Adapter and surgical robot

Abstract

The utility model relates to an adapter and a surgical robot. The adapter comprises a base, a gear ring set and a first transmission assembly. The base is connected to the machine body in a sliding mode and used for bearing the aortic valve repairing instrument; the gear ring group comprises at least one gear ring, and the gear ring is connected with a rotating part of the aortic valve repair instrument; the first transmission assembly is installed on the base and comprises at least one transmission set. The transmission group is in transmission connection with the gear ring so as to drive the rotating part of the aortic valve repair instrument to rotate. The adapter provided by the embodiment of the utility model is relatively simple in structure, so that the structure of the finally formed surgical robot is also relatively simple, a doctor can adjust and control the aortic valve repair instrument only by operating the power on-off of each transmission group, and the operation is very simple, convenient and labor-saving.

Description

Technical Field

[0001] This application relates to the field of surgical robot technology, and in particular to adapters and surgical robots. Background Technology

[0002] Aortic valve replacement (AVR) is a cardiac surgery used to treat aortic valve disease. When the aortic valve is severely narrowed or regurgitated, aortic valve replacement surgery may be necessary to replace the diseased valve. Among related technologies, techniques have emerged that use surgical robots to control aortic valve repair devices; however, current surgical robots have complex structures, making their fabrication and manufacturing difficult, and their operation by surgeons also cumbersome. Utility Model Content

[0003] Therefore, it is necessary to provide an adapter to address the current issues of complex surgical robot structures and cumbersome operation for surgeons when performing aortic valve replacement surgery using surgical robots.

[0004] An adapter comprising:

[0005] The base, slidably connected to the body, is used to support the aortic valve repair device;

[0006] A toothed ring assembly, comprising at least one toothed ring, each of the toothed rings being connected to at least one rotating part of the aortic valve repair device;

[0007] The first transmission assembly is mounted on the base and includes at least one set of transmission groups; each of the transmission groups is connected to one of the gear rings to drive the rotating part of the aortic valve repair device to rotate.

[0008] In some embodiments, each of the gear rings includes at least two detachably connected toothed connections.

[0009] In some embodiments, one of two adjacent toothed connections is provided with a snap-fit ​​protrusion, and the other is provided with a snap-fit ​​groove;

[0010] The snap-fit ​​protrusion can at least partially extend into the snap-fit ​​groove and engage with it.

[0011] In some embodiments, the snap-fit ​​protrusion includes at least two spaced-apart snap-fit ​​structures, each of which has at least one snap-fit ​​arm on its outer peripheral wall.

[0012] In some embodiments, the adapter further includes a retaining clip rotatably connected to the base;

[0013] The fixing buckle has a fixing groove; the fixing groove is used to engage with the outer periphery of the aortic valve repair device.

[0014] In some embodiments, the retaining clip includes:

[0015] The fixed body is rotatably connected to the base;

[0016] The closable cover is rotatably connected to the fixed body; and

[0017] A locking element is inserted through the closable cover and connected to the fixed body.

[0018] In some embodiments, the base includes a fixing plate;

[0019] The fixing plate has a rotating groove, and the fixing buckle is at least partially accommodated in the rotating groove and rotatably connected to the groove wall.

[0020] In some embodiments, the outer periphery of the retaining clip has a toothed structure;

[0021] The adapter further includes a second transmission component; the second transmission component is mounted on the base and engages with the tooth structure to drive the fixing buckle to rotate relative to the base.

[0022] In some embodiments, the gear ring assembly includes a first gear ring;

[0023] The inner ring of the first gear ring has a retaining protrusion.

[0024] The protruding part is used to engage with the unlocking slot on the aortic valve repair device.

[0025] In some embodiments, the gear ring assembly includes four spaced-apart gear rings;

[0026] The first transmission assembly includes four transmission groups;

[0027] Each of the drive groups engages with one of the gear rings.

[0028] This application also provides a surgical robot, which includes the adapter described in any of the above embodiments, and further includes:

[0029] body;

[0030] An actuator is connected to the machine body; the base is mounted on the actuator.

[0031] In some embodiments, the actuator is configured with a plurality of spaced-apart drive shafts;

[0032] Each of the drive shafts is used for drive connection with one of the sets of transmission groups.

[0033] When the aforementioned adapter is installed on a surgical robot for aortic valve replacement surgery, each toothed ring of the toothed ring assembly is first connected to at least one rotating part of the aortic valve repair device. Then, the aortic valve repair device is supported on a base, allowing each transmission group within the first transmission assembly to be connected to a toothed ring. This enables the surgeon to control the power supply to each transmission group, thereby rotating the rotating part of the aortic valve repair device. The adapter provided in this embodiment has a relatively simple structure, resulting in a simpler surgical robot. Furthermore, the surgeon only needs to operate the power supply to each transmission group to adjust and control the aortic valve repair device, making the operation very simple and effortless. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of an adapter installed on an actuator of a surgical robot, according to some embodiments of this application.

[0035] Figure 2 for Figure 1 The diagram shows the connection of the base, first transmission component, fixing buckle, and second transmission component in the adapter.

[0036] Figure 3 for Figure 2 The diagram shows the adapter with the retaining clips in the engaged position.

[0037] Figure 4 for Figure 2 The diagram shows the adapter with the retaining clips in the open position.

[0038] Figure 5 for Figure 1 The diagram shows the connection between the adapter and the aortic valve repair device.

[0039] Figure 6 for Figure 5 The diagram shows the connection between the aortic valve repair device and the toothed ring assembly.

[0040] Figure 7 for Figure 6 A schematic diagram of the first tooth connection of any gear in the gear ring assembly shown.

[0041] Figure 8 for Figure 6 A schematic diagram of the second tooth connection of any gear in the gear ring assembly shown.

[0042] Figure 9 for Figure 6The diagram shows the connection between the first toothed ring in the adapter and the aortic valve repair device.

[0043] Figure 10 for Figure 9 A magnified view of a portion at point A shown.

[0044] Figure 11 for Figure 1 A schematic diagram of the actuator in the surgical robot shown.

[0045] Figure 12 for Figure 11 The diagram shows the internal structure of the actuator.

[0046] Figure label:

[0047] 1000-Adapter;

[0048] 100 - Base; 110 - Fixing plate; 111 - Rotation groove;

[0049] 200-Gear ring assembly; 210-Gear ring; 211-First tooth connecting part; 212-Second tooth connecting part; 213-Snap-fit ​​protrusion; 2131-Snap-fit ​​protrusion structure; 2131a-Snap-fit ​​protrusion arm; 214-Snap-fit ​​groove; 215-Snap-fit ​​protrusion; 220-First gear ring; 230-Second gear ring; 240-Third gear ring; 250-Fourth gear ring;

[0050] 300 - First transmission assembly; 310 - First transmission group; 311 - First transmission shaft; 312 - Second transmission shaft; 313 - First transmission gear; 320 - Second transmission group; 321 - Third transmission shaft; 322 - Fourth transmission shaft; 323 - Second transmission gear; 330 - Third transmission group; 331 - Fifth transmission shaft; 332 - Sixth transmission shaft; 333 - Third transmission gear; 340 - Fourth transmission group; 341 - Seventh transmission shaft; 342 - Eighth transmission shaft; 343 - Fourth transmission gear;

[0051] 400-Fixing buckle; 400a-Fixing snap-fit ​​groove; 410-Fixing body; 411-Locking hole; 420-Closeable cover; 430-Locking element; 440-Toothed structure;

[0052] 500 - Second transmission assembly; 510 - Ninth transmission shaft; 520 - Tenth transmission shaft; 530 - Eleventh transmission shaft; 540 - Twelfth transmission shaft; 550 - Fifth transmission gear;

[0053] 600 - Magnetic fixing component; 610 - Fixing hole;

[0054] 700-Aortic valve repair device; 700a-Unlocking slot; 700b-Child lock key; 710-Catheter; 720-First rotating part; 730-Second rotating part; 740-Third rotating part; 750-Fourth rotating part;

[0055] 2000 - Actuator; 2000a - Receiving cavity; 2100 - First drive shaft; 2200 - Second drive shaft; 2300 - Third drive shaft; 2400 - Fourth drive shaft; 2500 - Fifth drive shaft;

[0056] 3000 - fuselage; 3100 - hospital bed;

[0057] 4000 - Sliding component; 4100 - Slider; 4200 - Sliding groove. Detailed Implementation

[0058] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0059] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0060] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0061] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0062] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0063] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0064] Aortic valve replacement (AVR) is a cardiac surgery used to treat aortic valve disease. When the aortic valve experiences severe stenosis or regurgitation, aortic valve replacement surgery may be necessary to replace the diseased valve. In related technologies, techniques have emerged that use surgical robots to control aortic valve repair devices; however, current surgical robots have complex structures, making their fabrication and manufacturing difficult, and their operation by surgeons cumbersome. Based on these issues, this application provides an adapter.

[0065] See Figure 1 and combined Figures 2-6 , Figure 1 A schematic diagram is shown of an adapter 1000 provided in some embodiments of this application being mounted on an actuator 2000 on a surgical robot. Figure 2 It shows Figure 1The diagram shows the connection of the base 100, the first transmission component 300, the fixing buckle 400, and the second transmission component 500 in the adapter 1000. Figure 3 It shows Figure 2 The diagram shows the retaining clip 400 in the adapter 1000 in the engaged state. Figure 4 It shows Figure 2 The diagram shows the adapter 1000 with the retaining clip 400 in the open position. Figure 5 It shows Figure 1 The diagram shows the connection between the adapter 1000 and the aortic valve repair device 700. Figure 6 It shows Figure 5 The diagram shows the connection between the aortic valve repair device 700 and the toothed ring assembly 200.

[0066] An adapter 1000 provided in one embodiment of this application includes a base 100, a gear ring assembly 200, and a first transmission assembly 300. The base 100 is slidably connected to the body 3000 and is used to support the aortic valve repair device 700. The gear ring assembly 200 includes at least one gear ring 210, which is connected to the rotating part of the aortic valve repair device 700. The first transmission assembly 300 is mounted on the base 100 and includes at least one transmission group. The transmission group is drively connected to the gear ring 210 to drive the rotating part of the aortic valve repair device 700 to rotate.

[0067] It should be noted that there are two access routes for aortic valve replacement surgery. One is the femoral artery approach: the catheter 710 is inserted through the femoral artery in the groin, travels retrogradely along the vessel across the aortic arch, and is operated at the valve orifice where the left ventricle exits into the aorta. The other is the transapical approach: a small incision is made in the left intercostal space to directly access the apex of the heart, and then the catheter 710 is inserted for the operation. In clinical practice, physicians need to assess the appropriate surgical approach based on the patient's condition. The aortic valve repair device 700 provided in this application is a transapical device.

[0068] When the adapter 1000 is installed on a surgical robot for aortic valve replacement surgery, each toothed ring 210 of the toothed ring assembly 200 is first connected to at least one rotating part of the aortic valve repair device 700. Then, the aortic valve repair device 700 is supported on the base 100, so that each transmission group within the first transmission assembly 300 can be connected to one toothed ring 210. This allows the surgeon to control the power supply of each transmission group to rotate the rotating part of the aortic valve repair device 700. The adapter 1000 provided in this embodiment has a relatively simple structure, resulting in a simpler surgical robot structure. Furthermore, the surgeon only needs to operate the power supply of each transmission group to adjust and control the aortic valve repair device 700, making the operation very simple and effortless.

[0069] The adapter 1000 provided in this application embodiment enables doctors to remotely control the aortic valve repair device 700, for example, by operating it outside the operating room. This reduces the radiation damage to doctors and the intensity of their operations, while also further improving the precision of the surgical procedure.

[0070] The following is a detailed description of the structure of adapter 1000. Please refer to [link / reference needed]. Figures 7-10 , Figure 7 It shows Figure 6 A schematic diagram of the first tooth connection portion 211 of any tooth ring 210 in the tooth ring assembly 200 shown. Figure 8 It shows Figure 6 A schematic diagram of the second tooth connection portion 212 of any tooth ring 210 in the tooth ring assembly 200 shown. Figure 9 It shows Figure 6 A schematic diagram showing the connection between the first toothed ring 220 in the adapter 1000 and the aortic valve repair device 700. Figure 10 It shows Figure 9 A magnified view of a portion at point A shown.

[0071] Please see Figure 7 and combined Figure 8 In some embodiments, each toothed ring 210 includes at least two detachably connected toothed connectors. By configuring each toothed ring 210 to include at least two detachably connected toothed connectors, the engagement of the toothed ring 210 with the rotating part of the aortic valve repair device 700 is facilitated.

[0072] In one specific embodiment, each gear ring 210 includes two detachably connected toothed connecting portions, each toothed connecting portion being a half-gear ring structure, thereby enabling the two half-gear ring structures to be separated or installed very quickly when the gear ring 210 is mounted on the rotating part. Of course, in other embodiments, each gear ring 210 may also include three or four detachably connected toothed connecting portions, without particular limitation.

[0073] Please see Figure 7 and Figure 8 In some embodiments, one of two adjacent toothed connectors is provided with a snap-fit ​​protrusion 213, and the other is provided with a snap-fit ​​groove 214; the snap-fit ​​protrusion 213 can at least partially extend into the snap-fit ​​groove 214 and engage with it. The engagement of the snap-fit ​​groove 214 and the snap-fit ​​protrusion 213 facilitates the assembly and disassembly of the two adjacent toothed connectors.

[0074] Please see Figure 7 and combined Figure 8 In some of these examples, each toothed ring 210 includes a first toothed connection portion 211 and a second toothed connection portion 212, which are detachably connected. The first toothed connection portion 211 is provided with a snap-fit ​​groove 214, and the second toothed connection portion 212 is provided with a snap-fit ​​protrusion 213.

[0075] Please see Figure 8 In some embodiments, the snap-fit ​​protrusion 213 includes at least two spaced-apart snap-fit ​​structures 2131, each snap-fit ​​structure 2131 having at least one snap-fit ​​arm 2131a on its outer peripheral wall. By configuring the snap-fit ​​protrusion 213 as at least two spaced-apart snap-fit ​​structures 2131, the snap-fit ​​protrusion can easily extend into the snap-fit ​​groove 214 through the deformation of the snap-fit ​​structure 2131 when it extends into the snap-fit ​​groove 214. Furthermore, since each snap-fit ​​structure 2131 has at least one snap-fit ​​arm 2131a on its outer peripheral wall, the snap-fit ​​arm 2131a abuts against the groove wall of the snap-fit ​​groove 214, making the engagement more secure. This design balances the ease of assembly and disassembly of the toothed connecting parts with the stability of the engagement.

[0076] Please see Figure 2 and combined Figures 3-5In some embodiments, the adapter 1000 further includes a retaining clip 400 rotatably connected to the base 100; the retaining clip 400 is configured with a retaining groove 400a; the retaining groove 400a is used to engage the outer periphery of the aortic valve repair device 700. By providing the retaining clip 400, the outer periphery of the aortic valve repair device 700 can be engaged through the retaining groove 400a of the retaining clip 400, thereby fixing the aortic valve repair device 700 to the base 100.

[0077] Please see Figures 3-5 In some embodiments, the fixing buckle 400 includes a fixing body 410, a closable cover 420, and a locking member 430. The fixing body 410 is rotatably connected to the base 100; the closable cover 420 is rotatably connected to the fixing body 410; the locking member 430 passes through the closable cover 420 and is connected to the fixing body 410. By providing a closable cover 420 that can be rotatably connected to the fixing body 410, the closable cover 420 can be opened when the aortic valve repair device 700 is fixed into the fixing slot 400a. Figure 4 In the state shown, the closable cover 420 is then fastened, and the closable cover 420 is connected to the fixed body 410 by the locking member 430, which makes it more convenient to install the aortic valve repair device 700 into the fixed buckle 400.

[0078] In one specific embodiment, the fixing body 410 is provided with a locking hole 411, and the locking member 430 passes through the closable cover 420 and connects to the wall of the locking hole 411. Optionally, the locking member 430 can be a threaded connector, and the locking hole 411 is a threaded hole that mates with it.

[0079] Please see Figures 2-5 In some embodiments, the base 100 includes a fixing plate 110; the fixing plate 110 is configured with a rotating groove 111, and the fixing buckle 400 is at least partially accommodated in the rotating groove 111 and rotatably connected to the groove wall of the rotating groove 111. This arrangement allows the fixing buckle 400 to drive the entire aortic valve repair device 700 to rotate relative to the groove wall of the rotating groove 111, thereby achieving rotational adjustment of the catheter 710 on the aortic valve repair device 700.

[0080] Please see Figures 2-5In some embodiments, the outer periphery of the retaining clip 400 is provided with a toothed structure 440; the adapter 1000 also includes a second transmission assembly 500; the second transmission assembly 500 is mounted on the base 100 and engages with the toothed structure 440 to drive the retaining clip 400 to rotate relative to the base 100. Through the engagement of the toothed structure 440 on the outer periphery of the retaining clip 400 with the second transmission assembly 500, the retaining clip 400 can be driven to rotate relative to the base 100 via the second transmission assembly 500, thereby achieving rotational adjustment of the catheter 710 on the aortic valve repair device 700.

[0081] Please see Figure 8 and combined Figure 9 and Figure 10 In some embodiments, the gear ring assembly 200 includes a first gear ring 220; the inner ring of the first gear ring 220 has a locking protrusion 215; the locking protrusion 215 is used to engage with the unlocking groove 700a on the aortic valve repair device 700. The aortic valve repair device 700 has an unlocking groove 700a and a child lock key 700b that can slide along the extending direction of the unlocking groove 700a. When it is necessary to control the rotation of the rotating part on the aortic valve repair device 700, the child lock key 700b needs to be in the unlocked position. This application constructs a locking protrusion 215 on the inner ring of the first gear ring 220, and makes the locking protrusion 215 engage with the unlocking groove 700a on the aortic valve repair device 700, thereby allowing the child lock key 700b to slide to the unlocked position, thus unlocking the aortic valve repair device 700 and facilitating subsequent rotation control and adjustment.

[0082] Please see Figure 6 In some embodiments, the gear ring assembly 200 includes four spaced-apart gear rings 210; see also Figures 2-4 The first transmission assembly 300 includes four transmission groups; each transmission group meshes with one of the gear rings 210. By setting four gear rings 210 and four transmission groups, each gear ring 210 is controlled by one transmission group, thereby achieving high control precision for the gear rings 210.

[0083] Please see Figure 6The aortic valve repair device 700 includes four rotating parts, enabling adjustment functions such as forward and backward movement and turning of the catheter 710. The toothed ring assembly 200 includes a first toothed ring 220, a second toothed ring 230, a third toothed ring 240, and a fourth toothed ring 250. The first toothed ring 220 is fitted around the outer periphery of the first rotating part 720 of the aortic valve repair device 700. The second toothed ring 230 is fitted around the outer periphery of the second rotating part 730 of the aortic valve repair device 700. The third toothed ring 240 is fitted around the outer periphery of the third rotating part 740 of the aortic valve repair device 700. The fourth toothed ring 250 is fitted around the outer periphery of the fourth rotating part 750 of the aortic valve repair device 700. Thus, the rotation of the four rotating parts of the aortic valve can be controlled and adjusted through the four toothed rings.

[0084] This application also provides a surgical robot; please refer to [link / reference needed]. Figure 1 and combined Figure 11 , Figure 11 It shows Figure 1 The diagram shows an actuator in a surgical robot. The surgical robot provided in this application includes the adapter 1000 described in any of the above embodiments, and also includes a body 3000 and an actuator 2000, with the actuator 2000 connected to the body 3000; the base 100 is mounted on the actuator 2000.

[0085] When a patient undergoes aortic valve replacement surgery via the transapical approach using the surgical robot provided in this application embodiment, the actuator 2000 provides power to the adapter 1000, thereby enabling the adapter 1000 to provide power to the aortic valve repair device 700 mounted on the base 100, thereby achieving at least one of the above-mentioned technical effects.

[0086] In some embodiments, the fuselage 3000 also includes a hospital bed 3100 on which the patient lies supine. It should be noted that... (See also...) Figure 1 When aortic valve replacement surgery requires a transapical approach, the surgeon needs to be positioned on the patient's left side to facilitate the procedure. Here, "left" and "right" refer to... Figure 1 and Figure 2 The two sides along the yy' direction.

[0087] Please see Figure 1 and Figure 11In some embodiments, the surgical robot further includes a sliding assembly 4000, which includes a slider 4100 and a sliding groove 4200. The slider 4100 is connected to the body 3000; the sliding groove 4200 is mounted on the actuator 2000 and slidably connected to the slider 4100. The sliding of the actuator 2000 relative to the body 3000 is achieved through the cooperation of the slider 4100 and the sliding groove 4200, which is relatively simple and convenient.

[0088] Please see Figure 1 In some embodiments, the adapter 1000 further includes a magnetic fixation assembly 600, which is detachably connected to the slider 4100; the magnetic fixation assembly is configured with fixation holes 610 adapted to the inner sheath of the aortic valve repair device 700.

[0089] By incorporating the magnetic fixation component 600, the catheter 710 of the aortic valve repair device 700 can be fixed in place by the fixation hole 610 during delivery. This ensures that the inner sheath of the catheter 710 remains stationary relative to the patient as the outer and middle sheaths advance within the body. Furthermore, the detachable connection between the magnetic fixation component 600 and the slider 4100 allows for quick assembly and disassembly of the magnetic fixation component 600 and the slider 4100 when switching between different surgical procedures, thus meeting diverse usage needs.

[0090] Please see Figure 12 , Figure 12 It shows Figure 11 The diagram shows the internal structure of the actuator 2000. In some embodiments, the actuator 2000 is equipped with multiple spaced-apart drive shafts; each drive shaft is used to drive a set of transmission groups. By controlling the transmission of a set of transmission groups through each drive shaft, the rotation of a gear ring 210 is ultimately controlled, thereby enabling more precise rotational control of the aortic valve repair device 700.

[0091] Please see Figure 12 and combined Figures 2-4 In some embodiments, the actuator 2000 is configured with a receiving cavity 2000a, within which at least five independently arranged transmission structures are disposed, each of which ultimately outputs a drive shaft. For example... Figure 9The actuator 2000 has five spaced-apart drive shafts: a first drive shaft 2100, a second drive shaft 2200, a third drive shaft 2300, a fourth drive shaft 2400, and a fifth drive shaft 2500. The adapter 1000's first transmission assembly 300 includes four transmission groups: a first transmission group 310, a second transmission group 320, a third transmission group 330, and a fourth transmission group 340. The first drive shaft 2100 is connected to the first transmission group 310, the second drive shaft 2200 is connected to the second transmission group 320, the third drive shaft 2300 is connected to the third transmission group 330, the fourth drive shaft 2400 is connected to the fourth transmission group 340, and the fifth drive shaft 2500 is connected to the second transmission assembly 500. This allows the first drive shaft 2100 to output power to the first gear ring 220, the second drive shaft 2200 to output power to the second gear ring 230, the third drive shaft 2300 to output power to the third gear ring 240, the fourth drive shaft 2400 to output power to the fourth gear ring 250, and the fifth drive shaft 2500 to output power to the tooth structure 440 on the fixed buckle 400.

[0092] Please see Figures 2-4 In some embodiments, the first transmission assembly 310 includes a first transmission shaft 311, a second transmission shaft 312, and a first transmission gear 313. The first transmission shaft 311 and the second transmission shaft 312 are connected by a structure such as a helical gear set that engages with each other. The first transmission shaft 311 is connected to the first drive shaft 2100. The first transmission gear 313 is fixedly sleeved on the second transmission shaft 312 and can mesh with the first gear ring 220, so that the power of the first drive shaft 2100 can be transmitted to the first transmission gear 313 via the first transmission shaft 311 and the second transmission shaft 312, and finally to the first gear ring 220, so that the first gear ring 220 drives the first rotating part 720 on the aortic valve repair device 700 to rotate.

[0093] Please see Figures 2-4 In some embodiments, the second transmission assembly 320 includes a third transmission shaft 321, a fourth transmission shaft 322, and a second transmission gear 323. The third transmission shaft 321 and the fourth transmission shaft 322 are connected by a structure such as a helical gear set that meshes with each other. The third transmission shaft 321 is connected to the second drive shaft 2200. The second transmission gear 323 is fixedly sleeved on the fourth transmission shaft 322 and can mesh with the second gear ring 230, so that the power of the second drive shaft 2200 can be transmitted to the second transmission gear 323 via the third transmission shaft 321 and the fourth transmission shaft 322, and finally to the second gear ring 230, so that the second gear ring 230 drives the second rotating part 730 on the aortic valve repair device 700 to rotate.

[0094] Please see Figures 2-4In some embodiments, the third transmission assembly 330 includes a fifth transmission shaft 331, a sixth transmission shaft 332, and a third transmission gear 333. The fifth transmission shaft 331 and the sixth transmission shaft 332 are connected by a structure such as a helical gear set that engages with each other. The fifth transmission shaft 331 is connected to the third drive shaft 2300. The third transmission gear 333 is fixedly sleeved on the sixth transmission shaft 332 and can mesh with the third gear ring 240, so that the power of the third drive shaft 2300 can be transmitted to the third transmission gear 333 via the fifth transmission shaft 331 and the sixth transmission shaft 332, and finally to the third gear ring 240, so that the third gear ring 240 drives the third rotating part 740 on the aortic valve repair device 700 to rotate.

[0095] Please see Figures 2-4 In some embodiments, the fourth transmission assembly 340 includes a seventh transmission shaft 341, an eighth transmission shaft 342, and a fourth transmission gear 343. The seventh transmission shaft 341 and the eighth transmission shaft 342 are connected by a structure such as a helical gear set that meshes with each other, and the seventh transmission shaft 341 is connected to the fourth drive shaft 2400. The fourth transmission gear 343 is fixedly sleeved on the eighth transmission shaft 342 and can mesh with the fourth gear ring 250, so that the power of the fourth drive shaft 2400 can be transmitted to the fourth transmission gear 343 via the seventh transmission shaft 341 and the eighth transmission shaft 342, and finally to the fourth gear ring 250, so that the fourth gear ring 250 drives the fourth rotating part 750 on the aortic valve repair device 700 to rotate.

[0096] Please see Figure 2 In some embodiments, the second transmission assembly 500 includes a ninth transmission shaft 510, a tenth transmission shaft 520, an eleventh transmission shaft 530, a twelfth transmission shaft 540, and a fifth transmission gear 550. The ninth transmission shaft 510, tenth transmission shaft 520, eleventh transmission shaft 530, and twelfth transmission shaft 540 are connected to each other by a structure such as a helical gear set that engages with each other. The ninth transmission gear is connected to the fifth drive shaft 2500. The fifth transmission gear 550 is sleeved on the twelfth transmission shaft 540 and can mesh with the tooth structure 440, so that the power of the fifth drive shaft 2500 can be transmitted to the fifth transmission gear 550 through the ninth transmission shaft 510, tenth transmission shaft 520, eleventh transmission shaft 530, and twelfth transmission shaft 540, and finally to the tooth structure 440, so that the tooth structure 440 drives the entire aortic valve repair device 700 to rotate. By setting multiple drive shafts, the structure of the entire second drive assembly 500 is more compact, the space utilization rate is higher, and the resulting adapter 1000 is smaller in size.

[0097] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0098] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. An adapter, characterized in that, The adapter includes: The base (100) is slidably connected to the body (3000) and is used to support the aortic valve repair device (700). A toothed ring assembly (200) includes at least one toothed ring (210), each of the toothed rings (210) being connected to at least one rotating part of the aortic valve repair device (700); The first transmission assembly (300) is mounted on the base (100) and includes at least one transmission group; each transmission group is connected to one of the gear rings (210) to drive the rotating part of the aortic valve repair device (700) to rotate.

2. The adapter according to claim 1, characterized in that, Each of the toothed rings (210) includes at least two detachably connected toothed connections.

3. The adapter according to claim 2, characterized in that, One of the two adjacent toothed connections is configured with a snap-fit ​​protrusion (213), and the other is configured with a snap-fit ​​groove (214). The snap-fit ​​protrusion (213) can at least partially extend into the snap-fit ​​groove (214) and snap-fit ​​with the snap-fit ​​groove (214).

4. The adapter according to claim 3, characterized in that, The snap-fit ​​protrusion (213) includes at least two spaced snap-fit ​​structures (2131), and the outer peripheral wall of each snap-fit ​​structure (2131) is constructed with at least one snap-fit ​​arm (2131a).

5. The adapter according to claim 1, characterized in that, The adapter also includes a retaining clip (400) rotatably connected to the base (100); The fixing buckle (400) is constructed with a fixing groove (400a); the fixing groove (400a) is used to engage the periphery of the aortic valve repair device (700).

6. The adapter according to claim 5, characterized in that, The fixing buckle (400) includes: The fixed body (410) is rotatably connected to the base (100). The closable cover (420) is rotatably connected to the fixed body (410); and The locking element (430) passes through the closable cover (420) and is connected to the fixing body (410).

7. The adapter according to claim 6, characterized in that, The base (100) includes a fixing plate (110); The fixing plate (110) is constructed with a rotating groove (111), and the fixing buckle (400) is at least partially accommodated in the rotating groove (111) and rotatably connected to the groove wall of the rotating groove (111).

8. The adapter according to claim 5, characterized in that, The outer peripheral structure of the fixing buckle (400) has a toothed structure (440). The adapter also includes a second transmission assembly (500); the second transmission assembly (500) is mounted on the base (100) and engages with the tooth structure (440) to drive the fixing buckle (400) to rotate relative to the base (100).

9. The adapter according to any one of claims 1-8, characterized in that, The gear assembly (200) includes a first gear (220); The inner ring of the first toothed ring (220) has a locking protrusion (215). The protrusion (215) is used to engage with the unlocking groove (700a) on the aortic valve repair device (700).

10. The adapter according to any one of claims 1-8, characterized in that, The gear ring assembly (200) includes four spaced gear rings (210); The first transmission assembly (300) includes four transmission groups; Each of the transmission groups engages with one of the gear rings (210).

11. A surgical robot, characterized in that, The adapter comprising any one of claims 1-10 further comprises: fuselage (3000); An actuator (2000) is connected to the body (3000); the base (100) is mounted on the actuator (2000).

12. The surgical robot according to claim 11, characterized in that, The actuator (2000) is equipped with multiple spaced-apart drive shafts; Each of the drive shafts is used for drive connection with one of the sets of transmission groups.

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