Actuator power unit and surgical support system

Abstract

An actuator power unit and a surgery support system, the actuator power unit comprising an outer sheath drive unit (11), the outer sheath drive unit (11) being provided to be drivingly connected to an outer sheath adapter (2), the outer sheath adapter (2) being provided to support an outer sheath unit (201), the outer sheath drive unit (11) being provided to drive the outer sheath unit (201) via the outer sheath adapter (2) to perform an operation, and an inner sheath drive unit (12), the inner sheath drive unit (12) being provided to be drivingly connected to an inner sheath adapter (3), the inner sheath drive unit (12) being provided to support an outer sheath unit (201) via the outer sheath adapter (2) to perform an operation. The inner sheath drive unit (13) is provided to support the inner sheath unit (202), and the inner sheath drive unit (12) is provided to drive the inner sheath unit (202) via the inner sheath adapter (3) to perform an operation, and the inner sheath drive unit (13) is provided to be drivingly connected to the inner sheath adapter (4), and the inner sheath adapter (4) is provided to support the inner sheath unit (203), and the inner sheath drive unit (13) is provided to drive the inner sheath unit (203) via the inner sheath adapter (4) to perform an operation.

Description

[Technical Field]

[0001] This application claims priority to a Chinese patent application having a filing date of December 30, 2022 and application number 202211735857.9, a Chinese patent application having a filing date of December 30, 2022 and application number 202211740994.1, a Chinese patent application having a filing date of December 30, 2022 and application number 202211737077.8, and a Chinese patent application having a filing date of December 30, 2022 and application number 202211735941.0, the entire contents of which are incorporated herein by reference.

[0002] [Technical field] The present application relates to the technical field of medical devices, for example, actuator power devices and surgical assistance systems. [Background technology]

[0003] The mitral valve is a one-way valve located between the left atrium and left ventricle, allowing blood to flow from the left atrium to the left ventricle. The mitral valve leaflets are divided into anterior and posterior leaflets. When the left ventricle is in an expanded state, both leaflets are open, allowing blood to flow from the left atrium to the left ventricle. When the left ventricle is in a contracted state, the chordae tendineae are stretched, preventing the leaflets from being pushed toward the atrium by blood flow. In a normal, healthy mitral valve, the anterior and posterior leaflets close tightly, allowing blood to flow from the left ventricle through the aortic valve and into the aorta. If the mitral valve becomes diseased, the mitral valve cannot return to its normal closed state when the left ventricle is in a contracted state. Therefore, the force of the blood flow can cause the leaflets to dislocate into the left atrium, resulting in backflow of blood. As a result, left atrial and pulmonary venous pressures rise rapidly, increasing the diastolic volume load of the left ventricle, and inducing a series of pathological changes such as left ventricular hypertrophy and pulmonary hypertension, ultimately leading to clinical symptoms such as heart failure and arrhythmia, which can be life-threatening in severe cases.

[0004] When repairing a diseased mitral valve, the opposite side of the mitral valve can be sandwiched with a mitral valve repair device to narrow the interval between the mitral valves and reduce the regurgitation area. In the prior art, passive minimally invasive surgical instruments for mitral valve repair require manual operation by a physician during use. For some complex instruments, the difficulty of operation is high, which places a relatively high demand on the physician's skill level and clinical experience, and the physician's learning curve is long, which to some extent restricts the development and clinical use of surgical instruments. Summary of the Invention

[0005] The present application provides an actuator power device and a surgical assistance system that can realize semi-automatic adjustment of the attitude and position of a catheter system, replace the physician's completely manual operation, reduce the difficulty of surgical operations, and shorten the physician's learning curve.

[0006] One embodiment provides an actuator power unit arranged to drive a catheter system, the catheter system including an outer sheath unit, a middle sheath unit and an inner sheath unit.

[0007] The actuator power unit is an outer sheath drive unit, the outer sheath drive unit being arranged to be drivingly connected to an outer sheath adapter, the outer sheath adapter being arranged to support the outer sheath unit, the outer sheath drive unit being arranged to drive the outer sheath unit via the outer sheath adapter to perform an operation; a sheath drive unit, the sheath drive unit being arranged to be drivingly connected to a sheath adapter, the sheath adapter being arranged to support the sheath unit, and the sheath drive unit being arranged to drive the sheath unit via the sheath adapter to perform an operation; an inner sheath drive unit, the inner sheath drive unit being configured to be drivingly connected to an inner sheath adapter, the inner sheath adapter being configured to support the inner sheath unit, and the inner sheath drive unit being configured to drive the inner sheath unit via the inner sheath adapter to perform an operation.

[0008] One embodiment is a surgical assistance system including a robotic device and a control device, the robot device includes a robot arm and an actuation power unit connected to an actuation end of the robot arm, the robot arm being capable of adjusting a position of the actuation power unit; the actuation power device includes a catheter system drive unit and an adapter, the adapter being configured to support the catheter system, and the catheter system drive unit being configured to drive the catheter system via the adapter to perform an operation; The control device provides a surgery assistance system, which is electrically connected to the robot device and has an operation end for controlling the robot device. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a schematic diagram of the structure of the human body provided by an embodiment of the present application; [Figure 2] 1 is a schematic diagram of the structure of the heart provided by one embodiment of the present application. [Figure 3] 1 is a structural schematic diagram of a catheter system provided by an embodiment of the present application; [Figure 4] 1 is a structural schematic diagram of an outer sheath unit provided by an embodiment of the present application; [Figure 5] FIG. 2 is a structural schematic diagram of a middle sheath unit provided by an embodiment of the present application. [Figure 6] 1 is a structural schematic diagram of an inner sheath unit provided by an embodiment of the present application; FIG. [Figure 7] 1 is a structural schematic diagram of a fixing member and a clamping member in a first state according to an embodiment of the present application; [Figure 8]1 is a structural schematic diagram of the fixing member and clamping member in a second state provided by an embodiment of the present application; [Figure 9] 1 is a structural schematic diagram of a fixing member and a clamping member in a third state according to an embodiment of the present application; [Figure 10] 1 is a structural schematic diagram of a catheter system provided by an embodiment of the present application in a first state where the catheter system is placed in the heart. FIG. [Figure 11] 1 is a structural schematic diagram of a catheter system provided by an embodiment of the present application in a second state where the catheter system is placed in the heart. FIG. [Figure 12] FIG. 2 is a structural schematic diagram of a catheter system provided by an embodiment of the present application in a third state where the catheter system is placed in the heart. [Figure 13] 1 is a structural schematic diagram of a surgical robot system provided by an embodiment of the present application. FIG. [Figure 14] 1 is a structural schematic diagram of a robot arm and an actuation power unit provided by an embodiment of the present application; FIG. [Figure 15] 1 is a structural schematic diagram of a first view of a power operating device provided by an embodiment of the present application; [Figure 16] FIG. 2 is a structural schematic diagram of a second view of a power operating device provided by an embodiment of the present application. [Figure 17] 1 is a structural schematic diagram of an outer sheath driving unit, a middle sheath driving unit and an inner sheath driving unit provided by an embodiment of the present application; FIG. [Figure 18] 1 is a schematic diagram of a first structure of the interior of an outer sheath drive unit provided by an embodiment of the present application; FIG. [Figure 19] FIG. 10 is a schematic diagram of a second structure inside the outer sheath drive unit provided by an embodiment of the present application. [Figure 20] 1 is a structural schematic diagram of a first view of an outer sheath adapter provided by an embodiment of the present application; FIG. [Figure 21] 1 is a schematic diagram showing a structure in which an outer sheath unit provided in an embodiment of the present application is attached to an outer sheath adapter; [Figure 22] FIG. 2 is a schematic diagram of a first explosion structure of an outer sheath adapter provided by an embodiment of the present application. [Figure 23]FIG. 10 is a schematic diagram of a second explosion structure of an outer sheath adapter provided by an embodiment of the present application. [Figure 24] FIG. 2 is a structural schematic diagram of an outer sheath connecting rod provided by an embodiment of the present application; [Figure 25] FIG. 2 is a schematic diagram of a first internal structure of the middle sheath drive unit and the inner sheath drive unit provided by an embodiment of the present application; [Figure 26] FIG. 2 is a schematic diagram of a first internal structure of the middle sheath drive unit and the inner sheath drive unit provided by an embodiment of the present application; [Figure 27] FIG. 1 is a structural schematic diagram of an inner sheath translation drive assembly provided by an embodiment of the present application. [Figure 28] 1 is a structural schematic diagram of a first view of an inner sheath adapter provided by an embodiment of the present application; FIG. [Figure 29] 1 is a schematic diagram showing a structure in which an inner sheath unit provided in an embodiment of the present application is attached to an inner sheath adapter. [Figure 30] FIG. 2 is a structural schematic diagram of a second view of an inner sheath adapter provided by an embodiment of the present application. [Figure 31] FIG. 2 is a schematic diagram of a first explosion structure of an inner sheath adapter provided by an embodiment of the present application. [Figure 32] FIG. 10 is a schematic diagram of a second explosion structure of an inner sheath adapter provided by an embodiment of the present application. [Figure 33] 1 is a structural schematic diagram of an inner sheath translation drive assembly provided by an embodiment of the present application; FIG. [Figure 34] 1 is a structural schematic diagram of a first control assembly provided by an embodiment of the present application; FIG. [Figure 35] FIG. 2 is a structural schematic diagram of a second control assembly provided by an embodiment of the present application. [Figure 36] 1 is a structural schematic diagram of a lock assembly provided by an embodiment of the present application; [Figure 37] 1 is a schematic diagram of a first structure of an inner sheath adapter provided by an embodiment of the present application. [Figure 38] 1 is a schematic diagram of a second configuration of an inner sheath adapter provided by an embodiment of the present application. [Figure 39]1 is a schematic diagram of the internal structure of an inner sheath adapter provided by an embodiment of the present application. [Figure 40] 1 is a schematic diagram of a first explosion structure of an inner sheath adapter provided by an embodiment of the present application; FIG. [Figure 41] FIG. 10 is a schematic diagram of a second explosion structure of an inner sheath adapter provided by an embodiment of the present application. [Figure 42] FIG. 10 is a schematic diagram of a third explosion structure of an inner sheath adapter provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE INVENTION

[0010] As shown in FIGS. 1 and 2 , the mitral valve 1006 is a one-way valve located between the left atrium 1003 and the left ventricle 1004, allowing blood to flow from the left atrium 1003 to the left ventricle 1004. The leaflets of the mitral valve 1006 are divided into an anterior leaflet and a posterior leaflet. When the left ventricle 1004 is in an expanded state, both leaflets are open, allowing blood to flow from the left atrium 1003 to the left ventricle 1004. When the left ventricle 1004 is in a contracted state, the chordae tendineae are stretched, preventing the leaflets from being pushed toward the atrium by the blood flow. If a lesion occurs in the mitral valve 1006, when the left ventricle 1004 is in a contracted state, the mitral valve 1006 cannot return to a closed state as in a normal state. Instead, the impulse of the blood flow causes the leaflets to dislocate further into the left atrium 1003, causing blood to flow backward.

[0011] When repairing a diseased mitral valve 1006, the opposite side of the mitral valve 1006 can be sandwiched with a mitral valve repair device so that the interval between the mitral valves 1006 is narrowed and the regurgitation area is reduced. In this embodiment, a catheter system 200 is used as the mitral valve repair device. As shown in FIGS. 3 to 6 , the catheter system 200 includes an outer sheath unit 201, a middle sheath unit 202, and an inner sheath unit 203. As shown in FIG. 4 , the outer sheath unit 201 includes an outer sheath handle 2011 and an outer sheath tube 2012 connected to the outer sheath handle 2011, and an outer sheath drive gear 2013 is provided on the outer sheath handle 2011. By rotating the outer sheath drive gear 2013 in different directions, the outer sheath tube 2012 can be bent in different directions.

[0012] 5, the inner sheath unit 202 includes an inner sheath handle 2021 and an inner sheath tube 2022 connected to the inner sheath handle 2021, and the inner sheath handle 2021 is provided with a first inner sheath drive wheel 2023 and a second inner sheath drive wheel 2024. By rotating the first inner sheath drive wheel 2023, the bending angle of the distal end of the inner sheath tube 2022 in a first direction can be adjusted, and by rotating the second inner sheath drive wheel 2024, the bending angle of the distal end of the inner sheath tube 2022 in a second direction can be adjusted. 6 , the inner sheath unit 203 includes an inner sheath handle 2031 and an inner sheath tube 2032 connected to the inner sheath handle 2031. The inner sheath handle 2031 is provided with an inner sheath drive wheel 2033, a first operation lever 2034, a second operation lever 2035, and a lock operation lever 2036, and the inner sheath drive wheel 2033 is connected to the inner sheath tube 2032. The outer sheath tube 2012 is fitted onto the outside of the inner sheath tube 2022, which is fitted onto the outside of the inner sheath tube 2032, and the outer sheath tube 2012, the inner sheath tube 2022, and the inner sheath tube 2032 can move or rotate relative to each other. Two fixing members 204 and two clamping members 205 are provided on one end of the inner sheath tube 2032 facing the inner sheath handle 2031. By rotating the inner sheath drive wheel 2033 in different directions, the fixing member 204 can be opened and closed, by translating the first operating lever 2034, one of the clamping members 205 can be opened and closed, by translating the second operating lever 2035, the other clamping member 205 can be opened and closed, and by translating the lock operating lever 2036, the fixing member 204 and the clamping member 205 can be locked or unlocked.

[0013] 7 is a schematic diagram showing a state in which the fixing member 204 and the clamping member 205 are arranged inside the inner sheath tube 2022, Fig. 8 is a schematic diagram showing a state in which the fixing member 204 and the clamping member 205 are arranged outside the inner sheath tube 2022 by the inner sheath tube 2032 moving along the axial direction of the inner sheath tube 2022, and Fig. 9 is a schematic diagram showing the fixing member 204 and the clamping member 205 in an open state. During a surgical operation, as shown in Fig. 10, one end of the catheter system 200 having the fixing member 204 and the clamping member 205 enters the inferior vena cava from the right femoral vein of the human body, then enters the superior vena cava and then the right atrium 1001, and the inner sheath tube 2032, under the guidance of the inner sheath tube 2022 and the outer sheath tube 2012, passes through the atrial septum and enters the left atrium 1003. 11 , inside the left atrium 1003, the fixing member 204 and the clamping member 205 are driven to protrude from the inner sheath tube 2022, and the fixing member 204 and the clamping member 205 are opened. As shown in FIG. 12 , the bending of the end of the inner sheath tube 2032 is adjusted so that the fixing member 204 passes through the gap between the mitral valves 1006 and is positioned inside the left ventricle 1004, and the clamping member 205 is positioned inside the left atrium 1003, and then a corresponding operation is performed to repair the mitral valve 1006.

[0014] For the above repair operation, as shown in FIG. 13 , this embodiment provides a surgical robot system. This surgical robot system includes a controller 100 and a robotic device. The robotic device includes a robotic arm 300 and an actuation power unit 500 connected to the actuation end of the robotic arm 300, and the robotic arm 300 can adjust the position of the actuation power unit 500. The robotic arm 300 is attached to a medical cart 400, which is movable, allowing the position of the robotic arm 300 to be adjusted. The controller 100 is electrically connected to the robotic device and has an operating end for controlling the robotic device. This replaces the physician's manual operation of the catheterization system 200, thereby reducing the difficulty of surgical operations, shortening the physician's learning curve, and improving the quality and efficiency of surgery. The robotic device can be installed inside the operating room, while the controller 100 can be installed outside the operating room, thereby avoiding radiation-related injuries to medical personnel during surgery.

[0015] 14 , the actuation power device 500 includes a catheter system drive unit and an adapter, the adapter is provided to support the catheter system 200, and the catheter system drive unit is provided to drive the adapter to drive the catheter system 200 to perform an operation. The catheter system drive unit drives the catheter system 200 via the adapter, and the control device 100 controls the robot device to adjust the position of the actuation power device 500 and drive the catheter system 200 to perform an operation.

[0016] 15 and 16 , the catheter system drive unit includes an outer sheath drive unit 11, a middle sheath drive unit 12, and an inner sheath drive unit 13, and the adapters include an outer sheath adapter 2, a middle sheath adapter 3, and an inner sheath adapter 4. The outer sheath adapter 2 is provided to support the outer sheath unit 201, the middle sheath adapter 3 is provided to support the middle sheath unit 202, and the inner sheath adapter 4 is provided to support the inner sheath unit 203. The outer sheath drive unit 11 is drivingly connected to the outer sheath adapter 2, and is provided to drive the outer sheath unit 201 via the outer sheath adapter 2 to perform an operation. The middle sheath drive unit 12 is drivingly connected to the middle sheath adapter 3, and is provided to drive the middle sheath unit 202 via the middle sheath adapter 3 to perform an operation. The inner sheath drive unit 13 is drivingly connected to the inner sheath adapter 4, and the inner sheath drive unit 13 is arranged to drive the inner sheath unit 203 via the inner sheath adapter 4 to perform an operation.

[0017] The outer sheath drive unit 11 drives the outer sheath unit 201 via the outer sheath adapter 2 to perform operations, the middle sheath drive unit 12 drives the middle sheath unit 202 via the middle sheath adapter 3 to perform operations, and the inner sheath drive unit 13 drives the inner sheath unit 203 via the inner sheath adapter 4 to perform operations. By adjusting the attitude and position of the catheter system 200 via multiple drive units, semi-automatic adjustment of the catheter system 200 during surgery can be achieved, replacing the physician's completely manual operation, reducing the difficulty of surgical operations and shortening the physician's learning curve.

[0018] In this embodiment, as shown in Figures 17 to 20, the outer sheath drive unit 11 includes an outer sheath bending drive assembly 11a and an outer sheath rotation drive assembly 11b. The outer sheath bending drive assembly 11a is drivingly connected to the second outer sheath transmission shaft 221 of the outer sheath adapter 2, and the outer sheath bending drive assembly 11a is configured to adjust the bending of the distal end of the outer sheath tube 2012. The outer sheath rotation drive assembly 11b is drivingly connected to the first outer sheath transmission shaft 211 of the outer sheath adapter 2, and the outer sheath rotation drive assembly 11b is configured to drive and rotate the outer sheath unit 201 about its own axis. By providing the outer sheath bending drive assembly 11a and the outer sheath rotation drive assembly 11b, it is possible to realize the bending of the distal end of the outer sheath tube 2012 and the rotation of the outer sheath tube 2012.

[0019] 19 and 20, the outer sheath bending drive assembly 11a includes an outer sheath bending drive member 111a, an outer sheath bending drive transmission member 112a, and an outer sheath bending drive shaft 113a. An input end of the outer sheath bending drive transmission member 112a is drivingly connected to the outer sheath bending drive member 111a. An output end of the outer sheath bending drive transmission member 112a is connected to a first end of the outer sheath bending drive shaft 113a, and a second end of the outer sheath bending drive shaft 113a is connected to the second outer sheath transmission shaft 221 of the outer sheath adapter 2. This outer sheath bending drive assembly 11a has a simple structure.

[0020] The outer sheath bending drive member 111a is a motor, and the outer sheath bending drive transmission member 112a includes a first outer sheath bending bevel gear and a second outer sheath bending bevel gear, the first outer sheath bending bevel gear is connected to the output shaft of the motor, and the second outer sheath bending bevel gear is connected to the outer sheath bending drive shaft 113a, and the second outer sheath bending bevel gear meshes with the first outer sheath bending bevel gear. The structure of this outer sheath bending drive transmission member 112a changes the direction of power transmission of the motor.

[0021] The outer sheath rotary drive assembly 11b includes an outer sheath rotary drive member 111b, an outer sheath rotary transmission member 112b, and an outer sheath rotary drive shaft 113b. The input end of the outer sheath rotary transmission member 112b is drivingly connected to the outer sheath rotary drive member 111b. The output end of the outer sheath rotary transmission member 112b is connected to a first end of the outer sheath rotary drive shaft 113b, and the second end of the outer sheath rotary drive shaft 113b is connected to the first outer sheath transmission shaft 211. This outer sheath rotary drive assembly 11b has a simple structure.

[0022] The outer sheath rotary drive member 111b is a motor, and the outer sheath rotary transmission member 112b includes a first outer sheath rotary bevel gear and a second outer sheath rotary bevel gear, the first outer sheath rotary bevel gear is connected to the motor output shaft, and the second outer sheath rotary bevel gear is connected to the outer sheath rotary drive shaft 113b, and the second outer sheath rotary bevel gear meshes with the first outer sheath rotary bevel gear. The structure of this outer sheath rotary transmission member 112b changes the direction of power transmission of the motor and has a compact structure.

[0023] Referring to Figure 18, the outer sheath drive unit 11 further includes a first power chamber housing 14, and the outer sheath bending drive assembly 11a and the outer sheath rotation drive assembly 11b are respectively mounted in the first power chamber housing 14. A first circuit board 16 is further provided in the first power chamber housing 14, and the first circuit board 16 is configured to control the operation of the outer sheath bending drive assembly 11a and the outer sheath rotation drive assembly 11b.

[0024] 20 to 24, the outer sheath adapter 2 includes an outer sheath rotating frame 23, a first outer sheath transmission assembly 21, and a second outer sheath transmission assembly 22. An outer sheath handle 2011 is provided on the outer sheath rotating frame 23, and the axial direction of the outer sheath handle 2011 coincides with the rotation axis of the outer sheath rotating frame 23. The first outer sheath transmission assembly 21 includes a first outer sheath transmission shaft 211, which is transmission-connected to the outer sheath rotating frame 23 so as to drive and rotate the outer sheath rotating frame 23. The second outer sheath transmission assembly 22 includes a second outer sheath transmission shaft 221, and one end of the second outer sheath transmission shaft 221 is transmission-connected to the outer sheath driving gear 2013 so as to drive and rotate the outer sheath driving gear 2013.

[0025] In this outer sheath adapter 2, the second outer sheath transmission assembly 22 drives and rotates the outer sheath driving gear 2013 via the second outer sheath transmission shaft 221, thereby bending and driving the outer sheath tube 2012. After the outer sheath tube 2012 is bent, the first outer sheath transmission assembly 21 drives and rotates the outer sheath rotating frame 23 via the first outer sheath transmission shaft 211, thereby driving and rotating the outer sheath handle 2011. When the outer sheath handle 2011 is rotated, the bending direction of the outer sheath tube 2012 can be adjusted, and the end of the outer sheath tube 2012 can be adjusted to face the atrial septum 1005, ensuring that the outer sheath tube 2012 can smoothly enter the left atrium 1003, thereby successfully delivering the valve repair device to the mitral valve 1006.

[0026] The second outer sheath transmission shaft 221 is connected to the outer sheath bending drive shaft 113a of the outer sheath bending drive assembly 11a, and the first outer sheath transmission shaft 211 is connected to the outer sheath rotation drive shaft 113b of the outer sheath rotation drive assembly 11b.

[0027] This outer sheath adapter 2 enables remote control of the outer sheath tube 2012, improving the surgical environment for medical professionals while also improving the stability and precision of surgery, reducing the difficulty of operation, and shortening the learning curve for doctors to master complex surgical procedures.

[0028] 22 and 23, the first outer sheath transmission assembly 21 further includes an outer sheath body driving worm wheel 212, the first outer sheath transmission shaft 211 is a worm, the outer sheath body driving worm wheel 212 is fixedly connected to the outer sheath rotating frame 23, and the first outer sheath transmission shaft 211 meshes with the outer sheath body driving worm wheel 212. By using the worm gear transmission structure to drive and rotate the outer sheath rotating frame 23, the transmission direction can be changed, and the relative position of the outer sheath handle 2011 and the first outer sheath transmission shaft 211 can be made more reasonable. At the same time, it can also serve as a speed reduction mechanism, allowing the rotation speed of the outer sheath rotating frame 23 to be much slower than the rotation speed of the first outer sheath transmission shaft 211, which makes the rotation of the outer sheath rotating frame 23 more stable and makes it easier to accurately control the rotation angle of the outer sheath rotating frame 23, thereby improving surgical safety.

[0029] 22 and 23, the outer sheath rotation frame 23 includes an outer sheath base 231 and an outer sheath cover plate 232 that are detachably connected, and the outer sheath handle 2011 is fixedly provided between the outer sheath base 231 and the outer sheath cover plate 232. The outer sheath cover plate 232 and the outer sheath base 231 fix the outer sheath handle 2011, which can facilitate removal and installation of the outer sheath handle 2011, thereby improving the efficiency of pre-operative preparation.

[0030] The catheter system 200 of this embodiment includes an outer sheath unit 201, a middle sheath unit 202, and an inner sheath unit 203, and the outer sheath tube 2012, the middle sheath tube 2022, and the inner sheath tube 2032 are nested together, so it is necessary to fix both ends of the outer sheath unit 201. To achieve this, the outer sheath body drive worm wheel 212 includes two detachably connected half worm wheels 2121, which can be engaged with each other to form a complete outer sheath body drive worm wheel 212, and the outer sheath handle 2011 is provided between the two half worm wheels 2121.

[0031] In one embodiment, the second outer sheath transmission assembly further includes a first outer sheath bevel gear 222, a second outer sheath bevel gear 223, and an outer sheath transmission worm 224, wherein the first outer sheath bevel gear 222 and the second outer sheath bevel gear 223 are rotatably mounted on the outer sheath rotating frame 23, the first outer sheath bevel gear 222 and the second outer sheath transmission shaft 221 are transmission connected, the second outer sheath bevel gear 223 and the outer sheath transmission worm 224 are transmission connected, the outer sheath driving gear 2013 is a worm wheel, and the outer sheath transmission worm 224 meshes with the outer sheath driving gear 2013.

[0032] The second outer sheath transmission shaft 221 drives and rotates the outer sheath transmission worm 224 via the first outer sheath bevel gear 222 and the second outer sheath bevel gear 223, and further drives and rotates the outer sheath driving gear 2013 via the outer sheath transmission worm 224, thereby adjusting the bending direction and bending degree of the outer sheath tube 2012. Due to the transmission cooperation between the first outer sheath bevel gear 222, the second outer sheath bevel gear 223 and the outer sheath transmission worm 224, the installation position of the second outer sheath transmission shaft 221 is not limited, and in this embodiment, the second outer sheath transmission shaft 221 is close to the first outer sheath transmission shaft 211, and the structure is more compact, thereby saving space.

[0033] In one embodiment, the second outer sheath transmission assembly 22 further includes an outer sheath timing belt 225, and both ends of the outer sheath timing belt 225 are wound around the second outer sheath bevel gear 223 and the outer sheath transmission worm 224, respectively, so that the second outer sheath bevel gear 223 rotates synchronously with the outer sheath transmission worm 224. The outer sheath timing belt 225 is jointly tensioned by the second outer sheath bevel gear 223 and the outer sheath transmission worm 224, thereby ensuring the synchronous rotation of the second outer sheath bevel gear 223 and the outer sheath transmission worm 224. At the same time, the outer sheath timing belt 225 not only reduces the assembly precision requirements of the second outer sheath bevel gear 223 and the outer sheath transmission worm 224, but also ensures transmission precision and low costs.

[0034] As shown in FIG. 23, the outer sheath rotating frame 23 can rotate under the driving of the first outer sheath transmission shaft 211, so that the angle between the first outer sheath bevel gear 222 and the second outer sheath transmission shaft 221 changes, and the rotation of the outer sheath rotating frame 23 is not restricted. The second outer sheath transmission shaft 221 includes an outer sheath power input rod 2211, an outer sheath connecting rod 2212 and an outer sheath power output rod 2213, and the outer sheath power input rod 2211 and the outer sheath connecting rod 2212, and the outer sheath connecting rod 2212 and the outer sheath power output rod 2213 are connected by universal joints, and the first outer sheath bevel gear 222 is mounted on the outer sheath power output rod 2213.

[0035] In one embodiment, the axial direction of the outer sheath power input rod 2211 is kept constant so that the device that rotates the outer sheath power input rod 2211 can be stably connected to the outer sheath power input rod 2211. When the outer sheath rotating frame 23 rotates, the outer sheath connecting rod 2212 also moves accordingly, and the universal joint can ensure that the angles between the outer sheath connecting rod 2212 and the outer sheath power input rod 2211, and between the outer sheath power input rod 2211 and the outer sheath power output rod 2213 change, while the outer sheath connecting rod 2212 and the outer sheath power input rod 2211 and the outer sheath power output rod 2213 rotate synchronously along their respective axial directions, thereby ensuring that the power transmission is not affected.

[0036] 24, the outer sheath connecting rod 2212 includes a first outer sheath sliding rod 22121 and a second outer sheath sliding rod 22122 that are axially slidable relative to each other, and the second outer sheath sliding rod 22122 is fitted on the outside of the first outer sheath sliding rod 22121. When the outer sheath rotating frame 23 rotates, not only does the angle between the outer sheath connecting rod 2212 and the outer sheath power input rod 2211 and the angle between the outer sheath connecting rod 2212 and the outer sheath power output rod 2213 change, but also the distance between the two ends of the outer sheath connecting rod 2212 changes. The first outer sheath sliding rod 22121 and the second outer sheath sliding rod 22122 that are slidable relative to each other can extend and contract with the rotation of the outer sheath rotating frame 23, so that the outer sheath connecting rod 2212 is not broken and the rotation of the outer sheath rotating frame 23 is not restricted.

[0037] In order to prevent relative rotation between the first outer sheath sliding rod 22121 and the second outer sheath sliding rod 22122, which would affect power transmission, an anti-rotation groove 22123 extending in the axial direction is opened on the inner wall of the second outer sheath sliding rod 22122, and an anti-rotation slider 22124 is protruded from the outer wall of the first outer sheath sliding rod 22121, and the anti-rotation slider 22124 is slidably disposed in the anti-rotation groove 22123. The anti-rotation slider 22124 and the anti-rotation groove 22123 cooperate with each other to not only guide the sliding between the first outer sheath sliding rod 22121 and the second outer sheath sliding rod 22122, but also prevent relative rotation between the first outer sheath sliding rod 22121 and the second outer sheath sliding rod 22122.

[0038] In one embodiment, a plurality of anti-rotation sliders 22124 are protruded from the outer wall of the first outer sheath sliding rod 22121, and a plurality of axially extending anti-rotation grooves 22123 are formed on the inner wall of the second outer sheath sliding rod 22122. When the outer sheath power input rod 2211 rotates, the first outer sheath sliding rod 22121 abuts against the anti-rotation grooves 22123 through the anti-rotation sliders 22124, thereby driving the second outer sheath sliding rod 22122 to rotate. The plurality of anti-rotation sliders 22124 can bear an average force, and at the same time, the force acting on each anti-rotation slider 22124 can be reduced, reducing the load and thereby improving the service life.

[0039] In this embodiment, two anti-rotation sliders 22124 are protruded from the outer wall of the first outer sheath sliding rod 22121, and the two anti-rotation sliders 22124 are back-to-back with each other. Two axially extending anti-rotation grooves 22123 are opened on the inner wall of the second outer sheath sliding rod 22122.

[0040] 20 to 23, the outer sheath adapter 2 further includes an outer sheath mounting frame 24, and the first outer sheath transmission shaft 211, the second outer sheath transmission shaft 221, and the outer sheath rotating frame 23 are rotatably mounted on the outer sheath mounting frame 24. An outer sheath hanging connecting member 241 is provided on the outer sheath mounting frame 24, and an outer sheath mounting groove 242 is formed between the outer sheath hanging connecting member 241 and the outer sheath mounting frame 24. Here, the structure of the second outer sheath transmission shaft 221 rotatably connected to the outer sheath mounting frame 24 is the outer sheath power input rod 2211. This outer sheath adapter 2 is fixed to the operating power device 500 via the outer sheath mounting frame 24.

[0041] In one embodiment, the actuation power device 500 is provided with a protruding mounting bump block, which is inserted into the outer sheath mounting groove 242 to securely connect the outer sheath adapter 2 and the actuation power device 500. When attaching the outer sheath adapter 2 to the actuation power device 500, the mounting bump block can be slid into the outer sheath mounting groove 242 from one side of the outer sheath mounting groove 242.

[0042] In one embodiment, the portion of the outer sheath hanging connection member 241 located at the groove mouth of the outer sheath mounting groove 242 extends downward to form a hanging connection retaining wall 243, the outer sheath mounting groove 242 is L-shaped, and the mounting bump block is also L-shaped. After the mounting bump block is slid into the outer sheath mounting groove 242, the outer sheath adapter 2 and the operating power device 500 can be firmly fixed under the constraint of the hanging connection retaining wall 243 and the outer sheath mounting frame 24.

[0043] As shown in FIGS. 25 to 28 , the inner sheath drive unit 12 includes a first inner sheath bending drive assembly 12a and a second inner sheath bending drive assembly 12b. The first inner sheath bending drive assembly 12a is drivingly connected to the first inner sheath bending transmission shaft 311 of the inner sheath adapter 3 to adjust the bending angle of the distal end of the inner sheath tube 2022 of the inner sheath unit 202 in a first direction. The second inner sheath bending drive assembly 12b is drivingly connected to the second inner sheath bending transmission shaft 321 of the inner sheath adapter 3 to adjust the bending angle of the distal end of the inner sheath tube 2022 in a second direction. The first inner sheath bending drive assembly 12a and the second inner sheath bending drive assembly 12b can adjust the bending angle of the distal end of the inner sheath tube 2022 in different directions. In this embodiment, the first direction is the horizontal direction, and the second direction is the vertical direction, meeting surgical requirements.

[0044] 26 and 28, the first sheath bending drive assembly 12a includes a first sheath bending drive member 121a, a first sheath bending transmission member 122a, and a first sheath bending drive shaft 123a. An input end of the first sheath bending transmission member 122a is drivingly connected to the first sheath bending drive member 121a. An output end of the first sheath bending transmission member 122a is connected to a first end of the first sheath bending drive shaft 123a, and a second end of the first sheath bending drive shaft 123a is connected to the first sheath bending transmission shaft 311.

[0045] The first inner sheath bending drive member 121a is a motor, and the first inner sheath bending transmission member 122a includes a first inner sheath bending bevel gear and a second inner sheath bending bevel gear, the first inner sheath bending bevel gear is connected to the output shaft of the motor, and the second inner sheath bending bevel gear is connected to the first inner sheath bending drive shaft 123a, and the second inner sheath bending bevel gear meshes with the first inner sheath bending bevel gear. The structure of this first inner sheath bending drive member 121a changes the direction of power transmission of the motor and has a compact structure.

[0046] The second inner sheath bending drive assembly 12b includes a second inner sheath bending drive member 121b, a second inner sheath bending transmission member 122b, and a second inner sheath bending drive shaft 123b. An input end of the second inner sheath bending transmission member 122b is drivingly connected to the second inner sheath bending drive member 121b, an output end of the second inner sheath bending transmission member 122b is connected to a first end of the second inner sheath bending drive shaft 123b, and a second end of the second inner sheath bending drive shaft 123b is connected to the second inner sheath bending transmission shaft 321.

[0047] The second inner sheath bending drive member 121b is a motor, and the second inner sheath bending transmission member 122b includes a third inner sheath bending bevel gear and a fourth inner sheath bending bevel gear, the third inner sheath bending bevel gear is connected to the output shaft of the motor, and the fourth inner sheath bending bevel gear is connected to the second inner sheath bending drive shaft 123b, and the fourth inner sheath bending bevel gear meshes with the third inner sheath bending bevel gear. The structure of this second inner sheath bending transmission member 122b changes the direction of power transmission of the motor and has a compact structure.

[0048] In some other embodiments, as shown in Figures 26 and 27, the inner sheath drive unit 12 further includes an inner sheath translation drive assembly 12c, which is drivingly connected to the inner sheath adapter 3, and which is configured to drive and move the inner sheath unit 202 along its axial direction.

[0049] In one embodiment, the inner sheath translation drive assembly 12c includes an inner sheath translation drive member 121c and an inner sheath translation mounting plate 122c, an output end of the inner sheath translation drive member 121c is drivingly connected to the inner sheath translation mounting plate 122c, and the inner sheath adapter 3 is connected to the inner sheath translation mounting plate 122c to drive the inner sheath handle 2021 provided on the inner sheath adapter 3 to horizontally move. The first inner sheath bending drive assembly 12a and the second inner sheath bending drive assembly 12b are respectively provided on the inner sheath translation mounting plate 122c to correspond to the horizontal movement of the inner sheath adapter 3, and when the inner sheath adapter 3 moves horizontally, the first inner sheath bending drive assembly 12a and the second inner sheath bending drive assembly 12b can be effectively connected to the inner sheath adapter 3, so that the bending angles of the distal end of the inner sheath tube 2022 in the first and second directions can be easily adjusted.

[0050] The inner sheath translation drive member 121c is an electric cylinder, and the moving block of the electric cylinder is connected to the inner sheath translation mounting plate 122c.

[0051] 25, the inner sheath drive unit 12 further includes a second power chamber housing 15, and the first inner sheath bending drive assembly 12a and the second inner sheath bending drive assembly 12b are each provided in the second power chamber housing 15. In order to improve the stability of the first inner sheath bending drive assembly 12a and the second inner sheath bending drive assembly 12b moving together with the inner sheath translation mounting plate 122c, the first inner sheath bending drive assembly 12a and the second inner sheath bending drive assembly 12b are each slidably connected to the second power chamber housing 15, and in one embodiment, a slide rail is provided in the second power chamber housing 15, and the first inner sheath bending drive assembly 12a and the second inner sheath bending drive assembly 12b are each provided with a slider slidably connected to the slide rail.

[0052] A second circuit board 17 is further provided within the second power chamber housing 15, and the second circuit board 17 is configured to control the operation of the first inner sheath bending drive assembly 12a, the second inner sheath bending drive assembly 12b, and the inner sheath translation drive assembly 12c.

[0053] In one embodiment, mitral valve regurgitation is currently commonly treated with minimally invasive surgery, i.e., a valve repair device is delivered to the mitral valve using a delivery system and remotely manipulated outside the patient's body to repair the diseased mitral valve, thereby treating mitral valve regurgitation. The delivery system typically includes multiple sheath tube units, which typically include a sheath tube and a manipulation device, such as a handle, connected to the sheath tube and configured to control the movement of the sheath tube. In this embodiment, the delivery system includes an outer sheath unit, a middle sheath unit, and an inner sheath unit.

[0054] The outer sheath unit includes an outer sheath tube, which needs to enter the right atrium along the femoral vein, and then bend the outer sheath tube and then rotate the outer sheath tube to adjust the orientation of the end of the outer sheath tube so that the outer sheath tube faces the atrial septum, so that the outer sheath tube can enter the left atrium after penetrating the atrial septum under the action of the guide wire.

[0055] The inner sheath unit includes an inner sheath tube, which can be bent left and right in a first plane and can also be bent left and right in a second plane, the first plane being oblique to the second plane. When the outer sheath tube reaches the left atrium, the inner sheath tube passes through the outer sheath tube and protrudes into the left atrium. During the process of the inner sheath tube moving relative to the outer sheath tube, it is also necessary to adjust the bending direction and bending degree of the inner sheath tube in the first plane and the second plane in real time according to the bending direction and bending degree of the outer sheath tube so that the inner sheath tube can reach an appropriate position.

[0056] The inner sheath unit includes an inner sheath tube, and the valve repair device is provided at the end of the inner sheath tube, and the inner sheath tube can pass through the middle sheath tube and protrude into the left atrium, and then the inner sheath tube bends toward the position of the mitral valve and continues to protrude toward the mitral valve, thereby transporting the valve repair device to the mitral valve. In one embodiment, the valve repair device may be two clips that can clamp two valves of the mitral valve, respectively.

[0057] However, the sheath tube system requires manual operation by the physician during use, which is difficult to operate, and has high requirements for the physician's skill level and clinical experience, resulting in a long learning curve for the physician, which to some extent restricts the development of surgical techniques or the clinical use of the device. During surgery, the physician must mostly perform the surgery under the cooperation of a CT scanner, which results in the medical personnel being exposed to a radiation environment for a long time, which will cause some harm to their physical health.

[0058] This embodiment provides an inner sheath adapter 3 configured to control a sheath tube unit. Taking the inner sheath unit as an example, the sheath tube unit 202 in this embodiment includes an inner sheath handle 2021, an inner sheath tube 2022, a first inner sheath driving wheel 2023, and a second inner sheath driving wheel 2024, as shown in Fig. 5. Here, the first inner sheath driving wheel 2023 is configured to drive the inner sheath tube 2022 to bend left and right within a first plane, and the second inner sheath driving wheel 2024 is configured to drive the inner sheath tube 2022 to bend left and right within a second plane.

[0059] As shown in Figures 28 to 32, the scabbard adapter 3 includes a scabbard mounting frame 33, a first scabbard drive assembly 31, and a second scabbard drive assembly 32, the scabbard handle 2021 is mounted on the scabbard mounting frame 33, the first scabbard drive wheel 2023 and the second scabbard drive wheel 2024 are respectively located on the top and side of the scabbard handle 2021, and the first scabbard drive assembly 31 includes a first scabbard bending transmission shaft 311. The first inner sheath bending transmission shaft 311 is rotatably mounted on the inner sheath mounting frame 33, and the first inner sheath bending transmission shaft 311 is transmission-connected to the first inner sheath driving wheel 2023, and the second inner sheath drive assembly 32 includes a second inner sheath bending transmission shaft 321, and the second inner sheath bending transmission shaft 321 is rotatably mounted on the inner sheath mounting frame 33, and the second inner sheath bending transmission shaft 321 is transmission-connected to the second inner sheath driving wheel 2024.

[0060] In this inner sheath adapter 3, the first inner sheath drive assembly 31 and the second inner sheath drive assembly 32 can respectively bend and drive the inner sheath tube 2022 in different directions, which is achieved by the first inner sheath bending transmission shaft 311 driving and rotating the first inner sheath drive wheel 2023, and the second inner sheath bending transmission shaft 321 driving and rotating the second inner sheath drive wheel 2024. Therefore, by moving the inner sheath mounting frame 33 along the axial direction of the inner sheath handle 2021 and adjusting the bending direction and bending degree of the inner sheath tube 2022 according to a preset path, the inner sheath tube 2022 can reach an appropriate position.

[0061] This inner sheath adapter 3 enables remote control of the inner sheath tube 2022, improving the surgical environment for medical personnel while also improving the stability and precision of surgery, reducing the difficulty of operation, and shortening the learning curve for doctors to master complex surgical procedures.

[0062] In one embodiment, the first sheath drive assembly 31 further includes a first sheath transmission worm 312, the first sheath drive wheel 2023 is a worm wheel, the sheath mounting frame 33 has a sheath support frame 331 fixedly mounted thereon, the first sheath transmission worm 312 is rotatably mounted on the sheath support frame 331, the first sheath transmission worm 312 is transmission-connected to the first sheath bending transmission shaft 311, and the first sheath transmission worm 312 meshes with the first sheath drive wheel 2023. By using the worm gear transmission structure to drive and rotate the first inner sheath driving wheel 2023, the transmission direction can be changed and the mounting position of the first inner sheath bending transmission shaft 311 can be made more rational. At the same time, it can also play the role of a speed reduction mechanism, making the rotation speed of the first inner sheath driving wheel 2023 much slower than the rotation speed of the first inner sheath bending transmission shaft 311, thereby making the rotation of the first inner sheath driving wheel 2023 more stable and making it easier to accurately control the rotation angle of the first inner sheath driving wheel 2023, thereby improving the safety of surgery.

[0063] In one embodiment, the inner sheath support frame 331 has a box structure, and a first inner sheath communication hole 3311 is opened on one side of the inner sheath support frame 331 facing the first inner sheath driving wheel 2023, and at least a portion of the first inner sheath driving wheel 2023 extends into the first inner sheath communication hole 3311. The box structure can protect structures such as the first inner sheath bending transmission shaft 311 and the first inner sheath transmission worm 312, and the first inner sheath driving wheel 2023 and the first inner sheath transmission worm 312 only mesh with each other via the first inner sheath communication hole 3311, which can effectively prevent dust from affecting transmission accuracy and extend the service life.

[0064] In one embodiment, the first sheath drive assembly 31 further includes a first sheath bevel gear 313, a second sheath bevel gear 314, and a transmission member, wherein the first sheath bevel gear 313 is fixedly connected to the first sheath bending transmission shaft 311, and the second sheath bevel gear 314 is rotatably mounted on the sheath mounting frame 33, the first sheath bevel gear 313 meshes with the second sheath bevel gear 314, and the transmission member is respectively transmission-connected to the second sheath bevel gear 314 and the first sheath transmission worm 312. The first sheath bending transmission shaft 311 drives and rotates the first sheath transmission worm 312 via the first sheath bevel gear 313 and the second sheath bevel gear 314, and further drives and rotates the first sheath driving wheel 2023 via the first sheath transmission worm 312, thereby adjusting the bending direction and bending degree of the sheath tube 2022 within the first plane. Due to the transmission linkage between the first bevel gear 313, the second bevel gear 314 and the first bevel transmission worm 312, the mounting position of the first bevel transmission shaft 311 is not restricted, so a reasonable position can be selected, thereby saving space.

[0065] In one embodiment, the transmission member is a timing belt, which is jointly tensioned by the second bevel gear 314 and the first transmission worm 312. The timing belt can rotate the second bevel gear 314 and the first transmission worm 312 synchronously, and at the same time, the timing belt not only reduces the assembly precision requirements for the second bevel gear 314 and the transmission worm, but also ensures transmission precision and low costs.

[0066] In one embodiment, the second sheath drive assembly 32 further includes a second sheath transmission worm 322, the second sheath drive wheel 2024 is a worm wheel, the second sheath bending transmission shaft 321 is transmission-connected to the second sheath transmission worm 322, and the second sheath transmission worm 322 and the second sheath drive wheel 2024 are worm gear meshed, so that the transmission direction can be changed and the rotation angle of the second sheath drive wheel 2024 can be accurately controlled, thereby improving the safety of surgery.

[0067] In one embodiment, the sheath mounting frame 33 includes a sheath base 332 and a sheath cover plate 333 which are removably connected, the second sheath transmission worm 322 and the second sheath bending transmission shaft 321 are arranged between the sheath base 332 and the sheath cover plate 333, a second sheath communicating hole 3331 is opened in the cover plate 333, and at least a portion of the second sheath driving wheel 2024 extends into the second sheath communicating hole 3331. The sheath base 332 and the sheath cover plate 333 can play a role in protecting the second sheath transmission worm 322 and the second sheath bending transmission shaft 321, and at the same time, can use the second sheath communicating hole 3331 to avoid the second sheath driving wheel 2024, so that the second sheath driving wheel 2024 can mesh with the second sheath transmission worm 322. This not only ensures the transmission of power, but also plays a role in dust prevention, thereby preventing dust from entering between the sheath base 332 and the sheath cover plate 333, causing wear and damage to the transmission structure and affecting transmission accuracy, and improving the service life.

[0068] In one embodiment, the second sheath drive assembly 32 further includes a third sheath bevel gear 323 and a fourth sheath bevel gear 324, the third sheath bevel gear 323 being coaxially and fixedly connected to the second sheath bending transmission shaft 321, the fourth sheath bevel gear 324 being coaxially and fixedly connected to the second sheath transmission worm 322, and the third sheath bevel gear 323 meshing with the fourth sheath bevel gear 324.

[0069] In one embodiment, the first inner sheath bending transmission shaft 311, the first inner sheath bevel gear 313 and the second inner sheath bevel gear 314 are also arranged between the inner sheath base 332 and the inner sheath cover plate 333, and the timing belt passes through the inner sheath cover plate 333.

[0070] In one embodiment, the inner sheath adapter 3 further includes an inner sheath engagement member 34, which is detachably connected to the inner sheath attachment frame 33, and the inner sheath handle 2021 is at least partially located between the inner sheath engagement member 34 and the inner sheath attachment frame 33. The inner sheath engagement member 34 and the inner sheath attachment frame 33 secure the inner sheath handle 2021 and can facilitate removal and attachment of the handle 2021, thereby improving the efficiency of pre-operative preparation.

[0071] In one embodiment, a plurality of inner sheath positioning members 3332 are protruded from the inner sheath mounting frame 33, and the inner sheath handle 2021 is provided between the plurality of inner sheath positioning members 3332. By providing the inner sheath positioning members 3332, the positioning accuracy of the inner sheath handle 2021 can be improved, the efficiency when mounting the inner sheath handle 2021 can also be improved, and the difficulty when the operator mounts the inner sheath handle 2021 can be reduced.

[0072] In one embodiment, the multiple inner sheath positioning members 3332 engage and position the inner sheath handle 2021 through the corners of the inner sheath handle 2021, thereby reducing the contact area between the inner sheath positioning members 3332 and the inner sheath handle 2021 and preventing the problem of over-positioning due to local processing errors of the inner sheath positioning members 3332 affecting the positional accuracy of the inner sheath handle 2021.

[0073] The surgical support system provided by this embodiment includes a sheath tube adapter 3 and further includes an actuator power unit 500, which can drive and rotate the first inner sheath bending transmission shaft 311 and the first inner sheath transmission worm 321, respectively, and can also drive and move the sheath tube adapter 3 along the axial direction of the inner sheath handle 2021.

[0074] In one embodiment, the actuator power unit 500 is configured to provide rotational power to the first inner sheath bending transmission shaft 311 and the first inner sheath transmission worm 321, and an operator can control the bending direction and bending degree of the inner sheath tube 2022 simply by remotely controlling the rotation speed of the first inner sheath bending transmission shaft 311 and the first inner sheath transmission worm 321. At the same time, the actuator power unit 500 can also move along the axial direction of the inner sheath handle 2021, thereby controlling the forward or backward movement of the inner sheath tube 2022.

[0075] As shown in Figures 26 and 33 to 38, the inner sheath drive unit 13 includes at least one of an inner sheath translation drive assembly 13a and an inner sheath rotation drive assembly 13b, and at least one of an opening / closing control assembly 13c, a first control assembly 13d, a second control assembly 13e, and a lock assembly 13f.

[0076] The inner sheath translation drive assembly 13a is connected to the inner sheath translation drive rod 411 of the inner sheath adapter 4, and the inner sheath translation drive assembly 13a is configured to drive and move the inner sheath unit 203 along its axial direction.

[0077] 26, 33, and 38, the inner sheath translation drive assembly 13a includes an inner sheath translation drive member 131a and an inner sheath translation mounting plate 132a. The output end of the inner sheath translation drive member 131a is connected to the inner sheath translation drive rod 411, and the inner sheath translation mounting plate 132a is connected to the output end of the inner sheath translation drive member 131a, and the first control assembly 13d, the second control assembly 13e, and the lock assembly 13f are respectively provided on the inner sheath translation mounting plate 132a so that when the inner sheath unit 203 moves horizontally, the first control assembly 13d, the second control assembly 13e, and the lock assembly 13f can still be effectively connected to the inner sheath adapter 4 and can achieve effective control of the fixing member 204 and the clamping member 205.

[0078] In one embodiment, the inner sheath translational drive member 131a is an electric cylinder, which has a simple structure and is easy to control.

[0079] As shown in Figures 26 and 38, the inner sheath rotary drive assembly 13b is connected to the inner sheath rotary transmission shaft 421 of the inner sheath adapter 4, and the inner sheath rotary drive assembly 13b is configured to drive and rotate the inner sheath unit 203 along its axis.

[0080] In one embodiment, the inner sheath rotary drive assembly 13b includes an inner sheath rotary drive member 131b, an inner sheath rotary transmission member 132b, and an inner sheath rotary drive shaft 133b, wherein an input end of the inner sheath rotary transmission member 132b is drivingly connected to the inner sheath rotary drive member 131b, an output end of the inner sheath rotary transmission member 132b is connected to a first end of the inner sheath rotary drive shaft 133b, and a second end of the inner sheath rotary drive shaft 133b is connected to the inner sheath rotary transmission shaft 421. The power output from the inner sheath rotary drive member 131b drives and rotates the inner sheath rotary drive shaft 133b via the inner sheath rotary transmission member 132b, thereby driving and rotating the inner sheath rotary drive shaft 133b, and further driving and rotating the inner sheath unit 203 along its axis.

[0081] The inner sheath rotary drive member 131b is a motor, and the inner sheath rotary transmission member 132b includes a first inner sheath rotary bevel gear and a second inner sheath rotary bevel gear, the first inner sheath rotary bevel gear is connected to the motor output shaft, and the second inner sheath rotary bevel gear is connected to the inner sheath rotary drive shaft 133b, and the second inner sheath rotary bevel gear meshes with the first inner sheath rotary bevel gear. This inner sheath rotary transmission member 132b changes the direction of power transmission from the motor and has a compact structure.

[0082] As shown in Figures 26 and 38, the opening / closing control assembly 13c is connected to the opening / closing transmission shaft 431 of the inner sheath adapter 4, and the opening / closing control assembly 13c is configured to drive and rotate the inner sheath drive wheel 2033 of the inner sheath unit 203 to open and close the fixing member 204 connected to the inner sheath tube 2032.

[0083] In one embodiment, the opening / closing control assembly 13c includes an opening / closing drive member 131c, an opening / closing transmission member 132c, and an opening / closing drive shaft 133c, an input end of the opening / closing transmission member 132c is drivingly connected to the opening / closing drive member 131c, an output end of the opening / closing transmission member 132c is connected to a first end of the opening / closing drive shaft 133c, and a second end of the opening / closing drive shaft 133c is connected to the opening / closing transmission shaft 431. The power output from the opening / closing drive member 131c drives and rotates the opening / closing drive shaft 133c via the opening / closing transmission member 132c, and the rotation of the opening / closing drive shaft 133c drives and rotates the opening / closing transmission shaft 431, which further drives the fixed member 204 to open or close. The driving force of the opening / closing drive member 131c drives and rotates the opening / closing drive shaft 133c via the opening / closing transmission member 132c, thereby driving and rotating the opening / closing transmission shaft 431, and further driving and rotating the inner sheath drive wheel 2033 on the inner sheath handle 2031, thereby opening and closing the fixing member 204.

[0084] The open / close drive member 131c is a motor, and the open / close transmission member 132c includes a first open / close bevel gear and a second open / close bevel gear, the first open / close bevel gear is connected to the output end of the motor, and the second open / close bevel gear is connected to the open / close drive shaft 133c, and the second open / close bevel gear meshes with the first open / close bevel gear. The structure of this open / close transmission member 132c changes the direction of power transmission of the motor and has a compact structure.

[0085] As shown in Figures 26, 34 and 38, the first control assembly 13d is connected to the first drive rod 441 of the inner sheath adapter 4, and the first control assembly 13d is configured to drive and move the first operating lever 2034 of the inner sheath unit 203 to open and close one of the clamping members 205 connected to the inner sheath tube 2032.

[0086] In one embodiment, the first control assembly 13d includes a first driving member 131d and a first connecting rod 132d connected to an output end of the first driving member 131d, and the first connecting rod 132d is connected to a first driving rod 441. The first driving member 131d drives and moves the first connecting rod 132d, which drives and moves the first driving rod 441, thereby driving and moving the first operating lever 2034, thereby controlling the opening and closing of the clamping member 205.

[0087] The first drive member 131d is an electric cylinder, which is mounted to an inner sheath translation drive mounting plate 132a of the inner sheath translation drive assembly 13a.

[0088] As shown in Figures 26, 35 and 38, the second control assembly 13e is connected to the second drive rod 451 of the inner sheath adapter 4, and the second control assembly 13e is configured to drive and move the second operating lever 2035 of the inner sheath unit 203 to open and close the other clamping member 205 connected to the inner sheath tube 2032.

[0089] In one embodiment, the second control assembly 13e includes a second driving member 131e and a second connecting rod 132e connected to an output end of the second driving member 131e, and the second connecting rod 132e is connected to the second driving rod 451. The second driving member 131e drives and moves the second connecting rod 132e, which drives and moves the second driving rod 451, thereby driving and moving the second operating lever 2035 to open and close the clamping member 205.

[0090] The second drive member 131e is an electric cylinder, which is mounted to the inner sheath translation mounting plate 132a of the inner sheath translation drive assembly 13a.

[0091] As shown in Figures 26, 36 and 38, the lock assembly 13f is connected to the lock drive rod 461 of the inner sheath adapter 4, and the lock assembly 13f is configured to drive and move the lock operating lever 2036 on the inner sheath handle 2031 to lock or unlock the clamping member 205 and the fixing member 204.

[0092] In one embodiment, the lock assembly 13f includes a lock drive member 131f and a lock connecting rod 132f connected to an output end of the lock drive member 131f, and the lock connecting rod 132f is connected to the lock drive rod 461. The lock drive member 131f is configured to drive and move the lock connecting rod 132f to drive and move the lock drive rod 461, thereby driving and moving the lock operating lever 2036 to lock or unlock the fixing member 204 and the clamping member 205.

[0093] The inner sheath drive unit 13 provided in this embodiment is mounted in the second power chamber housing 15, and the second circuit board 17 can respectively control the operation of the inner sheath translation drive assembly 13a, the inner sheath rotation drive assembly 13b, the opening / closing control assembly 13c, the first control assembly 13d, the second control assembly 13e and the lock assembly 13f to realize the operation of the inner sheath tube 2032, the fixing member 204 and the clamping member 205, thereby replacing the doctor's complete manual operation and improving the precision and efficiency of the surgery.

[0094] As shown in Figures 37 to 42, the inner sheath adapter 4 includes an inner sheath translation transmission unit 41 and an inner sheath rotation transmission unit 42. The inner sheath translation transmission unit 41 is provided to support the inner sheath handle 2031, and the inner sheath drive unit 13 is drivingly connected to the inner sheath translation transmission unit 41 to drive and move the inner sheath unit 203 along its axial direction. An output end of the inner sheath rotation transmission unit 42 is drivingly connected to the inner sheath translation transmission unit 41, and an input end of the inner sheath rotation transmission unit 42 is drivingly connected to the inner sheath drive unit 13 to drive and rotate the inner sheath unit 203 along its axial line.

[0095] The inner sheath translation transmission unit 41 includes a translation-telescopic assembly 412 configured to support the inner sheath unit 203, and an inner sheath translation drive rod 411 having one end connected to a telescopic portion 4121 of the translation-telescopic assembly 412. The inner sheath translation drive rod 411 is connected to an output end of an inner sheath translation drive member 131a, which drives the inner sheath translation drive rod 411 to move and translate the telescopic portion 4121. One end of the inner sheath rotation transmission unit 42 is drivingly connected to the translation-telescopic assembly 412, and an input end of the inner sheath rotation transmission unit 42 is connected to the inner sheath rotation drive shaft 133b, thereby driving and rotating the translation-telescopic assembly 412 and rotating the inner sheath unit 203 along its own axis.

[0096] The inner sheath adapter 4 provided in this embodiment can support the inner sheath unit 203 and can perform operations such as moving the inner sheath unit 203 back and forth and rotating the inner sheath unit 203, thereby replacing the doctor's manual operation and reducing the difficulty of operating the inner sheath unit 203, thereby reducing the requirements for the doctor's technical level and clinical experience, and improving the accuracy of surgical operations, thereby improving the success rate of surgery.

[0097] 39 to 41 , the inner sheath adapter 4 further includes an inner sheath housing 47, and the translating telescopic assembly 412 further includes a fixed portion 4122 slidably connected to a first end of the telescopic portion 4121, the fixed portion 4122 being rotatably connected to the inner sheath housing 47, and an inner sheath translation plate 413 being rotatably connected to a second end of the telescopic portion 4121, the inner sheath translation plate 413 being slidably connected to the inner sheath housing 47, and one end of the inner sheath translation drive rod 411 being connected to the inner sheath translation plate 413, and when the inner sheath translation drive rod 411 is toggled, the inner sheath translation plate 413 can be slidably driven relative to the inner sheath housing 47, and the inner sheath unit 203 placed on the telescopic portion 4121 can be driven to translate, thereby moving the inner sheath tube 2032 of the inner sheath unit 203 relative to the middle sheath tube 2022.

[0098] The inner sheath housing 47 includes a first housing and a second housing, one side of the first housing is hingedly connected to one side of the second housing, the inner sheath translation plate 413 is slidably connected to the bottom of the first housing, and the second housing is engaged with the first housing. The first housing and the second housing are engaged to form a cavity that accommodates the inner sheath translation transmission unit 41 and the inner sheath rotation transmission unit 42, and the inner sheath tube 2032 of the inner sheath unit 203 is disposed outside through the inner sheath housing 47.

[0099] A slide rail is provided at the bottom of the first housing, and a slider is provided on the inner sheath translation plate 413, and the slider is slidably mounted on the slide rail. The telescopic part 4121 includes a telescopic plate, and the fixed part 4122 includes a fixed plate, a first end of the telescopic plate is slidingly connected to a first end of the fixed plate, a second end of the fixed plate is connected to a first fixed support, the first fixed support is rotatably connected to the first housing, and the second end of the telescopic plate is rotatably connected to the translation plate. The first fixed support provides a mounting support for mounting the fixed plate.

[0100] In this embodiment, the inner sheath rotary transmission unit 42 includes an inner sheath rotary transmission shaft 421 and an inner sheath rotary gear set 422. A first end of the inner sheath rotary gear set 422 is connected to the inner sheath rotary transmission shaft 421, and a second end of the inner sheath rotary gear set 422 is drivingly connected to a rotary gear set shaft 423, which is fixedly connected to a fixed part 4122. The rotary gear set shaft 423 is rotatably connected to the inner sheath housing 47. The inner sheath translation plate 413 is provided with a rotary support, and the telescopic part 4121 is rotatably connected to the rotary support. When the inner sheath rotary transmission shaft 421 is driven, the driving force is transmitted to the rotary gear set shaft 423 via the inner sheath rotary gear set 422, driving the translation-telescopic assembly 412 to rotate around the rotary gear set shaft 423 and adjust the position of the distal end of the inner sheath tube 2032.

[0101] In one embodiment, the inner sheath rotary gear set 422 includes a first inner sheath rotary bevel gear 4221 and a second inner sheath rotary bevel gear 4222, the first inner sheath rotary bevel gear 4221 is connected to the inner sheath rotary transmission shaft 421, and the second inner sheath rotary bevel gear 4222 is mounted on the rotary gear set shaft 423, and the second inner sheath rotary bevel gear 4222 meshes with the first inner sheath rotary bevel gear 4221. This inner sheath rotary gear set 422 has a simple structure, and the power input direction is perpendicular to the power output direction, so that the power transmission direction can be changed and the structure of the sheath tube assembly adapter can be made more compact, thereby saving space.

[0102] The inner sheath adapter 4 further includes an opening and closing transmission unit 43, which is drivingly connected to the inner sheath drive wheel 2033, and the input end of the opening and closing transmission unit 43 is connected to the opening and closing drive shaft 133c, which can drive and rotate the inner sheath drive wheel 2033, thereby controlling the opening and closing of the fixed member 204.

[0103] In one embodiment, the opening-closing transmission unit 43 includes an opening-closing transmission shaft 431, an opening-closing gear set 432, an expandable opening-closing gear shaft 433, and an opening-closing drive gear 434. A first end of the opening-closing gear set 432 is connected to the opening-closing transmission shaft 431, and a second end of the opening-closing gear set 432 can rotate together with the opening-closing transmission shaft 431 to correspond to the rotation of the translation-telescopic assembly 412, thereby driving the inner sheath unit 203 to rotate along its own axis. A first end of the opening-closing gear shaft 433 is rotatably connected to the fixed part 4122 and a second end of the opening-closing gear set 432, and the second end of the opening-closing gear shaft 433 is rotatably connected to the telescopic part 4121. The opening-closing gear shaft 433 is expandable to correspond to the translation of the telescopic part 4121 of the translation-telescopic assembly 412. The opening-closing drive gear 434 is connected to the opening-closing gear shaft 433, and the opening-closing drive gear 434 meshes with the inner sheath drive wheel 2033. The opening / closing drive shaft 133c is connected to the opening / closing transmission shaft 431, thereby transmitting power to the opening / closing gear set 432, thereby driving the opening / closing gear shaft 433 to rotate around its own axis, and the opening / closing drive gear 434 can rotate together with the opening / closing gear shaft 433, thereby driving the inner sheath drive wheel 2033 to rotate, and by adjusting the fixing member 204 connected to the distal end of the inner sheath tube 2032, the opening and closing of the fixing member 204 can be adjusted.

[0104] In this embodiment, the open-close gear set 432 includes a first open-close bevel gear 4321, a second open-close bevel gear 4322, a bevel gear connecting shaft 4323, a double-row gear 4325, and a second intermediate transmission gear 4326. The first open-close bevel gear 4321 is connected to the open-close transmission shaft 431, and the second open-close bevel gear 4322 meshes with the first open-close bevel gear 4321. The second open-close bevel gear 4322 is provided at a first end of the bevel gear connecting shaft 4323, and a first intermediate transmission gear 4324 is provided at a second end of the bevel gear connecting shaft 4323. The rotating gear set shaft 423 is provided with a double-row gear 4325, and the first intermediate transmission gear 4324 can selectively mesh with one gear of the double-row gear 4325. A second intermediate transmission gear 4326 is provided on one end of the opening / closing gear shaft 433, and the second intermediate transmission gear 4326 meshes with the other gear of the double row gear 4325. The provision of the first opening / closing bevel gear 4321 and the second opening / closing bevel gear 4322 allows the direction of power transmission to be changed, making the structural layout of the opening / closing gear set 432 more compact and reducing the space it occupies.

[0105] In this embodiment, the inner sheath adapter 4 further includes a first transmission unit 44, which is drivingly connected to the first operating lever 2034 of the inner sheath unit 203, and the input end of the first transmission unit 44 is connected to the first connecting rod 132d so as to drive the first operating lever 2034 to move along its axial direction. In this embodiment, the movement of the first operating lever 2034 can drive one clamping member 205 at the distal end of the inner sheath tube 2032 to open or close it.

[0106] In one embodiment, the first transmission unit 44 includes a first drive rod 441, a first annular member 442, a first link 443, and a first clamping member 444. The first drive rod 441 is slidably connected to the inner sheath translation plate 413 to correspond to the movement of the telescopic portion 4121 of the translation-telescopic assembly 412. The first annular member 442 surrounds the translation-telescopic assembly 412 and is fixedly connected to the first drive rod 441. A first end of the first link 443 is slidably connected to the inner wall of the first annular member 442 to correspond to the rotation of the translation-telescopic assembly 412, and the first annular member 442 serves to guide the rotation of the first link 443. A central portion of the first link 443 is slidably connected to the bottom of the telescopic portion 4121 to correspond to the movement of the telescopic portion 4121 of the translation-telescopic assembly 412. The first drive rod 441 is connected to the first connecting rod 132d, thereby driving the first drive rod 441 to translate, and the first drive rod 441 drives the first annular member 442 to translate, thereby slidingly driving the first link 443 relative to the inner sheath translation plate 413. A first clamping member 444 is gimbal-connected to a second end of the first link 443, and the other end of the first clamping member 444 passes through a first elongated hole in the telescopic section 4121 and is connected to the first operating lever 2034. When the first link 443 moves, the first clamping member 444 drives the first operating lever 2034 to move horizontally, thereby controlling the opening and closing of one clamping member 205 at the distal end of the inner sheath tube 2032.

[0107] The first annular member 442 includes two semi-annular members, the first ends of which are hingedly connected and the second ends of which are removably connected so as to open one of the semi-annular members and facilitate placement and removal of the inner sheath unit 203.

[0108] The inner sheath adapter 4 further includes a second transmission unit 45, which is drivingly connected to the second operating lever 2035 of the inner sheath unit 203, and an input end of the second transmission unit 45 is connected to the second connecting rod 132e, thereby driving and moving the second operating lever 2035 along its axial direction. In this embodiment, when the second operating lever 2035 moves, the other clamping member 205 at the distal end of the inner sheath tube 2032 can be driven to open or close.

[0109] In one embodiment, the second transmission unit 45 includes a second drive rod 451, a second annular member 452, a second link 453, and a second clamping member 454. The second drive rod 451 is slidably connected to the inner sheath translation plate 413, and the second annular member 452 surrounds the translation-telescopic assembly 412 and is fixedly connected to the second drive rod 451. A first end of the second link 453 is slidably connected to the inner wall of the second annular member 452 to correspond to the rotation of the translation-telescopic assembly 412, and the second annular member 452 serves to guide the rotation of the second link 453. A central portion of the second link 453 is slidably connected to the bottom of the telescopic portion 4121 of the translation-telescopic assembly 412 to correspond to the movement of the telescopic portion 4121. The second drive rod 451 is connected to the second connecting rod 132e, thereby driving the second drive rod 451 to translate, and the second drive rod 451 drives the second annular member 452 to translate, thereby slidingly driving the second link 453 relative to the inner sheath translation plate 413. A second clamping member 454 is gimbal-connected to a second end of the second link 453, and one end of the second clamping member 454 passes through a second elongated hole in the telescopic section 4121 and is connected to the second operating lever 2035. When the second link 453 moves, the second clamping member 454 drives the closing operating lever 2035 to move horizontally, thereby opening and closing the other clamping member 205 at the distal end of the inner sheath tube 2032.

[0110] The second annular member 452 includes two semi-annular members, the first ends of which are hingedly connected and the second ends of which are removably connected so as to open one of the semi-annular members and facilitate placement and removal of the inner sheath unit 203.

[0111] The inner sheath adapter 4 further includes a lock transmission unit 46, which is drivingly connected to the lock operating lever 2036 of the inner sheath unit 203. The lock transmission unit 46 is connected to the lock connecting rod 132f and can drive the lock operating lever 2036 to move along its own axis. In this embodiment, when the lock operating lever 2036 moves, the fixing member 204 and the clamping member 205 at the distal end of the inner sheath tube 2032 can be locked or unlocked.

[0112] In one embodiment, the lock transmission unit 46 includes a lock drive rod 461, a lock annular member 462, a lock link 463, and a lock clamping member 464. The lock drive rod 461 is slidably connected to the inner sheath translation plate 413, and the lock annular member 462 surrounds the translation-telescopic assembly 412 and is fixedly connected to the lock drive rod 461. A first end of the lock link 463 is slidably connected to the inner wall of the lock annular member 462 to correspond to the rotation of the translation-telescopic assembly 412, and the lock annular member 462 serves to guide the rotation of the lock link 463. A central portion of the lock link 463 is slidably connected to the bottom of the telescopic member 4121 of the translation-telescopic assembly 412 to correspond to the movement of the telescopic member 4121. The lock drive rod 461 is connected to the lock connecting rod 132f, thereby driving the lock drive rod 461 to translate, and the lock drive rod 461 drives the lock annular member 462 to translate, thereby slidingly driving the lock link 463 relative to the inner sheath translation plate 413. A second end of the lock link 463 is gimbal-connected to the lock clamping member 464, and one end of the lock clamping member 464 passes through a third elongated hole in the telescopic section 4121 and is connected to the lock operating lever 2036. When the lock link 463 moves, the lock clamping member 464 drives the lock operating lever 2036 to move horizontally, thereby locking or unlocking the clamping member 205 at the distal end of the inner sheath tube 2032 and the fixing member 204.

[0113] The inner sheath adapter 4 can adjust the horizontal movement of the inner sheath unit 203, the rotation of the inner sheath tube 2032, the opening and closing of the fixing member 204 at the distal end of the inner sheath tube 203, the opening and closing of the clamping member 205 at the distal end of the inner sheath tube 203, and the locking and unlocking of the fixing member 204 and the clamping member 205 at the distal end of the inner sheath tube 2032, and can therefore replace the doctor's complete manual adjustments, thereby improving the precision of the surgical operation and the efficiency of the surgery. [Explanation of symbols]

[0114] 1000, heart; 1001, right atrium; 1002, right ventricle; 1003, left atrium; 1004, left ventricle; 1005, atrial septum; 1006, mitral valve; 100, control device; 200, catheter system; 300, robot arm; 400, medical cart; 500, actuation power device; 201, outer sheath unit; 202, middle sheath unit; 203, inner sheath unit; 204, fixing member; 205, clamping member; 2011, outer sheath handle; 2012, outer sheath tube; 2013, outer sheath drive gear; 2021, inner sheath handle; 2022, inner sheath tube; 2023, first inner sheath drive wheel; 2024, second inner sheath drive wheel; 2031, inner sheath handle; 2032, inner sheath tube; 2033, inner sheath driving wheel; 2034, first operating lever; 2035, second operating lever; 2036, lock operating lever; 11, outer sheath drive unit; 11a, outer sheath bending drive assembly; 111a, outer sheath bending drive member; 112a, outer sheath bending drive transmission member; 113a, outer sheath bending drive shaft; 11b, outer sheath rotation drive assembly; 111b, outer sheath rotation drive member; 112b, outer sheath rotation transmission member; 113b, outer sheath rotation drive shaft; 12, sheath drive unit; 12a, first sheath bending drive assembly; 121a, first sheath bending drive member; 122a, first sheath bending transmission member; 123a, first sheath bending drive shaft; 12b, second sheath bending drive assembly; 121b, second sheath bending drive member; 122b, second sheath bending transmission member; 123b, second sheath bending drive shaft; 12c, sheath translation drive assembly; 121c, sheath translation drive member; 122c, sheath translation mounting plate; 13, inner sheath drive unit; 13a, inner sheath translation drive assembly; 131a, inner sheath translation drive member; 132a, inner sheath translation mounting plate; 13b, inner sheath rotation drive assembly; 131b, inner sheath rotation drive member; 132b, inner sheath rotation transmission member; 133b, inner sheath rotation drive shaft; 13c, opening / closing control assembly; 131c, opening / closing drive member; 132c, opening / closing transmission member; 133c, opening / closing drive shaft; 13d, first control assembly; 131d, first drive member; 132d, first connecting rod; 13e, second control assembly; 131e, second drive member; 132e, second connecting rod; 13f, lock assembly; 131f, lock drive member; 132f, lock connecting rod; 14, first power chamber housing; 15, second power chamber housing; 16, first circuit board; 17, second circuit board; 2, outer sheath adapter; 21, the first outer sheath transmission assembly; 211, the first outer sheath transmission shaft; 212, the outer sheath body driving worm wheel; 2121, the half worm wheel; 22, second outer sheath transmission assembly; 221, second outer sheath transmission shaft; 2211, outer sheath power input rod; 2212, outer sheath connecting rod; 22121, first outer sheath sliding rod; 22122, second outer sheath sliding rod; 22123, anti-rotation groove; 22124, anti-rotation slider; 2213, outer sheath power output rod; 222, first outer sheath bevel gear; 223, second outer sheath bevel gear; 224, outer sheath transmission worm; 225, outer sheath timing belt; 23, outer sheath rotating frame; 231, outer sheath base; 232, outer sheath cover plate; 24, outer sheath mounting frame; 241, outer sheath hanging connection member; 242, outer sheath mounting groove; 243, hanging connection holding wall; 3, inner sheath adapter; 31, the first sheath drive assembly; 311, the first sheath bending transmission shaft; 312, the first sheath transmission worm; 313, the first sheath bevel gear; 314, the second sheath bevel gear; 32, the second sheath drive assembly; 321, the second sheath bending transmission shaft; 322, the second sheath transmission worm; 323, the third sheath bevel gear; 324, the fourth sheath bevel gear; 33, sheath mounting frame; 331, sheath support frame; 3311, first sheath communicating hole; 332, sheath base; 333, sheath cover plate; 3331, second sheath communicating hole; 3332, sheath positioning member; 34, middle sheath engaging member; 4, inner sheath adapter; 41, inner sheath translation transmission unit; 411, inner sheath translation driving rod; 412, translation telescopic assembly; 4121, telescopic part; 4122, fixed part; 413, inner sheath translation plate; 42, inner sheath rotary transmission unit; 421, inner sheath rotary transmission shaft; 422, inner sheath rotary gear set; 4221, first inner sheath rotary bevel gear; 4222, second inner sheath rotary bevel gear; 423, rotary gear set shaft; 424, inner sheath rotary support; 43, open / close transmission unit; 431, open / close transmission shaft; 432, open / close gear set; 4321, first open / close bevel gear; 4322, second open / close bevel gear; 4323, bevel gear connecting shaft; 4324, first intermediate transmission gear; 4325, double row gear; 4326, second intermediate transmission gear; 433, open / close gear shaft; 434, open / close driving gear; 44, first transmission unit; 441, first driving rod; 442, first annular member; 443, first link; 444, first clamping member; 45, second transmission unit; 451, second driving rod; 452, second annular member; 453, second link; 454, second clamping member; 46, lock transmission unit; 461, lock driving rod; 462, lock ring member; 463, lock link; 464, lock clamping member; 47, inner sheath housing.

Claims

1. An actuator power unit configured to drive a catheter system (200) including an outer sheath unit (201), a middle sheath unit (202), and an inner sheath unit (203), comprising: an outer sheath drive unit (11) configured to be drivingly connected to an outer sheath adapter (2), the outer sheath adapter (2) configured to support the outer sheath unit (201), and the outer sheath drive unit (11) configured to drive the outer sheath unit (201) via the outer sheath adapter (2) to perform an operation; a sheath drive unit (12), the sheath drive unit (12) being provided so as to be drivingly connected to a sheath adapter (3), the sheath adapter (3) being provided so as to support the sheath unit (202), and the sheath drive unit (12) being provided so as to drive the sheath unit (202) via the sheath adapter (3) to perform an operation; An actuator power device comprising: an inner sheath drive unit (13), the inner sheath drive unit (13) being arranged to be drivingly connected to an inner sheath adapter (4), the inner sheath adapter (4) being arranged to support the inner sheath unit (203), and the inner sheath drive unit (13) being arranged to drive the inner sheath unit (203) via the inner sheath adapter (4) to perform an operation.

2. The outer sheath drive unit (11) an outer sheath bending drive assembly (11a) drivingly connected to the second outer sheath transmission shaft (221) of the outer sheath adapter (2) and configured to adjust the bending of the distal end of the outer sheath tube (2012) of the outer sheath unit (201); an outer sheath rotary drive assembly (11b) drivingly connected to the first outer sheath transmission shaft (211) of the outer sheath adapter (2) and configured to drive and rotate the outer sheath unit (201) about its axis.

3. The outer sheath bending drive assembly (11a) comprises: an outer sheath bending drive member (111a); an outer sheath bending transmission member (112a), the input end of which is drivingly connected to the outer sheath bending drive member (111a); 3. The actuator power unit of claim 2, further comprising: an outer sheath bending drive shaft (113a), a first end of which is connected to an output end of the outer sheath bending transmission member (112a), and a second end of which is connected to the second outer sheath transmission shaft (221).

4. The outer sheath rotary drive assembly (11b) an outer sheath rotary drive member (111b); an outer sheath rotary drive transmission member (112b), the input end of which is drivingly connected to the outer sheath rotary drive member (111b); 3. The actuator power unit of claim 2, further comprising: an outer sheath rotary drive shaft (113b), a first end of which is connected to an output end of the outer sheath rotary drive transmission member (112b), and a second end of which is connected to the first outer sheath transmission shaft (211).

5. The inner sheath drive unit (12) is a first inner sheath bending drive assembly (12a) configured to be drivingly connected to the first inner sheath bending transmission shaft (311) of the inner sheath adapter (3) so as to adjust the bending angle of the distal end of the inner sheath tube (2022) in the first direction of the inner sheath unit (202); a second inner sheath bending drive assembly (12b) configured to be drivingly connected to the second inner sheath bending transmission shaft (321) of the inner sheath adapter (3) so as to adjust the bending angle of the distal end of the inner sheath tube (2022) in a second direction; and a middle sheath translation drive assembly (12c) that is drivingly connected to the middle sheath adapter (3) and that is configured to drive and move the middle sheath unit (202) along its axial direction.

6. The inner sheath translation drive assembly (12c) a middle sheath translational drive member (121c); 6. The actuator power unit of claim 5, further comprising: a middle sheath translation mounting plate (122c) drivingly connected to an output end of the middle sheath translation drive member (121c) and configured to be connected to the middle sheath adapter (3), wherein the first middle sheath bending drive assembly (12a) and the second middle sheath bending drive assembly (12b) each include a middle sheath translation mounting plate (122c) configured to be mounted on the middle sheath translation mounting plate (122c).

7. The first sheath bending drive assembly (12a) comprises: a first inner sheath bending drive member (121a); a first inner sheath bending transmission member (122a), an input end of which is drivingly connected to the first inner sheath bending drive member (121a); 6. The actuator power unit of claim 5, further comprising: a first inner sheath bending drive shaft (123a), a first end of which is connected to the output end of the first inner sheath bending transmission member (122a), and a second end of which is connected to the first inner sheath bending transmission shaft (311).

8. The second sheath bending drive assembly (12b) comprises: a second intermediate sheath bending drive member (121b); a second inner sheath bending transmission member (122b), an input end of which is drivingly connected to the second inner sheath bending drive member (121b); 6. The actuator power unit of claim 5, further comprising: a second inner sheath bending drive shaft (123b), a first end of which is connected to an output end of the second inner sheath bending transmission member (122b), and a second end of which is connected to the second inner sheath bending transmission shaft (321).

9. The inner sheath drive unit (13) is an inner sheath translation drive assembly (13a) configured to be connected to the inner sheath translation drive rod (411) of the inner sheath adapter (4) and configured to drive and move the inner sheath unit (203) along its axial direction; an inner sheath rotary drive assembly (13b) adapted to be connected to the inner sheath rotary transmission shaft (421) of the inner sheath adapter (4) and adapted to drive the inner sheath unit (203) to rotate along its axis; and / or an opening / closing control assembly (13c) that is connected to the opening / closing transmission shaft (431) of the inner sheath adapter (4) and that drives and rotates the inner sheath drive wheel (2033) of the inner sheath unit (203) so as to open and close the fixing member (204) connected to the inner sheath tube (2032) of the inner sheath unit (203); a first control assembly (13d) that is connected to a first drive rod (441) of the inner sheath adapter (4) and that drives and moves a first operating lever (2034) of the inner sheath unit (203) so as to open and close one of the clamping members (205) connected to the inner sheath tube (2032); a second control assembly (13e) that is connected to a second drive rod (451) of the inner sheath adapter (4) and that drives and moves a second operating lever (2035) of the inner sheath unit (203) so as to open and close the other clamping member (205) connected to the inner sheath tube (2032); and a lock assembly (13f) connected to a lock drive rod (461) of the inner sheath adapter (4) and configured to drive and move a lock operating lever (2036) on an inner sheath handle (2031) of the inner sheath unit (203) to lock or unlock the clamping member (205) and the fixing member (204).

10. The inner sheath translation drive assembly (13a) an inner sheath translational drive member (131a), the output end of which is connected to the inner sheath translational drive rod (411); 10. The actuator power unit of claim 9, further comprising: an inner sheath translation mounting plate (132a), the inner sheath translation mounting plate (132a) connected to an output end of the inner sheath translation drive member (131a), and the first control assembly (13d), the second control assembly (13e), and the lock assembly (13f) each having an inner sheath translation mounting plate (132a) provided on the inner sheath translation mounting plate (132a).

11. The inner sheath rotary drive assembly (13b) an inner sheath rotation drive member (131b); an inner sheath rotation transmission member (132b), the input end of which is drivingly connected to the inner sheath rotation drive member (131b); 10. The actuator power unit of claim 9, further comprising an inner sheath rotary drive shaft (133b), a first end of which is connected to an output end of the inner sheath rotary transmission member (132b), and a second end of which is connected to the inner sheath rotary transmission shaft (421).

12. The opening and closing control assembly (13c) an opening / closing drive member (131c); an opening / closing transmission member (132c), an input end of which is drivingly connected to the opening / closing drive member (131c); an opening / closing drive shaft (133c), a first end of which is connected to an output end of the opening / closing transmission member (132c), and a second end of which is connected to the opening / closing transmission shaft (431).

13. the first control assembly (13d) includes a first drive member (131d) and a first connecting rod (132d) connected to an output end of the first drive member (131d), the first connecting rod (132d) being adapted to be connected to the first drive rod (441); or the second control assembly (13e) includes a second drive member (131e) and a second connecting rod (132e) connected to an output end of the second drive member (131e), the second connecting rod (132e) being adapted to be connected to the second drive rod (451); or 10. The actuator power unit according to claim 9, wherein the lock assembly (13f) includes a lock drive member (131f) and a lock connecting rod (132f) connected to an output end of the lock drive member (131f), the lock connecting rod (132f) being configured to be connected to the lock drive rod (461).

14. A surgical assistance system including a robotic device and a control device (100), The robot device includes a robot arm (300) and an actuation power unit (500) connected to an actuation end of the robot arm (300), and the robot arm (300) can adjust the position of the actuation power unit (500); the actuation power device (500) includes a catheter system drive unit and an adapter, the adapter being configured to support the catheter system (200), and the catheter system drive unit being configured to drive the catheter system (200) via the adapter to perform an operation; The control device (100) is electrically connected to the robot device and has an operating end that controls the robot device.

15. The catheter system (200) includes an outer sheath unit (201), an intermediate sheath unit (202), and an inner sheath unit (203), the catheter system drive unit includes an outer sheath drive unit (11), an intermediate sheath drive unit (12), and an inner sheath drive unit (13), and the adapters include an outer sheath adapter (2), an intermediate sheath adapter (3), and an inner sheath adapter (4), the outer sheath drive unit (11) is arranged to be drivingly connected to the outer sheath adapter (2), the outer sheath adapter (2) is arranged to support the outer sheath unit (201), and the outer sheath drive unit (11) is arranged to drive the outer sheath unit (201) via the outer sheath adapter (2) to perform an operation; the sheath drive unit (12) is configured to be drivingly connected to the sheath adapter (3), the sheath adapter (3) is configured to support the sheath unit (202), and the sheath drive unit (12) is configured to drive the sheath unit (202) via the sheath adapter (3) to perform an operation; The surgical assistance system of claim 14, wherein the inner sheath drive unit (13) is configured to be drivingly connected to the inner sheath adapter (4), the inner sheath adapter (4) is configured to support the inner sheath unit (203), and the inner sheath drive unit (13) is configured to drive the inner sheath unit (203) via the inner sheath adapter (4) to perform an operation.

16. The outer sheath unit (201) includes an outer sheath tube (2012) and an outer sheath handle (2011); The outer sheath drive unit (11) an outer sheath bending drive assembly (11a) drivingly connected to the outer sheath adapter (2) and configured to adjust the bending of the distal end of the outer sheath tube (2012); and an outer sheath rotary drive assembly (11b) drivingly connected to the outer sheath adapter (2) and configured to drive and rotate the outer sheath unit (201) about its axis.

17. The outer sheath unit (201) includes an outer sheath tube (2012) and an outer sheath handle (2011); The outer sheath adapter (2) an outer sheath rotating frame (23) configured to support the outer sheath handle (2011); a first outer sheath transmission assembly (21), the first outer sheath transmission assembly (21) including a first outer sheath transmission shaft (211), a first end of the first outer sheath transmission shaft (211) drivingly connected to the outer sheath drive unit (11), and a second end of the first outer sheath transmission shaft (211) drivingly connected to the outer sheath rotating frame (23) so as to drive and rotate the outer sheath rotating frame (23) about a rotation axis; The surgical support system of claim 14, further comprising: a second outer sheath transmission assembly (22), the second outer sheath transmission assembly (22) including a second outer sheath transmission shaft (221), a first end of the second outer sheath transmission shaft (221) drivingly connected to the outer sheath drive unit (11), and a second end of the second outer sheath transmission shaft (221) drivingly connected to an outer sheath drive gear (2013) on the outer sheath handle (2011) so as to adjust the bending angle of the distal end of the outer sheath tube (2012).

18. The sheath unit (202) includes a sheath tube (2022) and a sheath handle (2021), The inner sheath drive unit (12) is a first inner sheath bending drive assembly (12a) drivingly connected to the inner sheath adapter (3) to adjust the bending angle of the distal end of the inner sheath tube (2022) in a first direction; a second inner sheath bending drive assembly (12b) drivingly connected to the inner sheath adapter (3) to adjust the bending angle of the distal end of the inner sheath tube (2022) in a second direction; 16. The surgical support system of claim 15, further comprising at least one of: a middle sheath translation drive assembly (12c) drivingly connected to the middle sheath adapter (3) and configured to drive and move the middle sheath unit (202) along its axial direction.

19. The inner sheath adapter (3) is a sheath mounting frame (33), the sheath mounting frame (33) being configured to support the sheath handle (2021), and the sheath drive unit (12) being drivingly connected to the sheath mounting frame (33) so as to drive and move the sheath unit (202) along its axial direction; a first sheath drive assembly (31), the first sheath drive assembly (31) being mounted on the sheath mounting frame (33), the first sheath drive assembly (31) including a first sheath bending transmission shaft (311), a first end of the first sheath bending transmission shaft (311) being drivingly connected to the sheath drive unit (12), and a second end of the first sheath bending transmission shaft (311) being drivingly connected to a first sheath drive wheel (2023) on the sheath handle (2021) so as to adjust bending of the sheath tube (2022) in a first direction; The surgical assistance system of claim 18, comprising at least one of: a second sheath drive assembly (32), the second sheath drive assembly (32) being provided on the sheath mounting frame (33), the second sheath drive assembly (32) including a second sheath bending transmission shaft (321), a first end of the second sheath bending transmission shaft (321) being drivingly connected to the sheath drive unit (12), and a second end of the second sheath bending transmission shaft (321) being drivingly connected to a second sheath drive wheel (2024) on the sheath handle (2021) so as to adjust the bending of the distal end of the sheath tube (2022) in a second direction.

20. The inner sheath unit (203) includes an inner sheath handle (2031) and an inner sheath tube (2032), The inner sheath drive unit (13) is an inner sheath translation drive assembly (13a) connected to the inner sheath adapter (4) and configured to drive and move the inner sheath unit (203) along its axial direction; an inner sheath rotary drive assembly (13b) connected to the inner sheath adapter (4) and configured to drive the inner sheath unit (203) to rotate along its axis; an opening / closing control assembly (13c), the opening / closing control assembly (13c) being connected to the inner sheath adapter (4) and configured to drive and rotate an inner sheath drive wheel (2033) on the inner sheath handle (2031) to open and close a fixing member (204) connected to the inner sheath tube (2032); a first control assembly (13d), the first control assembly (13d) being connected to the inner sheath adapter (4) and configured to drive and move a first operating lever (2034) on the inner sheath handle (2031) so as to open and close one of the clamping members (205) connected to the inner sheath tube (2032); a second control assembly (13e) connected to the inner sheath adapter (4) and configured to drive and move a second operating lever (2035) on the inner sheath handle (2031) so as to open or close the other clamping member (205) connected to the inner sheath tube (2032); The surgical support system of claim 15, comprising at least one lock assembly (13f), the lock assembly (13f) being connected to the inner sheath adapter (4) and configured to drive and move a lock operating lever (2036) on the inner sheath handle (2031) to lock or unlock the clamping member (205) and the fixing member (204).

21. The inner sheath unit (203) includes an inner sheath handle (2031) and an inner sheath tube (2032), The inner sheath adapter (4) an inner sheath translation transmission unit (41), the inner sheath translation transmission unit (41) being configured to support the inner sheath handle (2031), and the inner sheath drive unit (13) being drivingly connected to the inner sheath translation transmission unit (41) so as to drive and move the inner sheath unit (203) along its axial direction; an inner sheath rotary transmission unit (42), the output end of which is drivingly connected to the inner sheath translation transmission unit (41), and the input end of which is drivingly connected to the inner sheath drive unit (13), configured to drive and rotate the inner sheath unit (203) along its axis; an opening / closing transmission unit (43), the output end of which is drivingly connected to an inner sheath drive wheel (2033) on the inner sheath handle (2031), and the input end of which is drivingly connected to the inner sheath drive unit (13) so as to open and close a fixed member (204) connected to the inner sheath tube (2032); a first transmission unit (44), an output end of which is drivingly connected to a first operating lever (2034) on the inner sheath handle (2031), and an input end of which is drivingly connected to the inner sheath drive unit (13) so as to open and close one of the clamping members (205) connected to the inner sheath tube (2032); a second transmission unit (45), the output end of which is drivingly connected to a second operating lever (2035) on the inner sheath handle (2031), and the input end of which is drivingly connected to the inner sheath drive unit (13) so as to open and close the other clamping member (205) connected to the inner sheath tube (2032); The surgical support system of claim 15 further comprises a lock transmission unit (46), the output end of which is drivingly connected to a lock operating lever (2036) on the inner sheath handle (2031), and the input end of which is drivingly connected to the inner sheath drive unit (13) so as to lock or unlock the clamping member (205) and the fixing member (204).

22. The surgical assistance system of claim 21, wherein the inner sheath translational transmission unit (41) includes a translational telescopic assembly (412), the translational telescopic assembly (412) includes a telescopic portion (4121) and a fixed portion (4122) slidingly connected to the telescopic portion (4121), the fixed portion (4122) is fixed, the telescopic portion (4121) is configured to support the inner sheath handle (2031), and the output end of the inner sheath rotational transmission unit (42) is drivingly connected to the translational telescopic assembly (412).

23. The surgical assistance system according to claim 14, wherein the robot device further includes a medical cart (400), and the medical cart (400) is provided with the robot arm (300).

Images