本发明涉及一种医疗装置，尤其涉及一种临床上用于操作导管、导丝等腔内医疗器械的筒夹结构及具有该筒夹结构的无菌模块。The present invention relates to a medical device, in particular to a cartridge structure clinically used for operating intracavitary medical devices such as catheters and guidewires, and a sterile module having the cartridge structure.
当前，在涉及使用导管导丝的手术中，术者需要站在受术者附近操作如指引导丝、指引导管或血管成形术导管等腔内医疗器械进入具有血管系统的受术者体内或者从受术者体内撤出。术者全程暴露于医学影像设备射线照射下，虽有铅衣等防护设施，但由于长时间穿戴铅衣增加了术者的体力消耗，不仅增加人手颤抖风险，给本就效率较低的手术带来质量忧虑，而且还给长期工作在射线环境下的术者带来很高的职业损害，劳动强度很大。Currently, in surgeries involving the use of catheter guidewires, the surgeon needs to stand near the patient to operate intracavitary medical devices such as guidewires, guide catheters or angioplasty catheters into or out of the patient's body with a vascular system. The surgeon is exposed to radiation from medical imaging equipment throughout the entire process. Although there are protective facilities such as lead vests, the surgeon's physical exertion increases due to wearing the lead vest for a long time, which not only increases the risk of hand tremors and brings quality concerns to the already inefficient surgery, but also brings high occupational damage to the surgeon who works in a radiation environment for a long time, and the labor intensity is very high.
机器人辅助手术技术具有精确、可靠、动作精细、手术微创等特点，可大大提升手术精度，同时有效降低射线对术者的伤害，发展前景十分广阔，成为手术机器人领域内的重点研究方向。现有的手术机器人在执行腔内医疗器械的进退和/或转动的过程中需要相应的夹持机构带动，但其结构复杂，不仅产品成本高，而且还会由于夹持不稳固而造成递送不畅。Robot-assisted surgery technology is characterized by precision, reliability, fine movements, and minimally invasive surgery. It can greatly improve surgical accuracy and effectively reduce radiation damage to the surgeon. It has a broad development prospect and has become a key research direction in the field of surgical robots. Existing surgical robots require corresponding clamping mechanisms to drive the advancement, retreat, and/or rotation of intracavitary medical devices, but their structures are complex, which not only increases product costs, but also causes poor delivery due to unstable clamping.
发明内容Summary of the invention
基于此，有必要针对现有技术中的不足，提供一种筒夹结构及具有该筒夹结构的无菌模块。Based on this, it is necessary to provide a cartridge structure and a sterile module having the cartridge structure in view of the deficiencies in the prior art.
本发明提供一种筒夹结构，其包括连接在一起并可相对转动的第一转动件和第二转动件、可滑动地安装于所述第一转动件的两个夹持柱和对应的两个迫紧件，所述两个迫紧件分别迫使所述两个夹持柱相互靠近以夹持腔内医疗器械。The present invention provides a cartridge clamp structure, which comprises a first rotating member and a second rotating member connected together and rotatable relative to each other, two clamping columns slidably mounted on the first rotating member and two corresponding clamping members, wherein the two clamping members respectively force the two clamping columns to approach each other to clamp intracavitary medical devices.
优选地，所述第一转动件包括第一转动轮和凸设于所述第一转动轮一侧面的套筒，所述第二转动件包括第二转动轮和凸设于所述第二转动轮一侧面并可转动地安装于所述套筒内的套轴。Preferably, the first rotating member comprises a first rotating wheel and a sleeve protruding from a side surface of the first rotating wheel, and the second rotating member comprises a second rotating wheel and a sleeve shaft protruding from a side surface of the second rotating wheel and rotatably installed in the sleeve.
优选地，当所述第一转动轮和第二转动轮分别沿不同方向相对转动而让所述套轴旋出所述套筒时，所述两个迫紧件分别迫使所述两个夹持柱相互靠近以夹持腔内医疗器械。Preferably, when the first rotating wheel and the second rotating wheel rotate relative to each other in different directions respectively to allow the sleeve shaft to be screwed out of the sleeve, the two clamping members respectively force the two clamping columns to approach each other to clamp the intracavitary medical device.
优选地，当所述第一转动轮和第二转动轮分别沿不同方向相对转动而让所述套轴旋入所述套筒内时，迫使所述两个夹持柱相互离开以松开腔内医疗器械。Preferably, when the first rotating wheel and the second rotating wheel rotate relative to each other in different directions respectively and the sleeve shaft is screwed into the sleeve, the two clamping posts are forced to move away from each other to release the intracavitary medical device.
优选地，所述套筒开设第一通孔，所述套轴开设与所述第一通孔连通的第二通孔，用于穿设腔内医疗器械。Preferably, the sleeve is provided with a first through hole, and the sleeve shaft is provided with a second through hole communicated with the first through hole, for inserting an intracavitary medical device.
优选地，所述第一转动轮开设两个分别可滑动地容纳所述两个夹持柱的容纳孔，所述两个容纳孔均与所述第一通孔相连通，当腔内医疗器械穿设于所述第一通孔和第二通孔内时，所述两个迫紧件分别迫使所述两个夹持柱从相应的容纳孔滑动至所述第一通孔内而夹持腔内医疗器械。Preferably, the first rotating wheel is provided with two receiving holes which can respectively slidably accommodate the two clamping columns, and the two receiving holes are both connected with the first through hole. When the intracavitary medical device is inserted into the first through hole and the second through hole, the two clamping members respectively force the two clamping columns to slide from the corresponding receiving holes into the first through hole to clamp the intracavitary medical device.
优选地，所述套轴的末端形成抵顶面，所述两个夹持柱的两个正对第一端对应所述抵顶面分别向内倾斜形成配合面，以让所述套轴旋入所述套筒内时利用所述抵顶面与配合面的相互推顶而迫使所述两个夹持柱相互离开。Preferably, the end of the sleeve shaft forms an abutment surface, and the two first ends of the two clamping columns corresponding to the abutment surface are respectively inclined inward to form matching surfaces, so that when the sleeve shaft is screwed into the sleeve, the abutment surface and the matching surface push each other to force the two clamping columns to move away from each other.
优选地，所述两个容纳孔内壁上均开设定位槽，所述两个夹持柱均设有置入相应定位槽内的定位键。Preferably, positioning grooves are provided on the inner walls of the two accommodating holes, and the two clamping columns are provided with positioning keys inserted into the corresponding positioning grooves.
优选地，所述两个容纳孔位于同一直线上并沿所述第一转动轮的径向延伸向外周面。Preferably, the two receiving holes are located on the same straight line and extend toward the outer circumference along the radial direction of the first rotating wheel.
优选地，所述两个迫紧件分别为压置于所述两个夹持柱的第二端和所述第一转动轮的外周面之间的压簧。Preferably, the two clamping members are compression springs respectively pressed between the second ends of the two clamping columns and the outer circumferential surface of the first rotating wheel.
优选地，所述两个容纳孔的延伸方向与所述第一通孔和第二通孔的延伸方向垂直。Preferably, an extending direction of the two accommodating holes is perpendicular to an extending direction of the first through hole and the second through hole.
优选地，所述筒夹结构还包括穿设于所述第二转动件的第二通孔内的联动杆，所述两个迫紧件连接于所述联动杆。Preferably, the collet structure further comprises a linkage rod passing through the second through hole of the second rotating member, and the two clamping members are connected to the linkage rod.
优选地，当所述第一转动轮和第二转动轮分别沿不同方向相对转动时，所述联动杆随所述套轴一起轴向移动。Preferably, when the first rotating wheel and the second rotating wheel rotate relative to each other in different directions, the linkage rod moves axially together with the sleeve shaft.
优选地，所述两个迫紧件为可转动地安装于所述套筒的两个杠杆，每一杠杆包括连接于夹持柱的第一支臂和可滑动地装设于所述联动杆的第二支臂。Preferably, the two clamping members are two levers rotatably mounted on the sleeve, and each lever comprises a first arm connected to the clamping column and a second arm slidably mounted on the linkage rod.
优选地，所述两个夹持柱于中间均开设用于容纳相应第一支臂的穿设孔。Preferably, the two clamping columns are provided with a through hole in the middle for accommodating the corresponding first supporting arm.
优选地，所述两个杠杆的第二支臂均开设长形滑槽，所述联动杆靠近套轴的第一端设有可滑动地穿设于相应第二支臂的长形滑槽内的滑柱。Preferably, the second arms of the two levers are each provided with an elongated sliding groove, and the first end of the linkage rod close to the sleeve shaft is provided with a sliding column which is slidably arranged in the elongated sliding groove of the corresponding second arm.
优选地，所述两个杠杆呈弯折状并对扣设置。Preferably, the two levers are bent and interlocked.
优选地，每一杠杆的第一支臂的延伸方向与其第二支臂的延伸方向形成锐角。Preferably, the extension direction of the first arm of each lever forms an acute angle with the extension direction of the second arm thereof.
优选地，所述第一转动件还包括凸设于所述第一转动轮另一相对侧面的第一支撑柱，所述第二转动件还包括凸设于所述第二转动轮另一相对侧面的第二支撑柱，所述第一通孔贯通整个所述第一支撑柱，所述第二通孔贯通整个所述第二支撑柱。Preferably, the first rotating member further includes a first supporting column protruding from another opposite side of the first rotating wheel, the second rotating member further includes a second supporting column protruding from another opposite side of the second rotating wheel, the first through hole penetrates the entire first supporting column, and the second through hole penetrates the entire second supporting column.
优选地，所述两个夹持柱的两个正对第一端形成夹持端面。Preferably, two opposite first ends of the two clamping columns form clamping end faces.
本发明一种筒夹结构的零件少、结构简单、成本低，而且可利用两个夹持柱夹持腔内医疗器械，相当稳固，避免在进退和/或转动的过程中打滑。The collet structure of the present invention has fewer parts, a simple structure, and low cost, and can utilize two clamping columns to clamp intracavitary medical devices, which is quite stable and avoids slipping during the process of advancing, retreating, and/or rotating.
本发明还提供一种无菌模块，其包括外壳和可转动地安装于所述外壳内的以上所述筒夹结构。The present invention also provides a sterile module, which comprises a shell and the above-mentioned cartridge structure rotatably installed in the shell.
优选地，所述外壳开设用于穿设腔内医疗器械的第一放置孔、第二放置孔。Preferably, the shell is provided with a first placement hole and a second placement hole for inserting an intracavitary medical device.
本发明一种无菌模块可让腔内医疗器械从所述外壳外穿过第一放置孔和第二放置孔而穿设于所述外壳内的两个夹持柱之间并被夹持，穿通简单、顺畅，可避免被意外阻挡，提高了穿通效率。A sterile module of the present invention allows intracavitary medical devices to pass through the first placement hole and the second placement hole from outside the shell and pass between the two clamping columns in the shell and be clamped. The penetration is simple and smooth, and accidental obstruction can be avoided, thereby improving the penetration efficiency.
图1为本发明筒夹结构的第一实施例的分解示意图。FIG. 1 is an exploded schematic diagram of a first embodiment of a collet structure of the present invention.
图2为图1的组装剖视图，其中筒夹结构处于打开状态。FIG. 2 is an assembled cross-sectional view of FIG. 1 , wherein the collet structure is in an open state.
图3为图1的另一组装剖视图，其中筒夹结构处于闭合状态。FIG. 3 is another assembled cross-sectional view of FIG. 1 , wherein the collet structure is in a closed state.
图4为本发明筒夹结构的第二实施例的示意图，其中筒夹结构处于打开状态。FIG. 4 is a schematic diagram of a second embodiment of the collet structure of the present invention, wherein the collet structure is in an open state.
图5为本发明筒夹结构的第二实施例的另一示意图，其中筒夹结构处于闭合状态。FIG. 5 is another schematic diagram of the second embodiment of the collet structure of the present invention, wherein the collet structure is in a closed state.
图6为本发明具有该筒夹结构的无菌模块的部分分解示意图。FIG. 6 is a partially exploded schematic diagram of the aseptic module having the cartridge structure of the present invention.
图7为图6的另一示意图。FIG. 7 is another schematic diagram of FIG. 6 .
为了使发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明。In order to make the purpose, technical solution and advantages of the invention more clearly understood, the invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the invention and are not intended to limit the invention.
在本发明的描述中，术语“近端”指靠近术者的一端、术语“远端”指远离术者的一端；术语“递送”、“推送”、“前进”、“拉拽”或者“拖拉”是指从远离术者的地方朝向术者的地方运动的过程、术语“撤出”或者“后退”是指从靠近术者的地方朝向远离术者的地方运动的过程，而术语“水平”、“垂直”、“上”、“下”、“左”、“右”、“内”、“外”、“其间”、“之间”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。除非另有明确的规定和限定，术语“连接”、“相连”、“固定”、“安装”应做广义理解，例如，可以是固定连接，也可以是可拆卸地连接，或一体地连接；可以是机械连接，也可以是电连接或磁连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。In the description of the present invention, the term "proximal end" refers to the end close to the operator, and the term "distal end" refers to the end far from the operator; the terms "deliver", "push", "advance", "pull" or "drag" refer to the process of moving from a place far from the operator to a place near the operator, and the terms "withdraw" or "backward" refer to the process of moving from a place close to the operator to a place far from the operator, and the terms "horizontal", "vertical", "up", "down", "left", "right", "inside", "outside", "between", "between" and the like indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention 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 limiting the present invention. Unless otherwise clearly specified and limited, the terms "connect", "connected", "fixed" and "installed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection or a magnetic connection; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
此外，术语“第一”、“第二”等仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”等的特征可以明示或者隐含地包括一个或者更多个该特征。在本发明的描述中，“多”的含义一个以上，除非另有明确具体的限定。In addition, the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, "multiple" means more than one, unless otherwise clearly and specifically defined.
本发明筒夹结构及具有该筒夹结构的无菌模块用于夹持、递送或撤出例如腔内医疗器械。应当理解，术语“腔内”包括自然腔道、泛血管内腔以及器官内腔等管腔。术语“腔内医疗器械”可以指任何形状或任何一种导丝、导管、指引导丝、指引导管、血管成形术导管，亦或内窥镜、各种腔镜、管镜等，包括适用于自然腔道、泛血管介入、电生理、结构性心脏病等术式的任何导丝类或导管类耗材或非耗材器械。这里的导丝(类)包括但不限于指引导丝、泥鳅导丝、造影导丝和微导丝等引导、支撑类腔内医疗器械、导管(类)包括但不限于指引导管、微导管、造影导管、中间管(亦称中间导管)、溶栓导管、球囊扩张导管和球扩支架导管等诊断、治疗类腔内医疗器械。应当理解，本发明的范围和精神不限于本发明的这些示例。The cartridge structure of the present invention and the sterile module having the cartridge structure are used to clamp, deliver or withdraw, for example, intracavitary medical devices. It should be understood that the term "intracavitary" includes natural cavities, panvascular cavities, and organ cavities. The term "intracavitary medical device" can refer to any shape or any type of guidewire, catheter, Refers to guide wires, guide catheters, angioplasty catheters, or endoscopes, various laparoscopy, endoscopic, etc., including any guide wire or catheter consumables or non-consumables suitable for natural cavity, pan-vascular intervention, electrophysiology, structural heart disease and other procedures. The guide wire (type) here includes but is not limited to guide wires, loach guide wires, angiography guide wires and micro-guide wires and other guiding and supporting intracavitary medical devices, and the catheter (type) includes but is not limited to guide catheters, micro-catheters, angiography catheters, intermediate tubes (also called intermediate catheters), thrombolytic catheters, balloon dilatation catheters and balloon expansion stent catheters and other diagnostic and therapeutic intracavitary medical devices. It should be understood that the scope and spirit of the present invention are not limited to these examples of the present invention.
最后需要说明的是，如果不冲突，本发明实施例以及实施例中的各个特征可以相互结合，均在本发明的保护范围之内。Finally, it should be noted that, if there is no conflict, the embodiments of the present invention and the various features in the embodiments can be combined with each other, all within the protection scope of the present invention.
请参考图1-3，为本发明筒夹结构的第一实施例的示意图。为了本发明筒夹结构的清晰展示，虽然图中省去某些部件未示出，但其仍然是重要的。Please refer to Figures 1-3, which are schematic diagrams of the first embodiment of the collet structure of the present invention. For the sake of clear illustration of the collet structure of the present invention, although some parts are omitted in the figures, they are still important.
该筒夹结构包括第一转动件10、第二转动件20、至少两个夹持柱30和两个迫紧件。本实施例中，迫紧件为压簧40。第一转动件10包括第一转动轮11和凸设于第一转动轮11的两个相对侧面的第一支撑柱12、套筒14，第一支撑柱12和套筒14分别向相反的方向延伸形成。第一转动件10沿着第一支撑柱12和套筒14(也即沿着第一转动轮11的转动中心线)开设贯通的第一通孔16。第一转动轮11开设至少两个容纳孔18，两个容纳孔18均与第一通孔16相连通。每一容纳孔18内壁上开设定位槽19。第一通孔16在靠近套筒14末端的内孔壁上形成内螺纹15。第二转动件20包括第二转动轮21和凸设于第二转动轮21的两个相对侧面的第二支撑柱22、套轴24，第二支撑柱22和套轴24分别向相反的方向延伸形成。第二转动件20沿着第二支撑柱22和套轴24(也即沿着第二转动轮21的转动中心线)开设贯通的第二通孔26。套轴24的外周壁形成外螺纹25，以配合套筒14的内螺纹15，让套轴24在第一通孔16内相对套筒14转动，则套轴24同轴地定位在套筒14内，而第二通孔26与第一通孔16相连通，第一转动轮11的转动中心线与第二转动轮21的转动中心线相重合。套轴24的末端形成沿延伸方向渐缩的锥形抵顶面28。本实施例中，两个容纳孔18位于通过第一转动轮11的转动中心线的同一直线(即垂直于第一转动轮11和第二转动轮21的转动中心线)上并沿径向延伸至第一转动轮11的外周面。The collet structure includes a first rotating member 10, a second rotating member 20, at least two clamping columns 30 and two clamping members. In this embodiment, the clamping member is a compression spring 40. The first rotating member 10 includes a first rotating wheel 11 and a first support column 12 and a sleeve 14 protruding from two opposite sides of the first rotating wheel 11. The first support column 12 and the sleeve 14 are respectively extended in opposite directions. The first rotating member 10 is provided with a first through hole 16 that passes through along the first support column 12 and the sleeve 14 (that is, along the rotation center line of the first rotating wheel 11). The first rotating wheel 11 is provided with at least two receiving holes 18, and both of the two receiving holes 18 are connected to the first through hole 16. A positioning groove 19 is provided on the inner wall of each receiving hole 18. The first through hole 16 is formed with an internal thread 15 on the inner hole wall near the end of the sleeve 14. The second rotating member 20 includes a second rotating wheel 21 and a second support column 22 and a sleeve 24 protruding from two opposite sides of the second rotating wheel 21. The second support column 22 and the sleeve 24 extend in opposite directions. The second rotating member 20 is provided with a second through hole 26 along the second support column 22 and the sleeve 24 (i.e., along the rotation center line of the second rotating wheel 21). The outer peripheral wall of the sleeve 24 forms an external thread 25 to match the internal thread 15 of the sleeve 14, so that the sleeve 24 rotates relative to the sleeve 14 in the first through hole 16, and the sleeve 24 is coaxially positioned in the sleeve 14, and the second through hole 26 is connected to the first through hole 16, and the rotation center line of the first rotating wheel 11 coincides with the rotation center line of the second rotating wheel 21. The end of the sleeve 24 forms a tapered top surface 28 that gradually shrinks along the extension direction. In this embodiment, the two receiving holes 18 are located on the same straight line passing through the rotation center line of the first rotating wheel 11 (that is, perpendicular to the rotation center lines of the first rotating wheel 11 and the second rotating wheel 21 ) and extend radially to the outer circumference of the first rotating wheel 11 .
两个夹持柱30分别可滑动地容纳于两个容纳孔18内。每一夹持柱30对应容纳孔18的定位槽19设有定位键32。每一夹持柱30于第一端形成夹持端面34、于相对的第二端开设穿设孔36。每一夹持柱30对应第二转动件20的抵顶面28于夹持端面34处向内倾斜形成配合面38，由于定位槽19和定位键32的约束，让配合面38始终面向抵顶面28，即面向套轴24的延伸方向。另外，在容纳孔18与夹持柱30之间分别设置定位槽19、定位键32也可保证夹持柱30正确安装，有防呆作用。本实施例中，抵顶面28和配合面38均呈锥面，可以保证可靠性。为了让两个夹持柱30的夹持端面34对腔内医疗器械80的可靠夹持，其可以呈任何形状或者在上面设置任何增大摩擦或夹持力的结构，同时为了防止夹持时损伤腔内医疗器械80，可在两个夹持柱30的夹持端面34上贴敷保护垫33。The two clamping posts 30 are respectively slidably accommodated in the two receiving holes 18. Each clamping post 30 is provided with a positioning key 32 corresponding to the positioning groove 19 of the receiving hole 18. Each clamping post 30 forms a clamping end face 34 at the first end and a through hole 36 is provided at the opposite second end. Each clamping post 30 corresponds to the top surface 28 of the second rotating member 20 and is inclined inward at the clamping end face 34 to form a matching surface 38. Due to the constraints of the positioning groove 19 and the positioning key 32, the matching surface 38 always faces the top surface 28, that is, faces the extension direction of the sleeve shaft 24. In addition, the positioning groove 19 and the positioning key 32 are respectively provided between the receiving hole 18 and the clamping post 30, which can also ensure the correct installation of the clamping post 30 and have a fool-proof effect. In this embodiment, the top surface 28 and the matching surface 38 are both conical surfaces, which can ensure reliability. In order to ensure that the clamping end faces 34 of the two clamping columns 30 can reliably clamp the intracavitary medical device 80, they can be in any shape or have any structure that increases friction or clamping force. At the same time, in order to prevent damage to the intracavitary medical device 80 during clamping, protective pads 33 can be applied to the clamping end faces 34 of the two clamping columns 30.
本实施例中，该筒夹结构还包括两个塞帽60。当两个压簧40分别进入第一转动轮11的两个容纳孔18并置于相应夹持柱30的穿设孔36内时，让两个塞帽60分别嵌入两个容纳孔18，从而压簧40的两端分别抵接夹持柱30的第二端和塞帽60，让两个夹持柱30从容纳孔18进入第一通孔16，则两个夹持端面34抵接在一起，阻断第一通孔16和第二通孔26，筒夹结构处于闭合状态。其它实施例中，两个容纳孔18不是延伸至第一转动轮11的外周面的通孔，则无需塞帽60进行封堵。In this embodiment, the collet structure further includes two plug caps 60. When the two compression springs 40 respectively enter the two receiving holes 18 of the first rotating wheel 11 and are placed in the corresponding through holes 36 of the clamping column 30, the two plug caps 60 are respectively embedded in the two receiving holes 18, so that the two ends of the compression spring 40 respectively abut the second end of the clamping column 30 and the plug cap 60, and the two clamping columns 30 enter the first through hole 16 from the receiving hole 18, then the two clamping end faces 34 abut together, blocking the first through hole 16 and the second through hole 26, and the collet structure is in a closed state. In other embodiments, the two receiving holes 18 are not through holes extending to the outer peripheral surface of the first rotating wheel 11, and the plug caps 60 are not required for blocking.
要夹持腔内医疗器械80时，让第一转动轮11(即第一转动件10)和第二转动轮21(即第二转动件20)分别沿不同时针方向转动，则第一转动件10的套筒14与第二转动件20的套轴24相对转动，让第一转动轮11和第二转动轮21相互靠近，套轴24靠近两个夹持柱30，套轴24的抵顶面28接触两个夹持柱30的配合面38。随着第一转动轮11和第二转动轮21继续相对转动而让第一转动轮11和第二转动轮21更加靠近，则抵顶面28抵顶配合面38，让两个夹持柱30滑动而带动两个夹持端面34相互分离，两个压簧40被压缩。这时，筒夹结构处于打开状态，第一通孔16与第二通孔26再次连通，即可让腔内医疗器械80穿入。然后，让套筒14(即第一转动件10)与套轴24(即第二转动件20)分别沿与各自的原时针方向相反的方向转动，则第一转动轮11和第二转动轮21相互远离，套轴24逐渐远离两个夹持柱30，则两个夹持柱30在相应压簧40的弹性恢复力作用下滑动而靠近，直至两个夹持柱30的夹持端面34夹紧腔内医疗器械80。这时，第一转动轮11和第二转动轮21也不再相对转动，而是让第一转动件10和第二转动件20一起沿同一时针方向转动以带动腔内医疗器械80旋转。When clamping the intracavitary medical device 80, the first rotating wheel 11 (i.e., the first rotating member 10) and the second rotating wheel 21 (i.e., the second rotating member 20) are rotated in different clockwise directions respectively, so that the sleeve 14 of the first rotating member 10 and the sleeve shaft 24 of the second rotating member 20 rotate relative to each other, so that the first rotating wheel 11 and the second rotating wheel 21 are close to each other, the sleeve shaft 24 is close to the two clamping columns 30, and the top surface 28 of the sleeve shaft 24 contacts the matching surfaces 38 of the two clamping columns 30. As the first rotating wheel 11 and the second rotating wheel 21 continue to rotate relative to each other and the first rotating wheel 11 and the second rotating wheel 21 are closer, the top surface 28 abuts against the matching surface 38, so that the two clamping columns 30 slide and drive the two clamping end surfaces 34 to separate from each other, and the two compression springs 40 are compressed. At this time, the collet structure is in an open state, the first through hole 16 and the second through hole 26 are connected again, and the intracavitary medical device 80 can be inserted. Then, the sleeve 14 (i.e., the first rotating member 10) and the sleeve shaft 24 (i.e., the second rotating member 20) are rotated in the direction opposite to their original clockwise directions, so that the first rotating wheel 11 and the second rotating wheel 21 The sleeve shaft 24 gradually moves away from the two clamping posts 30, and the two clamping posts 30 slide and approach under the elastic restoring force of the corresponding compression springs 40 until the clamping end faces 34 of the two clamping posts 30 clamp the intracavitary medical device 80. At this time, the first rotating wheel 11 and the second rotating wheel 21 no longer rotate relative to each other, but the first rotating member 10 and the second rotating member 20 rotate together in the same clockwise direction to drive the intracavitary medical device 80 to rotate.
要松开腔内医疗器械80时，再让第一转动轮11(即第一转动件10)和第二转动轮21(即第二转动件20)分别沿原时针方向转动，套轴24再次靠近两个夹持柱30，抵顶两个夹持柱30逐渐分开，夹持端面34离开腔内医疗器械80，即可让腔内医疗器械80从第一通孔16和第二通孔26中取出。When the intracavitary medical device 80 is to be released, the first rotating wheel 11 (i.e., the first rotating member 10) and the second rotating wheel 21 (i.e., the second rotating member 20) are rotated in the original clockwise direction respectively, and the sleeve shaft 24 approaches the two clamping columns 30 again, and the two clamping columns 30 are gradually separated against each other, and the clamping end surface 34 leaves the intracavitary medical device 80, so that the intracavitary medical device 80 can be taken out from the first through hole 16 and the second through hole 26.
此外，可以在压簧40与塞帽60之间设置夹持力检测机构，检测腔内医疗器械80的夹持力大小。还可以设置腔内医疗器械80有无转动(转动量)和/或位移(位移量)的检测机构，以确认夹持是否稳固以及具体转动角度和位移距离。In addition, a clamping force detection mechanism can be provided between the compression spring 40 and the plug cap 60 to detect the clamping force of the intracavitary medical device 80. A detection mechanism can also be provided to detect whether the intracavitary medical device 80 rotates (rotation amount) and/or moves (displacement amount) to confirm whether the clamping is stable and the specific rotation angle and displacement distance.
请参考图4-5，为本发明筒夹结构的第二实施例的示意图。为了本发明筒夹结构的清晰展示，虽然图中省去某些部件未示出，但其仍然是重要的。Please refer to Figures 4-5, which are schematic diagrams of the second embodiment of the collet structure of the present invention. For the sake of clear illustration of the collet structure of the present invention, although some parts are omitted in the figures, they are still important.
该筒夹结构包括第一转动件10′、第二转动件20′、至少两个夹持柱30′和两个迫紧件。本实施例中，迫紧件为弯折杠杆40′。第一转动件10′包括第一转动轮11′和凸设于第一转动轮11′的两个相对侧面的第一支撑柱12′和套筒14′，第一支撑柱12′和套筒14′分别向相反的方向延伸形成。第一转动件10′沿第一支撑柱12′和套筒14′(也即沿着第一转动轮11′的转动中心线)开设贯通的第一通孔16′。第一转动轮11′开设至少两个容纳孔18′，两个容纳孔18′均与第一通孔16′相连通。第一通孔16′在靠近套筒14′末端的内孔壁形成内螺纹15′。套筒14′与第一转动轮11′之间开设连通第一通孔16′和两个容纳孔18′的豁口13′，豁口13′边上凸设两个枢转轴17′。第二转动件20′包括第二转动轮21′和凸设于第二转动轮21′的两个相对侧面的第二支撑柱22′和套轴24′，第二支撑柱22′和套轴24′分别向相反的方向延伸形成。第二转动件20′沿着第二支撑柱22′和套轴24′(也即沿着第二转动轮20′的转动中心线)开设贯通的第二通孔26′。套轴24′的外周壁形成外螺纹25′，以配合套筒14′的内螺纹15′，让套轴24′在第一通孔16′内相对套筒14′转动，则套轴24′同轴地定位在套筒14′内，而第二通孔26′与第一通孔16′相连通，第一转动轮11′的转动中心线与第二转动轮21′的转动中心线相重合。本实施例中，两个容纳孔18′位于通过第一转动轮11′的转动中心线的同一直线(即垂直于第一转动轮11′和第二转动轮21′的转动中心线)上并沿径向延伸至第一转动轮11′的外周面、位于豁口13′处的两个枢转轴17′对称设置。The collet structure includes a first rotating member 10', a second rotating member 20', at least two clamping columns 30' and two clamping members. In this embodiment, the clamping member is a bending lever 40'. The first rotating member 10' includes a first rotating wheel 11' and a first supporting column 12' and a sleeve 14' protruding from two opposite sides of the first rotating wheel 11', and the first supporting column 12' and the sleeve 14' are respectively extended in opposite directions. The first rotating member 10' is provided with a first through hole 16' that passes through along the first supporting column 12' and the sleeve 14' (that is, along the rotation center line of the first rotating wheel 11'). The first rotating wheel 11' is provided with at least two accommodating holes 18', and the two accommodating holes 18' are both connected to the first through hole 16'. The first through hole 16' forms an internal thread 15' on the inner hole wall near the end of the sleeve 14'. A notch 13′ is provided between the sleeve 14′ and the first rotating wheel 11′, which communicates with the first through hole 16′ and the two receiving holes 18′, and two pivot shafts 17′ are protruded on the edge of the notch 13′. The second rotating member 20′ includes a second rotating wheel 21′ and a second support column 22′ and a sleeve shaft 24′ protruded on two opposite sides of the second rotating wheel 21′, and the second support column 22′ and the sleeve shaft 24′ are formed to extend in opposite directions respectively. The second rotating member 20′ is provided with a second through hole 26′ extending along the second support column 22′ and the sleeve shaft 24′ (that is, along the rotation centerline of the second rotating wheel 20′). The outer peripheral wall of the sleeve shaft 24′ forms an external thread 25', so as to match the internal thread 15' of the sleeve 14', so that the sleeve 24' can rotate relative to the sleeve 14' in the first through hole 16', the sleeve 24' is coaxially positioned in the sleeve 14', and the second through hole 26' is connected with the first through hole 16', and the rotation center line of the first rotating wheel 11' coincides with the rotation center line of the second rotating wheel 21'. In this embodiment, the two receiving holes 18' are located on the same straight line passing through the rotation center line of the first rotating wheel 11' (i.e., perpendicular to the rotation center line of the first rotating wheel 11' and the second rotating wheel 21') and extend radially to the outer peripheral surface of the first rotating wheel 11', and the two pivot shafts 17' located at the notch 13' are symmetrically arranged.
两个夹持柱30′分别可滑动地容纳于两个容纳孔18′内。每一夹持柱30′于一端形成夹持端面34′、于中间开设穿设孔36′。穿设孔36′的延伸方向垂直于容纳孔18′的延伸方向、平行于套筒14′的延伸方向。为了让两个夹持柱30′的夹持端面34′对腔内医疗器械80′的可靠夹持，其可以呈任何形状或者在上面设置任何增大摩擦或夹持力的结构，同时为了防止夹持时损伤腔内医疗器械80′，可在两个夹持柱30′的夹持端面34′上贴敷保护垫33′。The two clamping columns 30' are slidably accommodated in the two receiving holes 18', respectively. Each clamping column 30' forms a clamping end face 34' at one end and a through hole 36' in the middle. The extension direction of the through hole 36' is perpendicular to the extension direction of the receiving hole 18' and parallel to the extension direction of the sleeve 14'. In order to ensure that the clamping end faces 34' of the two clamping columns 30' can reliably clamp the intracavitary medical device 80', they can be in any shape or have any structure that increases friction or clamping force. At the same time, in order to prevent damage to the intracavitary medical device 80' during clamping, a protective pad 33' can be applied to the clamping end faces 34' of the two clamping columns 30'.
该筒夹结构还包括穿设于第二通孔26′内的联动杆50′，联动杆50′的第一端伸出套轴24′、相对的第二端通过卡环51′与第二支撑柱22′的末端固定在一起，让联动杆50′只可相对第二转动件20′转动、不可沿延伸方向(即轴向)相对移动。联动杆50′的第一端具有两个滑柱53′。本实施例中，联动杆50′的第一端具有凹陷55′，两个滑柱53′位于凹陷55′内。The collet structure also includes a linkage rod 50' passing through the second through hole 26', the first end of the linkage rod 50' extending out of the sleeve shaft 24', and the opposite second end is fixed to the end of the second support column 22' through a clamp ring 51', so that the linkage rod 50' can only rotate relative to the second rotating member 20' and cannot move relatively along the extension direction (i.e., axial direction). The first end of the linkage rod 50' has two slide posts 53'. In this embodiment, the first end of the linkage rod 50' has a recess 55', and the two slide posts 53' are located in the recess 55'.
两个杠杆40′分别可转动地固定于套筒14′的两个枢转轴17′上并对扣设置。每一杠杆40′包括伸入容纳孔18′并位于相应夹持柱30′的穿设孔36′内的第一支臂42′和连接于第一支臂42′的第二支臂44′，第一支臂42′的延伸方向与第二支臂44′的延伸方向形成钝角，第二支臂44′对应联动杆50′的滑柱53′开设长形滑槽46′，以便杠杆40′转动时让滑柱53′在长形滑槽46′内滑动。The two levers 40' are rotatably fixed to the two pivot shafts 17' of the sleeve 14' and are arranged in a buckled manner. Each lever 40' includes a first arm 42' extending into the receiving hole 18' and located in the through hole 36' of the corresponding clamping column 30' and a second arm 44' connected to the first arm 42'. The extension direction of the first arm 42' forms an obtuse angle with the extension direction of the second arm 44'. The second arm 44' is provided with an elongated slide groove 46' corresponding to the slide column 53' of the linkage rod 50', so that the slide column 53' can slide in the elongated slide groove 46' when the lever 40' rotates.
要夹持腔内医疗器械80′时，让第一转动轮11′(即第一转动件10′)和第二转动轮21′(即第二转动件20′)分别沿不同时针方向转动，则第一转动件10′的套筒14′与第二转动件20′的套轴24′相对转动，让第一转动轮11′和第二转动轮21′相互靠近。同步地，套轴24′带动联动杆50′的第一端逐渐靠近两个夹持柱30′，其第一端的两个滑柱53′分别在两个杠杆40′的两个长形滑槽46′内从远点滑向近点，从而迫使两个杠杆40′分别以两个枢转轴17′为中心转动，让两个杠杆40′的两个第二支臂44′相互靠近、两个第一支臂42′则相互远离。当两个第一支臂42′分别在两个夹持柱30′的穿设孔36′内移动时，迫使两个夹持柱30′在相应的容纳孔18′内滑动而相互分离。本实施例中，两个第一支臂42′均形成一弯头48′，更有利于抵顶两个夹持柱30′相互远离。这时，筒夹结构处于打开状态，第一通孔16′与第二通孔26′相连通，即可让腔内医疗器械80′穿入。然后，让套筒14′(即第一转动轮11′)与套轴24′(即第二转动轮21′)分别沿与各自的原时针方向相反的方向转动，则第一转动轮11′和第二转动轮21′相互远离，套轴24′带动联动杆50′的第一端逐渐远离两个夹持柱30′，其第一端的两个滑柱53′分别在两个杠杆40′的两个长形滑槽46′内从近点滑向远点，从而迫使两个杠杆40′分别以两个枢转轴17′为中心转动，让两个杠杆40′的两个第二支臂44′相互远离、两个第一支臂42′则相互靠近。则两个第一支臂42′分别在两个夹持柱30′的穿设孔36′内移动，迫使两个夹持柱30′在相应的容纳孔18′内滑动而相互靠近，直至两个夹持柱30′的夹持端面34′夹紧腔内医疗器械80′。这时，第一转动轮11′和第二转动轮21′不再相对转动，而是由第一转动件10′和第二转动件20′一起沿同一时针方向转动以带动腔内医疗器械80′旋转。When the intracavitary medical device 80' is to be clamped, the first rotating wheel 11' (i.e., the first rotating member 10') and the second rotating wheel 21' (i.e., the second rotating member 20') are rotated in different clockwise directions respectively, so that the sleeve 14' of the first rotating member 10' and the sleeve shaft 24' of the second rotating member 20' rotate relative to each other, so that the first rotating wheel 11' and the second rotating wheel 21' are brought closer to each other. Synchronously, the sleeve shaft 24' drives the first end of the linkage rod 50' to gradually move The two sliding posts 53' at the first ends of the two clamping posts 30' slide from the far point to the near point in the two elongated sliding grooves 46' of the two levers 40', respectively, so that the two levers 40' are forced to rotate around the two pivot shafts 17', respectively, so that the two second arms 44' of the two levers 40' are close to each other and the two first arms 42' are separated from each other. When the two first arms 42' move in the through holes 36' of the two clamping posts 30', respectively, the two clamping posts 30' are forced to slide in the corresponding receiving holes 18' and separate from each other. In this embodiment, the two first arms 42' are formed with an elbow 48', which is more conducive to pushing the two clamping posts 30' away from each other. At this time, the collet structure is in an open state, the first through hole 16' is connected with the second through hole 26', and the intracavitary medical device 80' can be inserted. Then, the sleeve 14′ (i.e., the first rotating wheel 11′) and the sleeve shaft 24′ (i.e., the second rotating wheel 21′) are rotated in the direction opposite to their original clockwise directions, so that the first rotating wheel 11′ and the second rotating wheel 21′ move away from each other, and the sleeve shaft 24′ drives the first end of the linkage rod 50′ to gradually move away from the two clamping posts 30′, and the two sliding posts 53′ at the first end thereof slide from the near point to the far point in the two long sliding grooves 46′ of the two levers 40′, respectively, so that the two levers 40′ are respectively rotated around the two pivot shafts 17′, so that the two second arms 44′ of the two levers 40′ move away from each other, and the two first arms 42′ move toward each other. Then, the two first arms 42′ move in the through holes 36′ of the two clamping posts 30′, respectively, so that the two clamping posts 30′ slide in the corresponding receiving holes 18′ and move toward each other, until the clamping end faces 34′ of the two clamping posts 30′ clamp the intracavitary medical device 80′. At this time, the first rotating wheel 11 ′ and the second rotating wheel 21 ′ no longer rotate relative to each other, but the first rotating member 10 ′ and the second rotating member 20 ′ rotate together in the same clockwise direction to drive the intracavitary medical device 80 ′ to rotate.
要松开腔内医疗器械80′时，再让第一转动轮11′(第一转动件10′)和第二转动轮21′(第二转动件20′)分别沿原时针方向转动，套轴24′再次靠近两个夹持柱30′，而联动杆50′迫使两个杠杆40′分别以两个枢转轴17′为中心转动，再让两个杠杆40′的两个第二支臂44′相互靠近、两个第一支臂42′则相互远离。则两个第一支臂42′分别抵顶两个夹持柱30′逐渐远离，让夹持端面34′离开腔内医疗器械80′，即可让腔内医疗器械80′从第一通孔16′和第二通孔26′中取出。When the intracavitary medical device 80' is to be released, the first rotating wheel 11' (first rotating member 10') and the second rotating wheel 21' (second rotating member 20') are rotated in the original clockwise direction, and the sleeve shaft 24' is again close to the two clamping posts 30', and the linkage rod 50' forces the two levers 40' to rotate around the two pivot shafts 17', and then the two second arms 44' of the two levers 40' are close to each other, and the two first arms 42' are separated from each other. Then the two first arms 42' respectively push against the two clamping posts 30' and gradually separate, so that the clamping end surface 34' leaves the intracavitary medical device 80', and the intracavitary medical device 80' can be taken out from the first through hole 16' and the second through hole 26'.
前述“沿不同时针方向转动”即为第一转动轮11、11′(即第一转动件10、10′)和第二转动轮21、21′(即第二转动件20、20′)之中一个沿顺时针方向转动时、另一个沿逆时针方向转动；前述“同一时针方向转动”意指第一转动轮11、11′(即第一转动件10、10′)和第二转动轮21、21′(即第二转动件20、20′)同时沿顺时针方向或者逆时针方向转动。The aforementioned “rotating in different clockwise directions” means that when one of the first rotating wheel 11, 11′ (i.e., the first rotating member 10, 10′) and the second rotating wheel 21, 21′ (i.e., the second rotating member 20, 20′) rotates in the clockwise direction, the other rotates in the counterclockwise direction; the aforementioned “rotating in the same clockwise direction” means that the first rotating wheel 11, 11′ (i.e., the first rotating member 10, 10′) and the second rotating wheel 21, 21′ (i.e., the second rotating member 20, 20′) rotate in the clockwise direction. The moving wheels 11, 11' (ie, the first rotating members 10, 10') and the second rotating wheels 21, 21' (ie, the second rotating members 20, 20') rotate in a clockwise direction or a counterclockwise direction at the same time.
由上可知，该筒夹结构的零件少，结构简单、紧凑，成本低，而且夹持相当稳固，可避免在进退和/或转动的过程中打滑。As can be seen from the above, the collet structure has fewer parts, a simple and compact structure, low cost, and a fairly stable clamping structure, which can avoid slipping during the process of advancing, retreating and/or rotating.
本发明还提供一种无菌模块，其包括外壳、固定于外壳内的轴承座、支撑于轴承座的筒夹结构，外壳上对应筒夹结构的第一通孔和第二通孔分别开设第一放置孔、第二放置孔。如图6-7所示的实施例，该无菌模块包括外壳90、三个轴承座95、支撑于轴承座95的上述筒夹结构70。外壳90包括可以封闭起来的上壳91和下壳93，上壳91对应筒夹结构70的第一支撑柱71及其第一通孔(图中不可见)开设第一放置孔92、对于第二支撑柱73及其第二通孔(图中不可见)开设第二放置孔97。三个轴承座95间隔地固定，每一轴承座95包括基座951和支架环953。上述筒夹结构70的第一支撑柱71、第二支撑柱73、套筒75分别可转动地固定于三个轴承座95的支架环953内，从而支撑在外壳90内。另外，不仅为了支撑，也为了润滑和减少磨损，可在三个轴承座95与第一支撑柱71、第二支撑柱73和套筒75之间设置轴承。本实施例中，三个轴承座95的基座951固定于上壳91的顶部，让三个轴承座95倒置安装，其它实施例中，也可以正向安装、侧向安装或者其它任意方式安装。本实施例中，套筒75固定于轴承座95是为了让筒夹结构70稳定地转动。其它实施例中，也可以换由套轴77固定于中间的轴承座95或者另外增加的轴承座上。当然，也可以只用两个轴承座95来分别支撑第一支撑柱71、第二支撑柱73即可；甚至完全不需要轴承座95，让第一支撑柱71、第二支撑柱73分别直接穿设于外壳90的第一放置孔92、第二放置孔97，并可在第一放置孔92和第二放置孔97内安装轴承利于转动，也可以在外壳90内一体成型支撑板，用于支撑套筒75和/或套轴77。The present invention also provides a sterile module, which includes a shell, a bearing seat fixed in the shell, and a collet structure supported by the bearing seat, and the shell has a first placement hole and a second placement hole corresponding to the first through hole and the second through hole of the collet structure. As shown in the embodiment of Figures 6-7, the sterile module includes a shell 90, three bearing seats 95, and the collet structure 70 supported by the bearing seat 95. The shell 90 includes an upper shell 91 and a lower shell 93 that can be closed. The upper shell 91 has a first placement hole 92 corresponding to the first support column 71 and the first through hole (not visible in the figure) of the collet structure 70, and a second placement hole 97 corresponding to the second support column 73 and the second through hole (not visible in the figure). The three bearing seats 95 are fixed at intervals, and each bearing seat 95 includes a base 951 and a support ring 953. The first support column 71, the second support column 73, and the sleeve 75 of the collet structure 70 are respectively rotatably fixed in the support ring 953 of the three bearing seats 95, so as to be supported in the shell 90. In addition, not only for support, but also for lubrication and wear reduction, bearings can be provided between the three bearing seats 95 and the first support column 71, the second support column 73 and the sleeve 75. In this embodiment, the base 951 of the three bearing seats 95 is fixed to the top of the upper shell 91, so that the three bearing seats 95 are installed upside down. In other embodiments, they can also be installed forward, sideways or in any other way. In this embodiment, the sleeve 75 is fixed to the bearing seat 95 to allow the collet structure 70 to rotate stably. In other embodiments, the sleeve shaft 77 can also be fixed to the middle bearing seat 95 or to an additional bearing seat. Of course, only two bearing seats 95 can be used to support the first support column 71 and the second support column 73 respectively; or even the bearing seat 95 is completely unnecessary, and the first support column 71 and the second support column 73 can be directly inserted into the first placement hole 92 and the second placement hole 97 of the outer shell 90 respectively, and bearings can be installed in the first placement hole 92 and the second placement hole 97 to facilitate rotation, or a support plate can be integrally formed in the outer shell 90 to support the sleeve 75 and/or the sleeve shaft 77.
该无菌模块既可以在使用时与腔内医疗器械安装在一起，也可以在出厂或使用前与腔内医疗器械预装在一起，用作手术机器人的操作组件。关于筒夹结构70的第一转动轮72、第二转动轮74的驱动，具体参中国专利申请202310237481.7描述的一种手术执行装置及具有该手术执行装置的手术机器人以及中国专利申请202210803401.5描述的一种手术机器人装置及其操作方法、中国专利申请202211105526.7描述的一种手术机器人，其全部内容引入本发明。同时在筒夹结构70的下壳93底部安装永磁块98，让手术机器人的驱动组件通过非接触场力对永磁块98的驱动而带动该无菌模块移动。当然，永磁块98也可以替换为电磁铁、电磁感应、电场耦合、直流谐振等非接触地隔空控制方式来实现。因此，本质上，永磁块98可以看作一般意义的移动从动件(亦或称为移动感应件)，可通过“非接触地隔空控制”方式实现动力传动。也即，任何利用手术机器人的驱动组件的场力对该无菌模块的驱动，以实现该无菌模块和腔内医疗器械的移动的非接触地隔空控制/传动方式都属于发明的保护范围。The sterile module can be installed together with the intracavitary medical device when in use, or it can be pre-installed with the intracavitary medical device before leaving the factory or before use, and used as an operating component of a surgical robot. Regarding the drive of the first rotating wheel 72 and the second rotating wheel 74 of the collet structure 70, please refer to Chinese patent application 202310237481.7 for a surgical execution device and a surgical robot having the surgical execution device, and Chinese patent application 202210803401.5 for a surgical robot device and its operating method, A surgical robot described in Chinese patent application 202211105526.7 is introduced in its entirety into the present invention. At the same time, a permanent magnet block 98 is installed at the bottom of the lower shell 93 of the collet structure 70, so that the driving component of the surgical robot drives the sterile module to move by driving the permanent magnet block 98 through non-contact field force. Of course, the permanent magnet block 98 can also be replaced by non-contact air-space control methods such as electromagnets, electromagnetic induction, electric field coupling, and DC resonance. Therefore, in essence, the permanent magnet block 98 can be regarded as a moving follower (also called a moving induction component) in a general sense, and power transmission can be achieved through a "non-contact air-space control" method. That is, any non-contact air-space control/transmission method that uses the field force of the driving component of the surgical robot to drive the sterile module to achieve the movement of the sterile module and the intracavitary medical device belongs to the scope of protection of the invention.
这样，该无菌模块可让腔内医疗器械从所述外壳90外穿过第一放置孔92和第二放置孔97而穿设于所述外壳90内的筒夹结构上并被夹持，让腔内医疗器械的穿通简单、顺畅，可避免被意外阻挡，提高了穿通效率。In this way, the sterile module allows intracavitary medical devices to pass through the first placement hole 92 and the second placement hole 97 from outside the shell 90 and be inserted into and clamped on the barrel clamp structure inside the shell 90, making the penetration of intracavitary medical devices simple and smooth, avoiding accidental obstruction, and improving the penetration efficiency.
以上实施例仅表达了发明的有限实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离发明构思的前提下，还可以做出若干变形和改进或变劣，这些都属于发明的保护范围。因此，发明专利的保护范围以权利要求为准。The above embodiments only express limited implementation methods of the invention, and their descriptions are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements or deteriorations can be made without departing from the inventive concept, which all belong to the protection scope of the invention. Therefore, the protection scope of the invention patent shall be based on the claims.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310304632.6 | 2023-03-14 | ||
| CN202310304632.6ACN118697475A (en) | 2023-03-14 | 2023-03-14 | A cartridge structure and a sterile module having the cartridge structure |
| Publication Number | Publication Date |
|---|---|
| WO2024188366A1true WO2024188366A1 (en) | 2024-09-19 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2024/090305PendingWO2024188366A1 (en) | 2023-03-14 | 2024-04-28 | Collet structure and sterile module provided with collet structure |
| Country | Link |
|---|---|
| CN (1) | CN118697475A (en) |
| WO (1) | WO2024188366A1 (en) |
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