CN116327080B - Medical instrument fixing device - Google Patents

Abstract

The invention discloses a medical instrument fixing device which comprises a seat and a snake-shaped arm, wherein one end of the snake-shaped arm is connected with a tensioning mechanism in the seat, the other end of the snake-shaped arm is used for fixing a medical instrument, the tensioning mechanism comprises a travel block, movable arms and an execution block which are sequentially connected, the number of the movable arms is two, the travel block comprises a first side guide surface and a second side guide surface which are respectively propped against first arms of the two movable arms, the travel block is driven by a power mechanism to extend in and withdraw from between the two first arms, the two first arms are driven to approach or separate from each other, and the second arms are further driven to act on the execution block to stretch or loosen ropes, so that deflection torque is restrained, and the reliability of the tensioning mechanism and the power mechanism is improved.

Description

Medical instrument fixing device

Technical Field

The invention belongs to the technical field of medical instruments, is suitable for clamping and positioning of medical instruments and endoscopes, and particularly relates to a medical instrument fixing device.

Background

In many surgical procedures, it is desirable to maintain the position of the medical instrument fixed in order for a physician to manipulate or view the location of diseased tissue, such as in endoscopic procedures. In the prior art, the endoscope is usually supported and positioned by a special assistant, so that the number of operators is increased, and the endoscope position is difficult to keep stable.

In some improved techniques, the endoscope is held in place by a serpentine arm, the endoscope is disposed at one end of the serpentine arm, the serpentine arm includes a plurality of joints connected end-to-end, and the steel wire is threaded therethrough. The joints can be mated with each other by applying tension to the wire to achieve shape retention of the serpentine arms, and each joint can be released by releasing the tension from the wire, so that the shape of the serpentine arms can be adjusted to change the pose of the endoscope.

Existing serpentine arm wire tensioning mechanisms typically employ a single rotating member to tension the wire with a deflection torque. The deflection torque of the rotating piece can be reacted to the tensioning mechanism and the power mechanism, so that the tensioning mechanism and the power mechanism are stressed and biased, unbalanced abrasion is caused to the tensioning mechanism and the power mechanism, long-time running vibration and noise are increased, the service performance is deteriorated, and the service life is shortened.

Accordingly, there is a need for an improvement over the prior art to overcome the deficiencies described in the prior art.

Disclosure of Invention

Therefore, the invention aims to solve the technical problem that the structural reliability is low due to the fact that the serpentine arm of the medical instrument fixing device is tensioned by using deflection torque in the prior art.

In order to solve the above technical problems, the present invention provides a medical apparatus holding device, comprising:

the seat comprises a shell, a tensioning mechanism arranged in the shell and a power mechanism in transmission connection with the tensioning mechanism;

a snake-shaped arm, one end of which is connected with the seat part and the other end of which is used for fixing the medical instrument, wherein the snake-shaped arm comprises a plurality of joints connected end to end and a rope penetrating through the joints, one end of the rope is connected with the tensioning mechanism and is in linkage with the tensioning mechanism to stretch so as to fasten the joints or retract so as to loosen the joints;

The tensioning mechanism comprises a stroke block, a movable arm and an executing block which are sequentially arranged, the stroke block is combined with the power mechanism and driven by the power mechanism to do linear reciprocating motion, the movable arm is rotatably arranged in the shell through a pivot shaft, the movable arm comprises a first arm and a second arm which are arranged by taking the pivot shaft as an apex and form an included angle, the tail end of the first arm is matched with the stroke block, the tail end of the second arm is matched with the executing block, the executing block is fixedly connected with one end of the rope, and the stroke block drives the executing block through the movable arm to stretch or relax the rope;

wherein the number of the movable arms is two, the movable arms are arranged such that the two first arms extend in directions approaching each other, and the two second arms extend in directions approaching each other;

The stroke block comprises a first side guide surface and a second side guide surface which are respectively in abutting fit with the two first arms, at least part of the width of the stroke block between the first side guide surface and the second side guide surface is gradually reduced or increased along the direction approaching to the first arms, the stroke block is driven by the power mechanism to extend in and withdraw from between the two first arms, the two first arms are driven to respectively rotate around respective pivot shafts to approach or separate from each other, and the second arms are linked to act on the executing block in the process of separating or approaching from each other so as to stretch or relax the rope.

In one embodiment, the pivot shafts of the two movable arms are arranged in parallel, one movable arm is located at one side of the center line of the stroke block, and the other movable arm is located at the other side of the center line of the stroke block.

In one embodiment, a first rolling element is arranged at the end, far away from the pivot shaft, of each first arm, the first rolling element arranged on one first arm is in abutting fit with the first side guide surface, and the first rolling element arranged on the other first arm is in abutting fit with the second side guide surface;

The end of each second arm far away from the pivot shaft is provided with a second rolling element, the execution block comprises a first matching surface and a second matching surface, one second rolling element arranged on the second arm is in abutting fit with the first matching surface, and the other second rolling element arranged on the second arm is in abutting fit with the second matching surface.

In one embodiment, the first rolling element is a pulley, two pulleys are disposed at the end of each first arm, and the two pulleys are coaxially disposed at two sides of the end of the first arm along a direction parallel to the pivot axis of the movable arm; or alternatively, the first and second heat exchangers may be,

The second rolling elements are pulleys, two pulleys are arranged at the tail end of each second arm, and the two pulleys are coaxially arranged at two sides of the tail end of each second arm along the direction parallel to the pivot shaft of the movable arm.

In one embodiment, the first rolling element is a rolling pin, the rolling pin is rotatably arranged at the tail end of the first arm, and the rolling pin is parallel to the pivot shaft of the movable arm; or alternatively, the first and second heat exchangers may be,

The second rolling piece is a rolling pin shaft, the rolling pin shaft is rotatably arranged at the tail end of the second arm, and the rolling pin shaft is parallel to the pivot shaft of the movable arm.

In one embodiment, the first side guide surface includes two first side guide surfaces disposed at intervals, and the two first side guide surfaces respectively and abuttingly cooperate with the side walls of the first rolling members on the same side;

The second side guide surface comprises two second side sub guide surfaces which are arranged at intervals, and each second side sub guide surface is in abutting fit with the side wall of the first rolling element on the same side; during the process of extending and withdrawing the travel block between the two first arms, two end edges of each first side guiding surface and each second side guiding surface fall into the range of the side surface of the corresponding abutting-fit first rolling piece.

In one embodiment, the actuating block includes a connecting portion fixedly connected to the rope and a base portion for abutting engagement with the end of the second arm, the connecting portion is connected to a central region of the base portion, and the first engagement surface and the second engagement surface are formed on a side of the base portion to which the connecting portion is connected.

In one embodiment, during the process of extending and retracting the travel block between the two first arms, both end edges of the first mating surface and the second mating surface fall within the range of the side surface of the second rolling element in corresponding abutting fit.

In one embodiment, the base is H-shaped and includes two substantially parallel rods, and the two second arms respectively pass through the space between the ends of the two rods from one side of the base.

In one embodiment, the first mating surface and the second mating surface are cylindrical surfaces, when the travel block is in an extended position between the two first arms, the second rolling element is abutted against the proximal end of the mating surface near the connecting portion, the actuating block is in a stretched position for tensioning the rope, when the travel block is in an withdrawn position between the two first arms, the second rolling element is abutted against the distal end of the mating surface far away from the connecting portion, and the actuating block is in a relaxed position for relaxing the rope.

In one embodiment, the first side guide surface includes a first side guide cylindrical surface located at one end of the travel block, the second side guide surface includes a second side guide cylindrical surface located at one end of the travel block, the first side guide cylindrical surface and the second side guide cylindrical surface are symmetrical to each other, and a width of the travel block between the first side guide cylindrical surface and the second side guide cylindrical surface near the movable arm gradually decreases or gradually increases in a direction near the first arm.

In one embodiment, the first side guide surface includes a first side locating plane that meets the first side guide cylindrical surface, the second side guide surface includes a second side locating plane that meets the second side guide cylindrical surface, and the first side locating plane is substantially parallel to the second side locating plane;

When the travel block is located at a stretching position for tensioning the rope, the first arm is in abutting fit with the first side locating plane and the second side locating plane, and the travel block can be kept at the stretching position under the condition that the power mechanism stops driving.

In addition, the invention also provides a medical instrument fixing device, which comprises:

the seat comprises a shell, a tensioning mechanism arranged in the shell and a power mechanism in transmission connection with the tensioning mechanism;

A snake-shaped arm, one end of which is connected with the seat part and the other end of which is used for fixing the medical instrument, wherein the snake-shaped arm comprises a plurality of joints connected end to end and a rope penetrating through the joints, one end of the rope is connected with the tensioning mechanism and is in linkage with the tensioning mechanism to perform stretching motion so as to fasten the joints or retracting motion so as to loosen the joints;

The tensioning mechanism comprises a stroke block, a movable arm and an executing block which are sequentially arranged, the stroke block is combined with the power mechanism and driven by the power mechanism to do linear reciprocating motion, the movable arm is rotatably arranged in the shell through a pivot shaft, the movable arm comprises a first arm and a second arm which are arranged by taking the pivot shaft as a vertex and form an included angle, the tail end of the first arm is matched with the stroke block, the tail end of the second arm is matched with the executing block, the executing block is fixedly connected with one end of the rope, and the stroke block drives the executing block through the movable arm to stretch and relax the rope;

The movable arms are arranged in the shell in a rotatable mode through a pivot shaft, each movable arm is matched with the side surface of the stroke block, the movable arms are uniformly distributed around the circumference of the stroke block, and the size and the shape of each movable arm are approximately the same;

The travel block comprises a plurality of guide surfaces which are respectively in abutting fit with the first arms, the guide surfaces are circumferentially formed on the side wall of the travel block, at least part of the outer contour of the cross section of the travel block is gradually reduced or gradually increased along the direction close to the first arms, the travel block is driven by the power mechanism to extend in and withdraw from among the first arms, the first arms are driven to be close to or far away from each other, and the second arms are driven to act on the execution block in the process of being far away from or close to each other so as to stretch or relax the rope.

The technical scheme provided by the invention has the following advantages:

The invention provides a medical instrument fixing device, which comprises a seat and a snake-shaped arm, wherein one end of the snake-shaped arm is connected with a tensioning mechanism in the seat, the other end of the snake-shaped arm is used for fixing a medical instrument, the tensioning mechanism comprises a travel block, movable arms and an execution block which are sequentially arranged, the number of the movable arms is two, the travel block comprises a first side guide surface and a second side guide surface which are respectively propped against first arms of the two movable arms, the travel block is driven by a power mechanism to extend in and withdraw from between the two first arms, the two first arms are driven to approach or separate from each other, and the second arms are further linked to act on the execution block to stretch or relax ropes, so that deflection torque is restrained, stress of the tensioning mechanism and the power mechanism is not biased, structural reliability is improved, bias abrasion to the power mechanism is reduced, and service life of the power mechanism is prolonged.

In another embodiment of the invention, the number of the movable arms is multiple, and force transmission from the stroke block to the execution block is realized by arranging the movable arms, so that the stress can be more uniformly distributed, the stress of each stress part is reduced, the partial wear of the stress part is restrained, and the structural reliability is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a medical device holder according to an embodiment of the present invention;

FIG. 2 is a schematic view of a half-shell of a medical device holding apparatus according to an embodiment of the present invention;

FIG. 3 is a schematic view of a half-shell of a medical device holding apparatus according to an embodiment of the present invention from another view;

FIG. 4 is a schematic view showing the internal structure of a seat with a housing of a medical device holding apparatus fully opened according to an embodiment of the present invention;

FIG. 5 is a schematic perspective view of an execution block of a medical device holding apparatus according to an embodiment of the present invention;

FIG. 6 is a schematic perspective view of a travel block of a medical device holding apparatus according to an embodiment of the present invention;

FIG. 7 is a schematic cross-sectional view of a travel block of a medical device holding apparatus in an withdrawn position according to an embodiment of the present invention;

FIG. 8 is a schematic view of a tensioning mechanism with a travel block of a medical device holding apparatus in an extended position according to an embodiment of the present invention;

FIG. 9 is a schematic view showing the internal structure of a seat with a housing of a medical device holding apparatus fully opened according to another embodiment of the present invention;

FIG. 10 is a schematic view showing the internal structure of a seat with a housing of a medical device holding apparatus fully opened according to another embodiment of the present invention;

FIG. 11 is a schematic view showing the internal structure of a seat with a housing of a medical device holding apparatus fully opened according to another embodiment of the present invention;

FIG. 12 is a schematic perspective view of a travel block of the medical device holding apparatus of FIG. 11;

fig. 13 is a schematic perspective view of an actuator block of the medical device holder of fig. 11.

Detailed Description

The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. The invention will be described in detail hereinafter with reference to the drawings in conjunction with embodiments. It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.

In the present invention, unless otherwise indicated, terms of orientation such as "upper, lower, top, bottom" are used generally with respect to the orientation shown in the drawings or with respect to the component itself in the vertical, upright or gravitational direction; also, for ease of understanding and description, "inner and outer" refers to inner and outer relative to the profile of each component itself, but the above-mentioned orientation terms are not intended to limit the present invention.

Example 1

The present embodiment provides a medical apparatus holding device (may be simply referred to as a holding device). Referring to fig. 1, the medical device holding apparatus provided in the present embodiment includes a seat 10 and a serpentine arm 20.

Wherein the serpentine arm 20 has one end connected to the seat 10 and the other end (omitted from fig. 1) connected to a clamping robot (not shown) for clamping the medical device. The seat 10 includes a housing 11, a tensioning mechanism disposed within the housing 11, and a power mechanism 13 drivingly connected to the tensioning mechanism. The power mechanism 13 drives the tensioning mechanism to enable the snake-shaped arm 20 to switch between flexibility and rigidity, when the snake-shaped arm 20 is in a flexible state, the shape of the snake-shaped arm 20 can be adjusted randomly, after the position of the snake-shaped arm 20 is determined, the snake-shaped arm 20 can be tensioned through the tensioning mechanism, so that the shape of the snake-shaped arm 20 is kept, and a medical instrument clamped at the other end is positioned.

In one embodiment, the medical device held at the end of serpentine arm 20 is an endoscope. For the purpose of illustration, an endoscope is used as an example, and should not be construed as limiting the invention.

Specifically, the serpentine arm 20 comprises a plurality of joints 21 connected end to end and a rope 24 (shown in fig. 8) passing through the joints, one end of the rope 24 being connected to a tensioning mechanism provided in the seat 10, and being driven by the tensioning mechanism to perform a stretching motion to tighten or loosen the joints 21. The joints 21 can be mated to each other by applying tension to the cables 24 to achieve shape retention of the serpentine arms 20, and releasing the tension to the cables 24, each joint 21 is released, so that the shape of the serpentine arms 20 can be adjusted to change the pose of the endoscope. In particular, the rope may be a flexible wire, such as a steel wire rope; the cords may also be non-metallic flexible cords, such as flexible cords made of a composite material.

The inventor of the application discovers that the prior medical instrument fixing device mainly uses a single rotating piece to drive a rope to be tensioned, on one hand, because the rope needs to be applied with tension higher than a certain threshold value to keep the shape of the snake-shaped arm, the single rotating piece is used for applying the tension, the tensioning components which are matched with each other are required to have enough structural strength and wear resistance, the power of a power mechanism is ensured to be kept in a higher range, otherwise, the stability of keeping the shape of the snake-shaped arm cannot be ensured, the position of the medical instrument is inaccurate, and the risk of other tissue injuries in the operation process is increased. In some practical application scenes, the power mechanism is an air cylinder, the air source pressure can be reduced along with time and use conditions, and if the air source pressure requirement is high, the burden of supplementing or replacing an air source in a hospital can be increased, and the use cost is high.

On the other hand, through single rotating member, tensioning rope, in the power unit drive rotating member rotation in-process, single rotating member to tensioning mechanism and power unit's reaction force is offset, through the long-time experimental verification of inventor, the atress of offset causes inhomogeneous wearing and tearing to tensioning mechanism and power unit's structure, leads to power unit life-span to reduce. Especially to the condition that power unit is the cylinder, offset reaction force leads to the uneven wearing and tearing of cylinder piston and cylinder body inner wall, and cylinder body one side inner wall wearing and tearing are great, and the seal structure life-span of piston reduces, and then leads to the increase of vibrations and noise after the long-time motion of cylinder, and even the cylinder is scrapped.

These problems, if occurring during the medical operation, are critical problems that the operation time is prolonged when the weight is light and the life of the patient is endangered when the weight is heavy, and the medical apparatus holding device needs to be solved.

The medical instrument fixing device provided by the embodiment of the invention skillfully solves the problems by improving the arrangement of the tensioning mechanism.

Specifically, as shown in fig. 2 to 4, the tensioning mechanism comprises a stroke block 15, movable arms (16, 18) and an executing block 19 which are sequentially arranged, wherein the stroke block 15 is combined with the power mechanism 13 and is driven by the power mechanism 13 to do linear reciprocating motion. The number of the movable arms includes two, namely a movable arm 16 and a movable arm 18, the movable arm 16 is rotatably arranged in the shell 11 through a pivot shaft 163, the movable arm comprises a first arm 161 and a second arm 162 which are arranged at an included angle by taking the pivot shaft 163 as an apex, the tail end of the first arm 161 far away from the pivot shaft 163 is matched with the stroke block 15, and the tail end of the second arm 162 far away from the pivot shaft 163 is matched with the execution block 19. Similarly, the movable arm 18 is rotatably disposed in the housing 11 through the pivot shaft 183, and includes a first arm 181 and a second arm 182 disposed at an angle with respect to the pivot shaft 183, wherein the end of the first arm 181 away from the pivot shaft 183 is engaged with the travel block 15, and the end of the second arm 182 away from the pivot shaft 183 is engaged with the actuator block 19.

The movable arms 16 and 18 are symmetrically disposed. The angle between the first arm 161 and the second arm 162 is less than 180 degrees but greater than 90 degrees, and likewise, the angle between the first arm 181 and the second arm 182 is less than 180 degrees and greater than 90 degrees, that is, the angle between the first arm 161 (181) and the second arm 162 (182) is an obtuse angle. The first arms 161 and 181 extend in a direction approaching each other, and the second arms 162 and 182 extend in a direction approaching each other.

For convenience of explanation, please refer to fig. 7, a straight line that substantially passes through the center of the stroke block 15 and is parallel to the movement direction of the stroke block 15 is defined as the center line L of the stroke block 15. The movable arm 16 is located on one side of the centerline L of the stroke block 15, and the other movable arm 18 is located on the other side of the centerline L of the stroke block 15. The pivot shafts 163 and 183 are parallel to each other, and the two movable arms 16 and 18 rotate about the pivot shafts 163 and 183, respectively, substantially in the same plane. Therefore, the movable arms are symmetrically arranged, the acting forces on the stroke blocks 15 are the same, the resultant force direction is not biased, and the structural reliability is high.

The stroke block 15 is driven by the power mechanism 13 to reciprocate in and out between the first arms 161 and 181. Referring to fig. 2-4 and 7, the travel block 15 is in an withdrawn position between the withdrawn first arms 161 and 181. Fig. 8 shows the travel block 15 moved to an extended position extending between the first arms 161 and 181. The stroke block 15 is driven to reciprocate between an exit position shown in fig. 7 (or fig. 2-4) and an extended position shown in fig. 8. When the stroke block 15 makes an extending movement between the first arms 161 and 181, the first arms 161 and 181 make a moving away from each other about the respective pivot shafts 163 and 183, and the second arms 162 and 182 approach each other; during the withdrawal of the travel block 15 from between the first arms 161 and 181, the first arms 161 and 181 move toward each other about the respective pivot shafts 163 and 183 and the second arms 162 and 182 move away from each other.

The stroke block 15 reciprocates along the direction of the center line L. In this embodiment, the stroke block 15 is coaxially disposed on the power mechanism 13, that is, the center line L of the stroke block 15 is collinear with the axis of the drive shaft 131 of the power mechanism 13. The stroke block 15 includes first side guide surfaces 152 respectively in abutting engagement with the first arms 161 and second side guide surfaces 154 in abutting engagement with the first arms 181. The first side guide surface 152 and the second side guide surface 154 are respectively formed by opposite side wall surfaces of the stroke block 15, in other words, the first side guide surface 152 is formed on one side wall surface of the stroke block 15, and the second side guide surface 154 is formed on the opposite side wall surface of the stroke block.

The first side guide surface 152 and the second side guide surface 154 are symmetrical to each other. For the purpose of illustration, a center line L passing through the stroke block 15 is defined, and a plane perpendicular to the paper surface direction of fig. 7 is a bisecting plane of the stroke block 15. The bisecting plane is located between the first side guide surface 152 and the second side guide surface 154 and substantially bisects the travel block 15. Any point of the bisecting plane is the same distance as the first side guide plane 152 and the second side guide plane 154. That is, the first side guide surface 152 and the second side guide surface 154 are symmetrical to each other about the bisecting plane.

The movable arms 16 and 18 are shown on either side of the bisecting plane and are symmetrical about the bisecting plane. The pivot shafts 163 and 183 are both parallel to and equidistant from the bisecting plane. In the process that the stroke block 15 extends into and exits from the space between the first arms 161 and 181, the magnitude of the interaction force between the movable arms 16 and 18 and the stroke block 15 is always the same, the resultant force direction is approximately consistent with the center line direction, and the resultant force components are mutually offset in the radial direction, so that torque is not generated on the stroke block 15, the uniformity of abrasion on the power mechanism 13 is further ensured, and the service life of the power mechanism is prolonged.

To guide the rotation of the movable arm more smoothly, in one embodiment, the first side guide surface 152 and the second side guide surface 154 adjacent to the movable arm are cylindrical surfaces. Since the first side guiding surface 152 and the second side guiding surface 154 are symmetrical, for brevity of description, the present application focuses on the first side guiding surface 152, and the second side guiding surface 154 refers to the first side guiding surface 152 according to the symmetrical structure, and will not be described again.

Specifically, with continued reference to fig. 2-3, the first side guide surface 152 includes a first side guide cylindrical surface 1521, the second side guide surface 154 includes a second side guide cylindrical surface (not shown), the first side guide cylindrical surface 1521 and the second side guide cylindrical surface are symmetrical about the bisecting plane, and the width of the travel block 15 between the first side guide cylindrical surface 1521 and the second side guide cylindrical surface gradually decreases in a direction approaching the first arm 161 (181). When the stroke block 15 is driven by the power mechanism 13 to make an extending movement between the two first arms 161 and 181, the width between the first side guide cylindrical surface 1521 and the second side guide cylindrical surface which are abutted against the first arms 161 and 181 is gradually increased, so that the two first arms 161 and 181 are driven to be away from each other, and the second arms 162 and 182 are driven to be close to each other, and the executing block 19 is pulled to stretch the rope 24. When the travel block 15 is driven by the power mechanism 13 to withdraw between the two first arms 161 and 181, the actuator block 19 is pulled by the rope to move toward the initial position under the action of the rope restoring force, the second arms 162 and 182 are separated from each other, the first arms 161 and 181 are close to each other, the width between the first side guide cylindrical surface 1521 and the second side guide cylindrical surface which are abutted with the first arms 161 and 181 is gradually reduced, the rope is finally loosened, the serpentine arm 20 becomes flexible, and the shape can be adjusted.

Since the joints of the serpentine arm are tightly fitted in place by the cable tension, the cable tension force applied continuously during the positioning and holding process is very high, and if the power mechanism is suddenly cut off, the risk of the serpentine arm loosening and the surgical instrument falling off may occur. To solve the above problem, referring to fig. 4, in some embodiments, the first side guiding surface 152 further includes a first side positioning plane 1522, the first side positioning plane 1522 is substantially planar, and the first side positioning plane 1522 meets the first side guiding cylindrical surface 1521 and transitions smoothly. Correspondingly, the second side guide surface 154 also includes a second side locating plane (not shown), which is also generally planar, parallel to the first side locating plane 1522, which meets and smoothly transitions with the second side guide cylindrical surface 154. When the stroke block 15 completes the extension stroke, the first side positioning plane 1522 and the second side positioning plane are respectively in abutting fit with the first arms 161 and 181, and since the distance between the first side positioning plane 156 and the second side positioning plane is the same, the distance between the first arms 161 and 181 remains stable and unchanged no matter the stroke block 15 continues to extend into, and thus the positioning of the movable arm can be realized, even if the power mechanism is suddenly cut off, the movable arm can still be kept in the tensioning position, and the serpentine arm can remain in a positioning state until the operation is finished.

In this embodiment, the stroke block 15 is driven by the power mechanism 13 to extend into and withdraw from the space between the two first arms 161 and 181, so as to drive the two first arms 161 and 181 to approach or separate from each other, and further drive the second arms 162 and 182 to act on the executing block 19 to stretch or release the rope. The tensioning force of the rope is transmitted by the two movable arms, so that the force can be dispersed, the size of the interaction force of each movable arm and the matched structure of each movable arm is reduced, the generation of deflection torque is restrained, the abrasion is further reduced, the reliability and the stability of the tensioning mechanism are improved, and the service life of the motive mechanism is further guaranteed. The power requirement applied to the execution block can be reduced, the use cost of the power mechanism is further reduced, the requirement on the air source pressure can be reduced under the condition that the power mechanism 13 is an air cylinder, the air source can still work normally under the condition that the air source pressure is lower, and the use scene of the fixing device is enlarged.

In order to ensure the smoothness of the relative movement between the movable arm and the execution block, the ends of each of the first arms 16 and 18 are provided with a pair of first rolling members. Because the movable arm 16 and the movable arm 18 are identical in structure, only one of them will be described in detail herein, and the other can be referred to each other, and will not be described in detail.

The ends of the first arms 161 and 181 remote from the pivot axis are each provided with a first rolling member. Specifically, the first rolling member provided on the first arm 161 is in abutting engagement with the first side guide surface 152, and the first rolling member provided on the first arm 181 is in abutting engagement with the second side guide surface 154. The ends of the second arms 162 remote from the pivot axis are each provided with a second roller, the actuator block 19 comprising a first mating surface (1921, 1924) and a second mating surface (1923, 1925), the second roller provided on the second arms 162 being in abutting engagement with the first mating surface (1921, 1924) and the second roller provided on the second arms 182 being in abutting engagement with the second mating surface (1923, 1925).

In a specific embodiment, focusing on fig. 3, the first rolling members are pulleys 1610 and 1810. The end of the first arm 161 is provided with a pair of pulleys 1610, and the pair of pulleys 1610 are coaxially disposed on both sides of the end of the first arm 161 with their axes parallel to the pivot shaft 163. The first arm 161 is in abutting engagement with the first side guide surface 152 by the pair of pulleys 1610, and since the pulleys 1610 can roll on the first side guide surface, rolling friction is generated between the first arm 161 and the stroke block 15, and the loss is small. Further, the two pulleys 1610 are respectively located at both sides of the end of the first arm 161, and both ends of the movable arm are stressed, so that the stress is dispersed, and the structural reliability is high.

Similarly, the end of the first arm 181 is provided with a pair of pulleys 1810, and the pair of pulleys 1810 are coaxially disposed on both sides of the end of the first arm 181, and the axis thereof is parallel to the pivot shaft 183. The connection between the first arm 181 and the pulley 1810 can be referred to the content of the first arm 161 and the pulley 1610, and will not be described again. In particular embodiments, pulleys 1610, 1810 may be bearings.

That is, the first side guide surface 152 of the stroke block 15 is in abutting engagement with the two pulleys 1610, the second side guide surface 154 is in abutting engagement with the two pulleys 1810, the four pulleys respectively roll on the first side guide surface 152 and the second side guide surface 154 during the process of extending and retracting the stroke block 15 between the first arms 161 and 181, the side wall of the stroke block 15 includes four abutting force surfaces, the forces of the first side guide surface 152 and the second side guide surface 154 are symmetrical, the forces are stable for the stroke block 15, the force points are dispersed, and the structure is more reliable.

Similarly, the second rolling elements are pulleys 1620, 1820. Pulleys 1620, 1820 and 1610, 1810 have the same structure, and reference is made to the above description about the first rolling element, and details thereof are not repeated here.

In another embodiment, the first rolling member and the second rolling member may also take other implementations. Referring to fig. 9, the difference between the embodiment and the above embodiment is that the arrangement structure of the first rolling member and the second rolling member is different, and the same reference numerals are used for the same structure, which is not repeated. In this embodiment, the first arm 161 includes a rolling pin 1610', and the rolling pin 1610' is rotatably disposed at an end of the first arm 161 and parallel to the pivot shaft 163. The two ends of the rolling pin 1610 'protrude beyond the first arm 161, and the rolling pin 1610' located beyond the first arm 161 is in abutting engagement with the first side guide surface 152 of the stroke block 15. Specifically, the rolling pin 1610' is rotatably disposed with the end of the first arm 161 through a needle roller. Similarly, the second rolling element may also take the form of a rolling pin, for example, the second arm 162 is in abutting fit with the executing block 19 through a rolling pin 1620', the rolling pin 1620' is rotatably disposed at the end of the second arm 162 and parallel to the pivot 163, and the arrangement structure of the rolling pin 1620 'and the rolling pin 1610' is the same and will not be described again.

The movable arm 18 may have the same structure as the movable arm 16 shown in fig. 9, or may have the same structure as fig. 3 and 4. Of course, the first arm 161 and the second arm 162 may be engaged with the stroke block and the execution block by using a rolling pin and a pulley, respectively, and the first arm 181 and the second arm 182 may be engaged with the stroke block and the execution block by using a rolling pin and a pulley, respectively. The specific arrangement of the two first rolling members may be arbitrarily combined, and is not limited herein.

After the arrangement, the operation reliability of the fixing device can be obviously improved. Based on this, the inventors of the present application found through many experiments that the vibration and noise of the holding device also increase with the use time. The inventors analyzed that these vibrations and noise may occur for a variety of reasons, possibly due to unstable positioning of the movable arm, mechanical wear, and structural aging. Through analysis and research on the matching relation of each part and related parts, the inventor finds that the guiding surface is worn on the surface after long-time running, scratches and even grooves are generated, and in the continuous running process, the pulleys matched with the guiding surface are easy to be blocked in the grooves, so that the running is unsmooth, larger vibration and noise are generated, and the use experience is poorer and worse.

To improve the above-described problem, in the modified embodiment, the first side guide surface 152 includes two first side guide surfaces disposed at intervals, the two first side guide surfaces being respectively in abutting engagement with the side walls of the first rolling member 1610 on the same side; the second side guiding surface 154 includes two second side guiding surfaces disposed at intervals, and the two second side guiding surfaces respectively and abuttingly cooperate with the side walls of the first rolling member 1810 on the same side. In a direction parallel to the pivot shaft 163 (183) of the movable arm 16 (18), each first side guide surface does not exceed the side surface extent of the first roller 1610 engaged therewith, and each second side guide surface does not exceed the side wall extent of the pulley 1810 engaged therewith. In other words, each first side sub-guide surface in contact with first rolling member 1610 falls within the range of the side surface of corresponding abutting-fit first rolling member 1610, and each second side sub-guide surface in contact with first rolling member 1810 falls within the range of the side surface of corresponding abutting-fit first rolling member 1810. In this way, during the extension and withdrawal of the travel block 15 between the two first arms 16 and 18, the two end edges of each first side sub-guide surface and each second side sub-guide surface, which are in contact with the first rolling member, fall within the range of the side surfaces of the corresponding abutment-fitted first rolling member, the side wall of each first rolling member exceeds the width of the sub-guide surface fitted thereto, belonging to (the first side and the second side) sub-guide surface rolling within the range of the side wall of the first rolling member, instead of the first rolling member rolling within the range of the guide surface, reducing the risk of the edges of the harder first rolling member causing scratches or even grooves on the guide surface, thereby improving the running noise and vibration problems. It is understood that the first rolling member may be a pulley or a rolling pin.

In a specific embodiment, referring to fig. 3 and 4, the travel block includes a first travel tongue 151 and a second travel tongue 153. Both side walls of the first row Cheng She are respectively abutted against and matched with the first rolling piece. In the embodiment where the first rolling member is a pulley, one side wall of the first row Cheng She is engaged with one pulley 1610 and the other side wall is in abutting engagement with one pulley 1810. Similarly, the two side walls of the second travel tongue 153 are respectively in abutting engagement with a pulley 1610 and a pulley 1810. The side surface of the first travel tongue 151 in abutting engagement with the pulley 1610 forms a first side guide surface, and the side surface of the second travel tongue 153 in abutting engagement with the pulley 1610 forms another first side guide surface. Correspondingly, the side surface of the first row Cheng She that is in abutting engagement with the pulley 1810 forms a second side sub-guiding surface, and the side surface of the second travel tongue 153 that is in abutting engagement with the pulley 1810 forms another second side sub-guiding surface. That is, two first side guide surfaces are formed by the same side wall surfaces of the first row Cheng She and the second stroke tongue 153, respectively, and two second side guide surfaces are formed by the other side wall surfaces of the first row Cheng She 151 and the second stroke tongue 153, respectively.

In a specific embodiment, referring to fig. 6, the first row Cheng She and the second travel tongue 153 are disposed at intervals, the intervals form a yielding space 150, one sides of the first row Cheng She and the second travel tongue 153, which are close to the actuating mechanism 13, are fixedly connected through a connecting block 155, and the actuating mechanism 13 is connected with the connecting block 155. The first row Cheng She, the second travel tongue 153 and the connecting piece 155 form a semi-closed relief space 150. During the reciprocating movement of the stroke block 15, the relief space 150 can avoid interference between the stroke block 15 and other components, shortening the axial dimension of the seat 10. Specifically, the travel block 15 is driven by the power mechanism 13 to reciprocate between the extended position and the retracted position between the two first arms 161, 181, when the travel block 15 is located at the extended position, as shown in fig. 8, the rope 24 is tensioned, and the execution block 19 is located at least partially in the space 150 for yielding between the first row Cheng She and the second travel tongue 153, so that the travel range of the travel block overlaps with the space of the execution block 19, shortening the size of the seat.

In a specific embodiment, the ends of the first side guiding surface and the second side guiding surface, which are far away from the power mechanism 13, are cylindrical surfaces, and the ends, which are close to the power mechanism 13, are plane surfaces. The cylindrical portions of the two first side guide surfaces form the above-described first side guide cylindrical surface 1521, and the planar portions of the two first side guide surfaces form the above-described first side positioning plane 1522. Since the second side guiding surface and the first side guiding surface are symmetrical to each other, they can be seen from each other, and the description thereof will not be repeated.

The execution block 19 is connected with the rope 24, and the movement of the execution block 19 generates displacement change so as to synchronously drive the rope to stretch and relax. In a specific embodiment, focusing on fig. 4, the execution block 19 includes a connection portion 191 fixedly connected with the rope and a base portion 192 for abutting engagement with the ends of the second arms 162, 182, and when the second arms 162, 182 of the movable arms 16 and 18 are rotated in opposite directions, the base portion 192 is pushed against, and the connection portion 191 is interlocked to perform a rope stretching movement together, thereby realizing tensioning of the rope.

The connecting portion 191 is connected to a central region of the base portion 192, the connecting portion 191 is fixedly connected to the base portion 192, and the base portion 192 is respectively in abutting engagement with the distal ends of the two second arms 162, 182. Since the mating relationship of the first arms 162 and 182 with the base 192 is the same, the connection and mating relationship of one of the first arms with the base will be described in detail herein, and the other will be referred to each other and will not be described again. The above-described "central region" should be understood as the extent to which the base 192 removes the ends.

The first (1921, 1924) and second (1923 ) mating surfaces are formed on a side of the base 192 that joins the connection 191. Preferably, the first (1921, 1924) and second (1923) mating surfaces are symmetrically distributed about the center of the base 192. In this way, the forces on the base 192 are distributed around the center and symmetrically arranged, the forces on the base 192 are balanced in the radial direction, the resultant force in the axial direction is approximately collinear with the axis of the connection 191, and the stability of the rope end tension is improved.

Referring to fig. 3 and 4, in the embodiment in which the second rolling member is a pulley 1620. The distal ends of the second arm 162 are each provided with a pair of pulleys 1620, the second arm 162 being abutted against the first fitting surfaces 1921, 1924 by a pair of pulleys 1620, respectively, the pair of pulleys 1620 being coaxially disposed on both sides of the distal end of the second arm 162 with their axes parallel to the axis of the pivot shaft 163 of the movable arm 16. Correspondingly, the end of the second arm 182 remote from the pivot shaft 183 is provided with a pair of pulleys 1820, the second arm 1820 is respectively in abutting engagement with the second engagement surfaces 1923, 1923 by means of a pair of pulleys 1820, and the pair of pulleys 1820 is coaxially disposed on both sides of the end of the second arm 182 with its axis parallel to the axis of the pivot shaft 183 of the movable arm 18.

The first mating surfaces (1921, 1924) and the second mating surfaces (1923 ) are relatively symmetrical, and the first mating surfaces are emphasized here, the second mating surfaces being referred to as first mating surfaces. Because the pulley is generally harder than the mating surface, if the coaxiality of the pulley is kept unstable, the pressure imbalance condition at two ends is easy to occur, the hard contact between the end edge of the pulley and the mating surface can cause scratches and even grooves on the mating surface, and vibration and noise are increased in the further running process.

In order to solve the above problems. In one embodiment, the first mating surfaces (1921, 1924) include two sub-mating surfaces 1921 and 1924 spaced apart from each other, the two sub-mating surfaces 1921 and 1924 respectively being in abutting engagement with a pair of pulleys 1620, and the end edges of each sub-mating surface 1921, 1924 in contact with the pulleys 1620 during the insertion and withdrawal of the travel block 15 between the two first arms 161, 181 are within the range of the side surfaces of the corresponding abutting engagement pulleys 1620. That is, each sub-mating surface is within the range of the sidewall surface of the corresponding abutting pulley. Therefore, the end edge of the pulley with harder texture is not contacted with the sub-matching surface, scratches and grooves caused by the surface can be reduced, and the running vibration and noise problems are further improved.

It will be appreciated that in embodiments where the corresponding second rolling member is a rolling pin 1620', the two sub-engagement surfaces 1921 and 1924 respectively are in abutting engagement with the side walls of the rolling pin extending beyond the second arm. That is, the sub-mating surface 1921 is in abutting engagement with one end side wall of the rolling pin 1620', and the sub-mating surface 1924 is in abutting engagement with the other end side wall of the rolling pin. Preferably, both end edges of the two sub-mating surfaces 1921 and 1924 fall within the side surfaces of the corresponding press-fit rolling pin 1620'.

Specifically, referring to fig. 5, the base portion is substantially H-shaped and includes two substantially parallel rods, the middle positions of the two rods are fixedly connected to each other by a connecting member, and the connecting portion 191 is disposed on the connecting member. The two ends of the two bars are spaced apart to form a space, and the two second arms 162 and 182 extend from one side of the base 192 through the space between the ends of the two bars, respectively, to the other side of the base 192. Two sub-fitting surfaces are formed on the tip side surfaces of the two lever portions, respectively.

The first mating surface (1921, 1924) and the second mating surface are cylindrical surfaces. When the travel block 15 is in the extended position between the two first arms 16, 18, the second pulley 1620 abuts the first mating surface (1921, 1924) near the proximal end of the connecting portion 191, the second pulley 1820 abuts the second mating surface near the proximal end of the connecting portion 191, the actuator block 19 is in the stretched position of the tensioning cord 24, when the travel block 15 is in the retracted position between the two first arms 16, 18, the second pulley 1620, 1820 abuts the mating surface far from the distal end of the connecting portion 191, and the actuator block 19 is in the relaxed position of the slack cord. The setting of mating surface for the cylinder on the one hand helps reducing the relative motion resistance of second arm and basal portion, on the other hand, can make the axial motion of executive block change more steadily, and the atress of rope is steady, and life is longer.

In the above embodiments, the pulleys may be bearings. In particular needle bearings. The power mechanism 13 may be a cylinder, the cylinder includes a piston rod, and the stroke block 15 is connected to the end of the piston rod of the cylinder and reciprocates synchronously with the piston rod. The power mechanism 13 may also be an electric power mechanism, including a motor and a reciprocating output shaft, and a stroke block 15 is connected to the end of the output shaft.

The following describes in detail the movement relationship of the respective components during the reciprocation of the stroke block 15. Referring to fig. 7 and 8, in fig. 7, the travel block 15 is in an exit position between the two first arms 161 and 181, when the cord is in a relaxed state, and the serpentine arms are flexible. In fig. 8, the travel block 16 is in the extended position between the two first arms 161 and 181, where the cable is in tension and the serpentine arm 20 shape is maintained. The stroke block 15 is driven to reciprocate between the entering position and the exiting position, when the stroke block 15 is moved from the exiting position shown in fig. 7 to the entering position shown in fig. 8, the movable arm 16 rotates clockwise, the movable arm 18 rotates counterclockwise, the distance between the first arms 161 and 181 increases gradually, the second arms 162 and 182 rotate in a direction approaching each other, and the distal ends of the second arms 162 and 182 press down the actuating block 19 in a direction approaching the stroke block 15, so that the actuating block 19 stretches the rope, and the shape of the serpentine arm 20 is maintained. When the stroke block 15 moves from the extended position to the retracted position, the actuator block 19 moves to the initial position under tension of the rope, abutting against the second arms 162 and 182 to increase the distance therebetween, and the distance between the first arms 161 and 181 gradually decreases until the stroke block 15 moves to the retracted position. In this way, a switching of the serpentine arm 20 from flexible to rigid is achieved.

Example 2

In another embodiment of the present application, a holding device for medical apparatus is provided (may be simply referred to as a holding device), which is substantially the same as that of the above embodiment 1, and for brevity of description, the description of the difference will be focused on in this embodiment, and other details not described may be found in embodiment 1.

Referring to fig. 10, the present embodiment is different from the above embodiment in that the arrangement structure of the stroke blocks is different. Specifically, the first side guide surface and the second side guide surface of the stroke block 25 are configured such that the width of the stroke block 25 between the two guide surfaces gradually increases in a direction approaching the first arms 161, 181. The stroke block 25 is basically the same as the stroke block 15 of the above embodiment, but the connection position with the power mechanism 13 is opposite, and the more pointed end of the stroke block 25 is connected with the power mechanism 13 (in the above embodiment, the stroke block 15 is connected with the power mechanism at the relatively thicker end). As such, the width of the cross section of the stroke block 25 becomes thinner closer to the power mechanism 13, that is, the width of the stroke block 25 abutting against the first arm 161 and the second arm 181 becomes smaller and smaller as the power mechanism 13 pushes out the stroke block 25, and thus the distance between the first arm 161 and the second arm 181 becomes larger and larger as the width of the stroke block 25 abutting against the first arm 161 and the second arm 181 becomes larger as the power mechanism 13 pulls back the stroke block 25. Thus, in the present embodiment, when the stroke block 25 is located at a position away from the power mechanism 13, the distance between the first arms 161 and 181 is minimum, and the distance between the second arms 162 and 182 is maximum, at which time the execution block 19 is at a position where the rope is slackened; when the travel block 25 is located close to the power mechanism 13, the distance between the first arms 161 and 181 is the largest and the distance between the second arms 162 and 182 is the smallest, at which point the actuator block 19 is in the tension position of the tensile cord.

In summary, the first side guide surface and the second side guide surface may also be disposed opposite to the extending direction of the embodiment shown in fig. 1 to 9, so long as the distance between the first arms 161 and 181 can be gradually reduced or increased during the reciprocation, which is included in the protection scope of the present invention.

Example 3

The present embodiment provides a medical apparatus holding device (may be simply referred to as a holding device), which is substantially the same as embodiment 1, and for brevity of description, the present embodiment focuses on description of differences, and other details not described in detail may be found in embodiment 1.

Referring to fig. 11, in the present embodiment, the number of the movable arms is plural, specifically, may be greater than two, each movable arm is rotatably disposed in the housing 11 through the pivot shaft, the movable arms are respectively engaged with the side surfaces of the stroke block, the plurality of movable arms are uniformly disposed around the circumference of the stroke block, and the corresponding plurality of guide surfaces are uniformly formed on the side walls of the stroke block 25 in the circumference. Each of the movable arms may be constructed as described in the section of embodiment 1 above, and for illustrative purposes, the present embodiment will be described with respect to movable arms 16 and 18. The outer contour of the cross section of the travel block 25 gradually decreases along the direction approaching the movable arms, and the actuating block 29 is driven by the power mechanism 13 to extend and retract between the plurality of movable arms, so that the first arms of the plurality of movable arms are driven to approach or separate from each other, and the second arms of the plurality of movable arms are driven to act on the actuating block 29 to stretch or release the rope.

Referring to fig. 11, the number of movable arms is 3, and fig. 11 shows 2 movable arms 16 and 18, and another movable arm is identical to the movable arms 16 and 18 in structure, except for the arrangement angle. In this embodiment, the 3 movable arms are evenly distributed about the centerline of the travel block 25 by 120 degrees.

The movable arms may be constructed in the same manner as the movable arms 16 and 18 of the embodiment 1 part, except that the phase difference between the adjacent movable arms is different. Correspondingly, the execution block is provided with a base matched with a plurality of or movable arms, and the shape of the base is in a central radial shape. Illustratively, when the movable arms are 3, the base includes 3 mating surfaces 120 degrees out of phase, respectively in abutting engagement with the 3 movable arms.

The stroke block and the execution block are correspondingly arranged for matching the movable arms. See in particular fig. 12 and 13. In this embodiment, the stroke block 25 includes three stroke tongues, each of which is provided with a guide surface, and two adjacent stroke tongues are provided with guide surfaces that cooperate with a movable arm. Specifically, the first side guide surfaces 2521 and 2522 are adapted to be in abutting engagement with one movable arm, the second side guide surfaces 2541, 2542 are in abutting engagement with the other movable arm, and the third side guide surface (not shown) is in abutting engagement with the third movable arm. The arrangement of the guide surfaces is described in the section of embodiment 1 and will not be repeated.

Correspondingly, the execution block 29 comprises a base 292 and a connection 291, the connection 291 being arranged in a central region of the base 292. The base 292 extends out of 3 abutting engagement portions in the radial direction of the connection portion 291, each for abutting engagement with the second arm of one movable arm, and the phase differences 120 degrees between the 3 abutting engagement portions are uniformly distributed in the circumferential direction of the connection portion 291. In fig. 3, an example is illustrated of a press fit portion having two sub-fit surfaces 2921a and 2921b. Each of the sub-engagement surfaces is for abutting engagement with a second roller of the second arm. The mating relationship between the relevant sub-mating surface and the second rolling member can be found in embodiment 1, and will not be described again.

In this embodiment, the number of the movable arms may be more, for example, 4,5 or 6, so that the force is applied more uniformly from the circumference of the execution block, and the pressure borne by each movable arm is dispersed, which is beneficial to suppressing the abrasion of the guide surface, and further improving the vibration and noise problems.

It will be apparent that the embodiments described above are merely some, but not all, embodiments of the invention. Based on the embodiments of the present invention, those skilled in the art may make other different changes or modifications without making any creative effort, which shall fall within the protection scope of the present invention.

Claims (13)

1. A medical device holding apparatus, comprising:

the seat comprises a shell, a tensioning mechanism arranged in the shell and a power mechanism in transmission connection with the tensioning mechanism;

A snake-shaped arm, one end of which is connected with the seat part and the other end of which is used for fixing the medical instrument, wherein the snake-shaped arm comprises a plurality of joints connected end to end and a rope penetrating through the joints, one end of the rope is connected with the tensioning mechanism and is in linkage with the tensioning mechanism to perform stretching motion so as to fasten the joints or retracting motion so as to loosen the joints;

The tensioning mechanism comprises a stroke block, a movable arm and an executing block which are sequentially arranged, the stroke block is combined with the power mechanism and driven by the power mechanism to do linear reciprocating motion, the movable arm is rotatably arranged in the shell through a pivot shaft, the movable arm comprises a first arm and a second arm which are arranged by taking the pivot shaft as an apex and form an included angle, the tail end of the first arm is matched with the stroke block, the tail end of the second arm is matched with the executing block, the executing block is fixedly connected with one end of the rope, and the stroke block drives the executing block through the movable arm to stretch or relax the rope;

wherein the number of the movable arms is two, the movable arms are arranged such that the two first arms extend in directions approaching each other, and the two second arms extend in directions approaching each other;

The stroke block comprises a first side guide surface and a second side guide surface which are respectively in abutting fit with the two first arms, at least part of the width of the stroke block between the first side guide surface and the second side guide surface is gradually reduced or gradually increased along the direction approaching to the first arms, the stroke block is driven by the power mechanism to extend in and withdraw from between the two first arms, the two first arms are driven to respectively rotate around respective pivot shafts to approach or separate from each other, and the second arms are linked to act on the execution block to stretch or relax the rope in the process of separating or approaching from each other.

2. The medical device holding apparatus according to claim 1, wherein the pivot shafts of the two movable arms are arranged in parallel with each other, one of the movable arms being located on one side of the stroke block center line, and the other movable arm being located on the other side of the stroke block center line.

3. The medical device holding apparatus according to claim 1, wherein a first rolling member is provided at an end of each of the first arms remote from the pivot shaft, the first rolling member provided on one of the first arms being in abutting engagement with the first side guide surface, and the first rolling member provided on the other of the first arms being in abutting engagement with the second side guide surface;

The end of each second arm far away from the pivot shaft is provided with a second rolling element, the execution block comprises a first matching surface and a second matching surface, one second rolling element arranged on the second arm is in abutting fit with the first matching surface, and the other second rolling element arranged on the second arm is in abutting fit with the second matching surface.

4. The medical device holding apparatus according to claim 3, wherein the first rolling member is a pulley, two of the pulleys are provided at the distal end of each of the first arms, and the two pulleys are coaxially provided on both sides of the distal end of the first arm in a direction parallel to the pivot axis of the movable arm; or alternatively, the first and second heat exchangers may be,

The second rolling elements are pulleys, two pulleys are arranged at the tail end of each second arm, and the two pulleys are coaxially arranged at two sides of the tail end of each second arm along the direction parallel to the pivot shaft of the movable arm.

5. The medical device holding apparatus according to claim 3, wherein the first rolling member is a rolling pin rotatably provided at the distal end of the first arm, the rolling pin being parallel to the pivot axis of the movable arm; or alternatively, the first and second heat exchangers may be,

The second rolling piece is a rolling pin shaft, the rolling pin shaft is rotatably arranged at the tail end of the second arm, and the rolling pin shaft is parallel to the pivot shaft of the movable arm.

6. A medical device holding apparatus according to claim 3, wherein the first side guide surface includes two first side guide surfaces disposed at intervals, the two first side guide surfaces respectively being in abutting engagement with side walls of the first rolling member on the same side;

The second side guide surface comprises two second side sub guide surfaces which are arranged at intervals, and each second side sub guide surface is in abutting fit with the side wall of the first rolling element on the same side; during the process of extending and withdrawing the travel block between the two first arms, two end edges of each first side guiding surface and each second side guiding surface fall into the range of the side surface of the corresponding abutting-fit first rolling piece.

7. A medical device holding apparatus according to claim 3, wherein the actuating block comprises a connecting portion fixedly connected to the cord and a base portion for abutting engagement with the distal end of the second arm, the connecting portion being connected to a central region of the base portion, the first and second engaging surfaces each being formed on a side of the base portion to which the connecting portion is connected.

8. The medical device holding apparatus according to claim 7, wherein both end edges of the first mating surface and the second mating surface fall within a range of side surfaces of the second rolling member corresponding to the abutting mating during the insertion and withdrawal of the stroke block between the two first arms.

9. The medical device holding apparatus according to claim 7, wherein the base portion is H-shaped and includes two shaft portions substantially parallel to each other, and the two second arms pass through spaces between distal ends of the two shaft portions, respectively, from one side of the base portion.

10. The medical device holding apparatus according to claim 7, wherein the first engaging surface and the second engaging surface are cylindrical surfaces, the second rolling member is abutted against the engaging surface near a proximal end of the connecting portion when the stroke block is in an extended position between the two first arms, the actuating block is located in a stretched position for tensioning the rope, and the second rolling member is abutted against a distal end of the engaging surface away from the connecting portion when the stroke block is in a withdrawn position between the two first arms, and the actuating block is located in a relaxed position for relaxing the rope.

11. The medical instrument holding device according to claim 1, wherein the first side guide surface includes a first side guide cylindrical surface located at an end of the stroke block, the second side guide surface includes a second side guide cylindrical surface located at an end of the stroke block, the first side guide cylindrical surface and the second side guide cylindrical surface are symmetrical to each other, and a width of the stroke block between the first side guide cylindrical surface and the second side guide cylindrical surface near the movable arm is gradually reduced or gradually increased in a direction near the first arm.

12. The medical device holding apparatus of claim 11 wherein the first side guide surface includes a first side locating plane that interfaces with the first side guide cylinder, the second side guide surface includes a second side locating plane that interfaces with the second side guide cylinder, the first side locating plane being substantially parallel to the second side locating plane;

When the travel block is located at a stretching position for tensioning the rope, the first arm is in abutting fit with the first side locating plane and the second side locating plane, and the travel block can be kept at the stretching position under the condition that the power mechanism stops driving.

13. A medical device holding apparatus, comprising:

the seat comprises a shell, a tensioning mechanism arranged in the shell and a power mechanism in transmission connection with the tensioning mechanism;

A snake-shaped arm, one end of which is connected with the seat part and the other end of which is used for fixing the medical instrument, wherein the snake-shaped arm comprises a plurality of joints connected end to end and a rope penetrating through the joints, one end of the rope is connected with the tensioning mechanism and is in linkage with the tensioning mechanism to perform stretching motion so as to fasten the joints or retracting motion so as to loosen the joints;

The tensioning mechanism comprises a stroke block, a movable arm and an executing block which are sequentially arranged, the stroke block is combined with the power mechanism and driven by the power mechanism to do linear reciprocating motion, the movable arm is rotatably arranged in the shell through a pivot shaft, the movable arm comprises a first arm and a second arm which are arranged by taking the pivot shaft as a vertex and form an included angle, the tail end of the first arm is matched with the stroke block, the tail end of the second arm is matched with the executing block, the executing block is fixedly connected with one end of the rope, and the stroke block drives the executing block through the movable arm to stretch and relax the rope;

The movable arms are arranged in the shell in a rotatable mode through a pivot shaft, each movable arm is matched with the side surface of the stroke block, the movable arms are uniformly distributed around the circumference of the stroke block, and the size and the shape of each movable arm are approximately the same;

The travel block comprises a plurality of guide surfaces which are respectively in abutting fit with the first arms, the guide surfaces are circumferentially formed on the side wall of the travel block, at least part of the outer contour of the cross section of the travel block is gradually reduced or gradually increased along the direction close to the first arms, the travel block is driven by the power mechanism to extend in and withdraw from among the first arms, the first arms are driven to be close to or far away from each other, and the second arms are driven to act on the execution block in the process of being far away from or close to each other so as to stretch or relax the rope.