A delivery device for a flexible medical instrument

Abstract

The application discloses a delivery device of a flexible medical instrument, which comprises a device body, wherein the flexible medical instrument is installed on the device body; a base, wherein the device body and a first driving component are installed on a seat body, and the first driving component is provided with a first driving gear; and a first guide frame, wherein an inner tooth part of the first guide frame is provided with an inner tooth in at least a local area in a circumferential direction, and the first driving gear and the inner tooth are engaged. The delivery device can drive the flexible medical instrument to rotate, and can make up for the defect that the flexible medical instrument does not have a rotation adjusting degree of freedom in the prior art, so that the flexible medical instrument can have more kinds of posture adjustment, and the medical staff can more flexibly control the flexible medical instrument, so as to better meet the use requirement of the flexible medical instrument.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and more specifically to a delivery device for a flexible medical device. Background Technology

[0002] The digestive tract, respiratory tract, urinary tract and other natural cavities of the human body are common sites for disease. Because the lesions are located inside these natural cavities, they usually require interventional examination and treatment using flexible medical devices such as flexible endoscopes.

[0003] To better facilitate the interventional use of flexible medical devices, a dedicated delivery device is required to drive the device. However, current delivery devices have relatively simple structures and limited functions, often only controlling the flexible device to move forward or backward, making it difficult to meet more diverse usage requirements.

[0004] Therefore, how to provide a solution to overcome or alleviate the above-mentioned defects remains a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this application is to provide a delivery device for a flexible medical device, which enables the flexible medical device to be driven to increase the degree of adjustment freedom of the flexible medical device.

[0006] To address the aforementioned technical problems, this application provides a delivery device for a flexible medical device, comprising: a device body on which the flexible medical device is mounted; a base including a seat and a first driving component, wherein the device body and the first driving component are both mounted on the seat, and the first driving component is provided with a first driving gear; and a first guide frame including an internal tooth portion, wherein at least a partial area of ​​the internal tooth portion is provided with internal teeth in the circumferential direction, and the first driving gear meshes with the internal teeth.

[0007] In some embodiments, the first guide frame further includes a first guide portion; one of the first guide portion and the base is provided with a first guide member, and the other is provided with a first guide mating member, wherein the first guide member is slidably connected to the first guide mating member.

[0008] In some embodiments, the delivery device further includes a second guide frame, which is disposed opposite to the first guide frame along a first direction; the second guide frame includes a second guide portion; one of the second guide portion and the seat is provided with a second guide member, and the other is provided with a second guide mating member, wherein the second guide member is slidably connected to the second guide mating member.

[0009] In some embodiments, at least one of the first guide frame and the second guide frame is a split structure, including two arc-shaped frames; the two arc-shaped frames have an open state and a closed state; in the open state, at least a portion of the two arc-shaped frames are separated; in the closed state, the two arc-shaped frames can be connected to each other to form an annular structure.

[0010] In some embodiments, the device body includes a first clamping member and a second clamping member disposed opposite to each other along a second direction, at least one of the first clamping member and the second clamping member being slidably connected to the base along the second direction, and the first clamping member and the second clamping member being configured to be able to move closer to each other or further away from each other along the second direction.

[0011] In some embodiments, the first clamping component includes: a first actuator, the first actuator having at least one drive roller configured to contact the outer wall surface of the flexible medical device, the drive roller being configured to drive the flexible medical device to move; and a first drive mechanism, the first actuator being mounted on the first drive mechanism, the first drive mechanism including a second drive component, the second drive component being tractively connected to the drive roller for driving the drive roller to rotate.

[0012] In some embodiments, the second clamping member includes a second actuator, the second actuator being provided with at least one driven roller, the driven roller being configured to contact the outer wall surface of the flexible medical device, and the driven roller being configured to rotate under the drive of the flexible medical device.

[0013] In some embodiments, the second clamping component further includes a second driving mechanism, the second actuator is mounted on the second driving mechanism, the second driving mechanism includes a third driving component; the base further includes a threaded rod extending along the second direction, the threaded rod being rotatably connected to the base body, the third driving component being drively connected to the threaded rod for driving the threaded rod to rotate, and at least one of the first clamping component and the second clamping component being threadedly connected to the threaded rod.

[0014] In some embodiments, the first drive mechanism includes a first drive frame, a transmission nut, and a pressure sensor. The first drive frame is provided with a receiving groove, and the pressure sensor and the transmission nut are both disposed in the receiving groove. The transmission nut is threadedly connected to the threaded rod, and the transmission nut is configured to press the pressure sensor.

[0015] In some embodiments, the second drive mechanism further includes a second drive frame, the third drive component is mounted on the second drive frame, the second drive mechanism further includes a rotating part and a rotation detection component, the rotating part is rotatably connected to the second drive frame, the rotating part and the driven roller are drively connected, the driven roller can drive the rotating part to rotate, and the rotation detection component is configured to detect the rotation angle of the rotating part.

[0016] In this embodiment, when the first driving component drives the first driving gear to rotate, the first driving gear can drive the base and the device body to rotate relative to the first guide frame by meshing with the internal teeth, thereby driving the flexible medical device to rotate. This can fill the gap in the related technology where flexible medical devices do not have the freedom of rotational adjustment, enabling the flexible medical device to have more types of posture adjustment, which is more conducive to the flexible operation of the flexible medical device by medical staff, so as to better meet the usage needs of the flexible medical device. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of a delivery device for a flexible medical device provided in an embodiment of this application; Figure 2 for Figure 1 The exploded view, in which the second guide frame is omitted; Figure 3 This is a schematic diagram of the first guide frame; Figure 4 for Figure 3 A cross-sectional view of an arc-shaped frame; Figure 5 This is a schematic diagram of the base structure; Figure 6 for Figure 5 Top view; Figure 7 This is a schematic diagram of the structure of the first actuator; Figure 8 for Figure 7 A cross-sectional view at one of the drive rollers; Figure 9 This is a schematic diagram of the structure of the first drive mechanism; Figure 10 for Figure 9 A cross-sectional view; Figure 11 This is a schematic diagram of the second actuator; Figure 12 for Figure 11 Side view; Figure 13 This is a schematic diagram of the second drive mechanism; Figure 14 for Figure 13 A cross-sectional view; Figure 15 This is a diagram showing the connection structure of the first drive mechanism, the second drive mechanism, and the threaded rod. Figure 16 for Figure 15 A cross-sectional view.

[0018] The annotations in the attached figures are explained as follows: 100 delivery devices; 200 flexible medical devices; 1000 Device body; 1100 First clamping component; 1110 First actuator; 1111 Drive roller; 1111A First drive member; 1112 First transmission roller; 1113 First actuator frame; 1113A First snap-fit ​​part; 1113B First baffle; 1113B1 First clearance groove; 1120 First drive mechanism; 1121 Second drive component; 1122 First drive frame; 1122A Receiving groove; 1123 Transmission nut; 1124 Pressure sensor; 1125 Cover plate; 1126 First snap-fit ​​part; 1127 1200 First transmission component; 1200 Second clamping component; 1210 Second actuator; 1211 Driven roller; 1211A Second drive component; 1212 Second transmission roller; 1213 Second actuator frame; 1213A Second baffle; 1213A1 Second clearance groove; 1220 Second drive mechanism; 1221 Third drive component; 1222 Second drive frame; 1222A Threaded hole; 1223 Rotating part; 1224 Rotation detection component; 1224A Encoder; 1224B Magnet; 1225 Second snap-fit ​​part; 1226 Second transmission component; 2000 Base; 2100 Seat body; 2110 First guide member; 2120 Slide rail; 2200 First drive component; 2210 First drive gear; 2300 Threaded rod; 3000 First guide frame; 3100 Internal gear; 3110 Internal gear; 3200 First guide part; 3210 First guide mating part; 3300 Arc frame; 3310 Buckle; 3400 Connecting plate; 4000 Second guide frame; 4100 Second guide section; 4110 Second guide mating part; 5000 connecting beams. Detailed Implementation

[0019] To enable those skilled in the art to better understand the technical solutions of this application, the specific embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0020] In the description of the embodiments of this application, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," and "third" may explicitly or implicitly include one or more of that feature.

[0021] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, "joining" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. "Rotary connection" refers to connections that allow relative rotation after connection. "Sliding connection" refers to connections that allow relative sliding after connection.

[0022] The directional terms used in the embodiments of this application, such as "inner" and "outer," are merely for reference to the directions in the accompanying drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of the embodiments of this application, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application. Furthermore, unless otherwise stated in this application, "multiple" as used in this application refers to two or more.

[0023] In the description of embodiments of this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0024] In the embodiments of this application, the flexible medical device can be a flexible endoscope, catheter, sheath, flexible surgical instrument, or other flexible device that can be inserted into natural body cavities, artificial channels, or other target channels. The specific type of flexible medical device is not limited here; in practical applications, those skilled in the art can select one based on different usage needs such as examination, treatment, sampling, ablation, irrigation, and drainage.

[0025] Please refer to Figures 1-16 , Figure 1 This is a schematic diagram of the structure of a delivery device for a flexible medical device provided in an embodiment of this application; Figure 2 for Figure 1 The exploded view, in which the second guide frame is omitted; Figure 3This is a schematic diagram of the first guide frame; Figure 4 for Figure 3 A cross-sectional view of an arc-shaped frame; Figure 5 This is a schematic diagram of the base structure; Figure 6 for Figure 5 Top view; Figure 7 This is a schematic diagram of the structure of the first actuator; Figure 8 for Figure 7 A cross-sectional view at one of the drive rollers; Figure 9 This is a schematic diagram of the structure of the first drive mechanism; Figure 10 for Figure 9 A cross-sectional view; Figure 11 This is a schematic diagram of the second actuator; Figure 12 for Figure 11 Side view; Figure 13 This is a schematic diagram of the second drive mechanism; Figure 14 for Figure 13 A cross-sectional view; Figure 15 This is a diagram showing the connection structure of the first drive mechanism, the second drive mechanism, and the threaded rod. Figure 16 for Figure 15 A cross-sectional view.

[0026] like Figure 1 and Figure 2 As shown, this application provides a delivery device 100 for a flexible medical device 200, which includes a device body 1000, a base 2000 and a first guide frame 3000.

[0027] The flexible medical device 200 can be mounted on the device body 1000. The device body 1000 can clamp, support, and drive the flexible medical device 200 to deliver it. Furthermore, the flexible medical device 200 can move synchronously with the device body 1000. That is, the flexible medical device 200 and the device body 1000 can move relative to each other or synchronously. Here, the embodiments of this application do not limit the specific structural form of the device body 1000. In practical applications, those skilled in the art can determine its form by referring to relevant technologies; alternatively, the device body 1000 described below can also be used as a reference.

[0028] The base 2000 serves as the basic load-bearing structure of the delivery device 100, used for supporting and assembling the device body 1000, etc. Combined with... Figure 2 , Figure 5 and Figure 6The base 2000 includes a base body 2100 and a first drive component 2200. Both the device body 1000 and the first drive component 2200 can be mounted on the base body 2100. The first drive component 2200 is equipped with a first drive gear 2210. Specifically, the first drive component 2200 can be a power structure capable of outputting rotational motion, such as a motor, rotary cylinder, or hydraulic motor, and can drive the first drive gear 2210 to rotate.

[0029] Combination Figures 2-4 The first guide frame 3000 includes an internal toothed portion 3100, and at least a partial area of ​​the internal toothed portion 3100 in the circumferential direction is provided with internal teeth 3110, and the first drive gear 2210 meshes with the internal teeth 3110.

[0030] With this approach, when the first drive component 2200 drives the first drive gear 2210 to rotate, the first drive gear 2210 can mesh with the internal gear 3110 to drive the base 2000 and the device body 1000 to rotate relative to the first guide frame 3000, thereby driving the flexible medical device 200 to rotate. This can fill the gap in the related technology where the flexible medical device 200 does not have a degree of freedom for rotational adjustment, enabling the flexible medical device 200 to have more types of posture adjustment, which is more conducive to the flexible operation of the flexible medical device 200 by medical staff, so as to better meet the usage needs of the flexible medical device 200.

[0031] Here, the embodiments of this application do not limit the specific distribution of the internal teeth 3110 on the internal tooth portion 3100. In practical applications, those skilled in the art can configure it according to specific needs. For example, the internal teeth 3110 can be continuously arranged along the circumference of the internal tooth portion 3100, so that the device body 1000 and the flexible medical device 200 can have a larger range of rotation angle adjustment. As another example, the internal teeth 3110 can also be arranged only in a local area of ​​the circumference of the internal tooth portion 3100. In this case, the structure of the internal tooth portion 3100 can be relatively simple and the cost can be relatively low.

[0032] The internal gear 3110 can be a straight tooth, a helical tooth, an arc tooth, or other tooth structure that can mesh with the first drive gear 2210, and is not limited here.

[0033] In some implementations, the first guide frame 3000 also includes a first guide section 3200.

[0034] In the first guide part 3200 and the seat 2100, one is provided with a first guide member 2110 and the other is provided with a first guide mating member 3210. The first guide member 2110 is slidably connected to the first guide mating member 3210 and can be displaced along the first guide mating member 3210, thereby limiting the movement trajectory of the device body 1000 and the flexible medical device 200 relative to the first guide frame 3000.

[0035] In the implementation shown in the diagram, such as Figures 3-6 As shown, the base 2100 may be provided with a first guide member 2110, and the first guide portion 3200 of the first guide frame 3000 may be provided with a first guide mating member 3210. It should be understood that in some other implementations, the first guide member 2110 may be provided in the first guide portion 3200, and the first guide mating member 3210 may be provided in the base 2100, which is also feasible.

[0036] In this embodiment, the first drive gear 2210 and the internal gear 3110 cooperate to transmit driving force, and the first guide member 2110 and the first guide mating member 3210 cooperate to guide and limit movement. Through the cooperation of these structures, the movement of the base 2000 relative to the first guide frame 3000 is more stable, reducing the risk of wobbling or disengagement during movement, thus improving the stability of the flexible medical device 200 during movement.

[0037] Here, the embodiments of this application do not limit the specific cross-sectional shapes of the first guide member 2110 and the first guide mating member 3210. The first guide member 2110 can be a columnar protrusion, an arc-shaped rib, a slider or a roller, and the first guide mating member 3210 can be an arc-shaped groove, an annular groove, an elongated groove or other guide structures that can slide and engage with the first guide member 2110.

[0038] In some implementations, the first guide portion 3200 and the internal tooth portion 3100 can be an integrally formed structure, with the first guide portion 3200 located on one axial side of the internal tooth portion 3100.

[0039] In this way, the first guide part 3200 and the internal tooth part 3100 no longer need to be connected by an additional connector, which can improve the overall structural rigidity of the first guide frame 3000 and help ensure the relative positional accuracy between the internal tooth 3110 and the first guide mating part 3210, thereby improving the reliability of transmission and guidance.

[0040] It should be understood that in some other implementations of the embodiments of this application, the first guide portion 3200 and the internal tooth portion 3100 can also be a separate structure. In this case, the two can be manufactured separately and then connected by means of screw connection, snap-fit, welding, riveting, bonding, etc. The separate structure design makes the processing and preparation of the first guide portion 3200 and the internal tooth portion 3100 easier, which is more conducive to ensuring the processing accuracy of the first guide portion 3200 and the internal tooth portion 3100. At the same time, after the first guide portion 3200 or the internal tooth portion 3100 is worn, the first guide portion 3200 or the internal tooth portion 3100 can be easily replaced separately, which can also reduce the maintenance and replacement cost of the delivery device 100 provided in the embodiments of this application.

[0041] like Figure 3 As shown, the first guide frame 3000 may also include a connecting plate 3400. The connecting plate 3400 can serve as an installation structure for the first guide frame 3000 to achieve connection and fixation of the first guide frame 3000 in a specific application environment. The specific connection and fixation methods may include bolt connection, snap-fit, welding, etc., which are not limited here.

[0042] In some implementations, such as Figure 1 As shown, the delivery device 100 may also include a second guide frame 4000.

[0043] The second guide frame 4000 and the first guide frame 3000 are arranged opposite each other along the first direction X. The second guide frame 4000 includes a second guide portion 4100. In the second guide portion 4100 and the base 2100, one is provided with a second guide member, and the other is provided with a second guide mating member 4110. The second guide member is slidably connected to the second guide mating member 4110 and can be displaced along the second guide mating member 4110, thereby limiting the movement trajectory of the device body 1000 and the flexible medical device 200 relative to the second guide frame 4000.

[0044] By setting a second guide frame 4000, the base 2000 and the device body 1000 can obtain double-sided guidance and double-sided support between the first guide frame 3000 and the second guide frame 4000, which can reduce the risk of the base 2000 and the device body 1000 shaking or disengaging when rotating relative to the first guide frame 3000 and the second guide frame 4000, and can greatly improve the stability of the flexible medical device 200 during movement.

[0045] In the implementation shown in the diagram, such as Figure 1As shown, the base 2100 may be provided with a second guide member (not shown in the figure), and the second guide portion 4100 of the second guide frame 4000 may be provided with a second guide mating member 4110. It should be understood that in some other implementations, the second guide member may be provided in the second guide portion 4100, and the second guide mating member 4110 may be provided in the base 2100, which is also feasible.

[0046] The specific structure of the second guide member and the second guide mating member 4110 can be referred to the aforementioned description of the first guide member 2110 and the first guide mating member 3210, and will not be repeated here.

[0047] Please continue to refer to this. Figure 1 The delivery device 100 may also include a connecting beam 5000, which can connect the first guide frame 3000 and the second guide frame 4000, thereby improving the overall strength and structural stability of the delivery device 100.

[0048] The connecting beam 5000 can be rod-shaped, plate-shaped, frame-shaped, or other structures that can achieve the function of connection and support, and is not limited here.

[0049] In some implementations, at least one of the first guide frame 3000 and the second guide frame 4000 is a split structure, including two arc-shaped frames 3300.

[0050] Taking the first guide frame 3000 as an example, the first guide frame 3000, including two arc-shaped frames 3300, has an open state and a closed state. In the open state, at least partially, the two arc-shaped frames 3300 are separated. In the closed state, as... Figure 3 As shown, the two arc-shaped frames 3300 can be connected to form a ring-shaped first guide frame 3000.

[0051] Using this design, when the flexible medical device 200 needs to be installed or removed, the two arc-shaped frames 3300 can be switched to the open state to facilitate the installation or removal of the flexible medical device 200 from the device body 1000. After the flexible medical device 200 is installed, the two arc-shaped frames 3300 can be switched to the closed state. The annular first guide frame 3000 formed by the combination of the two arc-shaped frames 3300 can effectively increase the adjustable rotation angle of the device body 1000 and the flexible medical device 200, allowing the flexible medical device 200 to rotate and adjust within a maximum spatial range of 360°, thus providing a higher degree of freedom in rotation adjustment.

[0052] The two arc-shaped frames 3300 can be connected via snap-fit, hinge, pin, magnetic connector, screw, elastic claw, or other detachable connection structure; no limitation is made here. In the implementation shown in the illustration, such as... Figure 3As shown, one end of the two arc-shaped frames 3300 can be rotatably connected by a pin, while the other end can be engaged by a latch 3310. This design ensures that when switched to the open state, the two arc-shaped frames 3300 remain connected by the pin, preventing complete separation. This is advantageous for subsequently switching the two arc-shaped frames 3300 to the closed state. Simultaneously, the latch 3310 facilitates locking or unlocking the two arc-shaped frames 3300.

[0053] The specific structural form of the buckle 3310 is not limited here. In practical applications, those skilled in the art can choose according to specific needs, as long as it can meet the relevant requirements.

[0054] It should be understood that when the second guide frame 4000 also adopts two separate arc-shaped frames 3300, the two arc-shaped frames 3300 can also form a ring-shaped second guide frame 4000 when closed. That is to say, both the first guide frame 3000 and the second guide frame 4000 can adopt a ring structure when closed.

[0055] In the specific design, the central axis of the aforementioned annular structure and the central axis of the flexible medical device 200 mounted on the device body 1000 can coincide. This allows the flexible medical device 200 to rotate around its own central axis by rotating the base 2000. Alternatively, the central axis of the annular structure can be set to not coincide with the central axis of the flexible medical device 200 mounted on the device body 1000. In this case, the flexible medical device 200 can also rotate around the central axis of the annular structure by rotating the base 2000.

[0056] It should be understood that in some other implementations of the embodiments of this application, the delivery device 100 may not include the second guide frame 4000. In this case, the structure of the delivery device 100 can be relatively simple and the cost can be relatively low.

[0057] In some implementations, such as Figure 2 As shown, the device body 1000 may include a first clamping member 1100 and a second clamping member 1200 disposed opposite to each other along the second direction Y. The second direction Y and the first direction X may form an angle, such as 90 degrees.

[0058] In specific assembly, at least one of the first clamping component 1100 and the second clamping component 1200 can be slidably connected to the base 2100 along the second direction Y. The first clamping component 1100 and the second clamping component 1200 are configured to move closer to or further away from each other along the second direction Y. When the first clamping component 1100 and the second clamping component 1200 are close to each other, the flexible medical device 200 can be clamped to facilitate delivery of the flexible medical device 200. When the first clamping component 1100 and the second clamping component 1200 are far apart, the distance between the first clamping component 1100 and the second clamping component 1200 can be increased, and the first clamping component 1100 and the second clamping component 1200 no longer clamp the flexible medical device 200, enabling convenient insertion or removal of the flexible medical device 200.

[0059] Furthermore, through the sliding connection between the first clamping component 1100 and the second clamping component 1200 and the seat 2100, the distance between the first clamping component 1100 and the second clamping component 1200 along the second direction Y can be easily adjusted, so that the delivery device 100 provided in this application embodiment can be well adapted to the delivery of flexible medical devices 200 with different outer diameters or different types, and has good versatility.

[0060] Specifically, such as Figure 5 As shown, the base 2100 may be equipped with a slide rail 2120. At least one of the first clamping component 1100 and the second clamping component 1200 may cooperate with the slide rail 2120 through a slider, slide groove, guide rail pair, linear bearing or other sliding guide structure to achieve stable sliding along the second direction Y.

[0061] In practical applications, only one of the first clamping component 1100 and the second clamping component 1200 may be able to slide relative to the base 2100, while the other is fixed relative to the base 2100. Alternatively, both the first clamping component 1100 and the second clamping component 1200 may be able to slide relative to the base 2100, which is not limited here.

[0062] In some implementations, such as Figure 2 As shown, the first clamping component 1100 includes a first actuator 1110 and a first drive mechanism 1120.

[0063] Combination Figures 7-10The first actuator 1110 may be provided with at least one drive roller 1111. The drive roller 1111 is configured to contact the outer wall surface of the flexible medical device 200 and is also configured to drive the flexible medical device 200 to move. The first drive mechanism 1120 may include a second drive component 1121. The second drive component 1121 may be a power structure capable of outputting rotational motion, such as a motor, rotary cylinder, or hydraulic motor. The second drive component 1121 is connected to the drive roller 1111 for driving the drive roller 1111 to rotate.

[0064] In this configuration, the first actuator 1110 and the flexible medical device 200 are driven by a drive roller 1111. Specifically, the rolling friction between the drive roller 1111 and the flexible medical device 200 generates a driving force, thereby driving the flexible medical device 200 forward or backward. Compared to a simple push-pull drive structure, the driving solution using the drive roller 1111 in this embodiment provides better drive continuity and allows for convenient control of the delivery speed of the flexible medical device 200 by controlling the rotational speed of the second drive component 1121, thus exhibiting relatively better adjustability.

[0065] like Figure 8 As shown, the outer wall surface of the drive roller 1111 can also be provided with a V-groove, which can be used to increase the positioning and driving reliability of the flexible medical device 200.

[0066] The number of drive rollers 1111 can be one or more. In the implementation shown in the diagram, as... Figure 7 As shown, the first actuator 1110 can be equipped with two drive rollers 1111. Both drive rollers 1111 can jointly contact the outer wall surface of the flexible medical device 200 to increase the contact area and the driving force transmission capability. In some implementations, the outer peripheral surface of the drive rollers 1111 can be provided with a flexible coating layer, texture, grooves, or anti-slip layer to increase the friction between them and the flexible medical device 200, reducing the possibility of slippage between the drive rollers 1111 and the flexible medical device 200, and lowering the risk of pressure damage to the outer wall of the flexible medical device 200.

[0067] like Figure 7 As shown, when there are multiple drive rollers 1111, each drive roller 1111 can be arranged at intervals along the axial and / or circumferential direction of the flexible medical device 200 to form multi-point support and drive. A first transmission roller 1112 can also be provided between two adjacent drive rollers 1111, and the first transmission roller 1112 can realize indirect transmission between two adjacent drive rollers 1111.

[0068] Here, the embodiments of this application do not limit the specific transmission method between the second driving component 1121 and the driving roller 1111. In practical applications, those skilled in the art can adjust it according to specific needs, as long as it can meet the requirements of use. For example, the transmission method between the second driving component 1121 and the driving roller 1111 can be gear transmission, belt transmission, sprocket transmission, friction wheel transmission, etc.

[0069] In a specific solution, such as Figure 8 As shown, the drive roller 1111 may also be provided with a first drive member 1111A. Specifically, the drive roller 1111 can be connected to the second drive component 1121 through the first drive member 1111A. Here, the embodiments of this application do not limit the specific structural form of the first drive member 1111A. In practical applications, those skilled in the art can adjust it according to specific needs, as long as it can meet the requirements of use. For example, the first drive member 1111A can be a key shaft, and its outer wall surface can be provided with transmission features such as splines for direct or indirect transmission connection with the second drive component 1121.

[0070] Furthermore, such as Figure 7 and Figure 8 As shown, the first actuator 1110 includes a first actuator frame 1113, and the drive roller 1111 can be rotatably connected to the first actuator frame 1113. Furthermore, the first actuator frame 1113 is provided with two first baffles 1113B arranged opposite each other along the first direction X. Each of the two first baffles 1113B is provided with a first clearance groove 1113B1. The first clearance groove 1113B1 is used to avoid the insertion of the flexible medical device 200. Simultaneously, the inner wall of the first clearance groove 1113B1 can also limit the flexible medical device 200 to a certain extent, restricting the posture of the flexible medical device 200 as it passes through the first actuator frame 1113, which helps ensure reliable transmission between the drive roller 1111 and the flexible medical device 200.

[0071] Combination Figure 9 and Figure 10 The first drive mechanism 1120 includes a first drive frame 1122, and a second drive component 1121 is mounted on the first drive frame 1122. A first execution frame 1113 is snap-fitted onto the first drive frame 1122 along a third direction Z. Either the first direction X or the second direction Y can form an angle with the third direction Z, such as 90 degrees.

[0072] With a snap-fit ​​assembly structure, the first actuator 1110 can be quickly assembled and disassembled relative to the first drive mechanism 1120. When the drive roller 1111 needs cleaning, disinfection, replacement, or maintenance, the first actuator frame 1113 can be removed from the first drive frame 1122 along the third direction Z, facilitating the handling of components that are in direct contact with the flexible medical device 200.

[0073] In the specific design, the first execution frame 1113 may be provided with a first snap-fit ​​part 1113A, and the first drive frame 1122 may be provided with a first snap-fit ​​part 1126. The first snap-fit ​​part 1126 and the first snap-fit ​​part 1113A snap-fit ​​each other to realize the snap-fit ​​assembly between the first execution mechanism 1110 and the first drive mechanism 1120.

[0074] Here, the specific structure of the first snap-fit ​​portion 1126 and the first snap-fit ​​mating portion 1113A is not limited in this application embodiment. The first snap-fit ​​portion 1126 can be a hook, elastic claw, or other structure, and the first snap-fit ​​mating portion 1113A can be a slot, protrusion, hole, or recess that is adapted to the first snap-fit ​​portion 1126.

[0075] Of course, the connection method between the first execution frame 1113 and the first drive frame 1122 is not limited to the aforementioned snap-fit ​​connection. They can also be connected using other detachable connection methods such as screw connection or magnetic connection, which are not limited here. Furthermore, the first execution frame 1113 and the first drive frame 1122 do not necessarily have to be assembled along the third direction Z. They can also be assembled along the second direction Y or the first direction X, as long as the relevant components on both can have a corresponding connection relationship.

[0076] In some implementations, such as Figure 11 and Figure 12 The second clamping member 1200 may include a second actuator 1210, which is provided with at least one driven roller 1211. The driven roller 1211 is configured to contact the outer wall surface of the flexible medical device 200 and is configured to rotate under the drive of the flexible medical device 200.

[0077] With this approach, when the drive roller 1111 of the first clamping component 1100 drives the flexible medical device 200 to move, the driven roller 1211 of the second clamping component 1200 can provide support and clamping on the opposite side. At the same time, the driven roller 1211 can rotate with the movement of the flexible medical device 200, reducing the sliding wear of the flexible medical device 200 in the clamping area.

[0078] Furthermore, in this embodiment, the second actuator 1210 is only provided with a driven roller 1211, and not with a drive roller 1111 as shown in the first actuator 1110, so that the active driving force is concentrated in the first actuator 1110. In this way, when the device is running, only the drive of the first actuator 1110 (i.e., the second drive component 1121) needs to be controlled, making the control operation simpler, and there is no need to worry about the problem of asynchronous drive between the first actuator 1110 and the second actuator (assuming that the second actuator also has an active driving force).

[0079] like Figure 11 and Figure 12 As shown, the outer wall surface of the driven roller 1211 can also be provided with a V-groove, which can be used to increase the reliability of positioning and driving of the flexible medical device 200.

[0080] The number of driven rollers 1211 can be one or more, and is not limited here. In the implementation shown in the diagram, as... Figure 11 and Figure 12 As shown, the second actuator 1210 can be equipped with two driven rollers 1211. Both driven rollers 1211 can jointly contact the outer wall surface of the flexible medical device 200 to increase the contact area and transmission stability. In some implementations, the outer peripheral surface of the driven rollers 1211 can be provided with a flexible coating layer, texture, grooves, or anti-slip layer to increase the friction between them and the flexible medical device 200, reducing the possibility of slippage between the driven rollers 1211 and the flexible medical device 200, and lowering the risk of pressure damage to the outer wall of the flexible medical device 200.

[0081] like Figure 11 As shown, when there are multiple driven rollers 1211, each driven roller 1211 can be arranged at intervals along the axial and / or circumferential direction of the flexible medical device 200 to form multi-point support. A second transmission roller 1212 can also be provided between two adjacent driven rollers 1211, and the second transmission roller 1212 can realize indirect transmission between two adjacent driven rollers 1211.

[0082] Furthermore, the second clamping component 1200 also includes a second drive mechanism 1220, and the second actuator 1210 is mounted on the second drive mechanism 1220.

[0083] Specifically, such as Figure 11 and Figure 12The second actuator 1210 includes a second actuator frame 1213, with a driven roller 1211 rotatably connected to the second actuator frame 1213. The second actuator frame 1213 is provided with two second baffles 1213A arranged opposite each other along the first direction X. Each second baffle 1213A is provided with a second clearance groove 1213A1. The second clearance groove 1213A1 is used to avoid the insertion of the flexible medical device 200. Simultaneously, the inner wall of the second clearance groove 1213A1 can also limit the flexible medical device 200 to a certain extent, restricting the posture of the flexible medical device 200 as it passes through the second actuator frame 1213, which helps ensure reliable transmission between the driven roller 1211 and the flexible medical device 200.

[0084] Combination Figure 13 and Figure 14 The second drive mechanism 1220 also includes a second drive frame 1222. The second execution frame 1213 is snap-fitted onto the second drive frame 1222 along a third direction Z.

[0085] With the snap-fit ​​assembly structure, the second actuator 1210 can be quickly assembled and disassembled relative to the second drive mechanism 1220. When the driven roller 1211 needs cleaning, disinfection, replacement, or maintenance, the second actuator frame 1213 can be removed from the second drive frame 1222 along the third direction Z, which facilitates the handling of the parts that are in direct contact with the flexible medical device 200.

[0086] In the specific design, the second execution frame 1213 may be provided with a second snap-fit ​​part, and the second drive frame 1222 may be provided with a second snap-fit ​​part 1225. The second snap-fit ​​part 1225 and the second snap-fit ​​part snap-fit ​​each other to realize the snap-fit ​​assembly between the second execution mechanism 1210 and the second drive mechanism 1220.

[0087] Here, the embodiments of this application do not limit the specific structure of the second snap-fit ​​portion 1225 and the second snap-fit ​​mating portion. The second snap-fit ​​portion 1225 can be a hook, an elastic claw, or other structure, and the second snap-fit ​​mating portion can be a slot, protrusion, hole, or recess that is adapted to the second snap-fit ​​portion 1225.

[0088] Of course, the connection method between the second execution frame 1213 and the second drive frame 1222 is not limited to the aforementioned snap-fit ​​connection. They can also be connected using other detachable connection methods such as screw connection or magnetic connection, which are not limited here. Furthermore, the second execution frame 1213 and the second drive frame 1222 do not necessarily have to be assembled along a third direction Z. They can also be assembled along a second direction Y or a first direction X, as long as the relevant components on both can have a corresponding connection relationship.

[0089] In some implementations, such as Figures 13-16 As shown, the second drive mechanism 1220 may also include a third drive component 1221.

[0090] Combination Figure 5 and Figure 6 The base 2000 may further include a threaded rod 2300, which may extend along the second direction Y and is rotatably connected to the seat 2100. A third drive component 1221 may be drivenly connected to the threaded rod 2300 to drive the threaded rod 2300 to rotate. At least one of the first clamping component 1100 and the second clamping component 1200 is threadedly connected to the threaded rod 2300.

[0091] With this configuration, at least one of the first clamping component 1100 and the second clamping component 1200 is threadedly engaged with the threaded rod 2300. When the third driving component 1221 is activated, at least one of the first clamping component 1100 and the second clamping component 1200 can slide linearly along the second direction Y, thereby adjusting the distance between the first clamping component 1100 and the second clamping component 1200. This allows for both clamping and releasing of the flexible medical device 200, and also enables adjustment of the clamping force.

[0092] The third drive component 1221 can be a power structure capable of outputting rotational motion, such as a motor, rotary cylinder, or hydraulic motor. The third drive component 1221 and the threaded rod 2300 can be connected via gear transmission, pulley transmission, sprocket transmission, direct coupling, or other transmission methods. In short, any method that allows the third drive component to drive the threaded rod 2300 to rotate is acceptable. In a specific embodiment, such as... Figure 14 As shown, the second drive mechanism 1220 may further include a second transmission member 1226, which is rotatably connected to the second drive frame 1222. The second transmission member 1226 may also be sleeved on the threaded rod 2300, so that the second transmission member 1226 and the threaded rod 2300 can rotate synchronously. The third drive component 1221 may be connected to the second transmission member 1226 to drive the threaded rod 2300 to rotate through the second transmission member 1226.

[0093] In some implementation methods, combined Figure 9 , Figure 10 , Figure 15 and Figure 16The first drive mechanism 1120 may further include a transmission nut 1123 and a pressure sensor 1124. The first drive frame 1122 is provided with a receiving groove 1122A, in which both the pressure sensor 1124 and the transmission nut 1123 are disposed. The transmission nut 1123 is threadedly connected to the threaded rod 2300, and the transmission nut 1123 is configured to press against the pressure sensor 1124.

[0094] With this configuration, when the threaded rod 2300 drives the first clamping component 1100 and / or the second clamping component 1200 to approach each other and clamp the flexible medical device 200, the transmission nut 1123 can transmit the force in the clamping direction (i.e., the second direction Y) to the pressure sensor 1124. The pressure sensor 1124 can detect the specific value of the clamping force so as to determine the degree of clamping of the flexible medical device 200 by the delivery device 100 in this embodiment of the application. This can largely avoid the situation of excessive or insufficient clamping force, so that the delivery device 100 can avoid damage to the flexible medical device 200 due to excessive clamping force, and also avoid slippage and loosening of the flexible medical device 200 due to insufficient clamping force.

[0095] The pressure sensor 1124 described above can be a thin-film pressure sensor, a strain gauge pressure sensor, a piezoelectric sensor, a piezoresistive sensor, a force-sensitive resistor, or other sensing elements capable of detecting pressure or force. The pressure sensor 1124 can be connected to a controller (not shown in the figure) for signal connection. The controller can control the opening and closing, rotation direction, output torque, etc. of the third drive component 1221 based on the detection result of the pressure sensor 1124, so as to realize the adjustment and control of the clamping force.

[0096] In addition, in specific implementation, a display screen or other display component can be provided for the delivery device 100, and the display component can be connected to the pressure sensor 1124 mentioned above. The display component can display the specific value of the clamping force in real time, so that medical staff can intuitively know the magnitude of the clamping force.

[0097] Furthermore, such as Figure 9 and Figure 10 As shown, the first drive mechanism 1120 may also include a cover plate 1125.

[0098] The cover plate 1125 can be installed on the first drive frame 1122, and the cover plate 1125 can block the opening of the receiving groove 1122A. In this way, the cover plate 1125 can limit and protect the pressure sensor 1124 and the transmission nut 1123 in the receiving groove 1122A, which can reduce the risk that the transmission nut 1123 and the pressure sensor 1124 will fall out of the receiving groove 1122A during assembly or use, and can also reduce the possibility of dust, liquid or other foreign objects entering the receiving groove 1122A.

[0099] The cover plate 1125 can be installed on the first drive frame 1122 by means of screws, clips, rivets, adhesives, welding, or plugging. The cover plate 1125 can be a metal plate, a plastic plate, a composite material plate, or other plate-like structures with a certain strength.

[0100] It should be understood that, in addition to the cover plate 1125 mentioned above, the opening of the receiving groove 1122A can also be blocked or limited by setting a limiting block, retaining ring, pressure plate, sealant, or an integrally formed shielding structure. In short, as long as the opening can be effectively blocked and the pressure sensor 1124 and the transmission nut 1123 can be protected and limited.

[0101] Similar to the first drive frame 1122, the second drive frame 1222 can also be equipped with a transmission nut 1123 to achieve a threaded connection between the second drive frame 1222 and the threaded rod 2300. Alternatively, as... Figure 14 As shown, the second drive frame 1222 can also be provided with a threaded hole 1222A, which can be threadedly connected to the threaded rod 2300, which is also feasible.

[0102] In some implementations, such as Figure 13 and Figure 14 As shown, the second drive mechanism 1220 may also include a rotating part 1223 and a rotation detection component 1224.

[0103] The rotating part 1223 is rotatably connected to the second drive frame 1222, and the rotating part 1223 is connected to the driven roller 1211. The driven roller 1211 can drive the rotating part 1223 to rotate. The rotation detection component 1224 is configured to detect the rotation angle of the rotating part 1223.

[0104] Using the above scheme, when the flexible medical device 200 drives the driven roller 1211 to rotate, the rotation of the driven roller 1211 can be transmitted to the rotating part 1223, causing the rotating part 1223 to rotate. After the rotation detection component 1224 detects the rotation angle of the rotating part 1223, it can calculate the rotation angle of the driven roller 1211, thereby obtaining relevant parameters such as the actual displacement and actual delivery speed of the flexible medical device 200, so as to accurately determine the position of the flexible medical device 200 during actual operation.

[0105] More importantly, in this embodiment, the displacement of the flexible medical device 200 is obtained by detecting the rotation of the driven roller 1211. As mentioned above, the driven roller 1211 rotates under the drive of the flexible medical device 200. Therefore, it is not easy for relative slippage to occur between the flexible medical device 200 and the driven roller 1211, and the rotation detection component 1224 will be more accurate in detecting the displacement of the flexible medical device 200.

[0106] Here, the embodiments of this application do not limit the transmission method between the rotating part 1223 and the driven roller 1211. In practical applications, those skilled in the art can choose according to specific needs, as long as the requirements of use are met. For example, the rotating part 1223 and the driven roller 1211 can be transmitted through any method such as gear transmission, belt transmission, sprocket transmission, friction wheel transmission, etc. For another example, see... Figure 12 and Figure 14 The driven roller 1211 may have a second driving member 1211A. The second driving member 1211A and the driven roller 1211 can rotate synchronously. The second driving member 1211A can be inserted into the rotating part 1223. The second driving member 1211A and the rotating part 1223 can be connected and transmitted through a spline connection or other means.

[0107] In some implementations, such as Figure 14 As shown, the rotation detection component 1224 may include an encoder 1224A and a magnet 1224B, wherein the magnet 1224B may be a permanent magnet or the like.

[0108] In the encoder 1224A and magnet 1224B, one is connected to the second drive frame 1222, and the other is connected to the rotating part 1223. Thus, when the rotating part 1223 rotates relative to the second drive frame 1222, a relative rotation occurs between the encoder 1224A and magnet 1224B. The encoder 1224A can detect the rotation angle of the rotating part 1223 based on changes in the magnetic field. In this implementation, a magnetic encoding detection structure is used between the encoder 1224A and magnet 1224B, which reduces contact wear and provides better detection stability and service life.

[0109] In the implementation shown in the diagram, such as Figure 14 As shown, magnet 1224B can be connected to rotating part 1223, and encoder 1224A can be connected to second drive frame 1222. In some other implementations, encoder 1224A can be connected to rotating part 1223, and magnet 1224B can be connected to second drive frame 1222.

[0110] It should be understood that, in addition to the above-mentioned implementation including encoder 1224A and magnet 1224B, rotation detection component 1224 can also be other detection components capable of detecting rotation angle, such as photoelectric sensor, potentiometer, and angle sensor, which are not limited here.

[0111] Regarding the delivery device 100 involved in the above-mentioned implementation methods, the following embodiments of this application will briefly describe its usage process. In the description, it is taken as an example that there are both a first guide frame 3000 and a second guide frame 4000. Furthermore, both the first guide frame 3000 and the second guide frame 4000 include two arc-shaped frames 3300.

[0112] In practical use, the first guide frame 3000 and the second guide frame 4000 can be switched to the open state first, and the flexible medical device 200 can be placed between the first clamping component 1100 and the second clamping component 1200. Then, the two arc-shaped frames 3300 can be switched to the closed state. Then, the third drive component 1221 is activated, which drives the threaded rod 2300 to rotate, causing the first clamping component 1100 and the second clamping component 1200 to move closer to each other along the second direction Y until the drive roller 1111 and the driven roller 1211 respectively contact the outer wall surface of the flexible medical device 200. Through feedback adjustment by the pressure sensor 1124, an appropriate clamping force is formed between the drive roller 1111 and the driven roller 1211.

[0113] After clamping is completed, the second drive component 1121 can drive the drive roller 1111 to rotate. The drive roller 1111 drives the flexible medical device 200 to move forward or backward through contact with the outer wall surface of the flexible medical device 200. During the displacement of the flexible medical device 200, the driven roller 1211 rotates with the flexible medical device 200, and the actual delivery position of the flexible medical device 200 is detected by the rotating part 1223 and the rotation detection component 1224.

[0114] Furthermore, the first driving component 2200 can drive the first driving gear 2210 to rotate as needed. The first driving gear 2210, through meshing with the internal gear 3110, can drive the base 2000, the device body 1000, and the flexible medical device 200 to rotate relative to the first guide frame 3000, thereby adjusting the rotation angle of the flexible medical device 200 during use.

[0115] As can be seen from the above, the delivery device 100 provided in this application embodiment can not only realize the forward and backward movement of the flexible medical device 200 through the drive roller 1111, but also realize the rotation adjustment of the flexible medical device 200 through the cooperation of the first guide frame 3000 and the base 2000, thereby increasing the adjustability of the flexible medical device 200. Furthermore, through the setting of the pressure sensor 1124 and the rotation detection component 1224, the clamping force and the displacement position of the flexible medical device 200 can be detected, which can better meet the usage needs of the flexible medical device 200 in interventional examinations, interventional treatments, or other medical operations.

[0116] The above are merely preferred embodiments of this application. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A delivery device for a flexible medical device, characterized in that, include: The device body (1000) is on which the flexible medical device (200) is mounted. The base (2000) includes a seat body (2100) and a first drive component (2200). The device body (1000) and the first drive component (2200) are both mounted on the seat body (2100). The first drive component (2200) is equipped with a first drive gear (2210). The first guide frame (3000) is fixedly installed and includes an internal tooth portion (3100). At least a partial area of ​​the internal tooth portion (3100) in the circumferential direction is provided with internal teeth (3110). The first drive gear (2210) meshes with the internal teeth (3110). The first drive component (2200) can drive the base (2000) and the device body (1000) to rotate relative to the first guide frame (3000).

2. The delivery device for the flexible medical device according to claim 1, characterized in that, The first guide frame (3000) further includes a first guide section (3200); In the first guide part (3200) and the seat (2100), one is provided with a first guide member (2110) and the other is provided with a first guide mating member (3210). The first guide member (2110) is slidably connected to the first guide mating member (3210).

3. The delivery device for the flexible medical device according to claim 2, characterized in that, The delivery device (100) further includes a second guide frame (4000), the second guide frame (4000) and the first guide frame (3000) being arranged opposite to each other along a first direction; The second guide frame (4000) includes a second guide portion (4100); one of the second guide portion (4100) and the seat (2100) is provided with a second guide member, and the other is provided with a second guide mating member (4110), and the second guide member is slidably connected to the second guide mating member (4110).

4. The delivery device for the flexible medical device according to claim 3, characterized in that, At least one of the first guide frame (3000) and the second guide frame (4000) is a split structure, including two arc-shaped frames (3300). The two arc-shaped frames (3300) have an open state and a closed state; in the open state, at least a portion of the two arc-shaped frames (3300) are separated; in the closed state, the two arc-shaped frames (3300) can be brought together to form a ring structure.

5. The delivery device for the flexible medical device according to any one of claims 1-4, characterized in that, The device body (1000) includes a first clamping member (1100) and a second clamping member (1200) disposed opposite each other along a second direction. At least one of the first clamping member (1100) and the second clamping member (1200) is slidably connected to the base (2100) along the second direction. The first clamping member (1100) and the second clamping member (1200) are configured to be able to move closer to each other or further away from each other along the second direction.

6. The delivery device for the flexible medical device according to claim 5, characterized in that, The first clamping component (1100) includes: A first actuator (1110) is provided with at least one drive roller (1111), the drive roller (1111) is configured to contact the outer wall surface of the flexible medical device (200), and the drive roller (1111) is configured to drive the flexible medical device (200) to move. A first drive mechanism (1120) is installed on the first drive mechanism (1120). The first drive mechanism (1120) includes a second drive component (1121). The second drive component (1121) and the drive roller (1111) are connected in a transmission connection for driving the drive roller (1111) to rotate.

7. The delivery device for the flexible medical device according to claim 6, characterized in that, The second clamping component (1200) includes a second actuator (1210), which is provided with at least one driven roller (1211). The driven roller (1211) is configured to contact the outer wall surface of the flexible medical device (200) and is configured to rotate under the drive of the flexible medical device (200).

8. The delivery device for the flexible medical device according to claim 7, characterized in that, The second clamping component (1200) further includes a second drive mechanism (1220), the second actuator (1210) is mounted on the second drive mechanism (1220), and the second drive mechanism (1220) includes a third drive component (1221). The base (2000) further includes a threaded rod (2300) extending along the second direction and rotatably connected to the seat (2100). The third drive component (1221) is drivenly connected to the threaded rod (2300) to drive the threaded rod (2300) to rotate. At least one of the first clamping component (1100) and the second clamping component (1200) is threadedly connected to the threaded rod (2300).

9. The delivery device for the flexible medical device according to claim 8, characterized in that, The first drive mechanism (1120) includes a first drive frame (1122), a transmission nut (1123), and a pressure sensor (1124). The first drive frame (1122) is provided with a receiving groove (1122A). The pressure sensor (1124) and the transmission nut (1123) are both disposed in the receiving groove (1122A). The transmission nut (1123) is threadedly connected to the threaded rod (2300), and the transmission nut (1123) is configured to press the pressure sensor (1124).

10. The delivery device for the flexible medical device according to claim 9, characterized in that, The second drive mechanism (1220) further includes a second drive frame (1222), the third drive component (1221) is mounted on the second drive frame (1222), the second drive mechanism (1220) further includes a rotating part (1223) and a rotation detection component (1224), the rotating part (1223) is rotatably connected to the second drive frame (1222), the rotating part (1223) and the driven roller (1211) are connected in a transmission, the driven roller (1211) can drive the rotating part (1223) to rotate, and the rotation detection component (1224) is configured to detect the rotation angle of the rotating part (1223).

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