阅读说明：本技术 输送执行器以及输送装置 (Transport actuator and transport device ) 是由 强艳鑫 周庆亮 马志伟 于 2021-10-21 设计创作，主要内容包括：涉及医疗器械技术领域,本申请提供一种输送执行器以及输送装置,输送执行器包括第一臂体、第二臂体以及关节,第一臂体与所述第二臂体通过关节铰接连接,以使所述第一臂体与第二臂体相互接近至夹闭状态或者相互远离至张开状态：第一臂体包括位于内侧边的第一定位槽,所述第二臂体包括位于内侧边的第二定位槽；所述第一定位槽与所述第二定位槽对位设置,所述第一定位槽与所述第二定位槽分别用于容置待置入物的一侧；所述第一臂体与所述第二臂体还分别通过固定件与待置入物对应侧边相互固定。如此以较小的前端尺寸可以最大化地保证送入过程中顺畅性,以定位槽与夹臂的契合装配保证操控便利性以降低操作难度,最终降低此类手术的整体风险。(Relate to medical instrument technical field, the application provides a carry executor and conveyor, carry the executor and include first arm body, second arm body and joint, first arm body with the second arm body passes through joint articulated connection, so that first arm body and second arm body are close to each other to the clamping-close state or keep away from each other to opening the state: the first arm body comprises a first positioning groove positioned on the inner side edge, and the second arm body comprises a second positioning groove positioned on the inner side edge; the first positioning groove and the second positioning groove are arranged in an aligned mode and are respectively used for accommodating one side of an object to be placed; the first arm body and the second arm body are further fixed with corresponding side edges of the object to be placed through fixing pieces respectively. So can guarantee to send into the in-process smoothness with less front end size to the agreeable assembly of constant head tank and arm lock guarantees to control the convenience and reduce the operation degree of difficulty, finally reduces the whole risk of this type of operation.)

1. The conveying actuator is characterized by comprising a first arm body (1), a second arm body (2) and a joint (3), wherein the first arm body (1) and the second arm body (2) are hinged through the joint (3) so that the first arm body (1) and the second arm body (2) approach to each other to be in a clamping state or are away from each other to be in an opening state;

the first arm body (1) comprises a first positioning groove (11) positioned on the inner side edge, and the second arm body (2) comprises a second positioning groove (21) positioned on the inner side edge; the first positioning groove (11) and the second positioning groove (21) are arranged in an aligned mode, and the first positioning groove (11) and the second positioning groove (21) are respectively used for containing one side of an object to be placed; the first arm body (1) and the second arm body (2) are further fixed with the corresponding side edges of the object to be placed through fixing pieces respectively.

2. The transport actuator according to claim 1, wherein the first arm (1) further comprises a first end groove (12) at an inner end of the first positioning groove (11), the second arm (2) further comprises a second end groove (22) at an inner end of the second positioning groove (21), the first end groove (12) and the second end groove (22) are opened to correspond to each other so as to accommodate a part of the spring portion of the end of the implant, respectively, and the first end groove (12) and the second end groove (22) are engaged to accommodate the spring portion therein.

3. The delivery actuator according to claim 2, wherein an arc-shaped transition is provided between the first end slot (12) and the first detent (11), and an arc-shaped transition is provided between the second end slot (22) and the second detent (21).

4. The delivery actuator according to claim 1, wherein the first arm (1) is provided with one or more first wire-passing grooves (13) and a first wire-drawing groove (14), the first wire-passing groove (13) is communicated with the first positioning groove (11) from the outside through the first arm (1), and the first wire-drawing groove (14) extends along the length direction of the first arm (1) and penetrates through the first wire-passing groove (13); the second arm body (2) is provided with one or more second wire passing grooves (23) and a second wire drawing hole (24), the second wire passing grooves (23) penetrate through the second arm body (2) from the outer side and are communicated to the second positioning groove (21), and the second wire drawing hole (24) extends along the length direction of the second arm body (2) and penetrates through the second wire passing grooves (23).

5. The delivery actuator according to claim 4, wherein the first arm (1) is provided with a recess on the side facing away from the first positioning groove (11), and the first cable drawing groove (14) is located in the recess; one side of the second arm body (2) departing from the second positioning groove (21) is provided with a groove, and the second wire drawing hole (24) is located in the groove.

6. The transfer actuator according to claim 1, wherein the joint (3) comprises a joint portion (31) and a plurality of links (32), the joint portion (31) comprises a first limit portion (311) whose front end is coupled to the plurality of links (32) and is fitted, and a second limit portion (312) which is coupled to the knuckle (4), the first limit portion has a narrow and long multi-link fitting space in which each of the plurality of links (32) is movably fitted; the second limiting part (312) is of a pivot lug structure, and the pivot lug structure is rotatably connected with a steering knuckle (4) at the rear end through a rotating shaft.

7. The transfer actuator according to claim 1, wherein the first arm (1) and the second arm (2) are each L-shaped and include a root portion and a body portion, the root portion having a width greater than a width of the body portion projecting forward, and the body portion having one side aligned with one side of the root portion and the other side opposite the root portion having a drop from the other side of the body portion.

8. The delivery actuator according to claim 6, wherein the first arm (1) comprises a first pivot seat (16) at the root, the multi-link (32) comprises a pair of front links (321) and a pair of rear links (322), and the front ends of the front links (321) and the rear links (322) are rotatably connected with the first pivot seat (16) so as to drive the first arm (1) to move; the second arm body (2) comprises a second pivot seat (26) of the root, the multi-connecting rod (32) comprises a front connecting rod (321) and a rear connecting rod (322), and the front end of the front connecting rod (321) and the front end of the rear connecting rod (322) are rotatably connected with the second pivot seat (26) so as to drive the second arm body (2) to move.

9. The delivery actuator according to claim 8, wherein the first pivoting seats (16) are mutually staggered with respect to the pivoting axes of the front link (321) and of the rear link (322), respectively, and the second pivoting seats (26) are mutually staggered with respect to the pivoting axes of the front link (321) and of the rear link (322), respectively; the front link (321) and the rear link (322) are parallel to each other to maintain the parallel opening degree of the first arm (1) and the second arm (2).

10. The delivery actuator according to claim 9, wherein the joint (31) comprises a lateral sliding slot (315) and a fixed link (313) in the sliding slot (315), the middle of the front link (321) is pivotally connected to one end of the fixed link (313), and the rear end of the rear link (322) is pivotally connected to the other end of the fixed link (313);

a pair of third connecting rods (323) arranged in a V shape is further provided, the rear ends of the third connecting rods (323) are pivoted at the rear ends of the joint parts (31), the front ends of the third connecting rods (323) are pivoted with the corresponding rear ends of the front connecting rods (321) to form an X-shaped connecting rod structure for controlling the first arm body (1) and the second arm body (2) to open or close;

the middle pivot or the tail end pivot connected with the fixed connecting rod (313) is connected with the control wire so that the control wire can pull the fixed connecting rod (313) inwards in the sliding groove (315); so as to control the first arm body (1) and the second arm body (2) to move away from each other symmetrically relative to the central axis to open the actuator.

11. The delivery actuator according to any one of claims 1 to 10, wherein the outer sides of the first arm (1) and the second arm (2) facing away from each other are each curved.

12. The transport actuator of claim 6, wherein the knuckle (4) comprises a coupling (41) and a head (42), the coupling (41) comprising a first axis (411) and a second axis (412), the first axis (411) and the second axis (412) being perpendicular to each other, the first axis (411) being rotatably connected to the knuckle in a first dimension, the second axis (412) being rotatably connected to the head (42) in a second dimension.

13. The delivery actuator of claim 12, wherein the multi-link (32) and the articulation (31) are rotatably connected in a third dimension.

14. The delivery actuator of claim 12, wherein the coupling member (41) includes a coupling wire hole (413) for the control wire to movably pass through.

15. The delivery actuator according to any of claims 1 to 10, further comprising a linkage (5), wherein one end of the linkage (5) is connected to the delivery actuator and the other end is connected to the controller.

16. A delivery device comprising a delivery actuator according to any one of claims 1 to 15 and a controller connected to the delivery actuator.

17. The delivery device of claim 16, wherein the object to be placed is a auricle holder, the auricle holder comprises two parallel clipping arms and a spring part at the ends of the clipping arms, and the extension direction of the spring part is perpendicular to the extension direction of the clipping arms.

18. The conveying actuator is characterized by comprising a first arm body (1), a second arm body (2), a joint (3) and a steering knuckle (4), wherein the first arm body (1) and the second arm body (2) are hinged through the joint (3) so that the first arm body (1) and the second arm body (2) approach to each other to be in a clamping state or are away from each other to be in an opening state;

the joint (3) is selectively pointed in a first dimension and a second dimension through the steering knuckle (4), the steering knuckle (4) comprises a coupling member (41), the coupling member (41) comprises a first shaft (411) and a second shaft (412), the first shaft (411) and the second shaft (412) are perpendicular to each other, the first shaft (411) is rotatably connected with the joint (3) in the first dimension, and the second shaft (412) is rotatably connected with the front end of the connecting rod in the second dimension;

the first arm body (1) comprises a first positioning groove (11) positioned on the inner side edge, and the second arm body (2) comprises a second positioning groove (21) positioned on the inner side edge; the first positioning groove (11) and the second positioning groove (21) are arranged in an aligned mode.

Technical Field

The invention relates to the technical field of medical instruments, in particular to a conveying executor and a conveying device.

Background

Atrial fibrillation is one of the most common clinical arrhythmia, the stroke result caused by atrial fibrillation is very serious, and the death rate and disability rate can reach 70%. For patients with valvular atrial fibrillation, 57% of atrial thrombi originate in the left atrial appendage, and for patients with non-valvular atrial fibrillation, 90% of left atrial thrombi originate in the left atrial appendage. Even after sinus rhythm is restored, contraction of the left atrial appendage is arrested and thrombus may form.

At present, three methods for clinically preventing atrial fibrillation and ischemic stroke are provided. One method is to take anticoagulant drugs such as warfarin, but warfarin has certain bleeding risk, and frequent monitoring is required, contraindications are more, and clinical application is difficult; warfarin also has the potential to cause osteoporosis and soft tissue necrosis. The second method is to directly excise or ligate the atrial appendage at the same time as the cardiac surgery, and the main disadvantage of this method is that the complete closure rate of the left atrial appendage is low, and previous studies show that the success rate of completely excising the left atrial appendage is about 80% at the highest. The third method is to close the left auricle by an auricle clamp type instrument and perform left auricle occlusion operation in a percutaneous interventional endocardium, but the conveyor of the product has complex operation, high risk and yet to be verified in safety and effectiveness.

The existing auricle clamp conveying device is generally provided with an outline border which is slightly square at the front end so as to bind the auricle clamp in the outline border, the auricle clamp comprises two parallel clamping arms, two spring parts at two ends are used for keeping the clamping of the two clamping arms, the outline border of the conveying device utilizes a traction rope to pull the clamping arms of the auricle clamp so as to pull the traction rope tightly, and therefore the auricle clamp can be pulled open, and the auricle clamp can be driven to clamp the auricle clamp to a focus to execute the extracardiac closing operation of the left auricle. However, the outer frame of the existing conveying device is large, so that the conveying difficulty is large, a large operation space is needed at a focus, and the closing operation is difficult and high in risk.

Disclosure of Invention

The utility model provides a carry executor and conveyor to solve the problem that conveyor is bulky among the prior art and is not convenient for operate.

The embodiment of the application provides a carry executor, including first arm body, second arm body and joint, first arm body with the second arm body passes through the joint and articulates and is connected, so that first arm body with the second arm body is close to each other to the clamping state or keeps away from each other to the open state: the first arm body comprises a first positioning groove positioned on the inner side edge, and the second arm body comprises a second positioning groove positioned on the inner side edge; the first positioning groove and the second positioning groove are arranged in an aligned mode and are respectively used for accommodating one side of an object to be placed; the first arm body and the second arm body are further fixed with corresponding side edges of the object to be placed through fixing pieces respectively.

According to an embodiment of the present application, the first arm further includes a first end slot located at an inner end of the first positioning slot, the second arm further includes a second end slot located at an inner end of the second positioning slot, the first end slot corresponds to an open surface of the second end slot so as to respectively receive a portion of the spring portion at an end of the implant, and the first end slot and the second end slot are spliced to receive the spring portion therein.

According to an embodiment of the present application, wherein an arc-shaped transition section is provided between the first end groove and the first positioning groove, and an arc-shaped transition section is provided between the second end groove and the second positioning groove.

According to the embodiment of the application, the first arm body is provided with one or more first wire passing grooves and a first wire drawing groove, the first wire passing groove penetrates through the first arm body from the outer side and is communicated with the first positioning groove, and the first wire drawing groove extends along the length direction of the first arm body and penetrates through the first wire passing groove; the second arm body is provided with one or more second wire passing grooves and a second wire drawing hole, the second wire passing grooves penetrate through the outer side, the second arm body is communicated with the second positioning groove, and the second wire drawing hole extends along the length direction of the second arm body and penetrates through the second wire passing grooves.

According to the embodiment of the application, a groove is formed in one side, away from the first positioning groove, of the first arm body, and the first wire drawing groove is located in the groove; one side of the second arm body, which is far away from the second positioning groove, is provided with a groove, and the second wire drawing hole is positioned in the groove.

According to an embodiment of the application, the joint comprises a joint part and a multi-link, the joint part comprises a first limit part and a second limit part, the front end of the first limit part is connected and assembled with the multi-link, the second limit part is connected with the steering knuckle, and the first limit part is provided with a long and narrow multi-link assembly space so as to movably assemble each link in the multi-link; the second limiting part is of a pivot lug structure, and the pivot lug structure is rotatably connected with a steering knuckle at the rear end through a rotating shaft.

According to an embodiment of the application, wherein the first arm body and the second arm body are both L-shaped, and include root and main part in shape, the root width is greater than the width of the main part that stretches out forward, and a side of the main part is aligned with a side of the root, and another opposite side of the main part that stretches out forward has a fall with another side of the root, forming a notch form.

According to an embodiment of the application, the first arm body comprises a pivoting seat at the root part, the multiple connecting rods comprise a front connecting rod and a rear connecting rod, and the front ends of the front connecting rod and the rear connecting rod are rotatably connected with the pivoting seat so as to drive the first arm body to move; the second arm body includes the pin joint seat of root, including preceding connecting rod and back connecting rod in the many connecting rods, preceding connecting rod and back connecting rod front end all with pin joint seat rotatable coupling drives with this the motion of second arm body.

According to an embodiment of the present application, the pivot seats are respectively staggered from pivot shafts of the front connecting rod and the rear connecting rod, and the pivot seats are respectively staggered from pivot shafts of the front connecting rod and the rear connecting rod; the front connecting rod and the rear connecting rod are parallel to each other so as to maintain the mutual opening degree of the first arm body and the second arm body.

According to the embodiment of the application, the joint part comprises a sliding groove on the side edge and a fixed connecting rod in the sliding groove, the middle pivot of the front connecting rod is connected to one end of the fixed connecting rod, and the tail end pivot of the rear connecting rod is connected to the other end of the fixed connecting rod; the rear ends of the third connecting rods are pivoted with the rear ends of the joint parts, and the front ends of the third connecting rods are pivoted with the rear ends of the corresponding front connecting rods to form an X-shaped connecting rod structure for controlling the first arm body and the second arm body to open or close; the middle pivot or the tail end pivot connected with the fixed connecting rod is connected with the control line so that the control line can pull the fixed connecting rod inwards in the sliding groove; to control the first and second arms to move away from each other symmetrically about the central axis to open the actuator.

According to the embodiment of the application, the outer side surfaces of the first arm body and the second arm body, which face away from each other, are both arc-shaped.

According to an embodiment of the application, wherein the steering knuckle comprises a coupling member and a head, the coupling member comprises a first shaft and a second shaft, the first shaft and the second shaft are perpendicular to each other, the first shaft is rotatably connected with the joint part in a first dimension, and the second shaft is rotatably connected with the head in a second dimension.

According to an embodiment of the application, wherein the multi-link and the articulation are rotatably connectable in a third dimension.

According to an embodiment of the application, the coupling member comprises a coupling wire hole for the control wire to movably pass through.

According to the embodiment of the application, wherein the joint part comprises a sliding groove on the side edge and a fixed connecting rod in the sliding groove, the middle pivot of the multiple connecting rods is connected with the fixed connecting rod, the middle pivot or the tail end pivot connected with the fixed connecting rod is connected with a control line, so that the control line can pull the fixed connecting rod from left to right in the sliding groove to control the first arm body and the second arm body to be away from each other to open the actuator.

According to the embodiment of the application, the device further comprises a connecting rod, wherein one end of the connecting rod is connected to the conveying actuator, and the other end of the connecting rod is connected to the controller.

In another aspect of the present application, a conveying device is provided, which includes the conveying actuator as described above, and a controller connected to the conveying actuator.

According to the embodiment of the application, the object to be placed is the auricle clamp, the auricle clamp comprises two clamping arms which are parallel to each other and a spring part at the end part of each clamping arm, and the extending direction of the spring part is perpendicular to the extending direction of each clamping arm.

Compared with the prior art, the invention has the following beneficial effects:

according to the conveying actuator and the conveying device provided by the invention, the first arm body and the second arm body form the jaw type actuator, so that the auricle clamp is accommodated and fixed between the first arm body and the second arm body, and meanwhile, the two clamping arms of the auricle clamp are respectively fixed on the corresponding first arm body and second arm body through fixing parts such as binding wires. Wherein, all be equipped with the constant head tank that the correspondence held the arm lock on first arm body and the second arm body, thereby can accomodate the auricle clamp between two arm bodies of executor, thus, the executor can not cause the volume increase after holding the auricle clamp, and because two arm bodies utilize joint structure can realize pressing from both sides closed and open two state switching, two arm bodies can conveniently strut two arm locks of auricle clamp, can also agree with more and stabilize with the constant head tank with the arm lock cooperation, under the condition of having reduced executor front end shape, maneuverability more stable can also have. So can guarantee to send into the smooth and easy nature of in-process with less front end size to the convenience is guaranteed in order to reduce the operation degree of difficulty to the agreeing with assembly of constant head tank and arm lock, finally reduces the whole risk of this type of operation.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for a person skilled in the art that other drawings can be obtained according to the drawings without inventive exercise, wherein:

FIG. 1 is a schematic diagram of a conveyor apparatus according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a delivery actuator according to an embodiment of the present invention;

FIG. 3 is a schematic bottom view of a delivery actuator according to an embodiment of the present invention;

FIG. 4 is a schematic top view of a transport actuator according to an embodiment of the present invention;

FIG. 5 is a side view of the delivery actuator of the present invention;

FIG. 6 is a schematic view, partially in section, of a delivery actuator according to an embodiment of the present invention;

FIG. 7 is a first exploded view of the joint portion of the actuator according to an embodiment of the present invention;

FIG. 8 is a second exploded view of the joint portion of the actuator shown in the embodiment of the present invention;

FIG. 9 is a schematic drawing line configuration of a delivery actuator according to an embodiment of the present invention;

FIG. 10 is a first schematic view of a control line of the transport actuator according to the embodiments of the present invention;

FIG. 11 is a second schematic view of a control line of the transport actuator according to the embodiments of the present invention;

FIG. 12 is a schematic view showing the construction of a transport apparatus according to a second embodiment of the present invention;

fig. 13 is a schematic view showing the structure of a conveying actuator according to a second embodiment of the present invention.

In the figure: a first arm body 1; a first positioning groove 11; a first end groove 12;

a first wire passing groove 13; a first drawing slot 14; a first pivot base 16;

a second arm body 2; a second positioning groove 21; a second end groove 22;

a second wire passing groove 23; a second string-drawing hole 24; a second pivot base 26;

a joint 3; a joint portion 31; a first stopper 311;

a second stopper 312; a plurality of links 32; a front link 321;

a rear link 322; a third link 323; the coupling member 41;

a head 42; a first shaft 411; a second shaft 412;

a coupling wire hole 413; a connecting rod 5, a drawing wire 6;

a control line 7; a handle 8; a first controller 81;

a second controller 82; a third controller 83; a fixed link 313;

a knuckle 4; a chute 315.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In order to solve the problems of large volume and inconvenient operation of the conveying device in the prior art. The inventor of the application no longer selects a square frame-shaped actuator holder, but changes the jaw-shaped actuator to be applied to the conveying of the elongated auricle clamp, although the jaw-shaped actuator is used in the prior art, the existing jaw-shaped actuator can only be used for thoracotomy, and the existing use mode is generally to use the auricle clamp perpendicular to the jaw so as to directly utilize the opening of the forceps arm to directly drive the clamping arm of the auricle clamp to open. The inventor of the present application provides a jaw-type delivery actuator with a smaller overall size, and a delivery device can be composed of a connecting rod and a controller held by an operator with hands.

Specifically, the embodiment of the present application mainly provides a conveying actuator, including a first arm body, a second arm body and a joint, the first arm body and the second arm body are connected through a joint hinge, so that the first arm body and the second arm body approach to each other to a clamping state or separate from each other to an opening state: the first arm body comprises a first positioning groove positioned on the inner side edge, and the second arm body comprises a second positioning groove positioned on the inner side edge; the first positioning groove and the second positioning groove are arranged in an aligned mode and are respectively used for accommodating one side of an object to be placed; the first arm body and the second arm body are further fixed with corresponding side edges of the object to be placed through fixing pieces respectively.

According to the conveying actuator and the conveying device provided by the invention, the first arm body and the second arm body form the jaw type actuator, so that the auricle clamp is accommodated and fixed between the first arm body and the second arm body, and meanwhile, two clamping arms of an object to be placed, such as the auricle clamp, are respectively fixed on the corresponding first arm body and the second arm body through fixing parts, such as binding wires. Wherein, all be equipped with the constant head tank that the correspondence held the arm lock on first arm body and the second arm body, thereby can accomodate the auricle clamp between two arm bodies of executor, thus, the executor can not cause the volume increase after holding the auricle clamp, and because two arm bodies utilize joint structure can realize pressing from both sides closed and open two states and switch over between, two arm bodies can conveniently strut two arm locks of auricle clamp, can also agree with more and stabilize with the constant head tank with the arm lock cooperation, thereby under the condition of having reduced executor front end shape, can also have more stable maneuverability. So can guarantee to send into the in-process smoothness with less front end size to the agreeable assembly of constant head tank and arm lock guarantees to control the convenience and reduce the operation degree of difficulty, finally reduces the whole risk of this type of operation.

In another aspect, the fixing member for fixing the auricle clamp can be further fixed to the first arm and the second arm through a drawstring, that is, after the auricle clamp is deployed at the target position by the delivery actuator, the extraction cord can be further extracted to facilitate the release of the auricle clamp from the first arm and the second arm, thereby facilitating the extraction of the delivery actuator.

To facilitate a more detailed understanding of the technical idea of the present application, exemplary embodiments of the present application are described below with reference to the accompanying drawings:

first embodiment

Fig. 1 is a schematic structural view of a conveying device according to an embodiment of the present invention, and fig. 2 is a schematic structural view of a conveying actuator according to an embodiment of the present invention; the embodiment of the application provides a transport executor, mainly includes first arm 1, second arm 2 and joint 3, first arm 1 with second arm 2 passes through joint 3 articulated connection to make first arm 1 with second arm 2 is close to each other to the clamping state or keep away from each other to opening the state: the first arm body 1 comprises a first positioning groove 11 positioned on the inner side edge, and the second arm body 2 comprises a second positioning groove 21 positioned on the inner side edge; the first positioning groove 11 and the second positioning groove 21 are arranged in an aligned manner, and the first positioning groove 11 and the second positioning groove 21 are respectively used for accommodating one side of an object to be placed; the first arm body 1 and the second arm body 2 are further fixed with corresponding side edges of the object to be placed through fixing pieces respectively.

It can be understood that the first arm 1 and the second arm 2 may be made of metal or plastic, the metal material may be formed by machining, 3D printing or powder metallurgy, the plastic material may be formed by injection molding or other integral forming processes, and the specific material and forming process may be selected by those skilled in the art according to engineering techniques and are not particularly limited.

The first arm body 1 and the second arm body 2 can form a jaw-type actuator, so that the auricle clamp is accommodated and fixed between the first arm body 1 and the second arm body 2, and meanwhile, two clamping arms of an object to be placed, such as the auricle clamp, are respectively fixed on the corresponding first arm body 1 and the second arm body 2 through fixing pieces such as binding wires. Wherein, all be equipped with the constant head tank that the correspondence held the arm lock on first arm body 1 and the second arm body 2, thereby can accomodate the auricle clamp between two arm bodies of executor, thus, the executor can not cause the volume increase after holding the auricle clamp, and because two arm bodies utilize joint structure can realize pressing from both sides closed and open two state switching, two arm bodies can conveniently strut two arm locks of auricle clamp, can also agree with more and stabilize with the constant head tank and arm lock cooperation, thereby under the condition of having reduced executor front end shape, can also have more stable maneuverability. So can guarantee to send into the in-process smoothness with less front end size to the agreeable assembly of constant head tank and arm lock guarantees to control the convenience and reduce the operation degree of difficulty, finally reduces the whole risk of this type of operation.

Fig. 3 is a schematic bottom view, fig. 4 is a schematic top view, and fig. 5 is a schematic side view of a transport actuator according to an embodiment of the present invention. According to the embodiment of the present application, the first arm 1 further includes a first end groove 12 at the inner end of the first positioning groove 11, the second arm 2 further includes a second end groove 22 at the inner end of the second positioning groove 21, the first end groove 12 corresponds to the open surface of the second end groove 22 so as to respectively receive a part of the spring portion at the end of the inserted object, and the first end groove 12 and the second end groove 22 are spliced to receive the spring portion therein. And the executor just holds the spring part with auricle clamp inner spacing, and the spring part of auricle clamp outer end can be located first arm body 1 and 2 front ends of second arm body to be convenient for auricle clamp and executor separation.

According to the embodiment of the present application, there is an arc transition between the first end slot 12 and the first positioning slot 11, and there is an arc transition between the second end slot 22 and the second positioning slot 21. So as to adapt to the transition shape between the spring part of the auricle clamp and the clamping arm, and simultaneously, the end slot is communicated with the corresponding positioning slot.

According to the embodiment of the application, the first arm body 1 is provided with one or more first wire passing grooves 13 and a first wire drawing groove 14, the first wire passing groove 13 penetrates through the first arm body 1 from the outer side to be communicated with the first positioning groove 11, and the first wire drawing groove 14 extends along the length direction of the first arm body 1 and penetrates through the first wire passing groove 13; the second arm body 2 is provided with one or more second wire passing grooves 23 and a second wire drawing hole 24, the second wire passing grooves 23 penetrate through the second arm body 2 from the outer side and are communicated with the second positioning groove 21, and the second wire drawing hole 24 extends along the length direction of the second arm body 2 and penetrates through the second wire passing grooves 23. FIG. 9 is a schematic drawing line configuration of a delivery actuator according to an embodiment of the present invention; as shown in fig. 9, the first thread drawing slot 14 and the second thread drawing slot 24 can be used for the threading of the thread drawing 6, the thread drawing 6 can respectively penetrate through the first thread drawing slot 13 and the second thread drawing slot 23, and a fixing member such as a binding thread can be bound to the thread drawing 6 at one end and bound to a clamping arm of the auricle clamp at the other end, so that the clamping arm of the auricle clamp is fixed to the first arm body 1 and the second arm body 2, and when the actuator and the auricle clamp need to be released when the position of the lesion is conveyed, the thread drawing 6 can be drawn backwards, and at this time, the binding thread is convenient to release the binding of the clamping arm of the auricle clamp due to the lack of one binding end, so as to release the actuator and the auricle clamp, so that the actuator can exit. Here, two wire passing grooves are arranged on each arm body respectively at the near end and the far end so as to provide more stable binding effect at the minimum binding position.

According to the embodiment of the application, specifically, a groove is formed in one side of the first arm body 1, which is away from the first positioning groove 11, and the first wire drawing groove 14 is located in the groove; one side of the second arm body 2, which is far away from the second positioning groove 21, is provided with a groove, and the second wire drawing hole 24 is located in the groove. Thereby will take out the line and be open form setting on the arm body, be convenient for take out the line and can assemble into the position from the side, make things convenient for the auricle clamp to accomplish the cloth of binding the process and put and adjust, on the other hand, under the condition that needs the trimming, can also utilize this open recess to bind the trimming of line.

Referring to fig. 1 to 5, in this embodiment, outer side surfaces of the first arm 1 and the second arm 2, which are away from each other, are arc-shaped, so that the external shape of the actuator is smooth, thereby preventing the external part of the actuator from damaging human organs during the transportation operation, and facilitating the entry or exit of the actuator in the human body. Wherein first arm 1 and second arm 2 all is L shape, includes root and main part in the shape, and the root width is greater than the width of the main part that stretches out forward, and a main part side (fig. 5 insole side) aligns with root side (fig. 5 insole side), and another relative side (upper side in fig. 5) of the main part that stretches out forward has the drop with another side (upper side in fig. 5) of root, forms the breach form. The side that aligns is the side that sets up the constant head tank to fix the position that the auricle clamp is close to the outside at the executor. The outer side edge of the actuator is aligned with the outer side edge of the auricle clamp, so that the outer side edge of the actuator is used for alignment reference, the auricle clamp is accurately placed at an ideal position, and the corresponding outer side edge of the actuator can be referred to in place in operation to serve as a judgment standard for the in-place of the auricle clamp.

According to the embodiment of the present application, wherein the first arm 1 includes the first pivot base 16 of the root portion, the second arm 2 includes the second pivot base 26 of the root portion, the first pivot base 16 and the second pivot base 26 may be in the shape of pivot ears generally having a U shape, and the first pivot base 16 and the second pivot base 26 may respectively include two pivot shafts parallel to each other, so as to facilitate the articulated connection of the multiple connecting rods 32 in the joint 3.

Fig. 6 is a partial cross-sectional structural view of a delivery actuator according to an embodiment of the present invention, fig. 7 is a first exploded structural view of an actuator joint according to an embodiment of the present invention, and fig. 8 is a second exploded structural view of an actuator joint according to an embodiment of the present invention. The joint 3 comprises a joint part 31 and a plurality of connecting rods 32, the joint part 31 comprises a first limiting part 311 the front end of which is connected and assembled with the plurality of connecting rods 32, and a second limiting part 312 connected with the steering knuckle 4, and the first limiting part has a long and narrow multi-connecting-rod assembling space so as to movably assemble each connecting rod in the plurality of connecting rods 32; the second limiting portion 312 is a pivot lug structure, and the pivot lug structure is rotatably connected to the steering knuckle 4 at the rear end through a rotating shaft.

The multi-link 32 includes two front links 321 hinged in an X-shape and two rear links 322 configured in a V-shape, and the front ends of the front links 321 and the rear links 322 are rotatably connected to the front shaft and the rear shaft of the first pivot base 16, so as to drive the first arm 1 and the second arm 2 to move; and two X-shaped cross-hinged front links 321 have a front hinge axis in the middle and two V-shaped configured rear links 322 have a rear hinge axis between which a fixed link 313 is hinge-connected. The rear hinge shaft can be connected to the opening and closing control line 7 so as to be pulled backwards by the opening and closing control line 7 to pull the rear hinge shaft backwards, thereby driving the first arm body 1 and the second arm body 2 to move towards the directions away from each other, and thus separating the two clamping arms of the auricle clamp to an opening state.

Furthermore, two third connecting rods 323 are arranged in a V shape, rear ends of the third connecting rods 323 are hinged in the joint part 31 through a rotating shaft, front ends of the two third connecting rods 323 are rotatably connected with the two front connecting rods 321, respectively, to form a connecting line X-shaped connecting rod system, and the two front connecting rods 321 are bent, so that the rear ends are separated outward to be rotatably connected with the two third connecting rods 323, respectively, while a hinged point is formed in the middle.

According to the embodiment of the present application, the first pivot seat 16 is staggered from the pivot axes of the front connecting rod 321 and the rear connecting rod 322, respectively, and the second pivot seat 26 is staggered from the pivot axes of the front connecting rod 321 and the rear connecting rod 322, respectively; the front link 321 and the rear link 322 are parallel to each other to maintain the parallel opening degree of the first arm 1 and the second arm 2. So as to apply uniform opening and closing force to the two clamping arms of the radial lug clamp.

According to the embodiment of the present application, the knuckle 4 includes a coupling member 41 and a rod head 42, the coupling member 41 includes a first shaft 411 and a second shaft 412, the first shaft 411 and the second shaft 412 are perpendicular to each other, the first shaft 411 is rotatably connected to the joint portion in a first dimension, and the second shaft 412 is rotatably connected to the rod head 42 in a second dimension.

According to an embodiment of the present application, wherein the multi-link 32 and the articulation 31 are rotatably connectable in a third dimension. Therefore, the direction and the posture of the front end actuator can be rotationally adjusted in three dimensions by matching with two rotatable dimensions provided by the steering knuckle 4.

According to the embodiment of the present application, the coupling member 41 includes a coupling line hole 413 for the control line 7 to movably pass through. Meanwhile, a group of wire passing holes 314 are formed between the first limiting part 311 and the second limiting part 312 of the joint part 31, and mainly comprise a control wire 7 for controlling opening and closing in the middle and two control wires 7 for wire drawing on two sides, so that a plurality of control wire 7 groups are conveniently conveyed to a front end actuator through the wire holes 314 after passing through the coupling wire passing holes 413.

FIG. 10 is a first schematic view of a control line of the transport actuator according to the embodiments of the present invention; in this embodiment, the joint portion 31 includes a sliding slot 315 on a side and a fixed link 313 in the sliding slot 315, a middle pivot of the multi-link 32 is connected to the fixed link 313, and a middle pivot or a tail end of the connection of the fixed link 313 is connected to the control wire 7, so that the control wire 7 pulls the fixed link 313 from left to right in the sliding slot 315 to control the first arm 1 and the second arm 2 to move away from each other to open the actuator.

FIG. 11 is a second schematic view of a control line of the transport actuator according to the embodiments of the present invention; the two control wires 7 are respectively connected with the rotating shaft at the rear end of the front connecting rod 321 and synchronously connected with the handle, and the control wires 7 can be pulled during operation to control the first arm body 1 and the second arm body 2 to be away from each other so as to open the actuator.

According to the embodiment of the application, the device further comprises a connecting rod 5, wherein one end of the connecting rod 5 is connected to the conveying actuator, and the other end of the connecting rod 5 is connected to the controller.

Second embodiment

Fig. 12 is a schematic structural view showing a conveying apparatus according to a second embodiment of the present invention, and fig. 13 is a schematic structural view showing a conveying actuator according to the second embodiment of the present invention. In the second embodiment of the present application, a conveyor is provided, which mainly comprises a handle 8, a connecting rod 5, a steering knuckle 4, a joint 3, a second arm body 2 and a first arm body 1. The handle 8 includes a first control 81, a second control 82, and a third control 83. The first controller 81, the second controller 82 and the third controller 83 may be respectively used to control the second arm 2 and the first arm 1 to open, or to control the direction of the knuckle 4 in the first dimension adjustment, or to control the direction of the knuckle 4 in the second dimension adjustment, but since the second arm 2 and the first arm 1 need to be opened with a large force, the lever-type first controller 81 may be selected to control the second arm 2 and the first arm 1 to open or close.

In the embodiment of the actuator, the first arm 1 and the second arm 2 are hinged by a joint 3, so that the first arm 1 and the second arm 2 approach each other to a clamped state or move away from each other to an open state: the first arm body 1 comprises a first positioning groove 11 positioned on the inner side edge, and the second arm body 2 comprises a second positioning groove 21 positioned on the inner side edge; the first positioning groove 11 and the second positioning groove 21 are arranged in an aligned manner, and the first positioning groove 11 and the second positioning groove 21 are respectively used for accommodating one side of an object to be placed; the first arm body 1 and the second arm body 2 are further fixed with corresponding side edges of the object to be placed through fixing pieces respectively.

The first arm body 1 and the second arm body 2 can form a jaw-type actuator, so that the auricle clamp is accommodated and fixed between the first arm body 1 and the second arm body 2, and meanwhile, two clamping arms of an object to be placed, such as the auricle clamp, are respectively fixed on the corresponding first arm body 1 and the second arm body 2 through fixing pieces such as binding wires. Wherein, all be equipped with the constant head tank that the correspondence held the arm lock on first arm body 1 and the second arm body 2, thereby can accomodate the auricle clamp between two arm bodies of executor, thus, the executor can not cause the volume increase after holding the auricle clamp, and because two arm bodies utilize joint structure can realize pressing from both sides closed and open two state switching, two arm bodies can conveniently strut two arm locks of auricle clamp, can also agree with more and stabilize with the constant head tank and arm lock cooperation, thereby under the condition of having reduced executor front end shape, can also have more stable maneuverability. So can guarantee to send into the in-process smoothness with less front end size to the agreeable assembly of constant head tank and arm lock guarantees to control the convenience and reduce the operation degree of difficulty, finally reduces the whole risk of this type of operation.

Wherein the first arm body 1 further comprises a first end groove 12 at the inner end of the first positioning groove 11, the second arm body 2 further comprises a second end groove 22 at the inner end of the second positioning groove 21, the first end groove 12 corresponds to the open surface of the second end groove 22 so as to respectively accommodate a part of the spring part at the end of the inserted object, and the spring part is accommodated in the first end groove 12 and the second end groove 22 after being spliced. And the executor just holds the spring part with auricle clamp inner spacing, and the spring part of auricle clamp outer end can be located first arm body 1 and 2 front ends of second arm body to be convenient for auricle clamp and executor separation.

According to the embodiment of the present application, there is an arc transition between the first end slot 12 and the first positioning slot 11, and there is an arc transition between the second end slot 22 and the second positioning slot 21. So as to adapt to the transition shape between the spring part of the auricle clamp and the clamping arm, and simultaneously, the end slot is communicated with the corresponding positioning slot.

According to the embodiment of the application, the first arm body 1 is provided with one or more first wire passing grooves 13 and a first wire drawing groove 14, the first wire passing groove 13 penetrates through the first arm body 1 from the outer side to be communicated with the first positioning groove 11, and the first wire drawing groove 14 extends along the length direction of the first arm body 1 and penetrates through the first wire passing groove 13; the second arm body 2 is provided with one or more second wire passing grooves 23 and a second wire drawing hole 24, the second wire passing grooves 23 penetrate through the second arm body 2 from the outer side and are communicated with the second positioning groove 21, and the second wire drawing hole 24 extends along the length direction of the second arm body 2 and penetrates through the second wire passing grooves 23.

Since the second embodiment of the present application is substantially the same as the previous embodiment, it is not described herein again. In the joint 3, the V-shaped third connecting rod 323 is not configured at the rear end of the joint, but two V-shaped connecting arms are connected between the first pivot seat 16 and the joint part 31, so that a structure for connecting through the connecting rods is provided between the first arm body 1 and the second arm body 2 and the joint 3, and at the same time, parallel holding is performed through the X-shaped connecting rods inside the V-shaped connecting arms, so that parallel holding is performed between the V-shaped connecting arms and the first arm body 1 and the second arm body 2, so that the first arm body 1 and the second arm body 2 can be parallel to each other in the opening or closing link.

Since other details in the present embodiment can be understood with reference to the previous embodiment, they are not described herein again.

In another aspect of the present application, a conveying device is provided, which includes the conveying actuator as described above, and a controller connected to the conveying actuator.

According to the embodiment of the application, the object to be placed is the auricle clamp, the auricle clamp comprises two clamping arms which are parallel to each other and a spring part at the end part of each clamping arm, and the extending direction of the spring part is perpendicular to the extending direction of each clamping arm.

It is noted that in the description and claims of the present application and in the above-mentioned drawings, relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein.

Also, the terms "comprises," "comprising," and "having," as well as any variations thereof or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not explicitly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications and changes to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.