Multi-channel pushing power connection driving device

Abstract

The invention discloses a multi-channel pushing power connection driving device which comprises a driving mechanism capable of generating linear driving force; a plurality of transmission units are arranged, each transmission unit corresponds to one flexible sleeve, a transmission driving part is arranged in each flexible sleeve, the tail end of each flexible sleeve is connected with a function execution assembly, and the transmission units transmit driving force to the transmission driving parts after being subjected to linear driving force, so that the transmission driving parts move relative to the flexible sleeves. Therefore, the power is transmitted to the function execution assembly to enable the function execution assembly to act. The driving mechanism is installed at one end of the motion platform, the multiple transmission units are arranged at the other end of the motion platform, and the motion platform can regulate and control the relative position of the driving mechanism relative to the transmission units; under the driving action of the moving platform, the driving mechanism is correspondingly matched with one or more corresponding transmission units on the mounting platform so as to drive the transmission units to drive the corresponding transmission driving parts.

Description

Technical Field

[0001] This invention relates to the field of medical devices, and in particular to a multi-channel top-push force connection drive device. Background Technology

[0002] Puncture therapy techniques are now widely used in clinical practice. For example, radioactive particles can be implanted into a patient's body through puncture. During the implantation process, the needle needs to be withdrawn while implantation is being performed, thus treating certain tumor diseases. Taking the implantation of radioactive particles through puncture as an example, because the number of implanted particles is generally large and they are radioactive, and each particle needs to be withdrawn a certain distance after implantation, there is an urgent need for an automated instrument to replace manual puncture operations.

[0003] Since multiple needles are inserted into the body simultaneously during implantation, the primary challenge for multi-channel puncture and needle removal instruments is the driving mechanism for this multi-channel structure, specifically the switching of driving power. Similarly, for other surgical instruments requiring the driving of multiple consumables, the switching of driving power for multi-channel structures also urgently needs to be addressed. Therefore, this invention proposes a multi-channel top-push force connection drive device. Summary of the Invention

[0004] The purpose of this invention is to provide solutions to existing technical deficiencies and unmet technical requirements.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a multi-channel top-pushing force connection drive device, comprising...

[0006] The drive mechanism is capable of generating linear driving force;

[0007] The transmission unit is provided in multiple ways. Each transmission unit corresponds to a flexible sleeve. The flexible sleeve is provided with a transmission drive unit. The end of the flexible sleeve is connected to a functional execution component. When the transmission unit is subjected to a linear driving force, it will transmit the driving force to the transmission drive unit, causing the transmission drive unit to move relative to the flexible sleeve, thereby transmitting the power to the functional execution component and causing the functional execution component to operate.

[0008] A motion platform, wherein the drive mechanism is mounted at one end of the motion platform, and a plurality of transmission units are disposed at the other end of the motion platform, and the motion platform is capable of adjusting the relative position of the drive mechanism with respect to the transmission units;

[0009] Under the driving action of the motion platform, the driving mechanism is matched with one or more corresponding transmission units on the mounting platform to drive the transmission units to drive the corresponding transmission active parts.

[0010] Preferably, the drive mechanism is provided with a push rod that can move along a straight trajectory: the push rod can abut, engage, attract or hook with the transmission unit to realize power transmission;

[0011] The locking mechanism includes a claw clamping connection, a side pressing connection, or a rotational locking connection, and the locking mechanism adopts a passive clamping or active clamping method.

[0012] The attraction includes vacuum attraction connection and electromagnetic attraction connection;

[0013] The hook is attached using a hook structure.

[0014] Preferably, when the transmission unit is a clamping transmission component, the transmission unit is one or a combination of a claw mechanism, a side clamping mechanism, and a rotary clamping mechanism;

[0015] The chuck mechanism includes a chuck. While the drive mechanism moves the chuck on the sleeve or the limiting slide rail, the chuck clamps the transmission drive and drives it to move in a straight line.

[0016] The side clamping mechanism includes a clamping member. While the driving mechanism drives the clamping member to move on the sleeve or the limiting slide rail, the clamping member clamps the transmission drive unit from the side and drives it to move in a straight line.

[0017] The rotary clamping mechanism includes a rotating component. While the drive mechanism moves the rotating component on the sleeve or the limiting slide rail, the rotating component clamps the transmission drive unit and drives it to move in a straight line.

[0018] Preferably, the transmission unit includes a housing and a clamping channel formed within the housing. A clamping transmission member is disposed within the clamping channel. The clamping transmission member is directly or indirectly connected to the drive mechanism and can open and close. The clamping transmission member automatically opens when not subjected to external force. The clamping transmission member can move into the clamping channel under the drive of the drive mechanism to clamp the transmission drive unit under the pressure of the inner wall of the clamping channel.

[0019] When the clamping transmission component is a claw mechanism, the claw mechanism includes at least two opposing claws. The end of the transmission drive part can be clamped between the two claws. When the clamping transmission component moves toward the inside of the clamping channel, the claws are squeezed by the inner wall of the clamping channel and retracted to clamp the transmission drive part. The claws are elastic claws.

[0020] When the clamping transmission component is a side-clamping mechanism, the side-clamping mechanism includes a clamping block with a clamping groove and at least one clamping member. One end of the clamping member passes through the clamping block and extends into the clamping groove. The end of the transmission drive unit can be accommodated in the clamping groove. A groove corresponding to the clamping member is provided on the inner wall of the clamping channel, and the side wall of the groove near the inside of the clamping channel is inclined. When the clamping transmission component moves toward the inside of the clamping channel, the end of the clamping member is squeezed by the inclined surface and moves toward the clamping groove to clamp the transmission drive unit.

[0021] The clamping transmission component is provided with a reset component for resetting, which is one or a combination of a spring, a U-shaped hook, a suction nozzle, an electromagnet, or a clamping mechanism.

[0022] Preferably, this occurs when the push rod abuts against the transmission unit and / or when the active transmission member transmits linear driving force by connecting or abutting against the driven transmission member.

[0023] The push rod and / or the transmission component are further provided with a displacement measuring component and a contact sensor. The contact sensor is used to sense the contact between the push rod and the transmission unit or between the active transmission component and the driven transmission component. The displacement measuring component is used to measure the displacement of the active transmission component.

[0024] The contact sensor is a conductive contact sensor, or a force sensor, or a combination of one or more of the following: a limit switch, a proximity switch, a Hall switch, and a photoelectric switch.

[0025] The displacement measuring device is a linear displacement sensor.

[0026] Preferably, the motion platform includes a planar displacement mechanism, which drives the drive mechanism to move in a plane and controls the drive mechanism to select different transmission units for docking;

[0027] The planar displacement mechanism is one of a single-joint rotary motion mechanism, a single-joint rotary motion mechanism combined with a radial linear motion mechanism, a double-joint rotary motion mechanism, or an XY-axis linear motion mechanism, and the driving mechanism is located at the movable end of the planar displacement mechanism;

[0028] When the planar displacement mechanism is a single-joint rotary motion mechanism combined with a radial linear motion mechanism, the planar displacement mechanism further includes a rotating arm. The single-joint rotary motion mechanism drives the rotating arm to rotate in a plane. The radial linear motion mechanism is disposed on the rotating arm and drives a slider disposed on the rotating arm to move radially along the rotating arm. The driving mechanism is disposed on the side of the slider.

[0029] Preferably, a floating connection structure is also provided. The floating connection structure is set between the motion platform and the push rod or inside the motion platform. When the push rod or transmission unit is subjected to external force, the floating connection structure can cause relative movement between or between the push rod and the motion platform. The transmission unit is also provided with a centering cone surface, so that when the push rod and the transmission unit abut, they automatically center under the guidance of the centering cone surface.

[0030] Preferably, the transmission unit further includes a power conversion mechanism, which is used to convert the linear power transmitted from the drive mechanism to the transmission unit into rotational power.

[0031] The power conversion mechanism includes one or more of the following: a synchronous belt mechanism, a lead screw and slider mechanism, a gear and rack mechanism, and a crank and connecting rod mechanism, which simultaneously have rotary and linear motion components.

[0032] Preferably, the transmission unit is divided into a transmission unit fixing part and a transmission unit quick-release part. The transmission unit fixing part is fixedly connected to the motion platform, and the transmission unit quick-release part is connected to the transmission drive part. The transmission unit quick-release part can be quickly assembled and disassembled from the transmission unit fixing part and a transmission connection is established through the transmission connection part; or, the transmission unit can be quickly assembled and disassembled from the motion platform.

[0033] Preferably, the transmission drive unit is a drive wire, liquid, or gas disposed in a flexible sleeve, and the drive mechanism drives the drive wire, liquid, or gas in the transmission unit to move relative to the flexible sleeve, thereby transmitting power to the functional execution component.

[0034] When the active transmission unit is a liquid or gas disposed in a flexible sleeve, the driving mechanism is a piston structure, a hydraulic pump, or an air pump. Alternatively, the driving mechanism may simply transmit linear or rotational power to the transmission unit, which in turn drives the active transmission unit via a piston structure, hydraulic pump, or air pump.

[0035] Compared with the prior art, the beneficial effects of the present invention are as follows: the drive mechanism can move relative to the mounting platform, so that the power of the drive mechanism can drive the corresponding transmission unit in a straight line through the push rod, transmit the power to the transmission active part, and then drive the function execution component to run, realize the switching of power between different transmission active parts, thereby realizing selective drive for multiple channels. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the motion platform in Example 1;

[0037] Figure 2 This is a schematic diagram of the piston structure in Example 1;

[0038] Figure 3This is a schematic diagram of the overall structure of Example 1;

[0039] Figure 4 This is a schematic diagram of the transmission unit in Example 2.

[0040] Figure 5 This is a schematic diagram of the claw mechanism in Example 3;

[0041] Figure 6 This is a schematic diagram of the side clamping mechanism in Example 4;

[0042] Figure 7 This is a schematic diagram of the power conversion mechanism in Example 5;

[0043] Figure 8 This is a schematic diagram of the flexible sleeve connection function execution component of Example 6;

[0044] Figure 9 This is a schematic diagram of the floating connection structure in Example 7;

[0045] Figure 10 This is a side sectional view of the floating connection structure in Example 7. Detailed Implementation

[0046] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] Example 1

[0048] Reference Figures 1 to 3 A multi-channel top-push force connection drive device, comprising

[0049] The drive mechanism is capable of generating linear driving force;

[0050] The transmission unit is provided in multiple ways, each transmission unit corresponds to a flexible sleeve, the flexible sleeve is provided with a transmission active part, and the end of the flexible sleeve is connected to a functional execution component. When the transmission unit is subjected to a linear driving force, it will transmit the driving force to the transmission active part, so that the transmission active part moves relative to the flexible sleeve, thereby transmitting power to the functional execution component, so that the functional execution component can be activated. The functional execution component can adjust the depth of the puncture instrument in the biological tissue.

[0051] A motion platform, wherein the drive mechanism is mounted at one end of the motion platform, and a plurality of transmission units are disposed at the other end of the motion platform, and the motion platform is capable of adjusting the relative position of the drive mechanism with respect to the transmission units;

[0052] Under the driving action of the motion platform, the driving mechanism is matched with one or more corresponding transmission units on the mounting platform to drive the transmission units to drive the corresponding transmission active parts.

[0053] The motion platform includes a planar displacement mechanism, which is used to drive the drive mechanism to move in a plane and control the drive mechanism to select different transmission units for docking.

[0054] The planar displacement mechanism is one of a single-joint rotary motion mechanism, a single-joint rotary motion mechanism combined with a radial linear motion mechanism, a double-joint rotary motion mechanism, or an XY-axis linear motion mechanism, and the driving mechanism is located at the movable end of the planar displacement mechanism;

[0055] When the planar displacement mechanism is a single-joint rotary motion mechanism combined with a radial linear motion mechanism, the planar displacement mechanism further includes a rotating arm. The single-joint rotary motion mechanism drives the rotating arm to rotate in a plane. The radial linear motion mechanism is disposed on the rotating arm and drives a slider disposed on the rotating arm to move radially along the rotating arm. The driving mechanism is disposed on the side of the slider.

[0056] The drive mechanism is equipped with a push rod 312 that can move along a straight trajectory: the push rod 312 can abut, engage, attract or hook with the transmission unit to realize power transmission;

[0057] The locking mechanism includes a claw clamping connection, a side pressing connection, or a rotational locking connection, and the locking mechanism adopts a passive clamping or active clamping method.

[0058] The attraction includes vacuum attraction connection and electromagnetic attraction connection;

[0059] The hook is attached using a hook structure.

[0060] Reference Figures 1-3 As shown, the motion platform 311 includes an adjustment motor 3111 disposed on the mounting platform 1, a radial linear motion mechanism 3112 connected to the adjustment motor 3111 at one end, and an axial displacement unit 3113 disposed on the radial linear motion mechanism 3112. The push rod 312 is disposed on the axial displacement unit 3113.

[0061] Multiple transmission units distributed on the mounting platform 1 surround the position of the adjusting motor 3111. By adjusting the motor 3111, the push rod 312 is rotated, and the radial linear motion mechanism 3112 drives the push rod 312 to slide on the rotating arm, thereby controlling the movement of the push rod 312 on the plane to select different transmission units.

[0062] Furthermore, the push rod 312 can abut, engage, attract, or hook with the transmission unit to achieve power transmission;

[0063] The locking mechanism includes a claw clamping connection, a side pressing connection, or a rotational locking connection, and the locking mechanism adopts a passive clamping or active clamping method.

[0064] The attraction includes vacuum attraction connection and electromagnetic attraction connection;

[0065] The hook is attached using a hook structure.

[0066] Furthermore, when the push rod 312 and the transmission component of the transmission unit are engaged in a one-way cooperation, for example, when the push rod is in contact with the transmission component of the transmission unit, it can only push the transmission component of the transmission unit but cannot pull the transmission component. In this case, a reset elastic element can be set at the transmission component, and the transmission component can be reset by moving in the opposite direction using the reset elastic element.

[0067] Furthermore, for the push rod 312 to abut against the transmission unit, a centering mechanism is also provided between the push rod 312 and the transmission unit. The centering mechanism includes a tapered hole provided in the transmission unit and / or a floating seat that carries the push rod. The tapered hole can cooperate with the end of the push rod.

[0068] Specifically, the centering mechanism is mainly used to further improve the accuracy of the connection between the push rod and the transmission unit. For example, by setting a tapered hole, the connection between the push rod and the transmission unit can be automatically corrected. Alternatively, the rod part or the entire push rod can be set as a floating structure, that is, set on a floating seat, which can move within a certain range and can also automatically correct the connection between the push rod and the transmission unit.

[0069] Furthermore, for the push rod 312 to abut against the transmission unit, a displacement measuring element and a contact sensing element are also provided on the push rod 312 and / or the transmission unit. The contact sensing element includes a contact sensor, a distance sensor and a force sensor.

[0070] The contact sensor is used to sense the contact between the push rod and the transmission unit or between the active transmission component and the driven transmission component, and the displacement measuring component is used to measure the displacement of the active transmission component.

[0071] The contact sensor is a conductive contact sensor, or a force sensor, or a combination of one or more of the following: a limit switch, a proximity switch, a Hall switch, and a photoelectric switch.

[0072] The displacement measuring device is a linear displacement sensor.

[0073] Specifically, a displacement measuring element is installed on the push rod 312 to measure the displacement, that is, the displacement of the transmission wire. This can be measured by using a distance sensor to detect the change in distance between the push rod and a predetermined mark. The contact sensing element is mainly used to detect whether the push rod is in contact with the transmission unit. The contact sensing element can be a contact sensor, that is, after the push rod contacts the transmission unit, it can cause some parameter changes. For example, the contact sensor directly contacts the transmission unit and will detect data such as the temperature of the transmission unit, thereby determining the contact status. The contact sensing element can also be a distance sensor, such as a Hall effect distance sensor, a photoelectric distance sensor, or a distance sensor of the proximity switch or limit switch type. The contact sensing element can also be a force sensor, which can be a pressure sensor that directly detects pressure, or it can detect the torque of the internal power component (motor of the electric push rod), or detect the current change caused by the torque change.

[0074] When the driving actuator is a liquid or gas, the transmission unit is a piston structure, which includes a piston cylinder and a piston. The piston is connected to or abuts against the driving actuator. The driving push rod directly drives the piston to move, and the piston then drives the driving actuator to move relative to the flexible sleeve. The piston cylinder is also provided with an elastic element for the piston to reset. The elastic element is a spring or an elastic block.

[0075] Reference Figure 2 and Figure 3 As shown, the piston structure includes a flexible sleeve 45121. One end of the flexible sleeve 45121 has a piston cylinder. The interior of the piston cylinder has a cavity 45118 communicating with the flexible sleeve 45121 and a piston 45120 is disposed thereon. The piston 45120 can cooperate with a push rod driven by a drive motor. A top plate 45119 is provided on one side of the piston 45120 for abutting against the push rod. The other end of the hydraulic pipe 45121 is provided with a drive component connected to the functional execution component. The flexible sleeve 45121 seals hydraulic medium or gas between the piston 45120 and the drive component. A contact sensor 45123 is provided at the front end of the push rod for determining whether it is in contact with the piston 45120 or the top plate 45119. The drive mechanism controls the push rod to push the piston 45120, causing relative movement between the hydraulic medium or gas in the flexible sleeve 45121 and the flexible sleeve 45121, driving the drive component at the other end, and driving the functional execution component to work.

[0076] Example 2

[0077] In this embodiment, the active transmission component is a drive wire, the transmission unit is directly connected to the drive wire, and the reset component is a spring.

[0078] Reference Figure 4 The transmission unit includes a first channel formed within a second housing 4705 and a second channel parallel to the first channel, as well as a reversing member disposed between the same end of the first and second channels. The reversing member is a reversing column. A second slider 4709 is disposed within the second channel, and a second spring 4704 is disposed within the second channel to cooperate with the second slider 4709. The second slider 4709 is connected to a first drive wire 4708, and the first drive wire 4708 is covered by a connecting member 4707. A connecting line 4710 is connected between the first slider 4701 and the second slider 4709 via the reversing member. The first slider 4701 is used to cooperate with a push rod driven by a drive motor to slide within the first channel and drive the second slider 4709 to slide in the opposite direction within the second channel. A spring pin 4702 is disposed on the second housing 4705 for the chip 4703 inside the transmission assembly to interface with an external mechanism and establish electrical communication, thereby realizing the reading of consumable information and facilitating traceability of the usage process. The second housing 4705 is provided with a retaining ring 4706 for mounting other parts of the second housing 4705.

[0079] The push rod is extended and retracted by the chip 4703, which drives the first slider 4701 to slide back and forth in the first channel. The second slider 4709 is driven to slide back and forth in the second channel by the reversing component, and finally the first drive wire 4708 is controlled to reciprocate, thereby transmitting power to the function execution component.

[0080] Example 3

[0081] In this embodiment, the transmission unit is a clamping transmission component, which automatically opens when no external force is applied; the clamping transmission component can move into the clamping channel under the drive of the driving mechanism, so as to close and clamp the transmission active part under the pressure of the inner wall of the clamping channel.

[0082] In this embodiment, the clamping transmission component is a claw mechanism, the transmission drive part is a drive wire, and the reset component is a spring.

[0083] The chuck mechanism includes at least two opposing chucks. The end of the drive unit can be clamped between the two chucks. When the clamping drive member moves toward the inside of the clamping channel, the chucks are squeezed by the inner wall of the clamping channel and retracted to clamp the drive unit. The chucks are elastic chucks. Alternatively, the chucks reciprocate under the drive of the drive mechanism. When the chucks move to one side, they clamp the drive unit and drive it to move. When the chucks move to the other side, they release the drive unit and reset. The drive unit is continuously pulled out during the continuous reciprocating movement.

[0084] Reference Figure 5Specifically, a top block 44323209 is provided at the bottom of the outer casing 44323206, a reversing wheel 44323208 is provided on the right side of the outer casing 44323206, and a bushing 44323202 is provided on the upper left side of the outer casing 44323206. The front end of the bushing 44323202 has a chamfer and groove. The front end of the gripper 44323204 is forked and extends outward. There are two grooves on its surface. Two connecting rods 44323205 are provided on the outside of the grooves. The connecting rods 4432320... Multiple rollers 44323203 are provided on the 5, and the gripper 44323204 is placed inside the bushing 44323202. A spring 44323207 is provided on the rear side of the gripper 44323204. The rollers 44323203 are placed in the groove of the bushing 44323202 and are tangent to the surface. The two ends of the second connecting line 44323201 are fixed on the gripper 44323204 and the top block 44323209 respectively. The second connecting line 44323201 passes around the reversing wheel 44323208.

[0085] During operation, the drive mechanism drives the push rod to push the top block 44323209 inside the handle inward. The gripper 44323204 on the second connecting line 44323201 is pulled inward. The rollers 44323203 on the connecting rods 44323205 on both sides of the gripper 44323204 are pressed inward by the bushing 44323202, pressing and pulling the second drive wire 44323210 inward. When the operation ends, the pushing force on the top block 44323209 disappears, the spring 44323207 pushes the gripper 44323204 back to the initial position, and the front end of the gripper 44323204 opens under its own elasticity, releasing the second drive wire 44323210.

[0086] Example 4

[0087] When the clamping transmission component is a side-clamping mechanism, the driving part of the transmission uses a drive wire, and the reset component is a spring.

[0088] Reference Figure 6 The side clamping mechanism includes a clamping block with a clamping groove and at least one clamping member. One end of the clamping member passes through the clamping block and extends into the clamping groove. The end of the transmission drive unit can be accommodated in the clamping groove. A groove corresponding to the clamping member is provided on the inner wall of the clamping channel, and the side wall of the groove near the inside of the clamping channel is inclined. When the clamping transmission member moves toward the inside of the clamping channel, the end of the clamping member is squeezed by the inclined surface and moves into the clamping groove to clamp the transmission drive unit.

[0089] A second top block 4632401 is provided at the bottom of the third housing 4632404. A second reversing wheel 4632402 is provided on the seat side of the third housing 4632404. A second bushing 4632405 is provided on the upper right side of the third housing 4632404. The front end of the second bushing 4632405 has a chamfer and a groove. Two clamping members 4632408 are provided at the front end of the clamping block 4632406. The clamping members 4632408 press down on the pad block 463240. 7. The clamping block 4632406 is placed inside the second bushing 4632405. A second spring 4632403 is provided on the rear side of the clamping block 4632406. The pressing member 4632408 is placed in the groove of the second bushing 4632405 and is tangent to the surface. The two ends of the third connecting line 4632409 are fixed on the clamping block 4632406 and the second top block 4632401 respectively. The third connecting line 4632409 passes around the second reversing wheel 4632402.

[0090] During operation, the drive mechanism drives the push rod to push the second top block 4632401 inside the handle inward. The clamping block 4632406 on the third connecting line 4632409 is pulled inward. The clamping members 4632408 on both sides of the front end of the clamping block 4632406 are pressed inward by the second bushing 4632405 and press the third drive wire 4632410 inward. When the operation ends, the thrust on the second top block 4632401 disappears, the second spring 4632403 pushes the clamping block 4632406 back to the initial position, and the front end of the clamping block 4632406 releases the third drive wire 4632410 under the elastic action of the pad 4632407.

[0091] Example 5

[0092] The transmission unit also includes a power conversion mechanism, which is used to convert the linear power transmitted from the drive mechanism to the transmission unit into rotational power.

[0093] The power conversion mechanism includes one or more of the following: a synchronous belt mechanism, a lead screw and slider mechanism, a gear and rack mechanism, and a crank and connecting rod mechanism, which simultaneously have rotary and linear motion components.

[0094] Reference Figure 7As shown, the transmission unit also includes a power conversion mechanism, which mainly comprises a reciprocating shaft 701 that moves linearly, a first rotating shaft 702, and a second rotating shaft 703. The reciprocating shaft 701 and the first rotating shaft 702 are connected by a gear and rack mechanism, while the first rotating shaft 702 and the second rotating shaft 703 are connected by a conical wheel (gear or friction wheel). This allows the linear motion of the reciprocating shaft 701 to be converted into the rotational motion of the second rotating shaft 703, or vice versa. Of course, from a power conversion perspective, the second rotating shaft 703 can be omitted, which would still achieve the conversion, but the direction of the first rotating shaft 702 would change compared to the reciprocating shaft 701. Adding the second rotating shaft 703 maintains the same direction as the reciprocating shaft 701. Furthermore, this first-structure power conversion mechanism 7 has a bidirectional conversion function.

[0095] Example 6

[0096] This embodiment describes an implementation of the flexible sleeve connection function execution component.

[0097] Reference Figure 8 As shown, in this embodiment, the functional execution component is a needle control module 402. The needle control module 402 is provided in at least one set, and each set of needle control modules 402 corresponds to a set of transmission units (not shown in the figure). A second flexible sleeve 401 is provided between the transmission unit and the needle control module 402. The transmission active part is a drive wire 4 set in the second flexible sleeve 401. The drive wire 4 is elastic and will automatically return to a straight state when not subjected to external force. Therefore, it can transmit push and pull forces within a small stroke range. Through the relative movement between the drive wire 4 and the second flexible sleeve 401, the power is transmitted to the needle control module 402 and drives its action. The needle control module 402 can adjust the depth of the puncture instrument in the biological tissue to realize the actions of needle withdrawal and insertion.

[0098] The needle control module 402 controls the depth of the puncture instrument in biological tissue by cooperating with the clamping component and the moving mechanism, cooperating with the abutting component and the moving mechanism, and driving the puncture instrument to move unidirectionally or reciprocally through at least one of the friction wheel or friction belt.

[0099] Example 7

[0100] This embodiment is a schematic diagram of a push rod equipped with a centering mechanism;

[0101] Reference Figure 9 and Figure 10Linear guide rail 46320203 is mounted and fixed on base plate 46320206. Slider C46320216 is mounted on linear guide rail 46320203. Flange C46320207 is fixed to slider C46320216. Motor mounting plate 46320210 is fixed to base plate 46320206. Motor B46320209 is fixed to motor mounting plate 46320210. Bearing housing 46320214 is fixed to base plate 46320206. Trapezoidal lead screw B 46320213 is connected at one end to motor B 46320209 and at the other end to bearing housing 46320213. Lead screw nut 46320211 is installed in trapezoidal lead screw B 46320213. L-shaped connecting block 46320212 is connected to lead screw nut 46320211 and is also connected to flange C 46320207. Force sensor 46320205 is connected to flange C 46320207. Guide seat B 46320204 is connected to force sensor 46320205. Guide seat A 46320202 is connected to base plate 46320206, and polyurethane guide block 46320215 is installed in guide seat A 46320202 and guide seat B 46320204 respectively. Push rod 46320201 is installed in guide seat B 46320204, and its front end is placed in guide seat A 46320202.

[0102] At this time, motor B 46320209 drives flange C 46320207 to move in a translational motion, and push rod 46320201 moves in a straight line to transmit power to the transmission unit. When there is a small error in the docking position, push rod 46320201 is always in a floating state because it is fitted into the elastic polyurethane guide block 46320215. During the docking process, push rod 46320201 will automatically shift to correct the error.

[0103] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the scope of the invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0104] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A multi-channel top-push force connection drive device, characterized in that, include The drive mechanism is capable of generating linear driving force; The transmission unit is provided in multiple ways. Each transmission unit corresponds to a flexible sleeve. The flexible sleeve is provided with a transmission drive unit. The end of the flexible sleeve is connected to a functional execution component. When the transmission unit is subjected to a linear driving force, it will transmit the driving force to the transmission drive unit, causing the transmission drive unit to move relative to the flexible sleeve, thereby transmitting the power to the functional execution component and causing the functional execution component to operate. A motion platform, wherein the drive mechanism is mounted at one end of the motion platform, and a plurality of transmission units are disposed at the other end of the motion platform, and the motion platform is capable of adjusting the relative position of the drive mechanism with respect to the transmission units; Under the driving action of the motion platform, the driving mechanism is matched with one or more corresponding transmission units on the mounting platform to drive the transmission units to drive the corresponding transmission active parts.

2. The multi-channel top-push force connection drive device according to claim 1, characterized in that, The drive mechanism is equipped with a push rod that can move along a straight trajectory: the push rod can abut, engage, attract or hook with the transmission unit to realize power transmission; The locking mechanism includes a claw clamping connection, a side pressing connection, or a rotational locking connection, and the locking mechanism adopts a passive clamping or active clamping method. The attraction includes vacuum attraction connection and electromagnetic attraction connection; The hook is secured using a hook structure.

3. The multi-channel top-push force connection drive device according to claim 1, characterized in that, When the transmission unit is a clamping transmission component, the transmission unit is one or a combination of a claw mechanism, a side clamping mechanism, and a rotary clamping mechanism; The chuck mechanism includes a chuck. While the drive mechanism moves the chuck on the sleeve or the limiting slide rail, the chuck clamps the transmission drive and drives it to move in a straight line. The side clamping mechanism includes a clamping member. While the driving mechanism drives the clamping member to move on the sleeve or the limiting slide rail, the clamping member clamps the transmission drive unit from the side and drives it to move in a straight line. The rotary clamping mechanism includes a rotating component. While the drive mechanism moves the rotating component on the sleeve or the limiting slide rail, the rotating component clamps the transmission drive unit and drives it to move in a straight line.

4. The multi-channel top-push force connection drive device according to claim 3, characterized in that, The transmission unit includes a housing and a clamping channel formed within the housing. A clamping transmission member is disposed within the clamping channel. The clamping transmission member is directly or indirectly connected to the drive mechanism and can open and close. The clamping transmission member will automatically open when not subjected to external force. The clamping transmission member can move into the clamping channel under the drive of the drive mechanism to clamp the transmission drive unit under the pressure of the inner wall of the clamping channel. When the clamping transmission component is a claw mechanism, the claw mechanism includes at least two opposing claws. The end of the transmission drive part can be clamped between the two claws. When the clamping transmission component moves toward the inside of the clamping channel, the claws are squeezed by the inner wall of the clamping channel and retracted to clamp the transmission drive part. The claws are elastic claws. When the clamping transmission component is a side-clamping mechanism, the side-clamping mechanism includes a clamping block with a clamping groove and at least one clamping member. One end of the clamping member passes through the clamping block and extends into the clamping groove. The end of the transmission drive unit can be accommodated in the clamping groove. A groove corresponding to the clamping member is provided on the inner wall of the clamping channel, and the side wall of the groove near the inside of the clamping channel is inclined. When the clamping transmission component moves toward the inside of the clamping channel, the end of the clamping member is squeezed by the inclined surface and moves toward the clamping groove to clamp the transmission drive unit. The clamping transmission component is provided with a reset component for resetting, which is one or a combination of a spring, a U-shaped hook, a suction nozzle, an electromagnet, or a clamping mechanism.

5. The multi-channel top-push force connection drive device according to claim 1, characterized in that, When the push rod abuts against the transmission unit and / or when the active transmission element transmits linear driving force by connecting or abutting against the driven transmission element; The push rod and / or the transmission component are further provided with a displacement measuring component and a contact sensor. The contact sensor is used to sense the contact between the push rod and the transmission unit or between the active transmission component and the driven transmission component. The displacement measuring component is used to measure the displacement of the active transmission component. The contact sensor is a conductive contact sensor, or a force sensor, or a combination of one or more of the following: a limit switch, a proximity switch, a Hall switch, and a photoelectric switch. The displacement measuring device is a linear displacement sensor.

6. The multi-channel top-push force connection drive device according to claim 1, characterized in that, The motion platform includes a planar displacement mechanism, which is used to drive the drive mechanism to move in a plane and control the drive mechanism to select different transmission units for docking. The planar displacement mechanism is one of a single-joint rotary motion mechanism, a single-joint rotary motion mechanism combined with a radial linear motion mechanism, a double-joint rotary motion mechanism, or an XY-axis linear motion mechanism, and the driving mechanism is located at the movable end of the planar displacement mechanism; When the planar displacement mechanism is a single-joint rotary motion mechanism combined with a radial linear motion mechanism, the planar displacement mechanism further includes a rotating arm. The single-joint rotary motion mechanism drives the rotating arm to rotate in a plane. The radial linear motion mechanism is disposed on the rotating arm and drives a slider disposed on the rotating arm to move radially along the rotating arm. The driving mechanism is disposed on the side of the slider.

7. A multi-channel top-push force connection drive device according to claim 2, characterized in that, It also features a floating connection structure, which is located between the motion platform and the push rod or inside the motion platform. The floating connection structure allows relative movement between the push rod and the motion platform when the push rod or transmission unit is subjected to external force. The transmission unit is also provided with a centering cone surface, so that when the push rod and the transmission unit come into contact, they automatically center under the guidance of the centering cone surface.

8. The multi-channel top-push force connection drive device according to claim 1, characterized in that, The transmission unit also includes a power conversion mechanism, which is used to convert the linear power transmitted from the drive mechanism to the transmission unit into rotational power. The power conversion mechanism includes one or more of the following: a synchronous belt mechanism, a lead screw and slider mechanism, a gear and rack mechanism, and a crank and connecting rod mechanism, which simultaneously have rotary and linear motion components.

9. A multi-channel top-push force connection drive device according to claim 1, characterized in that, The transmission unit is divided into a transmission unit fixing part and a transmission unit quick-release part. The transmission unit fixing part is fixedly connected to the motion platform, and the transmission unit quick-release part is connected to the transmission drive part. The transmission unit quick-release part can be quickly assembled and disassembled from the transmission unit fixing part and a transmission connection is established through the transmission connection part; or, the transmission unit can be quickly assembled and disassembled from the motion platform.

10. A multi-channel top-push force connection drive device according to claim 1, characterized in that, The active transmission unit is a drive wire, liquid, or gas disposed inside a flexible sleeve. The drive mechanism drives the drive wire, liquid, or gas in the transmission unit to move relative to the flexible sleeve, thereby transmitting power to the functional execution component. When the active transmission unit is a liquid or gas disposed in a flexible sleeve, the driving mechanism is a piston structure, a hydraulic pump, or an air pump. Alternatively, the driving mechanism may simply transmit linear or rotational power to the transmission unit, which in turn drives the active transmission unit via a piston structure, hydraulic pump, or air pump.

Images