Conveying actuator

Abstract

The utility model relates to a conveying actuator. An opening and closing driving mechanism comprises a connecting base, an opening and closing swing arm and a driving swing arm. A sliding groove is formed in the connecting seat; the opening and closing swing arm is hinged with the connecting seat to form a fixed end; the far ends of the opening and closing swing arms are hinged to the corresponding clamp arms. The far end of the driving swing arm is hinged to the near end of the opening and closing swing arm, and the near end of the driving swing arm is slidably connected with the sliding groove to form a movable end. A control stay wire is wound between the fixed end and the movable end, after the control stay wire is wound, the far end of the control stay wire extends in the direction close to the forceps arms and is connected with the opening and closing swing arm to form a fixed connecting end, and the near end of the control stay wire extends in the direction away from the forceps arms, so that the pull force borne by the control stay wire is changed into the fixed connecting end after being turned back and steered twice through the fixed end and the movable end. And the driving swing arm can be controlled to be unfolded by controlling the stay wire. The pulling force applied to the control stay wire is converted into the force for driving the movable end to slide towards the direction close to the fixed end along the sliding groove, so that the pulling process of the control stay wire is more labor-saving, smoother and more stable.

Description

Technical Field

[0001] The utility model relates to the technical field of medical devices, in particular to a delivery actuator. Background Art

[0002] Atrial fibrillation is one of the most common arrhythmias in clinical practice. The consequences of stroke caused by atrial fibrillation are very serious, with a mortality rate and disability rate of up to 70%. For patients with valvular atrial fibrillation, 57% of atrial thrombi originate from the left atrial appendage, and for patients with non-valvular atrial fibrillation, 90% of left atrial thrombi originate from the left atrial appendage. Even after sinus rhythm is restored, the left atrial appendage contraction is suppressed, and thrombi may still form again.

[0003] There are currently three main methods for preventing ischemic stroke caused by atrial fibrillation in clinical practice. One method is to take anticoagulants, such as warfarin, but the use of warfarin has a certain risk of bleeding and requires frequent monitoring. It has many contraindications and is difficult to use clinically. In addition, warfarin may cause osteoporosis and soft tissue necrosis. The second method is to directly remove or ligate the atrial appendage during cardiac surgery. The main disadvantage of this method is that the complete closure rate of the left atrial appendage is low. Previous studies have shown that the success rate of complete removal of the left atrial appendage is as high as about 80%. The third method is to close the left atrial appendage with an atrial appendage clamp-type device and perform percutaneous intracardiac left atrial appendage occlusion. However, the delivery device of such products is complex to operate and has high risks, and its safety and effectiveness need to be verified.

[0004] The atrial appendage clip delivered by the existing atrial appendage clip delivery device generally includes two parallel clamp arms and two closing springs, which are located at both ends of the atrial appendage clip. The two closing springs can keep the two clamp arms clamped. The front end of the atrial appendage clip delivery device is usually provided with a slightly square outer frame to facilitate binding the atrial appendage clip therein. The outer frame of the delivery device uses a traction rope to pull the clamp arms of the atrial appendage clip so that the traction rope can be tightened to open the atrial appendage clip, thereby driving the atrial appendage clip to the lesion to perform the left atrial appendage extracardiac closure operation.

[0005] In the above-mentioned atrial appendage clamp delivery device, how to achieve the parallel closing and opening of the two clamping arms of the atrial appendage clamp with a simple structure is a problem that needs to be solved. Utility Model Content

[0006] The purpose of the utility model is to provide a conveying actuator to solve the above-mentioned problems.

[0007] In order to achieve the above-mentioned purpose of the utility model, the following technical solutions are adopted:

[0008] The present application provides a conveying actuator, including a clamp arm, an opening and closing drive mechanism, and a control pull wire;

[0009] The opening and closing driving mechanism is arranged between the two clamp arms and is hinged to the corresponding clamp arms;

[0010] The opening and closing driving mechanism comprises a connecting seat, an opening and closing swing arm and a driving swing arm;

[0011] The connecting seat is provided with a slide groove, and the direction of the slide groove is parallel to the clamp arm;

[0012] The opening and closing swing arm is hinged with the connecting seat to form a fixed end, and the opening and closing swing arm can be symmetrically unfolded or folded around the center of the connecting seat;

[0013] The distal end of the opening and closing swing arm is hinged to the corresponding clamp arm;

[0014] The distal end of the driving swing arm is hinged to the proximal end of the opening and closing swing arm, and the proximal end of the driving swing arm is slidably connected to the slide groove to form a moving end, so that the driving swing arm can be symmetrically unfolded or folded, driving the opening and closing swing arm to be symmetrically unfolded or folded, so as to cause the two clamp arms to open or close in parallel and symmetrically;

[0015] The control wire is wound between the fixed end and the movable end. After the control wire is wound, the distal end of the control wire extends toward the direction close to the clamp arm and is connected to the opening and closing swing arm to form a fixed connection end, and the proximal end of the control wire extends toward the direction away from the clamp arm, so that the tension applied to the control wire is transferred to the movable end after a secondary return and turn through the fixed end and the movable end, so that the driving swing arm can be controlled to unfold through the control wire.

[0016] Furthermore, the distal end of the control pull wire is fixedly connected to the opening and closing swing arm;

[0017] The control pull wire passes through the fixed end, is wound around the movable end, and is wound out from the movable end, and is then wound around the fixed end, and is wound out from the fixed end, and passes through the movable end, so that the proximal end of the control pull wire extends in a direction away from the clamp arm;

[0018] Among them, since the distal end of the control pull wire is fixed, the control pull wire is pulled in the direction away from the clamp arm, and the tension applied to the control pull wire is turned back and forth for the first time at the fixed end, and then turned back and forth for the second time at the movable end, and then acts on the movable end, so that the movement direction of the control pull wire that bypasses the movable end and is distributed on both sides of the movable end is consistent with the sliding direction of the movable end in the slide groove when the driving swing arm is unfolded. The control pull wire can drive the movable end to slide along the slide groove in the direction close to the fixed end to unfold the driving swing arm.

[0019] Furthermore, the opening and closing swing arm includes a first arm body, a second arm body, a third arm body and a fourth arm body;

[0020] The first arm body and the second arm body are hingedly connected via a first connecting shaft to form an X-shaped structure, the first connecting shaft is hingedly connected to the connecting seat, and the first arm body and the second arm body can be symmetrically unfolded or folded around the center of the connecting seat via the first connecting shaft;

[0021] The distal ends of the first arm body and the second arm body are hinged to the corresponding clamp arms to form a first hinge point;

[0022] The proximal ends of the first arm body and the second arm body are hinged to the corresponding driving swing arms to form a second hinge point;

[0023] The distal ends of the third arm body and the fourth arm body are hinged to the corresponding clamp arms to form a third hinge point;

[0024] The proximal ends of the third arm body and the fourth arm body are hinged together through a second connecting shaft to form a V-shaped structure, and the second connecting shaft is hinged with the connecting seat to form a fixed end, so that the third arm body and the fourth arm body can be symmetrically unfolded or folded around the center of the connecting seat through the second connecting shaft;

[0025] The control wire is wound around and connected to the movable end and the second connecting shaft, and the distal end of the control wire is connected to the first connecting shaft to form the fixed connecting end.

[0026] Further, the driving swing arm comprises a fifth arm body and a sixth arm body, and the distal ends of the fifth arm and the sixth arm body are connected to the proximal end of the second arm body to form a second hinge point;

[0027] The proximal ends of the fifth arm body and the sixth arm body are hinged together through a third connecting shaft to form a V-shaped structure, and the third connecting shaft is slidably connected with the slide groove to form a moving end, so that the fifth arm body and the sixth arm body can be symmetrically unfolded or folded around the center of the connecting seat through the third connecting shaft;

[0028] The control cable is wound around and connected to the third connecting shaft and the second connecting shaft.

[0029] Furthermore, it also includes a first wire passing wheel and a second wire passing wheel, the first wire passing wheel is sleeved on the third connecting shaft, and the second wire passing wheel is sleeved on the second connecting shaft;

[0030] The control wire is wound around and connected to the first wire passing wheel and the second wire passing wheel.

[0031] Furthermore, the distal end of the control pull wire is connected to the first connecting shaft by winding, and the control pull wire passes through the second wire passing wheel, is wound on the first wire passing wheel, and is wound out from the first wire passing wheel, and then is wound on the second wire passing wheel, and is wound out from the second wire passing wheel, and passes through the first wire passing wheel, so that the proximal end of the control pull wire extends in a direction away from the clamp arm.

[0032] Furthermore, it also includes a fastening buckle, through which the distal end of the control pull wire passes, bypasses the first connecting shaft and turns back, and then passes through the fastening buckle again to fix the distal end of the control pull wire on the first connecting shaft.

[0033] Furthermore, implant receiving grooves are respectively provided on the opposite surfaces of the two clamp arms;

[0034] The two clamp arms are also respectively provided with implant positioning grooves, and the implant positioning grooves are connected to the implant receiving grooves on the corresponding clamp arms;

[0035] Threading holes are arranged on the surfaces of the two clamp arms facing away from each other, and the threading holes include a first threading hole and a second threading hole;

[0036] The first threading hole and the second threading hole are both connected to the implant receiving groove.

[0037] Furthermore, a wire guide groove is provided on the surfaces of the two clamp arms which are separated from each other, and the wire guide groove connects the first wire threading hole and the second wire threading hole on the corresponding clamp wall.

[0038] Furthermore, it also includes a base, which is arranged on the proximal side of the connecting seat, and the base is rotatably connected to the connecting seat, and the proximal end of the control pull wire passes through the base and is connected to the operating handle.

[0039] Furthermore, the first arm body is provided with a first groove, the second arm body is provided with a second groove arranged opposite to the first groove, and the first groove and the second groove are combined to form a first control cable accommodating groove for the control cable to pass through;

[0040] The first connecting shaft is disposed in the control cable receiving groove and is hinged to the first arm body and the second arm body;

[0041] The third arm body is provided with a third receiving groove, the fourth arm body is provided with a fourth receiving groove, and the third receiving groove and the fourth receiving groove are combined to form a second control pull wire receiving groove for the control pull wire to pass through;

[0042] The second connecting shaft is arranged in the control wire accommodating groove and is hinged to the third arm body and the fourth arm body.

[0043] By adopting the above technical solution, the utility model has the following beneficial effects:

[0044] The conveying actuator of the present application has an opening and closing swing arm that is hinged on the connecting seat. Therefore, the position of the opening and closing swing arm on the connecting seat is fixed. The proximal end of the driving swing arm is slidably connected to the slide groove on the connecting seat. Only the proximal end of the driving swing arm can slide along the slide groove to unfold or fold the driving swing arm. The unfolding or folding of the driving swing arm drives the opening and closing swing arm to unfold or fold synchronously. The unfolding or folding of the opening and closing swing arm can drive the two clamp arms to open or close in parallel and symmetrically.

[0045] In the present application, the control cable is used in conjunction with the fixed end and the movable end to pull the control cable in a direction away from the clamp arm. The transmission order of the tension on the control cable is:

[0046] Since the far end of the control wire is fixed, the pulling force can directly act on the moving end after the first turn through the fixed end and the second turn through the moving end, so that the movement direction of the control wire that bypasses the moving end and is distributed on both sides of the moving end is consistent with the sliding direction of the moving end in the slide groove when the driving swing arm is unfolded. The control wire can drive the moving end to slide along the slide groove in the direction close to the fixed end to unfold the driving swing arm, and the driving swing arm gradually unfolds, driving the opening and closing swing arm to unfold synchronously, and the opening and closing swing arm drives the two clamp arms to move away from each other, and the two clamp arms open parallelly and symmetrically.

[0047] During the above process, the control wire passes through the fixed end and the moving end, and makes two turns, converting the pulling force on the control wire into a force that drives the moving end to slide along the slide groove toward the fixed end, making the control wire more labor-saving, smooth and stable during the pulling process.

[0048] The moving end plays a role of saving effort; the fixed end plays a role of limiting the movement direction of the control wire, and can limit the movement trajectory of the moving end by controlling the wire, thereby making the control wire more stable during movement; the movement of the entire system is more labor-saving and reliable.

[0049] The pulling force on the control wire during movement directly acts on the moving end after two turns at the fixed end and the moving end, so that the moving end can slide along the slide groove toward the fixed end. By driving the swing arm and the opening and closing swing arm, the two clamp arms are driven to open parallel and symmetrically, and the force transmission efficiency is higher.

[0050] The conveying actuator of the present application has a simplified structure and convenient operation. The proximal end of the driving swing arm is slidably connected to the slide groove to enable the driving swing arm to symmetrically unfold or fold, thereby driving the opening and closing swing arm to symmetrically unfold or fold, so as to prompt the two clamp arms to open or close in parallel and symmetrically. The above method has the characteristics of simple structure, convenient operation and stable operation, thereby ensuring that the movement of the two clamp arms is smooth and reliable during the process of opening or closing the two clamp arms in parallel and symmetrically. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0052] Figure 1 This is a first-view structural schematic diagram of the conveying actuator of Example 1 of the present application, with two clamp arms in a closed state;

[0053] Figure 2 It is a partial cross-sectional view of the conveying actuator of the first embodiment of the present application (the second arm body is omitted, the third arm body is omitted, and the sixth arm body is omitted);

[0054] Figure 3 This is a schematic structural diagram of the conveying actuator of Example 1 of the present application, with two clamp arms in an open state from a first perspective;

[0055] Figure 4 This is a schematic diagram of the connection relationship between the clamp arms, the driving swing arm, and the opening and closing swing arm when the two clamp arms are in the open state of the conveying actuator of the first embodiment of the present application;

[0056] Figure 5 This is a schematic diagram of the connection relationship between the clamp arms, the driving swing arm, and the opening and closing swing arm when the two clamp arms are in a closed state of the conveying actuator of Example 1 of the present application;

[0057] Figure 6 This is a schematic structural diagram of a clamp arm of a conveying actuator according to Embodiment 1 of the present application;

[0058] Figure 7 This is a schematic diagram of the connection relationship between the control wire and the first connecting shaft, the first wire passing wheel, and the second wire passing wheel in Example 1 of the present application;

[0059] Figure 8 This is a structural schematic diagram of the first control wire accommodating groove provided on the first arm body and the second arm body in the first embodiment of the present application;

[0060] Fig. 9This is a structural schematic diagram of the first embodiment of the present application, in which the third arm body and the fourth arm body are provided with a second control wire accommodating groove;

[0061] Fig.10 This is a structural diagram of the first arm body in Example 1 of the present application (the second arm body has the same structure as the first arm body);

[0062] Fig.11 This is a schematic diagram of the structure of the third arm body in Example 1 of the present application (the fourth arm body has the same structure as the third arm body);

[0063] Fig.12 This is a structural diagram of the first embodiment of the present application, in which the first connecting shaft is arranged in the first control cable receiving groove (the second arm body is omitted);

[0064] Fig.13 This is an exploded diagram of the structure of the control wire, the opening and closing swing arm, and the driving swing arm in Example 1 of the present application.

[0065] Figure numerals: 1-clamp arm; 2-opening and closing driving mechanism; 3-control pull wire; 21-connecting seat; 22-opening and closing swing arm; 23-driving swing arm; 211-sliding groove; 4-distal end; 5-proximal end; 222-first arm body; 223-second arm body; 224-third arm body; 225-fourth arm body; 6-first connecting axis; 7-first hinge point; 8-second hinge point; 9-third hinge point; 10-second connecting axis; 231-fifth arm body; 232-sixth arm body; 11-third connecting axis; 12-fastening buckle; 13 -first thread-passing wheel; 14-second thread-passing wheel; 15-implant receiving groove; 16-implant positioning groove; 17-threading hole; 171-first threading hole; 172-second threading hole; 18-lead groove; 19-base; 20-auricle clamp; 201-closing spring; 202-clamp arm; 24-fixed end; 25-moving end; 26-fixed connection end; 27-first groove; 28-second groove; 29-first control wire receiving groove; 30-third receiving groove; 31-fourth receiving groove; 32-second control wire receiving groove. DETAILED DESCRIPTION

[0066] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0067] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0068] Embodiment 1:

[0069] It should be noted that, for the convenience of description, in the present application, the end close to the clamp arm 1 is defined as the distal end 4 , and the end far from the clamp arm 1 is defined as the proximal end 5 .

[0070] like Figure 1-Figure 13 As shown, the conveying actuator of the present application includes a clamp arm 1, an opening and closing drive mechanism 2 and a control pull wire 3;

[0071] The opening and closing driving mechanism 2 is arranged between the two clamp arms 1 and is hinged to the corresponding clamp arms 1;

[0072] The opening and closing driving mechanism 2 comprises a connecting seat 21, an opening and closing swing arm 22 and a driving swing arm 23;

[0073] The connecting seat 21 is provided with a slide groove 211, and the direction of the slide groove 211 is parallel to the clamp arm 1;

[0074] The opening and closing swing arm 22 is hinged with the connecting seat 21 to form a fixed end 24, and the opening and closing swing arm 22 can be symmetrically unfolded or folded around the center of the connecting seat 21;

[0075] The distal end 4 of the opening and closing swing arm 22 is hinged to the corresponding clamp arm 1;

[0076] The distal end 4 of the driving swing arm 23 is hinged to the proximal end 5 of the opening and closing swing arm 22, and the proximal end 5 of the driving swing arm 23 is slidably connected to the slide groove 211 to form a moving end 25, so that the driving swing arm 23 can be symmetrically expanded or folded, driving the opening and closing swing arm 22 to be symmetrically expanded or folded, so as to cause the two clamp arms 1 to open or close in parallel and symmetrically;

[0077] A control wire 3 is wound between the fixed end 24 and the movable end 25. After the control wire 3 is wound, the distal end 4 of the control wire 3 extends toward the direction close to the clamp arm 1 and is connected to the opening and closing swing arm 22 to form a fixed connection end 26, and the proximal end 5 of the control wire 3 extends toward the direction away from the clamp arm 1, so that the tension applied to the control wire 3 is reversed and turned twice through the fixed end 24 and the movable end 25, and then acts on the movable end 25, so that the swing arm 23 can be driven to unfold through the control wire 3.

[0078] Specifically, the distal end 4 of the control cable 3 is fixedly connected to the opening and closing swing arm 22; the control cable 3 passes through the fixed end 24, is wound on the movable end 25, and is wound out from the movable end 25, and is then wound on the fixed end 24, and is wound out from the fixed end 24, and passes through the movable end 25, so that the proximal end 5 of the control cable 3 extends in a direction away from the clamp arm 1;

[0079] Among them, since the distal end 4 of the control cable 3 is fixed, the control cable 3 is pulled in the direction away from the clamp arm 1, and the tension A1 applied to the control cable 3 is turned back for the first time through the fixed end 24, and then turned back for the second time through the movable end 25, and then acts on the movable end 25, so that the movement direction of the control cable 3 that bypasses the movable end 25 and is distributed on both sides of the movable end 25 is consistent with the sliding direction of the movable end 25 in the slide groove 211 when the driving swing arm 23 is unfolded. The control cable 3 can drive the movable end 25 to slide along the slide groove 211 in the direction close to the fixed end 24 to unfold the driving swing arm 23.

[0080] Specifically, Figure 2 , Figure 4 , Figure 5 , Fig.13 As shown, the opening and closing swing arm 22 includes a first arm body 222, a second arm body 223, a third arm body 224 and a fourth arm body 225;

[0081] The first arm 222 and the second arm 223 are hingedly connected through the first connecting shaft 6 to form an X-shaped structure. The first connecting shaft 6 is hingedly connected to the connecting seat 21. The first arm 222 and the second arm 223 can be symmetrically unfolded or folded around the center of the connecting seat 21 through the first connecting shaft 6.

[0082] The distal ends 4 of the first arm body 222 and the second arm body 223 are hinged to the corresponding clamp arm 1 to form a first hinge point 7;

[0083] The proximal ends 5 of the first arm body 222 and the second arm body 223 are hinged to the corresponding driving swing arm 23 to form a second hinge point 8;

[0084] The distal ends 4 of the third arm body 224 and the fourth arm body 225 are hinged to the corresponding clamp arms 1 to form a third hinge point 9;

[0085] The proximal ends 5 of the third arm 224 and the fourth arm 225 are hinged together through the second connecting shaft 10 to form a V-shaped structure, and the second connecting shaft 10 is hinged with the connecting seat 21 to form a fixed end 24, so that the third arm 224 and the fourth arm 225 can be symmetrically unfolded or folded around the center of the connecting seat 21 through the second connecting shaft 10;

[0086] The control wire 3 is wound around and connected to the movable end 25 and the second connection shaft 10 , and the distal end 4 of the control wire 3 is fixedly connected to the first connection shaft 6 to form a fixed connection end 26 .

[0087] Specifically, Figure 2 , Figure 4 , Figure 5 , Fig.13 As shown, the driving swing arm 23 includes a fifth arm body 231 and a sixth arm body 232, the distal end 4 of the fifth arm body 231 is connected to the first arm body 222, and the distal end of the sixth arm body is connected to the proximal end of the second arm body to form a second hinge point 8;

[0088] The proximal ends 5 of the fifth arm 231 and the sixth arm 232 are hinged together through the third connecting shaft 11 to form a V-shaped structure, and the third connecting shaft 11 is slidably connected with the slide groove 211 to form a movable end 25, so that the fifth arm 231 and the sixth arm 232 can be symmetrically unfolded or folded around the center of the connecting seat 21 through the third connecting shaft 11;

[0089] The control wire 3 is wound around and connected to the third connecting shaft 11 and the second connecting shaft 10 .

[0090] It should be noted that: the distal ends 4 of the first arm 222 and the second arm 223 are hinged to the corresponding clamp arm 1 to form a first hinge point 7, and the distal ends 4 of the third arm 224 and the fourth arm 225 are hinged to the corresponding clamp arm 1 to form a third hinge point 9. The arrangement is such that each clamp arm 1 includes a first hinge point 7 and a third hinge point 9. Based on the first hinge point 7 and the third hinge point 9, the X-shaped mechanism composed of the first arm 222 and the second arm 223, and the V-shaped structure composed of the third arm 224 and the fourth arm 225 can apply the same force to the first hinge point 7 and the third hinge point 9 on each clamp arm 1. The force acts on the two clamp arms 1, which can make the two clamp arms 1 approach or move away in parallel. During this process, the angular relationship between the two clamp arms 1 remains unchanged, thereby achieving parallel and symmetrical opening or closing of the two clamp arms 1.

[0091] Specifically, Figure 2 , Fig.13 As shown, it also includes a fastening buckle 12. The distal end 4 of the control cable 3 passes through the fastening buckle 12, bypasses the first connecting shaft 6, and then passes through the fastening buckle 12 again to fasten the distal end 4 of the control cable 3 to the first connecting shaft 6.

[0092] For the present application, if the distal end 4 of the control cable 3 is only connected to the first connecting shaft 6 in a winding manner, the connection between the control cable 3 and the first connecting shaft 6 is not reliable. In extreme cases, the distal end 4 of the control cable 3 may also be decoupled from the first connecting shaft 6. Once decoupled, the control of the driving swing arm 23 becomes invalid. In order to avoid this situation, the present application adds a fastening buckle 12, and the distal end 4 of the control cable 3 is fastened to the first connecting shaft 6 by the fastening buckle 12 to prevent decoupling and ensure the normal operation of the conveying actuator.

[0093] Specifically, Figure 5 , Figure 7 , Figure 8 , Fig. 9 , Fig.12 , Fig.13 As shown, it also includes a first wire passing wheel 13 and a second wire passing wheel 14. The first wire passing wheel 13 is sleeved on the third connecting shaft 11, and the second wire passing wheel 14 is sleeved on the second connecting shaft 10;

[0094] The control wire 3 is wound around and connected to the first wire passing wheel 13 and the second wire passing wheel 14 .

[0095] In order to improve the working efficiency of the control cable 3, the present application sets a first wire-passing wheel 13 (movable pulley) on the third connecting shaft 11, and sets a second wire-passing wheel 14 (fixed pulley) on the second connecting shaft 10. Since the distal end 4 of the control cable 3 is fixed on the first connecting shaft 6, and the positional relationship of the first connecting shaft 6 on the connecting seat 21 is fixed, the tension A1 exerted on the control cable 3, after the first return and turn of the second wire-passing wheel 14 (fixed pulley), passes through the first wire-passing wheel 13 (movable pulley) for the second time, and then directly acts on the first wire-passing wheel 13 (movable pulley). Therefore, the movement direction of the control wire 3 that bypasses the first wire wheel 13 and is distributed on both sides thereof is consistent with the sliding direction of the third connecting shaft 11 in the slide groove 211 when the driving swing arm 23 is unfolded. The control wire 3 drives the first wire wheel 13 and the third connecting shaft 11 to slide along the slide groove 211 in the direction close to the second connecting shaft 10 to unfold the driving swing arm 23. The unfolding of the driving swing arm 23 drives the opening and closing swing arm 22 to unfold symmetrically, so as to prompt the two clamp arms 1 to open in parallel and symmetrically. Thereby, the unfolding operation of the driving swing arm 23 by the control wire 3 is easier and more labor-saving.

[0096] Specifically, Figure 2 , Figure 7 , Fig.13 As shown, when the control wire 3 of the present application is wound, the distal end 4 of the control wire 3 is connected to the first connecting shaft 6 by winding, and the control wire 3 passes through the second wire wheel 14 (fixed pulley), is wound on the first wire wheel 13 (movable pulley), and is wound out from the first wire wheel 13 (movable pulley), and then is wound on the second wire wheel 14 (fixed pulley), and is wound out from the second wire wheel 14 (fixed pulley), and passes through the first wire wheel 13 (movable pulley), so that the proximal end 5 of the control wire 3 extends in the direction away from the clamp arm 1.

[0097] like Figure 1 , Figure 2As shown, the delivery actuator of the present application is connected to the implant by default. At this time, the two clamp arms 1 are in a closed state. In the closed state, the opening and closing swing arm 22 and the driving swing arm 23 are both in a folded state. The third connecting shaft 11 is located at the distal end 4 of the slide groove 211. The main function of the control pull wire 3 of the present application is to control the opening and closing swing arm 22 to unfold by controlling the pull wire 3.

[0098] Through the above-mentioned structure, the present application comprises a set of pulleys consisting of a first wire passing wheel 13 (movable pulley) and a second wire passing wheel 14 (fixed pulley). The tension A1 applied to the control wire 3 bypasses the first wire passing wheel 13 (movable pulley) and the second wire passing wheel 14 (fixed pulley) and makes two turns, making the control wire 3 more labor-saving, smooth and stable during the pulling process.

[0099] The first wire-passing wheel 13 (movable pulley) plays a labor-saving role; the second wire-passing wheel 14 (fixed pulley) plays a role of limiting the movement direction of the pulling wire 3, and can limit the movement trajectory of the first wire-passing wheel 13 (movable pulley) by controlling the pulling wire 3, thereby making the pulling wire 3 more stable during movement; the movement of the entire system is more labor-saving and reliable.

[0100] The tension A1 exerted on the control wire 3 during the movement directly acts on the first wire passing wheel 13 after being turned back and forth twice by the second wire passing wheel 14 and the first wire passing wheel 13, so that the first wire passing wheel 13 can slide along the slide groove 211 toward the direction close to the second wire passing wheel 14. By driving the swing arm 23 and the opening and closing swing arm 22, the two clamp arms 1 are driven to open in parallel and symmetrically, and the force transmission efficiency is higher.

[0101] The implant of the present application is an atrial appendage clamp 20. Before use, the closing spring 201 located at the proximal end 5 of the atrial appendage clamp 20 is placed in the implant positioning groove 16 to position the atrial appendage clamp 20. The implant receiving groove 15 on the two clamp arms 1 is used to accommodate the two clamp arms 202 of the atrial appendage clamp 20. The two clamp arms 202 of the atrial appendage clamp 20 are bound to the clamp arm 1 through the guide groove 18 and the threading hole 17 to complete the installation of the atrial appendage clamp 20 on the transport actuator.

[0102] Under the closing force of the closing spring 201 of the auricle clamp 20, the two clamp arms 1 are driven to be in a closed state. At this time, the third connecting shaft 11 is at the proximal end 5 of the slide slot 211, and the driving swing arm 23 and the opening and closing swing arm 22 are both in a folded state.

[0103] Specifically, Figure 5 , Figure 6 As shown, implant receiving grooves 15 are respectively provided on the opposite surfaces of the two forceps arms 1;

[0104] The two forceps arms 1 are respectively provided with implant positioning grooves 16 , and the implant positioning grooves 16 are communicated with the implant receiving grooves 15 on the corresponding forceps arms 1 .

[0105] Specifically, threading holes 17 are provided on the surfaces of the two clamp arms 1 that are away from each other, and the threading holes 17 include a first threading hole 171 and a second threading hole 172;

[0106] The first threading hole 171 and the second threading hole 172 are both connected to the implant receiving groove 15 .

[0107] In the process of fixing the implant on the two clamp arms 1, in order to facilitate the routing of the binding wire (not shown), the present application provides threading holes 17 on the surfaces of the two clamp arms 1 that are opposite to each other. The binding wire passes through the first threading hole 171 and the second threading hole 172 to bind the implant to the clamp arm 1 on the corresponding side, thereby realizing the binding connection between the implant and the two clamp arms 1.

[0108] It should be noted that the method of connecting the implant to the clamp arm 1 by binding wire is a prior art and will not be described in detail here.

[0109] Specifically, Figure 6 As shown, a wire guide groove 18 is provided on the surfaces of the two clamp arms 1 which are away from each other. The wire guide groove 18 connects the first wire threading hole 171 and the second wire threading hole 172 on the corresponding clamp arm 1.

[0110] On the basis that the above-mentioned threading holes 17 include the first threading hole 171 and the second threading hole 172, in order to further facilitate the routing of the binding wire (not shown) and prevent the binding wire from being exposed, the present application provides a wire guide groove 18 on the surfaces of the two clamp arms 1 that are separated from each other. The wire guide groove 18 is connected to the first threading hole 171 and the second threading hole 172, so that the binding wire can be hidden in the wire guide groove 18, and the binding wire enters the inner side of the clamp arm 1 through the first threading hole 171 and the second threading hole 172, thereby achieving the purpose of hiding the routing of the binding wire.

[0111] Specifically, Figure 1 , Figure 2 , Figure 3 As shown, it also includes a base 19, which is arranged at the proximal end 5 of the connecting seat 21. The base 19 and the connecting seat 21 are rotatably connected. Such a configuration can more accurately move the two clamp arms 1 and the implants thereon to the target position; the proximal end 5 of the control pull wire 3 passes through the base 19 and is connected to the operating handle, and the tension A1 is applied to the control pull wire 3 through the operating handle. The operation of the control pull wire 3 is convenient through the operating handle. It should be noted that the structure of the operating handle is a prior art and will not be described in detail here.

[0112] Specifically, Figure 8As shown, the first arm body 222 is provided with a first groove 27, and the second arm body 223 is provided with a second groove 28 arranged opposite to the first groove 27. The first groove 27 and the second groove 28 are combined to form a first control wire accommodating groove 29 for the control wire 3 to pass through;

[0113] The first connecting shaft 6 is disposed in the first control cable receiving groove 29 and is hinged to the first arm body 222 and the second arm body 223;

[0114] like Fig. 9 As shown, the third arm 224 is provided with a third receiving groove 30, and the fourth arm 225 is provided with a fourth receiving groove 31. The third receiving groove 30 and the fourth receiving groove 31 are combined to form a second control wire receiving groove 32 for the control wire 3 to pass through;

[0115] The second connecting shaft 10 is arranged in the second control wire accommodating groove 32 and is hinged with the third arm body 224 and the fourth arm body 225. In this way, the second wire passing wheel 14 mounted on the second connecting shaft 10 is also arranged in the second control wire accommodating groove 32. In addition to allowing the control wire 3 to pass through, the second control wire accommodating groove 32 can also accommodate the second wire passing wheel 14. The second wire passing wheel 14 fills the space of the second control wire accommodating groove 32 between the third arm body 224 and the fourth arm body 225, ensuring that the relative position relationship between the third arm body 224 and the fourth arm body 225 remains unchanged, thereby ensuring the normal operation of the conveying actuator of this application.

[0116] The setting of the first control wire accommodating groove 29 can avoid the situation that the gap between the first arm 222 and the second arm 223 is relatively small during the connection between the distal end 4 of the control wire 3 and the first connecting shaft 6, resulting in the first arm 222, the second arm 223 and the control wire 3 having movement interference. The control wire 3 can pass through the first control wire accommodating groove 29 and be connected to the first connecting shaft 6 to ensure the normal operation of the conveying actuator.

[0117] The setting of the second control wire accommodating groove 32 can avoid the control wire 3 from bypassing the second wire wheel 14 and turning back. The gap between the third arm 224 and the fourth arm 225 is relatively small, which causes the third arm 224, the fourth arm 225 and the control wire 3 to interfere with each other in movement. The control wire 3 can pass through the second control wire accommodating groove 32, bypass the second wire wheel 14 and turn back, thereby ensuring the normal operation of the conveying actuator.

[0118] The working mode of the conveying actuator of this application is specifically introduced below:

[0119] like Figure 1-Figure 13As shown, the implant of the present application is an atrial appendage clamp 20. Before use, the closing spring 201 of the atrial appendage clamp 20 located at the proximal end 5 is placed in the implant positioning groove 16 to position the atrial appendage clamp 20. The implant receiving groove 15 on the two clamp arms 1 is used to receive the two clamp arms 202 of the atrial appendage clamp 20. The two clamp arms 202 of the atrial appendage clamp 20 are bound to the clamp arm 1 through the guide groove 18 and the threading hole 17 to complete the installation of the atrial appendage clamp 20 on the delivery actuator.

[0120] Under the closing force of the closing spring 201 of the auricle clamp 20, the two clamp arms 1 are driven to be in a closed state. At this time, the third connecting shaft 11 is at the proximal end 5 of the slide slot 211, and the driving swing arm 23 and the opening and closing swing arm 22 are both in a folded state.

[0121] The delivery device of the present application is inserted into the patient's body. During use, a delivery stamp is first implanted in the patient's body to establish a channel. Then, the delivery device of the present application enters the patient's body through the delivery stamp and applies a pulling force A1 to the control pull wire 3 along the proximal end 5 direction. Since the distal end 4 of the control pull wire 3 is fixed on the first connecting shaft 6, and the positional relationship of the first connecting shaft 6 on the connecting seat 21 is fixed, the pulling force A1 passes through the second wire wheel 14 (fixed pulley) for the first time and then passes through the first wire wheel 13 (movable pulley) for the second time and then directly acts on the first wire wheel 13. Therefore, the movement direction of the control pull wire 3 that bypasses the first wire wheel 13 and is distributed on both sides thereof is consistent with the sliding direction of the third connecting shaft 11 in the slide groove 211 when the driving swing arm 23 is unfolded. The control pull wire 3 drives the first wire wheel 13 and the third connecting shaft 11 to slide along the slide groove 211 in the direction close to the second connecting shaft 10 (the second wire wheel 14). The distance between 11 (first wire-passing wheel 13) and the second connecting shaft 10 (second wire-passing wheel 14) gradually becomes smaller, so that the fifth arm 231 and the sixth arm 232 are gradually unfolded, driving the second hinge point 8 to move in the outward direction (the outward direction is the direction away from the two sides of the connecting seat 21), and the second hinge point 8 moves in the outward direction, directly acting on the first arm 222 and the second arm 223, so that the first arm 222 and the second arm 223 are gradually unfolded. At the same time, the third arm 224 and the fourth arm 225 are also synchronously and gradually unfolded, thereby driving the two clamp arms 1 to move in the direction away from each other, completing the parallel and symmetrical opening of the two clamp arms 1, and the opening of the two clamp arms 1 drives the two clamp arms 202 of the atrial appendage clamp 20 to open in parallel and symmetrically. After the opened atrial appendage clamp 20 is placed at the root of the left atrial appendage, the atrial appendage clamp 20 is closed, the binding line is pulled out, the two clamp arms 202 of the atrial appendage clamp 20 are separated from the two clamp arms 1, the atrial appendage clamp 20 remains in the body, and the conveying actuator is withdrawn.

[0122] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the utility model.

Claims

1. A conveying actuator, characterized in that: It includes a clamp arm, an opening and closing driving mechanism and a control cable; The opening and closing driving mechanism is arranged between the two clamp arms and is hinged to the corresponding clamp arms; The opening and closing driving mechanism comprises a connecting seat, an opening and closing swing arm and a driving swing arm; The connecting seat is provided with a slide groove, and the direction of the slide groove is parallel to the clamp arm; The opening and closing swing arm is hinged with the connecting seat to form a fixed end, and the opening and closing swing arm can be symmetrically unfolded or folded around the center of the connecting seat; The distal end of the opening and closing swing arm is hinged to the corresponding clamp arm; The distal end of the driving swing arm is hinged to the proximal end of the opening and closing swing arm, and the proximal end of the driving swing arm is slidably connected to the slide groove to form a moving end, so that the driving swing arm can be symmetrically unfolded or folded, driving the opening and closing swing arm to be symmetrically unfolded or folded, so as to cause the two clamp arms to open or close in parallel and symmetrically; The control wire is wound between the fixed end and the movable end. After the control wire is wound, the distal end of the control wire extends toward the direction close to the clamp arm and is connected to the opening and closing swing arm to form a fixed connection end, and the proximal end of the control wire extends toward the direction away from the clamp arm, so that the tension applied to the control wire is transferred to the movable end after a secondary return and turn through the fixed end and the movable end, so that the driving swing arm can be controlled to unfold through the control wire.

2. The conveying actuator according to claim 1, characterized in that: The distal end of the control pull wire is fixedly connected to the opening and closing swing arm; The control pull wire passes through the fixed end, is wound around the movable end, and is wound out from the movable end, and is then wound around the fixed end, and is wound out from the fixed end, and passes through the movable end, so that the proximal end of the control pull wire extends in a direction away from the clamp arm; Among them, since the distal end of the control pull wire is fixed, the control pull wire is pulled in the direction away from the clamp arm, and the tension applied to the control pull wire is turned back and forth for the first time at the fixed end, and then turned back and forth for the second time at the movable end, and then acts on the movable end, so that the movement direction of the control pull wire that bypasses the movable end and is distributed on both sides of the movable end is consistent with the sliding direction of the movable end in the slide groove when the driving swing arm is unfolded. The control pull wire can drive the movable end to slide along the slide groove in the direction close to the fixed end to unfold the driving swing arm.

3. The conveying actuator according to claim 1, characterized in that: The opening and closing swing arm comprises a first arm body, a second arm body, a third arm body and a fourth arm body; The first arm body and the second arm body are hingedly connected via a first connecting shaft to form an X-shaped structure, the first connecting shaft is hingedly connected to the connecting seat, and the first arm body and the second arm body can be symmetrically unfolded or folded around the center of the connecting seat via the first connecting shaft; The distal ends of the first arm body and the second arm body are hinged to the corresponding clamp arms to form a first hinge point; The proximal ends of the first arm body and the second arm body are hinged to the corresponding driving swing arms to form a second hinge point; The distal ends of the third arm body and the fourth arm body are hinged to the corresponding clamp arms to form a third hinge point; The proximal ends of the third arm body and the fourth arm body are hinged together through a second connecting shaft to form a V-shaped structure, and the second connecting shaft is hinged with the connecting seat to form a fixed end, so that the third arm body and the fourth arm body can be symmetrically unfolded or folded around the center of the connecting seat through the second connecting shaft; The control wire is wound around and connected to the movable end and the second connecting shaft, and the distal end of the control wire is connected to the first connecting shaft to form the fixed connecting end.

4. The conveying actuator according to claim 3, characterized in that: The driving swing arm comprises a fifth arm body and a sixth arm body, the distal end of the fifth arm body is connected to the proximal end of the first arm body, and the distal end of the sixth arm body is connected to the proximal end of the second arm body to form a second hinge point; The proximal ends of the fifth arm body and the sixth arm body are hinged together through a third connecting shaft to form a V-shaped structure, and the third connecting shaft is slidably connected with the slide groove to form a moving end, so that the fifth arm body and the sixth arm body can be symmetrically unfolded or folded around the center of the connecting seat through the third connecting shaft; The control cable is wound around and connected to the third connecting shaft and the second connecting shaft.

5. The conveying actuator according to claim 4, characterized in that: It also includes a first wire passing wheel and a second wire passing wheel, the first wire passing wheel is sleeved on the third connecting shaft, and the second wire passing wheel is sleeved on the second connecting shaft; The control wire is wound around and connected to the first wire passing wheel and the second wire passing wheel.

6. The conveying actuator according to claim 5, characterized in that: The distal end of the control pull wire is connected to the first connecting shaft by winding, and the control pull wire passes through the second wire passing wheel, is wound on the first wire passing wheel, and is wound out from the first wire passing wheel, and then is wound around the second wire passing wheel, and is wound out from the second wire passing wheel, and passes through the first wire passing wheel, so that the proximal end of the control pull wire extends in a direction away from the clamp arm.

7. The conveying actuator according to claim 5, characterized in that: It also includes a fastening buckle, through which the distal end of the control pull wire passes, bypasses the first connecting shaft, turns back, and then passes through the fastening buckle again to fix the distal end of the control pull wire on the first connecting shaft.

8. The conveying actuator according to claim 1, characterized in that: Implant receiving grooves are respectively provided on the opposite surfaces of the two clamp arms; The two clamp arms are also respectively provided with implant positioning grooves, and the implant positioning grooves are connected to the implant receiving grooves on the corresponding clamp arms; Threading holes are arranged on the surfaces of the two clamp arms facing away from each other, and the threading holes include a first threading hole and a second threading hole; The first threading hole and the second threading hole are both connected to the implant receiving groove.

9. The conveying actuator according to claim 1, characterized in that: A wire guide groove is arranged on the surfaces of the two clamp arms which are separated from each other, and the wire guide groove connects the first wire threading hole and the second wire threading hole on the corresponding clamp wall.

10. The conveying actuator according to claim 1, characterized in that: It also includes a base, which is arranged on the proximal side of the connecting seat, and the base is rotatably connected to the connecting seat. The proximal end of the control pull wire passes through the base and is connected to the operating handle.

11. The conveying actuator according to claim 3, characterized in that: The first arm body is provided with a first groove, the second arm body is provided with a second groove arranged opposite to the first groove, and the first groove and the second groove are combined to form a first control cable accommodating groove for the control cable to pass through; The first connecting shaft is disposed in the control cable receiving groove and is hinged to the first arm body and the second arm body; The third arm body is provided with a third receiving groove, the fourth arm body is provided with a fourth receiving groove, and the third receiving groove and the fourth receiving groove are combined to form a second control pull wire receiving groove for the control pull wire to pass through; The second connecting shaft is arranged in the control wire accommodating groove and is hinged to the third arm body and the fourth arm body.

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