CN118000911A - Flexible instrument conveying device and execution component thereof - Google Patents

Abstract

The invention discloses a flexible instrument conveying device and an execution part thereof, wherein the execution part comprises a transfer execution mechanism and a clamping execution mechanism which are positioned in an outer shell, the transfer execution mechanism comprises a transfer wheel, an auxiliary transfer wheel, a first bevel gear set and a transfer input member, the auxiliary transfer wheel and the transfer wheel are arranged at intervals in a first direction, and the two are connected through a belt transmission mechanism; the clamping executing mechanism comprises a passive transfer wheel, the passive transfer wheel and the transfer wheel are oppositely arranged in a second direction, and the rotating axial lines of the passive transfer wheel and the transfer wheel are arranged along a third direction; the outer shell is provided with a through hole formed along a first direction, the transfer input member is coaxially fixed with the driving wheel of the first bevel gear set, and the driven wheel of the first bevel gear set is coaxially fixed with the transfer wheel. The execution part adopts a modularized design, can be independently installed and detached, can be quickly detached after the operation is finished, and has good operability. Meanwhile, on the basis of effectively avoiding cross contamination, the preparation time before operation is greatly reduced.

Description

A flexible instrument delivery device and its actuator

This application is a divisional application. The application number of the original application is 202311650803.7, and the original application date is December 5, 2023. The entire contents of the original application are incorporated into this application by reference.

Technical Field

The present invention relates to the technical field of medical instruments, and in particular to a flexible instrument conveying device and an actuator thereof.

Background technique

Natural cavities such as the digestive tract, respiratory tract, and urethra are common sites of human disease. Since the lesions are located inside the natural cavities of the human body, they need to be examined and treated with flexible endoscopes. Robot-assisted flexible endoscope intervention technology allows doctors to operate the flexible endoscope through a control handle, greatly reducing the doctor's physical strength and manual labor intensity, reducing the dependence of surgical operations on skills and experience, reducing radiation to medical staff, and improving surgical efficiency and safety.

Accurate, continuous and stable delivery of flexible endoscopes is an important prerequisite for completing tasks such as lesion screening, biopsy, and tissue stripping in a complex natural cavity environment. In clinical practice, endoscopic delivery depends on the doctor's skillful and experienced operation. The endoscope and surgical instruments are often accompanied by rotational movement during the transfer process to facilitate rapid observation and positioning of natural cavity diseases and improve surgical efficiency. In addition, when conducting endoscopic interventional diagnosis and treatment of the lower gastrointestinal tract, the combined movement of endoscopic transfer and rotation can quickly and safely straighten the intestines, making it easier for endoscopic intervention in deeper parts of the colon or even the small intestine for diagnosis and treatment.

However, existing flexible endoscope delivery devices do not meet the clinical demand for flexible endoscope delivery, and the operator cannot take over and control the flexible instrument in an emergency.

In view of this, it is urgent to optimize the design of flexible devices to overcome the above-mentioned defects.

Summary of the invention

The purpose of the present application is to provide a flexible instrument delivery device and an actuator thereof, which can enable an operator to quickly take over the flexible instrument through structural optimization, thereby effectively improving the safety and reliability of instrument operation.

The actuator provided in the embodiment of the present application is used to transport flexible instruments. The actuator comprises an outer shell, and a transfer actuator and a clamping actuator located in the outer shell. The transfer actuator comprises a transfer wheel, an auxiliary transfer wheel, a first bevel gear set and a transfer input member for transmission connection with a transfer output member of a driving member. The auxiliary transfer wheel and the transfer wheel are arranged at intervals in the first direction, and the transfer wheel and the auxiliary transfer wheel are connected by a belt transmission mechanism. The outer rims of the transfer wheel and the auxiliary transfer wheel are both configured as concave arc surfaces. The clamping actuator comprises a passive transfer wheel, which is arranged opposite to the transfer wheel in the second direction, and the rotation axis of the two is arranged along the third direction. The outer shell is provided with a through hole opened along the first direction, and the through hole is used to wear the flexible instrument. The transfer input member is coaxially fixed with the driving wheel of the first bevel gear set, and the driven wheel of the first bevel gear set is coaxially fixed with the transfer wheel. Wherein, the second direction and the third direction are two directions in a plane perpendicular to the first direction.

Optionally, the clamping actuator also includes a clamping input member, a sliding bracket, a fixed bracket, a second bevel gear set and a screw-nut mechanism; the screw of the screw-nut mechanism is pivotally connected to the fixed bracket and axially positioned on the fixed bracket, the nut of the screw-nut mechanism is fixedly set on the sliding bracket, and the sliding bracket is slidably set in the second direction relative to the outer shell; the clamping input member is coaxially fixed with the driving wheel of the second bevel gear set, and the driven wheel of the second bevel gear set can drive the screw of the screw-nut mechanism to rotate.

Optionally, the clamping actuator also includes a gear transmission mechanism, the wheel axle of the gear transmission mechanism is arranged along the third direction; the passive wheel of the second bevel gear set is coaxially fixed with the active wheel of the gear transmission mechanism, and the passive wheel of the gear transmission mechanism is coaxially fixed with the screw.

Optionally, the passive transfer wheel is provided in plurality, and the plurality of passive transfer wheels are spaced apart in the first direction.

Optionally, the clamping actuator also includes a passive wheel bracket and a third elastic member, wherein the third elastic member is arranged between the passive wheel bracket and the sliding bracket; the passive transfer wheel is rotatably arranged on the passive wheel bracket, and the passive wheel bracket is slidably arranged relative to the sliding bracket in the second direction.

Optionally, the clamping actuator also includes a torque output member, a flexible torque transmission member and a third bevel gear set; one end of the flexible torque transmission member is fixedly connected to the passive transfer wheel, and the other end is fixedly connected to the driving wheel of the third bevel gear set, and the passive wheel of the third bevel gear set is coaxially fixed with the torque output member.

Optionally, the transfer input member is a fourth docking tray, the clamping input member is a fifth docking tray, and the outer end faces of the fourth docking tray and the fifth docking tray are respectively provided with recesses, the recess on the fourth docking tray is used to match with the protrusion on the transfer output member of the driving component, and the recess on the fifth docking tray is used to match with the protrusion on the clamping output member of the driving component.

The present invention also provides a flexible instrument conveying device, comprising an actuator for conveying a flexible instrument and a driving component for providing a driving force for conveying the flexible instrument; the driving component comprises a bracket, and a rotating driving mechanism and a transfer driving mechanism located on the bracket, wherein the rotating driving mechanism comprises a rotating output member, and the rotating output member is rotatably arranged on the bracket; a substrate is fixedly arranged on the rotating output member, and the substrate is arranged on the docking side of the driving component and the actuator; the transfer driving mechanism is arranged on the substrate, and the transfer driving mechanism comprises a transfer output member, and the transfer output member is pivotally arranged on the substrate for contacting with the actuator; The transfer input member of the actuator is transmission connected; wherein the rotation axis of the rotation output member and the pivot axis of the transfer output member are both arranged along the first direction; wherein a first notch is provided on the substrate, a second notch is provided on the rotation output member, and a third notch is provided on the bracket, and the first notch, the second notch and the third notch respectively extend from the middle part of the body to the side edge to form a removal channel; the actuator adopts the actuator as described above, and the actuator is arranged on the substrate of the driving member, and the transfer output member of the driving member and the transfer input member of the actuator establish a transfer transmission path.

Optionally, it also includes a quick-connect assembly, which includes a fixed buckle, a movable pressure rod and a fourth elastic member: the fixed buckle is fixedly arranged on the base plate of the driving component, and a bayonet is opened on the fixed buckle; the movable pressure rod is provided with a force-applying part and a movable hook, and the movable hook can be engaged with the bayonet of the fixed buckle, and the force-applying part and the movable hook are both exposed to the side wall of the outer shell of the actuator; the fourth elastic member is arranged on the inner side of the movable pressure rod, one end of the fourth elastic member is abutted against the movable pressure rod, and the other end is abutted and fixed against a fixed seat in the outer shell, and is configured to provide a reset force for the movable pressure rod when the movable pressure rod is pressed inward and the movable hook is disengaged from the bayonet of the fixed buckle.

Compared with the prior art, the present invention provides an actuator with better operability. Specifically, the actuator includes an outer shell, and a transfer actuator and a clamping actuator located in the outer shell. The auxiliary transfer wheel and the transfer wheel of the transfer actuator are arranged at intervals in the first direction, and the two are connected by a belt transmission mechanism. The outer rims of the transfer wheel and the auxiliary transfer wheel are configured as concave arc surfaces to enhance the friction between the two and the outer peripheral surface of the flexible instrument, and reasonably control the possibility of transfer slippage; the passive transfer wheel and the transfer wheel of the clamping actuator are arranged relative to each other in the second direction, and the rotation axis of the two is arranged along the third direction, which can realize the clamping operation, so as to realize the conveying operation efficiently. In this way, the actuator adopts a modular design and is detachably mounted on the driving component, can be independently installed and disassembled, can be quickly disassembled after the operation, and has good operability. At the same time, the actuator can be docked with the driving component for use, which greatly reduces the preparation time before the operation on the basis of effectively avoiding cross contamination. In an emergency, after the actuator is separated from the drive component, the operator can take out the flexible instrument and complete the quick takeover operation, which can effectively avoid the possibility of the instrument losing control and improve the safety and reliability of the instrument operation.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of a use state of the flexible instrument delivery device in a specific embodiment;

FIG2 is a schematic diagram of the assembly relationship between the actuator and the driving component of the flexible instrument delivery device shown in FIG1;

FIG3 is a schematic diagram of the external structure of the driving component in a specific implementation manner;

FIG4 is a schematic diagram of the internal structure of the driving component shown in FIG3 ;

FIG5 is a view taken along the line A of FIG4 ;

FIG6 is a schematic diagram showing a state of removal of the actuator and the flexible device;

FIG7 is a schematic diagram of the assembly relationship of the driving components in a specific implementation manner;

FIG8 is a schematic diagram of the bearing arrangement on the bracket shown in FIG7 ;

Fig. 9 is a cross-sectional view B-B in Fig. 7;

Fig. 10 is a C-C sectional view in Fig. 5;

Fig. 11 is a cross-sectional view D-D in Fig. 5;

FIG12 is an enlarged view of portion E in FIG11 ;

Fig. 13 is a cross-sectional view of F-F in Fig. 5;

Fig. 14 is a cross-sectional view G-G in Fig. 5;

Fig. 15 is a cross-sectional view H-H in Fig. 5;

Fig. 16 is a cross-sectional view I-I in Fig. 15;

FIG17 is a schematic diagram of the external structure of the execution component in a specific implementation manner;

FIG18 is a schematic diagram of the internal layout of the execution unit shown in FIG17;

Fig. 19 is a J-J sectional view in Fig. 18;

FIG20 is a schematic diagram of the matching relationship between the clamping actuator and the transfer actuator in a specific implementation manner;

FIG21 is a schematic diagram of the overall structure of the clamping actuator in a specific embodiment;

FIG22 is a K-direction view in FIG21;

Fig. 23 is a cross-sectional view of L-L in Fig. 18;

Fig. 24 is a cross-sectional view M-M in Fig. 18;

FIG. 25 is a schematic diagram of the assembly relationship of the quick-connect assembly in a specific implementation manner.

In the figure:

Flexible instrument delivery device 100, flexible instrument 200;

Driving component 10, rotating driving mechanism 11, rotating motor 111, rotating output gear 112, second notch 1121, boss 1122, outer flange 11221, first transmission mechanism 113, first driving pulley 1131, first synchronous belt 1132, first driven pulley 1133, driving gear 1134, tensioning wheel 1135, transfer driving mechanism 12, transfer motor 121, first docking plate 122, convex portion 1221, spline sleeve 1222, second transmission mechanism 123, second driving pulley 1231, second synchronous belt 1232, second driven pulley 1233, first self-lubricating sleeve 1241, axle 1242 , external spline 1243, first elastic member 1244, shaft bracket 1245, clamping drive mechanism 13, clamping motor 131, second docking plate 132, third transmission mechanism 133, third driving pulley 1331, third synchronous belt 1332, third driven pulley 1333, bracket 14, third notch 141, base plate 15, first notch 151, positioning column 152, connecting column 16, bearing 17, detection mechanism 18, third docking plate 181, magnetic encoder 182, magnetic block 183, second self-lubricating sleeve 184, encoder base 185, second elastic member 186, guide column 187, first shell 191, second shell 192;

Actuator 20, transfer actuator 21, fourth docking plate 211, recess 2111, first bevel gear set 212, transfer wheel 213, auxiliary transfer wheel 214, fourth driving pulley 215, fourth synchronous belt 216, fourth driven pulley 217, clamping actuator 22, fifth docking plate 221, passive transfer wheel 222, sliding bracket 223, slider 2231, slide groove 2232, fixed bracket 224, second bevel gear set 225, gear transmission mechanism 226, screw nut mechanism 227, passive wheel bracket 228, guide slider 2281, third elastic member 229, detection torque transmission mechanism 23, sixth docking plate 231, torque spring tube 232, third bevel gear set 233, outer shell 24, through hole 241;

The quick-connect assembly 30 , the fixed buckle 31 , the bayonet 311 , the movable pressure rod 32 , the movable hook 321 , the force-applying portion 322 , and the fourth elastic member 33 .

Detailed ways

In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

Without loss of generality, this embodiment provides a flexible instrument delivery device to perform reliable rotational motion, transfer motion, transfer rotation and other delivery motions for flexible instruments, meeting clinical operational requirements for flexible instrument delivery. Please refer to Figures 1 and 2, wherein Figure 1 is a schematic diagram of a use state of the flexible instrument delivery device described in this embodiment, and Figure 2 is a schematic diagram of the assembly relationship between the actuator and the driving component of the flexible instrument delivery device shown in Figure 1.

The flexible instrument conveying device 100 includes a driving component 10 and an actuator 20, wherein the driving component 10 can provide a driving force to the actuator 20, so as to realize the conveying operation of the flexible instrument 200 through the actuator 20. The driving component 10 can output a clamping driving force to a clamping actuator on the side of the actuator 20 to clamp the flexible instrument 200; on this basis, the driving component 10 can output a transfer driving force to a transfer actuator on the side of the actuator 20 to realize the transfer operation of the flexible instrument 200. In addition, the driving component 10 can drive the actuator 20 to rotate, and drive the flexible instrument 200 to rotate synchronously through the actuator 20.

In general, the flexible device can independently perform transfer motion, rotation motion, and combined transfer and rotation motion. Here, "transfer motion" refers to transfer along the extension direction of the body of the flexible device 200, that is, transfer along the first direction indicated by the arrow X in the figure; "rotation motion" refers to rotation around the extension direction of the body of the flexible device 200.

In a specific implementation, the driving component 10 can be installed at the end of a mechanical arm (not shown in the figure) to realize the basic assembly of the flexible instrument delivery device 100, and the position adjustment of the flexible instrument delivery device 100 can be realized through the mechanical arm. Of course, the basic assembly of the flexible instrument delivery device 100 can also adopt other configuration forms, rather than being limited to being installed on a mechanical arm. It should be understood that as long as the functional requirements of the flexible instrument to independently perform transfer motion, rotation motion, and transfer and rotation combined motion can be met.

In this embodiment, the actuator 20 is installed on the driving component 10 through the quick-connect assembly 30, thereby establishing a clamping transmission path and a transfer transmission path between the two. The actuator 20 adopts a modular design and is detachably installed on the driving component 10. It can be installed and disassembled independently and can be quickly disassembled after the operation, which has good operability. At the same time, the actuator can be docked with the driving component 10 for use, which effectively avoids cross contamination and greatly reduces the preparation time before the operation.

In order to clearly describe the relative positional relationship between the various components or structures of the present solution, the first direction X is defined as a direction consistent with the transfer movement, and the execution component 20 can be assembled and disassembled relative to the driving component 10 along the first direction X.

Please refer to Figures 3, 4 and 5 together, where Figure 3 is a schematic diagram of the external structure of the driving component provided in an embodiment of the present application, Figure 4 is a schematic diagram of the internal structure of the driving component shown in Figure 3, which is a view formed by removing the outer shell on the basis of Figure 3, and Figure 5 is an A-direction view of Figure 4.

The driving component 10 includes a rotating driving mechanism 11, a transferring driving mechanism 12 and a clamping driving mechanism 13, all of which are assembled on a bracket 14 of the driving component 10, and can be enclosed and covered by an outer shell after assembly. As shown in the figure, the bracket 14 is roughly "L"-shaped, which can facilitate the arrangement of corresponding functional mechanisms. One end of the bracket 14 is used to connect to the side of the robot arm, and the other end is used as a driving output end for installing a driving output component, which has a good degree of integration. In other specific implementations, the structural shape of the bracket 14 can be determined according to the overall setting requirements of the product, rather than being limited to the shape shown in the figure.

The rotary drive mechanism 11 can drive the transfer drive mechanism 12 and the clamping drive mechanism 13 in the drive component 10 to rotate as a whole, and transmit the torque to the actuator 20 side through the quick-connect assembly 30, thereby driving the flexible device 200 to rotate.

As shown in Fig. 4, the power output by the rotary motor 111 of the rotary drive mechanism 11 drives the rotary output gear 112 to rotate through the transmission mechanism. As the rotary output component of the rotary drive mechanism 11, the rotary output gear 112 is rotatably arranged on the bracket 14.

The transfer drive mechanism 12 and the clamping drive mechanism 13 on the drive component 10 are respectively connected to the transfer actuator and the clamping actuator on the actuator 20 , thereby realizing the transfer movement of the flexible device 200 and the operation of clamping the flexible device 200 .

In this embodiment, the transfer drive mechanism 12 and the clamping drive mechanism 13 are arranged on a substrate 15, and the substrate 15 is fixedly connected to the rotating output gear 112, so that the transfer drive mechanism 12 and the clamping drive mechanism 13 integrated thereon are driven to rotate synchronously through the substrate 15. The substrate 15 can be fixedly connected to the rotating output gear 112 through a connecting column 16, and the structure is simple and reliable. In a specific implementation, the specific number of the connecting column 16 can be determined as needed, and can be reasonably arranged to avoid other components. This embodiment of the application is not limited.

At the same time, a positioning column 152 is also provided on the base plate 15 to play a positioning and guiding role when the actuator 20 is docked and assembled.

The transfer drive mechanism 12 and the clamping drive mechanism 13 both include docking plates located on the base plate 15 and are respectively connected to the docking plates corresponding to the actuator 20 to establish a transfer transmission path and a clamping transmission path.

As shown in FIG4 , the first docking tray 122 and the second docking tray 132 are located on the opposite side of the base plate 15 and the actuator 20. The power output by the transfer motor 121 of the transfer drive mechanism 12 drives the first docking tray 122 to rotate through the transmission mechanism, that is, the first docking tray 122 is the transfer output component of the transfer drive mechanism 12; the power output by the clamping motor 131 of the clamping drive mechanism 13 drives the second docking tray 132 to rotate through the transmission mechanism, that is, the second docking tray 132 is the clamping output component of the clamping drive mechanism 13. Thus, the output of the transfer drive force and the clamping drive force are respectively realized.

In this embodiment, the base plate 15 is spaced apart from the rotating output gear 112, and the transmission mechanisms of the transfer drive mechanism 12 and the clamping drive mechanism 13 are both located between the base plate 15 and the rotating output gear 112. The main bodies of the transfer motor 121 and the clamping motor 131 extend out of the base plate 15, which can reduce the internal space occupied.

Overall, the outer shell of the driving component 10 includes two parts. As shown in Figures 3 and 4, the first shell 191 is covered on the outside of the transfer motor 121 and the clamping motor 131, and is fixed to the base plate 15; the second shell 192 is covered on the components between the base plate 15 and the bracket 14, and is fixed to the bracket 14.

In order to be able to take over the flexible device in an emergency, a removal channel can be configured on the driving component side. In a specific implementation, the base plate 15, the rotating output gear 112 and the bracket 14 all have slots extending laterally, and the first slot 151 on the base plate 15, the second slot 1121 on the rotating output gear 112 and the third slot 141 on the bracket 14 extend from the middle of the body to the side edge respectively. The "middle" here refers to the position area corresponding to the rotation center of the rotating output gear 112 and the base plate 15.

When the first notch 151, the second notch 1121 and the third notch 141 are aligned in the first direction X, a removal passage P can be established. In normal use, the flexible device 200 is located in the position area corresponding to each notch and the rotation center. In an emergency, the flexible device 200 can be taken out through the removal passage P as shown in FIG. 6 to complete the quick take-over action.

In a specific implementation, the widths of the first slot 151 , the second slot 1121 , and the third slot 141 may be the same or different, as long as they can accommodate the flexible device 200 and meet the functional requirements of the quick removal operation.

In addition, the rotational adaptation relationship between the rotary output gear 112 and the bracket 14 can be achieved through the boss 1122 of the rotary output gear 112 and the multiple bearings 17 provided on the bracket 14. Please refer to Figures 7, 8 and 9, wherein Figure 7 is a schematic diagram of the assembly relationship of the driving component in the specific implementation, Figure 8 is a schematic diagram of the bearing arrangement on the bracket shown in Figure 7, and Figure 9 is a B-B cross-sectional view in Figure 7.

The boss 1122 of the rotary output gear 112 extends toward the bracket 14, and the outer ring of each bearing 17 is adapted to the outer peripheral surface of the boss 1122 of the rotary output gear 112. As shown in FIG8, a plurality of bearings 17 are arranged on the bracket 14 beside the third notch 141, that is, the bearings 17 are arranged avoiding the third notch 141, and relative to the rotation center of the rotary output gear 112, the bearings 17 are arranged at intervals in the circumferential direction.

In a specific implementation, in the rotation direction of the rotating output gear 112, the wrap angle α formed by the multiple bearings 17 can be determined according to the actual notch size, and preferably the bearings 17 are arranged with a larger wrap angle to maximize the stability and reliability of the rotation adaptation relationship. It can be understood that the application scenario in which the removal channel P opens upward is an example. As shown in the figure, the third notch 141 along the bracket 14 is arranged at intervals, and the wrap angle α formed by the multiple bearings 17 is not less than 180° to meet the basic functional requirements of rotation adaptation. This is not limited to the embodiments of the present application.

In this embodiment, the bearing 17 can be a U-shaped groove bearing, that is, the cross-sectional shape of the outer peripheral surface of the outer ring of the bearing 17 is U-shaped. Correspondingly, the boss 1122 of the rotary output gear 112 has a ring protrusion structure 11221, and the ring protrusion structure 11221 can be built into the U-shaped groove of the bearing 17 to form an axially positioned and stable rotational adaptation relationship. It should be understood that the rotational adaptation of the rotary output gear 112 relative to the bracket 14 can also be achieved by using a cylindrical roller bearing. This embodiment of the application is not limited.

In a possible implementation, for the rotation drive mechanism 11, the transfer drive mechanism 12 and the clamping drive mechanism 13 on the drive component 10 side, the output end of the drive motor of each drive mechanism can be directly connected to the output member, and the transmission efficiency is better. In order to make full use of the assembly space, the output end of each drive motor in this embodiment can be connected to the output member through a transmission mechanism.

For the transmission path of the rotary drive mechanism 11 , please refer to FIG. 4 , FIG. 5 and FIG. 7 . The rotary motor 111 sequentially outputs power through a first transmission mechanism 113 formed by a belt transmission mechanism and a gear transmission mechanism.

Among them, the first driving pulley 1131 of the first transmission mechanism 113 is coaxially fixed with the output end of the rotating motor 111, and the first driving pulley 1131 forms a belt transmission mechanism by matching the first synchronous belt 1132 with the first driven pulley 1133, and the first driven pulley 1133 is coaxially fixed with the driving gear 1134, and the driving gear 1134 is meshed with the rotating output gear 112 to form a gear transmission mechanism. Here, the working surface of the synchronous belt is made into a tooth shape, and the rim surface of the pulley is also made into a corresponding tooth shape. The belt and the pulley are meshed to transmit, ensuring a stable transmission ratio and having good transmission accuracy.

In order to improve the transmission reliability between the driving gear 1134 and the rotating output gear 112, as shown in the figure, two sets of driving gears 1134 and first driven pulleys 1133 are provided, the two driving gears 1134 are respectively meshed with the rotating output gear 112, and the two first driven pulleys 1133 are respectively matched with the first synchronous belt 1132. In this way, based on the belt transmission mechanism, the rotating output gear 112 can be synchronously driven to rotate by the two driving gears 1134.

In a specific implementation, in order to further improve the power transmission reliability of the belt transmission mechanism, a tensioning wheel 1135 can be provided, and the tensioning wheel 1135 can press against the first synchronous belt 1132 to provide a belt tension that meets the transmission requirements. As shown in the figure, the tensioning wheel 1135 can be located between the two first driven pulleys 1133, that is, it abuts against the first synchronous belt 1132 between the two, so that the tensioning forces acting on the two first driven pulleys 1133 tend to be consistent, achieving effective load balancing.

For the transmission path of the transfer drive mechanism 12, please refer to Figures 5, 10 and 11, wherein Figure 10 is a C-C sectional view in Figure 5, and Figure 11 is a D-D sectional view in Figure 5. Here, in order to clearly illustrate the structure and connection relationship of the transfer drive mechanism 12, components such as the drive motor are omitted in Figure 11.

The transfer motor 121 realizes power output through the second transmission mechanism 123 formed by the belt transmission mechanism. Among them, the second driving pulley 1231 of the second transmission mechanism 123 is coaxially fixed with the output end of the transfer motor 121, and the second driving pulley 1231 forms a belt transmission mechanism by matching the second synchronous belt 1232 with the second driven pulley 1233, and the second driven pulley 1233 is coaxially arranged with the first docking plate 122 to realize torque transmission.

In order to improve the operability of docking between the driving side and the execution side, in a specific implementation, the first docking plate 122 of the transfer driving mechanism 12 can be an elastic docking plate. Please refer to Figure 12, which is an enlarged view of the E part in Figure 11.

The first docking disk 122 is inserted and arranged on the base plate 15, and is pivotally connected to the opening on the base plate 15 through the first self-lubricating sleeve 1241. The outer end surface of the first docking disk 122 has a convex portion 1221, which is used to adapt to the concave portion of the execution side docking disk; at the same time, the inner end of the first docking disk 122 has a spline sleeve 1222, and accordingly, an external spline 1243 is coaxially fixedly arranged on the axle 1242 of the second driven pulley 1233, and the spline sleeve 1222 is inserted and adapted to the external spline 1243. In this way, the torque is transmitted from the second driving pulley 1231 at the output end of the transfer motor 121 to the second driven pulley 1233 fixed on the axle 1242 through the second synchronous belt 1232, and the torque is transmitted to the first docking disk 122 through the external spline 1243 fixed on the axle 1242.

At the same time, the first docking disk 122 and the axle 1242 are provided with a first elastic member 1244. Based on the elastic docking disk, when the execution component 20 and the driving component 10 are assembled, the first docking disk 122 can be pressed against, and the spline sleeve 1222 of the first docking disk 122 can slide inward relative to the external spline 1243 on the side of the axle 1242. During this process, the first elastic member 1244 is deformed under pressure. When the convex portion 1221 on the outer end face of the first docking disk 122 is completely aligned with the concave portion of the execution side docking disk, the first elastic member 1244 can release the elastic deformation energy and push the first docking disk 122 to move in the opposite direction until the convex portion 1221 and the concave portion of the execution side docking disk are inserted into place.

As shown in Figure 12, the first elastic member 1244 is a compression spring built into the spline sleeve 1222, and the compression spring is sleeved on one side end of the axle 1242 to maintain a reliable basic assembly relationship. Of course, in other possible implementation schemes, the first elastic member 1244 can also adopt other structural forms according to the overall design requirements, rather than being limited to the compression spring shown in the figure.

In a specific implementation, the other side end of the axle 1242 can be pivotally connected to the rotating output gear 112 through a bearing. At the same time, in order to improve the stability of the overall actuation performance of the transfer drive mechanism, optionally, the middle part of the axle 1242 can also be set on a shaft support 1245 through a bearing, and the shaft support 1245 can be fixed on the base plate 15 or on the rotating output gear 112. This embodiment of the present application is not limited.

For the transmission path of the clamping drive mechanism 13, please refer to Figures 5, 13 and 14, wherein Figure 13 is the F-F sectional view in Figure 5, and Figure 14 is the G-G sectional view in Figure 5. In order to clearly illustrate the structure and connection relationship of the clamping drive mechanism 13, components such as the drive motor are omitted in Figures 13 and 14.

The clamping motor 131 realizes power output through the third transmission mechanism 133 formed by the belt transmission mechanism. Among them, the third driving pulley 1331 of the third transmission mechanism 133 is coaxially fixed with the output end of the clamping motor 131, and the third driving pulley 1331 forms a belt transmission mechanism by matching the third synchronous belt 1332 with the third driven pulley 1333, and the third driven pulley 1333 is coaxially arranged with the second docking plate 132 to realize torque transmission.

In order to improve the operability of docking between the driving side and the execution side, similarly, the second docking plate 132 of the clamping drive mechanism 13 can be an elastic docking plate, and the specific structural form can be the same as the elastic docking implementation method of the transfer drive mechanism described in Figure 12. No further details will be given here.

It should be noted that in other possible implementation schemes, the belt transmission mechanisms configured by the first transmission mechanism 113, the second transmission mechanism 123 and the third transmission mechanism 133 may also adopt other structural forms as needed, rather than being limited to synchronous belts.

Furthermore, in order to facilitate the doctor to make accurate judgments and corresponding operations, the driving component 10 provided in this embodiment also includes a detection mechanism to determine the current transfer length of the flexible device according to the action of the execution side transfer actuator. Please refer to Figures 5, 15 and 16, wherein Figure 15 is the H-H cross-sectional view in Figure 5, and Figure 16 is the I-I cross-sectional view in Figure 15. In order to clearly illustrate the composition and connection relationship of the detection mechanism, components such as the drive motor are omitted in Figure 16.

The detection mechanism 18 includes a third docking plate 181, a magnetic encoder 182 and a magnetic block 183. The third docking plate 181 is inserted on the base plate 15 and can be pivotally connected to the base plate 15 through a second self-lubricating sleeve 184. The magnetic block 183 is fixedly arranged at the inner end of the third docking plate 181, and the magnetic encoder 182 adapted to the magnetic block 183 is fixedly arranged, for example but not limited to being fixedly arranged through an encoder base 185. In this way, the transfer execution mechanism on the execution side can drive the third docking plate 181 to rotate, and the magnetic encoder 182 can collect corresponding signals based on the rotation of the magnetic block 183, and thereby determine the transfer length, which can provide corresponding reference information for doctors when used.

In addition, in order to improve the operability of docking between the driving side and the execution side, the third docking plate 181 of the detection mechanism 18 can be an elastic docking plate. Specifically, a second elastic member 186 can be arranged between the third docking plate 181 and the base plate 15, and accordingly, the encoder base 185 can be slidably adapted with the fixed guide column 187. Based on the elastic docking plate, when the execution component 20 and the driving component 10 are assembled, the third docking plate 181 can be pressed, and the third docking plate 181 pushes the encoder base 185 to slide inward along the guide column 187. During this process, the second elastic member 186 is deformed under pressure. When the outer end surface of the third docking plate 181 is completely aligned with the execution side docking plate, the second elastic member 186 can release the elastic deformation energy and push the third docking plate 181 to move in the opposite direction until the outer end surface of the third docking plate 181 and the execution side docking plate are inserted into place.

It is understandable that the matching magnetic encoder 182 and magnetic block 183 can be implemented using existing technology, so no further description is given. In addition, the second elastic member 186 shown in the figure is a compression spring. In other possible implementations, the second elastic member 186 can also adopt other structural forms according to the overall design requirements. This application embodiment is not limited.

Please refer to Figures 17 and 18, wherein Figure 17 is a schematic diagram of the external structure of the execution component in the specific implementation manner, and Figure 18 is a schematic diagram of the internal layout of the execution component shown in Figure 17, which is a diagram formed from the perspective of the driving side along the first direction X.

In this embodiment, the actuator 20 includes a transfer actuator 21, a clamping actuator 22 and a detection torque transmission mechanism 23 arranged in an outer shell 24. The outer shell 24 is provided with a through hole 241 in the first direction X so as to wear the flexible device 200; and the docking plates of the transfer actuator 21, the clamping actuator 22 and the detection torque transmission mechanism 23 are all exposed to the outer shell 24 to be connected to the corresponding docking plates on the driving side. For ease of description, the second direction Y and the third direction Z are defined as two directions in a plane perpendicular to the first direction X, wherein the second direction Y is the clamping movement direction.

The transfer actuator 21 includes a fourth docking plate 211, a first bevel gear set 212 and a transfer wheel 213. Please refer to Figures 18 and 19, wherein Figure 19 is a J-J sectional view in Figure 18.

The rotation axis of the transfer wheel 213 is arranged along the third direction Z, the driving gear of the first bevel gear set 212 is coaxially fixed with the fourth docking disk 211, and the driven gear of the first bevel gear set 212 is coaxially fixed with the transfer wheel 213. In this way, after the fourth docking disk 211, which serves as the transfer input component, is docked with the first docking disk 122 of the drive-side transfer drive mechanism 12, the power passes through the first bevel gear set 212 to the transfer wheel 213. As the transfer wheel 213 rotates, its outer wheel rim can drive the flexible device 200 to move along the first direction X. In a specific implementation, the forward rotation and reverse rotation of the transfer wheel 213 respectively correspond to the delivery or retraction operation of the flexible device 200.

Furthermore, the transfer actuator 21 may also include an auxiliary transfer wheel 214, which is spaced apart from the transfer wheel 213, whose rotation axes are parallel, and the transfer wheel 213 and the auxiliary transfer wheel 214 rotate synchronously via a belt transmission mechanism.

Specifically, the fourth driving pulley 215 is coaxially fixed with the transfer wheel 213, and the fourth driving pulley 215 forms the belt transmission mechanism by matching the fourth synchronous belt 216 with the fourth driven pulley 217, and the fourth driven pulley 217 is coaxially fixed with the auxiliary transfer wheel 214. Based on the good transmission accuracy of the synchronous belt, the outer edges of the transfer wheel 213 and the auxiliary transfer wheel 214 jointly drive the flexible device 200 to move along the first direction X, and the reliable stability of the transfer operation is effectively guaranteed.

Exemplarily, the figure takes an auxiliary transfer wheel 214 as an example to illustrate the coordination relationship between the transfer wheel 213 and the auxiliary transfer wheel 214. In other possible implementation schemes, the auxiliary transfer wheel 214 can be set to multiple, for example but not limited to two, and can also achieve synchronous rotation based on the synchronous belt, which can be determined according to actual configuration needs. The embodiment of the present application is not limited.

In a specific implementation, the driven gear of the first bevel gear set 212, the transfer wheel 213 and the fourth driving pulley 215 can be coaxially fixed and fixed by brackets located at both ends of the shaft. The rotating shafts of the auxiliary transfer wheel 214 and the fourth driven pulley 217 can also be fixed by brackets located at both ends of the shaft.

In order to increase the contact area between the transfer wheel 213 and the auxiliary transfer wheel 214 and the outer peripheral surface of the flexible device 200, the outer rims of both wheels can be configured as concave arc surfaces to increase the friction between the two and reasonably control the possibility of slipping during transfer.

It should be noted that, corresponding to the convex portion 1221 on the outer end surface of the first docking disk 122 on the driving side, as shown in FIG18 , the fourth docking disk 211 on the execution side is provided with a matching concave portion 2111 to insert and adapt to transmit torque in the docking direction. Similarly, the fifth docking disk 221 on the execution side and the second docking disk 132 of the clamping drive mechanism 13 on the driving side can also use matching convex portions and concave portions to achieve torque transmission.

The clamping actuator 22 is used to provide a clamping force to the flexible device 200, as shown in Figure 20, which is a schematic diagram of the matching relationship between the clamping actuator 22 and the transfer actuator 21. The passive transfer wheel 222 of the clamping actuator 22 can press against the flexible device 200 to achieve a clamping operation, so as to efficiently achieve a transfer operation.

The clamping actuator 22 includes a fifth docking plate 221, a passive transfer wheel 222, a sliding bracket 223, a fixed bracket 224, a second bevel gear set 225, a gear transmission mechanism 226 and a screw nut mechanism 227. Please refer to Figures 21, 22 and 23, wherein Figure 21 is a schematic diagram of the overall structure of the clamping actuator 22, Figure 22 is a K-direction view in Figure 21, and Figure 23 is an L-L sectional view in Figure 18.

The passive transfer wheel 222 is rotatably arranged on the sliding bracket 223, and its rotation axis is arranged along the third direction Z, that is, it is arranged opposite to the transfer wheel 213 in the second direction and the rotation axis of the two are parallel. The driving gear of the second bevel gear set 225 is coaxially fixed with the fifth docking plate 221, and the passive gear of the second bevel gear set 225 is coaxially fixed with the driving gear of the gear transmission mechanism 226, and the passive gear of the gear transmission mechanism 226 is coaxially fixed with the screw of the screw nut mechanism 227; here, the screw of the screw nut mechanism 227 is pivotally connected to the fixed bracket 224 and axially positioned on the fixed bracket 224, and the fixed bracket 224 is fixedly arranged in the outer shell 24; the nut of the screw nut mechanism 227 is fixedly arranged on the sliding bracket 223, and the sliding bracket 223 can be slidably arranged in the second direction Y relative to the outer shell 24.

In this way, after the fifth docking disk 221, which serves as a clamping input component, is docked with the second docking disk 132 of the driving side clamping drive mechanism 13, power is transmitted to the screw nut mechanism 227 through the second bevel gear set 225 and the gear transmission mechanism 226. Based on the transmission principle of the screw nut mechanism 227, the power transmission torque can be converted into positive pressure in the second direction Y, and finally the passive transfer wheel 222 is driven to move toward the transfer wheel 213 through the sliding bracket 223 to realize the clamping operation.

It can be understood that, on the transmission path from the fifth docking plate 221 to the screw nut mechanism 227 , a reasonable layout of the external interface and the internal components is achieved through the gear transmission mechanism 226 , thereby improving the overall integration of the actuator 20 .

In other possible implementations, the gear transmission mechanism 226 can be selectively configured, that is, after the adaptive change of the rotation direction is achieved through the second bevel gear set 225, the driven wheel of the second bevel gear set 225 can be directly coaxially fixed with the screw of the screw nut mechanism 227, and the above-mentioned clamping operation can also be reliably achieved. In comparison, this embodiment can achieve a better integration through the provision of the gear transmission mechanism 226.

In a specific implementation, the passive transfer wheels 222 may be arranged in a plurality of intervals in the first direction X, such as but not limited to the two passive transfer wheels 222 shown in the figure, to ensure reliable stability of the transfer operation. In addition, the outer rims of the passive transfer wheels 222 may also be configured with concave arc surfaces to increase the friction with the surface of the flexible instrument and reasonably control the transfer slip.

In other specific implementations, the fixing bracket 224 may be fixed to the inner wall of the adjacent outer shell 24, for example but not limited to, fixed to the top wall of the outer shell 24 shown in the figure. This embodiment of the present application is not limited.

In addition, the specific implementation method of the sliding bracket 223 slidingly arranged in the second direction Y can also be determined according to the overall design requirements of the product, for example but not limited to, sliders 2231 are arranged on both sides of the sliding bracket 223 in the third direction Z, and slidingly adapted through a fixed seat fixed to the inner wall of the outer shell 24 as shown in FIG18. Of course, in other possible implementation schemes, the sliding bracket 223 can also directly establish a sliding adaptation relationship with the inner wall of the outer shell 24, which is not limited in the embodiment of the present application.

Furthermore, in order to reasonably control the positive pressure acting on the surface of the flexible device 200, in a specific implementation, a passive wheel bracket 228 and a third elastic member 229 may be additionally provided.

Specifically, as shown in Figures 21, 22 and 23, the passive transfer wheel 222 is integrated on the passive wheel bracket 228, and the passive transfer wheel 222 is rotatably arranged on the passive wheel bracket 228; at the same time, the passive wheel bracket 228 can be slidably arranged relative to the sliding bracket 223 in the second direction Y, that is, the passive transfer wheel 222 is indirectly rotatably arranged relative to the sliding bracket 223 through the passive wheel bracket 228. The third elastic member 229 is arranged between the passive wheel bracket 228 and the sliding bracket 223, and the positive pressure of the sliding bracket 223 is transmitted to the passive wheel bracket 228 and the passive transfer wheel 222 through the third elastic member 229. In this way, the force of the passive transfer wheel 222 pressing against the flexible device can be effectively buffered, and while obtaining reliable transfer friction, the adverse effects that may be caused by excessive positive pressure can be avoided.

In other specific implementations, the third elastic member 229 may be a spring, or an elastic member in other structural forms.

In this embodiment, the passive wheel bracket 228 is partially embedded in the sliding bracket 223, and the two slide relative to each other through the matching slide groove and guide slider. As shown in FIG21, the passive wheel bracket 228 is provided with a guide slider 2281, and correspondingly, the sliding bracket 223 is provided with a slide groove 2232, and the guide slider 2281 is built into the slide groove 2232, so that the passive wheel bracket 228 can slide relative to the sliding bracket 223 in the second direction Y.

In other specific implementations, the slide groove and the guide slider may also be reversely arranged on the passive wheel bracket 228 and the sliding bracket 223 (not shown in the figure). In other possible implementations, other structural forms may be used to realize the sliding arrangement of the passive wheel bracket 228 relative to the sliding bracket 223. The embodiments of the present application are not limited thereto.

The detection torque transmission mechanism 23 is used to transmit the rotation of the passive transfer wheel 222 to the driving side, and transmit it to the detection mechanism 18 through the third docking plate 181, and the transfer length is determined based on the detection of the high-precision magnetic angle magnetic encoder. Please refer to Figures 18 and 24, wherein Figure 24 is a schematic diagram of the assembly relationship of the detection torque transmission mechanism 23, which is formed from the M-M section position shown in Figure 18.

The detection torque transmission mechanism 23 includes a sixth docking disk 231, a torque spring tube 232 and a third bevel gear set 233. As shown in FIG24, one end of the torque spring tube 232 is fixed to the passive transfer wheel 222, and the other end is fixed to the driving wheel of the third bevel gear set 233, and the passive wheel of the third bevel gear set 233 is coaxially fixed to the sixth docking disk 231. In this way, when the passive transfer wheel 222 rotates during operation, the torque can be transmitted to the detection mechanism 18 in sequence through the torque spring tube 232, the third bevel gear set 233, and the matching sixth docking disk 231 and the third docking disk 181.

In a specific implementation, the sixth docking disk 231 as a torque output member and the third docking disk 181 as a torque input member can be connected through end meshing teeth transmission; in other words, the sixth docking disk 231 drives the third docking disk 181 to rotate through the meshing teeth.

It is understandable that this solution uses a torque spring tube to transmit torque while adapting to the internal structural space. In other specific implementations, flexible torque transmission components such as flexible shafts, tightly wound springs, torque sheaths, etc. can also be used, which can also reliably transmit torque while adapting to the internal structural space.

Furthermore, the flexible instrument delivery device provided in this embodiment is also provided with a quick-connect assembly 30. Please refer to Figures 1, 2, 3 and 25, wherein Figure 25 is a cross-sectional view of the quick-connect assembly described in this embodiment, which is formed from the N-N section position shown in Figure 1.

The quick-connect assembly 30 includes a matching fixed buckle 31 and a movable hook 321, wherein the fixed buckle 31 is fixedly arranged on the base plate 15 on the driving side, and a bayonet 311 matching the movable hook 321 is arranged on the fixed buckle 31; the movable hook 321 is arranged on the movable pressure rod 32 on the execution side, and the force-applying part 322 and the movable hook 321 of the movable pressure rod 32 are both exposed to the opening of the side wall of the outer shell 24. At the same time, a fourth elastic member 33 is also arranged on the inner side of the movable pressure rod 32, one end of the fourth elastic member 33 is against the movable pressure rod 32, and the other end can be fixed against the fixed seat in the outer shell 24.

During assembly, the actuator 20 moves along the first direction X toward the driving component 10, and the movable hook 321, under the action of the fixed buckle 31, drives the movable pressure rod 32 to retract inward and presses the fourth elastic member 33 to deform. When the movable hook 321 is aligned with the bayonet 311 on the fixed buckle 31, the fourth elastic member 33 releases the elastic deformation energy and pushes the movable hook 321 to return to its original position until it is engaged with the bayonet 311.

When the actuator 20 needs to be disassembled, the operator presses the force-applying portion 322 of the movable pressure rod 32 to push the movable pressure rod 32 to move inward until the movable hook 321 is disengaged from the snap hole 311 on the fixed buckle 31, and then the actuator 20 can be disassembled from the driving component 10. The disassembly or replacement operation can be performed quickly during and after the operation, which can not only reduce the operation preparation time or operation time, but also effectively avoid cross contamination.

In a specific implementation, the fourth elastic member 33 may be a spring, or an elastic member of other structural forms.

In addition, in order to improve operability and assembly reliability, the quick-connect assembly 30 can be arranged on two opposite sides of the actuator 20 as shown in FIG. 25 , so that the operator can quickly disassemble and assemble the actuator 20 with one hand.

In addition, the flexible instrument delivery device provided in this embodiment also includes a cleaning component (not shown in the figure), which can be arranged at the front end of the execution component to clean the mucus and other attachments on the surface of the flexible instrument. For example, but not limited to, the cleaning bracket is detachably arranged at the through hole of the outer shell, and the cleaning sponge is installed on the cleaning bracket. The body of the flexible instrument can pass through the cleaning sponge and achieve cleaning through surface contact. It should be noted that the specific implementation method of the cleaning component can adopt different implementation methods, which are not limited in the embodiments of this application.

The working principle of the flexible instrument delivery device described in this embodiment is briefly described below:

First, the actuator 20 is pressed toward the driving component 10 along the positioning column 152, and the positioning recess (not shown in the figure) on the actuator is adapted to the positioning column 152, and the snap connection is achieved through the quick-connect assembly 30; then, each driving motor is activated to achieve elastic docking between the transfer, clamping and detection mechanism of the actuator side and the driving side; next, the flexible device 200 is inserted along the first direction X, and the clamping drive mechanism 13 is activated to drive the clamping actuator 22 to press down, thereby clamping the flexible device 200.

In actual operation, the rotation drive mechanism 11 can drive the entire actuator 20 to rotate, realizing the rotation operation of the flexible device 200; the transfer drive mechanism 12 drives the transfer wheel of the transfer actuator 21 to complete the transfer operation of the flexible device. At the same time, the passive transfer wheel action drives the detection mechanism 18 to determine the current transfer length.

In an emergency, the operator presses the quick-connect assembly 30, the docking plates of the actuator 20 and the driving component 10 are disconnected, and the actuator 20 no longer exerts any action on the flexible instrument, thereby avoiding secondary injury to the patient; at the same time, after the notch of the driving component 10 is aligned to form a removal channel P, the flexible instrument 200 can be quickly removed through the removal channel P, ensuring that the operator can take over the instrument in time.

The ordinal numbers "first" and "second" used in this article are only used to describe the composition or structure of the same function in the technical solution. It is understandable that the use of the ordinal numbers "first" and "second" does not constitute an understanding limitation on the technical solution claimed for protection in this application.

The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims (9)

1. An actuator for conveying a flexible device, characterized in that the actuator comprises an outer shell, and located inside the outer shell: A transfer actuator, comprising a transfer wheel, an auxiliary transfer wheel, a first bevel gear set and a transfer input member for transmission connection with a transfer output member of a driving member, wherein the auxiliary transfer wheel and the transfer wheel are spaced apart in a first direction, and the transfer wheel and the auxiliary transfer wheel are connected via a belt transmission mechanism, and the outer wheel rims of the transfer wheel and the auxiliary transfer wheel are both configured as inner concave arc surfaces; The clamping actuator comprises a passive transfer wheel, wherein the passive transfer wheel and the transfer wheel are arranged opposite to each other in the second direction, and the rotation axes of the two wheels are arranged along the third direction; The outer shell is provided with a through hole opened along the first direction, and the through hole is used to pass the flexible device; the transfer input member is coaxially fixed with the driving wheel of the first bevel gear set, and the driven wheel of the first bevel gear set is coaxially fixed with the transfer wheel; The second direction and the third direction are two directions in a plane perpendicular to the first direction. 2. The actuator according to claim 1, characterized in that the clamping actuator further comprises a clamping input member, a sliding bracket, a fixed bracket, a second bevel gear set and a screw nut mechanism; The screw of the screw-nut mechanism is pivotally connected to the fixed bracket and axially positioned on the fixed bracket, the nut of the screw-nut mechanism is fixedly arranged on the sliding bracket, and the sliding bracket is slidably arranged relative to the outer shell in the second direction; The clamping input member is coaxially fixed with the driving wheel of the second bevel gear set, and the driven wheel of the second bevel gear set can drive the screw of the screw nut mechanism to rotate. 3. The actuator according to claim 2 is characterized in that the clamping actuator also includes a gear transmission mechanism, and the wheel axle of the gear transmission mechanism is arranged along a third direction; the passive wheel of the second bevel gear group is coaxially fixed with the driving wheel of the gear transmission mechanism, and the passive wheel of the gear transmission mechanism is coaxially fixed with the screw. 4 . The execution component according to claim 2 or 3 , characterized in that the passive transfer wheel is provided in plurality, and the plurality of passive transfer wheels are arranged at intervals in the first direction. 5. The actuator according to claim 4, characterized in that the clamping actuator further comprises a passive wheel bracket and a third elastic member, and the third elastic member is arranged between the passive wheel bracket and the sliding bracket; The passive transfer wheel is rotatably arranged on the passive wheel bracket, and the passive wheel bracket is slidably arranged relative to the sliding bracket in the second direction. 6. The actuator according to claim 5 is characterized in that the clamping actuator also includes a torque output component, a flexible torque transmission component and a third bevel gear set; one end of the flexible torque transmission component is fixedly connected to the passive transfer wheel, and the other end is fixedly connected to the driving wheel of the third bevel gear set, and the passive wheel of the third bevel gear set is coaxially fixed with the torque output component. 7. The execution component according to claim 2 or 3 is characterized in that the transfer input component is a fourth docking tray, the clamping input component is a fifth docking tray, and the outer end surfaces of the fourth docking tray and the fifth docking tray are respectively provided with recesses, the recess on the fourth docking tray is used to match with the protrusion on the transfer output component of the driving component, and the recess on the fifth docking tray is used to match with the protrusion on the clamping output component of the driving component. 8. A flexible instrument conveying device, comprising an actuator for conveying the flexible instrument and a driving component for providing a driving force for conveying the flexible instrument; characterized in that the driving component comprises a bracket, and located on the bracket: The rotary drive mechanism comprises a rotary output member, the rotary output member is rotatably arranged on the bracket; a base plate is fixedly arranged on the rotary output member, and the base plate is arranged on the docking side of the driving component and the execution component; A transfer drive mechanism is arranged on the base plate, the transfer drive mechanism comprises a transfer output member, the transfer output member is pivotally arranged on the base plate, and is used for transmission connection with the transfer input member of the execution component; Wherein, the rotation axis of the rotating output member and the pivot axis of the transferring output member are both arranged along the first direction; The base plate is provided with a first notch, the rotating output member is provided with a second notch, the bracket is provided with a third notch, and the first notch, the second notch and the third notch extend from the middle of the body to the side edge to form a removal channel; The actuator is the actuator according to any one of claims 1 to 7, and is disposed on a substrate of the driving component. A transfer output member of the driving component and a transfer input member of the actuator establish a transfer transmission path. 9. The flexible instrument delivery device according to claim 8, further comprising a quick-connect assembly, wherein the quick-connect assembly comprises: A fixing buckle, fixedly arranged on the base plate of the driving component, and having a bayonet opening; A movable pressure rod, on which a force-applying portion and a movable hook are provided, the movable hook can be engaged with the bayonet of the fixed buckle, and the force-applying portion and the movable hook are both exposed on the side wall of the outer shell of the actuator; A fourth elastic member is arranged on the inner side of the movable pressure rod, one end of the fourth elastic member is against the movable pressure rod, and the other end is against and fixed to the fixing seat in the outer shell, and is configured to provide a restoring force for the movable pressure rod when the movable pressure rod is retracted under pressure and the movable hook is disengaged from the bayonet of the fixed buckle.