal catheter system operating handle. The main console sends an internal catheter rotation command to the surgical execution device so that the internal catheter rotation drive component drives the internal catheter system handle to rotate, thereby adjusting the bending direction of the distal end of the internal catheter by rotating the internal catheter system handle.

[0075] The internal catheter system can also respond to the user's clamping element locking lever operation based on the clamping element locking lever operation button. The main console sends a clamping element locking lever operation command to the surgical execution device so that the clamping element locking lever drive assembly drives the clamping element locking lever to move through the clamping element locking lever transmission assembly, so that the first clamping element is locked or unlocked by moving the clamping element locking lever.

[0076] The internal catheter system can also respond to user operation of the clamping element drive wheel based on the clamping element drive wheel operation button. The main console sends a clamping element drive wheel operation command to the surgical execution device so that the clamping element drive wheel drive assembly drives the clamping element drive wheel to rotate through the clamping element drive wheel transmission assembly, thereby controlling the opening or closing of the first clamping element by rotating the clamping element drive wheel.

[0077] The internal catheter system can also respond to the user's operation of the first clamping element operating lever based on the first clamping element operating lever operation button. The main console sends the first clamping element operating lever operation command to the surgical execution device so that the first clamping element operating lever drive assembly drives the first clamping element operating lever to move through the first clamping element operating lever transmission assembly, so that the two capture arms of the clamping element can be controlled to capture simultaneously or independently by moving the first clamping element operating lever.

[0078] The internal catheter system can also respond to user button operation based on the second clamping element operating lever. The main console sends a second clamping element operating lever operation command to the surgical execution device, so that the second clamping element operating lever drive assembly drives the second clamping element operating lever to move through the second clamping element operating lever transmission assembly, so that the second clamping element can be controlled to capture or lift by moving the second clamping element operating lever.

[0079] It should be noted that the surgical aids in the embodiments of this application may include various components of the aforementioned surgical execution device embodiments, and achieve the same effects and functions, which will not be repeated here.

[0080] While illustrative embodiments of this application have been detailed and described in the accompanying drawings and foregoing description, they should be considered illustrative rather than restrictive. It should be understood that only certain exemplary embodiments have been shown and described, and all variations and modifications intended to protect within the spirit and scope of the claimed invention are intended to be protected. It should be understood that while the use of terms such as preferred, preferred, or more preferred in the above description to indicate that such described features may be more desirable, it may not be necessary, and implementations without these features may be contemplated, for example, within the scope of the invention defined by the appended claims. When reading the claims, the use of terms such as “a,” “an,” “at least one,” or “at least a portion” is not intended to limit the claim to one item unless specifically stated otherwise in the claim. When the language “at least a portion” and / or “a portion” is used, an item may include a portion and / or the entire item unless specifically stated otherwise.

[0081] While the spirit and principles of this application have been described above with reference to several specific embodiments, it should be understood that this application is not limited to the disclosed specific embodiments, and the division of aspects does not imply that features in these aspects cannot be combined. This application is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1. A surgical execution device, characterized in that, include: The transmission compartment includes a chassis assembly and a first adapter transmission assembly, a second adapter transmission assembly, and a third adapter transmission assembly arranged sequentially on the chassis assembly along the adjustment direction. The power compartment is used to drive the first adapter transmission assembly, the second adapter transmission assembly, and the third adapter relative to the chassis assembly to move in the adjustment direction; The first adapter drive assembly includes a first output shaft group, the second adapter drive assembly includes a second output shaft group, and the third adapter drive assembly includes a third output shaft group; The first output shaft group, the second output shaft group, and the third output shaft group are all connected to the power compartment via a drive connection, and at least one output shaft in the third output shaft group is connected to the power compartment via a magnetic coupling.

2. The surgical execution device according to claim 1, characterized in that, The multiple output shafts in the third output shaft group are on the same straight line.

3. The surgical execution device according to claim 2, characterized in that, The third output shaft group includes a first output shaft, a second output shaft, and a third output shaft; The first output shaft is connected to the power compartment via a first transmission rod, the second output shaft is connected to the power compartment via a second transmission rod, and the third output shaft is connected to the power compartment via a third transmission rod. The first transmission rod is equipped with a first magnetic coupling, the second transmission rod is equipped with a second magnetic coupling, and the third transmission rod is equipped with a third magnetic coupling.

4. The surgical execution device according to claim 3, characterized in that, The surgical execution device is used to drive the catheter system, which includes an external catheter system, a middle catheter system, and an internal catheter system. The first output shaft group is used to drive the external conduit system, the second output shaft group is used to drive the middle conduit system, and the third output shaft group is used to drive the internal conduit system. The internal conduit system includes an internal conduit, a first clamping element, a second clamping element, a clamping element locking rod, a clamping element drive wheel, a first clamping element operating rod, and a second clamping element operating rod. The first output shaft is used to drive the clamping element locking lever, the second output shaft is used to drive the clamping element drive wheel, and the third output shaft is used to drive the first clamping element operating lever.

5. The surgical execution device according to claim 4, characterized in that, The third output shaft group also includes a fourth output shaft and a fifth output shaft; The fourth output shaft is connected to the power compartment via a fourth transmission rod, and the fifth output shaft is connected to the power compartment via a fifth transmission rod.

6. The surgical execution device according to claim 1, characterized in that, The third output shaft group is connected to the transmission rod group via a commutator, and the transmission rod group is connected to the power compartment via a ball spline assembly. The power compartment is used to rotate the third output shaft assembly by driving the transmission rod assembly to rotate circumferentially.

7. The surgical execution device according to claim 6, characterized in that, The third adapter transmission assembly also includes a slider, a base, a first partition, a second partition, a third partition, and a fourth partition; The first partition, the second partition, the third partition, and the fourth partition are all disposed on the base. The transmission rod assembly passes through the first partition, the second partition, the third partition, and the fourth partition. The slider is disposed below the base and connects the base and the chassis assembly. The first partition is disposed on the side of the third output shaft assembly near the magnetic coupling, the second partition and the third partition are disposed on both sides of the magnetic coupling, and the fourth partition is disposed on the side of the ball spline assembly near the magnetic coupling.

8. The surgical execution device according to claim 1, characterized in that, The power compartment is equipped with a metal shell, and the bottom of the metal shell is provided with heat dissipation holes and a power compartment cable outlet. A connector assembly is installed at the power compartment cable outlet, and the metal shell of the connector assembly completely covers the power compartment cable outlet.

9. The surgical execution device according to claim 1, characterized in that, The chassis assembly includes a chassis body, handles, and a display screen; Both ends of the handle are connected to the chassis body; The display screen has a metal cable outlet box that completely covers the display screen's cable outlet.

10. The surgical execution device according to claim 9, characterized in that, The display screen is mounted on the handle, or the display screen is mounted on the engine compartment.

11. A surgical aid device, characterized in that, Includes the surgical execution device and catheter system as described in any one of claims 1-10; The surgical execution device is used to drive the catheter system to perform actions corresponding to the catheter system driving operation based on the user's catheter system driving operation based on the operating terminal.

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