Transmission mechanism and delivery device of interventional surgical robot

Abstract

The utility model is applicable to the technical field of surgical robots, and discloses a transmission mechanism and a delivery device of an interventional surgical robot, the transmission mechanism comprises a mounting member, a gear and an abnormal sound eliminating mechanism, and the gear is rotatably mounted on the mounting member; the abnormal sound eliminating mechanism is arranged on the gear and used for eliminating abnormal sound generated between the gear and the installation component. According to the embodiment, noise generated in the operation process of the transmission mechanism can be reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of surgical robots, in particular to a transmission mechanism and a delivery device of an interventional surgical robot. BACKGROUND

[0002] In recent years, interventional surgical robots have developed rapidly. With the help of interventional surgical robots, doctors can accurately perform interventional surgery through physical isolation or remote operation. At present, an interventional surgical robot includes a power device and a delivery device which can be freely detached from the power device.

[0003] However, when the interventional surgical robot delivers an elongated medical instrument such as a guide wire or a catheter, the transmission mechanism of the delivery device produces a harsh noise during transmission, which seriously interferes with the doctor's operation and the harsh noise easily makes the patient feel fear and tension, which is not conducive to the operation. CONTENT OF THE UTILITY MODEL

[0004] The first object of the present application is to provide a transmission mechanism which aims to solve the technical problem of producing a harsh noise during transmission of the transmission mechanism.

[0005] To achieve the above-mentioned object, the present application provides the following scheme:

[0006] A transmission mechanism, comprising:

[0007] a mounting member;

[0008] a gear rotatably mounted on the mounting member;

[0009] a noise elimination mechanism provided on the gear, the noise elimination mechanism having a contact surface configured to contact the mounting member to eliminate the noise generated between the gear and the mounting member.

[0010] Further, the gear and the mounting member are in abutment, and the noise elimination mechanism includes a support platform having a first support surface, the support platform being protruded on the upper surface of the gear;

[0011] In the width direction of the mounting member, the distance between the opposite edges of the first support surface is greater than the width of the mounting member;

[0012] When the gear and the mounting member are in abutment, the first support surface presses against the mounting member.

[0013] Further, the transmission mechanism further includes a gasket and a base, the mounting member is mounted on the base, the gear is located between the mounting member and the base, and the gasket is provided between the gear and the base;

[0014] The gasket pushes against the gear under the abutment of the base, and makes the gear push against the support platform, so that the first support surface presses against the mounting member.

[0015] Further, the support platform further has a second support surface connected to the outer periphery of the first support surface, the first support surface is arranged around the rotation center of the gear, and the second support surface is a circular arc surface, and the center of the second support surface is located on the side of the first support surface away from the mounting member.

[0016] Further, the gear is floatingly connected with the mounting member, and the abnormal sound eliminating mechanism comprises a spacer, one surface of the spacer in contact with the mounting member is a curved surface, and the spacer is arranged around the rotation center of the gear to contact the mounting member in a line contact manner when the gear floats relative to the mounting member.

[0017] Further, the transmission mechanism further comprises a base, the mounting member is mounted on the base, the gear is located between the mounting member and the base, and floating gaps exist between one axial end of the gear and the mounting member and between the other axial end of the gear and the base, so that the gear can float between the mounting member and the base.

[0018] Further, the spacer is annular, and one surface of the spacer in contact with the mounting member is an arc surface; or,

[0019] The spacer comprises a plurality of spacing portions, the gear is provided with a first recess portion corresponding to the plurality of spacing portions, the first recess portion is arranged around the rotation center of the gear, the plurality of spacing portions are located in the first recess portion, and the plurality of spacing portions are arranged around the rotation center of the gear, each spacing portion protrudes out of the first recess portion along the axial direction of the gear, and one surface of each spacing portion in contact with the mounting member is an arc surface.

[0020] Further, the abnormal sound eliminating mechanism further comprises a contact end portion, the contact end portion is located at the rotation center of the gear to contact the mounting member in a point contact manner when the gear floats.

[0021] Further, the contact end portion is conical, has oppositely arranged first and second surfaces along the axial direction of the gear, the projection area of the first surface is smaller than that of the second surface, the first surface is an arc surface and is used to contact the mounting member; or,

[0022] The contact end includes a ball, and the gear has a second recess corresponding to the ball. The ball is fixedly installed on the second recess and protrudes from the second recess along the axial direction of the gear to contact the mounting member.

[0023] The second objective of this application is to provide a delivery device for an interventional surgical robot, including the aforementioned transmission mechanism.

[0024] The transmission mechanism provided in this application has the following beneficial effects:

[0025] This embodiment incorporates a noise elimination mechanism on the gear to eliminate abnormal noise generated between the gear and the mounting component. This prevents noise and harsh sounds from being generated by friction or squeezing between the gear and the mounting component during rotation. In surgical settings, this reduces noise interference for doctors and patients, allowing doctors to concentrate more on the surgery and reducing or even eliminating patients' fear and anxiety. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the delivery device of the interventional surgical robot provided in the embodiments of this application;

[0028] Figure 2 This is a schematic diagram of a transmission mechanism provided in an embodiment of this application;

[0029] Figure 3 yes Figure 2 Schematic diagram of the cross-sectional structure along the AA direction;

[0030] Figure 4 yes Figure 2 Schematic diagram of the cross-sectional structure along the BB direction;

[0031] Figure 5 This is a schematic diagram of the first structure of the gear in the transmission mechanism provided in the embodiments of this application;

[0032] Figure 6 This is a schematic diagram of a second type of gear structure in the transmission mechanism provided in this application embodiment;

[0033] Figure 7 This is a schematic diagram of the third structure of the gear in the transmission mechanism provided in the embodiments of this application;

[0034] Figure 8 yes Figure 7 A magnified view of a portion of point i;

[0035] Figure 9 This is a schematic diagram of a connection structure between the contact end and the shaft in the transmission mechanism provided in this application embodiment.

[0036] Explanation of icon numbers:

[0037] 100. Delivery device for interventional surgical robots; 10. Transmission mechanism;

[0038] 1. Mounting component; 11. First mounting groove; 2. Gear; 21. Wheel body; 22. External gear; 23. Shaft body; 24. Bushing; 3. Noise elimination mechanism; 31. Support platform; 31a. First support surface; 31b. Second support surface; 32. Spacer; 321. First recess; 322. Spacer; 33. Contact end; 33a. First surface; 331. Second recess; 332. Sphere; 4. Washer; 5. Base; 51. Shaft hole; 52. Second mounting groove; 53. Mounting protrusion; 20. First clamping mechanism; 30. Second clamping mechanism. Detailed Implementation

[0039] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0040] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0041] It should also be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on the other component or may be connected to an intermediary component. When a component is referred to as being "connected to" another component, it can be directly connected to the other component or indirectly connected to the other component through an intermediary component.

[0042] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0043] like Figure 1 and Figure 2 As shown, this application embodiment provides a transmission mechanism 10, which eliminates abnormal noise generated between the gear 2 and the mounting component 1 by providing an abnormal noise elimination mechanism 3 on the gear 2.

[0044] The following is in conjunction with the appendix Figure 1 To be continued Figure 9 This application provides a detailed description of some embodiments. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0045] First set of embodiments:

[0046] The transmission mechanism 10 provided in this embodiment can be found in [reference]. Figure 2 , Figure 3 and Figure 5 .

[0047] like Figure 2 As shown, the transmission mechanism 10 provided in this application embodiment includes a mounting component 1, a gear 2, and a noise elimination mechanism 3. The gear 2 is rotatably mounted on the mounting component 1, and the noise elimination mechanism 3 is disposed on the gear 2. The noise elimination mechanism 3 is used to eliminate the noise generated between the gear 2 and the mounting component 1.

[0048] In this embodiment, an abnormal noise elimination mechanism 3 is provided on the gear 2 to eliminate the abnormal noise generated between the gear 2 and the mounting component 1. This can prevent the gear 2 from rubbing or squeezing against the mounting component 1 during rotation, thus reducing noise interference to doctors and patients in the surgical setting, allowing doctors to concentrate more on the operation, and reducing or even eliminating patients' fear and tension.

[0049] It is understood that when gear 2 is in contact with mounting component 1, gear 2 is relatively stable. However, during rotation, gear 2 is prone to twisting. If the noise elimination mechanism 3 is not provided, gear 2 will tilt slightly to one side, causing the upper surface of gear 2 (i.e., the upper flange surface) and the right-angled edge of the upper surface of gear 2 to easily squeeze the mounting component 1. The squeezing force is uneven, causing the upper surface of gear 2 to continuously rub against the mounting component 1, producing a harsh noise.

[0050] Therefore, more specifically, such as Figure 2 , Figure 3 and Figure 5 As shown, in one embodiment, the noise elimination mechanism 3 includes a support platform 31 with a first support surface 31a. The support platform 31 protrudes from the upper surface of the gear 2, thereby separating the upper surface of the gear 2 from the mounting member 1. Furthermore, in the width direction of the mounting member 1, the distance between the two opposite edges of the first support surface 31a is greater than the width of the mounting member 1. When the gear 2 and the mounting member 1 are in contact, the first support surface 31a presses against the mounting member 1. Thus, in the width direction of the mounting member 1, the mounting member 1 cannot completely cover the first support surface 31a of the gear 2. Moreover, compared to a design where the upper flange surface of the gear 2 is completely covered by the mounting member 1, this solution increases the area of ​​the upper flange surface of the gear 2, which can stabilize the gear 2. This results in a more uniform compressive force on the first support surface 31a of the gear 2 when it contacts the mounting member 1, thereby increasing the transmission smoothness of the gear 2, making the rotation of the gear 2 more stable, and effectively preventing noise from the gear 2 during transmission. For example, the mounting member 1 can be a mounting plate.

[0051] like Figure 2 , Figure 3 and Figure 5 As shown, in one embodiment, the transmission mechanism 10 also includes a washer 4 and a base 5. The mounting member 1 is mounted on the base 5, the gear 2 is located between the mounting member 1 and the base 5, and the washer 4 is placed between the gear 2 and the base 5. The washer 4 pushes against the gear 2 under the support of the base 5, and causes the gear 2 to push against the support platform 31, so that the first support surface 31a presses against the mounting member 1, thereby realizing the contact installation of the gear 2 and the mounting member 1, and also making the installation of the gear 2 more stable.

[0052] like Figure 3 As shown, in one specific embodiment, the washer 4 can be a sealing ring, which can not only press the gear 2 towards the mounting member 1 under the support of the base 5, but also achieve a seal between the base 5 and the gear 2.

[0053] like Figure 2 , Figure 3 and Figure 5As shown, in one specific embodiment, the mounting component 1 is provided with a first mounting groove 11. The gear 2 can be the driving gear in the transmission mechanism 10. The gear 2 includes a wheel body 21, external teeth 22, and a shaft body 23. The external teeth 22 are located on the outer circumferential surface of the wheel body 21. The support platform 31 protrudes from the side of the wheel body 21 away from the washer 4 and is arranged around the shaft body 23. Therefore, the distance from the support platform 31 to the mounting component 1 is less than the distance from the external teeth 22 to the mounting component 1, thereby preventing the side of the external teeth 22 facing the mounting component 1 from contacting the mounting component 1. The shaft body 23 is rotatably mounted in the first mounting groove 11, realizing the rotation of the gear 2 relative to the mounting component 1.

[0054] Meanwhile, gear 2 also includes a bushing 24. The base 5 has a shaft hole 51. The bushing 24 protrudes from the side of the wheel body 21 facing away from the mounting member 1. The bushing 24 and the wheel body 21 rotate around the same rotation center. The bushing 24 is rotatably installed in the shaft hole 51. The bushing 24 is used to connect the power shaft of the power device (not shown) so that the wheel body 21 can be rotated under the drive of the power shaft. The washer 4 is arranged around the outer periphery of the side wall of the shaft hole 51 and abuts against the wheel body 21 under the push of the base 5. Further, gear 2 also includes a connecting groove (not shown). The connecting groove is provided on the side of the wheel body 21 facing away from the mounting member 1. The bushing 24 is located in the connecting groove. Along the radial direction of gear 2, a gap is formed between the outer wall surface of the bushing 24 and the inner wall surface of the connecting groove. Part of the side wall of the shaft hole 51 extends into the gap, realizing the rotation of gear 2 relative to the base 5. In this embodiment, gear 2 is a non-standard gear and can be an integrally molded injection part.

[0055] like Figure 3 and Figure 5 As shown, in one embodiment, the support platform 31 also has a second support surface 31b connected to the outer periphery of the first support surface 31a. The first support surface 31a is arranged around the rotation center of the gear 2. Specifically, the first support surface 31a is arranged around the shaft 23, and the second support surface 31b is an arc surface. The center of the second support surface 31b is located on the side of the first support surface 31a away from the mounting member 1. In this embodiment, the second support surface 31b located at the outer edge of the first support surface 31a is designed with rounded corners. Compared with a right-angle design, this allows for more uniform compression force when the support platform 31 of the gear 2 and the mounting member 1 are pressed against each other, thereby increasing the transmission smoothness of the gear 2 and avoiding abnormal noise.

[0056] like Figure 2 As shown, in one specific embodiment, the base 5 is provided with two mounting protrusions 53 spaced apart along the length direction of the mounting member 1, the gear 2 is located between the two mounting protrusions 53, and the two ends of the mounting member 1 along its length direction are respectively fixedly mounted on the two mounting protrusions 53.

[0057] Second set of embodiments:

[0058] The transmission mechanism 10 provided in this embodiment can be found in [reference]. Figure 2 , Figure 4 as well as Figures 6 to 9 .

[0059] The main difference between this embodiment and the first embodiment lies in the different installation states of gear 2 and mounting component 1, as well as the different structures of gear 2:

[0060] like Figure 2 and Figure 4 As shown, in one embodiment, the gear 2 is floatingly connected to the mounting member 1, and the noise elimination mechanism 3 includes a spacer 32. The side of the spacer 32 that contacts the mounting member 1 is curved. The spacer 32 is arranged around the rotation center of the gear 2 so that when the gear 2 floats relative to the mounting member 1, it contacts the mounting member 1 in a line contact manner.

[0061] It is understood that when gear 2 and mounting component 1 are floating, gear 2 floats relative to mounting component 1. Furthermore, gear 2 cannot maintain a horizontal rotation throughout its rotation; instead, it tilts to one side, causing the upper surface (upper flange surface) of gear 2 to continuously rub against mounting component 1. Since the contact area between the upper surface of gear 2 and mounting component 1 is large, noise is generated. Therefore, in the noise elimination mechanism 3 of this embodiment, a spacer 32 is provided to separate the upper surface of gear 2 (i.e., the upper flange surface of gear 2) from mounting component 1. The spacer 32 and mounting component 1 form a line contact through a curved surface. For example, the curved surface can be an arc surface surrounding the rotation center of gear 2, or multiple arc surfaces spaced apart around the rotation center of gear 2, depending on actual needs. Thus, within the same space, the spacer 32 in this solution uses a curved surface as the contact surface. Compared to using a flat surface between gear 2 and mounting component 1, this reduces the contact area between the upper surface of gear 2 and mounting component 1, thereby reducing the friction between gear 2 and mounting component 1 and effectively preventing the gear 2 from generating harsh noise during rotation.

[0062] like Figure 2 and Figure 4 As shown, in one embodiment, the transmission mechanism 10 also includes a base 5, the mounting member 1 is mounted on the base 5, the gear 2 is located between the mounting member 1 and the base 5, and there are floating gaps between one axial end of the gear 2 and the mounting member 1 and between the other axial end of the gear 2 and the base 5, so that the gear 2 can float between the mounting member 1 and the base 5, thereby realizing the floating installation of the gear 2 and the mounting member 1.

[0063] like Figure 2 , Figure 4 and Figure 6As shown, in a specific embodiment, the mounting member 1 is provided with a first mounting groove 11, and the base 5 is provided with a second mounting groove 52 at the position directly opposite the first mounting groove 11. The gear 2 includes a wheel body 21, an external tooth 22, and a shaft body 23. The external tooth 22 is provided on the outer circumferential surface of the wheel body 21. The wheel body 21 is mounted on the shaft body 23. The shaft body 23 is located at the rotation center of the wheel body 21. One axial end of the shaft body 23 is rotatably mounted in the first mounting groove 11, and the other axial end of the shaft body 23 is rotatably mounted in the second mounting groove 52. The spacer 32 is arranged around the shaft body 23 to separate the upper surface of the wheel body 21 from the mounting member 1 and prevent the wheel body 21 from contacting the mounting member 1.

[0064] like Figure 4 and Figure 6 As shown, in one embodiment, the spacer 32 is annular, and the side of the spacer 32 that contacts the mounting member 1 is an arc surface. In this embodiment, the annular spacer 32 forms a line contact with the mounting member 1 using an arc surface on the upper surface of the gear 2 (i.e., the side of the gear 2 facing the mounting member 1). Compared to using a flat surface as the contact surface between the gear 2 and the mounting member 1, this reduces the area of ​​the upper flange surface of the gear 2 in contact with the mounting member 1, thereby reducing the friction between the gear 2 and the mounting member 1 and effectively preventing the gear 2 from generating harsh noise during transmission. For example, the spacer 32 is a spacer ring.

[0065] In one specific embodiment, the spacer 32 includes an inner ring portion (not shown) and an outer ring portion (not shown) connected sequentially along the radial direction of the gear 2. The outer ring portion surrounds the outer periphery of the inner ring portion and forms an arc surface for contacting the mounting member 1. The inner ring portion is provided with a through hole (not shown) for the shaft 23 to pass through. Along the axial direction of the gear 2, the thickness of the inner ring portion is less than the thickness of the outer ring portion, so the distance from the inner ring portion to the mounting member 1 is greater than the distance from the outer ring portion to the mounting member 1. As a result, the outer ring portion can separate the inner ring portion and the mounting member 1, avoid the inner ring portion from contacting the mounting member 1, reduce the contact area between the spacer 32 and the mounting member 1, and reduce friction. In addition, both the inner ring portion and the outer ring portion are connected to the wheel body 21, which can improve the connection stability between the spacer 32 and the gear 2.

[0066] like Figure 2 and Figure 7As shown, in another embodiment, the spacer 32 includes multiple spacer portions 322, such as four, five, or six. This embodiment does not specifically limit the number of spacer portions 322. The gear 2 is provided with a first recess 321 corresponding to the multiple spacer portions 322. The first recess 321 is arranged around the rotation center of the gear 2. Specifically, the first recess 321 is arranged around the shaft 23. The multiple spacer portions 322 are located in the first recess 321 and are arranged around the rotation center of the gear 2. Specifically, the multiple spacer portions 322 are arranged around the shaft 23. Each spacer portion 322 protrudes from the first recess 321 along the axial direction of the gear 2. The side of each spacer portion 322 that contacts the mounting member 1 is an arc surface.

[0067] In this embodiment, the arc surfaces of multiple spacers 322 form line contact with the mounting member 1 between the gear 2 and the mounting member 1. Compared to using a flat surface as the contact surface between the gear 2 and the mounting member 1, this reduces the area of ​​the upper flange surface of the gear 2 in contact with the mounting member 1, thereby reducing the friction between the gear 2 and the mounting member 1 and effectively preventing the gear 2 from generating harsh noise during transmission. For example, the first recess 321 can be a groove, and the spacers 322 can be spheres 332, so that when the gear 2 floats in different directions, the side of the spacers 322 in contact with the mounting member 1 is arc-shaped, which helps to reduce friction.

[0068] It is understood that when gear 2 is floating, the top surface of shaft 23 is prone to rubbing against mounting component 1, specifically against the bottom wall of the first mounting groove 11 of mounting component 1. Therefore, if... Figure 4 and Figure 6 As shown, in one embodiment, the noise elimination mechanism 3 also includes a contact end 33, which is located at the rotation center of the gear 2 so as to contact the mounting member 1 in a point contact manner when the gear 2 floats, thereby reducing the contact area between the top of the gear 2 and the mounting member 1 and thus reducing friction.

[0069] like Figure 4 , Figure 7 and Figure 8 As shown, in one embodiment, the contact end 33 is tapered. Along the axial direction of the gear 2, the contact end 33 has a first surface 33a and a second surface disposed opposite to each other, and the projected area of ​​the first surface 33a is smaller than the projected area of ​​the second surface. The first surface 33a is an arc surface and is used to contact the mounting member 1. Specifically, the contact end 33 extends upward along the shaft 23, and the first surface 33a of the contact end 33 is used to contact the bottom wall of the first mounting groove 11. In this embodiment, the contact end 33 is configured to contact the mounting member 1 in a point contact manner, which can reduce the contact area of ​​the contact end 33 with the mounting member 1, thereby reducing friction.

[0070] likeFigure 4 and Figure 9 As shown, in another embodiment, the contact end 33 includes a ball 332. The gear 2 has a second recess 331 corresponding to the ball 332. The ball 332 is fixedly mounted on the second recess 331 and protrudes from the second recess 331 along the axial direction of the gear 2 to contact the mounting member 1. This allows the contact end 33 to contact the mounting member 1 in a point contact manner, reducing the contact area of ​​the contact end 33 with the mounting member 1 and thus reducing friction. For example, the second recess 331 is an arc-shaped groove to accommodate the ball 332.

[0071] like Figure 7 and Figure 9 As shown, in one specific embodiment, the sphere 332 is integrally connected in the arc-shaped groove, and the second recess 331 is provided on the side of the shaft 23 opposite to the wheel 21.

[0072] Third set of examples:

[0073] The transmission mechanism 10 provided in this embodiment can be found in [reference]. Figures 2 to 9 .

[0074] like Figure 2 As shown, the transmission mechanism 10 of this embodiment includes a mounting component 1 and two gears 2. Both gears 2 are rotatably mounted on the mounting component 1. Each gear 2 is provided with a noise elimination mechanism 3. The noise elimination mechanism 3 is used to eliminate the noise generated between the gear 2 and the mounting component 1. It can prevent the gear 2 from rubbing or squeezing against the mounting component 1 during rotation, thereby reducing noise interference to doctors and patients in the surgical setting, allowing doctors to concentrate more on the operation, and reducing the patient's fear and tension.

[0075] like Figures 2 to 4 As shown, in one embodiment, two gears 2 mesh, with one gear 2 abutting against the mounting member 1 and the other gear 2 floatingly connected to the mounting member 1. Further, the gear 2 abutting against the mounting member 1 is the driving gear, and the gear 2 floatingly connected to the mounting member 1 is the driven gear. That is, the driving gear can be the gear 2 in the first embodiment, and the driven gear can be the gear 2 in the second embodiment.

[0076] This embodiment uses the same structural configuration for the driving gear as gear 2 in the first embodiment, and also uses the same structural configuration for the driven gear as gear 2 in the second embodiment. This can greatly reduce the harsh noise and abnormal sounds generated during the operation of the transmission mechanism 10, and can even achieve zero noise. It can also solve the problems of noise and abnormal sounds generated by the driving gear and driven gear separately in situations where space is limited. Combined with... Figure 1In practical applications, it can greatly reduce the noise of the delivery device 100 of the interventional surgical robot during operation, thereby reducing noise interference to doctors and patients, allowing doctors to concentrate more on the operation, and reducing or even eliminating patients' fear and tension.

[0077] like Figures 2 to 4 As shown, in one embodiment, the mounting component 1 is provided with two first mounting slots 11, and two gears 2 are rotatably connected to the two first mounting slots 11 respectively.

[0078] like Figure 1 As shown, this application embodiment also provides a delivery device 100 for an interventional surgical robot, which includes a transmission mechanism 10 of any one of the first, second, and third embodiments. Because this delivery device uses the transmission mechanism 10 of any of the above embodiments, the noise of the delivery device 100 for the interventional surgical robot can be reduced during operation, thereby reducing noise interference to doctors and patients, allowing doctors to concentrate more on the surgery, and also reducing the patient's fear and tension.

[0079] like Figure 1 and Figure 2 As shown, in one embodiment, the delivery device further includes a first clamping mechanism 20 and a second clamping mechanism 30. The second clamping mechanism 30 and the first clamping mechanism 20 are arranged along the length direction of the mounting member 1, and a space for clamping a slender medical device (not shown) is formed between them. The transmission mechanism 10 is respectively connected to the first clamping mechanism 20 and the second clamping mechanism 30 to drive the first clamping mechanism 20 and the second clamping mechanism 30 to move, so as to deliver slender medical devices such as guide wires and catheters.

[0080] like Figure 1 and Figure 2 As shown, in one embodiment, the transmission mechanism 10 has two gears 2, which mesh together. One of the gears 2 drives the other to rotate. One of the gears 2 is connected to the first clamping mechanism 20, and the other gear 2 is connected to the second clamping mechanism 30.

[0081] The above description is merely a preferred embodiment of this application and does not limit the patent scope of this application. Any equivalent structural transformations made based on the content of this application's specification and drawings under the concept of this application, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this application.

Claims

1. A transmission mechanism, characterized in that, The transmission mechanism includes: Installation components; A gear, which is rotatably mounted on the mounting member; An abnormal noise elimination mechanism is disposed on the gear, the abnormal noise elimination mechanism having a contact surface configured to contact the mounting member to eliminate abnormal noise generated between the gear and the mounting member.

2. The transmission mechanism according to claim 1, characterized in that, The gear abuts against the mounting component, and the noise elimination mechanism includes a support platform with a first support surface, the support platform protruding from the upper surface of the gear; In the width direction of the mounting member, the distance between the two opposite edges of the first support surface is greater than the width of the mounting member; When the gear is in contact with the mounting member, the first support surface presses against the mounting member.

3. The transmission mechanism according to claim 2, characterized in that, The transmission mechanism further includes a washer and a base, the mounting member is mounted on the base, the gear is located between the mounting member and the base, and the washer is placed between the gear and the base; The washer pushes against the gear under the support of the base, and the gear pushes against the support platform, so that the first support surface presses against the mounting member.

4. The transmission mechanism according to claim 2, characterized in that, The support platform also has a second support surface connected to the outer periphery of the first support surface. The first support surface is arranged around the rotation center of the gear, and the second support surface is an arc surface. The center of the second support surface is located on the side of the first support surface away from the mounting component.

5. The transmission mechanism according to claim 1, characterized in that, The gear is floatingly connected to the mounting component. The noise elimination mechanism includes a spacer. The side of the spacer that contacts the mounting component is curved. The spacer is arranged around the rotation center of the gear so that it contacts the mounting component in a line contact manner when the gear floats relative to the mounting component.

6. The transmission mechanism according to claim 5, characterized in that, The transmission mechanism also includes a base, the mounting component is mounted on the base, the gear is located between the mounting component and the base, and there are floating gaps between one axial end of the gear and the mounting component and between the other axial end of the gear and the base, so that the gear can float between the mounting component and the base.

7. The transmission mechanism according to claim 5, characterized in that, The spacer is annular, and the side of the spacer that contacts the mounting member is an arc surface; or, The spacer includes a plurality of spacer portions. The gear is provided with a first recess corresponding to the plurality of spacer portions. The first recess is arranged around the rotation center of the gear. The plurality of spacer portions are located in the first recess and are arranged around the rotation center of the gear. Each spacer portion protrudes from the first recess along the axial direction of the gear. The side of each spacer portion that contacts the mounting member is an arc surface.

8. The transmission mechanism according to claim 5, characterized in that, The noise elimination mechanism also includes a contact end located at the rotation center of the gear, so as to contact the mounting member in a point-contact manner when the gear is floating.

9. The transmission mechanism according to claim 8, characterized in that, The contact end is tapered along the axial direction of the gear, and has a first surface and a second surface disposed opposite to each other. The projected area of ​​the first surface is smaller than the projected area of ​​the second surface. The first surface is arc-shaped and is used to contact the mounting member; or, The contact end includes a ball, and the gear has a second recess corresponding to the ball. The ball is fixedly installed on the second recess and protrudes from the second recess along the axial direction of the gear to contact the mounting member.

10. A delivery device for an interventional surgical robot, characterized in that, Includes the transmission mechanism according to any one of claims 1-9.

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