CN218247293U - Conveying actuator and conveying device - Google Patents

Abstract

The utility model relates to a carry executor and conveyor. The conveying actuator comprises a swinging seat, a first clamp arm, a second clamp arm and a connecting rod mechanism; the swing seat is rotatably connected with a base; the control end of the connecting rod mechanism is connected with a control mechanism, a first front connecting end and a first rear connecting end are respectively connected with the first clamp arm at two positions on the first clamp arm along the head-tail direction, a second front connecting end and a second rear connecting end are respectively connected with the second clamp arm at two positions on the second clamp arm along the head-tail direction, and a third connecting end is connected with the swinging seat; the connecting rod mechanism can respond to the control of the control end, acts on the first forceps arm through the first front connecting end and the first rear connecting end, and acts on the second forceps arm through the second front connecting end and the second rear connecting end, so that the first forceps arm and the second forceps arm are clamped or opened in parallel; the plane in which the first and second jawarms move relative to the swing base and the plane of rotation in which the swing base rotates relative to the base are coplanar with each other or perpendicular to each other.

Description

Conveying actuator and conveying device

Technical Field

The utility model relates to the field of medical equipment, especially, relate to a carry executor and conveyor.

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, needs frequent monitoring, has more contraindications and is difficult to apply clinically; 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 auricle clamp that current auricle clamp conveyor carried generally includes two parallel arm lock, still has two spring parts simultaneously, and these two spring parts are located the both ends of auricle clamp, can keep the clamp of two arm lock through these two spring parts. The front end of the auricle clamp conveying device is generally provided with a slightly square outer frame so as to bind the auricle clamp in the auricle clamp conveying device, the conveying device outer frame utilizes a traction rope to pull a clamping arm of the auricle clamp so as to tension the traction rope, and therefore the auricle clamp can be pulled open, and the auricle clamp can be driven to clamp and convey to a focus to execute the extracardiac closing operation of the left auricle.

The problem that above-mentioned current auricle clamp conveyor exists is, for the auricle clamp that the adaptation has two parallel arm lock, its frame needs parallel motion to two arm lock of control auricle clamp are keeping parallelism in the tight in-process of clamp continuously, just so lead to auricle clamp conveyor's frame great, make the degree of difficulty of sending into great, and need great operating space in focus department, and this also makes the big and risk of closed operation degree of difficulty higher.

SUMMERY OF THE UTILITY MODEL

The utility model provides a carry executor and conveyor to solve the technical problem who exists among the above-mentioned prior art.

The utility model provides a conveying actuator, which comprises a swing seat, a first clamp arm, a second clamp arm and a connecting rod mechanism; the swinging seat is connected with a base and is rotatably connected with the base; the link mechanism is provided with a control end, a first front connecting end, a first rear connecting end, a second front connecting end, a second rear connecting end and a third connecting end; the control end is connected with a control mechanism, the first front connecting end and the first rear connecting end are respectively connected with the first clamp arm at two positions on the first clamp arm along the head-tail direction, the second front connecting end and the second rear connecting end are respectively connected with the second clamp arm at two positions on the second clamp arm along the head-tail direction, and the third connecting end is connected with the swinging seat; the link mechanism can respond to the control mechanism connected with the control end to control the control end, and acts on the first forceps arm through the first front connecting end and the first rear connecting end and acts on the second forceps arm through the second front connecting end and the second rear connecting end so that the first forceps arm and the second forceps arm are clamped or opened in parallel; the first and second clamp arms move relative to the swinging seat on a plane, and the swinging seat rotates relative to the base on a rotation plane, which are coplanar or perpendicular to each other.

The connecting rod mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod and a seventh connecting rod; the first connecting rod and the second connecting rod are hinged, and the hinged ends of the first connecting rod and the second connecting rod are positioned between the first end and the second end of the first connecting rod and between the first end and the second end of the second connecting rod, so that the first connecting rod and the second connecting rod form an X-shaped scissor structure; first ends of the first connecting rod and the second connecting rod are respectively hinged with the first forceps arm and the second forceps arm, and second ends of the first connecting rod and the second connecting rod are respectively hinged with first ends of the third connecting rod and the fourth connecting rod; second ends of the third connecting rod and the fourth connecting rod are hinged with the swinging seat, and the third connecting rod and the fourth connecting rod are hinged with the swinging seat in the same axial direction; first ends of the fifth connecting rod and the sixth connecting rod are respectively hinged with the first clamp arm and the second clamp arm, second ends of the fifth connecting rod and the sixth connecting rod are hinged with a first end of the seventh connecting rod, and a second end of the seventh connecting rod is hinged with a hinged end between the first connecting rod and the second connecting rod together with the first connecting rod and the second connecting rod; the swing seat is provided with a guide groove, and the direction of the guide groove is parallel to the first tong arm and the second tong arm; the seventh connecting rod is arranged in the guide groove and can slide along the guide groove; the hinged end of the first connecting rod and the hinged end of the second connecting rod are the control ends; the hinged end of the first connecting rod and the first forceps arm is the first front connecting end, and the hinged end of the fifth connecting rod and the first forceps arm is the first rear connecting end; the hinged end of the second connecting rod and the second forceps arm is the second front connecting end, and the hinged end of the sixth connecting rod and the second forceps arm is the second rear connecting end; the third connecting end and the connecting end of the fourth connecting rod and the swinging seat, and the first end and the second end of the seventh connecting rod are the third connecting end.

The connecting rod mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod and a sixth connecting rod; the first connecting rod and the second connecting rod are hinged, and the hinged ends of the first connecting rod and the second connecting rod are positioned between the first end and the second end of the first connecting rod and between the first end and the second end of the second connecting rod, so that the first connecting rod and the second connecting rod form an X-shaped scissor structure; the hinged shafts of the first connecting rod and the second connecting rod are hinged with the swinging seat; first ends of the first connecting rod and the second connecting rod are respectively hinged with the first forceps arm and the second forceps arm, and second ends of the first connecting rod and the second connecting rod are respectively hinged with first ends of the third connecting rod and the fourth connecting rod; the second ends of the third connecting rod and the fourth connecting rod are hinged; first ends of the fifth connecting rod and the sixth connecting rod are respectively hinged with the first clamp arm and the second clamp arm, second ends of the fifth connecting rod and the sixth connecting rod are hinged, and hinged shafts of the fifth connecting rod and the sixth connecting rod are hinged with the swinging seat; the swing seat is provided with a guide groove, and the direction of the guide groove is parallel to the first tong arm and the second tong arm; the hinge shafts of the third connecting rod and the fourth connecting rod are arranged in the guide groove and can slide along the guide groove; the hinged end of the third connecting rod and the hinged end of the fourth connecting rod are the control ends; the hinged end of the first connecting rod and the first forceps arm is the first front connecting end, and the hinged end of the fifth connecting rod and the first forceps arm is the first rear connecting end; the hinged end of the second connecting rod and the second forceps arm is the second front connecting end, and the hinged end of the sixth connecting rod and the second forceps arm is the second rear connecting end.

Wherein the first jawarm is provided with a first linear binding portion, the opening of which faces the second jawarm; the second jawarm is provided with second linear binding portion, the opening of second linear binding portion is towards first jawarm.

The first clamp arm is provided with a first fixing groove connected with the first linear binding part, and the second clamp arm is provided with a second fixing groove connected with the second linear binding part.

The number of the first fixing grooves is at least two, and the number of the second fixing grooves is at least two.

The first clamp arm is provided with a first notch, and the first notch is arranged at the tail end of the first clamp arm; and a second notch is arranged on the second clamp arm, and the second notch is arranged at the tail end of the second clamp arm.

The utility model provides a conveying device, it includes controller and foretell transport executor.

The controller comprises a first control mechanism, and the first control mechanism is connected with the control end of the link mechanism of the conveying actuator; the first control mechanism comprises a first connecting line and a first receiving piece, and the first connecting line is wound on the first receiving piece and is connected with the control end.

The first end of the first connecting wire is connected with a stop block, the stop block abuts against a fixing hole formed in the swing seat and is fixed, and the first connecting wire penetrates through the fixing hole and winds around the control end, so that the pulley structure is formed at the control end of the first connecting wire.

The conveying device further comprises a second control mechanism, and the second control mechanism is connected with the swinging seat and used for controlling the swinging seat to rotate relative to the base.

The second control mechanism comprises a second rolling member and at least two second connecting lines, the first ends of the at least two second connecting lines are respectively connected to the first side and the second side of the swinging seat, and the first side and the second side of the swinging seat are two sides of a hinged end between the swinging seat and the base, which are positioned on a rotating path; a second end of the second connecting line is wound on the second roll-up member; or alternatively

The second control mechanism comprises a connecting rod, the first end of the connecting rod is connected with the swinging seat, the connecting position of the connecting rod and the swinging seat is located outside the hinging shaft between the swinging seat and the base, and the second end of the connecting rod is connected to a handheld operation part arranged at the rear end of the conveying device.

Wherein, a fixed part is arranged on the swinging seat; the conveying device comprises a third connecting line, and the third connecting line comprises a first sub control line and a second sub control line; the first sub control line and the second sub control line comprise a binding part, a control part and a connecting part for connecting the binding part and the control part; the binding part of the first sub-control line movably binds an implant on the first clamp arm at the first clamp arm, the control part is fixedly connected to the fixing part of the swinging seat, and the control part is used for being triggered to unbind the binding part; the binding part of the second sub-control line movably binds an implant on the second clamp arm at the second clamp arm, the control part is fixedly connected to the fixing part of the swinging seat, and the control part is used for being triggered to unbind the binding part.

The swing seat is provided with a plurality of wire grooves, and the tail ends of at least part of the wire grooves are provided with opening parts.

The embodiment of the utility model provides an above-mentioned transport executor and conveyor compare with prior art has following advantage:

the embodiment of the utility model provides a carry executor, its swing seat rotates in a plane for the base, rather than freely swinging on three-dimensional space, like this to swing seat, control its control part that rotates for the base needs is less, just so can reduce equipment cost; meanwhile, the number of control nodes for the swinging seat to rotate relative to the base is less, so that the probability of failure in the control process can be reduced, and the reliability of motion control is improved. And the plane in which the first and second clamp arms move relatively to the swing seat and the plane in which the swing seat rotates relatively to the base are in the same plane or have a perpendicular relationship, so that the arrangement is convenient for moving the implant to the target position in one plane or one perpendicular plane, and enabling the first and second clamp arms to be closed or opened in the same plane at the target position. Generally, the direction of the implant moving at the target position is determined, and based on the determined moving direction, since the rotating direction of the swing seat relative to the base and the determined moving direction have a correlation, the determined moving direction can be used as a reference when the swing seat is controlled to rotate relative to the base, so that the rotation of the swing seat relative to the base can be accurately controlled, and the first and second clamp arms and the implant fixed thereon can be accurately moved to the target position.

The embodiment of the utility model provides a conveying device, it includes foretell transport executor, has the beneficial effect unanimous with foretell transport executor, no longer gives unnecessary details.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present 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 those skilled in the art that other drawings can be obtained according to the drawings without inventive labor.

Fig. 1 is a schematic view of an opened state of a conveying actuator according to an embodiment of the present invention;

FIG. 2 is a schematic view of the delivery actuator of FIG. 1 in a closed state;

FIG. 3 is a schematic view of the delivery actuator of FIG. 1 shown coupled to an implant and in an open position;

FIG. 4 is a schematic view of the delivery actuator of FIG. 1 coupled to an implant and in a closed position;

FIG. 5 is a schematic structural view of a linkage mechanism and first and second jawarms of the delivery actuator of FIG. 1;

FIG. 6 is a schematic view of the linkage mechanism and the swing base and the connection between the first and second jawarms of the transport actuator of FIG. 1;

FIG. 7 is a schematic structural view of a linkage mechanism in the transport actuator of FIG. 1;

FIG. 8 is a schematic view of a swing seat of the transport actuator shown in FIG. 1;

FIG. 9 is a schematic illustration of the first and second jawarms of the transport actuator of FIG. 1;

fig. 10 is a schematic view of an open state of a delivery actuator according to a modified embodiment of the present invention;

FIG. 11 is a schematic view of the delivery actuator of FIG. 10 in a closed state;

FIG. 12 is a schematic view of the delivery actuator of FIG. 10 coupled to an implant and in an open position;

FIG. 13 is a schematic view of the delivery actuator of FIG. 10 coupled to an implant and in a closed position;

fig. 14 is a schematic view of a control manner of the first control mechanism;

fig. 15 is a schematic view of a control manner of the second control mechanism;

fig. 16 is a schematic structural view of a conveying actuator according to another embodiment of the present invention;

FIG. 17 is a schematic illustration of the linkage and the first and second jawarms of the transfer actuator of FIG. 16;

FIG. 18 is a schematic structural view of a linkage mechanism in the transport actuator of FIG. 16;

FIG. 19 is a schematic view of the swing seat and base of the transport actuator of FIG. 16;

FIG. 20 is a schematic illustration of a cross-section in one direction of the structure shown in FIG. 19;

fig. 21 is a schematic structural view of a conveying actuator according to another embodiment of the present invention;

FIG. 22 is a schematic view of the first and second jawarms of the embodiment of FIG. 21 in one direction of view;

FIG. 23 is a schematic view of the first and second jawarms of the embodiment of FIG. 21 from another perspective;

FIG. 24 is an exploded view of the second control mechanism of the embodiment of FIG. 21 (with the base and swing base separated in the illustrated longitudinal direction);

FIG. 25 is a schematic view in a first perspective (top) view of a swing base in one embodiment;

FIG. 26 is a schematic view of a second view (bottom) of the swing base in one embodiment;

FIG. 27 is a schematic view of a partial structure (showing wire channels) of a cross-section of a swing seat in one embodiment;

FIG. 28 is a schematic view of a partial structure (showing the wire groove and stop) of another section of the swing seat in one embodiment;

FIG. 29 is a schematic view of the swing seat in a first viewing direction (front end viewing angle) in another embodiment;

FIG. 30 is a schematic view of a second viewing direction (rear end view) of the swing seat in another embodiment;

FIG. 31 isbase:Sub>A schematic view ofbase:Sub>A cross-sectional configuration A-A of the swing seat (showing the wire chase) in another embodiment;

figure 32 is a schematic view of a cross-sectional view along B-B of the swing seat (showing the wire troughs and stops) in another embodiment.

In the figure:

10-a base;

20-a swing seat;

201-a guide groove; 202-fixing holes; 203. 203a, 203b, 203c, 203d, 203 e-wire slots; 204-a stopper; 205-a stop; 206-a connecting rod;

2031-a body portion; 2032-an open part;

30-a linkage mechanism;

301-a first link; 301 a-a first end; 301 b-second end;

302-a second link; 302 a-first end; 302 b-a second end;

303-a third link; 303 a-first end; 303 b-a second end;

304-a fourth link; 304 a-a first end; 304 b-a second end;

305-a fifth link; 305 a-a first end; 305 b-a second end;

306-a sixth link; 306 a-a first end; 306 b-a second end;

307-seventh link; 307 a-first end; 307 b-a second end;

40-a first jawarm;

401-a first linear binding portion; 402-a first fixation slot; 403-a first notch;

50-a second jawarm;

501-a second linear binding portion; 502-a second fixation slot; 503-a second gap;

a1-a first front connection end; a2-a first rear connection end; b1-a second front connection end; b2-a second rear connection end; c-a third connection end; d-a control end; m-implant.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

The following describes embodiments of a conveying actuator and a conveying device according to the present invention with reference to the drawings.

(1) Embodiments of the delivery actuator

Referring to fig. 1 to 4, the conveying actuator provided in this embodiment is installed at the front end of the conveying device, and is used for connecting and fixing the implant M to be conveyed. The implant M delivered by the delivery device can be, for example, an atrial appendage clip. Taking an auricle clamp as an example, after the auricle clamp is fixed on a conveying actuator, the conveying device is operated to enable the conveying actuator to enter a target position in a human body, namely a left auricle position, at the target position, the auricle clamp closes the left auricle, then the connection and fixation between the conveying actuator and the auricle clamp are released, the auricle clamp is released from the conveying actuator, and finally the conveying device is operated to withdraw the conveying actuator from the human body.

In general, a delivery device includes a hand-held operation portion and a delivery actuator, and a connecting portion connecting the hand-held operation portion and the delivery actuator therebetween. As described above, the delivery actuator is used for fixing an implant such as an auricle clip; the handheld operation part is used for holding and controlling components such as the conveying actuator and the like in the using process, for the conveying actuator, the conveying actuator can extend into a human body when being used, and the handheld operation part is positioned outside the human body; the connecting part is generally in a rod-shaped structure or a tubular structure, and two ends of the connecting part are respectively and directly connected with the conveying actuator and the handheld operating part, or are connected with the conveying actuator and the handheld operating part through corresponding connecting parts and other accessories. In this embodiment, the direction of the conveyance actuator with respect to the hand-held operation unit is referred to as front, and the direction of the hand-held operation unit with respect to the conveyance actuator is referred to as rear. In describing aspects of the present invention, head end, front end and other directional terms having similar meanings indicate that the component defined by the directional term is located on the front side of the reference, while tail end, rear end and other directional terms having similar meanings indicate that the component defined by the directional term is located on the rear side of the reference.

In the present embodiment, as shown in fig. 1 to 4, the transfer actuator includes a base 10, a swing base 20, a link mechanism 30, a first jawarm 40, and a second jawarm 50. The swing seat 20 is connected to the base 10 and rotatably connected to the base 10. The base 10 may be fixedly connected to the connection part at a front side of the connection part.

As shown in fig. 5 to 7, the link mechanism 30 has a first front connection end A1, a first rear connection end A2, a second front connection end B1, a second rear connection end B2, a third connection end C, and a control end D; the control end D is connected with a control mechanism, the first front connecting end A1 and the first rear connecting end A2 are respectively connected with the first clamp arm 40 at two positions on the first clamp arm 40 along the head-tail direction, the second front connecting end B1 and the second rear connecting end B2 are respectively connected with the second clamp arm 50 at two positions on the second clamp arm 50 along the head-tail direction, and the third connecting end C is connected with the swing seat 20. The linkage 30 is capable of clamping or spreading the first and second jawarms 40, 50 in parallel by acting on the first jawarms 40 through the first forward and rear connection ends A1, A2 and on the second jawarms 50 through the second forward and rear connection ends B1, B2 in response to manipulation of the control end D by a control mechanism connected thereto.

The linkage 30 has a first forward connection end A1 and a first rearward connection end A2 connected to the first jawarm 40, whereby the linkage 30 can apply equal or corresponding forces to two locations on the first jawarm 40 towards or away from the second jawarm 50, thereby enabling the first jawarm 40 to move translationally closer to or farther away from the second jawarm 50, while maintaining no angular change between the first jawarm 40 and the second jawarm 50. Similarly, the linkage 30 has a second forward connecting end B1 and a second rearward connecting end B2 connected to the second jawarm 50, upon which the linkage 30 can apply equal or corresponding forces to two locations on the second jawarm 50, toward or away from the first jawarm 40, thereby enabling the second jawarm 50 to move translationally toward or away from the first jawarm 40, maintaining no angular change between the second jawarm 50 and the first jawarm 40 during the process. Thus, based on the above two aspects, by providing a control mechanism to exert a suitable force on the control end D, the linkage mechanism 30 can control the first and second jawarms 40, 50 to move in parallel toward or away from each other, such that the first and second jawarms 40, 50 tend toward the closed state or toward the open state.

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

The first link 301 and the second link 302 are hinged, and the hinged ends of the first link 301 and the second link 302 are located between the first end 301a and the second end 301b of the first link 301 and between the first end 302a and the second end 302b of the second link 302, so that the first link 301 and the second link 302 form an X-shaped scissors structure. A first end 301a of the first link 301 and a first end 302a of the second link 302 are hingedly connected to the first jawarm 40 and the second jawarm 50, respectively, and a second end 301b of the first link 301 and a second end 302b of the second link 302 are hingedly connected to a first end 304a of the fourth link 304 and a first end 303a of the third link 303, respectively; the second end 303b of the third link 303 and the second end 304b of the fourth link 304 are hinged to the swing seat 20, and the third link 303 and the fourth link 304 are hinged to the swing seat 20 in the same axial direction. A first end 305a of the fifth link 305 and a first end 306a of the sixth link 306 are respectively hinged with the first and second forceps arms 40 and 50, a second end 305b of the fifth link 305 and a second end 306b of the sixth link 306 are hinged with a first end 307a of the seventh link 307, and a second end 307b of the seventh link 307 is hinged with the hinged ends between the first and second links 301 and 302 and the first and second links 301 and 302. As shown in fig. 8, the swing seat 20 is provided with a guide groove 201, and the direction of the guide groove 201 is parallel to the first and second clamp arms 40 and 50; the seventh link 307 is disposed in the guide groove 201 and is slidable along the guide groove 201.

As shown in fig. 7, the hinged end of the first link 301 and the second link 302 is a control end D. The hinged end of the first link 301 and the first forceps arm 40, i.e. the first end 301a of the first link 301, is a first front connecting end A1, and the hinged end of the fifth link 305 and the first forceps arm 40, i.e. the first end 305a of the fifth link 305, is a first rear connecting end A2. The hinged end of the second link 302 and the second forceps arm 50, i.e., the first end 302a of the second link 302, is a second front connecting end B1, and the hinged end of the sixth link 306 and the second forceps arm 50, i.e., the first end 306a of the sixth link, is a second rear connecting end B2. The third connecting end C includes the connecting ends of the third link 303 and the fourth link 304 with the swing seat 20, i.e., the second end 303b of the third link 303 and the second end 304b of the fourth link 304, and further includes the first end 307a and the second end 307b of the seventh link 307.

With the link mechanism 30 in this embodiment, when the control mechanism applies a pulling force from the rear side of the control end D to the control end D toward the rear side of the conveying actuator, since the second end 303b of the third link 303 and the second end 304b of the fourth link 304 are hinged to the swing seat 20, and the positions thereof are fixed, in the four-link structure formed by four connecting ends, i.e., the second end 301b of the first link 301 (the first end 304a of the fourth link 304), the second end 302b of the second link 302 (the first end 303a of the third link 303), the second end 303b of the third link 303 (the second end 304b of the second link 304), and the hinged ends of the first link 301 and the second link 302, the second end 301b of the first link 301 (the first end 304a of the fourth link 304) and the second end 302b of the second link 302 (the first end 303a of the third link 303) move away from each other, and the hinged ends of the first link 301 and the second link 302 move toward each other in the direction in which the second end 303b of the third link 303 (the second end 304 b) moves toward each other. Accordingly, the first end 301a of the first link 301 and the first end 302a of the second link 302 are opposite each other, i.e., at the first front connection end A1, the first jawarm 40 is biased in a direction away from the second jawarm 50 and tends to move away from the second jawarm 50, and at the second front connection end B1, the second jawarm 50 is biased in a direction away from the first jawarm 40 and tends to move away from the first jawarm 40.

A parallelogram four-bar linkage structure is formed between the first end 301a of the first link 301, the first end 305a of the fifth link 305, the first end 307a of the seventh link 307 (the hinged ends of the fifth link 305 and the sixth link 306), and the second end 307b of the seventh link 307 (the hinged ends of the first link 301 and the second link 302). Under the condition that the seventh link 307 is located in the guide slot 201 of the swing seat 20 and is constrained to move only along the guide slot 201 toward the rear end of the conveying actuator, the first link 301 drives the first clamp arm 40 to move toward the second clamp arm 50 at the first end 301a, i.e., the first front connection end A1, and during the moving process, the four-link structure maintains the parallelogram shape, so that at the first rear connection end A2, the first clamp arm 40 also moves toward the second clamp arm 50, and the parallel state between the first clamp arm 40 and the seventh link 307 is maintained.

Similarly, a parallelogram four-link structure is also formed between the first end 302a of the second link 302, the first end 306a of the sixth link 306, the first end 307a of the seventh link 307 (the hinged ends of the fifth link 305 and the sixth link 306), and the second end 307b of the seventh link 307 (the hinged ends of the first link 301 and the second link 302). The second link 302 drives the second clamp arm 50 to move back to the first clamp arm 40 at the first end 302a, i.e., the second front connection end B1, and during the movement, the four-link structure maintains the parallelogram shape, so that the second clamp arm 50 also moves back to the first clamp arm 40 at the second rear connection end B2, and the parallel state between the second clamp arm 50 and the seventh link 307 is maintained.

Thus, as described above, the control mechanism applies a rearward pulling force to the control end D, so that the first and second arms 40 and 50 are moved away from each other in parallel to change the state to the opened state.

Conversely, when the control mechanism no longer applies a pulling force to the control end D from the rear side of the control end D, the control mechanism releases the control end D, and at this time, the implant connected and fixed to the first and second forceps arms 40 and 50 of the delivery actuator can apply opposite forces to the first and second forceps arms 40 and 50 (for example, specifically, by providing an elastic component in a stretching state on the implant), under which forces the first and second forceps arms 40 and 50 tend to approach each other and transition to the closed state. The process of shifting to the closed state is similar to the process of shifting the first and second clamp arms 40 and 50 to the open state, and the process will not be described again, and the final state is achieved by moving the seventh link 307 to the initial position in the front direction along the guide groove 201 on the swing seat 20.

With the seventh link 307, the second end of the first link 307 is actually the hinged end of the first link 301 and the second link 302, and the first end of the first link 307 is actually the hinged end of the fifth link 305 and the sixth link 306, as shown in fig. 14 and in conjunction with fig. 7, in other embodiments of the delivery actuator, the hinged end of the fifth link 305 and the second link 306 can also be the control end D, which is equivalent to the above-mentioned embodiment with the hinged end of the first link 301 and the second link 302 as the control end D.

In the present embodiment, the swing seat 20 rotates in a plane relative to the base 10, rather than freely swinging in three-dimensional space, so that fewer control components are required for the swing seat 20 to control its rotation relative to the base 10, thereby reducing the equipment cost; meanwhile, the swing seat 20 has fewer control nodes rotating relative to the base 10, so that the probability of failure in the control process can be reduced, and the reliability of motion control can be improved.

In addition, the link mechanism 30 in the embodiment has a simple structure and a small volume, and can reduce the operation difficulty when the first forceps arm 40 and the second forceps arm 50 are moved close to or away from each other in parallel without requiring a large operation space.

Referring to fig. 1 to 4, the first and second jawarms 40 and 50 are coplanar with each other with respect to a plane in which the swing base 20 moves and a plane of rotation in which the swing base 20 rotates with respect to the base 10; in other words, the two planes are substantially a plane, and the rotation of the first and second clamp arms 40 and 50 relative to the swing base 20 and the rotation of the swing base 20 relative to the base 10 are motions in the same plane.

In this embodiment, the plane in which the first and second clamp arms 40 and 50 are relatively moved with respect to the swing base 20 and the plane in which the swing base 20 is rotated with respect to the base 10 are the same plane, so that it is convenient to move the implant to the target position in one plane, and to close or open the first and second clamp arms 40 and 50 in the same plane at the target position. In general, the direction in which the implant moves at the target position is determined, and based on the determined moving direction, since the rotating direction of the swing base 20 relative to the base 10 and the determined moving direction have a relationship, the determined moving direction can be used as a reference when the swing base 20 is controlled to rotate relative to the base 10, so that the rotation of the swing base 20 relative to the base 10 can be accurately controlled, and the first and second clamp arms 40 and 50 and the implant fixed thereto can be accurately moved to the target position.

In the present embodiment, as shown in fig. 9, the first caliper arm 40 is provided with a first linear tying portion 401, and the opening of the first linear tying portion 401 is directed toward the second caliper arm 50. The first linear binding portion 401 may be used to bind a clip arm of the implant M such as an auricle clip, and the clip arm of the implant M may be fixed in the first linear binding portion 401 by using a wire satisfying a certain requirement between the first linear binding portion 401 and the clip arm of the implant M. The second jawarm 50 is provided with a second linear binding portion 501, and the opening of the second linear binding portion 501 faces the first jawarm 40. The second linear binding portion 501 may be used to bind a clip arm of the implant M such as an auricle clip, and the clip arm of the implant M may be fixed in the second linear binding portion 501 by using a wire conforming to a certain requirement between the second linear binding portion 501 and the clip arm of the implant M.

The first linear locking portion 401 and the second linear locking portion 501 are used to connect the implant M, thereby fixing the implant M to the transfer actuator. Taking the implant M as an auricle clamp as an example, the first linear binding portion 401 and the second linear binding portion 501 are respectively connected with two clamping arms of the auricle clamp, so as to fix the auricle clamp on the conveying actuator; after the auricle clamp is fixed on the conveying actuator, the opening and closing of the first clamp arm 40 and the second clamp arm 50 can drive the two clamp arms of the auricle clamp to approach or depart from each other in parallel, and the left auricle clamp can be clamped and closed along with the parallel approaching of the first clamp arm 40 and the second clamp arm 50 at the target position.

The shapes of the first linear binding portion 401 and the second linear binding portion 501 may be linear grooves corresponding to the shapes of the arms of the implant M, the arms and the linear grooves of the implant M may be connected and fixed together by using the corresponding relationship in the shapes, and the first linear binding portion 401 and the second linear binding portion 501 may also be non-groove structures, such as a planar structure, in which the arms of the implant M are bound and fixed by lines.

Specifically, the first caliper arm 40 is provided with a first fixing groove 402 that contacts the first linear tying part 401. The first fixing groove 402 is used to insert a connecting wire and fix the inserted object to the first linear binding portion 401. The second caliper arm 50 is provided with a second fixing groove 502 connected to the second linear locking portion 501. The second fixing groove 502 is also used for inserting a connecting wire to fix the implant to the second linear fixing portion 501.

The number of the first fixing grooves 402 is at least two, and the number of the second fixing grooves 502 is at least two. This arrangement makes it possible to bind and fix the implant to the first linear binding portion 401 at least at two positions and to bind and fix the implant to the second linear binding portion 501 at least two positions, thereby making it possible to more firmly bind and fix the implant to the first linear binding portion 401 and the second linear binding portion 501 in the longitudinal direction of the first and second forceps arms 40 and 50.

The first jaw arm 40 is provided with a first notch 403, and the first notch 403 is disposed at the tail end of the first jaw arm 40. The second jawarm 50 is provided with a second notch 503, and the second notch 503 is provided at the rear end of the second jawarm 50. First and second notches 403 and 503 are configured to receive projections of an implant toward first and second jawarms 40 and 50. Taking the auricle clamp as an example, the elastic connecting portion connected between the two arms of the auricle clamp will protrude toward the first and second arms 40 and 50 at the connecting portion with the two arms, and the first and second notches 403 and 503 can accommodate the elastic connecting portion, so as to prevent interference between the auricle clamp and the first and second arms 40 and 50.

In addition, the present invention may be implemented by simply changing the above-described embodiments as alternative embodiments. In an alternative embodiment, as shown in FIGS. 10-13, the plane in which the first and second jawarms 40, 50 move relative to the swing base 20 and the plane of rotation of the swing base 20 relative to the base 10 are perpendicular to each other, rather than in a coplanar relationship as in embodiment 1 above. However, the same as the above embodiment 1, the number of control parts required for controlling the swing seat 20 to rotate relative to the base 10 is small, the number of control nodes for controlling the swing seat 20 to rotate relative to the base 10 is small, and the link mechanism 30 has a simple structure and a small volume, and does not require a large operation space when the first and second clamp arms 40 and 50 are moved close to or away from each other in parallel, so that the difficulty of operation can be reduced when the implant is to be transported. Similarly to the above embodiment 1, a relation is also established between the rotation direction of the swing seat 20 with respect to the base 10 and the determined direction in which the implant moves at the target position, and based on the relation, when the swing seat 20 is controlled to rotate with respect to the base 10, the rotation of the swing seat 20 with respect to the base 10 can be accurately controlled with reference to the determined movement direction, thereby facilitating accurate movement of the first and second clamp arms 40 and 50 and the implant fixed thereto to the target position.

In another alternative embodiment of the present invention, the first and second clamp arms 40 and 50 may be constructed as shown in fig. 16 to 17 and 21 to 23, for example. In the structure shown in fig. 16 to 17 and 21 to 23, the first and second forceps arms 40 and 50 are also provided with a first linear binding portion 401 and a second linear binding portion 501 for receiving the implant M, and a slot for fixing the implant M.

In another alternative embodiment of the present invention, the link mechanism 30 may be different from the link mechanism in the above-described embodiment, as shown in fig. 16 to 19, and in this alternative embodiment, the link mechanism 30 includes a first link 301, a second link 302, a third link 303, a fourth link 304, a fifth link 305, and a sixth link 306. The first link 301 and the second link 302 are hinged, and the hinged ends of the first link 301 and the second link 302 are located between the first end 301a and the second end 301b of the first link 301 and between the first end 302a and the second end 302b of the second link 302, so that the first link 301 and the second link 302 form an X-shaped scissors structure; the hinge axes of the first link 301 and the second link 302 are hinged to the swing seat 20. First ends 301a, 302a of the first and second links 301, 302 are hingedly connected to the first and second jawarms 40, 50, respectively, and second ends 301b, 302b of the first and second links 301, 302 are hingedly connected to first ends 303a, 304a of the third and fourth links 303, 304, respectively; the second ends 303b, 304b of the third link 303 and the fourth link 304 are hinged. First ends 305a and 306a of the fifth link 305 and the sixth link 306 are respectively hinged with the first jawarm 40 and the second jawarm 50, second ends 305b and 306b of the fifth link 305 and the sixth link 306 are hinged, and a hinged shaft of the fifth link 305 and the sixth link 306 is hinged with the swinging seat 20. The swing seat 20 is provided with a guide groove 201, and the direction of the guide groove 201 is parallel to the first tong arm 40 and the second tong arm 50; the hinge shafts of the third link 303 and the fourth link 304 are disposed in the guide groove 201 and can slide along the guide groove 201. The hinged ends of the third connecting rod 303 and the fourth connecting rod 304 are control ends D; the hinged end of the first connecting rod 301 and the first forceps arm 40 is a first front connecting end A1, and the hinged end of the fifth connecting rod 305 and the first forceps arm 40 is a first rear connecting end A2; the hinged end of the second connecting rod 302 and the second forceps arm 50 is a second front connecting end B1, and the hinged end of the sixth connecting rod 306 and the second forceps arm 50 is a second rear connecting end B2.

In this alternative embodiment, the first and second clamp arms 40 and 50 are controlled to open by applying a force to the control end D in a forward direction (which force, when applied, can be achieved by a wire isoline structure; specifically, the wire isoline structure can be led out from the handheld operation portion at the rear end, wound around the hinge axes of the first and second links 301 and 302, or the hinge axes of the fifth and sixth links 305 and 306, and folded back to the control end D for connection and fixation, so that the wire isoline structure is pulled back at the handheld operation portion to act on the control end D as a forward acting force); by releasing this tension on control end D, first and second jawarms 40, 50 are clamped. Specifically, when a pulling force toward the front side is applied to the control end D, that is, the hinged ends of the third link 303 and the fourth link 304, the hinged ends of the first link 301 and the fourth link 304, and the hinged ends of the second link 302 and the third link 303 are driven to move forward and open outward first; further acting on the hinged end (first front connecting end A1) of the first connecting rod 301 and the first forceps arm 40 and the hinged end (second front connecting end B1) of the second connecting rod 302 and the second forceps arm 50 to open the two outwards; and, the fifth link 305 and the hinged end (first rear connecting end A2) of the first forceps arm 40 and the hinged end (second rear connecting end B2) of the sixth link 306 and the second forceps arm 50 are synchronously driven by the fifth link 305 and the sixth link 306, so that the fifth link 305 and the hinged end (first rear connecting end A2) of the first forceps arm 40 and the hinged end (second rear connecting end B2) of the sixth link 306 and the second forceps arm 50 are synchronously opened outwards, and the first forceps arm 40 and the second forceps arm 50 are opened in parallel. When the application of the forward force to the control end D is stopped, the implant connected and fixed to the first and second arms 40 and 50 of the transfer actuator can apply opposing forces (for example, specifically, by providing an elastic member in a stretched state on the implant) to the first and second arms 40 and 50, under which forces the first and second arms 40 and 50 tend to approach each other and transition to the closed state. The process of transitioning to the closed state is similar to the process of transitioning the first and second jawarms 40, 50 to the open state described above and will not be described in further detail.

(2) Embodiments of the delivery device

In this embodiment, the transport device includes a controller and the transport actuator described in the above-described embodiments of the transport actuator.

The controller is used for controlling the state between the first and second clamp arms 40 and 50 of the conveying actuator, controlling the rotation of the swing base 20 relative to the base 10, and controlling the implant connected and fixed on the conveying actuator.

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

Based on the embodiment of the transport actuator shown in fig. 1 to 13, the first control mechanism is connected to the control end D of the link mechanism 30 of the transport actuator; as shown in fig. 14, the first control mechanism includes a first connection line L1 and a first receiving member (not shown), and the first connection line L1 is wound around the first receiving member and connected to the control terminal D. The first connecting line L1 may be a steel wire.

The first connecting line L1 is connected with the control end D, when the control end D is pulled by the first connecting line L1 and a pulling force towards the rear side is applied to the control end D, the distance between the first clamp arm 40 and the second clamp arm 50 is controlled to increase by acting on the connecting rod mechanism 30, and the distance tends to change towards the opening state; when the control end D is released from the first connection line and the control end D is no longer pulled backward, the distance between the first and second clamp arms 40 and 50 is reduced by the implant, and the closed state tends to be changed. The specific process has been described in detail in the above embodiment of the conveying actuator, and is not described again.

The first reel member may reel or release the first connecting line L1 by, for example, rotating. When the first connecting line L1 is wound by the first reel, the first connecting line L1 pulls the control end D to apply a pulling force towards the rear side to the control end D; when the first reel member releases the first connecting line L1, the first connecting line L1 correspondingly releases the control end D, and no longer applies a pulling force to the control end D toward the rear side.

The control end D of the first connection line L1 is connected, and specifically, one end of the first connection line L1 may be directly connected to the hinged end between the first link 301 and the second link 302. In addition, a stopper 204 may be connected to the first end of the first connection line L1, the stopper 204 is fixed by abutting against a fixing hole 202 formed in the swing seat 20, and the first connection line L1 passes through the fixing hole 202 and winds around the control end D, so that the first connection line L1 forms a pulley structure at the control end D.

The second control mechanism is connected to the swing base 20 for controlling the rotation of the swing base 20 relative to the base 10. As shown in fig. 15, the second control mechanism includes a second roll-in member (not shown) and at least two second connecting lines L2. The first ends of the at least two second connecting lines L2 are respectively connected to the first side and the second side of the swing seat 20, and the first side and the second side of the swing seat 20 are two sides of the hinge end between the swing seat 20 and the base 10 on the rotation path (in fig. 1 and 3, the two sides are the lower left side and the upper right side of the illustrated swing seat 20). Specifically, as shown in fig. 20, the stopper 205 is connected to the first end of the second connecting line L2, and the stopper 205 is fixed to the swing seat 20, so that the first end of the second connecting line L2 is fixed to the swing seat 20. The second end of the second connecting line L2 is wound around the second roll-up member.

Referring to fig. 1 and 3, when a second connecting line L2 connected to the first side of the swing seat 20 applies a pulling force to the first side of the swing seat 20, the swing seat 20 can be pulled to rotate in the first side direction; when the second connecting line L2 connected to the second side of the swing seat 20 applies a pulling force to the second side of the swing seat 20, the swing seat 20 can be pulled to rotate in the direction of the second side.

The number of the second rolling members may be one or more, and when the number of the second rolling members is one, the second ends of the second connecting lines L2 may be wound around the second rolling members, but the winding directions of the second connecting lines L2 connected to the first side and the second side of the swing seat 20 should be opposite, so that the second rolling members may rotate in different directions to apply pulling forces to the second connecting lines connected to the first side and the second side of the swing seat 20, respectively, thereby controlling the swing seat 20 to rotate in different directions.

The third control mechanism is connected with the implant connected and fixed on the conveying actuator and is used for controlling the state between the implant and the first clamp arm 40 and the second clamp arm 50 of the conveying actuator. Specifically, the third control mechanism includes a third connection line (not shown in the figure) including a first sub control line and a second sub control line; the first and second sub-control lines include a binding portion, a control portion, and a connecting portion connecting the binding portion and the control portion. The swing base 20 is provided with a fixing portion. The binding part of the first sub-control line movably binds the implant on the first clamp arm 40 at the first clamp arm 40, the control part is connected and fixed on the fixing part of the swing seat 20, and the control part is used for being triggered to unbind the binding part. The binding part of the second sub-control line movably binds the implant on the second clamp arm 50 at the second clamp arm 50, the control part is connected and fixed on the fixing part of the swing seat 20, and the control part is used for being triggered to unbind the binding part. Specifically, as shown in fig. 25 and 26, the fixing portion may be in the form of a wire casing 203, and the control portions of the first and second sub control lines are connected and fixed to the wire casing 203, for example, the fixing portion for fixing the first sub control line may be a wire casing 203d, and the fixing portion for fixing the second sub control line may be a wire casing 203e.

The first and second sub control lines bind the implant to the first and second clamp arms 40 and 50 of the transfer actuator before and during the movement of the implant to the target position. After the implant is moved to the target position, taking the auricle clamp as an example, the auricle clamp is moved to the left auricle to close the left auricle, and at the moment, the auricle clamp, the first clamp arm 40 and the second clamp arm 50 can be unbundled outside the human body through the control parts of the first sub-control line and the second sub-control line, so that the conveying actuator can be conveniently moved out of the human body after the implantation process of the implant is finished.

In an embodiment of the conveying apparatus, as shown in fig. 21 to 24, the second control mechanism may further include a connecting rod 206, a first end of the connecting rod 206 is connected to the swing seat 20, and a joint between the connecting rod 206 and the swing seat 20 is located outside a hinge axis between the swing seat 20 and the base 10, so that the first end of the connecting rod 206 acts on the swing seat 20 to rotate the swing seat 20 relative to the base 10. The second end of the link 206 is connected to a hand-held operation portion provided at the rear end of the transport apparatus. When the conveying device of this embodiment is used, the second end of the link 206 can be pulled or torn by the hand-held operation portion, and when the second end of the link 206 is moved by an external force, the corresponding force is transmitted to the first end of the link 206 and the swing seat 20, so that the swing seat 20 can be driven to rotate around the hinge axis between the swing seat and the base 10 in a predetermined direction.

In the present embodiment, as shown in fig. 25 and 26, the swing seat 20 is provided with a plurality of wire slots 203 for the first connecting wire, the second connecting wire, the third connecting wire, and the like to pass through or be connected and fixed. Specifically, in the present embodiment, the number of the wire slots 203 is 5, which are the wire slots 203a, 203b, 203c, 203d, and 203e, respectively. The wire slot 203a is used for a first connecting wire to pass through, the wire slot 203b and the wire slot 203c are respectively used for a second connecting wire connected with the first side and the second side of the swing seat 20 to pass through, and the wire slot 203d and the wire slot 203e are respectively used for a first sub-control wire and a second sub-control wire of a third connecting wire to be fixedly connected.

In the present embodiment, each of the trunking 203 includes a generally thin main body portion 2031, it is only necessary for the main body portion 2031 to be able to accommodate the first connecting wire, the second connecting wire, the third connecting wire, and the like, and, in the case of satisfying this requirement, the aperture of the main body portion 2031 may be as thin as possible so as to limit the swing amplitude of the first connecting wire, the second connecting wire, the third connecting wire, and the like. Among the plurality of wire grooves 203, at least a part of the tail ends of the wire grooves 203 are further provided with an opening portion 2032, and the width of the opening portion 2032 is generally larger in the hole diameter in the direction closer to the rear.

In the embodiment of the delivery device based on the delivery actuator shown in fig. 1-4, the wireway 203 may be as shown in fig. 27 and 28. Taking the wire groove 203d as an example, as shown in fig. 28, it includes a main body portion 2031 and an open portion 2032 for connecting and fixing the first sub control wire. When the swing base 20 is deflected to one side, the rear end of the swing base 20 is deflected to the side of the base 10, and at this time, the space between the swing base 20 and the base 10 is reduced, and accordingly, the space of the first sub control line is squeezed. However, in the case where the opening 2032 is provided along the rotation circumferential direction of the swing seat 20, the opening 2032 may form a notch for accommodating the first sub control wire at the position of the rear end of the swing seat 20, so that even when the swing seat 20 rotates such that the rear end thereof faces the side of the base 10, the first sub control wire is not caught between the base 10 and the swing seat 20, and the normal operation thereof is not affected.

In the embodiment of the conveying device based on the conveying actuator shown in fig. 1 to 4, at least two of the plurality of the wire grooves 203 may be disposed along the rotation circumferential direction of the swing seat 20, so that the at least two wire grooves 203 share the open portion 2032. As shown in fig. 25, the wire grooves 203a, 203b, and 203c are arranged along the rotation circumference of the swing seat 20, and all three have a common open portion 2032. This can reduce the number of grooves formed on the rear end of the swing seat 20, thereby enabling saving of processing time and processing cost.

As described above, as shown in fig. 28, in conjunction with fig. 25 and 26, the swing seat 20 has a first side and a second side, which are two sides of the hinge end between the swing seat 20 and the base 10 on the rotation path. The open portion 2032 of the linear groove 203 on the first side of the swing seat 20 is located on the second side of the main body 2031 of the linear groove 203; the open portion 2032 of the linear groove 203 on the second side of the swing seat 20 is located on the first side of the body portion 2031 of the linear groove 203. With this arrangement, for the trunking 203 located on the first side of the swinging seat 20, a partial structure of the swinging seat 20 on the first side of the main body portion 2031 of the trunking 203 can be retained; for the trunking 203 located at the second side of the swing seat 20, a partial structure of the swing seat 20 at the second side of the main body portion 2031 of the trunking 203 may be retained. The remaining structures on the swing seat 20 do not interfere with the connection lines passing through the wire slots 203 during the rotation of the swing seat 20, and the remaining structures can enhance the structural strength of the rear end of the swing seat 20, especially the structural strength in the direction perpendicular to the rotation plane of the swing seat 20.

In the embodiment of the conveying apparatus based on the conveying actuator shown in fig. 10 to 13, the wire duct 203 may be as shown in fig. 29 to 32. Taking the trunking 203d as an example, as shown in fig. 32, it includes a main body portion 2031 and an open portion 2032 for connecting and fixing the first sub-control line. When the swing base 20 is deflected to one side, the rear end of the swing base 20 is deflected to the side of the base 10, and at this time, the space between the swing base 20 and the base 10 is reduced, and accordingly, the space of the first sub control line is squeezed. However, in the case where the opening 2032 is provided along the rotation circumferential direction of the swing seat 20, the opening 2032 may form a notch for accommodating the first sub control wire at the position of the rear end of the swing seat 20, so that even when the swing seat 20 rotates such that the rear end thereof faces the side of the base 10, the first sub control wire is not caught between the base 10 and the swing seat 20, and the normal operation thereof is not affected.

It is noted that, in this document, 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. Also, the terms "comprises," "comprising," or any other variation 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. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.

The above description is only exemplary of the invention, and is intended to enable those skilled in the art to understand and implement the invention. Various modifications 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 invention. Thus, the present invention 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.

Claims (14)

1. The conveying actuator is characterized by comprising a swinging seat, a first clamp arm, a second clamp arm and a connecting rod mechanism;

the swinging seat is connected with a base and is rotatably connected with the base;

the link mechanism is provided with a control end, a first front connecting end, a first rear connecting end, a second front connecting end, a second rear connecting end and a third connecting end;

the control end is connected with a control mechanism, the first front connecting end and the first rear connecting end are respectively connected with the first tong arm at two positions on the first tong arm along the head-tail direction, the second front connecting end and the second rear connecting end are respectively connected with the second tong arm at two positions on the second tong arm along the head-tail direction, and the third connecting end is connected with the swinging seat;

the link mechanism can respond to the control mechanism connected with the control end to control the control end, and acts on the first forceps arm through the first front connecting end and the first rear connecting end and acts on the second forceps arm through the second front connecting end and the second rear connecting end so that the first forceps arm and the second forceps arm are clamped or opened in parallel;

the first clamp arm and the second clamp arm move relative to the swinging seat on a plane, and the swinging seat rotates relative to the base on a rotating plane, which are coplanar or perpendicular to each other.

2. The transport actuator of claim 1, wherein the linkage comprises a first link, a second link, a third link, a fourth link, a fifth link, a sixth link, and a seventh link;

the first connecting rod is hinged with the second connecting rod, and the hinged ends of the first connecting rod and the second connecting rod are positioned between the first end and the second end of the first connecting rod and between the first end and the second end of the second connecting rod, so that the first connecting rod and the second connecting rod form an X-shaped scissor structure;

first ends of the first connecting rod and the second connecting rod are respectively hinged with the first forceps arm and the second forceps arm, and second ends of the first connecting rod and the second connecting rod are respectively hinged with first ends of the third connecting rod and the fourth connecting rod; second ends of the third connecting rod and the fourth connecting rod are hinged with the swinging seat, and the third connecting rod and the fourth connecting rod are hinged with the swinging seat in the same axial direction;

first ends of the fifth connecting rod and the sixth connecting rod are respectively hinged with the first clamp arm and the second clamp arm, second ends of the fifth connecting rod and the sixth connecting rod are hinged with a first end of the seventh connecting rod, and a second end of the seventh connecting rod is hinged with a hinged end between the first connecting rod and the second connecting rod together with the first connecting rod and the second connecting rod;

the swing seat is provided with a guide groove, and the direction of the guide groove is parallel to the first tong arm and the second tong arm; the seventh connecting rod is arranged in the guide groove and can slide along the guide groove;

the hinged ends of the first connecting rod and the second connecting rod are the control ends; the hinged end of the first connecting rod and the first forceps arm is the first front connecting end, and the hinged end of the fifth connecting rod and the first forceps arm is the first rear connecting end; the hinged end of the second connecting rod and the second forceps arm is the second front connecting end, and the hinged end of the sixth connecting rod and the second forceps arm is the second rear connecting end; the third connecting end and the connecting end of the fourth connecting rod and the swinging seat, and the first end and the second end of the seventh connecting rod are the third connecting end.

3. The transport actuator of claim 1, wherein the linkage comprises a first link, a second link, a third link, a fourth link, a fifth link, and a sixth link;

the first connecting rod and the second connecting rod are hinged, and the hinged ends of the first connecting rod and the second connecting rod are positioned between the first end and the second end of the first connecting rod and between the first end and the second end of the second connecting rod, so that the first connecting rod and the second connecting rod form an X-shaped scissor structure; the hinge shafts of the first connecting rod and the second connecting rod are hinged with the swinging seat;

first ends of the first connecting rod and the second connecting rod are respectively hinged with the first forceps arm and the second forceps arm, and second ends of the first connecting rod and the second connecting rod are respectively hinged with first ends of the third connecting rod and the fourth connecting rod; the second ends of the third connecting rod and the fourth connecting rod are hinged;

first ends of the fifth connecting rod and the sixth connecting rod are respectively hinged with the first tong arm and the second tong arm, second ends of the fifth connecting rod and the sixth connecting rod are hinged, and a hinged shaft of the fifth connecting rod and the sixth connecting rod is hinged with the swinging seat;

the swing seat is provided with a guide groove, and the direction of the guide groove is parallel to the first tong arm and the second tong arm; the hinge shafts of the third connecting rod and the fourth connecting rod are arranged in the guide groove and can slide along the guide groove;

the hinged ends of the third connecting rod and the fourth connecting rod are the control ends; the hinged end of the first connecting rod and the first forceps arm is the first front connecting end, and the hinged end of the fifth connecting rod and the first forceps arm is the first rear connecting end; the hinged end of the second connecting rod and the second forceps arm is the second front connecting end, and the hinged end of the sixth connecting rod and the second forceps arm is the second rear connecting end.

4. The delivery actuator of claim 1, wherein the first jawarm is provided with a first linear binding portion that opens toward a second jawarm; the second jawarm is provided with second linear binding portion, the opening of second linear binding portion is towards first jawarm.

5. The delivery actuator of claim 4, wherein the first jawarm is provided with a first retention slot that is connected to the first linear binding portion and the second jawarm is provided with a second retention slot that is connected to the second linear binding portion.

6. The transport actuator of claim 5, wherein the number of first retaining grooves is at least two and the number of second retaining grooves is at least two.

7. The transport actuator of claim 4, wherein the first jawarm is provided with a first notch disposed at a trailing end of the first jawarm;

and a second notch is arranged on the second clamp arm and is arranged at the tail end of the second clamp arm.

8. A delivery device, comprising a controller and a delivery actuator as claimed in any one of claims 1 to 7.

9. The delivery device of claim 8, wherein the controller includes a first control mechanism coupled to the control end of the linkage of the delivery actuator;

the first control mechanism comprises a first connecting line and a first receiving piece, and the first connecting line is wound on the first receiving piece and is connected with the control end.

10. The conveying device as claimed in claim 9, wherein a stopper is connected to a first end of the first connecting wire, the stopper is fixed against a fixing hole provided on the swing seat, and the first connecting wire passes through the fixing hole and winds around the control end, so that the first connecting wire forms a pulley structure at the control end.

11. The transport device of claim 8, further comprising a second control mechanism coupled to the swing base for controlling rotation of the swing base relative to the base.

12. The transport device of claim 11, wherein the second control mechanism includes a second spool and at least two second connecting wires, first ends of the at least two second connecting wires are connected to the first side and the second side of the swing seat, respectively, and the first side and the second side of the swing seat are two sides of the hinged end of the swing seat with the base on the rotation path; a second end of the second connecting line is wound on the second roll-up member; or alternatively

The second control mechanism comprises a connecting rod, the first end of the connecting rod is connected with the swinging seat, the connecting position of the connecting rod and the swinging seat is located outside the hinging shaft between the swinging seat and the base, and the second end of the connecting rod is connected to a handheld operation part arranged at the rear end of the conveying device.

13. The conveying device according to claim 8, wherein the swing seat is provided with a fixed part;

the conveying device comprises a third connecting line, and the third connecting line comprises a first sub control line and a second sub control line;

the first sub control line and the second sub control line comprise a binding part, a control part and a connecting part for connecting the binding part and the control part;

the binding part of the first sub-control line movably binds an implant on the first forceps arm at the first forceps arm, the control part is fixedly connected to the fixing part of the swinging seat, and the control part is used for being triggered to unbind the binding part;

the binding portion of the second sub-control line movably binds the implant on the second forceps arm at the second forceps arm, the control portion is connected and fixed on the fixing portion of the swinging seat, and the control portion is used for being triggered to unbind the binding portion.

14. The conveying device according to any one of claims 9 to 13, wherein a plurality of wire chases are provided on the swing seat, and an opening portion is provided at a tail end of at least a part of the wire chases.

Images