CN109689147A - Adjustable bending sheath tube and medical instrument - Google Patents
Adjustable bending sheath tube and medical instrument Download PDFInfo
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- CN109689147A CN109689147A CN201880001665.0A CN201880001665A CN109689147A CN 109689147 A CN109689147 A CN 109689147A CN 201880001665 A CN201880001665 A CN 201880001665A CN 109689147 A CN109689147 A CN 109689147A
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- tubular sections
- traction fiber
- tube
- adjustable bending
- bending
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
Abstract
A kind of adjustable bending sheath tube (100), including body portion (110), body portion (110) includes including outer tube (112) and traction fiber (117), outer tube (112) includes connecting tube (1121) and the pipe shaft that is connected to connecting tube (1121), pipe shaft includes the first tubular sections (1123) and the second tubular sections (1125), first tubular sections (1123) and connecting tube (1121) are affixed, the one end of second tubular sections (1125) with the first tubular sections (1123) far from connecting tube (1121) is affixed, at least one of second tubular sections (1125) and the first tubular sections (1123) have flexibility, and second one in tubular sections (1125) and the first tubular sections (1123) when having flexible, another has rigid Property and be in bending；The one end of connecting tube (1121) far from pipe shaft is extended in the free end of traction fiber (117), and traction fiber (117) slidably with respect to pipe shaft, and is able to drive pipe shaft and generates bending with part flexible.
Description
The present invention relates to medical instruments fields, more particularly to a kind of adjustable bending sheath tube and medical instrument.
Adjustable bending sheath tube is widely used in minimally invasive intervention diagnosis and treatment operation, for establishing channel, conveying or recycling instrument, input drug or export body fluid.Compared to common sheath, sheath has the function of adjustable bending, curved by the free tune of distal end, can reach target lesion position, quickly, reliably to reduce operating time.
Currently, in the market adjustable bending sheath tube be only 1 section of head end can carry out adjusting it is curved, but the head end of adjustable bending sheath tube with lower outer pipe for un-flexed state；Or the distal end of sheath has the fixation in 2 sections of differently curved directions curved.
It is directed to the curved vascular access of multistage, only the head end bending of adjustable bending sheath tube can not fully meet clinical use requirement, it is difficult to suitable for all patients.
Summary of the invention
Based on this, it is necessary to provide a kind of adjustable bending sheath tube with strong applicability.
In addition, also providing a kind of medical instrument.
A kind of adjustable bending sheath tube, including body portion, the body portion include:
Outer tube, including connecting tube and the pipe shaft being connected to the connecting tube, the pipe shaft includes the first tubular sections and the second tubular sections, first tubular sections and the connecting tube are affixed, second tubular sections and the described one end of first tubular sections far from the connecting tube are affixed, at least one of second tubular sections and first tubular sections have flexibility, and when one in second tubular sections and first tubular sections has flexible, another has rigidity and is in bending；And
Traction fiber, affixed with the pipe shaft, the traction fiber extends along the outer tube, and the one end of the connecting tube far from the pipe shaft is extended in the free end of the traction fiber, the relatively described pipe shaft of the traction fiber slidably, and is able to drive the pipe shaft and generates bending with part flexible.
A kind of medical instrument, including above-mentioned adjustable bending sheath tube.
The details of one or more embodiments of the invention proposes in following attached drawing and description.Other features, objects, and advantages of the present invention will become obvious from specification, attached drawing and claims.
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, the drawings to be used in the description of the embodiments or prior art will be briefly described below, apparently, drawings in the following description are only some embodiments of the invention, for those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings the attached drawing of other embodiments.
Fig. 1 is the structural schematic diagram of the adjustable bending sheath tube of an embodiment；
Fig. 2 is the partial structural diagram of the body portion of adjustable bending sheath tube shown in FIG. 1；
Fig. 3 is the partial cutaway view of the body portion of adjustable bending sheath tube shown in FIG. 1；
Fig. 4 is the partial enlarged view of Fig. 3；
Fig. 5 is the partial structural diagram of the body portion of adjustable bending sheath tube shown in FIG. 1；
Fig. 6 is the structural schematic diagram of the development part and traction fiber of the body portion of adjustable bending sheath tube shown in FIG. 1；
Fig. 7 is that the body portion of adjustable bending sheath tube shown in FIG. 1 is in the schematic diagram of bending state；
Fig. 8 is the structural schematic diagram of the development part and traction fiber of the body portion of the adjustable bending sheath tube of another embodiment；
Fig. 9 is the structural schematic diagram of the adjustable bending sheath tube of another embodiment；
Figure 10 is the partial structural diagram of the body portion of adjustable bending sheath tube shown in Fig. 9；
Figure 11 is that the body portion of adjustable bending sheath tube shown in Fig. 9 is in the schematic diagram of bending state；
Figure 12 is the schematic diagram that the body portion of adjustable bending sheath tube shown in Fig. 9 is in another bending state；
Figure 13 is that the body portion of adjustable bending sheath tube shown in Fig. 9 is in the schematic diagram of another bending state；
Figure 14 is the local structural graph of the body portion of the adjustable bending sheath tube of another embodiment；
Figure 15 is the local structural graph of the body portion of the adjustable bending sheath tube of another embodiment；
Figure 16 is the structural schematic diagram of the medical instrument of an embodiment；
Figure 17 is the structural schematic diagram of the dilated penetration device of medical instrument shown in Figure 16；
Figure 18 is dilated penetration device structural schematic diagram in another state shown in Figure 17；
Figure 19 is the partial enlarged view in the portion II of Figure 17；
Figure 20 is the partial structure diagram of the piercing assembly of dilated penetration device shown in Figure 17；
Figure 21 is the cross-sectional view of the III-III line along Figure 20；
Figure 22 is the position view that the distal end of medical instrument shown in Figure 16 enters atrium dextrum；
Figure 23 is that the tip of the puncture needle of medical instrument shown in Figure 16 passes through the position view that atrial septum enters atrium sinistrum；
Figure 24 is that the adjustable bending sheath tube of medical instrument shown in Figure 16 is retained in the position view of atrium sinistrum；
Figure 25 is the structural schematic diagram of the Stent assembly of another embodiment.
To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.
Referring to Fig. 1, the adjustable bending sheath tube 100 of an embodiment includes body portion 110 and the operating mechanism 150 for manipulating body portion 110.
Please refer to Fig. 2, Fig. 3 and Fig. 4, body portion 110 includes outer tube 112, inner tube 113, development part 115, sliding tube 116 and traction fiber 117.
Outer tube 112 includes connecting tube 1121 and the pipe shaft being connected to connecting tube 1121 (figure is not marked).The hardness of connecting tube 1121 is higher than pipe shaft.In the illustrated embodiment, connecting tube 1121 and pipe shaft are coaxial.
Pipe shaft includes the first tubular sections 1123 and the second tubular sections 1125.One end of first tubular sections 1123 and one end of connecting tube 1121 are affixed.One end of second tubular sections 1125 and first one end of tubular sections 1123 far from connecting tube 1121 are affixed, and the first tubular sections 1123 and the second tubular sections 1125 all have flexibility.That is, the first tubular sections 1123 and the second tubular sections 1125 are that pipe shaft has part flexible.In the illustrated embodiment, 1,121 3 sections of the second tubular sections 1125, the first tubular sections 1123 and connecting tube hardness are sequentially increased.In a wherein embodiment, the second tubular sections 1125, the first tubular sections 1123, the nylon elastomer (PEBAX) that connecting tube 1121 is different hardness are managed.Further, the hardness of the second tubular sections is 30D~40D.Further, the material of the second tubular sections 1125 is 35D PEBAX, and the material of the first tubular sections 1123 is 55D PEBAX, the material of connecting tube 1121 is 72D PEBAX.
First tubular sections 1123 and the second tubular sections 1125 have flexibility, to can bend when the first tubular sections 1123 and the second tubular sections 1125 are by active force.The bending angle of first tubular sections 1123 and the second tubular sections 1125 is 0 °~180 °, preferably 90 °, so as to control the radius of curvature of the first tubular sections 1123 and the second tubular sections 1125 according to the length of the first tubular sections 1123 and the second tubular sections 1125, certainly, when adjustable bending sheath tube 100 is applied to blood vessel or heart, also the bending angle of needs according to the anatomical structure of actual blood vessel or heart, can be designed and then determine the length of the first tubular sections 1123 and the second tubular sections 1125.The length of the first tubular sections 1123 is 30 millimeters~70 millimeters in one of the embodiments, and the length of the second tubular sections 1125 is 20 millimeters~40 millimeters.
Inner tube 113 is housed in outer tube 112, and is bonded with the inner wall of outer tube 112.Inner tube 113 and outer tube 112 are coaxial.The inner wall of inner tube 113 is shiny surface, to guarantee the smooth transport of other instruments.In the illustrated embodiment, the material of inner tube 113 is polytetrafluoroethylene (PTFE) (PTFE), in other embodiments, the material of inner tube 113 can also be polyethylene terephthalate (PET), certainly, the material of inner tube 113 is not limited to PTFE or PET, other can guarantee the material of the inner wall smooth of inner tube 113.It should be noted that, inner tube 113 can be omitted, as long as making the inner wall shiny surface of outer tube 112 guarantee the smooth transport of other instruments, in other embodiments, inner membrance can also be formed in the inner surface of outer tube 112, the material of inner membrance is selected from at least one of PTFE and PET.Inner membrance can be prepared by modes such as coatings, as long as guaranteeing the inner wall smooth of outer tube 112.
Development part 115 is located at the one end of the second tubular sections 1125 far from the first tubular sections 1123.In the illustrated embodiment, development part 115 is developing ring, and development part 115 is arranged and is fixed on the outer wall of inner tube 113, and fixed with outer tube 112 by hot melt.Further, development part 115 and outer tube 112 are coaxial.
It should be noted that development part 115 is not limited to developing ring, development coating can also be formed in the inner wall of outer tube 112 or the outer wall of inner tube 113 by modes such as coatings, as long as can play the role of developing under X-ray.The material of development part 115 is selected from least one of tantalum and platinum in one of the embodiments,.
Sliding tube 116 is between inner tube 113 and outer tube 112.Sliding tube 116 extends to the one end of connecting tube 1121 far from the first tubular sections 1123 far from one end of the first tubular sections 1123 from the second tubular sections 1125.In the illustrated embodiment, outer tube 112 is formed with cavities (figure is not marked), and sliding tube 116 is housed in cavities.In one of the embodiments, when preparation, the sliding tube 116 for being installed with support wire is passed through into medical adhesive hydropexis in the outer wall of inner tube 113, cover upper exterior tube 112, by way of heating together by all material hot melt, due to being equipped with support wire in sliding tube 116, so that sliding tube 116 is embedded in outer tube 112 when heating, to form cavities in outer tube 112.Certainly, in other embodiments, body portion 110 further includes being embedded in the reinforced pipe (not shown) of outer tube 112, and reinforced pipe is sheathed on the surface of inner tube 113 and sliding tube 116.Reinforced pipe is stainless steel mesh grid pipe or stainless steel spring pipe.The sliding tube 116 for being installed with support wire is passed through into medical adhesive hydropexis after the outer wall of inner tube 113, reinforced pipe is sheathed on to the surface of inner tube 113 and sliding tube 116, is heated all material together by way of heating after covering upper exterior tube 112.
The material of sliding tube 116 is polytetrafluoroethylene (PTFE) (PTFE), and certainly, the material of inner tube 113 is not limited to PTFE, as long as can guarantee the material of the inner wall smooth of sliding tube 116.It is appreciated that sliding tube 116 can be omitted when outer tube 112 forms smooth cavities.
Referring to Figure 2 together to Fig. 7, one end of traction fiber 117 is arranged in sliding tube 116, and is fixed on development part 115.In the illustrated embodiment, traction fiber 117 is wire, it is preferable that the material of traction fiber 117 is Nitinol.Certainly, it should be noted that the material of traction fiber 117 is not limited to Nitinol, as long as tensile strength height is able to achieve the function of drawing.One end of traction fiber 117 is fixed by welding and development part 115.Certainly, when the part 115 that develops is development coating, it can also be arranged in outer tube 112 with the affixed anchor ring of outer tube 112 with one end of fixed traction silk 117, one end of traction fiber 117 can also be directly fixed to outer tube 112 by modes such as bondings.
The one end of traction fiber 117 from the second tubular sections 1125 far from the first tubular sections 1123 extends along sliding tube 116, and sliding tube 116 is extended with attended operation mechanism 150 in the free end of traction fiber 117.
In the illustrated embodiment, the one end of the one end of traction fiber 117 from the second tubular sections 1125 far from the first tubular sections 1123 to the first tubular sections 1123 far from the second tubular sections 1125 is along the curvilinear extension in the cylindrical surface of inner tube 113.Certainly, it should be noted that the extension curve of traction fiber 117 slides traction fiber 117 with respect to sliding tube 116 the application pulling force of traction fiber 117 for smooth curve to facilitate.Traction fiber 117 is from connecting tube 1121 close to one end of the first tubular sections 1123 to one end linear extension far from the first tubular sections 1123.
In one of the embodiments, outer tube 112 be in nature extended state, that is, outer tube 112 be straight tube when, traction fiber 117 is in the part that the first tubular sections 1123 extend in the arc that the orthographic projection of the plane of the axis perpendicular to the first tubular sections 1123 is that circumferential angle is α.Preferably, α is 0 °~180 °, is further 0 °.
Traction fiber 117 is of a straight line type extension in the first tubular sections 1123 in one of the embodiments,.
Further, outer tube 112 be in nature extended state, that is, outer tube 112 be straight tube when, traction fiber 117 is in the part that the second tubular sections 1125 extend in the arc that the orthographic projection of the plane of the axis perpendicular to the second tubular sections 1125 is that circumferential angle is β.β is 0 °~180 °, further preferably 90 °.
Referring to Fig. 1, operating mechanism 150 includes connector 151, operation handle 153 and operating parts 155.Connector 151 and the connecting tube 1121 of outer tube 112 are affixed far from one end of pipe shaft.In the illustrated embodiment, connector 151 is generally tubular, is sheathed on connecting tube 121 and affixed with connecting tube 121.153 one end of operation handle is connect with connector 151, and opposite joints 151 are obliquely installed to facilitate and hold.Operating parts 155 be set to control crank 153 and along far from or close to connector 151 direction with respect to operation handle 153 slidably.
The free end of traction fiber 117 and the operating parts 155 of operating mechanism 150 are affixed, so that tractive force can be passed to traction fiber 117 to the direction slide part 155 far from connector 151.
Certainly, it should be noted that, carrying out manipulation traction fiber 117 by the sliding of the operating parts 155 of aforesaid operations mechanism 150 is only one way in which, control traction fiber 117 can also be carried out by the operating mechanism of other structures, for example traction fiber 117 can be tightened by way of rotation winding, as long as pulling force can be applied to traction fiber 117, slide traction fiber 117 with respect to outer tube 112.
When above-mentioned adjustable bending sheath tube 100 uses, pulling force is applied to traction fiber 117 by the operating parts 155 of operating mechanism 150, after the effect of 117 under tension of traction fiber, active force is transferred to development part 115, development part 115 is located at the one end of the second tubular sections 1125 far from the first tubular sections 1123, to which tractive force to be applied to the end of the second tubular sections 1225, one end unilateral stress of second tubular sections 1225 far from the first tubular sections 1123, Impact direction can be then biased to and generate bending, simultaneously, the hardness of first tubular sections 1123 is greater than the second tubular sections 1125, to when traction fiber 117 transmit active force in a certain range when, first tubular sections 1223 will not deformation occurs, when the active force that traction fiber 117 transmits is greater than certain value, first tubulose Section 1223 can also generate bending, along the cylindrical surface of inner tube 113, twist curve extends for one end due to traction fiber 117 along one end from the second tubular sections 1125 far from the first tubular sections 1123 to the first tubular sections 1123 far from the second tubular sections 1125, to which the direction of pulling force suffered by one section far from the first tubular sections 1123 of one end and the second tubular sections 1125 of first tubular sections 1123 close to the second tubular sections 1125 is different, therefore the first tubular sections 1223 and the second tubular sections 1125 can produce the incorgruous curved effect of multistage, connecting tube 1121 is because hardness is bigger, then in certain weight range, connecting tube 1121 deformation occurs keep straight.
The body portion 110 of above-mentioned adjustable bending sheath tube 100 sets pipe shaft to have the first tubular sections 1223 flexible and the second tubular sections 1225, when use, pulling force is applied to traction fiber 117 by the free end of traction fiber 117, the other end of traction fiber 117 and pipe shaft are affixed, traction fiber 117 is with respect to the first tubular sections 1223 and the second tubular sections 1225 slidably to apply pulling force to pipe shaft, since the first tubular sections 1223 and the second tubular sections 1225 have flexibility, it can be biased to Impact direction and generate bending, to realize that multistage is bent, clinical use requirement can preferably be met, it is with strong applicability.
It is appreciated that pipe shaft is not limited to two-part structure, it can also be three sections and three sections or more of structure, as long as the hardness of direction each section pipe shaft of the control pipe shaft from far from connecting tube 1121 to close to connecting tube 1121 is sequentially increased.
Please refer to Fig. 8, the adjustable bending sheath tube of another embodiment is roughly the same with the structure of adjustable bending sheath tube 100, its difference is: the structure of body portion and body portion 110 are slightly different, in present embodiment, 217 winding of the traction fiber development part 215 of body portion is folded to form bending part 2172, and the edge of the one end for the part 215 that develops supports bending part 2172.In use, the both ends of traction fiber 217 are free end, the both ends of traction fiber 217 are connect with operating mechanism simultaneously.
In the illustrated embodiment, traction fiber 217 is folded to form bending part 2172, and certainly, in other embodiments, the winding development circle of part 215 at least one of traction fiber 217 forms bending part 2172 and also may be used.
It is appreciated that in other embodiments, when the part that develops is development coating, by anchor ring fixed traction silk, forming bending part 2172 after 217 doubling of traction fiber, the edge of one end of anchor ring supports bending part 2172.
Traction fiber 217 is fixed to development part 215 without the mode of welding by the adjustable bending sheath tube with above structure, so that the material selection of traction fiber 217 is more extensive, when using anchor ring fixed traction silk, the material selection of anchor ring is more.Using aforesaid way fixed traction silk, the similar flexible connection of the connection type of traction fiber is higher with the bonding strength and connective stability of development part 215 or anchor ring；It is also more easy without welding when preparation.
Please refer to Fig. 9 and Figure 10, the adjustable bending sheath tube 300 of another embodiment is roughly the same with the structure of adjustable bending sheath tube 100, its difference is: the traction fiber of the body portion 310 of adjustable bending sheath tube 300 includes the first traction fiber 3171 and the second traction fiber 3173, accordingly, the part that develops is two, respectively first development part 314 and the second development part 315, operating mechanism 350 include the first operating parts 3551 and the second operating parts 3553.
First development part 314 is located at the first tubular sections 3123 close to one end of the second tubular sections 3125, and the second development part 315 is located at the one end of the second tubular sections 3125 far from the first tubular sections 3123.
One end of first traction fiber 3171 and the first development part 314 are affixed, and the other end is connect with the first operating parts 3551.Direction linear extension of first traction fiber 3171 along the axis for being parallel to the first tubular sections 3123.Certainly, in other embodiments, around the axis of the first tubular sections 3123, twist curve extends to the first tubular sections 3123 close to one end of connecting tube 3121 to the first traction fiber 3171.
One end of second traction fiber 3175 and the second development part 315 are affixed, and the other end is connect with the second operating parts 3553.Direction linear extension of second traction fiber 3175 along the axis for being parallel to the first tubular sections 3123.Certainly, in other embodiments, around the axis of the first tubular sections 3123 and the second tubular sections 3125, twist curve extends to the first tubular sections 3123 close to one end of connecting tube 3121 to the first traction fiber 3171.
In the illustrated embodiment, the first traction fiber 3171 and the planar shaped where the axis of plane and the second traction fiber 3173 and the first tubular sections 3123 where the axis of the first tubular sections 3123 are angled the angle of θ.Preferably, θ is 0 °~180 °, further preferably 90 °.
Also referring to Figure 11~Figure 13, above-mentioned adjustable bending sheath tube 300 is when in use, pulling force is applied to the second traction fiber 3173 by operating mechanism 350, after the effect of second traction fiber, 3173 under tension, active force is transferred to the second development part 315, second development part 315 is located at the one end of the second tubular sections 3125 far from the first tubular sections 3123, to which tractive force to be applied to the end of the second tubular sections 3125, one end unilateral stress of second tubular sections 3125 far from the first tubular sections 3123 can then be biased to Impact direction and generate bending；Pulling force is applied to the first traction fiber 3171 by operating mechanism 350, after the effect of first traction fiber, 3171 under tension, active force is transferred to the first development part 314, first development part 314 is located at the first tubular sections 3123 close to one end of the second tubular sections 3125, to which tractive force to be applied to the end of the first tubular sections 3123, the unilateral stress in end of first tubular sections 3125 generates bending to be biased to Impact direction, generates the incorgruous curved effect of multistage.By controlling angle, θ, incorgruous curved direction can control.
It should be noted that due to being bent by the first traction fiber 3171 and the second traction fiber 3173 the first tubular sections 3123 of control and the second tubular sections 3125, so that the hardness of the first tubular sections 3123 and the second tubular sections 3125 is without particular/special requirement.It is, of course, preferable to, 3,121 3 sections of the second tubular sections 3125, the first tubular sections 3123, connecting tube hardness are sequentially increased to facilitate manipulation.
The adjustable bending sheath tube of another embodiment is roughly the same with the structure of adjustable bending sheath tube 100, and difference is:
Figure 14 is please referred to, the second tubular sections 4125 of body portion 410 have flexibility, and the first tubular sections 4123 have rigidity and are in bending, and traction fiber 417 is able to drive the second tubular sections 4125 and generates bending.That is the second tubular sections 4125 are that pipe shaft has part flexible.And in its natural state, the first tubular sections 4123 are bending state.It is bent at this point, driving the second tubular sections 4125 to generate for the ease of traction fiber 417, the tie point of traction fiber 417 and development part 415 is located at the side of 4125 bending direction of the second tubular sections.
The first tubular sections 4123 form bending by moulding technology in one of the embodiments, to be in fixed angle.The hardness of second tubular sections 4125 is small compared with the hardness of the first tubular sections 4123 and connecting tube 4121.Using coefficient of friction, the excellent macromolecular material pipe of property, such as nylon elastomer (PEBAX) pipe are controlled in smaller, fracture resistance and torsion to second tubular sections 4125.The hardness of the second tubular sections 4125 is 30D~40D in one of the embodiments,；The hardness of first tubular sections 4123 is 65D~75D；The hardness of connecting tube 4121 is 65D~75D.Diagram in embodiment, the second tubular sections 4125, the first tubular sections 4123 and connecting tube 4121 are linked together by hot melting way.
Since the second tubular sections 4125 have flexibility, to can bend when the second tubular sections 4125 are by active force.In the illustrated embodiment, the bending angle of the second tubular sections 4125 is 0~180 °, and the bending angle of the first tubular sections is 25 °~65 °.It is understood that, the radius of curvature of the first tubular sections 4123 and the second tubular sections 4125 can be controlled according to the length of the first tubular sections 4123 and the second tubular sections 4125, to adapt to the anatomical structure of different blood vessel and heart, or, when tube body 410 is applied to blood vessel or heart, also the bending angle of needs according to the anatomical structure of actual blood vessel or heart, can be designed and then determine the length of the first tubular sections 4123 and the second tubular sections 4125.After the bending of second tubular sections 4125, it is further 70 °~110 ° that the plane where plane and the first tubular sections 4123 where the second tubular sections 4125, which is in 0 °~360 °,.Second tubular sections, 4125 place plane and the angle of angle formed by 4123 place plane of the first tubular sections can also be adjusted according to the anatomical structure of actual blood vessel or heart.
Above-mentioned adjustable bending sheath tube is when in use, pulling force is applied to traction fiber 417 by operating mechanism, after the effect of 417 under tension of traction fiber, active force is transferred to development part 415, development part 415 is located at the one end of the second tubular sections 4125 far from the first tubular sections 4123, to which tractive force to be applied to the end of the second tubular sections 4125, one end unilateral stress of second tubular sections 4125 far from the first tubular sections 4123 can then be biased to Impact direction and generate bending.
First tubular sections 4123 of the body portion 410 of the adjustable bending sheath tube of present embodiment have rigidity and are in bending, second tubular sections 4125 have flexibility, can stress generate bending, vascular access lesser for architectural difference, for example, left room and right room, most of structure and to be formed by angle more consistent, the structure of the tube body 410 of the adjustable bending sheath tube of present embodiment can not only meet clinical use, and operation is more convenient, and production prepares simpler.
The adjustable bending sheath tube of another embodiment is roughly the same with the structure of adjustable bending sheath tube 100, and difference is:
Figure 15 is please referred to, the second tubular sections 5125 of body portion 510 have rigidity and are in bending, and the first tubular sections 5123 have flexibility, and traction fiber 517 is able to drive the first tubular sections 5123 and generates bending.That is the first tubular sections 5123 are that pipe shaft has part flexible.And in its natural state, the second tubular sections 5125 are bending state.The second tubular sections 5125 form bending by moulding technology in one of the embodiments, to be in fixed angle.At this point, development part 515 is located at the first tubular sections 5123 close to one end of the second tubular sections 5125.It drives the first tubular sections 5123 to generate for the ease of traction fiber 517 to be bent, the tie point of traction fiber 517 and development part 515 is located at the side of 5123 bending direction of the first tubular sections.
The hardness of first tubular sections 5123 is small compared with the hardness of the second tubular sections 5125 and connecting tube 5121.First tubular sections 5123, the second tubular sections 5125 and connecting tube 5121 are linked together by hot melting way.Using coefficient of friction, the excellent macromolecular material pipe of property, such as nylon elastomer (PEBAX) pipe are controlled in smaller, fracture resistance and torsion to first tubular sections 5123.The hardness of the first tubular sections 5123 is 30D~40D in one of the embodiments,；The hardness of second tubular sections 5125 is 65D~75D；The hardness of connecting tube is 65D~75D.
Since the first tubular sections 5123 have flexibility, to can bend when the first tubular sections 5123 are by active force.In the illustrated embodiment, the bending angle of the first tubular sections 5123 is 0~180 °, and the bending angle of the second tubular sections 5125 is 70 °~110 °.It is understood that, the radius of curvature of the first tubular sections 5123 and the second tubular sections 5125 can be controlled according to the length of the first tubular sections 5123 and the second tubular sections 5125, to adapt to the anatomical structure of different blood vessel and heart, or, when tube body is applied to blood vessel or heart, also the bending angle of needs according to the anatomical structure of actual blood vessel or heart, can be designed and then determine the length of the first tubular sections 5123 and the second tubular sections 5125.After the bending of first tubular sections 5123, it is further 70 °~110 ° that the plane where plane and the second tubular sections 5125 where the first tubular sections 5123, which is in 0 °~360 °,.First tubular sections, 5123 place plane and the angle of angle formed by 5125 place plane of the second tubular sections can also be adjusted according to the anatomical structure of actual blood vessel or heart.
Above-mentioned adjustable bending sheath tube is when in use, pulling force is applied to traction fiber 517 by operating mechanism, after the effect of 517 under tension of traction fiber, active force is transferred to development part 515, development part 515 is located at the first tubular sections 5123 close to one end of the second tubular sections 5125, to which tractive force is applied to the first tubular sections 5123 close to one end of the second tubular sections 5125, the first tubular sections 5123 can then be biased to Impact direction and generate bending close to the unilateral stress in one end of the second tubular sections 5125.
First tubular sections 5123 of the body portion 510 of the adjustable bending sheath tube of present embodiment have flexibility, can stress generate bending, second tubular sections 5125 have rigidity and are in bending, vascular access lesser for architectural difference, the structure of the body portion 510 of the adjustable bending sheath tube of present embodiment can not only meet clinical use, and operation is more convenient, and production prepares simpler.
Certainly, pipe shaft is not limited to two-part structure, it can also be three sections and three sections or more of structure, i.e. the quantity of the first tubular sections 5123 and the second tubular sections 5125 is also not necessarily limited to respectively be one section, the quantity of first tubular sections 5123 and the second tubular sections 5125, which can according to need, to be adjusted, at this time accordingly, the quantity of traction fiber 517 can also correspond to increase with flexible section of quantity according to pipe shaft.
Please refer to Figure 16, the medical instrument 20 of an embodiment, including above-mentioned adjustable bending sheath tube 100 and dilated penetration device.Wherein, the structure of adjustable bending sheath tube 100 is as shown in FIG. 1 to FIG. 7.
Also referring to Figure 17 and Figure 18, dilated penetration device includes Stent assembly 800 and piercing assembly 900.
Please refer to Figure 19, Stent assembly 800 includes expansion pipe 810 and closure 830.In the illustrated embodiment, the one end for expanding pipe 810 is equipped with connector 815.Connector 815 includes operation portion 8151, locking part 8153 and department of assembly 8155.Operation portion 8151 is cylindricality, and diameter is operated than operation portion 8151 and the diameter of department of assembly 8155 with facilitating to hold greatly.Locking part 8153 is connect with one end of operation portion 8151, and is connect with expansion pipe 810.Department of assembly 8155 is connect with the other end of operation portion 8151.In the illustrated embodiment, operation portion 8151, locking part 8153, department of assembly 8155 and expansion pipe 810 are integrally formed.Operation portion 8151, locking part 8153 and department of assembly 8155 offer the through-hole being connected to expansion pipe 810 so that the puncture needle 930 of piercing assembly 900 is inserted into.
Closure 830 is sheathed on locking part 8153 and is fixedly connected with locking part 8153.Closure 830 can be fixedly connected with operating mechanism 150.Specifically, closure 830 is sealed cap, it is formed with internal screw thread, the connector 151 of operating mechanism 150 is formed with joint portion 1512 (as shown in Figure 1) far from one end of body portion 110.In the illustrated embodiment, joint portion 1512 is the external screw thread for being formed in 151 surface of connector, so as to be assembled with closure 830, certainly, in other embodiments, external screw thread can also be set on 830 surface of closure, matching internal screw thread is set on connector 151, certainly, closure 830 can also be connect with connector 151 by other modes such as engagings.
Piercing assembly 900 includes handle 910, puncture needle 930, connector 950 and adjustment part 970.
Please refer to Figure 20, handle 910 is generally tubular.Handle 910 offers sliding slot 912 and locating slot 914.The outer surface of sliding slot 912 from handle 910 is recessed inwardly and extends along the length direction of handle 910.Locating slot 914 is connected to sliding slot 912 and along the axially extending of handle 910.In the illustrated embodiment, locating slot 914 is multiple, axial arranging of multiple locating slots 914 along handle 910.Certainly, rough direction is referred to along 910 axial arranging of handle, in some embodiments, all locating slots 914 are all located at the side of sliding slot 912, in other embodiment, part locating slot 914 is located at the side of sliding slot 912, and part locating slot 914 is located at the other side of sliding slot 912, can be understood as along axial arranging.
Please refer to Figure 21, adjustment part 970 is generally tubular.Adjustment part 970 is sheathed on handle 910, and 970 inner wall of adjustment part is equipped with the protrusion 972 that can cooperate with sliding slot 912 and locating slot 914.In promotion adjustment part 970 axial along handle 910, the protrusion 972 of adjustment part 970 912 can be slided along the chute, rotate adjustment part 970 to the position of one of locating slot 914, protrusion 972 can slide into locating slot 914 to position.Certainly in some other embodiment, external screw thread can be set on 910 surface of handle, internal screw thread is set in adjustment part 970, the position by rotating realization adjustment part 970 and handle 910 adjusts and positioning.
It should be noted that sliding slot 912 can be two, protrusion 972 is also two, to guarantee that adjustment part 970 slides steady.
One end of handle 910 is formed with limiting section 916.In the illustrated embodiment, limiting section 916 is to be formed in the boss of handle 910, and be partially housed in sliding slot 912.Further, limiting section 916 is wedge-shaped boss and quantity is two, circumferential arranged symmetrically along handle 910.Certainly in other embodiments, limiting section 916 can also be the structures such as bulge loop, and in some embodiments, limiting section 916 can also be the nut screwed togather with one end of handle 910, to the assembly to facilitate connector 950, as long as connector 950 can be prevented to fall off from handle 910 in a word.
Handle 910 is formed with external screw thread 918 far from one end of limiting section 916 and is docked with facilitating with other elements.
One end of puncture needle 930 is inserted in one end that handle 910 is equipped with limiting section 916.Puncture needle 930 can be contained in expansion pipe 810.
Please continue to refer to Figure 19, connector 950 includes support division 952 and interconnecting piece 954.Interconnecting piece 954 is generally tubular, can be sheathed on handle 910.Support division 952 is the bulge loop for being convexly equipped in the inner wall of interconnecting piece 954.In the illustrated embodiment, the inside projection in one end of support division 952 from interconnecting piece 954 and go out, the internal diameter of support division 952 is slightly larger than 910 outer diameter of handle and can be limited portion 916 and stopped, so that connector 950 can cannot be detached from respect to sliding and from one end of the setting support division 952 of handle 910 on handle 910.
Department of assembly 8155 is formed with external screw thread, and interconnecting piece 954 can be sheathed on department of assembly 8155 and be equipped with the internal screw thread cooperated with the external screw thread of department of assembly 8155, thus by screwing togather for connector 950 and connector 815 to be assembled together interconnecting piece 954 with department of assembly 8155.Certainly, in other embodiments, internal screw thread can be formed in department of assembly 8155, it is corresponding that matched external screw thread is formed in interconnecting piece 954, the two can also be fixed by other modes such as engagings.
It please be simultaneously with continued reference to Figure 16, when use, adjustment part 970 is slided along handle 910 to the locating slot 914 close to limiting section 916 and positioning makes adjustment part 970 support connector 950, puncture needle 930 is inserted into expansion pipe 810, the interconnecting piece 954 of connector 950 is sheathed on department of assembly 8155, and screwed togather with department of assembly 8155, puncture needle 930 is housed in expansion pipe 810 at this time, and dilated penetration device is assembled.Expansion pipe 810 is inserted into body portion 110 from connector 151, closure 830 and joint portion 1512 screw togather Stent assembly 800 being assembled to body portion 110.
Below in conjunction with attached drawing for carrying out left atrial appendage occlusion operation, elaborate to the use of above-mentioned medical instrument 20.
When carrying out left atrial appendage occlusion operation, shortage of money puncture vessel seal wire enters in vivo through femoral venous puncture, and then puncture vessel sheath slowly enters blood vessel along shortage of money puncture vessel seal wire.After puncture vessel sheath enters, shortage of money puncture vessel seal wire is withdrawn from, retains the approach that puncture vessel sheath obtains and maintains exchange of apparatus and hemostasis.Enter the blood vessel seal wire 30 at " J " shape tip along puncture vessel sheath again, when blood vessel seal wire reaches atrium dextrum through femoral vein, inferior caval vein, blood vessel seal wire retains in vivo, withdraws from puncture vessel sheath.Then in blood vessel guidewire proximal, insertion and the assembled adjustable bending sheath tube 100 of dilated penetration device, and pushed withdraw from blood vessel seal wire until the distal tip of body portion 110 is in atrium dextrum (as shown in figure 22).
It slowly pushes body portion 110 and maintains dilated penetration device and 110 position of body portion relatively fixed, prevent each component locations from relative variability occurs, until on the distal end to the fossa ovalis position suitably punctured of body portion 110.The position for adjusting adjustment part 970, makes adjustment part 970 proximally slide and position, and gently driving handle 910 releases puncture needle 930 from the distal end of expansion pipe 810, reaches on the fossa ovalis position of atrium dextrum.
Continuing push handle 910 allows the tip of puncture needle 930 to pass through atrial septum, into atrium sinistrum (LA) (such as Figure 23).It is keeping the position in atrium sinistrum of puncture needle 930 to immobilize, Stent assembly 800 and body portion 110 is being entered in atrium sinistrum along puncture needle 930.After the whole entrance in 110 distal end of body portion, adjust the position of adjustment part 970, adjustment part 970 is set to slide and position to connector 950, so that puncture needle 930 is recovered to inside expansion pipe 810, then dilated penetration device is withdrawn from, retain body portion 110 in atrium sinistrum (such as Figure 24), intracorporal channel is arrived in foundation in vitro.
It manipulates operating mechanism 150 (such as FIG. 1 to FIG. 7), the distal end of body portion 110 is made to be directed at the entry position of left auricle of heart.Pulling force is applied to traction fiber 117 by the operating parts 155 of operating mechanism 150, after the effect of 117 under tension of traction fiber, active force is transferred to development part 115, development part 115 is located at the one end of the second tubular sections 1125 far from the first tubular sections 1123, to which tractive force to be applied to the end of the second stretch section 1225, one end unilateral stress of second stretch section 1225 far from the first tubular sections 1123, Impact direction can be then biased to and generate bending, simultaneously, the hardness of first tubular sections 1123 is greater than the second tubular sections 1125, to when traction fiber 117 transmit active force in a certain range when, first tubular sections 1223 will not deformation occurs, when the active force that traction fiber 117 transmits is greater than certain value, first tubular sections 1223 can also generate bending, due to Along the cylindrical surface of inner tube 113, twist curve extends for the one end of traction fiber 117 along one end from the second tubular sections 1125 far from the first tubular sections 1123 to the first tubular sections 1123 far from the second tubular sections 1125, to which the direction of pulling force suffered by one section far from the first tubular sections 1123 of one end and the second tubular sections 1125 of first tubular sections 1123 close to the second tubular sections 1125 is different, therefore the first tubular sections 1223 and the second tubular sections 1125 can produce the incorgruous curved effect of multistage, connecting tube 1121 is because hardness is bigger, then in certain weight range, connecting tube 1121 deformation occurs keep straight.
It it should be noted that proximal end described in above-described embodiment, distal end, is proximal end by the position of proximal operator, is distal end far from operator so that the position of used time is determined.
Above-mentioned medical instrument 20 is in use, puncture needle 930 plays the role of puncturing and establishing track simultaneously, without midway replacement body portion 110；By adjusting adjustment part 970 in the position that handle 910 positions, control the distance between adjustment part 970 and limiting section 916, the distance of relative movement of handle 910 Yu Stent assembly 800 can be accurately controlled, it can control the length that puncture needle 930 is leant out from expansion pipe 810, to accurately control paracentesis depth.
It should be noted that expansion pipe 810 is straight tube in above-described embodiment, in other embodiments, such as in the embodiment shown in Figure 25, the expansion pipe 810' of Stent assembly 800' is bend pipe, and the end inclination bending of expansion pipe 810' extends.Since puncture needle is flexible, when pipe 810 is expanded in insertion, expansion pipe 810 can be followed to be bent.
It is understood that, the structure of the adjustable bending sheath tube 100 of above-mentioned medical instrument 20 is not limited to above structure, in other embodiments, the adjustable bending sheath tube of medical instrument can also be for the corresponding adjustable bending sheath tube of structure shown in Fig. 8~13, adjustable bending sheath tube 300, the adjustable bending sheath tube with body portion 410 or the adjustable bending sheath tube with body portion 510.
Above-mentioned medical instrument is only one of application mode of adjustable bending sheath tube, as long as needing the incorgruous curved medical instrument of multistage that can apply above-mentioned adjustable bending sheath tube.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, combination not all possible to each technical characteristic in above-described embodiment is all described, however, as long as there is no contradiction in the combination of these technical features, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, and but it cannot be understood as the limitations to patent of invention range.It should be pointed out that for those of ordinary skill in the art, without departing from the inventive concept of the premise, various modifications and improvements can be made, and these are all within the scope of protection of the present invention.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (21)
- A kind of adjustable bending sheath tube, including body portion, the body portion include:Outer tube, including connecting tube and the pipe shaft being connected to the connecting tube, the pipe shaft includes the first tubular sections and the second tubular sections, first tubular sections and the connecting tube are affixed, second tubular sections and the described one end of first tubular sections far from the connecting tube are affixed, at least one of second tubular sections and first tubular sections have flexibility, and when one in second tubular sections and first tubular sections has flexible, another has rigidity and is in bending；AndTraction fiber, affixed with the pipe shaft, the traction fiber extends along the outer tube, and the one end of the connecting tube far from the pipe shaft is extended in the free end of the traction fiber, the relatively described pipe shaft of the traction fiber slidably, and is able to drive the pipe shaft and generates bending with part flexible.
- Adjustable bending sheath tube according to claim 1, it is characterized in that, first tubular sections and second tubular sections all have flexibility, the traction fiber is able to drive first tubular sections and the second tubular sections generate bending, the one end of the traction fiber with second tubular sections far from first tubular sections is affixed, one end curvilinear extension of the one end of the traction fiber from second tubular sections far from first tubular sections to close first tubular sections of second tubular sections, the hardness of first tubular sections are greater than the hardness of second tubular sections.
- Adjustable bending sheath tube according to claim 2, which is characterized in that the traction fiber is of a straight line type extension in first tubular sections；OrAround the axis of the pipe shaft, twist curve extends for the one end of the traction fiber from first tubular sections close to one end of second tubular sections to first tubular sections far from second tubular sections, and the traction fiber is in the part that first tubular sections extend in the arc that the orthographic projection of the plane of the axis perpendicular to first tubular sections is that circumferential angle is α.
- Adjustable bending sheath tube according to claim 2, it is characterized in that, to one end of close first tubular sections of second tubular sections, around the axis of the pipe shaft, twist curve extends for the one end of the traction fiber from second tubular sections far from first tubular sections, and the traction fiber is in the part that second tubular sections extend in the arc that the orthographic projection of the plane of the axis perpendicular to second tubular sections is that circumferential angle is β.
- Adjustable bending sheath tube according to claim 2, it is characterized in that, the traction fiber includes the first traction fiber and the second traction fiber, the one end of second traction fiber with second tubular sections far from first tubular sections is affixed, and first traction fiber is affixed close to one end of second tubular sections with first tubular sections.
- Adjustable bending sheath tube according to claim 5, it is characterized in that, the body portion further includes the first development part and the second development part, the first development part is located at first tubular sections close to one end of second tubular sections, and the second development part is located at the one end of second tubular sections far from first tubular sections.
- Adjustable bending sheath tube according to claim 6, which is characterized in that it is described first development part and it is described second development part be developing ring, it is described first development part and first tubular sections it is affixed, it is described second develop part and second tubular sections it is affixed；First traction fiber and the first development part are affixed, and second traction fiber and the second development part are affixed.
- Adjustable bending sheath tube according to claim 1, it is characterized in that, second tubular sections have flexibility, first tubular sections have rigidity and are in bending, the one end of the traction fiber with second tubular sections far from first tubular sections is affixed, the traction fiber is able to drive second tubular sections and generates bending, and the bending angle of first tubular sections is 25 °~65 °.
- The adjustable bending sheath tube according to claim 2 or 8, which is characterized in that the hardness of second tubular sections is 30D~40D.
- The adjustable bending sheath tube according to claim 2 or 8, which is characterized in that the body portion further includes development part, and the development part is located at the one end of second tubular sections far from first tubular sections.
- Adjustable bending sheath tube according to claim 10, which is characterized in that the development part is developing ring, and affixed with second tubular sections, and one end of the traction fiber is welded and fixed with the development part；OrThe traction fiber forms bending part, and the development part supports the bending part far from the edge of first tubular sections.
- Adjustable bending sheath tube according to claim 1, it is characterized in that, first tubular sections have flexibility, second tubular sections have rigidity and are in bending, the traction fiber is affixed close to one end of second tubular sections with first tubular sections, the traction fiber is able to drive first tubular sections and generates bending, and the bending angle of second tubular sections is 70 °~110 °.
- Adjustable bending sheath tube according to claim 12, which is characterized in that the hardness of first tubular sections is 30D~40D.
- Described in any item adjustable bending sheath tubes according to claim 1~13, which is characterized in that the length of first tubular sections is 30 millimeters~70 millimeters, and the length of second tubular sections is 20 millimeters~40 millimeters.
- Described in any item adjustable bending sheath tubes according to claim 1~13, which is characterized in that the outer tube wall is formed with inner membrance, and the intimal surface is smooth.
- Described in any item adjustable bending sheath tubes according to claim 1~13, which is characterized in that the body portion further includes the inner tube with the bonding of the inner wall of the outer tube, and the inner surface of said inner tube is shiny surface.
- Adjustable bending sheath tube according to claim 16, which is characterized in that the body portion further includes the sliding tube between said inner tube and the outer tube, and the traction fiber is arranged in the sliding tube.
- Adjustable bending sheath tube according to claim 17, which is characterized in that the outer tube is formed with cavities, and the sliding tube is contained in the cavities.
- Described in any item adjustable bending sheath tubes according to claim 1~13, which is characterized in that the body portion further includes the reinforced pipe for being embedded at the outer tube.
- Described in any item adjustable bending sheath tubes according to claim 1~13, which is characterized in that further include the operating mechanism for manipulating the body portion, the free end of the traction fiber is connect with the operating mechanism.
- A kind of medical instrument, which is characterized in that including the described in any item adjustable bending sheath tubes of claim 1~20.
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2017106245311 | 2017-07-27 | ||
| CN201710624531 | 2017-07-27 | ||
| CN2017114649162 | 2017-12-28 | ||
| CN201711464916.2A CN109965946B (en) | 2017-12-28 | 2017-12-28 | Dilatation puncture device, assembly and medical instrument |
| PCT/CN2018/095962 WO2019019937A1 (en) | 2017-07-27 | 2018-07-17 | Adjustable curved sheath and medical instrument |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109689147A true CN109689147A (en) | 2019-04-26 |
| CN109689147B CN109689147B (en) | 2022-05-20 |
Family
ID=65040415
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201880001665.0A Active CN109689147B (en) | 2017-07-27 | 2018-07-17 | Adjustable bent sheath tube and medical instrument |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109689147B (en) |
| WO (1) | WO2019019937A1 (en) |
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| CN112774001A (en) * | 2021-01-27 | 2021-05-11 | 康迪泰科(北京)医疗科技有限公司 | Medical catheter and method of using medical catheter |
| CN114177477A (en) * | 2021-11-26 | 2022-03-15 | 上海以心医疗器械有限公司 | Bend adjusting device, bend adjusting sheath tube and medical system |
| CN114469226A (en) * | 2021-12-23 | 2022-05-13 | 杭州唯强医疗科技有限公司 | Sheath pipe adjustable bending device and intracavity crack plugging system |
| CN114642820A (en) * | 2020-12-18 | 2022-06-21 | 先健科技(深圳)有限公司 | Medical delivery catheter |
| CN115400322A (en) * | 2022-08-11 | 2022-11-29 | 宁波琳盛高分子材料有限公司 | Reinforced composite sheath tube |
| CN115474888A (en) * | 2022-08-11 | 2022-12-16 | 中国人民解放军陆军军医大学第二附属医院 | Intravascular operation catheter with visual function |
| WO2023125572A1 (en) * | 2021-12-31 | 2023-07-06 | 杭州德柯医疗科技有限公司 | Adaptive guidance device and transcatheter treatment system |
| WO2024041285A1 (en) * | 2022-08-26 | 2024-02-29 | 融和医疗科技(浙江)有限公司 | Object ablation system, control method and apparatus, medium, and electronic device |
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| CA3162237A1 (en) * | 2019-12-17 | 2021-06-24 | Anning Li | Delivery sheath and medical device |
| CN111166994A (en) * | 2020-02-05 | 2020-05-19 | 上海汇禾医疗科技有限公司 | Sleeve assembly and instrument transportation system comprising same |
| CN115025365A (en) * | 2022-06-13 | 2022-09-09 | 上海普实医疗器械股份有限公司 | Adjustable bent catheter |
| CN116650805A (en) * | 2023-04-24 | 2023-08-29 | 昌明生物科技（苏州）有限公司 | Bending-adjusting catheter sheath device and bending-adjusting method thereof |
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| CN115400322A (en) * | 2022-08-11 | 2022-11-29 | 宁波琳盛高分子材料有限公司 | Reinforced composite sheath tube |
| CN115474888A (en) * | 2022-08-11 | 2022-12-16 | 中国人民解放军陆军军医大学第二附属医院 | Intravascular operation catheter with visual function |
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| WO2024041285A1 (en) * | 2022-08-26 | 2024-02-29 | 融和医疗科技(浙江)有限公司 | Object ablation system, control method and apparatus, medium, and electronic device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109689147B (en) | 2022-05-20 |
| WO2019019937A1 (en) | 2019-01-31 |
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