CN117531102A

CN117531102A - Catheter assembly, surgical tool and driving device thereof

Info

Publication number: CN117531102A
Application number: CN202311585494.XA
Authority: CN
Inventors: 张国凯; 刘宏斌
Original assignee: Artificial Intelligence And Robotics Innovation Center Hong Kong Institute Of Innovation Chinese Academy Of Sciences Ltd
Current assignee: Artificial Intelligence And Robotics Innovation Center Hong Kong Institute Of Innovation Chinese Academy Of Sciences Ltd
Priority date: 2023-11-24
Filing date: 2023-11-24
Publication date: 2024-02-09

Abstract

The application belongs to the technical field of medical equipment, and the application provides a catheter assembly, including inner tube and outer tube: a plurality of first grooves are formed in the inner tube along the axial direction of the inner tube, and the ungrooved part of the inner tube is a first neutral axis; the outer tube is provided with a plurality of second grooves and a plurality of third grooves with different groove widths along the radial direction of the outer tube from two sides respectively; the ungrooved part of the outer tube is a second neutral axis which is arranged in a deflection way relative to the first neutral axis; the inner tube is fixedly connected with the outer tube at one end of the advancing direction of the catheter assembly; at the other end of the catheter assembly in the rearward direction, the inner tube is axially displaced relative to the outer tube to accommodate bending deformation of the catheter assembly. The application provides a surgical tool with the catheter assembly and a driving device with the surgical tool. The surgical tool solves the technical problem that a surgical tool in the prior art is difficult to bend with large curvature in a narrow space.

Description

Catheter assembly, surgical tool and driving device thereof

Technical Field

The application belongs to the technical field of medical equipment, and particularly relates to a catheter assembly, a surgical tool and a driving device.

Background

For the cerebral neurosurgery or spinal surgery, a doctor needs to complete the operation in a small space and avoid damaging surrounding healthy tissues. At present, rigid surgical tools are mainly adopted, and a doctor directly performs operation, so that the defects of inconvenience in operation, low flexibility and the like exist. The robot technology can replace a straight rod rigid tool with a flexible tool, so that the flexibility of the surgical tool is effectively improved, and the damage is reduced. However, although the flexible surgical instruments have various schemes and are used in different application scenes, such as a flexible endoscope, a natural cavity surgical tool, an interventional guide wire and the like, in view of the fact that the ventricle and the spine space are relatively narrow, the traditional scheme inevitably collides and extrudes the cavity wall when bending at a large angle, and the complication risk is increased, so that the realization of large-area bending is still difficult in the narrow space, particularly the ventricle and the spine space.

Disclosure of Invention

An object of the embodiment of the application is to provide a catheter assembly, a surgical tool and a driving device thereof, so as to solve the technical problem that the surgical tool in the prior art is difficult to bend with large curvature in a narrow space.

In order to achieve the above purpose, the technical scheme adopted in the application is as follows: there is provided a catheter assembly comprising an inner tube and an outer tube: the inner tube is provided with a plurality of first grooves along the axial direction of the inner tube, the ungrooved part of the inner tube is a first neutral axis, and the first neutral axis is collinear with a bus of the inner tube; the outer tube is provided with a plurality of second grooves and a plurality of third grooves with different groove widths along the radial direction of the outer tube from two sides, and the second grooves and the third grooves are arranged on the outer tube along the axial direction of the outer tube; the ungrooved portion of the outer tube is a second neutral axis collinear with a generatrix of the outer tube and disposed in opposing deflection with the first neutral axis; wherein, at one end of the advancing direction of the catheter assembly, the inner tube is fixedly connected with the outer tube; at the other end of the catheter assembly in the rearward direction, the inner tube is axially displaced relative to the outer tube to adjust for bending deformation of the catheter assembly.

The technical scheme that this embodiment provided, for the beneficial effect that prior art its reached is: can be used in a narrow internal space environment (such as ventricles, etc.), has a large bending angle, and reduces the risk of collision or extrusion to human organs or tissues. The assembly mode of inserting the pull rope into the pipe fitting in the prior art is replaced by the assembly mode of embedding the inner pipe into the outer pipe, and the accommodating space of the catheter assembly is increased and the production diameter of the catheter assembly is reduced because a groove is arranged on the pipe wall because a placing space is not required to be provided for the pull rope. When the inner tube moves relative to the outer tube, the extending ends of the inner tube and the outer tube are fixedly connected to limit movement, the part of the inner tube provided with the first groove is deformed relatively, so that the inner tube is bent integrally, the outer tube and the inner tube are made to be in corresponding bent forms, the effect of bending the catheter assembly is achieved, meanwhile, the catheter assembly is effectively prevented from being broken due to the fact that the first neutral shaft and the second neutral shaft are arranged in a relatively deflected mode, and the service life of the catheter is prolonged.

In one embodiment provided herein, the first neutral axis on the inner tube is disposed on the third groove side on the outer tube. Thereby, the bending rate of the catheter assembly is improved.

In an embodiment that this application provided, be equipped with the guide way on the outer tube, be equipped with spacing arch on the inner tube, spacing arch with the guide way cooperation is pegged graft, the inner tube is followed the outer tube the guide way rectilinear movement. Therefore, the two pipes can be limited to rotate relatively, and when the outer pipe is driven to rotate, the inner pipe rotates together, namely the coaxial rotation of the catheter assembly is realized.

In one embodiment provided by the application, the third groove is gradually changed, and the groove width of the third groove is gradually decreased along the direction of the outer tube pointing to the center of the circle. Thus, the bending rate of the outer tube is improved.

In one embodiment provided herein, the ends of the first groove and the second groove are each provided with rounded corners. This prevents the problem of stress concentration during bending and cracks in the inner tube and the outer tube.

In one embodiment provided by the application, the end of the third groove is provided with a vertical groove. Therefore, the problem that the positions of the grooves of the guide pipe fitting are hard and not easy to bend is prevented, and the flexibility of the guide pipe fitting is improved.

In one embodiment provided herein, the first groove and the second groove are both bar grooves. Therefore, the density of grooves on the inner tube and the outer tube can be increased, so that the flexibility of bending the guide tube is improved, and the bending curvature is improved.

In one embodiment provided by the application, two second neutral axes are arranged on the outer tube, and the two second neutral axes are coplanar with the central axis of the outer tube. In this way, the mobility of the outer tube is improved.

A surgical tool provided herein includes a catheter assembly in any of the embodiments described above.

Because the surgical tool of the embodiment of the present application adopts all the technical solutions of the catheter assembly in the foregoing embodiments, the surgical tool also has all the beneficial effects brought by the technical solutions of the foregoing embodiments, which are not described in detail herein.

The driving device comprises the surgical tool in the embodiment.

Because the driving device of the embodiment of the present application adopts all the technical solutions of the surgical tool in the foregoing embodiments, the driving device also has all the beneficial effects brought by the technical solutions of the foregoing embodiments, which are not described in detail herein.

Drawings

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

FIG. 1 is a schematic overall construction of one implementation of a catheter assembly in one embodiment provided herein;

FIG. 2 is a schematic overall construction of another implementation of a catheter assembly in one embodiment provided herein;

FIG. 3 is a schematic view of a partial structure of an inner tube according to one embodiment of the present application;

FIG. 4 is an enlarged view of part A of FIG. 3;

FIG. 5 is a schematic view of a partial structure of an outer tube in one embodiment provided herein;

FIG. 6 is an enlarged view of part B of FIG. 5;

FIG. 7 is a schematic view of the overall structure of a catheter assembly bent 30 according to one embodiment provided herein;

FIG. 8 is a schematic view of the overall structure of a catheter assembly bent 60 in one embodiment provided herein;

fig. 9 is a schematic view of the overall structure of a catheter assembly bent 90 ° in one embodiment provided herein.

Wherein, each reference sign in the figure:

100-inner tube; 110-a first groove; 111-a first groove wall; 112-a second groove wall; 120-a first neutral axis; 130-limit protrusions; 140-inner tube fillet;

200-an outer tube; 210-a second groove; 211-third groove wall; 212-fourth groove wall; 220-third groove; 221-fifth groove wall; 222-sixth groove wall; 223-vertical slots; 230-a second neutral axis; 240-guide grooves; 250-outer tube fillet;

300-connectors;

x-a first direction; y-second direction.

Detailed Description

In order to make the technical problems, technical schemes and beneficial effects to be solved by the present application more clear, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

Furthermore, the terms "first," "second," "third," "fourth" and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", "a third" and a fourth "may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise. The meaning of "a number" is one or more than one unless specifically defined otherwise.

In the description of the present application, it should be understood that the terms "center," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships that are based on the orientation or positional relationships shown in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.

In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrase "in one embodiment" or "in some embodiments" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

The bending direction of the pipe fitting is generally controlled through the stay cord, the space of the pipe fitting capable of accommodating the surgical instrument is reduced through the design, and the diameter requirement on the surgical instrument is strict, so that the diameter of the pipe fitting can be increased through the conventional surgical instrument, and the manufactured surgical tool is larger in diameter. Because the existing surgical tool is a matching mode of the pipe fitting and the stay cord, the rigidity of the surgical tool is low, the pipe fitting is easy to break due to the fact that the stretching force is too high, and the service life of the catheter assembly is influenced.

Catheter assemblies refer to auxiliary components used to facilitate the access of other instruments along a prescribed path into the interior of the human body during minimally invasive surgery. In general, the catheter assembly may extend into the body from the mouth of the patient, such as an endoscope, and may also be used in a minimally invasive surgical operation, where the catheter assembly enters the interior of the human body through a minimally invasive wound (a minimally invasive wound refers to a wound cut at a body part by a scalpel in order to facilitate the minimally invasive surgical treatment), and also provides a safe path for other instruments performing the surgical treatment, so as to avoid the other instruments touching/damaging the organs of the human body when entering the interior of the human body. The pipe assembly in the market at present comprises a guide part and a traction part, wherein the guide part can adopt a pipeline, the traction part can adopt a pull rope, one end of the pull rope is fixedly connected with the pipeline, the other end of the pull rope is movably connected with the pipeline, and the pipeline can be bent by pushing or pulling the pull rope. Because the stay cord can have potential safety hazards when the catheter assembly stretches into the human body if the stay cord is routed from the outer side of the pipeline, for example, the stay cord breaks soft tissues or organs in the human body, and the like, the stay cord can only be routed from the inner wall of the pipeline, so that the pipeline needs to be reserved with a certain space for placing the stay cord, the accommodating space of the pipeline through a surgical instrument is reduced, the size of the catheter assembly needs to be increased in view of the fact that the catheter assembly can be adapted to more minimally invasive surgical instruments, and then minimally invasive wounds of a patient can be increased.

In view of the above-mentioned problem, propose the scheme that the pipe subassembly was formed by adopting two pipeline combinations in this application, through pipeline control pipeline, reduced the space that needs to reserve for stay cord activity, the usable accommodation space of increase pipe subassembly to reduce the diameter size of pipe subassembly, reduced the minimally invasive wound of patient when minimally invasive surgery, simultaneously, realized occupying space is little, the big effect of bending angle in the interior space environment of less narrow and small.

The application provides a catheter assembly, which comprises an inner tube 100 and an outer tube 200 which are sleeved with each other, wherein a plurality of first grooves 110 are formed in the inner tube 100 along the axial direction of the inner tube, the ungrooved part of the inner tube 100 is a first neutral axis 120, and the first neutral axis 120 is collinear with a bus of the inner tube 100; the outer tube 200 is respectively provided with a plurality of second grooves 210 and a plurality of third grooves 220 with different groove widths along the radial direction from two sides, and the second grooves 210 and the third grooves 220 are arranged on the outer tube 200 along the axial direction of the outer tube 200; the ungrooved portion of outer tube 200 is a second neutral axis 230, second neutral axis 230 being collinear with a generatrix of outer tube 200 and disposed in opposing deflection with first neutral axis 120; wherein, at one end of the advancing direction of the catheter assembly, the inner tube 100 is fixedly connected with the outer tube 200; on the other end of the catheter assembly in the rearward direction, the inner tube 100 is axially displaced relative to the outer tube 200 to accommodate bending deformation of the catheter assembly.

Specifically, referring to fig. 1, the catheter assembly includes an inner tube 100 and an outer tube 200, the inner tube 100 is sleeved inside the outer tube 200 and fixedly connected with one end of the outer tube 200 to form an insertion end, the other end of the inner tube 100 is movably connected with the other end of the outer tube 200 relatively to form an operation end, and the inner tube 100 and the outer tube 200 can be made of stainless steel pipes.

Referring to fig. 3 and 4, the inner tube 100 refers to a tube member for controlling in adjusting the degree of bending of the catheter assembly. The inner tube 100 includes a plurality of first grooves 110 and a first neutral axis 120.

The first groove 110 refers to a groove formed to be recessed inward from the outer wall of the inner tube 100 in the radial direction thereof. Each of the first grooves 110 is sequentially arrayed in the axial direction of the inner tube 100, and the groove depth of each of the first grooves 110 is the same. Specifically, the first grooves 110 have a first groove wall 111 and a second groove wall 112 that are disposed opposite to each other, and a line of the first groove wall 111 disposed on each first groove 110 is collinear with a bus of the inner tube 100, and a line of the second groove wall 112 disposed on each first groove 110 is also collinear with a bus of the inner tube 100. The shape of the first groove 110 may be an elongated shape or may be gradually deformed, and the shape of the first groove 110 is not specifically limited herein, and other practical shapes are not illustrated. The first grooves 110 may be arranged at equal intervals or non-equal intervals along the axial direction of the inner tube 100.

It should be noted that the first groove 110 may be a groove, and the circumference of the first groove 110 is not less than half of the circumference of the inner tube 100, so that the inner tube 100 may be bent to a larger angle.

In some embodiments, the first groove 110 may be replaced with a plurality of small grooves, which may or may not be collinear, for bending of the inner tube 100.

In some embodiments, the first groove 110 may be replaced with a dovetail groove.

The first neutral axis 120 is a portion of the inner tube 100 from which the first groove 110 is formed, and the remaining portion is formed. When the inner tube 100 is axially displaced relative to the outer tube 200, the first neutral axis 120 deforms the overall structure of the inner tube 100, and bends toward one side of the first neutral axis 120.

Referring to fig. 5 and 6, the outer tube 200 refers to a tube member sleeved outside the inner tube 100 for cooperating with the inner tube 100 to form a catheter assembly. The outer tube 200 includes a plurality of second grooves 210, a plurality of third grooves 220, and a second neutral axis 230.

The second groove 210 refers to a groove formed to be recessed inward from the outer wall of the outer tube 200 in the radial direction thereof. Taking the drawing as an example, if the pointing direction of the first direction X is right, the second groove 210 is formed to be recessed rightward from the left side of the outer wall of the outer tube 200 along the radial direction thereof. Each of the second grooves 210 is arrayed in order along the axial direction of the outer tube 200, and the groove depth of each of the second grooves 210 is the same. Specifically, the second grooves 210 have a third groove wall 211 and a fourth groove wall 212 that are disposed opposite to each other, and a line of the third groove wall 211 disposed on each second groove 210 is collinear with the bus bar of the outer tube 200, and a line of the fourth groove wall 212 disposed on each second groove 210 is also collinear with the bus bar of the outer tube 200. The shape of the second groove 210 may be an elongated shape or may be gradually deformed, and the shape of the second groove 210 is not specifically limited herein, and the remaining practical shapes are not illustrated. The second grooves 210 may be equally spaced or non-equally spaced along the axial direction of the outer tube 200.

The third groove 220 refers to a groove formed to be recessed inward from the outer wall of the outer tube 200 in the radial direction thereof. Referring to fig. 5 and 6, for example, if the first direction X is directed to the right, a third groove 220 is formed to be recessed to the left in the radial direction from the right side of the outer wall of the outer tube 200. The third grooves 220 may be arranged in an ordered array at equal intervals in the axial direction of the outer tube 200, or may be arranged at unequal intervals, and the groove depths of the third grooves 220 are the same. The third grooves 220 have a fifth groove wall 221 and a sixth groove wall 222 which are disposed opposite to each other, and the connection line of the fifth groove wall 221 disposed on each third groove 220 is collinear with the bus bar of the outer tube 200, and the connection line of the sixth groove wall 222 disposed on each third groove 220 is also collinear with the bus bar of the outer tube 200. The third groove 220 has a larger groove width than the second groove 210, so that when the outer tube 200 is bent along with the inner tube 100, the bending angle of the outer tube 200 is larger due to the fact that the groove width of the third groove 220 is larger than the groove width of the second groove 210, and the bending rate of the catheter assembly is increased.

The second neutral axis 230 is formed by removing the portion of the outer tube 200 where the second groove 210 and the third groove 220 are formed. That is, the second neutral axis 230 is a portion between the third groove wall 211 and the fifth groove wall 221 on the outer tube 200 or a portion between the fourth groove wall 212 and the sixth groove wall 222 on the outer tube 200. The second neutral axis 230 is used for preventing the outer tube 200 from breaking when the inner tube 100 is axially displaced relative to the outer tube 200 and deformed together with the overall structure of the inner tube 100 and bent to one side of the first neutral axis 120.

It should be noted that the bending angle of the catheter assembly is mainly affected by the positions of the second neutral axis 230 and the first neutral axis 120, the shapes of the first groove 110, the second groove 210 and the third groove 220, and may be adjusted according to the actual use situation, and the drawings are only schematically illustrated.

Before fixing the insertion end (the end where the inner tube 100 and the outer tube 200 are fixedly connected) of the catheter assembly, the second neutral axis 230 and the first neutral axis 120 need to be adjusted to the position where they are placed in a deflected manner, so that both the inner tube 100 and the outer tube 200 can be bent, the rigidity of the inner tube 100 and the outer tube 200 in bending is improved, and the situation that the bending rate does not reach the preset value and the outer tube breaks is prevented. By "deflected" it is meant that the second neutral axis 230 and the first neutral axis 120 are not collinear, as shown in fig. 7, 8 and 9, the first neutral axis 120 can be seen through a groove on the outer tube 200.

The penetration end refers to an end portion penetrating into the inside of the human body and performing detection of a position where there is a problem in the inside of the human body or a position requiring a surgery. The end position of the extending end, the inner tube 100 and the outer tube 200 are fixedly connected, the fixed connection can be bonded by glue, can be welded or can be fixed by a connecting piece 300, and is not particularly limited herein.

The operation end refers to an end portion left outside the human body and controlled by equipment or manpower to extend into the forward direction of the end. The tip position of the operating end, the inner tube 100 and the outer tube 200 are movably connected, and the catheter assembly is bent by pushing and pulling the inner tube 100. Specifically, the catheter assembly is returned to its original shape by pushing the inner tube 100 in an advancing direction (the advancing direction refers to the pointing direction of the second direction Y in fig. 2, i.e., the direction in which the catheter assembly is advanced in the human body in actual operation). The catheter assembly is bent by pulling the inner tube 100 in a backward direction (backward direction refers to a pointing direction opposite to the second direction Y in fig. 2, i.e. away from the direction in which the catheter assembly is advanced in the human body in an actual operation).

The technical scheme that this embodiment provided, for the beneficial effect that prior art its reached is:

the assembly mode of nesting the inner tube 100 with the outer tube 200 replaces the assembly mode of inserting the pull rope into the tube in the prior art, and firstly, the tube can be used in a narrow internal space environment (such as a ventricle and the like), the bending angle is large, and the risk of collision or extrusion to human organs or tissues is reduced. Second, because there is no need to provide a placement space for the pull cord and a groove is provided in the tube wall, the receivable space of the catheter assembly is increased and the production diameter of the catheter assembly is reduced. Furthermore, because the groove is arranged on the pipe wall without providing a placing space for the pull rope, the complexity of the production process is reduced, and the production cost is saved. Meanwhile, the double-layer pipe fitting formed by the inner pipe 100 and the outer pipe 200 enables the operation tool to have higher rigidity when the operation tool is operated to realize multi-degree-of-freedom motion, and is not easy to break compared with the prior art. Finally, when the inner tube 100 moves relative to the outer tube 200, the portion of the inner tube 200 provided with the first groove 110 is relatively deformed due to the fixed connection and limited movement of the extending ends of the inner tube 100 and the outer tube 200, so that the inner tube 100 is integrally bent, the outer tube 200 and the inner tube 100 are in a corresponding bending form, the effect of increasing the bending curvature of the catheter assembly is achieved, and meanwhile, the catheter assembly is effectively prevented from being broken due to the relative deflection of the first neutral axis 120 and the second neutral axis 230, and the service life of the catheter is prolonged.

In one embodiment provided herein, the first neutral axis 120 on the inner tube 100 is placed on the side of the third groove 220 on the outer tube 200.

In the above description, if the first neutral axis 120 of the inner tube 100 is disposed on the side of the second groove 210 of the outer tube 200, when the inner tube 100 is displaced in the axial direction with respect to the outer tube 200, referring to fig. 7 to 9, if the direction of the second direction Y is upward in the drawing, when the inner tube 100 is moved downward with respect to the outer tube 200 in the second direction Y, the inner tube 100 is deformed by the first groove 110 due to the fixing of the inner tube 100 and the outer tube 200 at the extending end, so that the whole of the inner tube 100 is bent to the left side in the first direction X, and then is bent to the left side in the first direction X together with the outer tube 200, at this time, the outer tube 200 is bent to the left along with the inner tube 100, and the advantage that the groove width of the third groove 220 is larger than that of the second groove 210 is not well utilized, so that the bending curvature of the catheter assembly is not increased. In contrast, if the first neutral axis 120 of the inner tube 100 is placed on the side of the third groove 220 of the outer tube 200, the whole of the inner tube 100 is bent to the right side of the first direction X, and then the outer tube 200 is bent to the right side of the first direction X together, and the bending angle is larger than two angles at which the same grooves are formed when the outer tube 200 is bent because the groove width of the third groove 220 is larger than the groove widths of the first groove 110 and the second groove 210, and because the groove width of the second groove 210 is smaller than the groove width of the third groove 220, the number of the second grooves 210 is denser, thereby facilitating the bending of the outer tube 200.

The more the first neutral axis 120 on the inner tube 100 is toward the right, the less likely the catheter assembly is to break, the more rigid the catheter assembly is, but the lower the bending rate of the catheter assembly is toward the right.

In the present embodiment, the bending rate of the catheter assembly is improved by placing the first neutral axis 120 on the inner tube 100 at the side of the third groove 220 on the outer tube 200.

In one embodiment provided by the application, the outer tube 200 is provided with a guide groove 240, the inner tube 100 is provided with a limiting protrusion 130, the limiting protrusion 130 is matched with the guide groove 240 for insertion, and the inner tube 100 moves linearly along the guide groove 240 of the outer tube 200.

Referring to fig. 2, the guide groove 240 is an elongated groove co-linear with the bus bar of the outer tube 200, and is used to limit the movement range and movement distance of the inner tube 100 after being engaged with the limit protrusion 130 on the inner tube 100. The guide grooves 240 function as two: first, the degree of freedom of movement of the inner tube 100 relative to the outer tube 200 is limited, so that the inner tube 100 can move only in the axial direction relative to the outer tube 200, preventing relative rotation therebetween. Secondly, the distance that the inner tube 100 moves relative to the outer tube 200 is limited, preventing the risk of the catheter assembly breaking or damaging if the distance of the two relative movements is too great.

The limiting projection 130 is a member provided on the outer wall of the inner tube 100 for limiting the moving range and moving distance of the inner tube 100 after being engaged with the guide groove 240 of the outer tube 200. The function of the limit projection 130 is the same as that of the guide groove 240, and will not be described again. The limiting protrusion 130 may be a cylindrical protrusion or a strip protrusion, and the shape of the limiting protrusion 130 is matched with the guide groove 240, which means that the limiting protrusion 130 can move in the guide groove 240, but not the two protrusions are identical in length.

In this embodiment, by providing rotation limiting structures on the inner tube 100 and the outer tube 200, respectively, the two tubes can be limited to rotate relatively, so that when the outer tube 200 is driven to rotate, the inner tube 100 rotates together, i.e. coaxial rotation of the catheter assembly is achieved.

Through the relative movement of the inner tube 100 and the outer tube 200 in the catheter assembly, the effect that the guide assembly bends towards one direction can be realized, and the catheter assembly is rotated integrally, so that the effect that the catheter assembly can bend 360 degrees is realized, and the extending end of the catheter assembly can flexibly reach the appointed position in the three-dimensional space.

In some embodiments, the rotation limiting structure on the outer tube 200 and the inner tube 100 is switched to achieve coaxial rotation of the catheter assembly. Specifically, the outer tube 200 is provided with a limiting protrusion 130, the inner tube 100 is provided with a guide groove 240, the limiting protrusion 130 and the guide groove 240 are matched and inserted, and the inner tube 100 moves linearly along the guide groove 240 of the outer tube 200.

In one embodiment provided herein, the third groove 220 is gradually changed, and the groove width of the third groove 220 decreases along the direction of the outer tube pointing to the center of the circle.

Referring to fig. 5 and 6, the groove width of the third groove 220 is decreased in a direction in which the outer tube points to the center of the circle in order to facilitate bending of the outer tube 200 and to increase the bending rate of the outer tube 200.

Because the lengths of the walls on both sides of the outer tube 200 are different when the outer tube 200 is bent, that is, when the outer tube 200 is bent toward the right side with reference to the drawing, the length of the right side wall is smaller than the length of the left side wall as viewed in the first direction X (the direction in which the first direction X is directed is the right side), the length of the left side wall needs to be elongated, the length of the right side wall needs to be shortened by means of the second groove 210, and the groove width of the third groove 220 opened is decreased in the direction in which the outer tube is directed toward the center of the circle by means of the third groove 220.

That is, the groove width and shape of the third groove 220 affect the bending angle of the outer tube 200.

In the present embodiment, the bending rate of the outer tube 200 is improved by defining the groove width and shape of the third groove 220.

In order to explain the beneficial effects of this embodiment over the prior art, a comparison will now be made with the pull cord and the pipe as solutions of comparative example 1 and this embodiment, referring to table 1:

	comparative example 1	This embodiment
			Catheter assembly bendCrank 90 degree	The diameter of the bend is 3mm	The diameter of the bend is 5mm
Length of catheter required for bending angle	20mm	8.5mm
			Area occupied by the curved portion	196mm ²	72.25mm ²

TABLE 1

Referring to table 1, the following conclusions can be drawn:

(1) The bending portion of this example occupies a significantly smaller space than that of comparative example 1, and the bending effect is also much better than that of comparative example 1 in terms of bending. This is particularly advantageous for small in vivo space environments such as ventricles.

(2) In the scheme of comparative example 1, the bending rigidity is mainly affected by the diameter of the pulling rope, the occupied space is large when the wire is thick, the bending rigidity is small when the wire is thin, and the bending rigidity is difficult to be considered.

(3) This example uses concentric sleeves to push and pull against each other to achieve bending, with a stiffness significantly higher than the drive mode of comparative example 1.

In one embodiment provided herein, the ends of the first recess 110 and the second recess 210 are each provided with rounded corners.

Specifically, the first groove wall 111 and the second groove wall 112 of the first groove 110 are respectively provided with an inner pipe fillet 140, and the third groove wall 211 and the fourth groove wall 212 of the second groove 210 are respectively provided with an outer pipe fillet 250. In fig. 4 and 6, the inner pipe fillet 140 and the outer pipe fillet 250 are each in the shape of a water drop, or alternatively may be circular, or the inner pipe fillet 140 disposed at each first groove wall 111 may be interconnected into one groove, the inner pipe fillet 140 disposed at each second groove wall 112 may be interconnected into one groove, or the like, which is not particularly limited herein.

In the present embodiment, the ends of the first groove 110 and the second groove 210 are rounded to prevent stress concentration during bending, and cracks are generated in the inner tube 100 and the outer tube 200.

In one embodiment provided herein, the end of the third recess 220 is provided with a vertical slot 223.

Specifically, the fifth groove wall 221 and the sixth groove wall 222 in the third groove 220 on the outer tube 200 are respectively provided with vertical grooves 223.

In some embodiments, one vertical groove 223 is provided for each of the fifth groove wall 221 and the sixth groove wall 222, respectively, as shown in fig. 6.

In some embodiments, the vertical groove 223 at each fifth groove wall 221 communicates with each other as one groove, and the vertical groove 223 at each sixth groove wall 222 communicates with each other as one groove.

In this embodiment, the end of the third groove 220 is provided with the vertical groove 223, so that the problem that the position of each opening groove of the guiding pipe is hard and not easy to bend is prevented, and the flexibility of the guiding pipe is improved.

In one embodiment provided herein, the first groove 110 and the second groove 210 are both bar-type grooves.

In the present embodiment, by providing the first groove 110 and the second groove 210 as the bar-shaped grooves, the density of the grooves on the inner tube 100 and the outer tube 200 can be increased, thereby improving the flexibility of the bending of the guide tube, and improving the curvature of the bending.

The different dimensions and grooving schemes also affect the bending effect, as with the other sleeve scheme, but both the first groove 110 and the second groove 210 use the "i" shaped grooves as comparative example 2, in contrast to this example, see table 2:

	comparative example 2	This embodiment
			The catheter assembly being bent 90 deg	The diameter of the bend is 1.7mm	The diameter of the bend is 5mm
Length of catheter required for bending angle	8.5mm	8.5mm
			Area occupied by the curved portion	60.4mm ²	72.25mm ²

TABLE 2

From the comparison of table 2, we found that although the occupied area in comparative example 2 was smaller, the limit bending angle was much smaller than that in the present example.

In one embodiment provided herein, the outer tube 200 is provided with two second neutral axes 230, and both second neutral axes 230 are coplanar with the central axis of the outer tube 200.

The two second neutral axes 230 are coplanar with the central axis of the outer tube 200, that is, the two second neutral axes 230 are symmetrically disposed on two sides of the diameter of the outer tube 200, respectively, when the two second neutral axes 230 are coplanar, pass through the center of the outer tube 200, that is, when the two second neutral axes 230 are coplanar, pass through the central axis of the outer tube 200. At this time, the second groove 210 and the third groove 220 occupy a position approximately one half of the circumference of the outer tube 200, respectively.

In the present embodiment, by defining the positions of the two second neutral axes 230, the mobility of the outer tube 200 is improved.

The present application also provides a surgical tool comprising the catheter assembly of any of the above embodiments.

The surgical tool may be an endoscope, a gastroscope, a hysteroscope, or the like, or may be a surgical instrument for cerebral neurosurgery or spinal surgery, or the like, and is not particularly limited herein.

The present application also provides a driving device comprising the surgical tool of the above embodiments, the surgical tool comprising the catheter assembly of any of the above embodiments.

The driving device may be an electrical control structure, a motor control structure or a hydraulic control structure, and in the actual operation process, the driving device works through a surgical tool and drives the push-pull of the inner tube 100 to drive the outer tube 200 to bend.

The foregoing description of the preferred embodiments of the present application is not intended to be limiting, but is intended to cover any and all modifications, equivalents, and alternatives falling within the spirit and principles of the present application.

Claims

1. A catheter assembly is characterized by comprising an inner tube and an outer tube which are sleeved with each other,

the inner tube is provided with a plurality of first grooves along the axial direction of the inner tube, the ungrooved part of the inner tube is a first neutral axis, and the first neutral axis is collinear with a bus of the inner tube;

the outer tube is provided with a plurality of second grooves and a plurality of third grooves with different groove widths along the radial direction of the outer tube from two sides, and the second grooves and the third grooves are arranged on the outer tube along the axial direction of the outer tube; the ungrooved portion of the outer tube is a second neutral axis collinear with a generatrix of the outer tube and disposed in opposing deflection with the first neutral axis;

wherein, at one end of the advancing direction of the catheter assembly, the inner tube is fixedly connected with the outer tube; at the other end of the catheter assembly in the rearward direction, the inner tube is axially displaced relative to the outer tube to adjust for bending deformation of the catheter assembly.

2. The catheter assembly of claim 1, wherein a first neutral axis on the inner tube is positioned to one side of the third groove on the outer tube.

3. The catheter assembly of claim 1, wherein the outer tube is provided with a guide slot, the inner tube is provided with a limit protrusion, the limit protrusion is in plug-in fit with the guide slot, and the inner tube and the outer tube can relatively move linearly.

4. A catheter assembly according to any one of claims 1 to 3, wherein the third groove is tapered, the groove width of the third groove decreasing in the direction of the outer tube pointing towards the centre of the circle.

5. A catheter assembly as claimed in any one of claims 1 to 3, wherein the ends of the first and second grooves are each provided with rounded corners.

6. A catheter assembly according to any one of claims 1 to 3, wherein the end of the third groove is provided with a vertical slot.

7. A catheter assembly according to any one of claims 1 to 3, wherein the first and second grooves are each a bar-type groove.

8. A catheter assembly according to any one of claims 1 to 3, wherein the outer tube is provided with two second neutral axes, both of which are coplanar with the central axis of the outer tube.

9. A surgical tool comprising a catheter assembly as claimed in any one of claims 1 to 8.

10. A drive device comprising the surgical tool of claim 9.