Surgical execution apparatus and surgical assistance device

Abstract

A surgical execution apparatus and a surgical assistance device. The apparatus comprises a transmission compartment (2000) and a power compartment (1000); the transmission compartment (2000) comprises a chassis assembly (2100), and a first adapter transmission assembly (2200), a second adapter transmission assembly (2300) and a third adapter transmission assembly (2400) that are movable relative to the chassis assembly (2100), the first adapter transmission assembly (2200) having a first transmission module detachably connected to a first adapter assembly (8700), the second adapter transmission assembly (2300) having a second transmission module detachably connected to a second adapter assembly (8800), and the third adapter transmission assembly (2400) having a third transmission module detachably connected to a third adapter assembly (8900); the power compartment (1000) is transmittingly connected to the transmission compartment (2000), the power compartment (1000) drives the first adapter assembly (8700) by means of the first transmission module, the power compartment (1000) drives the second adapter assembly (8800) by means of the second transmission module, and the power compartment (1000) drives the third adapter assembly (8900) by means of the third transmission module. The present apparatus, by means of refined improvements to the transmission compartment (2000), makes surgical execution operations precise, stable and safe.

Description

Surgical execution device and surgical auxiliary equipment

[0001] This application claims priority to the Chinese patent application filed on December 20, 2023, with application number CN202311773175.1 and title “A surgical execution device and surgical auxiliary equipment”, the disclosure of which is incorporated herein by reference. Technical Field

[0002] The present invention relates to the technical field of medical devices, and in particular to a surgical execution device and surgical auxiliary equipment. Background Art

[0003] Minimally invasive valve repair surgery is an advanced surgical procedure used to treat valvular diseases, such as those affecting the mitral and tricuspid valves. Taking mitral valve repair surgery as an example, this procedure is primarily performed via a transcatheter approach, which reduces surgical trauma and recovery time. Specifically, the surgeon inserts a catheter into the mitral valve via a femoral vein or apical puncture, using specialized instruments to repair the damaged valve. This surgical approach offers the advantages of minimal trauma, minimal bleeding, and a rapid recovery, while also effectively reducing the incidence of postoperative complications.

[0004] Traditional minimally invasive mitral valve repair surgery requires the surgeon to coordinate the use of both hands to hold the handles, operating knobs, manual telescopic handles, or push-pull wrenches of the mitral valve repair instrument. In most cases, the surgeon must perform the surgery under the guidance of radiographic images, and medical staff must wear heavy lead protective clothing and other equipment to manually operate the instruments for extended periods of time. This significantly impacts the quality of medical treatment, physical strength, and health of the medical staff, especially experienced, older, or female medical staff. Complex procedures or instruments, due to their high operational difficulty, require a high level of technical expertise and clinical experience from the surgeon, and the surgeon has a long learning curve, which, to a certain extent, restricts the development of the procedure or the clinical use of the instrument. Summary of the Invention

[0005] The purpose of the present invention is to provide a surgical execution device and surgical auxiliary equipment to assist doctors in performing valve repair surgery, improve the operating accuracy and work efficiency of valve repair instruments, reduce the labor intensity of doctors, and shorten the learning curve for doctors to master complex surgical procedures.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] A surgical execution device includes a transmission cabin and a power cabin; the transmission cabin includes a chassis assembly and a first adapter transmission assembly, a second adapter transmission assembly and a third adapter transmission assembly that can move relative to the chassis assembly; the power cabin is connected to the transmission cabin in a transmission manner; the first adapter transmission assembly is slidably arranged on the chassis assembly along an adjustment direction, the second adapter transmission assembly is slidably arranged on the first adapter transmission assembly along the adjustment direction, and the third adapter transmission assembly is slidably arranged on the second adapter transmission assembly along the adjustment direction; the length direction of the transmission cabin is parallel to the adjustment direction.

[0008] As an optimal technical solution for the surgical execution device, the power cabin includes a motor assembly assembly, which has an assembly frame plate and multiple drive motors installed on the assembly frame plate, and the output end of the drive motor passes through the assembly frame plate; the transmission cabin includes an axial end fixing assembly arranged at one end of the first adapter transmission assembly, and the axial end fixing assembly has a fixed end plate and an input end connecting assembly, and the input end connecting assembly passes through and is rotatably connected to the fixed end plate; the number of the input end connecting assemblies is the same as that of the drive motors, and each of the input end connecting assemblies is coaxially and detachably connected to the output end of one of the drive motors.

[0009] As an optimal technical solution for the surgical execution device, the chassis assembly includes a base support and a guide rail connecting plate slidably mounted on the base support, the first adapter transmission assembly includes a frame, the shaft end fixing assembly is fixed to one end of the frame, and the guide rail connecting plate is fixed to the frame.

[0010] As an optimal technical solution for the surgical execution device, a first trapezoidal nut is installed on the base support, and a first trapezoidal screw that rotates around the adjustment direction is rotatably connected to the guide rail connecting plate, and the first trapezoidal nut is in transmission cooperation with the first trapezoidal screw; and / or the second adapter transmission assembly includes a transmission support plate, and a second trapezoidal nut is installed on the transmission support plate, and a second trapezoidal screw that rotates around the adjustment direction is rotatably connected to the shaft end fixing assembly, and the second trapezoidal nut is in transmission cooperation with the second trapezoidal screw; and / or a third trapezoidal screw that rotates around the adjustment direction is rotatably connected to the transmission support plate, and the third adapter transmission assembly includes a slider connecting plate, and a third trapezoidal nut is installed on the slider connecting plate, and the third trapezoidal nut is in transmission cooperation with the third trapezoidal screw.

[0011] As a preferred technical solution for the surgical execution device, the first trapezoidal screw is coaxially fixed to one of the input end connecting components through a first cross slider coupling and a second cross slider coupling in sequence; and / or the second trapezoidal screw is coaxially fixed to one of the input end connecting components through a second cross slider coupling; and / or the third trapezoidal screw is coaxially fixed to one of the input end connecting components through a telescopic universal coupling and a second cross slider coupling in sequence.

[0012] As a preferred technical solution for the surgical execution device, the first adapter transmission assembly has a first transmission module, the first transmission module includes multiple first transmission structures, the first transmission structure includes a first transmission shaft rotating around the adjustment direction, both ends of the first transmission shaft are coaxially fixed with a third cross slider coupling, one end of the first transmission shaft is coaxially fixed with one of the input end connection components, and the other end is transmission-connected to a first adapter output component through a first bevel gear commutator.

[0013] As a preferred technical solution for the surgical execution device, the second adapter transmission assembly has a second transmission module, the second transmission module includes multiple second transmission structures, the second transmission structure includes a second transmission shaft rotating around the adjustment direction, one end of the second transmission shaft is coaxially fixed to one of the input end connection components through a telescopic universal coupling and a second cross slider coupling in sequence, and the other end is transmission-connected to a second adapter output assembly through a second bevel gear commutator.

[0014] As an optimal technical solution for the surgical execution device, the third adapter transmission assembly has a third transmission module, the third transmission module includes multiple third transmission structures, the third transmission structure includes a ball spline assembly rotating around the adjustment direction, the ball spline assembly includes a transmission-matched ball spline outer shaft and a ball spline shaft, the ball spline shaft is passed through the ball spline outer shaft, the ball spline shaft is coaxially fixed with the input end connecting assembly through a universal coupling, and the ball spline outer shaft is transmission-connected to a third adapter output assembly through a third bevel gear commutator.

[0015] A surgical auxiliary device includes a robotic arm, a first adapter assembly, a second adapter assembly, a third adapter assembly and the above-mentioned surgical execution device, wherein the surgical execution device is detachably connected to the robotic arm; the first adapter transmission assembly has a first transmission module detachably connected to the first adapter assembly, the second adapter transmission assembly has a second transmission module detachably connected to the second adapter assembly, and the third adapter transmission assembly has a third transmission module detachably connected to the second adapter assembly; the power cabin drives the first adapter assembly through the first transmission module, the power cabin drives the second adapter assembly through the second transmission module, and the power cabin drives the third adapter assembly through the third transmission module.

[0016] As an optimal technical solution for surgical auxiliary equipment, the transmission cabin also includes an operating panel arranged on the chassis assembly, and the operating panel is communicatively connected to the first adapter assembly, the second adapter assembly and the third adapter assembly, and the operating panel is used to display parameter information of the first adapter assembly, the second adapter and the third adapter.

[0017] Beneficial effects of the present invention:

[0018] The surgical execution device helps to improve the flexibility of the output actions of the adapter components by driving the first adapter component, the second adapter component, and the third adapter component respectively, so as to meet the refined operations required by the surgical procedure, thereby making the operation of the surgical execution device more refined, stable, and safe. The transmission cabin is used to transmit power, and the power cabin is used to generate power. The separate design of the transmission cabin and the power cabin separates the active components from the passive components of the surgical execution device, eliminating the risk of cables being broken or worn during the transmission and movement of the surgical execution device, and avoiding problems such as active connectors becoming loose due to long-term operation. By isolating the active components inside the power cabin, the electromagnetic shielding performance of the active components is improved. The transmission structure of the transmission cabin is simple and compact, which can effectively reduce the structural size of the surgical execution device, improve the efficiency of the transmission, and make the operation more stable, accurate, and reliable. The above structural design also has high scalability. Different adapters can be replaced according to different surgical procedure requirements to expand to more surgical applications. Improvements to surgical execution devices have lowered the experience required of medical personnel in operating surgical instruments, reduced their physical exertion, and mitigated the impact of radiation from surgical execution devices on them, contributing to the intelligent operation of minimally invasive surgical diagnosis and treatment. Medical personnel using these surgical execution devices to complete procedures can ensure surgical stability and accuracy, improve surgical efficiency, and shorten surgical duration. The application of these surgical execution devices also helps improve the working environment of medical personnel, reduce doctors' labor intensity, and shorten doctors' learning curve for mastering complex surgical procedures.

[0019] This surgical auxiliary device can be connected to the valve repair instrument through an adapter to drive the valve repair instrument to move, thereby assisting the doctor in operating the valve repair instrument and completing the valve repair surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] FIG1 is a schematic structural diagram of a surgical execution device provided by an embodiment of the present invention;

[0021] FIG2 is a schematic structural diagram of a transmission compartment provided by an embodiment of the present invention;

[0022] FIG3 is a cross-sectional view of a transmission compartment according to an embodiment of the present invention;

[0023] FIG4 is a schematic structural diagram of a chassis assembly provided in an embodiment of the present invention;

[0024] FIG5 is a schematic structural diagram of a first adapter transmission assembly provided in an embodiment of the present invention;

[0025] FIG6 is a schematic structural diagram of a shaft end fixing assembly provided in an embodiment of the present invention;

[0026] 7 is a cross-sectional view of a shaft end fixing assembly provided in an embodiment of the present invention;

[0027] FIG8 is a schematic structural diagram of an input terminal connection assembly provided in an embodiment of the present invention;

[0028] FIG9 is a cross-sectional view of an input terminal connection assembly provided in an embodiment of the present invention;

[0029] 10 is a schematic structural diagram of a first transmission unit of a first adapter assembly from a first perspective according to an embodiment of the present invention;

[0030] 11 is a structural diagram of the first transmission unit of the first adapter assembly provided by an embodiment of the present invention from a second perspective;

[0031] 12 is a schematic structural diagram of the second transmission unit of the first adapter assembly provided in an embodiment of the present invention;

[0032] 13 is a schematic structural diagram of a long-axis output assembly of a first adapter assembly provided in an embodiment of the present invention;

[0033] 14 is a schematic structural diagram of a short shaft output assembly of a first adapter assembly provided in an embodiment of the present invention;

[0034] 15 is a schematic structural diagram of a shaft end assembly of a first adapter assembly provided in an embodiment of the present invention;

[0035] 16 is a schematic structural diagram of a second adapter transmission assembly from a first perspective according to an embodiment of the present invention;

[0036] 17 is a schematic structural diagram of a second adapter transmission assembly from a second perspective according to an embodiment of the present invention;

[0037] 18 is a schematic cross-sectional view of a second adapter transmission assembly according to an embodiment of the present invention;

[0038] 19 is a schematic structural diagram of a second adapter output assembly according to an embodiment of the present invention;

[0039] FIG20 is a schematic cross-sectional view of the second adapter output assembly according to an embodiment of the present invention;

[0040] FIG21 is a schematic structural diagram of a dual bearing seat assembly provided in an embodiment of the present invention;

[0041] FIG22 is a cross-sectional view of a dual bearing seat assembly according to an embodiment of the present invention;

[0042] 23 is a schematic structural diagram of a trapezoidal screw unit provided in an embodiment of the present invention;

[0043] 24 is a cross-sectional view of a trapezoidal screw unit according to an embodiment of the present invention;

[0044] 25 is a schematic structural diagram of a third adapter transmission assembly provided in an embodiment of the present invention;

[0045] 26 is a schematic structural diagram of the third adapter transmission assembly excluding the third adapter mounting cover provided in an embodiment of the present invention;

[0046] 27 is a cross-sectional view of a third adapter transmission assembly according to an embodiment of the present invention;

[0047] FIG28 is a cross-sectional view of a third adapter output assembly according to an embodiment of the present invention;

[0048] FIG29 is a schematic structural diagram of a power cabin provided by an embodiment of the present invention;

[0049] FIG30 is a schematic diagram of the structure of the power compartment excluding the top cover provided by an embodiment of the present invention;

[0050] FIG31 is a cross-sectional view of a power cabin provided in an embodiment of the present invention;

[0051] 32 is a schematic structural diagram of an assembly frame plate according to an embodiment of the present invention;

[0052] 33 is a schematic structural diagram of a first adapter assembly transmission module and a drive motor provided in an embodiment of the present invention;

[0053] FIG34 is a schematic structural diagram of a valve repair system provided in an embodiment of the present invention;

[0054] FIG35 is a schematic structural diagram of a mitral valve repair device provided in an embodiment of the present invention;

[0055] FIG36 is a schematic structural diagram of a second transmission module and a drive motor provided in an embodiment of the present invention;

[0056] FIG37 is a schematic structural diagram of a third transmission module and a drive motor provided in an embodiment of the present invention;

[0057] 38 is a cross-sectional view of a catheter assembly in a first state according to an embodiment of the present invention;

[0058] 39 is a cross-sectional view of the catheter assembly in a second state according to an embodiment of the present invention;

[0059] 40 is a cross-sectional view of the catheter assembly in a third state according to an embodiment of the present invention;

[0060] FIG41 is a cross-sectional view of a human body provided in an embodiment of the present invention;

[0061] FIG42 is a cross-sectional view of a human body, a guide wire, and a sheath provided in an embodiment of the present invention;

[0062] FIG43 is a cross-sectional view of a human body and a catheter assembly according to an embodiment of the present invention;

[0063] FIG44 is a cross-sectional view of a heart according to an embodiment of the present invention;

[0064] FIG45 is a cross-sectional view of a heart, a guidewire, and a sheath provided in an embodiment of the present invention;

[0065] 46 is a cross-sectional view of a heart and a catheter assembly in a first state according to an embodiment of the present invention;

[0066] 47 is a cross-sectional view of a heart and a catheter assembly in a second state according to an embodiment of the present invention;

[0067] 48 is a cross-sectional view of a heart and a catheter assembly in a third state according to an embodiment of the present invention.

[0068] In the figure: 1000, power compartment; 1100, bottom shell; 1200, top cover; 1300, motor assembly component; 1310, drive motor; 1320, assembly frame plate; 1400, drive assembly component; 2000, transmission compartment; 2100, chassis assembly; 2110, bottom support; 2120, chassis main beam; 2121, First linear guide rail; 2122, first nut fixing seat; 2123, first trapezoidal nut; 2130, guide rail connecting plate; 2131, first bearing seat; 2132, first trapezoidal screw rod; 2140, first cross slide coupling; 2180, L-shaped bracket; 2190, handle; 2191, bedside operation panel; 2200, first adapter transmission assembly; 2210, frame; 2211, second bearing seat; 2212, second linear guide rail; 2220, first adapter assembly shaft end assembly; 2221, output end bearing seat; 2222, output end shaft body; 2223, sixth flanged bearing; 2224, sixth spring 2225, output end shaft key; 2230, first adapter assembly first transmission unit; 2231, first adapter assembly mounting plate; 2232, first locating pin; 2233, first bevel gear commutator; 2240, first adapter assembly second transmission unit; 2241, three-bearing support; 2242, first transmission shaft; 2250, third Oldham coupling; 2260, shaft end fixing assembly; 2261, fixed end plate; 2262, universal coupling; 2263, ball spline shaft; 2264, telescopic universal coupling; 2265, second Oldham coupling; 2270, input end connection assembly; 22 71. First flanged bearing; 2272. First circlip; 2273. Input connector shaft; 2274. First adapter assembly connecting flange; 2275. First spring; 2276. First column head screw; 2280. First adapter assembly long shaft output assembly; 2281. Second adapter connecting flange; 2282. Second flanged bearing; 2283. Second circlip; 2284. Long connector shaft; 2285. Second spring; 2286. Second column head screw; 2287. Long connector bearing seat; 2290. First adapter assembly short shaft output assembly; 2291. Third adapter connecting flange; 2292. Third flanged bearing; 2293, third circlip; 2294, short connector shaft; 2295, third spring; 2296, third stud screw; 2297, short connector bearing seat; 2300, second adapter transmission assembly; 2310, transmission support plate; 2311, slider fixing plate; 2312, first sliding slider; 2320, second adapter mounting cover; 2321, second locating pin; 2330, second adapter output assembly; 2331, fourth adapter connecting flange; 2332, fourth flanged bearing; 2333, fourth circlip; 2334, second adapter connector shaft; 2335, fourth spring.2336, fourth stud screw; 2337, middle adapter output bearing seat; 2341, second nut fixing seat; 2342, second trapezoidal nut; 2350, trapezoidal lead screw unit; 2351, third trapezoidal lead screw; 2352, third bearing seat; 2360, dual bearing seat assembly; 2361, bearing seat body; 2362, bearing cover; 2363, fifth stud screw; 2364, first rolling bearing; 2370, second bevel gear commutator; 2380, reinforcing rib; 2400, third adapter transmission assembly; 2410, slider connecting plate; 2411, second sliding slider; 2412, second rolling bearing; 2420 , third adapter mounting cover; 2421, third locating pin; 2430, third adapter output assembly; 2431, fifth adapter connecting flange; 2432, fifth flanged bearing; 2433, fifth circlip; 2434, third adapter connector shaft; 2435, fifth spring; 2436, fifth column head screw; 2440, ball spline assembly; 2441, ball spline body; 2442, ball spline outer shaft; 2450, third bevel gear commutator; 2460, third trapezoidal nut; 2470, second trapezoidal lead screw; 2910, first accordion cover; 2920, second accordion cover; 2930, third accordion cover; 8000, mitral valve repair device; 8100, guidewire; 8200, sheath; 8300, catheter assembly; 8310, outer catheter; 8320, middle catheter; 8330, inner catheter; 8340, clamp; 8400, first actuation handle; 8500, second actuation handle; 8600, third actuation handle; 8700, first adapter assembly; 8800, second adapter assembly; 8900, third adapter assembly; 9000, human body; 9100, right femoral vein; 9200, left femoral vein; 9300, inferior vena cava; 9400, Descending aorta; 9500, superior vena cava; 9600, right jugular vein; 9700, left jugular vein; 9800, subclavian vein; 9900, heart; 9910, right atrium; 9920, atrial septum; 9930, left atrium; 9940, mitral valve; 9950, left ventricle. DETAILED DESCRIPTION

[0069] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0070] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions, and the first feature being "above", "above" and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature includes the first feature being directly below and obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0071] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0072] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0073] As shown in Figures 1 to 40, this embodiment provides a surgical assistance device comprising a robotic arm, a first adapter assembly 8700, a second adapter, a third adapter, and a surgical execution device, which is connected to the robotic arm, the first adapter assembly 8700, the second adapter, and the third adapter, respectively. The surgical assistance device can connect to a valve repair device via the adapter, driving the valve repair device to move, thereby assisting the surgeon in operating the valve repair device and completing the valve repair surgery.

[0074] This embodiment is described using a mitral valve repair device 8000 as an example. The mitral valve repair device 8000 includes an implant and a delivery device. The delivery device includes a catheter assembly 8300 and a first drive handle 8400, a second drive handle 8500, and a third drive handle 8600. The catheter assembly 8300 includes an outer catheter 8310, a middle catheter 8320, and an inner catheter 8330, which are stacked in sequence from outside to inside. The inner catheter 8330 has a working end and an output end, respectively. The working end of the inner catheter 8330 is mounted with an implant. In this embodiment, the implant is a clip 8340. The clip 8340 can be switched between an expanded state and a folded state. In the folded state, the clip 8340 can be stored within the middle catheter 8320. The clip 8340 has a clamping portion. In the expanded state, the clamping portion of the clip 8340 forms a clamping space for clamping the valve leaflet.

[0075] The surgical execution device includes a transmission cabin 2000 and a power cabin 1000. The transmission cabin 2000 includes a chassis assembly 2100 and a first adapter transmission assembly 2200, a second adapter transmission assembly 2300, and a third adapter transmission assembly 2400 that are movable relative to the chassis assembly 2100. The first adapter transmission assembly 2200 includes a first transmission module that is detachably connected to the first adapter assembly 8700, the second adapter transmission assembly 2300 includes a second transmission module that is detachably connected to the second adapter assembly 8800, and the third adapter transmission assembly 2400 includes a third transmission module that is detachably connected to the third drive module. The power cabin 1000 is in transmission connection with the transmission cabin 2000. The power cabin 1000 drives the first adapter assembly 8700 via the first transmission module, drives the second adapter assembly 8800 via the second transmission module, and drives the third adapter assembly 8900 via the third transmission module.

[0076] This surgical actuator device, by separately driving the first adapter assembly 8700, the second adapter assembly 8800, and the third adapter assembly 8900, helps enhance the flexibility of the adapter assembly's output motions, facilitating the precise manipulation required for surgical procedures. This makes the surgical actuator device more precise, stable, and safer to operate. The transmission compartment 2000 transmits power, while the power compartment 1000 generates it. The separate design of the transmission compartment 2000 and the power compartment 1000 separates the active and passive components of the surgical actuator device, eliminating the risk of cable breakage or wear during transmission and movement, and preventing problems such as loosening of active connectors due to prolonged operation. By isolating the active components within the power compartment 1000, the electromagnetic shielding performance of the active components is enhanced. The transmission compartment 2000's simple and compact transmission structure effectively reduces the size of the surgical actuator device, improves transmission efficiency, and ensures more stable, precise, and reliable surgery. This structural design also offers high scalability, allowing for the replacement of different adapters to meet the needs of different surgical procedures, expanding the device to a wider range of surgical applications. Improvements to surgical execution devices have lowered the experience required of medical personnel in operating surgical instruments, reduced their physical exertion, and mitigated the impact of radiation from surgical execution devices on them, contributing to the intelligent operation of minimally invasive surgical diagnosis and treatment. Medical personnel using these surgical execution devices to complete procedures can ensure surgical stability and accuracy, improve surgical efficiency, and shorten surgical duration. The application of these surgical execution devices also helps improve the working environment of medical personnel, reduce doctors' labor intensity, and shorten doctors' learning curve for mastering complex surgical procedures.

[0077] In this embodiment, the first adapter transmission assembly 2200 is slidably arranged on the chassis assembly 2100 along the adjustment direction, the second adapter transmission assembly 2300 is slidably arranged on the first adapter transmission assembly 2200 along the adjustment direction, and the third adapter transmission assembly 2400 is slidably arranged on the second adapter transmission assembly 2300 along the adjustment direction; the length direction of the transmission cabin 2000 is parallel to the adjustment direction.

[0078] With the help of the above structural layout, the design of moving the first adapter transmission assembly 2200, the second adapter transmission assembly 2300 and the third adapter transmission assembly 2400 relative to the chassis assembly 2100 can be realized. The above layout is simple and reliable, realizes the reasonable layout of the transmission cabin 2000, reduces the space occupied by the transmission cabin 2000, reduces the difficulty of position adjustment of the first adapter transmission assembly 2200, the second adapter transmission assembly 2300 and the third adapter transmission assembly 2400, and reduces the probability of position conflict between the components on the transmission cabin 2000.

[0079] Furthermore, the power cabin 1000 includes a motor assembly assembly 1300, the motor assembly assembly 1300 has an assembly frame plate 1320 and a plurality of drive motors 1310 mounted on the assembly frame plate 1320, and the output end of the drive motor 1310 passes through the assembly frame plate 1320; the transmission cabin 2000 includes an axial end fixing assembly 2260 provided at one end of the first adapter transmission assembly 2200, the axial end fixing assembly 2260 has a fixed end plate 2261 and an input end connecting assembly 2270, and the input end connecting assembly 2270 passes through and is rotatably connected to the fixed end plate 2261; the number of input end connecting assemblies 2270 is the same as that of the drive motors 1310, and each input end connecting assembly 2270 is coaxially and detachably connected to the output end of a drive motor 1310.

[0080] With the help of the design of matching connection between the input end connecting component 2270 and the output end of the drive motor 1310, smooth transmission between the power cabin 1000 and the transmission cabin 2000 is achieved, and the modular design of the power cabin 1000 and the transmission cabin 2000 is achieved, which improves the flexibility of the use of the surgical execution device and helps to expand the surgical execution device to more surgical applications.

[0081] In this embodiment, the power compartment 1000 is installed on the right side of the transmission compartment 2000. The chassis assembly 2100 is located at the bottom of the transmission compartment 2000, the first adapter transmission assembly 2200 is installed above the chassis assembly 2100, the second adapter transmission assembly 2300 is installed above the first adapter transmission assembly 2200, and the third adapter transmission assembly 2400 is installed to the right of the second adapter transmission assembly 2300. The shaft end fixing assembly 2260 is provided on the right side of the transmission compartment 2000. The shaft end fixing assembly 2260 can be quickly combined with the motor assembly assembly 1300 to achieve rapid connection and disassembly of the transmission compartment 2000 and the power compartment 1000.

[0082] The transmission cabin 2000 also includes a first accordion cover 2910, a second accordion cover 2920, and a third accordion cover 2930. The left side of the first accordion cover 2910 is fixedly connected to the first adapter transmission assembly 2200, and the right side is fixedly connected to the second adapter transmission assembly 2300. The left side of the second accordion cover 2920 is fixedly connected to the second adapter transmission assembly 2300, and the right side is fixedly connected to the third adapter transmission assembly 2400. The left side of the third accordion cover 2930 is fixedly connected to the third adapter transmission assembly 2400, and the right side is fixedly connected to the first adapter transmission assembly 2200. The first accordion cover 2910 is used to ensure sealing protection between the first adapter transmission assembly 2200 and the second adapter transmission assembly 2300 during relative translation. The second accordion cover 2920 is used to ensure sealing protection between the second adapter transmission assembly 2300 and the third adapter transmission assembly 2400 during relative translation. The third accordion cover 2930 is used to ensure sealing protection between the third adapter transmission assembly 2400 and the first adapter transmission assembly 2200 during relative translation.

[0083] Specifically, the power compartment 1000 further includes a bottom shell 1100 and a top cover 1200 buckled onto the top of the bottom shell 1100. The bottom shell 1100 and the top cover 1200 enclose a housing space, within which a driver assembly 1400 and all the drive motors 1310 are mounted. The driver assembly 1400 is communicatively connected to the motor assembly 1300.

[0084] Furthermore, the chassis assembly 2100 includes a bottom bracket 2110 and a guide rail connecting plate 2130 slidably mounted on the bottom bracket 2110. The first adapter transmission assembly 2200 includes a frame 2210, an axis end fixing assembly 2260 is fixedly connected to one end of the frame 2210, and the guide rail connecting plate 2130 is fixedly connected to the frame 2210. A first trapezoidal nut 2123 is mounted on the bottom bracket 2110, and a first trapezoidal screw rod 2132 is rotatably connected to the guide rail connecting plate 2130 to rotate around the adjustment direction. The first trapezoidal nut 2123 is in transmission cooperation with the first trapezoidal screw rod 2132. The second adapter transmission assembly 2300 includes The transmission support plate 2310 is provided with a second trapezoidal nut 2342, the shaft end fixing assembly 2260 is rotatably connected to the second trapezoidal screw rod 2470 that rotates around the adjustment direction, the second trapezoidal nut 2342 is in transmission cooperation with the second trapezoidal screw rod 2470, the transmission support plate 2310 is rotatably connected to the third trapezoidal screw rod 2351 that rotates around the adjustment direction, the third adapter transmission assembly 2400 includes a slider connecting plate 2410, the slider connecting plate 2410 is provided with a third trapezoidal nut 2460, the third trapezoidal nut 2460 is in transmission cooperation with the third trapezoidal screw rod 2351.

[0085] Through the above structural design of the transmission cabin 2000, the transmission relationship between the chassis assembly 2100, the first adapter transmission assembly 2200, the second adapter transmission assembly 2300 and the third adapter transmission assembly 2400 is guaranteed, so that the relative movement between the above components can be completed by driving the first trapezoidal lead screw 2132, the second trapezoidal lead screw 2470 and the third trapezoidal lead screw 2351, thereby reducing the difficulty of driving and ensuring that the transmission cabin 2000 can operate stably for a long time.

[0086] In this embodiment, the base support 2110 is fixedly screwed to the chassis main beam 2120, the guide rail connecting plate 2130 is slidably arranged on the chassis main beam 2120, and both ends of the first trapezoidal screw rod 2132 are fixed to the guide rail connecting plate 2130 through a first bearing seat 2131 with a bearing, and the first trapezoidal nut 2123 is installed on the first nut fixing seat 2122, and the first nut fixing seat 2122 is fixed to the chassis main beam 2120. When the first trapezoidal nut 2123 rotates, since the first trapezoidal nut 2123 is mounted on the chassis main beam 2120, it is able to drive the entire first trapezoidal screw rod 2132 to move axially. Considering that the first trapezoidal screw rod 2132 is mounted on the guide rail connecting plate 2130, thereby driving the guide rail connecting plate 2130 to slide axially, during the entire movement process, the first trapezoidal screw rod 2132 bears almost no radial load, and all radial loads are transmitted to the chassis main beam 2120 through the slider, thereby reducing the structural size of the chassis assembly 2100 and making the transmission structure of the chassis assembly 2100 more compact. Specifically, the top end of the chassis main beam 2120 is provided with a first linear guide rail 2121 extending along the adjustment direction, and the guide rail connecting plate 2130 is slidably mounted on the first linear guide rail 2121.

[0087] Furthermore, the first trapezoidal screw rod 2132 is coaxially fixed to an input end connecting component 2270 through a first cross slider coupling 2140 and a second cross slider coupling 2265 in sequence; the second trapezoidal screw rod 2470 is coaxially fixed to an input end connecting component 2270 through a second cross slider coupling 2265; the third trapezoidal screw rod 2351 is coaxially fixed to an input end connecting component 2270 through a telescopic universal coupling 2264 and a second cross slider coupling 2265 in sequence.

[0088] With the help of the above design, the transmission connection between the shaft end fixing assembly 2260 and the first trapezoidal screw 2132, the second trapezoidal screw 2470 and the third trapezoidal screw 2351 is realized, the transmission form between the transmission cabin 2000 and the power cabin 1000 is simplified, the specific structure of the transmission cabin 2000 is optimized, and the smooth operation of the surgical execution device is ensured.

[0089] Exemplarily, a first adapter assembly and a first transmission unit 2230 are installed at the other end of the frame 2210. The first adapter assembly and the first transmission unit 2230 include a first adapter assembly mounting plate 2231 fixed to the frame 2210, and the first adapter assembly mounting plate 2231 is provided with a plurality of first positioning pins 2232 for pin-connecting and positioning the first adapter assembly 8700; a second adapter mounting cover 2320 is provided on the transmission support plate 2310, and the second adapter mounting cover 2320 is provided with a plurality of second positioning pins 2321 for pin-connecting and positioning the second adapter assembly 8800; a third adapter mounting cover 2420 is provided on the slider connecting plate 2410, and the third adapter mounting cover 2420 is provided with a plurality of third positioning pins 2421 for pin-connecting and positioning the third adapter assembly 8900.

[0090] Specifically, a second linear guide rail 2212 extending along the adjustment direction is provided at the top of the frame 2210, and a slider fixing plate 2311 is also fixed to the transmission support plate 2310. A first sliding slider 2312 is fixed to the bottom of the slider fixing plate 2311, and the first sliding slider 2312 slides in cooperation with the second linear guide rail 2212.

[0091] In this embodiment, the drive motor 1310 drives the second trapezoidal lead screw 2470 to rotate. Since the second trapezoidal nut 2342 is fixed in its circumferential direction, the second trapezoidal nut 2342 can drive the second adapter transmission assembly 2300 to translate. During this process, the telescopic universal coupling 2264 extends or contracts, achieving horizontal movement within the constraints of the sliding connection. The drive motor 1310 drives the third trapezoidal lead screw 2351 to rotate. Since the third trapezoidal nut 2460 is fixed in its circumferential direction, the third trapezoidal nut 2460 can drive the third adapter transmission assembly 2400 to translate. During this process, the ball spline body 2441 and the ball spline shaft 2263 form a translational friction pair, achieving horizontal movement within the constraints of the sliding connection. Specifically, the second trapezoidal nut 2342 is rotationally connected to the second nut fixing seat 2341, which is fixed to the transmission support plate 2310.

[0092] Specifically, the second trapezoidal lead screw 2470 passes through the second bearing seat 2211 and rotates with the second bearing seat 2211 , and the second bearing seat 2211 is fixed to the frame 2210 .

[0093] In this embodiment, the third trapezoidal screw rod 2351 belongs to the trapezoidal screw rod unit 2350, and the trapezoidal screw rod unit 2350 also includes two third bearing seats 2352 fixedly connected to the transmission support plate 2310, and the two ends of the third trapezoidal screw rod 2351 are respectively rotatably connected to the two third bearing seats 2352.

[0094] The second adapter transmission assembly 2300 also includes a dual bearing seat assembly 2360, which includes a bearing seat body 2361 fixedly connected to the transmission support plate 2310, and multiple bearing covers 2362 are detachably connected to the bearing seat body 2361 through a fifth column screw 2363. Each bearing cover 2362 can form a bearing space with the bearing seat body 2361, and a first rolling bearing 2364 is installed in the bearing space. The second rotating shaft is fixedly matched with the inner ring of the first rolling bearing 2364 so that the second rotating shaft is rotatably connected to the dual bearing seat assembly 2360.

[0095] Specifically, a reinforcing rib 2380 for improving structural strength is connected between the slider fixing plate 2311 and the transmission support plate 2310 .

[0096] In the existing technology, the catheter adapter transmission assembly is driven by an electric cylinder, and the transmission chain is driven by a synchronous belt. The above design has poor controllability, low transmission efficiency and poor manufacturability, and it is difficult to meet the requirements of speed control and position control.

[0097] In this embodiment, the first adapter transmission assembly 2200 has a first transmission module, the first transmission module includes multiple first transmission structures, the first transmission structure includes a first transmission shaft 2242 that rotates around the adjustment direction, and both ends of the first transmission shaft 2242 are coaxially fixed with a third cross slider coupling 2250. One end of the first transmission shaft 2242 is coaxially fixed with an input end connection assembly 2270, and the other end is transmission-connected to a first adapter output assembly through a first bevel gear commutator 2233. The first adapter assembly 8700 is transmission-coordinated with the output ends of all the first adapter output assemblies.

[0098] Through the above structural design, a transmission connection is achieved between the shaft end fixing component 2260 and the first adapter output component, which helps to ensure that the power compartment 1000 drives the first transmission module, thereby ensuring that the first adapter component 8700 can complete the predetermined action.

[0099] Specifically, the first transmission structure comprises three first adapter output assemblies, including one first adapter assembly long-shaft output assembly 2280 and two first adapter assembly short-shaft output assemblies 2290. The first transmission module comprises three first transmission shafts 2242 and two oppositely positioned three-bearing supports 2241. Each end of the first transmission shaft 2242 is rotatably connected to a three-bearing support 2241 about its own axis. All of these first transmission shafts 2242 and all of the three-bearing supports 2241 form the first adapter assembly second transmission unit 2240.

[0100] The torque of drive motor 1310 is transmitted through shaft end fixing assembly 2260 to third Oldham coupling 2250, then to first adapter assembly second transmission unit 2240, and then through third Oldham coupling 2250 and first adapter assembly first transmission unit 2230 to first adapter assembly 8700 mounted on first adapter assembly first transmission unit 2230, thereby achieving torque transmission. Third Oldham coupling 2250 is used to compensate for accumulated tolerances caused during the assembly process.

[0101] Exemplarily, the second adapter transmission assembly 2300 has a second transmission module, the second transmission module includes multiple second transmission structures, the second transmission structure includes a second transmission shaft rotating around an adjustment direction, one end of the second transmission shaft is coaxially fixed to an input end connection assembly 2270 through a telescopic universal coupling 2264 and a second cross slider coupling 2265 in sequence, and the other end is transmission connected to a second adapter output assembly 2330 through a second bevel gear commutator 2370, and the second adapter assembly 8800 is transmission-coordinated with the output ends of all second adapter output assemblies 2330.

[0102] Through the above structural design, a transmission connection is achieved between the shaft end fixing component 2260 and the second adapter output component 2330, which helps to ensure the driving of the second transmission module by the power compartment 1000, thereby ensuring that the second adapter component 8800 can complete the predetermined action.

[0103] The torque of the drive motor 1310 is transmitted to the second Oldham coupling 2265 through the shaft end fixing assembly 2260, and then to the telescopic universal coupling 2264, and then to the second adapter output assembly 2330 through the second transmission shaft to realize torque transmission.

[0104] In this embodiment, the third adapter transmission assembly 2400 has a third transmission module, the third transmission module includes multiple third transmission structures, the third transmission structure includes a ball spline assembly 2440 that rotates around the adjustment direction, the ball spline assembly 2440 includes a ball spline outer shaft 2442 and a ball spline shaft 2263 that are transmission-matched, the ball spline shaft 2263 is passed through the ball spline outer shaft 2442, the ball spline shaft 2263 is coaxially fixed with the input end connection assembly 2270 through the universal coupling 2262, the ball spline outer shaft 2442 is transmission-connected to a third adapter output assembly 2430 through the third bevel gear commutator 2450, and the third adapter assembly 8900 is transmission-matched with the output ends of all third adapter output assemblies 2430.

[0105] Through the above structural design, a transmission connection is achieved between the shaft end fixing assembly 2260 and the third adapter output assembly 2430, which helps to ensure the driving of the third transmission module by the power compartment 1000, thereby ensuring that the third adapter assembly 8900 can complete the predetermined action.

[0106] The torque of the motor is transmitted to the universal coupling 2262 through the shaft end fixing assembly 2260, and then to the ball spline shaft 2263, and the torque is transmitted to the ball spline outer shaft 2442 through the ball spline body 2441, and the power is transmitted to the third adapter output assembly 2430 through the third bevel gear commutator 2450 to realize torque transmission.

[0107] To sum up, the first adapter transmission assembly 2200, the second adapter transmission assembly 2300 and the third adapter transmission assembly 2400 are all driven by motors, have good controllability, and can output speed, position and even force as needed; at the same time, the above structure is highly flexible, which enables the transmission cabin 2000 to replace different adapter transmission assemblies as needed to meet different surgical requirements.

[0108] In this embodiment, thirteen input end connecting assemblies 2270 are connected to the shaft end fixing assembly 2260, and the thirteen input end connecting assemblies 2270 are connected one by one to five universal couplings 2262, three telescopic universal couplings 2264 and five third cross slider couplings 2250.

[0109] Furthermore, the input end connection assembly 2270 includes an input end connector shaft 2273, two first flanged bearings 2271, a first elastic retaining ring 2272, a first adapter assembly connection flange 2274, a first spring 2275 and two first column head screws 2276; the inner ring of the first flanged bearing 2271 cooperates with the input end connector shaft 2273, the outer ring of the first flanged bearing 2271 cooperates with the fixed end plate 2261, and the first flanged bearing 2271 on the right side passes through the input end connector shaft 2273. The shoulder on shaft 273 provides axial positioning. The first flanged bearing 2271 on the left side is axially positioned via a first circlip 2272. A first spring 2275 is located in a hole to the right of the input connector shaft 2273. The first adapter assembly connecting flange 2274 is mounted to the right of the first spring 2275 and secured by a first column screw 2276. When the first adapter assembly connecting flange 2274 is pressed axially, the elastic force of the first spring 2275 allows axial movement. This achieves transmission coordination without the need for an additional coupling and facilitates assembly and disassembly of the input connection assembly 2270. Specifically, the first flanged bearing 2271 is a flanged deep groove ball bearing, and the first column screw 2276 is a hexagon socket head cap screw.

[0110] Illustratively, first adapter assembly long shaft output assembly 2280 includes a second adapter connection flange 2281, two second flanged bearings 2282, a second circlip 2283, a long connector shaft 2284, a second spring 2285, two second column screws 2286, and a long connector bearing seat 2287. The outer ring of second flanged bearing 2282 mates with long connector bearing seat 2287, and long connector bearing seat 2287 is fixed relative to frame 2210.

[0111] In this embodiment, first adapter assembly short shaft output assembly 2290 includes a third adapter connecting flange 2291, a third flanged bearing 2292, a third circlip 2293, a short connector shaft 2294, a third spring 2295, a third stud screw 2296, and a short connector bearing seat 2297. The outer ring of third flanged bearing 2292 mates with short connector bearing seat 2297, which is fixed relative to frame 2210.

[0112] In this embodiment, third adapter output assembly 2430 includes a fifth adapter connecting flange 2431, two fifth flanged bearings 2432, a fifth circlip 2433, a third adapter connector shaft 2434, a fifth spring 2435, and two fifth stud screws 2436. The outer ring of fifth flanged bearing 2432 mates with third adapter mounting cover 2420, which is fixed relative to slider connecting plate 2410. Specifically, a second sliding block 2411 is provided at the bottom of slider connecting plate 2410, which slidably engages with the transmission support plate 2310. The end of ball spline outer shaft 2442, facing away from ball spline shaft 2263, is rotatably connected to slider connecting plate 2410 via a second rolling bearing 2412.

[0113] In this embodiment, second adapter output assembly 2330 includes a fourth adapter connecting flange 2331, two fourth flanged bearings 2332, a fourth circlip 2333, a second adapter connector shaft 2334, a fourth spring 2335, two fourth stud screws 2336, and a middle adapter output bearing seat 2337. The outer ring of fourth flanged bearing 2332 mates with middle adapter output bearing seat 2337, which is fixed relative to second adapter mounting cover 2320.

[0114] In this embodiment, the end of the first transmission shaft 2242 facing away from the shaft end fixing assembly 2260 is rotatably connected to the first adapter assembly mounting plate 2231 via the first adapter assembly shaft end assembly 2220. The first adapter assembly shaft end assembly 2220 includes an output end bearing seat 2221, an output end shaft body 2222, two sixth flanged bearings 2223, a sixth circlip 2224, and an output end shaft key 2225. The outer wall of the output end bearing seat 2221 is connected to the first adapter assembly mounting plate 2231, and the outer ring of the sixth flanged bearing 2223 mates with the output end bearing seat 2221. The output end shaft key 2225 is fixedly connected to the output end shaft body 2222, and the output end shaft body 2222 is keyed to the first transmission shaft 2242 via the output end shaft key 2225.

[0115] The detailed structures of the above components are generally similar, with each design featuring a rotating shaft connected to a bearing seat via a flanged bearing. Furthermore, a spring is interposed between the connecting flange and the connector shaft, enabling the connecting flange and the connector shaft to move closer or further apart in their length. Due to space limitations, the detailed structures of these components will not be detailed here.

[0116] For example, the transmission cabin 2000 further includes a bedside operation panel 2191 disposed on the chassis assembly 2100. The bedside operation panel 2191 is communicatively connected to the first adapter assembly 8700, the second adapter assembly 8800, and the third adapter assembly 8900. The bedside operation panel 2191 is used to display parameter information of the first adapter assembly 8700, the second adapter assembly 8800, and the third adapter assembly 8900. The provision of the bedside operation panel 2191 enables medical staff to interactively operate the equipment at the operating bedside, making surgical operations more convenient and efficient.

[0117] Specifically, the chassis assembly 2100 also includes a handle 2190 for medical staff to hold. The handle 2190 is connected and fixed to the base 2110 , and the bedside operation panel 2191 is located above the handle 2190 .

[0118] This embodiment also provides a surgical assisting device, comprising a robotic arm, a first adapter assembly 8700, a second adapter assembly 8800, a third adapter assembly 8900, and the aforementioned surgical execution device. The chassis assembly 2100 of the surgical execution device is detachably connected to the robotic arm. Specifically, the chassis assembly 2100 further comprises an L-shaped bracket 2180, which is fixedly attached to the right side of the base 2110. The end of the robotic arm is provided with an end flange, which is detachably connected to the L-shaped bracket 2180.

[0119] This surgical assist device, through the collaboration of a surgical actuator and an adapter assembly, refines the operation of the Mitral Valve Repair Device 8000. Utilizing surgical assist devices to assist in the completion of surgeries aims to improve surgical quality and efficiency, reduce or even eliminate radiation hazards to medical personnel, and make the procedure simpler and more convenient, ultimately benefiting a wide range of medical professionals and patients.

[0120] The transmission cabin 2000 includes a chassis assembly 2100 and a first adapter transmission assembly 2200, a second adapter transmission assembly 2300 and a third adapter transmission assembly 2400 that can move relative to the chassis assembly 2100. The first adapter transmission assembly 2200 is equipped with a first adapter assembly 8700 for connecting to the outer conduit 8310, the second adapter transmission assembly 2300 is equipped with a second adapter assembly 8800 for connecting to the middle conduit 8320, and the third adapter transmission assembly 2400 is equipped with a third adapter assembly 8900 for connecting to the output end of the inner conduit 8330; the power cabin 1000 is connected to the transmission cabin 2000 in transmission connection, the power cabin 1000 drives the outer conduit 8310 through the first adapter assembly 8700, the power cabin 1000 drives the middle conduit 8320 through the second adapter assembly 8800, and the power cabin 1000 drives the inner conduit 8330 through the third adapter assembly 8900.

[0121] This surgical assist device drives and controls the mitral valve repair device 8000 to assist in valve repair surgery. The design of separately driving the outer catheter 8310, middle catheter 8320, and inner catheter 8330 enhances the flexibility of the mitral valve repair device 8000 and facilitates precise operation. Using this surgical execution device, medical personnel can further ensure the stability and precision of valve repair surgery.

[0122] The transmission cabin 2000 is connected to the mitral valve repair device 8000 via a first adapter assembly 8700, a second adapter assembly 8800, and a third adapter assembly 8900. The above structural improvements, on the one hand, allow the mitral valve repair device 8000 to be effectively connected and fixed to the transmission cabin 2000 via the adapter assembly, allowing medical personnel to quickly, conveniently, and stably install the mitral valve repair device 8000 on the transmission cabin 2000 during the surgical preparation phase, and to quickly remove the mitral valve repair device 8000 from the transmission cabin 2000 after the surgery. On the other hand, the adapters allow the power from the various power output shafts within the transmission cabin 2000 to be stably and reliably transmitted to the various operating handles, operating knobs, and operating levers on the mitral valve repair device 8000.

[0123] Specifically, the mitral valve repair device 8000 further includes a first driving handle 8400, a second driving handle 8500, a third driving handle 8600, a guidewire 8100, and a sheath 8200 located at the end of the guidewire 8100. The surgical assist device further includes a first adapter assembly 8700, a second adapter assembly 8800, and a third adapter assembly 8900. The first driving handle 8400 is mounted on the first adapter assembly 8700 and is in transmission connection with the first adapter assembly 8700. The first adapter assembly 8700 is mounted on the first adapter transmission assembly 2200. The first driving handle 8400 is used to drive the outer catheter 8310. The second driving handle 8500 is mounted on the second adapter assembly 8800 and is in transmission connection with the second adapter assembly 8800. The second adapter assembly 8800 is mounted on the second adapter transmission assembly 2300. The second driving handle 8500 is used to drive the middle catheter 8320. The third driving handle 8600 is installed on the third adapter assembly 8900 and is in transmission connection with the third adapter assembly 8900 . The third adapter assembly 8900 is installed on the third adapter transmission assembly 2400 . The third driving handle 8600 is used to drive the inner catheter 8330 .

[0124] As shown in Figures 41 to 48, a human body 9000 includes a right femoral vein 9100, a left femoral vein 9200, an inferior vena cava 9300, a descending aorta 9400, a superior vena cava 9500, a right jugular vein 9600, a left jugular vein 9700, a subclavian vein 9800, and a heart 9900. The heart 9900 includes a right atrium 9910, an atrial septum 9920, a left atrium 9930, a mitral valve 9940, and a left ventricle 9950.

[0125] This embodiment also provides a method for performing a valve repair surgery, which is applicable to the above-mentioned surgical auxiliary equipment, comprising the following steps: inserting a guide wire 8100 into a human body 9000, allowing a sheath tube 8200 to enter the right atrium 9910 of a heart 9900 from the inferior vena cava 9300; puncturing the atrial septum 9920 using the sheath tube 8200; removing the guide wire 8100 and the sheath tube 8200, inserting a catheter assembly 8300 into a human body 9000, allowing the catheter assembly 8300 to enter the right atrium 9910 of the heart 9900 from the inferior vena cava 9300. The outer catheter 8310 is caused to pass through the atrial septum 9920 and at least partially extend into the left atrium 9930. The outer catheter 8310, the middle catheter 8320, and the inner catheter 8330 are controlled to perform their respective actions, so that the clip 8340 extends from the middle catheter 8320 and switches to the deployed state. The outer catheter 8310, the middle catheter 8320, and the inner catheter 8330 are controlled to perform their respective actions again, so that the clip 8340 passes through the mitral valve 9940 and clamps the mitral valve 9940 with the clamping portion until the clip 8340 captures the mitral valve 9940. During the valve repair surgery, the catheter assembly 8300 is sequentially in the first state, the second state, and the third state.

[0126] This valve repair surgery method successfully completes the mitral valve 9940 repair surgery by successively inserting a guidewire 8100 and a mitral valve repair device 8000 into a human body 9000. The above process is simple, reliable, and highly stable, helping to simplify the valve repair surgery process and optimize the steps of the valve repair surgery. The above steps can ensure the stability and accuracy of the surgery, improve the efficiency of the surgery, and shorten the duration of the surgery. The use of the above method can help further improve the working environment of medical staff, reduce the labor intensity of doctors, and shorten the learning curve for doctors to master complex surgical procedures.

[0127] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A surgical execution device, characterized in that: include: A transmission cabin (2000) comprises a chassis assembly (2100) and a first adapter transmission assembly (2200), a second adapter transmission assembly (2300) and a third adapter transmission assembly (2400) that can move relative to the chassis assembly (2100); A power cabin (1000) is transmission-connected to the transmission cabin (2000); The first adapter transmission assembly (2200) is slidably disposed on the chassis assembly (2100) along the adjustment direction, the second adapter transmission assembly (2300) is slidably disposed on the first adapter transmission assembly (2200) along the adjustment direction, and the third adapter transmission assembly (2400) is slidably disposed on the second adapter transmission assembly (2300) along the adjustment direction; the length direction of the transmission cabin (2000) is parallel to the adjustment direction.

2. The surgical execution device according to claim 1, characterized in that: The power cabin (1000) comprises a motor assembly component (1300), wherein the motor assembly component (1300) has an assembly frame plate (1320) and a plurality of drive motors (1310) mounted on the assembly frame plate (1320), and the output end of the drive motor (1310) passes through the assembly frame plate (1320); the transmission cabin (2000) comprises an axial end fixing component (2260) arranged at one end of the first adapter transmission component (2200), wherein the axial end fixing component (2260) has a fixed end plate (2261) and an input end connecting component (2270), and the input end connecting component (2270) passes through and is rotatably connected to the fixed end plate (2261); the number of the input end connecting components (2270) is the same as that of the drive motors (1310), and each of the input end connecting components (2270) is coaxially and detachably connected to the output end of one of the drive motors (1310).

3. The surgical execution device according to claim 2, characterized in that: The chassis assembly (2100) includes a base support (2110) and a guide rail connecting plate (2130) slidably mounted on the base support (2110); the first adapter transmission assembly (2200) includes a frame (2210); the shaft end fixing assembly (2260) is fixedly connected to one end of the frame (2210); and the guide rail connecting plate (2130) is fixedly connected to the frame (2210).

4. The surgical execution device according to claim 3, characterized in that: A first trapezoidal nut (2123) is mounted on the base (2110), a first trapezoidal screw rod (2132) rotatably connected to the guide rail connecting plate (2130) and rotating around the adjustment direction, and the first trapezoidal nut (2123) is in transmission cooperation with the first trapezoidal screw rod (2132); and / or The second adapter transmission assembly (2300) comprises a transmission support plate (2310), a second trapezoidal nut (2342) is mounted on the transmission support plate (2310), a second trapezoidal screw rod (2470) rotatably connected to the shaft end fixing assembly (2260) and rotating around the adjustment direction, and the second trapezoidal nut (2342) is in transmission cooperation with the second trapezoidal screw rod (2470); and / or The transmission support plate (2310) is rotatably connected to a third trapezoidal screw (2351) that rotates around the adjustment direction. The third adapter transmission assembly (2400) includes a slider connecting plate (2410), and a third trapezoidal nut (2460) is installed on the slider connecting plate (2410). The third trapezoidal nut (2460) is in transmission cooperation with the third trapezoidal screw (2351).

5. The surgical execution device according to claim 4, characterized in that: The first trapezoidal screw rod (2132) is coaxially fixedly connected to an input end connection component (2270) through a first Oldham coupling (2140) and a second Oldham coupling (2265) in sequence; and / or The second trapezoidal screw (2470) is coaxially fixedly connected to one of the input end connection components (2270) via the second cross slider coupling (2265); and / or The third trapezoidal lead screw (2351) is coaxially fixedly connected to one of the input end connection components (2270) through a telescopic universal coupling (2264) and the second cross slider coupling (2265) in sequence.

6. The surgical execution device according to claim 3, characterized in that: The first adapter transmission assembly (2200) has a first transmission module, the first transmission module includes a plurality of first transmission structures, the first transmission structure includes a first transmission shaft (2242) rotating around the adjustment direction, both ends of the first transmission shaft (2242) are coaxially fixedly connected with a third cross slider coupling (2250), one end of the first transmission shaft (2242) is coaxially fixedly connected to an input end connection assembly (2270), and the other end is transmission-connected to a first adapter output assembly via a first bevel gear commutator (2233).

7. The surgical execution device according to claim 3, characterized in that: The second adapter transmission assembly (2300) has a second transmission module, the second transmission module includes a plurality of second transmission structures, the second transmission structure includes a second transmission shaft rotating around the adjustment direction, one end of the second transmission shaft is coaxially fixedly connected to an input end connection assembly (2270) through a telescopic universal coupling (2264) and a second cross slider coupling (2265) in sequence, and the other end is transmission-connected to a second adapter output assembly (2330) through a second bevel gear commutator (2370).

8. The surgical execution device according to claim 3, characterized in that: The third adapter transmission assembly (2400) has a third transmission module, and the third transmission module includes a plurality of third transmission structures. The third transmission structure includes a ball spline assembly (2440) that rotates around the adjustment direction. The ball spline assembly (2440) includes a ball spline outer shaft (2442) and a ball spline shaft (2263) that are transmission-matched. The ball spline shaft (2263) is inserted into the ball spline outer shaft (2442). The ball spline shaft (2263) is coaxially fixedly connected to the input end connection assembly (2270) through a universal coupling (2262). The ball spline outer shaft (2442) is transmission-connected to a third adapter output assembly (2430) through a third bevel gear commutator (2450).

9. A surgical assisting device, characterized in that: It comprises a robotic arm, a first adapter assembly, a second adapter assembly, a third adapter assembly and a surgical execution device according to any one of claims 1 to 8, wherein the surgical execution device is detachably connected to the robotic arm; The first adapter transmission assembly (2200) has a first transmission module detachably connected to the first adapter assembly, the second adapter transmission assembly (2300) has a second transmission module detachably connected to the second adapter assembly, and the third adapter transmission assembly (2400) has a third transmission module detachably connected to the second adapter assembly; The power compartment (1000) drives the first adapter assembly through the first transmission module, the power compartment (1000) drives the second adapter assembly through the second transmission module, and the power compartment (1000) drives the third adapter assembly through the third transmission module.

10. The surgical assisting device according to claim 9, characterized in that: The transmission cabin (2000) also includes an operation panel (2191) arranged on the chassis assembly (2100), and the operation panel (2191) is communicatively connected with the first adapter assembly, the second adapter assembly and the third adapter assembly, and the operation panel (2191) is used to display parameter information of the first adapter assembly, the second adapter and the third adapter.

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