Conveying mechanism, conveying device and surgical robot system

Abstract

The invention discloses a conveying mechanism, a conveying device and a surgical robot system. The conveying mechanism is used for conveying a guide wire and / or a catheter and comprises a base, a fixed roller assembly, a movable roller assembly and a position adjusting assembly. The fixed rolling wheel assembly is arranged on the base and comprises at least one fixed rolling wheel, and the fixed rolling wheel is used for rotating around the axis of the fixed rolling wheel under driving of the first driving mechanism. The moving roller assembly comprises a moving seat and at least one moving roller. The movable seat is arranged on the base and can move relative to the base in the first direction, and the first direction is perpendicular to the axis of the fixed roller. And the moving rollers are arranged on the moving seat, correspond to the fixed rollers, are arranged opposite to the corresponding fixed rollers in the first direction, and are used for clamping the guide wire and / or the catheter together with the corresponding fixed rollers. The position adjusting assembly is connected to the moving base and used for driving the moving base to move in the first direction under driving of the second driving mechanism.

Description

Technical Field

[0001] This application relates to the field of surgical robot technology, and more specifically to a delivery mechanism for delivering guidewires and / or catheters, as well as a delivery device and surgical robot system having the same. Background Technology

[0002] Guidewire or catheter delivery devices are essential surgical instruments for interventional procedures. Existing technologies (e.g., CN114887198A and CN116407279A) use opposing rollers to clamp the guidewire or catheter, delivering it through roller rotation. Springs are used to bring the opposing rollers closer together to clamp the guidewire or catheter. However, in practical applications, once the product is formed, the springs cannot be replaced. A single spring is difficult to adapt to guidewires or catheters of different models or materials. Furthermore, to clamp the guidewire or catheter, the spring typically has a large elastic force, which requires overcoming a significant spring force to separate the two rollers during manual installation, making the operation inconvenient. Summary of the Invention

[0003] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This summary section is not intended to limit the key and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0004] To at least partially address the aforementioned problems, a first aspect of this application provides a delivery mechanism for delivering guidewires and / or catheters, comprising:

[0005] Base;

[0006] A fixed roller assembly is disposed on the base, the fixed roller assembly including at least one fixed roller, the fixed roller being used to rotate around its own axis under the drive of a first drive mechanism;

[0007] The movable roller assembly includes:

[0008] A movable seat, disposed on the base, and movable relative to the base along a first direction, wherein the first direction is perpendicular to the axis of the fixed roller, and

[0009] At least one movable roller is disposed on the movable seat, the movable roller being correspondingly disposed with a fixed roller, and the movable roller and the corresponding fixed roller being disposed opposite to each other along the first direction, for jointly clamping the guide wire and / or catheter with the corresponding fixed roller; and

[0010] A position adjustment component, connected to the movable seat, is used to drive the movable seat to move along the first direction under the drive of the second drive mechanism, so as to change the distance between the movable roller and the fixed roller.

[0011] According to this application, fixed rollers and movable rollers are arranged opposite each other to jointly clamp and transport guide wires and / or conduits. The distance between the fixed rollers and movable rollers is adjustable to accommodate guide wires and / or conduits of different thicknesses. The distance between the fixed rollers and movable rollers is controlled by a drive mechanism, which ensures that the distance between them remains constant, meaning the drive mechanism can provide sufficient clamping force. Simultaneously, the drive mechanism can separate the fixed rollers and movable rollers, facilitating the installation of guide wires and / or conduits.

[0012] Optionally, the position adjustment component includes:

[0013] An adjusting gear, disposed on the base, is used to rotate relative to the base under the drive of the second drive mechanism; and

[0014] An adjusting rack meshes with the adjusting gear, the adjusting rack extending along the first direction and connected to the movable seat.

[0015] According to this application, the position adjustment component has a simple structure, is easy to control, and has stable performance.

[0016] Optionally, the fixed roller assembly includes a plurality of the fixed rollers.

[0017] The fixed roller assembly is configured such that a portion of the fixed rollers are used to rotate around their own axis under the drive of the first drive mechanism, and the other fixed rollers are used to rotate around their own axis under the drive of the other fixed roller.

[0018] According to this application, the connection between the fixed roller assembly and the first drive mechanism is simple.

[0019] Optionally, the fixed roller assembly further includes:

[0020] A plurality of first rotating shafts are provided, each corresponding to a fixed roller and coaxially connected to the corresponding fixed roller. A portion of the first rotating shafts are used to rotate around their own axis under the drive of the first driving mechanism.

[0021] At least one first drive belt, each of the first drive belts connecting two of the first rotating shafts.

[0022] According to this application, the method of making all fixed rollers rotate synchronously by the conveying mechanism is simple, stable in performance, and easy to implement.

[0023] Optionally, the conveying mechanism further includes a roller drive assembly, with a first end connected to the fixed roller and a second end connected to the movable roller, so that the fixed roller drives the movable roller to rotate in opposite directions at the same rotational speed.

[0024] The roller drive assembly is configured such that the second end of the roller drive assembly is movable relative to the first end of the roller drive assembly along the first direction to accommodate the movement of the movable seat along the first direction.

[0025] According to this application, the movable roller is also a drive wheel, which can improve the conveying capacity of the conveying mechanism. The movable roller is driven by the fixed roller, which reduces the connection between the conveying mechanism and the drive mechanism, making the conveying mechanism more convenient to use.

[0026] Optionally, the roller transmission assembly includes N sequentially meshing transmission gears, where N is an even number greater than or equal to 4.

[0027] The first transmission gear is disposed at the first end of the roller transmission assembly and rotates synchronously with the fixed roller, and the last transmission gear is disposed at the second end of the roller transmission assembly and rotates synchronously with the movable roller. The last transmission gear is movable relative to the first transmission gear along the first direction.

[0028] According to this application, the roller drive assembly has a simple structure, is easy to control, and has stable performance.

[0029] Optionally, the fixed roller and the movable roller are constructed with the same roller structure, and the transmission ratio of the roller transmission assembly is 1:1.

[0030] According to this application, the standardized component specifications help save costs.

[0031] Optionally, the roller drive assembly further includes:

[0032] A first connecting arm, the first connecting arm including a first connecting arm first end and a first connecting arm second end disposed opposite to each other, the first transmission gear being disposed at the first connecting arm first end; and

[0033] The second connecting arm includes a first end and a second end of the second connecting arm arranged opposite to each other, and the last transmission gear is disposed at the second end of the second connecting arm.

[0034] The first end of the second connecting arm is rotatably connected to the second end of the first connecting arm around a third axis, the third axis being parallel to the axis of the fixed roller, and N transmission gears are arranged in the first connecting arm and the second connecting arm.

[0035] According to this application, the method for enabling the roller drive assembly to extend and retract in the first direction is simple, easy to implement, and has stable performance.

[0036] Optionally, the third axis coincides with the axis of one of the transmission gears other than the first and the last transmission gears.

[0037] According to this application, the distance between adjacent transmission gears remains constant, which is beneficial for all transmission gears to always mesh well.

[0038] Optionally, the movable roller assembly includes a plurality of the movable rollers.

[0039] The movable roller assembly is configured such that some of the movable rollers are used to rotate about their own axis under the drive of the fixed roller, and other movable rollers are used to rotate about their own axis under the drive of another movable roller.

[0040] According to this application, the roller drive assembly only needs to connect a portion of the moving rollers, simplifying the connection between the roller drive assembly and the moving roller assembly.

[0041] Optionally, the movable roller assembly further includes:

[0042] A plurality of second rotating shafts are provided, each corresponding to a movable roller and coaxially connected to the corresponding movable roller. Some of the second rotating shafts are used to rotate around their own axis under the drive of the fixed roller.

[0043] At least one second drive belt, each of the second drive belts connecting two second rotating shafts.

[0044] According to this application, the method by which the conveying mechanism makes all the moving rollers rotate synchronously is simple, stable in performance, and easy to implement.

[0045] Optionally, the fixed roller assembly includes a plurality of fixed rollers, and the movable roller assembly includes a plurality of movable rollers.

[0046] Wherein, the Pth fixed roller is used to rotate around its own axis under the drive of the first drive mechanism, the first end of the roller transmission assembly is connected to the Qth fixed roller, and the second end of the roller transmission assembly is connected to the Qth movable roller, where P is not equal to Q.

[0047] According to this application, the first drive mechanism and the roller transmission assembly are respectively connected to different fixed rollers, which can avoid mutual interference and also simplify the connection structure. The roller transmission assembly is connected to the opposite fixed rollers and moving rollers in close proximity, which can save materials and also avoid interference between rollers.

[0048] Optionally, the conveying mechanism further includes a biasing member for applying a force to the movable seat away from the fixed roller along the first direction.

[0049] According to this application, the biasing member assists the position adjustment assembly in maintaining the moving roller in a stable position relative to the fixed roller. The biasing member also facilitates the opening of a channel between the moving roller and the fixed roller, simplifying the installation of the guide wire and / or conduit. Furthermore, the biasing member makes it difficult for the moving roller and the fixed roller to come into contact, thus protecting the moving roller, the fixed roller, the guide wire, and the conduit.

[0050] Optionally, the fixed roller assembly includes a fixed base disposed on the base, and the fixed roller is disposed on the fixed base.

[0051] The biasing member is disposed between the movable seat and the fixed seat.

[0052] According to this application, the offsetting member is disposed between the movable seat and the fixed seat, which allows it to function more directly.

[0053] Optionally, the biasing member is configured as a spring; or

[0054] The biasing component includes a first magnet and a second magnet. The first magnet is disposed on the fixed base, and the second magnet is disposed on the movable base. The first magnet and the second magnet repel each other magnetically.

[0055] According to this application, the offset component has a simple structure and stable performance.

[0056] Optionally, the fixed roller assembly includes a first component for connecting the first drive mechanism, and the position adjustment assembly includes a third component for connecting the second drive mechanism, wherein the first component and the third component are connected to their respective drive mechanisms on the same side of the conveying mechanism.

[0057] According to this application, the first component and the third component are connected to their respective drive mechanisms on the same side of the conveying mechanism, thereby facilitating the connection between the conveying mechanism and the drive mechanism.

[0058] Optionally, the first component is a first rotating shaft, the third component is a third rotating shaft, and the first rotating shaft and the third rotating shaft are arranged parallel to each other; and / or

[0059] The fixed roller and the movable roller are disposed on the first side of the conveying mechanism, and the first side and the same side are opposite sides of the conveying mechanism.

[0060] According to this application, the first rotating shaft and the third rotating shaft are arranged parallel to each other, which facilitates the connection between the conveying mechanism and the driving mechanism. The first side and the same side are opposite sides of the conveying mechanism, so that the conveying mechanism is connected to the driving mechanism on one side, and the guide wire and / or conduit are installed on the opposite side, which makes the installation of the guide wire and / or conduit convenient.

[0061] Optionally, the conveying mechanism further includes a guide member disposed on the base and extending along the first direction.

[0062] The movable seat is connected to the guide member and is movable relative to the guide member along the first direction.

[0063] According to this application, the guide member facilitates the stable movement of the movable seat.

[0064] Optionally, the first direction can be used as the up-down direction.

[0065] According to this application, when the first direction is vertical, the fixed roller and the movable roller are placed horizontally, and the lower roller can support the guidewire and / or catheter, facilitating the installation of the guidewire and / or catheter. Simultaneously, the first drive mechanism can be positioned on the side of the delivery mechanism, which allows the delivery mechanism to be closer to the surgical patient, reducing the length of the guidewire and / or catheter and facilitating surgical procedures.

[0066] Optionally, the conveying mechanism further includes a large sheath mounting part for mounting a large sheath, the large sheath mounting part being disposed on the base.

[0067] According to this application, the conveying mechanism can also be fitted with a large sheath.

[0068] A second aspect of this application provides a delivery device for delivering guidewires and / or catheters, comprising:

[0069] A power platform, comprising a first drive mechanism and a second drive mechanism, wherein the first drive mechanism and the second drive mechanism operate under the control of a control module, wherein the control module controls the operation of the second drive mechanism by monitoring at least the operating parameters of the second drive mechanism; and

[0070] According to any one of the first aspects, the conveying mechanism is detachably connected to the power platform.

[0071] The first driving mechanism is used to drive the fixed roller to rotate; the second driving mechanism is used to drive the position adjustment component to work, so that the movable seat can stay at any position within a continuous position range along the first direction.

[0072] According to this application, fixed rollers and movable rollers are arranged opposite each other to jointly clamp and transport guide wires and / or conduits. The distance between the fixed rollers and movable rollers can be steplessly adjusted within a continuous range, thereby accommodating guide wires and / or conduits of different thicknesses. The distance between the fixed rollers and movable rollers is controlled by a drive mechanism, which ensures that the distance between them remains constant, meaning the drive mechanism can provide sufficient clamping force. Simultaneously, the drive mechanism can separate the fixed rollers and movable rollers, facilitating the installation of guide wires and / or conduits.

[0073] Optionally, the first drive mechanism includes a motor; and / or

[0074] The second drive mechanism includes a motor.

[0075] According to this application, the first drive mechanism and the second drive mechanism use motor output driving force, which is simple to control, low in cost and stable in performance.

[0076] Optionally, the second drive mechanism includes

[0077] A second servo motor, used to provide the driving force for moving the movable base, wherein the operating parameter is the operating current of the second servo motor.

[0078] The control module is configured to stop the second servo motor from working when the operating current reaches a preset threshold.

[0079] According to this application, when the operating current of the second servo motor reaches a preset threshold, it indicates that the moving seat is difficult to move, indicating that the moving roller and the fixed roller have clamped the guide tube and / or guide wire.

[0080] Optionally, the conveying device is configured to activate the first drive mechanism after the second servo motor stops operating; and / or

[0081] The preset threshold varies depending on the thickness or material of the guidewire or catheter.

[0082] According to this application, the guide wire and / or conduit are first clamped by the moving roller and the fixed roller, and then the moving roller and the fixed roller convey the guide wire and / or conduit, and the conveying device works in an orderly manner.

[0083] A third aspect of this application provides a surgical robot system comprising:

[0084] The first support is for placement beside the operating table; and

[0085] The conveying device according to any one of the second aspects,

[0086] The power platform is mounted on the first bracket.

[0087] According to this application, fixed rollers and movable rollers are arranged opposite each other to jointly clamp and transport guide wires and / or conduits. The distance between the fixed rollers and movable rollers can be adjusted to accommodate guide wires and / or conduits of different thicknesses.

[0088] Optionally, the first support is configured as a robotic arm, which is movable relative to the operating table in at least one spatial dimension.

[0089] According to this application, the first support is constructed as a robotic arm with at least one degree of freedom, which facilitates the adjustment of the position of the delivery device relative to the operating table. Attached Figure Description

[0090] The following drawings, which are incorporated herein by reference as part of this application, are provided for understanding the application. The drawings illustrate representative embodiments of the application and are used to explain the principles of the application, not to limit it.

[0091] In the attached image:

[0092] Figure 1 This is a schematic diagram of a conveying device according to a specific embodiment of this application;

[0093] Figure 2 for Figure 1 The diagram shows an exploded three-dimensional view of the conveying device.

[0094] Figure 3 for Figure 1 An exploded three-dimensional diagram of the conveying mechanism shown.

[0095] Figure 4 for Figure 3 An exploded three-dimensional diagram of the internal structure of the conveying mechanism shown.

[0096] Figure 5 for Figure 3 The diagram shows a side view of the internal structure of the conveyor mechanism, with the moving roller close to the driving roller.

[0097] Figure 6 for Figure 3 The diagram shows a side view of the internal structure of the conveyor mechanism, with the moving rollers located away from the drive rollers.

[0098] Figure 7 for Figure 3 A schematic diagram of the roller drive assembly of the conveying mechanism is shown.

[0099] Explanation of reference numerals in the attached figures:

[0100] 20: Power Station

[0101] 21: First drive mechanism

[0102] 22: First drive component / first servo motor

[0103] 23: First transmission device

[0104] 24: First drive shaft

[0105] 25: Second drive mechanism

[0106] 26: Second drive unit / second servo motor

[0107] 27: Second drive shaft

[0108] 28: Limiting surface of the power platform

[0109] 29: Pin

[0110] 31: Channel

[0111] 32: Installation Department

[0112] 38: Offset component / spring

[0113] 40: Box body

[0114] 41: Box body

[0115] 42: Box lid

[0116] 43: Second through hole

[0117] 44: First through hole

[0118] 45: Accommodation space

[0119] 46: Guide components

[0120] 47: Guide rod

[0121] 48: Limiting surface of conveying mechanism

[0122] 49: Mounting holes

[0123] 50: Fixed roller assembly

[0124] 51: Fixed base

[0125] 52: Fixed roller

[0126] 53: First rotating shaft

[0127] 54: First transmission belt

[0128] 58: Functional Part

[0129] 60: Moving roller assembly

[0130] 61: Portable Seat

[0131] 62: Moving rollers

[0132] 63: Second rotating shaft

[0133] 64: Second transmission belt

[0134] 67: Guide rod through hole

[0135] 68: Mounting slot

[0136] 70: Position adjustment component

[0137] 71: Adjusting the rack

[0138] 72: Adjusting gear

[0139] 73: Third Rotation Axis

[0140] 80: Roller drive assembly

[0141] 81: Transmission gears

[0142] 83: First connecting arm

[0143] 84: First end of the first connecting arm

[0144] 85: Second end of the first connecting arm

[0145] 87: Second connecting arm

[0146] 88: First end of the second connecting arm

[0147] 89: Second end of the second connecting arm

[0148] 100: Conveying device

[0149] 101: Guidewire

[0150] 102: Catheter

[0151] 103: Big sheath

[0152] 110: Conveying mechanism

[0153] D1: First Direction

[0154] D2: Second Direction

[0155] DA: Axial direction

[0156] P1: First axis

[0157] P2: Second axis

[0158] P3: Third Axis Detailed Implementation

[0159] The following description provides numerous specific details to offer a more thorough understanding of this application. However, it will be apparent to those skilled in the art that this application can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described to avoid confusion with this application.

[0160] To fully understand this application, a detailed description will be provided in the following description. It should be understood that these embodiments are provided so that the disclosure of this application is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art. Obviously, the implementation of the embodiments of this application is not limited to the specific details familiar to those skilled in the art. Preferred embodiments of this application are described in detail below; however, in addition to these detailed descriptions, this application may have other embodiments.

[0161] The ordinal numbers such as “first” and “second” used in this application are merely identifiers and have no other meaning, such as a specific order. Furthermore, for example, the term “first component” does not imply the existence of a “second component,” and the term “second component” does not imply the existence of a “first component.” The use of words such as “first,” “second,” and “third” does not indicate any order and can be interpreted as names.

[0162] It should be noted that the terms “upper,” “lower,” “front,” “back,” “left,” “right,” “inner,” “outer,” and similar expressions used in this application are for illustrative purposes only and are not intended to be limiting.

[0163] In this document, terms such as “equal” and “same” are not strict mathematical and / or geometric limitations, but also include errors that are understandable to those skilled in the art and permissible in manufacturing or use.

[0164] Unless otherwise stated, the numerical ranges in this document include not only the entire range within its two endpoints, but also the subranges contained therein.

[0165] This application provides a delivery mechanism for delivering guidewires and / or catheters, a delivery device having the delivery mechanism, and a surgical robot system having the delivery device.

[0166] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings.

[0167] like Figure 1 and Figure 2As shown, in a specific embodiment according to this application, the conveying device 100 is used to convey the guide wire 101 and / or the catheter 102. The conveying device 100 includes, for example, a power station 20 and a conveying mechanism 110. The conveying mechanism 110 is used to convey the guide wire 101 and / or the catheter 102, and the power station 20 is used to provide power to the conveying mechanism 110.

[0168] For example, the conveying mechanism 110 includes at least one pair of opposing fixed rollers 52 and movable rollers 62. The axes of the fixed rollers 52 and the movable rollers 62 are parallel and spaced apart along a first direction D1, thereby forming a channel 31 extending along a second direction D2 between them. Preferably, the axes of the fixed rollers 52 (extending along the axial direction DA), the first direction D1, and the second direction D2 are perpendicular to each other. The guide wire 101 and / or the conduit 102 passes through the channel 31, and the opposing fixed rollers 52 and movable rollers 62 are used to jointly clamp the guide wire 101 and / or the conduit 102. The fixed rollers 52 rotate about their own axes under the drive of the first drive mechanism 21 of the power station 20. Even if only one fixed roller 52 rotates about its own axis under the drive of the first drive mechanism 21 of the power station 20, the conveying mechanism 110 can rotate all the fixed rollers 52 and all the movable rollers 62 through friction. Thus, the fixed roller 52 and the movable roller 62, which are arranged opposite to each other, jointly clamp and transport the guide wire 101 and / or the conduit 102.

[0169] In this application, a drive mechanism refers to a mechanism that includes active components capable of outputting driving force, such as components that operate using a power source and output torque, such as motors, cylinders, and other electronically controlled components. Active components, also known as active drive components, typically operate under the control of a control module. The control module controls the operation of the drive components based on signals monitored by sensors or the operating parameters of the drive components, thereby enabling the equipment to operate in a controlled manner.

[0170] When the delivery mechanism 110 includes multiple pairs of fixed rollers 52 and movable rollers 62 arranged opposite each other along the first direction D1, the multiple pairs of fixed rollers 52 and movable rollers 62 are arranged parallel to each other along the second direction D2. Alternatively, multiple fixed rollers 52 are arranged parallel to each other along the second direction D2, and multiple movable rollers 62 are arranged parallel to each other along the second direction D2, with a one-to-one correspondence between the fixed rollers 52 and the movable rollers 62. Preferably, the fixed rollers 52 and the movable rollers 62 are constructed as identical rollers (at least with the same diameter). In this application, the direction in which the guidewire 101 and / or catheter 102 enters the blood vessel is forward, and the direction in which the guidewire 101 and / or catheter 102 exits the blood vessel is backward. It can also be understood that the second direction D2 is a bidirectional direction, with one direction being forward and the other backward. Providing multiple pairs of fixed rollers 52 and movable rollers 62 can make the delivery of the guidewire 101 and / or catheter 102 more stable.

[0171] Preferably, the conveying mechanism 110 is detachably connected to the power station 20, so that the conveying mechanism 110 can be configured as a consumable box.

[0172] The delivery mechanism 110 can also be fitted with a large sheath 103. A catheter 102 extends through the large sheath 103. A guidewire 101 extends through the catheter 102.

[0173] Specifically, such as Figure 2 and 3 As shown, the conveying mechanism 110 includes a housing 40, a fixed roller assembly 50, and a movable roller assembly 60. The fixed roller assembly 50 includes fixed rollers 52. The movable roller assembly 60 includes movable rollers 62. Both the fixed roller assembly 50 and the movable roller assembly 60 are disposed within the housing 40. The housing 40 is detachably connected to the power station 20.

[0174] The housing 40 constitutes the outer shell of the conveying mechanism 110, and includes, for example, a housing body 41 and a housing cover 42. The housing body 41 has a receiving space 45 for accommodating the various components of the conveying mechanism 110. The housing cover 42 is connected to the housing body 41, for example, by bolts, thereby partially sealing off the receiving space 45.

[0175] The power platform 20 can be detachably connected to the cover 42. For example, the power platform 20 is provided with a pin 29, and the cover 42 is provided with a mounting hole 49 for receiving the pin 29. Thus, by holding the box body 40 and fitting the mounting hole 49 onto the pin 29 so that the pin 29 is inserted into the mounting hole 49, the conveying mechanism 110 can be installed onto the power platform 20 (the conveying mechanism 110 hangs on the side wall of the power platform 20). By reversing the operation to disengage the pin 29 from the mounting hole 49, the conveying mechanism 110 can be unloaded from the power platform 20. The end of the pin 29 and / or the wall of the mounting hole 49 can be provided with a guide surface so that the pin 29 can easily enter the mounting hole 49. The power platform 20 may also be provided with a power platform limiting surface 28, and the cover 42 may also be provided with a conveyor mechanism limiting surface 48. The power platform limiting surface 28 and the conveyor mechanism limiting surface 48 are shaped to guide the installation of the conveyor mechanism 110 through mutual contact and to position the conveyor mechanism 110 relative to the power platform 20. The power platform limiting surface 28 and the conveyor mechanism limiting surface 48 may include, for example, characteristic shapes (e.g., arc shapes), through which they are positioned relative to each other.

[0176] The box body 41 is equivalent to a mounting base, and is also called base 41. Both the fixed roller assembly 50 and the movable roller assembly 60 are provided on the base 41. The large sheath mounting part 32 for mounting the large sheath 103 is also provided on the base 41.

[0177] The fixed roller assembly 50 includes a fixed base 51 located in the receiving space 45 and disposed on the base 41. The fixed base 51 remains in a fixed position relative to the base 41, for example, the two are connected by bolts. A fixed roller 52 is disposed on the fixed base 51. The movable roller assembly 60 includes a movable base 61 located in the receiving space 45 and disposed on the base 41. A movable roller 62 is disposed on the movable base 61. The fixed base 51 and the movable base 61 are arranged along a first direction D1.

[0178] The fixed roller assembly 50 may include a plurality of fixed rollers 52. The fixed roller assembly 50 is configured such that one fixed roller 52 rotates about its own axis under the drive of the first drive mechanism 21, and each of the other fixed rollers 52 rotates about its own axis under the drive of the other fixed roller 52. Thus, the first drive mechanism 21 only needs to be connected to one fixed roller 52, and the connection between the first drive mechanism 21 and the conveying mechanism 110 is simple.

[0179] For example, such as Figure 4 As shown, the fixed roller assembly 50 may further include multiple first rotating shafts 53 and at least one first transmission belt 54. The first rotating shafts 53 are correspondingly arranged with the fixed rollers 52 and coaxially connected to the corresponding fixed rollers 52; that is, each fixed roller 52 has its own first rotating shaft 53, and the two share a first axis P1. For example, the fixed roller 52 may be sleeved on the outer circumference of the first rotating shaft 53, and the two are connected by a key and a keyway, allowing them to rotate synchronously. The fixed roller 52 may also be integrally formed with the first rotating shaft 53. The first rotating shaft 53 can be connected to the shaft hole of the fixed seat 51 via a bearing, thereby connecting the fixed roller 52 to the fixed seat 51 via the first rotating shaft 53, and then to the base 41 via the fixed seat 51. Some of the first rotating shafts 53 are used to rotate around their own axis P1 under the drive of the first driving mechanism 21. Each first transmission belt 54 connects two first rotating shafts 53, and the other rotating shafts rotate under the drive of the first transmission belt 54. For example, a retaining ring is provided on the outer periphery of the first rotating shaft 53, and the first transmission belt 54 is tensioned by the retaining rings of the two first rotating shafts 53, so that the two first rotating shafts 53 are connected by the first transmission belt 54 to rotate synchronously. Thus, some of the fixed rollers 52 rotate under the drive of the first drive mechanism 21, and the remaining fixed rollers 52 are all driven to rotate by another fixed roller 52 through the first transmission belt 54.

[0180] In the illustrated embodiment, a first rotating shaft 53 is used to rotate around its own axis P1 under the drive of the first driving mechanism 21. The number of first transmission belts 52 is one less than the number of fixed rollers 52, that is, one less than the number of first rotating shafts 53. Thus, one fixed roller 52 rotates under the drive of the first driving mechanism 21, and the remaining fixed rollers 52 are all driven to rotate by another fixed roller 52 via the first transmission belt 54.

[0181] Specifically, such as Figure 2 As shown, the first drive mechanism 21 includes a first drive component 22, a first transmission device 23, and a first drive shaft 24. The first drive component 22 is configured as a motor, such as a first servo motor. The first transmission device 23 can be configured as a gear assembly connected between the output shaft of the first servo motor and the first drive shaft 24, so that the first servo motor can drive the first drive shaft 24 to rotate. When the conveying mechanism 110 is installed on the power table 20, the first drive shaft 24 is coaxially connected to a first rotating shaft 53, so that the first rotating shaft 53 can rotate synchronously with the first drive shaft 24. The first drive shaft 24 and the first rotating shaft 53 can be interlocked by splines at their ends.

[0182] like Figure 3 As shown, the cover 42 is provided with a first through hole 44 for the first drive shaft 24 to pass through.

[0183] In the illustrated embodiment, the conveying mechanism 110 includes two fixed rollers 52 (i.e., the conveying mechanism 110 includes two first rotating shafts 53) and a first transmission belt 54. The two fixed rollers 52 are a first fixed roller 52A and a second fixed roller 52B. A first drive shaft 24 is connected to the first rotating shaft 53 of the first fixed roller 52A. The two first rotating shafts 53 are connected by the first transmission belt 54.

[0184] The movable seat 61 is configured to be movable relative to the base 41 along the first direction D1, thereby the movable seat 61 is movable relative to the fixed seat 51 along the first direction D1, the movable roller 62 is movable relative to the fixed roller 52 along the first direction D1, and the distance between the movable roller 62 and the fixed roller 52 is variable, that is, the width of the channel 31 is variable, which allows the conveying mechanism 110 to clamp guide wires 101 and / or conduits 102 of different thicknesses.

[0185] For example, the conveying mechanism 110 also includes a guide member 46. The guide member 46 is located in the receiving space 45 and disposed on the base 41, for example, by bolts. The guide member 46 extends along a first direction D1. A movable seat 61 is connected to the guide member 46 and is movable relative to the guide member 46 along the first direction D1. For example, the guide member 46 includes a guide rod 47 extending along the first direction D1. The movable seat 61 includes a guide rod through-hole 67 through which the guide rod 47 extends and is movable relative to the guide rod through-hole 67 along the first direction D1. When the guide member 46 remains in a fixed position relative to the base 41, the movable seat 61 is connected to the base 41 via the guide member 46 and is movable relative to the base 41.

[0186] In the illustrated embodiment, in order to make the moving seat 61 move stably, a guide rod through hole 67 is provided at each of the opposite ends of the moving seat 61 along the second direction D2, and two guide members 46 are correspondingly provided in the accommodating space 45.

[0187] To enable the movable seat 61, such as Figures 3 to 6 As shown, the conveying mechanism 110 also includes a position adjustment assembly 70. The position adjustment assembly 70 is located in the receiving space 45 and connected to the movable seat 61. It is used to drive the movable seat 61 along the first direction D1 under the drive of the second drive mechanism 25 of the power platform 20, thereby changing the distance between the movable roller 62 and the fixed roller 52. The second drive mechanism 25 can, for example, allow the movable seat 61 to remain at any position within a continuous position range along the first direction D1, meaning the position of the movable seat 61 can be steplessly adjusted. This allows for stepless adjustment of the distance between the movable roller 62 and the fixed roller 52, better accommodating guide wires or conduits of different thicknesses.

[0188] The position adjustment assembly 70 includes, for example, an adjusting gear 72 and an adjusting rack 71. The adjusting gear 72 is located in the receiving space 45 and is disposed on the base 41 for rotation relative to the base 41 under the drive of the second drive mechanism 25 of the power platform 20. The axis of rotation of the adjusting gear 72 is perpendicular to a first direction D1, for example, parallel to the axial direction DA. The adjusting rack 71 meshes with the adjusting gear 72, extends along the first direction D1, and is connected to the movable seat 61. When the adjusting gear 72 rotates, the adjusting rack 71 moves along the first direction D1, thereby causing the movable seat 61 to move along the first direction D1.

[0189] The adjusting rack 71 is connected, for example, to the outer surface of the hole wall of one of the guide rod through holes 67, so that the position adjusting assembly 70 is located on one side of the moving seat 61 and the fixed seat 51 without interfering with the moving seat 61 and the fixed seat 51.

[0190] like Figure 2As shown, the second drive mechanism 25 includes a second drive component 26, a second transmission device (not shown), and a second drive shaft 27. The second drive component 26 is configured as a motor, such as a second servo motor. The second transmission device can be configured as a gear assembly connected between the output shaft of the second servo motor and the second drive shaft 27, so that the second servo motor can drive the second drive shaft 27 to rotate. When the conveying mechanism 110 is installed on the power table 20, the second drive shaft 27 is coaxially connected to the third rotating shaft 73 of the adjusting gear 72, so that the adjusting gear 72 can rotate synchronously with the second drive shaft 27. The third rotating shaft 73 and the second drive shaft 27 can be engaged with each other by splines at their ends. The third rotating shaft 73 can be mounted in the shaft hole of the base 41 by bearings. The adjusting gear 72 can be sleeved on the outer circumference of the third rotating shaft 73, and the two are connected by a key and a keyway, so that they are coaxial and rotate synchronously. The adjusting gear 72 can also be integrally formed with the third rotating shaft 73.

[0191] The output shaft of the servo motor can rotate continuously and steplessly, thereby allowing the position of the adjusting rack 71 to be adjusted steplessly, achieving stepless adjustment of the distance between the moving roller 62 and the fixed roller 52. Although servo motors are generally digitally controlled, the rotation angle of a servo motor has high control precision (e.g., compared to a stepper motor), allowing the displacement of the rack 71 to be controlled at the micrometer level. Compared to the millimeter-level diameter of the guide wire or conduit in this application, this can be considered stepless adjustment.

[0192] The position adjustment assembly 70, composed of rigid elements, can be positioned stably under the action of the second drive mechanism 25, maintaining a stable distance between the moving roller 62 and the fixed roller 52. This demonstrates that the second drive mechanism 25 can provide sufficient clamping force to more firmly clamp the guide wire and / or conduit. Compared to the prior art solution that uses springs to pull the rollers closer, the conveying mechanism 110 has more stable operating performance. Figure 3 As shown, the cover 42 is provided with a second through hole 43 for the second drive shaft 27 to pass through.

[0193] Thus, the first rotating shaft 53 is a first component of the fixed roller assembly 50 for connecting to the first drive mechanism 21, and the third rotating shaft 73 is a third component of the position adjustment assembly 70 for connecting to the second drive mechanism 25. Preferably, the first component and the third component are connected to the power table 20 on the same side of the conveying mechanism 110. Preferably, the channel 31 (i.e., the gap between the fixed roller 52 and the movable roller 62) and the ends of the first component (53) and the third component (73) connected to the power table 20 are respectively located on different sides of the conveying mechanism 110, for example, on opposite sides of the conveying mechanism 110 (the channel 31 is located on the side of the conveying mechanism 110 away from the power table 20, and the ends of the first component and the third component connected to the power table 20 are located on the side of the conveying mechanism 110 facing the power table 20), thereby facilitating the installation of the guide wire 101 and / or the guide tube 102. Preferably, the first rotating shaft 53 and the third rotating shaft 73 are arranged parallel to each other, so that they can be connected to their respective drive mechanisms simultaneously, facilitating user operation.

[0194] The conveying mechanism 110 may further include a biasing member 38 for applying a force along a first direction D1 away from the fixed roller 52 (i.e., the fixed seat 51) to the movable seat 61. The biasing member 38 may be disposed between the movable seat 61 and the fixed seat 51. In the illustrated embodiment, the biasing member 38 is constructed as an elastic element, such as a spring. For example, the movable seat 61 is provided with a mounting groove 68 for placing the spring 38, the mounting groove 68 extending along the first direction D1. The fixed seat 51 is provided with an actuating portion 58, to which the spring 38 abuts or is connected, thereby being clamped by the movable seat 61 and the fixed seat 51.

[0195] The biasing member 38 assists the position adjustment assembly 70 in maintaining the movable seat 61 in a stable position relative to the fixed seat 51. The biasing member 38 also makes it difficult for the movable roller 62 to contact the fixed roller 52, for example, minimizing the width of the channel 31, ensuring a gap between the fixed roller 52 and the movable roller 62, preventing direct contact. This protects both the fixed roller 52 and the movable roller 62, and also protects the guide wire 101 and / or conduit 102 in the channel 31. The biasing member 38 increases the width of the channel 31, which facilitates the installation of the guide wire 101 and / or conduit 102. For example, when the equipment is not powered, the biasing member 38 can push the movable seat 61 away from the fixed seat 51, opening the channel 31 for easier installation of the guide wire 101 and / or conduit 102.

[0196] In an embodiment not shown in this application, the biasing member 38 includes a first magnet and a second magnet. The first magnet is disposed on the side of the fixed base 51 facing the movable base 61, and the second magnet is disposed on the side of the movable base 61 facing the fixed base 51. The first magnet and the second magnet repel each other magnetically.

[0197] As previously described, the fixed roller 52 is configured as an active roller, and preferably, the movable roller 62 is also configured as an active roller, so that the conveying mechanism 110 can have sufficient conveying force. Preferably, the movable roller 62 is driven by the fixed roller 52 to rotate around its own rotation axis, without relying on the power table 20 for drive, which simplifies the transmission connection between the conveying mechanism 110 and the power table 20.

[0198] To drive the movable roller 62 to rotate, the conveying mechanism 110 also includes a roller drive assembly 80. A first end of the roller drive assembly 80 is connected to the fixed roller 52, and a second end of the roller drive assembly 80 is connected to the movable roller 62, so that the fixed roller 52 drives the movable roller 62 to rotate in the opposite direction at the same speed. In other words, the roller drive assembly 80 transmits the driving force provided by the fixed roller 52 to the movable roller.

[0199] With all fixed rollers 52 being drive rollers, the first end of the roller drive assembly 80 can be connected to any one of the fixed rollers 52. The movable roller assembly 60 may include multiple movable rollers 62, configured such that one movable roller 62 rotates around its own axis under the drive of a fixed roller 52, and each of the other movable rollers 62 rotates around its own axis under the drive of another movable roller 62. Thus, the roller drive assembly 80 only needs to be connected to one movable roller 62, simplifying the connection between the roller drive assembly 80 and the movable roller assembly 60. Simultaneously, the first end of the roller drive assembly 80 is also connected to only one fixed roller 52, simplifying the connection between the roller drive assembly 80 and the fixed roller assembly 50.

[0200] For example, such as Figure 4As shown, similar to the fixed roller assembly 50, the movable roller assembly 60 may further include multiple second rotating shafts 63 and at least one second transmission belt 64. The second rotating shafts 63 are correspondingly arranged with the movable rollers 62 and coaxially connected to the corresponding movable rollers 62; that is, each movable roller 62 has its own second rotating shaft 63, and both share a second axis P2. For example, the movable roller 62 can be sleeved on the outer circumference of the second rotating shaft 63, and the two are connected by a key and keyway, allowing them to rotate synchronously. The movable roller 62 can also be integrally formed with the second rotating shaft 63. The second rotating shaft 63 can be connected to the shaft hole of the movable seat 61 via a bearing, so that the movable roller 62 is connected to the movable seat 61 via the second rotating shaft 63, and then connected to the base 41 via the movable seat 61. Some of the second rotating shafts 63 are used to rotate around their own axis P2 under the drive of the fixed rollers 52. Each second transmission belt 64 connects two second rotating shafts 63, and the other second rotating shafts 63 are all driven to rotate by the second transmission belt 64. For example, a retaining ring is provided on the outer periphery of the second rotating shaft 63, and the second transmission belt 64 is tensioned by the retaining rings of the two second rotating shafts 63, so that the two second rotating shafts 63 are connected by the second transmission belt 64 to rotate synchronously. Thus, some of the movable rollers 62 rotate under the drive of the fixed roller 52 through the roller transmission assembly 80, and the remaining movable rollers 62 are all driven to rotate by another movable roller 62 through the second transmission belt 64.

[0201] In the illustrated embodiment, one second rotating shaft 63 is driven by a fixed roller 52 to rotate around its own axis P2, and the other second rotating shafts 63 are all driven to rotate by second transmission belts 64. The number of second transmission belts 64 is one less than the number of movable rollers 62, that is, one less than the number of second rotating shafts 63. Thus, one movable roller 62 rotates under the drive of the fixed roller 52 via the roller transmission assembly 80, and the remaining movable rollers 62 are all driven to rotate by another movable roller 62 via the second transmission belts 64.

[0202] In the illustrated embodiment, the conveying mechanism 110 includes two movable rollers 62 (i.e., the conveying mechanism 110 includes two second rotating shafts 63) and a second transmission belt 64. The two second rotating shafts 63 are connected by the second transmission belt 64. The two movable rollers 62 are a first movable roller 62A and a second movable roller 62B, respectively. The second end of the roller transmission assembly 80 is connected to the second rotating shaft 63 of the second movable roller 62B. Since the rotating shaft of the first fixed roller 52A is connected to the drive shaft 24, it is more convenient to connect the roller transmission assembly 80 to the rotating shaft of the second fixed roller 52B. Furthermore, the roller transmission assembly 80 is connected to the rotating shaft of the second movable roller 62B in close proximity. In other words, the Pth fixed roller 52 is used to rotate around its own axis P1 under the drive of the first drive mechanism 21. The first end of the roller transmission assembly 80 is connected to the Qth fixed roller 52, and the second end of the roller transmission assembly 80 is connected to the Qth movable roller 62 (the Qth fixed roller 52 and the Qth movable roller 62 are a pair). P is not equal to Q.

[0203] like Figures 3 to 7 As shown, the roller drive assembly 80 may include N sequentially meshing drive gears 81. The first drive gear 81 is located at the first end of the roller drive assembly 80 and rotates synchronously with the fixed roller 52 (e.g., the second fixed roller 52B); the last drive gear 81 is located at the second end of the roller drive assembly 80 and rotates synchronously with the movable roller 62 (e.g., the second movable roller 52B). Since the conveying mechanism 110 requires the movable roller 62 to rotate in the opposite direction to the fixed roller 52, the number N of drive gears 81 is an even number.

[0204] For example, similar to the adjusting gear 72, each transmission gear 81 has its own shaft. The shaft of the first transmission gear 81 is coaxially connected to the first rotating shaft 53 of the fixed roller 52, and the shaft of the last transmission gear 81 is coaxially connected to the second rotating shaft 63 of the movable roller 62. Thus, the fixed roller 52 transmits power to the movable roller 62 through the gear set.

[0205] When the fixed roller 52 and the movable roller 62 are constructed as identical rollers, the transmission ratio of the roller transmission assembly 80 is 1:1, for example, all transmission gears 81 are constructed as identical gears.

[0206] As previously described, the movable seat 61 is movable relative to the fixed seat 51 along the first direction D1. To ensure that the roller transmission assembly 80 is always well connected to both the movable roller 62 and the fixed roller 52, the roller transmission assembly 80 is configured such that its second end is movable relative to its first end along the first direction D1 to accommodate the movement of the movable seat 61 along the first direction. Specifically, the roller transmission assembly 80 is configured such that the last transmission gear 81 is movable relative to the first transmission gear 81 along the first direction D1. Since the relative position between the last transmission gear 81 and the first transmission gear 81 is not fixed, and a good connection between them cannot be guaranteed at all times, the last transmission gear 81 and the first transmission gear 81 need to be connected through other transmission gears 81, thus the number N of transmission gears 81 is at least 4.

[0207] To achieve the extension and retraction of the roller drive assembly 80 along the first direction D1, such as Figure 7 As shown, the roller transmission assembly 80 also includes a first connecting arm 83 and a second connecting arm 87. The first connecting arm 83 includes a first end 84 and a second end 85 arranged opposite to each other. The first end 84 is the first end of the roller transmission assembly 80. A first transmission gear 81 is disposed at the first end 84 of the first connecting arm. The second connecting arm 87 includes a first end 88 and a second end 89 arranged opposite to each other. The second end 89 is the second end of the roller transmission assembly 80. A last transmission gear 81 is disposed at the second end 89 of the second connecting arm. N transmission gears 81 are disposed on the first connecting arm 83 and the second connecting arm 87. The first end 88 of the second connecting arm is rotatably connected to the second end 85 of the first connecting arm about a third axis P3, which is parallel to the axis P1 of the fixed roller 52 (and also parallel to the axis P2 of the movable roller 62).

[0208] The first connecting arm 83 and the second connecting arm 87 are rotatably connected, allowing the roller drive assembly 80 to be bent, thereby changing the distance between the first end and the second end of the roller drive assembly 80.

[0209] The shaft of each transmission gear 81 is mounted in the shaft hole of the first connecting arm 83 or the second connecting arm 87, for example, by means of a bearing, so that the transmission gear 81 can rotate relative to its respective connecting arm.

[0210] To ensure that the N transmission gears 81 are always properly connected, the distance between the axes of two adjacent transmission gears 81 must remain constant during the bending process of the roller transmission assembly 80. Therefore, the roller transmission assembly 80 is constructed such that the third axis P3 coincides with the axis of one transmission gear 81 other than the first and last transmission gears 81. Alternatively, one transmission gear 81 other than the first and last transmission gears 81 is simultaneously located at the second end 85 of the first connecting arm and the first end 88 of the second connecting arm. The second end 85 of the first connecting arm and the first end 88 of the second connecting arm can be rotatably connected via the shaft of this transmission gear 81, allowing relative rotation between the second end 85 of the first connecting arm and the first end 88 around the axis of this transmission gear 81.

[0211] In the illustrated embodiment, the roller transmission assembly 80 includes four transmission gears 81: a first transmission gear 81A, a second transmission gear 81B, a third transmission gear 81C, and a fourth transmission gear 81D. The fourth transmission gear 81D is also the last transmission gear. The four transmission gears 81 mesh sequentially. The first transmission gear 81A and the second transmission gear 81B are located on the first connecting arm 83, and the third transmission gear 81C is located simultaneously at the second end 85 of the first connecting arm and the first end 88 of the second connecting arm. The second end 85 of the first connecting arm and the first end 88 of the second connecting arm are rotatably connected via the shaft of the third transmission gear 81C. Thus, the first transmission gear 81A, the second transmission gear 81B, and the third transmission gear 81C are all located on the first connecting arm 83, and the relative positions of the three transmission gears 81 are fixed. The third transmission gear 81C and the fourth transmission gear 81D are both located on the second connecting arm 87, and the relative positions of the two transmission gears 81 are fixed. In this way, when the first connecting arm 83 and the second connecting arm 87 rotate relative to each other, the distance between two adjacent transmission gears 81 remains unchanged, and all transmission gears 81 can always mesh well.

[0212] Of course, the second end 85 of the first connecting arm and the first end 88 of the second connecting arm can also be rotatably connected through the shaft of the second transmission gear 81B.

[0213] In the illustrated embodiment, the first direction D1 is vertical, thus fixing the roller 52 and moving the roller 62 horizontally. When installing the guidewire and / or catheter, the lower roller can support the guidewire and / or catheter, facilitating placement of the guidewire and / or catheter in the channel 31. The horizontal placement of the rollers allows the power table 20 (or drive mechanism) to be positioned on the side of the delivery mechanism 110 (i.e., the roller). Compared to the prior art where the roller is vertically placed and the drive mechanism is located below the roller, this design makes it easier for the delivery mechanism 110 to approach the surgical patient, thereby reducing the length of the guidewire and catheter. In particular, when the delivery mechanism 110 is fitted with the large sheath 103, for example in artificial heart valve implantation surgery, reducing the length of the guidewire and catheter and facilitating surgical procedures is of great significance for ensuring surgical quality.

[0214] In the illustrated embodiment, the fixed roller 52 is located above the movable roller 62, allowing the conveying mechanism 110 to be designed to connect only to the lower half of the power table 20, without extending to the upper half. This means that most of the structure of the power table 20 is located above the conveying mechanism 110, allowing the removable cover of the power table 20's housing to be positioned above the conveying mechanism 110, facilitating maintenance of the power table 20. Furthermore, the fact that the power table 20 is only connected to the upper half of the conveying mechanism 110, without extending to the lower half, allows the conveying mechanism 110 to be positioned closer to the operating table. Simultaneously, when the device is not powered, the movable roller 62 can, to some extent, use its own weight to move the movable seat 62 downwards, assisting the biasing member 38 in opening the channel 31.

[0215] Alternatively, the movable roller 62 can be positioned above the fixed roller 52. In this way, when installing the guidewire or conduit, the guidewire or conduit is supported by the fixed roller 52, which does not move, thus facilitating the stable placement of the guidewire or conduit in the channel 31.

[0216] In practical use, the delivery device 100 can be a component of a surgical robot system. The surgical robot system may also include a first support for mounting beside the operating table, on which the delivery device 100 can be mounted. For example, a power station 20 is mounted on the first support and connected to the surgeon's console of the surgical robot system via a cable. The first support can be configured as a robotic arm, movable relative to the operating table in at least one spatial dimension, thereby allowing adjustment of the position of the delivery device 100 relative to the operating table.

[0217] After the conveying device 100 is installed, the user installs the conduit 102 and / or guide wire 101 on the conveying mechanism 110, and then starts the equipment. The conveying device 100 first clamps the conduit 102 and / or guide wire 101. Specifically, the second drive mechanism 25 also includes a second servo motor driver for controlling the operation of the second servo motor. The second servo motor driver is configured to drive the second servo motor to rotate under the control of the host computer (control module) and monitor the operating current of the second servo motor. After the second servo motor rotates, the moving seat 61 moves toward the fixed seat 51, and the channel 31 gradually narrows (e.g., Figure 5 (As shown). When the channel 31 encounters resistance from the conduit 102 and / or guide wire 101, it indicates that the conduit 102 and / or guide wire 101 have been clamped. At this time, the operating current of the second servo motor increases significantly. The conveying device 100 is configured to stop the second servo motor when the operating current of the second servo motor reaches a preset threshold, thus completing the clamping step.

[0218] The preset threshold for the operating current of the second servo motor can be determined through extensive testing with various types of guidewires and conduits. Furthermore, different preset thresholds can be set according to the thickness and / or material of different guidewires (or conduits). For example, for conduits of the same diameter, when the conduit material is softer, the clamping force output by the second servo motor should be relatively smaller (the preset threshold should be relatively lower) to prevent the conduit from being over-clamped and deformed; when the conduit material is harder, the clamping force output by the second servo motor should be relatively larger (the preset threshold should be relatively higher) to avoid insufficient clamping force.

[0219] After clamping the guide wire 101 and / or the conduit 102, the conveying operation can be performed. The conveying device 100 is configured to activate the first drive mechanism 21 after the second servo motor stops operating. For example, similarly, the first drive mechanism 21 also includes a first servo motor driver for controlling the operation of the first servo motor. After the second servo motor stops operating, the host computer controls the first servo motor driver to rotate the first servo motor, thereby activating the first drive mechanism 21 and rotating the first drive shaft 24.

[0220] During normal delivery of the guidewire 101 and / or catheter 102, the guidewire 101 and / or catheter 102 interact with the rollers through static friction. The cumulative distance traveled by the outer surface of the rollers should be equivalent to the delivery length of the guidewire 101 and / or catheter 102. The device can be equipped with sensors to monitor the delivery length of the guidewire 101 and / or catheter 102, or the delivery length of the guidewire 101 and / or catheter 102 can be estimated through image processing. When the cumulative rotation angle of the first servo motor corresponds to the rotation distance of the outer surface of the rollers, which does not match the delivery length of the guidewire 101 and / or catheter 102, it indicates that the guidewire 101 and / or catheter 102 is not clamped. In this case, the rotation angle or output power of the second servo motor can be increased to clamp the guidewire 101 and / or catheter 102.

[0221] The second drive mechanism 25 is used to control the distance between the movable seat 61 and the fixed seat 51. Understandably, when it is necessary to install or remove the guide wire 101 and / or the conduit 102, the second drive shaft 27 rotates in the opposite direction to move the movable seat 61 away from the fixed seat 51 (e.g., ...). Figure 6 (As shown). When the movable seat 61 moves away from the fixed seat 51, the spring 38 is stretched. When the length of the spring 38 exceeds its free length, the spring 38 applies a force to the movable seat 61, bringing it closer to the fixed seat 51. At this time, the resistance to the movable seat 61 moving away from the fixed seat 51 increases, causing the operating current of the second servo motor to increase. Therefore, during reverse rotation, the operating current of the second servo motor can also be used to determine whether the channel 31 has been opened to a suitable degree. For example, the second servo motor can be stopped when its operating current reaches a preset reverse threshold. Of course, the channel 31 can also be opened entirely by the biasing member 38 when the device is powered off.

[0222] The processes and steps described in all the preferred embodiments above are merely examples. Unless adverse effects occur, various processing operations can be performed in a different order than those described above. The order of steps in the above process can also be added, combined, or deleted according to actual needs.

[0223] In understanding the scope of this application, the term "comprising" and its derivatives, as used herein, are intended to be open-ended terms that specify the presence of a described feature, element, component, group, whole, and / or step, but do not exclude the presence of other undescribed features, elements, components, groups, wholes, and / or steps. This concept also applies to words with similar meanings, such as the terms "comprising," "having," and their derivatives.

[0224] The term "attached" or "joined" as used herein includes: a construction in which one element is directly fixed to another element by fixing it directly to another element; a construction in which one element is indirectly fixed to another element by fixing it to an intermediate member, which in turn is fixed to another element; and a construction in which one element is integral with another element, that is, one element is substantially part of another element. This definition also applies to words with similar meanings, such as "connect," "joint," "couple," "install," "adhere," "fix," and their derivatives. Finally, degree terms such as "substantially," "approximately," and "approximately" as used herein indicate the amount of deviation from which modifications to the terminology do not significantly alter the final result.

[0225] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this application. Features described in one embodiment may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0226] This application has been described through the above embodiments. However, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit this application to the described embodiments. Furthermore, those skilled in the art will understand that this application is not limited to the above embodiments, and many more variations and modifications can be made based on the teachings of this application, all of which fall within the scope of protection claimed in this application.

Claims

1. A delivery mechanism for delivering a guidewire and / or a catheter, characterized in that, The delivery mechanism comprises: a base; a fixed roller assembly disposed on the base, the fixed roller assembly comprising at least one fixed roller configured to rotate around its axis under the drive of a first driving mechanism; a movable roller assembly comprising: a movable seat disposed on the base and movable relative to the base along a first direction, wherein the first direction is perpendicular to the axis of the fixed roller, and at least one movable roller disposed on the movable seat, the movable roller corresponding to the fixed roller, the movable roller being oppositely disposed relative to the corresponding fixed roller along the first direction, for jointly clamping the guide wire and / or catheter with the corresponding fixed roller; and a position adjusting assembly connected to the movable seat, for driving the movable seat to move along the first direction under the drive of a second driving mechanism, so as to change the distance between the movable roller and the fixed roller. The position adjusting assembly comprises:

2. The delivery mechanism of claim 1, wherein, an adjusting gear disposed on the base and configured to rotate relative to the base under the drive of the second driving mechanism; and an adjusting rack engaged with the adjusting gear, the adjusting rack extending along the first direction and being connected to the movable seat. The fixed roller assembly comprises a plurality of fixed rollers, 3. The delivery mechanism of claim 1, wherein, The fixed roller assembly is configured such that part of the fixed rollers are configured to rotate around their axes under the drive of the first driving mechanism, and the other fixed rollers are configured to rotate around their axes under the drive of another fixed roller. The fixed roller assembly further comprises:

4. The delivery mechanism of claim 3, wherein, a plurality of first rotation shafts corresponding to the fixed rollers and coaxially connected to the corresponding fixed rollers, wherein part of the first rotation shafts are configured to rotate around their axes under the drive of the first driving mechanism; and at least one first transmission belt connecting two first rotation shafts. The delivery mechanism further comprises a roller transmission assembly, a first end of the roller transmission assembly being connected to the fixed roller, and a second end of the roller transmission assembly being connected to the movable roller, so that the fixed roller drives the movable roller to rotate in the opposite direction at the same speed, 5. The delivery mechanism of claim 3, wherein, wherein the roller transmission assembly is configured such that the second end of the roller transmission assembly is movable relative to the first end of the roller transmission assembly along the first direction, so as to adapt to the movement of the movable seat along the first direction. The roller transmission assembly comprises N transmission gears engaged in sequence, N being an even number greater than or equal to 4, 6. The delivery mechanism of claim 5, wherein, wherein a first transmission gear is disposed at the first end of the roller transmission assembly and rotates synchronously with the fixed roller, and a last transmission gear is disposed at the second end of the roller transmission assembly and rotates synchronously with the movable roller, the last transmission gear being movable relative to the first transmission gear along the first direction. The fixed roller and the movable roller are configured as the same roller, and the transmission ratio of the roller transmission assembly is 1:

1.

7. The delivery mechanism of claim 6, wherein, The roller transmission assembly further comprises:

8. The delivery mechanism of claim 6, wherein, ​ a first connecting arm, the first connecting arm comprising a first connecting arm first end and a first connecting arm second end arranged oppositely, the first one of the transmission gears being arranged at the first connecting arm first end; and a second connecting arm, the second connecting arm comprising a second connecting arm first end and a second connecting arm second end arranged oppositely, the last one of the transmission gears being arranged at the second connecting arm second end, wherein the second connecting arm first end is rotatably connected to the first connecting arm second end about a third axis, the third axis being parallel to the axis of the fixed roller, N of the transmission gears being arranged at the first connecting arm and the second connecting arm.

9. The delivery mechanism of claim 8, wherein, the third axis coincides with the axis of one of the transmission gears other than the first one of the transmission gears and the last one of the transmission gears.

10. The delivery mechanism of claim 5, wherein, the mobile roller assembly comprises a plurality of the mobile rollers, the mobile roller assembly is configured such that some of the mobile rollers are configured to rotate about their own axes under the drive of the fixed roller, and some of the mobile rollers are configured to rotate about their own axes under the drive of another one of the mobile rollers.

11. The delivery mechanism of claim 10, wherein, the mobile roller assembly further comprises: a plurality of second rotation axes, the second rotation axes being arranged corresponding to the mobile rollers and coaxially connected to the corresponding mobile rollers, wherein some of the second rotation axes are configured to rotate about their own axes under the drive of the fixed roller; and at least one second transmission belt, each of the second transmission belts connecting two of the second rotation axes.

12. The delivery mechanism of claim 5, wherein, the fixed roller assembly comprises a plurality of the fixed rollers, the mobile roller assembly comprises a plurality of the mobile rollers, wherein the Pth one of the fixed rollers is configured to rotate about its own axis under the drive of the first drive mechanism, the first end of the roller transmission assembly is connected to the Qth one of the fixed rollers, the second end of the roller transmission assembly is connected to the Qth one of the mobile rollers, P is not equal to Q.

13. The delivery mechanism of claim 1, wherein, the conveying mechanism further comprises a biasing member configured to apply a force to the mobile base in the first direction away from the fixed roller.

14. The delivery mechanism of claim 13, wherein, the fixed roller assembly comprises a fixed base arranged at the base, the fixed rollers are arranged at the fixed base, the biasing member is arranged between the mobile base and the fixed base.

15. The conveying mechanism according to claim 14, wherein the biasing member is configured as a spring; or the biasing member comprises a first magnet and a second magnet, the first magnet is arranged at the fixed base, the second magnet is arranged at the mobile base, the first magnet and the second magnet magnetically repel each other.

16. The delivery mechanism of claim 1, wherein, the fixed roller assembly comprises a first component configured to connect the first drive mechanism, the position adjusting assembly comprises a third component configured to connect the second drive mechanism, the first component and the third component are connected to the respective drive mechanisms on the same side of the conveying mechanism.

17. The conveying mechanism according to claim 16, wherein the first component is a first rotation axis, the third component is a third rotation axis, the first rotation axis and the third rotation axis are arranged in parallel; and / or the first rotation axis and the third rotation axis are arranged on the same side of the conveying mechanism. The fixed roller and the moving roller are arranged on a first side of the conveying mechanism, and the first side and the same side are opposite sides of the conveying mechanism.

18. The delivery mechanism of any one of claims 1 to 17, wherein, The conveying mechanism further comprises a guide member arranged on the base and extending along the first direction, The moving seat is connected to the guide member and is movable relative to the guide member along the first direction.

19. The delivery mechanism of any one of claims 1 to 17, wherein, The first direction serves as the up-down direction.

20. The delivery mechanism of any one of claims 1 to 17, wherein, The conveying mechanism further comprises a large sheath mounting portion for mounting a large sheath, and the large sheath mounting portion is arranged on the base.

21. A delivery device for delivering a guidewire and / or a catheter, characterized in that, Comprise: a power platform comprising a first driving mechanism and a second driving mechanism for working under the control of a control module, wherein the control module controls the working of the second driving mechanism by monitoring at least the working parameter of the second driving mechanism; and The conveying mechanism according to any one of claims 1 to 20 is detachably connected to the power platform, wherein the first driving mechanism is used to drive the fixed roller to rotate; and the second driving mechanism is used to drive the position adjusting assembly to work, so that the moving seat can stop at any position in a continuous position interval along the first direction.

22. The conveying device according to claim 21, wherein The first driving mechanism comprises a motor; and / or The second driving mechanism comprises a motor.

23. The delivery device of claim 21, wherein, The second driving mechanism comprises a second servo motor for providing driving force for moving the moving seat, and the working parameter is the working current of the second servo motor, The control module is configured to stop the working of the second servo motor when the working current reaches a preset threshold.

24. The conveying device according to claim 23, wherein The conveying device is configured to work the first driving mechanism after the second servo motor stops working; and / or The preset threshold is different for different thicknesses or materials of the guide wire or catheter.

25. A surgical robotic system, comprising: Comprise: a first support for being arranged beside a surgical bed; and The conveying device according to any one of claims 21 to 24, wherein the power platform is arranged to the first support.

26. The surgical robotic system of claim 25, wherein, The first support is configured as a mechanical arm configured to be movable relative to the surgical bed in at least one spatial dimension.

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