Transport actuators and transport devices

Abstract

The present invention relates to a transport actuator and a transport device. The transport actuator includes a swing base, a first clamp arm, a second clamp arm, and a link mechanism. The swing base is rotatably connected to a pedestal. In the link mechanism, the first link and the second link are hinged, and the first link and the second link form an X-shaped scissor link structure. The hinge connection axis of the first link and the second link is hinged to the swing base. The first link and the second link have their first ends hinged to the first clamp arm and the second clamp arm respectively, and their second ends hinged to the first ends of the third link and the fourth link. The second ends of the third link and the fourth link are hinged. The first ends of the fifth link and the sixth link are hinged to the first clamp arm and the second clamp arm respectively, and the second ends of the fifth link and the sixth link are hinged and also hinged to the swing base. A guide groove is provided on the swing base, and the direction of the guide groove is parallel to the first clamp arm and the second clamp arm. The hinge connection axis of the third link and the fourth link is installed in the guide groove and can slide along the guide groove.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and particularly to a transport actuator and a transport device.

Background Art

[0002] Atrial fibrillation is one of the most common arrhythmias clinically. Stroke caused by atrial fibrillation has very severe sequelae, and the mortality and disability rate can reach 70%. In patients with valvular atrial fibrillation, 57% of the atrial thrombi originate from the left atrial appendage, and in patients with non-valvular atrial fibrillation, 90% of the left atrial thrombi originate from the left atrial appendage. Even when the sinus rhythm returns to normal, the contraction of the left atrial appendage is delayed, and thrombi may reform.

[0003] Currently, there are mainly three methods for preventing atrial fibrillation ischemic stroke clinically. The first is to take anticoagulants such as warfarin. However, the application of warfarin has a certain risk of bleeding, and it is necessary to monitor frequently. There are many contraindications, and it is difficult to apply clinically. In addition, warfarin may also cause osteoporosis and soft tissue necrosis. The second is to directly excise or suture the atrial appendage together with cardiac surgery. Such a method mainly has the disadvantage that the complete closure rate of the left atrial appendage is low. According to previous studies, the success rate of completely excising the left atrial appendage is about 80%. The third is to close the left atrial appendage with a device such as an atrial appendage clip and perform a percutaneous transcatheter left atrial appendage closure procedure. However, the transporter of such a product is complex to operate, has a high risk, and it is necessary to verify its safety and effectiveness.

[0004] Conventional atrial appendage clip transport devices typically include two parallel clip arms and two spring sections, which are located at both ends of the atrial appendage clip and can hold the clamps of the two clip arms. A roughly rectangular outer frame is typically installed at the tip of the atrial appendage clip transport device, which restrains the atrial appendage clip inside. The outer frame of the transport device uses a traction rope to pull the clip arms of the atrial appendage clip, and by firmly pulling the traction rope, the atrial appendage clip is pulled open, allowing the atrial appendage clip to be carried to the lesion and the extracardiac closure of the left atrial appendage to be performed.

[0005] In the above-mentioned atrial appendage clip transport device, the challenge to be solved is how to open and close the two clip arms of the atrial appendage clip in parallel, using a simple configuration. [Overview of the Initiative] [Problems that the invention aims to solve]

[0006] The present invention provides a transport actuator and a transport device to solve the technical problems present in the prior art described above. [Means for solving the problem]

[0007] The transport actuator provided in the present invention includes a swing platform, a first clamp arm, a second clamp arm, and a link mechanism, wherein the swing platform is connected to a base and rotatably connected to the base, the link mechanism includes a first link, a second link, a third link, a fourth link, a fifth link, a sixth link, and a seventh link, the first link and the second link are hinged together, and the hinged ends of the first link and the second link are located between the first and second ends of the first link and between the first and second ends of the second link, forming an X-shaped scissor link structure, the first ends of the first link and the second link are hinged together to the first clamp arm and the second clamp arm, respectively, and the second ends of the first link and the second link are hinged together to the third link The third and fourth links are hinged to the first end of the fourth link, the second ends of the third and fourth links are hinged to the rocking base, and the third and fourth links are in the same axial direction as the hinged connection to the rocking base, the first ends of the fifth and sixth links are hinged to the first and second clamp arms, the second ends of the fifth and sixth links are hinged to the first end of the seventh link, and the second end of the seventh link is hinged to the hinged connection end between the first and second links, a guide groove is provided in the rocking base, the direction of the guide groove is parallel to the first and second clamp arms, the seventh link is installed in the guide groove and can slide along the guide groove.

[0008] Here, the planes of motion of the first clamp arm and the second clamp arm relative to the rocking platform and the plane of rotation of the rocking platform relative to the base are either flush with each other or perpendicular to each other.

[0009] Here, a first linear restraint is installed on the first clamp arm, with the opening of the first linear restraint facing the second clamp arm, and a second linear restraint is installed on the second clamp arm, with the opening of the second linear restraint facing the first clamp arm.

[0010] Here, a first fixing groove is provided on the first clamp arm that is in contact with the first linear restraint portion, and a second fixing groove is provided on the second clamp arm that is in contact with the second linear restraint portion.

[0011] Here, the number of the first fixing grooves is at least two, and the number of the second fixing grooves is at least two.

[0012] Here, a first notch is provided in the first clamp arm, and the first notch is located at the tail end of the first clamp arm; a second notch is provided in the second clamp arm, and the second notch is located at the tail end of the second clamp arm.

[0013] The transport device provided in the present invention includes a controller and the transport actuator.

[0014] Here, the controller includes a first control mechanism, the first control mechanism is connected to the control end of the link mechanism of the transport actuator, the first control mechanism includes a first connecting wire and a first winding member, the first connecting wire is wound around the first winding member and connected to the control end.

[0015] Here, a stopper is connected to the first end of the first connecting wire, the stopper is fixed in contact with a fixing hole installed in the rocking base, the first connecting wire passes through the fixing hole and goes around the control end, and the first connecting wire forms a pulley structure at the control end.

[0016] Here, the transport device further includes a second control mechanism, which is connected to the rocking platform and used to control the rotation of the rocking platform relative to the base.

[0017] Here, the second control mechanism includes a second winding member and at least two second connecting wires, the first ends of the at least two second connecting wires being connected to the first and second sides of the rocking platform, respectively, the first and second sides of the rocking platform being the sides located in the rotation path of the hinge connection end between the rocking platform and the base, and the second ends of the second connecting wires being wound around the second winding member, or The second control mechanism includes a link, the first end of which is connected to the rocking platform, the connection point between the link and the rocking platform is located outside the hinge connection axis between the rocking platform and the base, and the second end of which is connected to a handheld operating unit installed at the rear end of the transport device.

[0018] Here, a fixed part is installed on the rocking platform, the transport device includes a third connecting line, the third connecting line includes a first sub-control line and a second sub-control line, the first sub-control line and the second sub-control line include a restraining part, a control unit, and a connecting part that connects the restraining part and the control unit, the restraining part of the first sub-control line movably restrains the container to the first clamp arm at the first clamp arm, the control unit is connected to and fixed to the fixed part of the rocking platform, and the control unit is used to be triggered to release the restraining part, the restraining part of the second sub-control line movably restrains the container to the second clamp arm at the second clamp arm, the control unit is connected to and fixed to the fixed part of the rocking platform, and the control unit is used to be triggered to release the restraining part.

[0019] Here, multiple grooves are provided on the rocking platform, and openings are provided at the tail ends of at least some of the grooves. [Effects of the Invention]

[0020] The transport actuator and transport device provided in the embodiments of the present invention have the following advantages compared to the prior art.

[0021] The transport actuator provided in the embodiment of the present invention, based on its link mechanism, uses the hinge connection ends of its first link and second link as control ends, the hinge connection end of its first link and first clamp arm as the first front connection end, the hinge connection end of its fifth link and first clamp arm as the first rear connection end, the hinge connection end of its second link and second clamp arm as the second front connection end, the hinge connection end of its sixth link and second clamp arm as the second rear connection end, the connection ends of its third link, fourth link and swing table, and the first end and second end of its seventh link as the third connection end. By the operation control of the control end of the control mechanism connected to the control end, the first front connection end and the first rear connection end act on the first clamp arm, and the second front connection end and the second rear connection end act on the second clamp arm, so that the first clamp arm and the second clamp arm can be clamped or opened in parallel. Further, the above link structure has a simple structure, and the process of operating to open and close the first clamp arm and the second clamp arm in parallel is simple.

[0022] The transport device provided in the embodiment of the present invention includes the above transport actuator and has beneficial effects consistent with the above transport actuator, and the description thereof is omitted here.

Brief Description of the Drawings

[0023] The drawings here are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present invention and used to interpret the principles of the present invention together with the specification.

[0024] To more clearly explain the technical solutions in the embodiments of the present invention or the prior art, the drawings necessary for the description of the embodiments or the prior art are briefly introduced below. Obviously, for those skilled in the art, on the premise of not performing creative labor, other drawings can be obtained based on these drawings.

[0025] [Figure 1] It is a schematic diagram of the open state of the transport actuator provided in the embodiment of the present invention. [Figure 2]It is a schematic diagram of the closed state of the transport actuator shown in FIG. 1. [Figure 3] It is a schematic diagram in which the transport actuator shown in FIG. 1 is connected to the container and is in an open state. [Figure 4] It is a schematic diagram in which the transport actuator shown in FIG. 1 is connected to the container and is in a closed state. [Figure 5] It is a schematic diagram of the structure of the link mechanism, the first clamp arm, and the second clamp arm in the transport actuator shown in FIG. 1. [Figure 6] It is a schematic diagram of the connection relationship between the link mechanism, the swing table, the first clamp arm, and the second clamp arm in the transport actuator shown in FIG. 1. [Figure 7] It is a schematic diagram of the structure of the link mechanism in the transport actuator shown in FIG. 1. [Figure 8] It is a schematic diagram of the structure of the swing table in the transport actuator shown in FIG. 1. [Figure 9] It is a schematic diagram of the structure of the first clamp arm and the second clamp arm in the transport actuator shown in FIG. 1. [Figure 10] It is a schematic diagram of the open state of the transport actuator provided in one modified example of an embodiment of the present invention. [Figure 11] It is a schematic diagram of the closed state of the transport actuator shown in FIG. 10. [Figure 12] It is a schematic diagram in which the transport actuator shown in FIG. 10 is connected to the container and is in an open state. [Figure 13] It is a schematic diagram in which the transport actuator shown in FIG. 10 is connected to the container and is in a closed state. [Figure 14] It is a schematic diagram of the control method of the first control mechanism. [Figure 15] It is a schematic diagram of the control method of the second control mechanism. [Figure 16] It is a schematic diagram of the structure of the transport actuator in another embodiment of the present invention. [Figure 17] It is a schematic diagram of the link mechanism, the first clamp arm, and the second clamp arm in the transport actuator shown in FIG. 16. [Figure 18] Figure 16 is a schematic diagram of the link mechanism structure in the transport actuator shown. [Figure 19] Figure 16 is a schematic diagram of the structure of the rocking platform and base in the transport actuator shown. [Figure 20] Figure 19 is a schematic diagram of a cross-section in one direction of the structure shown. [Figure 21] This is a schematic diagram of the structure of a transport actuator in another embodiment of the present invention. [Figure 22] Figure 21 is a schematic diagram of the first and second clamp arms in one viewing angle direction in the embodiment shown. [Figure 23] Figure 21 is a schematic diagram of the first and second clamp arms in other viewing angle directions in the embodiment shown. [Figure 24] Figure 21 is a schematic diagram of the exploded structure of the second control mechanism in the embodiment shown (the base and swing platform are separated vertically in the illustration). [Figure 25] This is a schematic diagram of the rocking platform in the first viewing angle direction (plan view) in one embodiment. [Figure 26] This is a schematic diagram of the rocking platform in the second viewing angle direction (bottom view) in one embodiment. [Figure 27] This is a schematic diagram showing the local structure (indicating a linear groove) of a cross-section of a rocking platform in one embodiment. [Figure 28] This is a schematic diagram showing the local structure (groove and stopper) of another cross-section of the rocking platform in one embodiment. [Figure 29] This is a schematic diagram of the first viewing angle direction (tip viewing angle) of the rocking platform in another embodiment. [Figure 30] This is a schematic diagram of the second viewing angle direction (rear end viewing angle) of the rocking platform in another embodiment. [Figure 31] This is a schematic diagram of the cross-sectional structure (showing the groove) along AA of the rocking platform in another embodiment. [Figure 32] This is a schematic diagram of the cross-sectional structure (showing the groove and stopper) along the BB of the rocking platform in another embodiment. [Modes for carrying out the invention]

[0026] To further clarify the object, technical solution, and advantages of the embodiments of the present invention, the technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments. Clearly, the embodiments described are some embodiments of the present invention, not all embodiments. All other embodiments obtained based on the embodiments of the present invention, without requiring any creative effort from those skilled in the art, are all within the scope of protection of the present invention.

[0027] Examples of the transport actuator and transport device provided in the present invention will be described below with reference to the drawings.

[0028] (1) Examples of transport actuators Referring to Figures 1 to 4, the transport actuator provided in this embodiment is attached to the tip of a transport device and used to connect and secure a container M to be transported. The container M transported by the transport device may be, for example, an atrial appendage clip. Taking an atrial appendage clip as an example, after the atrial appendage clip is secured to the transport actuator, the transport device is operated to move the transport actuator into a target position in the human body, i.e., the left atrial appendage. At this target position, the atrial appendage clip closes the left atrial appendage, and then the connection and fixation between the transport actuator and the atrial appendage clip is released, freeing the atrial appendage clip from the transport actuator. Finally, the transport device is operated to exit the human body.

[0029] Generally, a transport device includes a handheld operating unit, a transport actuator, and a connecting unit between the handheld operating unit and the transport actuator. As described above, the transport actuator is used to secure a container such as an atrial clip, the handheld operating unit is used to grasp and control components such as the transport actuator during use, the transport actuator enters the human body during use, the handheld operating unit is located outside the human body, the connecting unit is generally a rod-shaped or tubular structure, and both ends are directly connected to the transport actuator and the handheld operating unit, respectively, or connected to the transport actuator and the handheld operating unit by an accessory component such as a corresponding connecting member. In this embodiment, the direction of the transport actuator relative to the handheld operating unit is called the front, and the direction of the handheld operating unit relative to the transport actuator is called the rear. When describing the solution of the present invention, directional terms such as neck end, tip, and other similar meanings mean that the component defined by the directional term is located on the front side of the reference object, while directional terms such as tail end, rear end, and other similar meanings mean that the component defined by the directional term is located on the rear side of the reference object.

[0030] In this embodiment, as shown in Figures 1 to 4, the transport actuator includes a base 10, a swinging platform 20, a link mechanism 30, a first clamping arm 40, and a second clamping arm 50. The swinging platform 20 is connected to the base 10 and is rotatably connected to the base 10. Specifically, the base 10 can be fixedly connected to the front side of the connection part.

[0031] As shown in Figures 5 to 7, the link mechanism 30 has a first front connecting end A1, a first rear connecting end A2, a second front connecting end B1, a second rear connecting end B2, a third connecting end C, and a control end D, where the control end D is connected to the control mechanism, the first front connecting end A1 and the first rear connecting end A2 are connected to the first clamp arm 40 and two positions on the first clamp arm 40 along the head-saddle direction, respectively, the second front connecting end B1 and the second rear connecting end B2 are connected to the second clamp arm 50 and two positions on the second clamp arm 50 along the head-saddle direction, respectively, and the third connecting end C is connected to the swinging base 20. The link mechanism 30 can respond to operational control of the control mechanism connected to the control end D, and the first front connecting end A1 and the first rear connecting end A2 act on the first clamp arm 40, and the second front connecting end B1 and the second rear connecting end B2 act on the second clamp arm 50, thereby clamping or opening the first clamp arm 40 and the second clamp arm 50 in parallel.

[0032] The link mechanism 30 has a first front connecting end A1 and a first rear connecting end A2 connected to the first clamp arm 40, and based on these two connecting ends, the link mechanism 30 can apply equivalent or corresponding forces to two positions on the first clamp arm 40, and these forces are directed toward or backward toward the second clamp arm 50, thereby allowing the first clamp arm 40 to move closer to or away from the second clamp arm 50 parallel to it, while maintaining that the angle between the first clamp arm 40 and the second clamp arm 50 does not change during this process. Similarly, the link mechanism 30 has a second front connecting end B1 and a second rear connecting end B2 connected to the second clamp arm 50, and based on these two connecting ends, the link mechanism 30 can apply equivalent or corresponding forces to two positions on the second clamp arm 50, and these forces are directed toward or backward toward the first clamp arm 40, thereby allowing the second clamp arm 50 to move closer to or away from the first clamp arm 40 parallel to it, while maintaining that the angle between the second clamp arm 50 and the first clamp arm 40 does not change during this process. Therefore, based on the two embodiments described above, by installing a control mechanism and applying an appropriate biasing force to the control end D, the link mechanism 30 can be controlled to move parallel to or away from the first clamp arm 40 and the second clamp arm 50, thereby causing a tendency for the space between the first clamp arm 40 and the second clamp arm 50 to be closed or open.

[0033] Specifically, as shown in Figures 5 to 7, the link mechanism 30 includes a first link 301, a second link 302, a third link 303, a fourth link 304, a fifth link 305, a sixth link 306, and a seventh link 307.

[0034] The first link 301 and the second link 302 are hinged together, and the hinged connection ends of the first link 301 and the second link 302 are located between the first end 301a and the second end 301b of the first link 301, and between the first end 302a and the second end 302b of the second link 302, forming an X-shaped scissor link structure between the first link 301 and the second link 302. The first end 301a of the first link 301 and the first end 302a of the second link 302 are hinged to the first clamp arm 40 and the second clamp arm 50, respectively. The second end 301b of the first link 301 and the second end 302b of the second link 302 are hinged to the first end 304a of the fourth link 304 and the first end 303a of the third link 303, respectively. The second end 303b of the third link 303 and the second end 304b of the fourth link 304 are hinged to the rocking base 20, and the third link 303 and the fourth link 304 are in the same axial direction as the rocking base 20. The first end 305a of the fifth link 305 and the first end 306a of the sixth link 306 are hinged to the first clamp arm 40 and the second clamp arm 50, respectively. The second end 305b of the fifth link 305 and the second end 306b of the sixth link 306 are hinged to the first end 307a of the seventh link 307. The second end 307b of the seventh link 307 is hinged to the hinged connection end between the first link 301 and the second link 302. As shown in Figure 8, a guide groove 201 is installed on the rocking base 20, and the direction of the guide groove 201 is parallel to the first clamp arm 40 and the second clamp arm 50. The seventh link 307 is installed in the guide groove 201 and can slide along the guide groove 201.

[0035] As shown in Figure 7, the hinge connection end of the first link 301 and the second link 302 is the control end D. The hinge connection end of the first link 301 and the first clamp arm 40, i.e., the first end 301a of the first link 301, is the first front connection end A1, and the hinge connection end of the fifth link 305 and the first clamp arm 40, i.e., the first end 305a of the fifth link 305, is the first rear connection end A2. The hinge connection end of the second link 302 and the second clamp arm 50, i.e., the first end 302a of the second link 302, is the second front connection end B1, and the hinge connection end of the sixth link 306 and the second clamp arm 50, i.e., the first end 306a of the sixth link, is the second rear connection end B2. The third connecting end C includes the connecting ends of the third link 303, the fourth link 304, and the swing base 20, namely the second end 303b of the third link 303 and the second end 304b of the fourth link 304, and further includes the first end 307a and the second end 307b of the seventh link 307.

[0036] In this embodiment, when the control mechanism applies a tensile force from the rear of the control end D to the tail end of the transport actuator, the second end 303b of the third link 303 and the second end 304b of the fourth link 304 are hinged to the swing base 20, so their positions are fixed, and the second end 301b of the first link 301 (the first end 304a of the fourth link 304), the second end 302b of the second link 302 (the first end 303a of the third link 303), and the second end 303b of the third link 303 (the second end of the second link 304) In a four-link structure consisting of four connection ends, such as the hinge connection ends of the first link 301 and the second link 302, the second end 301b of the first link 301 (the first end 304a of the fourth link 304) and the second end 302b of the second link 302 (the first end 303a of the third link 303) move outward, causing them to move apart from each other, while the hinge connection ends of the first link 301 and the second link 302 move toward the second end 303b of the third link 303 (the second end 304b of the second link 304), causing them to move closer to each other. Accordingly, the first end 301a of the first link 301 and the first end 302a of the second link 302 also move away from each other, that is, at the first front connection end A1, the first clamp arm 40 receives a biasing force in a direction away from the second clamp arm 50 and tends to move away from the second clamp arm 50, but at the second front connection end B1, the second clamp arm 50 receives a biasing force in a direction away from the first clamp arm 40 and tends to move away from the first clamp arm 40.

[0037] A parallelogram-shaped four-link structure is formed between the first end 301a of the first link 301, the first end 305a of the fifth link 305, the first end 307a of the seventh link 307 (the hinge connection end between the fifth link 305 and the sixth link 306), and the second end 307b of the seventh link 307 (the hinge connection end between the first link 301 and the second link 302). When the seventh link 307 is constrained to the guide groove 201 located on the sway base 20 and moves only in the direction of the tail end of the transport actuator along the guide groove 201, the first link 301 moves at its first end 301a, i.e., the first front connection end A1, with the first clamp arm 40 in a direction away from the second clamp arm 50, and during the movement, the four-link structure maintains a parallelogram shape, thereby at the first rear connection end A2, the first clamp arm 40 also moves in a direction away from the second clamp arm 50, maintaining a parallel state between the first clamp arm 40 and the seventh link 307.

[0038] Similarly, a parallelogram-shaped four-link structure is formed between the first end 302a of the second link 302, the first end 306a of the sixth link 306, the first end 307a of the seventh link 307 (the hinge connection end between the fifth link 305 and the sixth link 306), and the second end 307b of the seventh link 307 (the hinge connection end between the first link 301 and the second link 302). The second link 302 moves at its first end 302a, i.e., the second front connection end B1, taking the second clamp arm 50 with it in a direction away from the first clamp arm 40. During this movement, the four-link structure maintains its parallelogram shape, and as a result, at the second rear connection end B2, the second clamp arm 50 also moves in a direction away from the first clamp arm 40, maintaining a parallel state between the second clamp arm 50 and the seventh link 307.

[0039] Therefore, as described above, by applying a tensile force in the rearward direction to the control end D by the control mechanism, the first clamp arm 40 and the second clamp arm 50 can be moved parallel to each other and tend to open.

[0040] Conversely, if the control mechanism does not apply a tensile force to the control end D from the rear side, the control mechanism releases the control end D. In this case, the container, which is connected and fixed to the first clamp arm 40 and the second clamp arm 50 of the transport actuator, can have a biasing force applied to the first clamp arm 40 and the second clamp arm 50 (for example, this can be achieved by installing an elastic member in an extended state on the container). With this biasing force, the first clamp arm 40 and the second clamp arm 50 tend to move closer to each other and change to a closed state. The process of changing to a closed state is the same as the process by which the first clamp arm 40 and the second clamp arm 50 change to an open state, so a description of this process will be omitted. Ultimately, this is achieved when the seventh link 307 moves to its initial forward position along the guide groove 201 on the swinging base 20.

[0041] With respect to the seventh link 307, the second end of the first link 307 is actually the hinge connection end of the first link 301 and the second link 302, and the first end of the first link 307 is actually the hinge connection end of the fifth link 305 and the sixth link 306. As shown in Figure 14, and referring to Figure 7, in other embodiments of the transport actuator, the hinge connection end of the fifth link 305 and the second link 306 can be the control end D, which is equivalent to the embodiment in which the hinge connection end of the first link 301 and the second link 302 is the control end D.

[0042] In this embodiment, the rocking platform 20 rotates within a single plane relative to the base 10 and does not swing freely in three-dimensional space. Thus, fewer control components are needed to control the rocking platform 20 so that it rotates relative to the base 10, thereby reducing equipment costs. Furthermore, there are fewer control nodes for the rocking platform 20 to rotate relative to the base 10, thus reducing the probability of failures occurring in the control process and improving the reliability of motion control.

[0043] Furthermore, the link mechanism 30 in this embodiment has a simple structure and small volume, and does not require a large operating space to move the first clamp arm 40 and the second clamp arm 50 closer together or further apart in parallel, thereby reducing the difficulty of operation when transporting the container.

[0044] Referring to Figures 1 to 4, the plane of motion of the first clamp arm 40 and the second clamp arm 50 relative to the rocking base 20 and the plane of rotation of the rocking base 20 relative to the base 10 are flush with each other. In other words, these two planes are substantially one plane, and the rotation of the first clamp arm 40 and the second clamp arm 50 relative to the rocking base 20, and the rotation of the rocking base 20 relative to the base 10, are motions within the same plane.

[0045] In this embodiment, the plane of relative motion of the first clamp arm 40 and the second clamp arm 50 with respect to the rocking base 20 and the plane of rotation of the rocking base 20 with respect to the base 10 are the same plane. With this setup, it is easy to move the container to the target position within a single plane, and to close or open the first clamp arm 40 and the second clamp arm 50 within the same plane at that target position. Generally, the direction of motion of the container at the target position is determined, and based on this determined direction of motion, the rotation direction of the rocking base 20 with respect to the base 10 is related to the determined direction of motion. Therefore, when controlling the rotation of the rocking base 20 with respect to the base 10, the determined direction of motion can be used as a reference, making it easier to accurately control the rotation of the rocking base 20 with respect to the base 10 and to accurately move the first clamp arm 40, the second clamp arm 50 and the container fixed thereon to the target position.

[0046] In this embodiment, as shown in Figure 9, a first linear restraint portion 401 is installed on the first clamp arm 40, and the opening of the first linear restraint portion 401 faces the second clamp arm 50. The first linear restraint portion 401 can be used to restrain the clip arm of a container M, such as an atrial appendage clip, and the clip arm of the container M can be fixed within the first linear restraint portion 401 by a line that meets predetermined requirements between the first linear restraint portion 401 and the clip arm of the container M. A second linear restraint portion 501 is installed on the second clamp arm 50, and the opening of the second linear restraint portion 501 faces the first clamp arm 40. The second linear restraint portion 501 can be used to restrain the clip arm of a container M, such as an atrial appendage clip, and the clip arm of the container M can be fixed within the second linear restraint portion 501 by a line that meets predetermined requirements between the second linear restraint portion 501 and the clip arm of the container M.

[0047] The first linear restraint section 401 and the second linear restraint section 501 are used to connect to the container M, thereby connecting and fixing the container M to the transport actuator. Taking the container M as an example, the first linear restraint section 401 and the second linear restraint section 501 are connected to the two clip arms of the atrial appendage clip, respectively, thereby fixing the atrial appendage clip to the transport actuator. After the atrial appendage clip is fixed to the transport actuator, the opening and closing of the first clamp arm 40 and the second clamp arm 50 can bring the two clamp arms of the atrial appendage clip closer together or further apart in parallel, and when in the target position, the left atrial appendage can be clamped and closed as the first clamp arm 40 and the second clamp arm 50 move closer together in parallel.

[0048] The shapes of the first linear restraint portion 401 and the second linear restraint portion 501 may be linear grooves corresponding to the shape of the clip arm of the container M, and the clip arm of the container M and the linear grooves serve as a base to be integrally connected and fixed due to their corresponding shapes, and the first linear restraint portion 401 and the second linear restraint portion 501 may be non-grooved structures such as planar structures, and the clip arm of the container M is restrained and fixed by lines using such non-grooved structures such as planar structures.

[0049] Specifically, a first fixing groove 402 is installed on the first clamp arm 40, in contact with the first linear restraint portion 401. The first fixing groove 402 is used to allow a connecting wire to pass through and to restrain and fix the container to the first linear restraint portion 401. A second fixing groove 502 is installed on the second clamp arm 50, in contact with the second linear restraint portion 501. Similarly, the second fixing groove 502 is used to allow a connecting wire to pass through and to restrain and fix the container to the second linear restraint portion 501.

[0050] There are at least two first fixing grooves 402 and at least two second fixing grooves 502. When installed in this manner, the container can be restrained and fixed at at least two points on the first linear restraining part 401 and at least two points on the second linear restraining part 501, thereby making the restraint and fixing between the container and the first linear restraining part 401 and the second linear restraining part 501 in the longitudinal direction of the first clamp arm 40 and the second clamp arm 50 stronger.

[0051] A first notch 403 is provided on the first clamp arm 40, and the first notch 403 is located at the tail end of the first clamp arm 40. A second notch 503 is provided on the second clamp arm 50, and the second notch 503 is located at the tail end of the second clamp arm 50. The first notch 403 and the second notch 503 are used to accommodate the protrusions of the container toward the first clamp arm 40 and the second clamp arm 50. Taking an atrial appendage clip as an example, the elastic connector connected between the two clip arms of the atrial appendage clip protrudes toward the first clamp arm 40 and the second clamp arm 50 at the point where it contacts the two clip arms, and the first notch 403 and the second notch 503 can accommodate these parts, thus avoiding interference between the atrial appendage clip and the first clamp arm 40 and the second clamp arm 50.

[0052] Furthermore, for the implementation of the present invention, the above embodiment can be further simplified to create an alternative embodiment. In the alternative embodiment, as shown in Figures 10 to 13, the plane of motion of the first clamp arm 40 and the second clamp arm 50 relative to the rocking base 20 and the plane of rotation of the rocking base 20 relative to the base 10 are perpendicular to each other and are not in the general plane relationship as in Embodiment 1. However, similar to Embodiment 1, fewer control members are required to control the rocking base 20 to rotate relative to the base 10, and there are fewer control nodes for the rocking base 20 to rotate relative to the base 10. In addition, the link mechanism 30 has a simple structure and small volume, does not require a large operating space to bring the first clamp arm 40 and the second clamp arm 50 closer or further apart in parallel, and can reduce the difficulty of operation when transporting the container. Similar to Embodiment 1 described above, a correlation is similarly determined between the rotational direction of the rocking platform 20 relative to the base 10 and the direction of motion of the container at the determined target position. Based on this correlation, the determined direction of motion is used as a reference when controlling the rotation of the rocking platform 20 relative to the base 10, allowing for precise control of the rotation of the rocking platform 20 relative to the base 10. This makes it easier to accurately move the first clamp arm 40, the second clamp arm 50, and the container fixed thereon to the target position.

[0053] In other alternative embodiments of the present invention, the structures of the first clamp arm 40 and the second clamp arm 50 may be, for example, those shown in Figures 16-17 and 21-23. In the structures shown in Figures 16-17 and 21-23, the first clamp arm 40 and the second clamp arm 50 are similarly provided with a first linear restraint portion 401 for accommodating the container M, a second linear restraint portion 501, and a grooved hole for fixing the container M.

[0054] In another alternative embodiment of the present invention, the link mechanism 30 may differ from the link mechanism in the above embodiment, as shown in Figures 16 to 19, in this alternative embodiment, the link mechanism 30 includes a first link 301, a second link 302, a third link 303, a fourth link 304, a fifth link 305, and a sixth link 306. The first link 301 and the second link 302 are hinged together, and the hinged connection ends of the first link 301 and the second link 302 are located between the first end 301a and the second end 301b of the first link 301, and between the first end 302a and the second end 302b of the second link 302, forming an X-shaped scissor link structure between the first link 301 and the second link 302, and the hinged connection axes of the first link 301 and the second link 302 are hinged together to the oscillating base 20. The first ends 301a and 302a of the first link 301 and the second link 302 are hinged to the first clamp arm 40 and the second clamp arm 50, respectively. The second ends 301b and 302b of the first link 301 and the second link 302 are hinged to the first ends 303a and 304a of the third link 303 and the fourth link 304, respectively. The second ends 303b and 304b of the third link 303 and the fourth link 304 are hinged to each other. The first ends 305a and 306a of the fifth link 305 and the sixth link 306 are hinged to the first clamp arm 40 and the second clamp arm 50, respectively, and the second ends 305b and 306b of the fifth link 305 and the sixth link 306 are hinged to each other. The hinge connection axes of the fifth link 305 and the sixth link 306 are hinged to the rocking base 20. A guide groove 201 is installed on the rocking base 20, and the direction of the guide groove 201 is parallel to the first clamp arm 40 and the second clamp arm 50. The hinge connection axes of the third link 303 and the fourth link 304 are installed in the guide groove 201 and can slide along the guide groove 201. The hinge connection end between the third link 303 and the fourth link 304 is the control end D, the hinge connection end between the first link 301 and the first clamp arm 40 is the first front connection end A1, the hinge connection end between the fifth link 305 and the first clamp arm 40 is the first rear connection end A2, the hinge connection end between the second link 302 and the second clamp arm 50 is the second front connection end B1, and the hinge connection end between the sixth link 306 and the second clamp arm 50 is the second rear connection end B2.

[0055] In this alternative embodiment, a forward force is applied to the control end D (this force can be achieved by a wire or other linear structure when applied; specifically, the wire or other linear structure is pulled out from the handheld operating part at the rear end, wrapped around the hinge connection shaft of the first link 301 and the second link 302, or the hinge connection shaft of the fifth link 305 and the sixth link 306, folded back and connected to the control end D, and fixed in place; in this way, pulling the wire or other linear structure backward from the handheld operating part and acting on the control end D results in a forward biasing force), thereby controlling the opening of the first clamp arm 40 and the second clamp arm 50, and releasing the tensile force on the control end D causes the first clamp arm 40 and the second clamp arm 50 to clamp. Specifically, when a forward tensile force is applied to the control end D, i.e., the hinge connection end of the third link 303 and the fourth link 304, the hinge connection end of the first link 301 and the fourth link 304, and the hinge connection end of the second link 302 and the third link 303 are moved forward and opened outwards, and then the hinge connection end of the first link 301 and the first clamp arm 40 (first front connection end A1), and the second link 302 and the second clamp arm The fifth link 305 and the sixth link 306 act on the hinge connection end (second front connection end B1) of the 50, causing both to open outwards, and synchronously move the hinge connection end (first rear connection end A2) between the fifth link 305 and the first clamp arm 40 and the hinge connection end (second rear connection end B2) between the sixth link 306 and the second clamp arm 50, causing both to open outwards synchronously, thereby opening the first clamp arm 40 and the second clamp arm 50 in parallel. When the biasing force applied to the control end D toward the front is stopped, the container, which is connected to and fixed to the first clamp arm 40 and the second clamp arm 50 of the transport actuator, can have a biasing force applied toward the first clamp arm 40 and the second clamp arm 50 (for example, specifically, this can be achieved by installing an elastic member in an extended state on the container), and this biasing force causes the first clamp arm 40 and the second clamp arm 50 to move closer to each other and tend to change to a closed state. The process of changing to a closed state is the same as the process by which the first clamp arm 40 and the second clamp arm 50 change to an open state, so a description of this process will be omitted.

[0056] In this embodiment, the structure of the link mechanism 30 is simple, and the process of opening and closing parallel to the first clamp arm 40 and the second clamp arm 50 is simpler. Compared to the previous embodiment, the link mechanism in this embodiment has a better number of links, and in the link mechanism 30, the control end is located further back, making it easier to operate and control, and the opening and closing process is simpler, more stable, and more reliable.

[0057] (2) Examples of transport devices In this embodiment, the transport device includes a controller and the transport actuator described in the above embodiment of the transport actuator.

[0058] The controller is used to control the state between the first clamp arm 40 and the second clamp arm 50 of the transport actuator, and to control the rotation of the swinging platform 20 relative to the base 10, and is also used to control the container that is connected to and fixed to the transport actuator.

[0059] Specifically, the controller includes a first control mechanism, a second control mechanism, and a third control mechanism.

[0060] Based on the embodiment of the transport actuator shown in Figures 1 to 13, the first control mechanism is connected to the control end D of the link mechanism 30 of the transport actuator. As shown in Figure 14, the first control mechanism includes a first connecting wire L1 and a first winding member (not shown), the first connecting wire L1 is wound around the first winding member and connected to the control end D. The first connecting wire L1 may specifically be a wire.

[0061] The first connecting wire L1 is connected to the control end D. When the first connecting wire L1 pulls on the control end D and applies a tensile force to the rear of the control end D, it acts on the link mechanism 30 to control the distance between the first clamp arm 40 and the second clamp arm 50 to increase, causing it to tend to change to an open state. However, when the first connecting wire releases the control end D and no tensile force is applied to the control end D, the action of the container causes the distance between the first clamp arm 40 and the second clamp arm 50 to decrease, causing it to tend to change to a closed state. The specific process is described in detail in the above embodiment of the transport actuator and is omitted here.

[0062] The first winding member can, for example, wind up or unwind the first connecting wire L1 by rotation. When the first winding member winds up the first connecting wire L1, the first connecting wire L1 pulls on the control end D, applying a tensile force to the control end D toward the rear. When the first winding member unwinds the first connecting wire L1, the first connecting wire L1 releases the control end D accordingly, and no longer applies a tensile force toward the rear to the control end D.

[0063] Specifically, the connection of the control end D of the first connecting wire L1 may be such that one end of the first connecting wire L1 is directly connected to the hinge connection end between the first link 301 and the second link 302. In addition, a stopper 204 is connected to the first end of the first connecting wire L1, and the stopper 204 is fixed in contact with a fixing hole 202 installed in the rocking base 20, so that the first connecting wire L1 passes through the fixing hole 202 and goes around the control end D, and the first connecting wire L1 forms a pulley structure at the control end D.

[0064] The second control mechanism is connected to the rocking platform 20 and is used to control the rotation of the rocking platform 20 relative to the base 10. As shown in Figure 15, the second control mechanism includes a second winding member (not shown) and at least two second connecting wires L2. The first ends of at least two second connecting wires L2 are connected to the first and second sides of the rocking platform 20, respectively, which are the two sides (in Figures 1 and 3, i.e., the lower left and upper right sides of the illustrated rocking platform 20) located in the rotation path of the hinge connection end between the rocking platform 20 and the base 10. Specifically, as shown in Figure 20, a stopper 205 is connected to the first end of the second connecting wire L2, and the stopper 205 stops and fixes to the rocking platform 20, thereby fixing the first end of the second connecting wire L2 to the rocking platform 20. The second end of the second connecting wire L2 is wound around the second winding member.

[0065] Referring to Figures 1 and 3, when the second connecting wire L2 connected to the first side of the rocking platform 20 applies a tensile force to the first side of the rocking platform 20, the rocking platform 20 can be pulled and rotated in the direction of the first side. Similarly, when the second connecting wire L2 connected to the second side of the rocking platform 20 applies a tensile force to the second side of the rocking platform 20, the rocking platform 20 can be pulled and rotated in the direction of the second side.

[0066] The number of second winding members may be one or more. If there is only one second winding member, the second end of each second connecting wire L2 may be wound around the second winding member. However, the direction in which the second connecting wires L2 connected to the first and second sides of the rocking table 20 are wound should be opposite. By rotating the second winding member along different directions in this way and applying tensile force to the second connecting wires connected to the first and second sides of the rocking table 20, the rocking table 20 can be controlled to rotate in different directions.

[0067] The third control mechanism is connected to a container fixed to the transport actuator and is used to control the state between the container and the first clamp arm 40 and second clamp arm 50 of the transport actuator. Specifically, the third control mechanism includes a third connecting wire (not shown), which includes a first sub-control wire and a second sub-control wire, and the first and second sub-control wires include a restraining unit, a control unit, and a connecting unit that connects the restraining unit and the control unit. A fixed unit is installed on the rocking base 20. The restraining unit of the first sub-control wire movably restrains the container to the first clamp arm 40 at the first clamp arm 40, and the control unit is fixed by connecting to the fixed unit of the rocking base 20, and the control unit is used to be triggered to release the restraining unit. The restraining unit of the second sub-control wire movably restrains the container to the second clamp arm 50 at the second clamp arm 50, and the control unit is fixed by connecting to the fixed unit of the rocking base 20, and the control unit is used to be triggered to release the restraining unit. Specifically, as shown in Figures 25 and 26, the fixing part can have the structure of a wire groove 203, and the control units of the first sub-control line and the second sub-control line are connected to and fixed in the wire groove 203. For example, the fixing part for fixing the first sub-control line may be a wire groove 203d, and the fixing part for fixing the second sub-control line may be a wire groove 203e.

[0068] The restraints of the first and second sub-control lines restrain the container to the first and second clamp arms 40 and 50 of the transport actuator before and during the process of moving the container to the target position. After the container has moved to the target position, for example, an atrial appendage clip moves to the left atrial appendage and closes it. At this time, the control units of the first and second sub-control lines, through which the clip passes, can release the atrial appendage clip from the first and second clamp arms 40 and 50 outside the human body, thereby completing the container loading process and allowing the transport actuator to be easily removed from the human body.

[0069] In one embodiment of the transport device, as shown in Figures 21 to 24, the second control mechanism may further include a link 206, the first end of which is connected to the rocking platform 20, and the connection point between the link 206 and the rocking platform 20 is located outside the hinge connection axis between the rocking platform 20 and the base 10. When installed in this manner, the first end of the link 206 acts on the rocking platform 20, causing the rocking platform 20 to rotate relative to the base 10. The second end of the link 206 is connected to a handheld operating part installed at the rear end of the transport device. When using the transport device of this embodiment, the second end of the link 206 can be pulled using the handheld operating part, and when the second end of the link 206 moves due to the action of an external force, a corresponding biasing force is transmitted to the first end of the link 206 and the rocking platform 20, thereby causing the rocking platform 20 to rotate in a predetermined direction around the hinge connection axis between it and the base 10.

[0070] In this embodiment, as shown in Figures 25 and 26, a plurality of wire grooves 203 are installed on the rocking base 20, and these wire grooves are used to pass through or connect and fix the first connection wire, second connection wire, third connection wire, etc. Specifically, in this embodiment, there are five wire grooves 203, which are wire grooves 203a, 203b, 203c, 203d, and 203e. Here, wire groove 203a is used to pass through the first connection wire, wire grooves 203b and 203c are used to pass through the second connection wires connected to the first and second sides of the rocking base 20, respectively, and wire grooves 203d and 203e are used to connect and fix the first and second sub-control wires of the third connection wire, respectively.

[0071] In this embodiment, each wire groove 203 generally includes a narrow main body portion 2031, and the main body portion 2031 only needs to be able to accommodate the first connecting wire, the second connecting wire, and the third connecting wire, etc. If this requirement is met, the diameter of the hole in the main body portion 2031 should be as narrow as possible, which easily limits the range of oscillation of the first connecting wire, the second connecting wire, and the third connecting wire, etc. In multiple wire grooves 203, an opening portion 2032 is further provided at the tail end of at least some of the wire grooves 203, and the width of the opening portion 2032 increases in diameter as it approaches the rear.

[0072] In the embodiment of the transport device using a transport actuator shown in Figures 1 to 4, the wire groove 203 can be as shown in Figures 27 and 28. Taking the wire groove 203d as an example, as shown in Figure 28, it includes a main body 2031 and an opening 2032, and is used to connect and fix the first sub-control wire. When the rocking platform 20 is deflected to one side, the rear end of the rocking platform 20 faces the side of the base 10, and at this time the space between the rocking platform 20 and the base 10 becomes smaller, and accordingly the space for the first sub-control wire is compressed. However, if the opening 2032 is installed in the circumferential direction along the rotation of the rocking platform 20, the opening 2032 can form a notch to accommodate the first sub-control wire at the position of the rear end of the rocking platform 20, and in this way even when the rocking platform 20 rotates and its rear end faces the side of the base 10, the first sub-control wire is not sandwiched between the base 10 and the rocking platform 20, and does not affect normal operation.

[0073] In the embodiment of the transport device using a transport actuator shown in Figures 1 to 4, at least two of the multiple grooves 203 are installed in the circumferential direction along the rotation of the rocking table 20, and these at least two grooves 203 may share an opening portion 2032. As shown in Figure 25, grooves 203a, 203b, and 203c are installed in the circumferential direction along the rotation of the rocking table 20, and the three have a common opening portion 2032. In this way, the number of grooves formed at the rear end of the rocking table 20 can be reduced, thereby saving processing time and processing costs.

[0074] As described above, as shown in Figure 28, referring to Figures 25 and 26, the rocking base 20 has a first side and a second side, the first side and the second side being the sides located on the rotation path of the hinge connection end between the rocking base 20 and the base 10. The opening portion 2032 of the groove 203 located on the first side of the rocking base 20 is located on the second side of the main body portion 2031 of the groove 203, and the opening portion 2032 of the groove 203 located on the second side of the rocking base 20 is located on the first side of the main body portion 2031 of the groove 203. With this setup, the groove 203 located on the first side of the rocking base 20 can retain some of the structure located on the first side of the main body portion 2031 of the groove 203 of the rocking base 20, and the groove 203 located on the second side of the rocking base 20 can retain some of the structure located on the second side of the main body portion 2031 of the groove 203 of the rocking base 20. Some of the structures retained on the rocking base 20 do not interfere with the connecting wires that pass through the groove 203 during the rotation process of the rocking base 20, and the retention of these structures can increase the structural strength of the rear end of the rocking base 20, in particular the structural strength in the direction perpendicular to the rotation plane of the rocking base 20.

[0075] In the embodiment of the transport device using a transport actuator shown in Figures 10 to 13, the wire groove 203 can be as shown in Figures 29 to 32. Taking the wire groove 203d as an example, as shown in Figure 32, it includes a main body 2031 and an opening 2032, and is used to connect and fix the first sub-control wire. When the rocking platform 20 is deflected to one side, the rear end of the rocking platform 20 faces the side of the base 10, and at this time the space between the rocking platform 20 and the base 10 becomes smaller, and accordingly the space for the first sub-control wire is compressed. However, if the opening 2032 is installed in the circumferential direction along the rotation of the rocking platform 20, the opening 2032 can form a notch at the rear end of the rocking platform 20 to accommodate the first sub-control wire, and in this way even when the rocking platform 20 rotates and its rear end faces the side of the base 10, the first sub-control wire is not sandwiched between the base 10 and the rocking platform 20, and does not affect normal operation.

[0076] In this specification, relational terms such as "first" and "second" are used solely to distinguish one entity or operation from another, and do not require or suggest any actual relationship or order between these entities or operations. Furthermore, the terms "include," "incorporate," or any other variation thereof are intended to include non-exclusive inclusion, thereby including not only those elements but also other elements not explicitly listed, or elements specific to such a process, method, article, or device. Unless further restrictions are imposed, the elements limited by the phrase "include one..." do not preclude the existence of other identical elements in the process, method, article, or device containing the aforementioned element.

[0077] The above description represents only specific embodiments of the present invention, and those skilled in the art can understand or implement the invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the invention. Accordingly, the present invention is not limited to these embodiments shown herein, but rather conforms to the broadest scope that is consistent with the principles and novel features filed herein. [Explanation of Symbols]

[0078] 10-Base, 20- Rocking platform, 201-Guide groove, 202-Fixing hole, 203, 203a, 203b, 203c, 203d, 203e-Line groove, 204-Stopper, 205-Stopper, 206-Link, 2031 - Main body, 2032 - Opening part, 30-Link mechanism, 301 - First link, 301a - First end, 301b - Second end, 302 - Second link, 302a - First end, 302b - Second end, 303 - Third link, 303a - First end, 303b - Second end, 304 - 4th link, 304a - 1st end, 304b - 2nd end, 305 - 5th link, 305a - 1st end, 305b - 2nd end, 306 - 6th link, 306a - 1st end, 306b - 2nd end, 307 - 7th link, 307a - 1st end, 307b - 2nd end, 40-1st clamp arm, 401 - First linear restraint section, 402 - First fixing groove, 403 - First notch, 50 - Second clamp arm, 501 - Second linear restraint section, 502 - Second fixing groove, 503 - Second notch, A1 - First front connection terminal, A2 - First rear connection terminal, B1 - Second front connection terminal, B2 - Second rear connection terminal, C - Third connection terminal, D - Control terminal, M - Container.

Claims

1. A handheld operating unit, A transport actuator including a swinging platform, a first clamping arm, a second clamping arm, and a linkage mechanism, The rocking platform is connected to the base and is rotatably connected to the base. The linkage mechanism includes a first link, a second link, a third link, a fourth link, a fifth link, and a sixth link. The first link and the second link are hinged together, and the hinged connection ends of the first link and the second link are located between the first and second ends of the first link and between the first and second ends of the second link, forming an X-shaped scissor link structure between the first link and the second link, and the hinged connection shafts of the first link and the second link are hinged together to the rocking base. The first ends of the first and second links are hinged to the first and second clamp arms, respectively; the second ends of the first and second links are hinged to the first ends of the third and fourth links, respectively; the second ends of the third and fourth links are hinged; and the hinged ends of the third and fourth links are the control ends of the link mechanism. The first ends of the fifth and sixth links are hinged to the first and second clamp arms, respectively, the second ends of the fifth and sixth links are hinged to each other, and the hinge connection shafts of the fifth and sixth links are hinged to the swinging base. A guide groove is provided on the rocking platform, the longitudinal direction of the guide groove is parallel to the longitudinal direction of the first clamp arm and the longitudinal direction of the second clamp arm, and the hinge connecting shafts of the third link and the fourth link are installed in the guide groove and can slide along the guide groove. The wire structure further includes a wire structure drawn out from the aforementioned handheld operating unit, The wire structure is wrapped around the hinge connection shaft of the first link and the second link, or the hinge connection shaft of the fifth link and the sixth link, and is folded back and connected and fixed to the control end, and in this way the wire structure is pulled backward at the handheld operating part, and the wire structure applies a forward biasing force to the control end, thereby controlling the opening of the first clamp arm and the second clamp arm.

2. The transport device according to claim 1, characterized in that the planes of motion of the first clamp arm and the second clamp arm with respect to the rocking platform and the plane of rotation of the rocking platform with respect to the base are flush with each other or perpendicular to each other.

3. The transport device according to claim 1, characterized in that a first linear restraint portion is installed on the first clamp arm, the opening of the first linear restraint portion faces the second clamp arm, a second linear restraint portion is installed on the second clamp arm, the opening of the second linear restraint portion faces the first clamp arm, and both the first linear restraint portion and the second linear restraint portion are linear grooves.

4. The transport device according to claim 3, characterized in that a first fixing groove in contact with the first linear restraint portion is provided on the first clamp arm, and a second fixing groove in contact with the second linear restraint portion is provided on the second clamp arm.

5. The transport device according to claim 4, characterized in that the number of first fixing grooves is at least two, and the number of second fixing grooves is at least two.

6. A first notch is provided on the first clamp arm, and the first notch is provided on the tail end of the first clamp arm. The transport device according to claim 3, characterized in that a second notch is provided on the second clamp arm, and the second notch is provided on the tail end of the second clamp arm.

7. The transport device according to claim 1, further comprising a second control mechanism, the second control mechanism being connected to the rocking platform and used to control the rotation of the rocking platform relative to the base.

8. The transport device according to claim 1, characterized in that a plurality of wire grooves are installed on the rocking platform, and an opening is installed at the tail end of at least some of the wire grooves.

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