Adapter and surgical assistance system

Abstract

An adapter and a surgical assistance system. The adapter (10) comprises a base (100), a first driving assembly (200), and a second driving assembly (300). The base (100) comprises a support (110) and a sun gear (120) rotatably arranged on the support (110). The support (110) is provided with a first input shaft (130) and a second input shaft (140). The second input shaft (140) is in transmission connection with the sun gear (120). The first driving assembly (200) is rotatably arranged on the support (110) and is in transmission connection with the first input shaft (130). The first driving assembly (200) is provided with a planetary carrier (210). The planetary carrier (210) is provided with a rotatable planetary gear (310). The second driving assembly is arranged on the planetary carrier. The second driving assembly (300) is in transmission connection with the sun gear (120) by means of the planetary gear (310). When the second driving assembly (300) rotates along with the planetary carrier (210), the planetary gear (310) also moves along a circumferential surface of the sun gear (120) under the driving of the planetary carrier (210). When the first driving assembly rotates, the second driving assembly rotates along with the planetary gear on the first driving assembly, so that the clinical application range of the adapter can be expanded.

Description

Adapters and surgical assistance systems

[0001] This application claims priority to Chinese patent application number CN2023117727686, filed on December 20, 2023, and entitled “Adapter and Surgical Assistance System”, the disclosure of which is incorporated herein by reference. Technical Field

[0002] The present application relates to the technical field of medical devices, and in particular to an adapter and a surgical assistance system. Background Art

[0003] Currently, mitral regurgitation is typically treated through minimally invasive surgery, which involves using a sheath system to deliver a valve repair device to the mitral valve. This is performed remotely from outside the patient's body to repair the diseased mitral valve, thereby treating mitral regurgitation. The sheath system is a multi-layered structure, with the outer sheath being passed through the femoral vein into the right atrium, then through the atrial septum and into the left atrium to ensure delivery of the valve repair device to the mitral valve.

[0004] Among them, the sheath system requires manual operation by the doctor during use, which is difficult to operate and requires a high level of technical skills and clinical experience of the doctor. The doctor's learning curve is long, which to a certain extent restricts the development of surgical procedures or the use of instruments in clinical practice. In addition, during the operation, the doctor often needs to perform the operation in coordination with the CT equipment, which causes the medical staff to be exposed to the radiation environment for a long time, causing a certain degree of harm to their health. Therefore, it is necessary to provide a sheath adapter that can remotely operate the sheath system to improve the working environment of medical staff and shorten the learning curve of doctors.

[0005] In the prior art, the sheath adapter includes a rotatable frame, a handle drive assembly, and a sheath drive assembly; the handle drive assembly includes a first transmission shaft, which is in transmission connection with the rotatable frame to drive the rotatable frame to rotate; the sheath drive assembly includes a second transmission shaft, one end of which is in transmission connection with the knob to drive the knob to rotate. The second transmission shaft is disposed on the side of the entire device and a telescopic mechanism is disposed between the second transmission shaft and the rotatable frame. When the rotatable frame rotates inward away from the second transmission shaft or outward toward the second transmission shaft, the telescopic mechanism can be extended or shortened accordingly, so that the button connected to the sheath drive assembly can rotate synchronously with the rotatable frame. However, the telescopic mechanism has a limited telescopic travel and is a rigid part that cannot bypass the handle, thereby limiting the handle to rotate only within a limited angle range, which greatly restricts the scope of clinical application. Summary of the Invention

[0006] Based on this, it is necessary to provide an adapter and a surgical assistance system to address the above technical problems.

[0007] An adapter, comprising:

[0008] A base, the base comprising a bracket and a sun gear rotatably disposed on the bracket, the bracket being provided with a first input shaft and a second input shaft, the second input shaft being drivingly connected to the sun gear;

[0009] a first drive assembly rotatably disposed on the bracket and drivingly connected to the first input shaft, the first drive assembly being provided with a planet carrier, and the planet carrier being provided with planetary gears; and

[0010] The second drive assembly is arranged on the planetary carrier, and the second drive assembly is connected to the sun gear through the planetary gear. When the second drive assembly rotates with the planetary carrier, the planetary gear also moves along the circumference of the sun gear driven by the planetary carrier.

[0011] In one embodiment, the first drive assembly includes a central gear, which is drivingly connected to the first input shaft and is axially spaced apart from the sun gear.

[0012] In one embodiment, the rotation axis of the sun gear is colinear with the rotation axis of the first drive assembly.

[0013] In one embodiment, the second input shaft is connected to the sun gear through the cooperation of the second bevel gear pair and the second cylindrical gear; and / or the first input shaft is connected to the first drive assembly through the cooperation of the first bevel gear pair and the first cylindrical gear.

[0014] In one embodiment, the number of the second input shaft, the sun gear, the second drive assembly and the planetary gears is multiple, wherein the multiple sun gears are arranged on the bracket in sequence along the axial direction, and each second drive assembly is connected to the corresponding planetary gear through the corresponding sun gear.

[0015] In one embodiment, a connecting piece is provided on a side of the second drive assembly close to the planetary carrier, and at least one mounting position is provided on the planetary carrier along the circumferential direction. The second drive assembly is detachably connected to any of the mounting positions through the connecting piece.

[0016] In one embodiment, the connecting member includes a clamping head, a pressing portion and a pushing portion, the clamping head has an installation cavity, the locking portion is movably disposed in the installation cavity, and the pushing portion is slidably disposed in the installation cavity to drive the pressing portion to move, so that the connecting member is clamped on the planetary carrier.

[0017] In one embodiment, an axial distance adjusting member is further provided between the second drive assembly and the connecting member, and the axial distance adjusting member includes a sliding portion, a sliding cavity and a first locking portion. The sliding portion is slidably provided in the sliding cavity, and the first locking portion is used to lock the sliding portion at any position in the axial direction of the sliding cavity.

[0018] In one embodiment, the second drive assembly is connected to the planetary gear via a flexible transmission member.

[0019] In one embodiment, a bracket is provided on the side of the planetary carrier facing away from the first drive assembly, and the bracket is provided with a locking member, and the locking member includes a supporting portion, a second locking portion and a limiting portion; the supporting portion has a device accommodating groove and can rotate between a device accommodating position and a device release position; the second locking portion is slidably provided on the supporting portion, so as to extend into the accommodating groove for locking when the supporting portion is in the device accommodating position; the limiting portion is slidably provided on the supporting portion, so as to extend into the bracket when the supporting portion is in the device accommodating position, thereby limiting the axial movement amplitude of the supporting portion.

[0020] A surgical assisting system comprises a power device and an adapter as described above, wherein the power device is used to drive a first input shaft and a second input shaft of the adapter respectively.

[0021] In one embodiment, when the first input shaft rotates, the power device is configured to drive the second input shaft to rotate based on a first instruction, so that the planetary gear does not rotate.

[0022] In one embodiment, the second drive assembly includes a self-locking mechanism;

[0023] When the first input shaft rotates, the power device is used to cut off the transmission connection between the second input shaft and the power device based on a second instruction, so that the planetary gear drives the second input shaft to rotate through the transmission of the sun gear, and the planetary gear does not rotate.

[0024] In the aforementioned adapter and surgical assistance system, the second drive assembly can drive the knob to rotate by sequentially transmitting the second input shaft, sun gear, and planet gear, thereby driving the sheath to bend. Once the sheath is bent, the first drive assembly can drive the handle to rotate by transmitting the first input shaft. Rotating the handle adjusts the bending direction of the sheath, thereby aligning the distal end of the sheath with the atrial septum, ensuring smooth entry of the sheath into the left atrium and successful delivery of the mitral valve repair device to the mitral valve. When the first drive assembly rotates under the drive of the first input shaft, the planetary carrier drives the second drive assembly to rotate along with it. Since the planetary gear, which is in transmission connection with the second drive assembly, also rotates synchronously around the sun gear under the drive of the planetary carrier, the relative position of the planetary gear and the second drive assembly remains unchanged. The second drive assembly can then rotate continuously with the first drive assembly without being constrained by the planetary gear, thereby not limiting the rotation range of the handle on the first drive assembly and expanding the clinical application range of the adapter. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] FIG1 , FIG2 and FIG4 are schematic diagrams showing the cooperation between the adapter and the sheath unit when the locking member is in a locked state according to an embodiment of the present application.

[0026] FIG3 is a schematic diagram showing the cooperation between the adapter and the sheath unit when the locking member is in an open state according to an embodiment of the present application.

[0027] FIG5 and FIG6 are schematic structural diagrams of an adapter provided in an embodiment of the present application viewed from different directions.

[0028] FIG. 7 is an exploded view of an adapter according to an embodiment of the present application.

[0029] FIG8 is a schematic structural diagram of a sheath tube unit provided in one embodiment of the present application.

[0030] FIG9 is a second exploded view of the adapter provided in one embodiment of the present application.

[0031] FIG10 is a schematic diagram of the three-dimensional structure of the second driving assembly provided in one embodiment of the present application.

[0032] FIG11 is an exploded view of a clamping member provided in an embodiment of the present application.

[0033] FIG12 is a cross-sectional view of a clamping member provided in an embodiment of the present application after being installed on a planet carrier.

[0034] FIG13 is an exploded view of a surgical assistance system equipped with a sheath unit according to an embodiment of the present application. DETAILED DESCRIPTION

[0035] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0036] In the description of this application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0037] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0038] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connected," "fixed," etc., should be interpreted broadly. For example, these terms may refer to fixed connections, removable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0039] In this application, unless otherwise expressly specified or limited, if a first feature is described as being "above" or "below" a second feature, or similar descriptions, this may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is described as being "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is described as being "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0040] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only embodiment.

[0041] A delivery system, a commonly used auxiliary device in minimally invasive surgery, is primarily used to deliver interventional therapy devices into the patient's body to achieve the desired treatment. For example, a valve repair device can be delivered to the patient's mitral or tricuspid valve and remotely operated from outside the patient's body to repair the diseased mitral or tricuspid valve. Another example is delivering a stent into a patient's blood vessel to treat vascular stenosis. The delivery system includes at least one sheath unit, which typically includes a sheath and an operating device, such as a handle, connected to the proximal end of the sheath and used to control the movement of the sheath.

[0042] It should be noted that the terms “distal end” and “proximal end” throughout the text are only used to indicate relative positional relationships. The “distal end” of a component refers to the end that enters the patient’s body first compared to the other end during normal operation and / or the end that is farther away from the operator, while the “proximal end” refers to the end that enters the patient’s body later than the other end and / or the end that is closer to the operator.

[0043] Among them, for a delivery system for delivering a mitral valve repair device, the delivery system may include an outer sheath unit, a middle sheath unit, and an inner sheath unit. The outer sheath unit includes an outer sheath tube, which needs to enter the right atrium along the femoral vein. After the outer sheath tube is bent, the outer sheath tube is rotated to adjust the direction of the outer sheath tube end to ensure that the outer sheath tube is facing the atrial septum, so that the outer sheath tube can penetrate the atrial septum under the action of the guidewire and enter the left atrium. The middle sheath unit includes a middle sheath tube, which is inserted into the outer sheath tube and can extend from the end of the outer sheath tube. The extended portion of the middle sheath tube can bend left and right in a first plane and can also bend left and right in a second plane, and the first plane and the second plane are arranged at an angle. When the outer sheath tube reaches the left atrium, the middle sheath tube passes through the outer sheath tube and extends into the left atrium. During the movement of the middle sheath tube relative to the outer sheath tube, the bending direction and degree of the middle sheath tube in the first plane and the second plane need to be adjusted in real time according to the bending direction and degree of the outer sheath tube so that the middle sheath tube can reach the appropriate position. The inner sheath unit includes an inner sheath tube, which is passed through the middle sheath tube and can be extended from the end of the middle sheath tube. The end of the inner sheath tube is detachably connected to the valve repair device. The inner sheath tube can pass through the middle sheath tube and extend into the left atrium. The inner sheath tube then bends toward the position of the mitral valve and continues to extend toward the mitral valve, thereby delivering the valve repair device to the mitral valve.

[0044] In order to improve the working environment of medical staff and shorten the learning curve of doctors, as shown in Figures 1 to 7, an embodiment of the present application provides an adapter 10, which includes a base 100, a first drive assembly 200 and a second drive assembly 300; the base 100 includes a bracket 110 and a sun gear 120 rotatably arranged on the bracket 110, the bracket 110 is provided with a first input shaft 130 and a second input shaft 140, and the second input shaft 140 is transmission-connected to the sun gear 120; the first drive assembly 200 can be It is rotatably arranged on the bracket 110 and is transmission-connected to the first input shaft 130. The first drive assembly 200 is provided with a planetary carrier 210, and the planetary carrier 210 is provided with a rotatable planetary gear 310; the second drive assembly 300 is arranged on the first drive assembly 200, and the second drive assembly 300 is transmission-connected to the sun gear 120 through the planetary gear 310, wherein when the second drive assembly 300 rotates with the planetary carrier 210, the planetary gear 310 also moves along the circumference of the sun gear 120 driven by the planetary carrier 210.

[0045] The adapter 10 can be used to control the sheath unit A. The sheath unit A in this embodiment is described using the aforementioned outer sheath unit as an example. As shown in FIG8 , the sheath unit A comprises a handle A1, a sheath A2, and a knob A3. The proximal end of the sheath A2 is disposed on the handle A1, and the knob A3 is disposed on the handle A1 and is used to drive the sheath A2 to bend. The first drive assembly 200 of the adapter 10 is used to drive the rotation of the handle A1, and the second drive assembly 300 is used to drive the rotation of the knob A3.

[0046] In the adapter 10, the second drive assembly 300 drives the knob A3 to rotate, thereby bending the sheath A2, by sequentially driving the second input shaft 140, the sun gear 120, and the planetary gears 310. Once the sheath A2 is bent, the first drive assembly 200 drives the handle A1 to rotate by driving the first input shaft 130. Rotating the handle A1 adjusts the bending direction of the sheath A2, aligning the distal end of the sheath A2 with the atrial septum, ensuring smooth entry of the sheath A2 into the left atrium and successful delivery of the mitral valve repair device to the mitral valve. Among them, when the first drive component 200 rotates under the drive of the first input shaft 130, the second drive component 300 can be driven to rotate together through the planetary frame 210. Since the planetary gear 310 connected to the second drive component 300 at this time also rotates synchronously around the sun gear 120 under the drive of the planetary frame 210, the relative position of the planetary gear 310 and the second drive component 300 always remains unchanged. The second drive component 300 can always rotate with the first drive component 200 without being restricted by the planetary gear 310, thereby not limiting the rotation range of the handle A1 on the first drive component 200, and can expand the clinical application range of the adapter 10.

[0047] In some embodiments of the present application, the rotation axis of the sun gear 120 can be colinear with the rotation axis of the first drive assembly 200. This positional relationship between the sun gear 120 and the first drive assembly 200 ensures that when the first drive assembly 200 rotates, the planetary gears 310 can move along the circumferential surface of the sun gear 120, allowing the planetary gears 310 to always mesh with the sun gear 120. This facilitates the sun gear 120 driving the planetary gears 310 to rotate under the drive of the second input shaft 140, thereby driving the knob A3 to rotate via the second drive assembly 300. It also makes the structure of the adapter 10 more compact, miniaturizing the size of the adapter 10.

[0048] Similarly, as shown in Figures 7 and 9, to make the structure of the adapter 10 more compact, the rotating shaft of the first drive assembly 200 can be perpendicular to the first input shaft 130. Specifically, the first input shaft 140 is in transmission connection with the first drive assembly 200 through the cooperation of a first bevel gear pair and a first cylindrical gear 430. The first bevel gear pair includes a first bevel gear 410 and a second bevel gear 420. The first bevel gear 410 is disposed on the first input shaft 130, the second bevel gear 420 is disposed on a first side surface of the bracket 110 away from the first drive assembly 200 and meshes with the first bevel gear 410, and the first cylindrical gear 430 is disposed on a second side surface of the bracket 110 opposite the first side surface and is connected to the second bevel gear 420. The first cylindrical gear 430 meshes with the first drive assembly 200. When the first input shaft 130 rotates, it drives the first bevel gear 410 to rotate, and the second bevel gear 420 meshing with the first bevel gear 410 also rotates accordingly; while the second bevel gear 420 rotates, it also drives the first cylindrical gear 430 to rotate, and the first drive assembly 200 meshing with the first cylindrical gear 430 also rotates accordingly, and the first drive assembly 200 drives the handle A1 to rotate.

[0049] Similarly, as shown in FIG7 , to make the structure of the adapter 10 more compact, the rotation axis of the sun gear 120 is perpendicular to the second input shaft 140. Specifically, the second input shaft 140 is transmission-connected to the sun gear 120 via the cooperation of a second bevel gear pair and a second cylindrical gear 530. The second bevel gear pair includes a third bevel gear 510 and a fourth bevel gear 520. The third bevel gear 510 is disposed on the second input shaft 140. The fourth bevel gear 520 is disposed on a first side surface of the bracket 110 away from the sun gear 120 and meshes with the third bevel gear 510. The second cylindrical gear 530 is disposed on a second side surface of the bracket 110 opposite the first side surface and is connected to the fourth bevel gear 520. The second cylindrical gear 530 meshes with the sun gear 120. When the second input shaft 140 rotates, it drives the third bevel gear 510 to rotate, and the fourth bevel gear 520 meshing with the third bevel gear 510 also rotates accordingly. As the fourth bevel gear 520 rotates, it also drives the second cylindrical gear 530 to rotate, and the sun gear 120 meshing with the second cylindrical gear 530 also rotates accordingly, thereby driving the planetary gear 310 to rotate. Driven by the planetary gear 310, the second drive assembly 300 drives the knob A3 to rotate.

[0050] It can be understood that the first input shaft 130 is parallel to the second input shaft 140 .

[0051] In some embodiments of the present application, when the sheath unit A is provided with multiple knobs A3, the number of the second input shaft 140, the sun gear 120, the second drive assembly 300, and the planetary gear 310 are all multiple, wherein the multiple sun gears 120 are sequentially arranged on the bracket 110 along the axial direction, and each second drive assembly 300 can drive the corresponding knob A3 to rotate through the transmission of the corresponding sun gear 120 and the corresponding planetary gear 310. When the sheath unit A is provided with multiple knobs A3, for example, the sheath unit A of a delivery device for a tricuspid valve repair device is provided with two knobs A3, in this case, the number of the second input shaft 140, the sun gear 120, the second drive assembly 300, and the planetary gear 310 are all multiple, and the corresponding second input shaft 140 can drive the corresponding second drive assembly 300 to drive the corresponding knob A3 to rotate, thereby expanding the application range of the adapter 10.

[0052] Among them, multiple second input shafts 140 can be arranged side by side on the base plate 111 of the bracket 110 (discussed below), and can be transmission-connected to the corresponding sun gear 120 via their respective second bevel gear pairs and second cylindrical gears 530. It will be understood that the protrusion lengths of the second cylindrical gears 530 from the support plate 112 of the bracket 110 are different, so that each second cylindrical gear 530 can mesh with the corresponding sun gear 120; similarly, the protrusion lengths of the planetary gears 310 corresponding to each second drive assembly 300 from the planet carrier 210 are also different, so that the planetary gears 310 on each sheath tube A2 control assembly can mesh with the corresponding sun gear 120.

[0053] Referring to FIG. 7 , in some embodiments of the present application, the bracket 110 of the base 100 may include a bottom plate 111, a support plate 112, and a mounting tube. The support plate 112 is vertically disposed on the bottom plate 111 and has a through hole 112a. The mounting tube is disposed at the through hole 112a of the support plate 112. The first input shaft 130 and the second input shaft 140 are rotatably disposed on the bottom plate 111. The first drive assembly 200 and the sun gear 120 are rotatably sleeved on the mounting tube in sequence along the axial direction of the mounting tube. The fourth bevel gear 520 and the second cylindrical gear 530 of the second bevel gear pair, as well as the second bevel gear 420 and the first cylindrical gear 430 of the first bevel gear pair, are rotatably disposed on the support plate 112.

[0054] Furthermore, referring to FIG. 7 , the base 100 may further include a first protective cover 150 . The first protective cover 150 is disposed on the bottom plate 111 of the bracket 110 to protect the first bevel gear pair and the second bevel gear pair.

[0055] Similarly, referring to FIG7 , the base 100 may further include a second protective cover 160, which is disposed on the support plate 112 of the bracket 110 to protect the planetary gears 310, the sun gear 120, the center gear 210 of the first drive assembly 200 (described below), and the first and second cylindrical gears 430 and 530. Referring to FIG7 , the second protective cover 160 has a circumferentially arranged escape opening 160a, which is used to allow the second drive assembly 300 to rotate under the drive of the first drive assembly 200. It should be noted that the opening angle of the escape opening 160a is related to the rotation angle of the first drive assembly 200 (i.e., the rotation angle of the handle A1), and the opening angle of the escape opening 160a can be set according to surgical requirements.

[0056] In some embodiments of the present application, referring to FIG7 , a connector 320 is provided on a side of the second drive assembly 300 proximal to the planet carrier 210. The planet carrier 210 is provided with at least one mounting position circumferentially thereon, and the second drive assembly 300 is detachably connected to any mounting position via the connector 320. The mounting position of the knob A3 on the handle A1 may vary for different types of sheath units A. To enable the knob A3 of different types of sheath units A to be assembled to the second drive assembly 300, the detachable connector 320 may be used to adjust the mounting position of the second drive assembly 300 on the planet carrier 210, thereby enabling the adapter 10 to be adapted to different types of sheath units A.

[0057] Specifically, as shown in Figures 10 to 12, the connector 320 includes a clamping head 321, a pressing portion 322, and a pushing portion 323. The clamping head 321 has a mounting cavity 321a. The pressing portion 322 is movably disposed in the mounting cavity 321a. The pushing portion 323 is slidably disposed in the mounting cavity 321a to drive the pressing portion 322 to move, thereby clamping the connector 320 to the planetary carrier 210. When the second drive assembly 300 is installed on the planetary carrier 210, the mounting cavity 321a of the clamping head 321 can be used to place the second drive assembly 300 in a predetermined mounting position on the planetary carrier 210. The pushing portion 323 is then slid toward the clamping portion 322. Driven by the pushing portion 323, the clamping portion 322 moves toward the planetary carrier 210 until the first drive assembly 200 is pressed against the mounting cavity 321a, thereby completing the installation of the second drive assembly 300. When the second driving assembly 300 needs to be disassembled, the pushing portion 323 is slid in a direction away from the pressing portion 322 . After the pushing portion 323 is disengaged from the pressing portion 322 , the second driving assembly 300 can be directly removed from the planetary carrier 210 .

[0058] As shown in Figure 12, the clamping head 321 also has an accommodating cavity 321b that communicates with the installation cavity 321a, and the clamping portion 322 can move between the accommodating cavity 321b and the installation cavity 321a; when the clamping portion 322 is pushed by the pushing portion 323, the clamping portion 322 can move from the accommodating cavity 321b to the installation cavity 321a to tighten the planetary carrier 210.

[0059] Specifically, the pushing portion 323 may be a threaded member. When the pressing portion 322 presses against the planetary carrier 210, the pushing portion 323 can lock the pressing portion 322 by being threadedly connected to the clamping head 321, thereby preventing the second drive assembly 300 from sliding along the planetary carrier 210 during use of the adapter 10. The clamping head 321 has a threaded hole that is threadedly connected to the pushing portion 323, and the threaded hole communicates with the accommodating cavity 321b.

[0060] Specifically, as shown in Figures 11 and 12, the pressing portion 322 is rotatably provided on the clamping head 321. The pressing portion 322 can rotate under the push of the pushing portion 323, thereby pressing the planetary carrier 210. The pressing portion 322 can be a cam or an irregular structure or a regular structure with an inclined surface or a curved surface, such as a pressure block pin with an octagonal cross section as shown in Figures 11 and 12. Of course, in some other embodiments, the pressing portion 322 can also be slidably provided on the clamping head 321, and the side of the pressing portion 322 facing the pushing portion 323 is an inclined surface or a curved surface, so that the pressing portion 322 can move toward the planetary carrier 210 under the push of the pushing portion 323.

[0061] 10 , an axial distance adjusting member 330 is further provided between the second drive assembly 300 and the connector 320. By adjusting the axial distance adjusting member 330, the installation position of the second drive assembly 300 on the planet carrier 210 can be adjusted axially, so that the adapter 10 can be further adapted to different types of sheath units A.

[0062] Specifically, as shown in FIG10 , the axial distance adjusting member 330 includes a sliding portion 331, a sliding cavity, and a first locking portion 332. The sliding portion 331 is slidably disposed in the sliding cavity, and the first locking portion 332 is used to lock the sliding portion 331 at any position in the axial direction of the sliding cavity. As shown in FIG10 and FIG11 , the sliding portion 331 is disposed on the clamping member 322, and the sliding cavity is disposed on the second drive assembly 300; alternatively, the sliding portion 331 is disposed on the second drive assembly 300, and the sliding cavity is disposed on the clamping member 322. The axial installation position of the second drive assembly 300 on the planetary carrier 210 is adjusted by adjusting the length of the sliding portion 331 inserted into the sliding cavity.

[0063] The first locking portion 332 can be a threaded member. When the sliding portion 331 is properly installed in the sliding cavity, the first locking portion 332 can tighten the sliding portion 331 against the sliding cavity. This structure of the first locking portion 332 is simple and convenient for locking the sliding portion 331. The second drive assembly 300 or the clamping member 322 has a threaded hole into which the first locking portion 332 is threadedly connected. This threaded hole communicates with the sliding cavity.

[0064] The sliding portion 331 can be a cylinder, a regular polyhedron, or other irregular structure. It should be noted that the contour of the sliding cavity should be compatible with the outer contour of the sliding portion 331 to guide the sliding of the sliding portion 331. The number of sliding portions 331 can be set as needed, for example, one, or two or more as shown in Figure 11. It should be noted that the number of sliding cavities is the same as the number of sliding portions 331, and there is a one-to-one correspondence between each sliding cavity and each sliding portion 331.

[0065] As shown in Figure 7 , the second drive assembly 300 may include a meshing worm 300a and a worm wheel 300b. The worm 300a is in driving connection with the planetary gear 310, and the worm wheel 300b is in driving connection with the knob A3. As shown in Figures 6 and 9 , the second drive assembly 300 also includes a knob cap 340, which is connected to the rotating shaft of the worm wheel 300b and is used to accommodate the knob A3. Referring to Figure 9 , the knob cap 340 has a limited opening 340a extending from the edge of the knob cap 340 to the center to accommodate the protrusion on the knob A3. It will be understood that the internal contour of the knob cap 340 should be compatible with the external contour of the knob A3.

[0066] When the installation position of the second drive assembly 300 on the planetary carrier 210 in the circumferential and axial directions changes, the relative position of the second drive assembly 300 and the planetary gear 310 will also change. In order to ensure that the sheath A2 assembly can be normally connected to the planetary gear 310, as shown in Figures 1 and 2, the sheath drive member 330 is connected to the planetary gear 310 through a flexible transmission member 600. The flexible transmission member 600 can transmit torque and has a certain degree of flexibility. This not only ensures the flexible connection between the sheath A2 assembly and the planetary gear 310, but also allows the second drive assembly 300 to be removed and hung on the side of the adapter 10 by loosening the clamping member 322 when the sheath unit A is withdrawn from the adapter 10, eliminating interference with the withdrawal operation of the handle A1. The flexible transmission member 600 can be a soft shaft or a wire rope.

[0067] In some embodiments of the present application, as shown in FIG. 7 and FIG. 9 , the first driving assembly 200 includes a central gear 220 . The central gear 210 is drivingly connected to the first input shaft 130 and is axially spaced from the sun gear 120 .

[0068] A bracket 230 is provided on the side of the planetary carrier 210 facing away from the center wheel 220. A locking member 240 is provided on the bracket 230. The bracket 230 is used to support the handle A1, and the locking member 240 is used to lock the handle A1. The cooperation between the bracket 230 and the locking member 240 can securely attach the handle A1 to the adapter 10, facilitating remote operation of the sheath unit A.

[0069] Among them, the internal contour of the bracket 230 is adapted to the external contour of the handle A1. For example, if the handle A1 is a rectangular parallelepiped structure as shown in Figures 1 to 4, the cross-section of the bracket 230 is "V"-shaped or quasi-"V"-shaped as shown in Figures 1 to 4.

[0070] 2 , a plurality of assembly positions 211 are circumferentially provided on the side of the planetary carrier 210 facing away from the center gear 210. The bracket 230 can be selectively installed in a corresponding assembly position 211. By adjusting the mounting position of the bracket 230 on the planetary carrier 210, the relative position between the rotating shaft of the worm 300a and the rotating shaft of the planetary gear 310 can be adjusted, making the installation of the sheath unit A on the adapter 10 more flexible.

[0071] Each assembly position 211 is provided with a threaded hole. A mounting flange 212 (see FIG2 ) is provided at the end of the handle A1 bracket near the planetary carrier 210. The mounting flange 212 is mounted in the corresponding threaded hole. The mounting flange 212 can be mounted to the planetary carrier 210 via screws, facilitating assembly and disassembly of the bracket 230.

[0072] 3 and 4 , the locking member 240 includes a support portion 241 and a second locking portion 242 . The support portion 241 has a device-receiving groove 241 a and is rotatable between a device-receiving position and a device-releasing position. The second locking portion 242 is slidably disposed on the support portion 241 so as to extend into the groove 241 a and lock the support portion 241 when the support portion 241 is in the device-receiving position. Before placing the handle A1, the support portion 241 is rotated circumferentially to avoid interference with the handle A1 of the sheath unit A. After the handle A1 is placed on the bracket 230, the support portion 241 is rotated to the device-receiving position to accommodate the metal rod A11 of the handle A1 in the groove 241 a of the support portion 241. The second locking portion 242 is then used to lock the metal rod A11 in the groove 241 a. The sheath unit A is now fully secured to the adapter 10. When the sheath unit A is withdrawn from the patient's body, the second locking portion 242 is first used to unlock the metal rod A11, and then the support portion 241 is rotated in the opposite direction to the device release position, thereby unlocking the sheath unit A.

[0073] 7 , the rotation axis of the support portion 241 can be mounted on the bracket 230 via an open retaining ring 2411 . At least one bearing 2412 can be provided between the rotation axis of the support portion 241 and the bracket 230 to facilitate the rotation of the support portion 241 around the bracket 230 .

[0074] The second locking portion 242 can be a threaded member. Once the metal rod A11 of the handle A1 is received in the receiving groove 241a of the support portion 241, the second locking portion 242 can slide to secure the metal rod A11 of the handle A1 against the receiving groove 241a. This structure of the second locking portion 242 is simple and facilitates locking the handle A1. The support portion 241 has a threaded hole that is threadedly connected to the second locking portion 242, and the threaded hole communicates with the receiving groove 241a of the support portion 241.

[0075] Furthermore, the end of the bracket 230 away from the planetary carrier 210 has a limiting hole. As shown in Figures 3, 4, and 7, the locking member 240 also includes a limiting portion 243 slidably disposed on the support portion 241. When the support portion 241 is in the device-receiving position, it extends into the bracket 230 to limit the axial movement of the support portion 241. After the support portion 241 rotates to the device-receiving position, the limiting portion 243 can be inserted into the bracket 230. This prevents the support portion 241 from rotating due to the second locking portion 242 not fully locking the metal rod A11 of the handle A1, thereby ensuring the secure installation of the sheath unit A on the adapter 10. It should be noted that the limiting portion 243 is not colinear with the rotation axis of the support portion 241.

[0076] As shown in Figure 7, the limiting portion 243 includes a sliding rod 2431 and a spring 2432. The sliding rod 2431 is slidably mounted on the support portion 241, and the spring 2432 is disposed between the sliding rod 2431 and the support portion 241, providing a force for the sliding rod 2431 to slide toward the bracket 230. When the support portion 241 is in the device release position, the end of the sliding rod 2431 near the bracket 230 is located within the support portion 241, and the spring 2432 is compressed. When the support portion 241 rotates from the device release position to the device accommodation position, the sliding rod 2431 faces the bracket 230. Under the action of the spring 2432, the sliding rod 2431 slides toward the bracket 230, thereby circumferentially limiting the support portion 241. To remove the sheath unit A from the patient's body, the sliding rod 2431 can be simply pulled out of the bracket 230.

[0077] As shown in Figure 7, a toggle block 2433 is provided at the end of the sliding rod 2431 away from the bracket 230. This toggle block 2433 is located outside the support portion 241. The provision of the toggle block 2433 facilitates an operator to toggle the sliding rod 2431 when the support portion 241 is in the device-receiving position. The toggle block 2433 can be spherical, elongated, or in other shapes.

[0078] On the other hand, referring to Figure 13, an embodiment of the present application also provides a surgical auxiliary system, which includes a power device 20 and an adapter 10 as described in any of the above items, and the power device 20 is used to drive the first input shaft 130 and the second input shaft 140 of the adapter 10 respectively.

[0079] It can be understood that the power device 20 is used to provide rotational power for the first input shaft 130 and the second input shaft 140 of the adapter 10. The operator only needs to remotely control the rotation speed, number of revolutions, direction, etc. of the first input shaft 130 and the second input shaft 140 to control the bending of the sheath A2 and the rotation of the handle A1.

[0080] In this surgical assistance system, the second drive assembly 300 of the adapter 10 drives the knob A3 to rotate, thereby bending the sheath A2, by sequentially driving the second input shaft 140, the sun gear 120, and the planetary gears 310. Once the sheath A2 is bent, the first drive assembly 200 drives the handle A1 to rotate via the first input shaft 130. Rotating the handle A1 adjusts the bending direction of the sheath A2, aligning the distal end of the sheath A2 with the atrial septum, ensuring smooth entry of the sheath A2 into the left atrium and successful delivery of the mitral valve repair device to the mitral valve. Among them, when the first drive component 200 rotates under the drive of the first input shaft 130, the second drive component 300 can be driven to rotate together through the planetary frame 210. Since the planetary gear 310 connected to the second drive component 300 at this time also rotates synchronously around the sun gear 120 under the drive of the planetary frame 210, the relative position of the planetary gear 310 and the second drive component 300 always remains unchanged. The second drive component 300 can always rotate with the first drive component 200 without being restricted by the planetary gear 310, thereby not limiting the rotation range of the handle A1 on the first drive component 200, and can expand the clinical application range of the adapter 10.

[0081] When the handle A1 of the sheath unit A rotates, the first drive assembly 200 will synchronously drive the planetary gear 310 to rotate on the sun gear 120, causing the planetary gear 310 to automatically rotate, which will eventually cause the second drive assembly 300 to drive the knob A3 to rotate. In other words, there is a motion coupling problem between the first drive assembly 200 and the second drive assembly 300. For this purpose, the present application provides two decoupling methods as follows:

[0082] (1) When the first input shaft 130 rotates, the power device 20 is used to drive the second input shaft 140 to rotate based on the first instruction so that the planetary gear 310 does not rotate. For example, when the first input shaft 130 drives the first drive assembly 200 to rotate clockwise, the planetary gear 310 also rotates on the sun gear 120 in the clockwise direction (i.e., revolves), wherein the planetary gear 310 rotates in the clockwise direction during the revolution; at the same time, the second input shaft 140 drives the sun gear 120 to rotate in the clockwise direction, and the sun gear 120 drives the planetary gear 310 to rotate in the counterclockwise direction while rotating, thereby preventing the planetary gear 310 from rotating, thereby preventing the knob A3 from rotating.

[0083] (2) The second drive assembly 300 includes a self-locking mechanism; when the first input shaft 130 rotates, the power unit 20 is used to cut off the transmission connection between the second input shaft 140 and the power unit 20 based on the second instruction, so that the planetary gear 310 drives the second input shaft 140 to rotate through the transmission of the sun gear 120, while the planetary gear 310 does not rotate on its own. Since the second drive assembly 300 includes a self-locking mechanism (for example, a mechanism in which the worm gear 300b and the worm 300a cooperate), a certain torque is required for transmission. The torque is greater than the torque required for transmission when the second input shaft 140 is in an unlocked state (i.e., the transmission connection with the power unit 20 is cut off). Therefore, the torque generated by the planetary gear 310 driven by the first drive assembly 200 is transmitted to the second input shaft 140 through the sun gear 120, but not to the second drive assembly 300, and the knob A3 will not rotate.

[0084] Among them, a clutch mechanism can be provided between the output shaft of the power device 20 and the second input shaft 140 of the adapter 10; when the first input shaft 130 rotates, the power device 20 is used to drive the clutch mechanism based on the second instruction to cut off the transmission connection between the second input shaft 140 and the power device 20.

[0085] Referring to Figure 13 , the surgical assistance system also includes a sterile assembly 30, which is transmission-connected to the power unit 20 and the adapter 10 and extends in all directions to maintain a sterile environment for the adapter 10 and the sheath unit A. The sterile assembly 30 provides sterile isolation and protection for the sheath unit A, ensuring that the surgery can be performed in a sterile environment.

[0086] Specifically, referring to Figure 13, the sterile component 30 may include a sterile plate 30a and a sterile protective film 30b; the sterile plate 30a is arranged between the bracket 110 of the adapter 10 and the power device 20, and the sterile plate 30a is provided with a first transmission shaft 30a1 and a second transmission shaft 30a2, the first transmission shaft 30a1 is transmission-connected to the first input shaft 130 and the power device 20, and the second transmission shaft 30a2 is transmission-connected to the second input shaft 140 and the power device 20; the sterile plate 30a is arranged on the sterile protective film 30b and extends to all sides.

[0087] The sterile plate 30a can be connected to the base 100 of the adapter 10 and the power device 20 by means of snaps, screws, etc.

[0088] Referring to Figure 13, the sterile plate 30a is provided with a locating pin 30a3, and the base 100 of the adapter 10 and the power unit 20 are provided with a locating hole 20a; or, the sterile plate 30a is provided with a locating hole, and the base 100 of the tube adapter and the power unit 20 are provided with a locating pin. The cooperation between the locating pin 30a3 and the locating hole 20a can play a positioning role in the assembly of the sterile component 30, the adapter 10 and the power unit 20, thereby facilitating the transmission connection between the sterile component 30, the adapter 10 and the power unit 20.

[0089] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0090] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. An adapter, characterized in that: include: A base, the base comprising a bracket and a sun gear rotatably arranged on the bracket, the bracket being provided with a first input shaft and a second input shaft, the second input shaft being drivingly connected to the sun gear; A first driving assembly, the first driving assembly is rotatably disposed on the bracket and drivingly connected to the first input shaft, the first driving assembly is provided with a planet carrier, and the planet carrier is provided with planetary gears; as well as The second drive assembly is arranged on the planetary carrier, and the second drive assembly is connected to the sun gear through the planetary gear. When the second drive assembly rotates with the planetary carrier, the planetary gear also moves along the circumference of the sun gear driven by the planetary carrier.

2. The adapter according to claim 1, characterized in that: The first driving assembly includes a central wheel, which is drivingly connected to the first input shaft and is axially spaced from the sun wheel.

3. The adapter according to claim 1, characterized in that: The rotation axis of the sun gear is colinear with the rotation axis of the first driving assembly.

4. The adapter according to claim 1, characterized in that: The second input shaft is drivingly connected to the sun gear through the cooperation of the second bevel gear pair and the second cylindrical gear; and / or the first input shaft is drivingly connected to the first drive assembly through the cooperation of the first bevel gear pair and the first cylindrical gear.

5. The adapter according to claim 1, characterized in that: The number of the second input shaft, the sun gear, the second drive assembly and the planetary gear are all multiple, wherein the multiple sun gears are sequentially arranged on the bracket along the axial direction, and each second drive assembly is connected to the corresponding planetary gear through the corresponding sun gear.

6. The adapter according to claim 1, characterized in that: A connecting piece is provided on one side of the second drive assembly close to the planet carrier. At least one mounting position is circumferentially provided on the planet carrier. The second drive assembly can be detachably connected to any mounting position via the connecting piece.

7. The adapter according to claim 6, characterized in that: The connecting member includes a clamping head, a pressing part and a pushing part. The clamping head has an installation cavity. The pressing part is movably arranged in the installation cavity. The pushing part is slidably arranged in the installation cavity to drive the pressing part to move, so that the connecting member is clamped on the planetary carrier.

8. The adapter according to claim 6, characterized in that: An axial distance adjusting member is also provided between the second driving component and the connecting member, and the axial distance adjusting member includes a sliding portion, a sliding cavity and a first locking portion. The sliding portion is slidably provided in the sliding cavity, and the first locking portion is used to lock the sliding portion at any position in the axial direction of the sliding cavity.

9. The adapter according to any one of claims 1 to 8, characterized in that: The second driving assembly is drivingly connected to the planetary gear via a flexible transmission member.

10. The adapter according to any one of claims 1 to 8, characterized in that: A bracket is provided on the side of the planetary carrier away from the first driving component, and the bracket is provided with a locking member, and the locking member includes a supporting portion, a second locking portion and a limiting portion; the supporting portion has a device accommodating groove and can rotate between a device accommodating position and a device releasing position; the second locking portion can be slidably provided on the supporting portion, so as to extend into the accommodating groove for locking when the supporting portion is in the device accommodating position; the limiting portion can be slidably provided on the supporting portion, so as to extend into the bracket when the supporting portion is in the device accommodating position, thereby limiting the axial movement amplitude of the supporting portion.

11. A surgical assistance system, characterized in that: The surgical auxiliary system comprises a power device and an adapter as claimed in any one of claims 1 to 10, wherein the power device is used to drive a first input shaft and a second input shaft of the adapter respectively.

12. The surgical assisting system according to claim 11, characterized in that: When the first input shaft rotates, the power device is used to drive the second input shaft to rotate based on a first instruction so that the planetary gear does not rotate.

13. The surgical assisting system according to claim 11, characterized in that: The second drive assembly includes a self-locking mechanism; When the first input shaft rotates, the power device is used to cut off the transmission connection between the second input shaft and the power device based on a second instruction, so that the planetary gear drives the second input shaft to rotate through the transmission of the sun gear, and the planetary gear does not rotate.

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