CN118267580A - Catheter distal end deformation control device - Google Patents

Abstract

The application discloses a catheter distal deformation control device, which is characterized in that a sheath core is arranged in a catheter body of the catheter, the distal end of the sheath core is connected with the distal end of the catheter, the catheter distal deformation control device comprises a mounting seat and a sheath core driving assembly arranged on the mounting seat, the sheath core driving assembly comprises a driving motor and a pushing element driven by the driving motor, the pushing element is in transmission connection with the proximal end of the sheath core through a sheath core interface, the pushing element moves forwards and backwards along a first direction relative to the mounting seat under the driving of the driving motor, so that the sheath core interface moves forwards and backwards along a second direction relative to the mounting seat, the first direction and the second direction are parallel, and an ablation electrode and the like at the distal end of the catheter are controlled to stretch relative to the catheter to change the shape of the catheter, so that the catheter can accurately reach the operation position and cling to the tissues of the operation position and complete corresponding operation, and the stability and safety of the operation are improved.

Description

Catheter distal end deformation control device

Technical Field

The application relates to the technical field of medical appliances, in particular to a catheter distal deformation control device.

Background

The vascular intervention technology is a treatment technology which is gradually developed in recent years, has the advantages of small wound, simple and convenient operation, accurate intervention part and the like, and can effectively treat some patients which cannot tolerate major surgery and drug resistance.

The vascular intervention operation can often use slender components such as a catheter, the conventional intervention operation auxiliary equipment can only realize any operation of advancing and retreating, bending adjustment and rotation of the catheter, and the deformation operation of the distal deformable catheter needs manual execution by a bedside personnel, so that the degree of automation is low.

Disclosure of Invention

In view of the above, a catheter distal end deformation control device capable of controlling a catheter distal end deformation operation is provided.

The utility model provides a catheter distal end deformation control device, be provided with the sheath core in the body of pipe, the sheath core distal end with the catheter distal end is connected, catheter distal end deformation control device include the mount pad with set up in sheath core drive assembly on the mount pad, sheath core drive assembly include driving motor and by driving motor driven push element, push element pass through sheath core interface with sheath core's proximal end transmission is connected, push element under driving motor's drive for the mount pad is along first direction back and forth movement, makes sheath core interface for the mount pad is along the second direction back and forth movement, first direction and second direction are parallel.

Compared with the prior art, the application drives the sheath core to stretch relative to the catheter through the sheath core driving assembly, so that the structure of the distal end of the catheter, such as an electrode and the like, can change the shape of the sheath core through stretching or retracting relative to the catheter so as to fit tissues to complete diagnosis or treatment operation, and a doctor can control the specific operation of the catheter while keeping away from a radiation source such as imaging and the like. The manual injector is simulated to push and retreat, the deformation of the distal electrode of the catheter can be driven by the manual injector and the machine, the consumable material can be conveniently detached in the operation process, the control right of the catheter can be exchanged under the emergency of the operation, and the use is more flexible. Meanwhile, the device has simple structure and strong interchangeability, can be combined with other driving control devices to finish more complex operation, is mutually independent from each other, is convenient to control, assists doctors in finishing vascular intervention operation, has high integral automation degree, and effectively improves the stability and safety of the operation.

Drawings

FIG. 1 is a schematic view of a distal deformation control device for a catheter according to the present application.

Fig. 2 is another angular view of the distal deformation control device of the catheter of fig. 1.

Fig. 3 is a side view of the distal deformation control device of the catheter of fig. 1.

Fig. 4 is a schematic view of a sheath-core drive assembly of the catheter distal deformation control device of fig. 1.

Fig. 5 is a side view of the sheath-core drive assembly of fig. 4.

Fig. 6 is a schematic view of another embodiment of a sheath-core drive assembly.

Fig. 7 is a schematic view of a handle support of the distal deformation control device of the catheter.

Fig. 8 is a schematic view of another embodiment of a handle support.

Fig. 9 is a schematic view of a bend-regulating drive assembly of the catheter distal end deformation control device of fig. 1.

Fig. 10 is an assembled cross-sectional view of the buckle drive assembly and the handle bracket.

Fig. 11 is a schematic view of a linear drive assembly of the catheter distal deformation control device of fig. 1.

Fig. 12 is a schematic view of a rotational drive assembly of the distal end deformation control apparatus of the catheter of fig. 1.

Detailed Description

In order that the application may be readily understood, a more complete description of the application will be rendered by reference to the appended drawings. One or more embodiments of the present application are illustrated in the accompanying drawings to provide a more accurate and thorough understanding of the disclosed subject matter. It should be understood, however, that the application may be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein.

The same or similar reference numbers in the drawings correspond to the same or similar components; in the description of the present application, it should be understood that, if any, terms such as "upper", "lower", "left", "right", "front", "rear", "top", "bottom", etc. are used for convenience in describing the present application and simplifying the description based on the orientation or positional relationship shown in the drawings, but do not indicate or imply that the devices or elements to be referred must have a specific orientation, be constructed and operated in the specific orientation, and thus the terms describing the positional relationship in the drawings are merely used for exemplary illustration and are not to be construed as limiting the present application, and the specific meaning of the terms described above may be understood by those of ordinary skill in the art according to specific circumstances.

In the description of the present application, it is noted in advance that the terms "proximal" and "distal" refer to the relative orientation, relative position, orientation of elements or actions with respect to one another from the perspective of the operator using the medical device, although "proximal" and "distal" are not intended to be limiting, and "proximal" generally refers to the end of the medical device that is proximate to the operator during normal operation, and "distal" generally refers to the end that first enters the patient. The direction of the rotation center axis of the column, the tube body and the like is defined as the axial direction, and the direction perpendicular to the axial direction is defined as the radial direction. Circumferential refers to "circumferential direction", i.e., about the cylinder, the tube, and the like (perpendicular to the axis, and also perpendicular to the radius of the cross section). The "circumferential", "axial" and "radial" collectively form three orthogonal directions of the cylindrical coordinates. The definitions are provided for convenience of description and are not to be construed as limiting the application.

The application provides a catheter distal deformation control device which is used for assisting a doctor in vascular interventional operation. Fig. 1-3 show an embodiment of the catheter distal deformation control device according to the present application, wherein the catheter 10 is a distal deformable catheter, in which a sheath core 11 movable relative to the catheter body is disposed in the catheter body, and the distal support frame of the catheter 10 can be radially expanded or contracted by pulling the proximal end of the sheath core 11 to move relative to the catheter body in the axial direction, so as to drive the catheter 10 to deform distally, so as to fit the tissue to perform a specific diagnosis or treatment operation. The shape of the distal end of the catheter 10 before deformation is a bundle, and the shape of the distal end of the catheter 10 after deformation includes, but is not limited to, a ring shape, a basket shape, a sphere shape, an octopus shape, a net shape, and the like. The illustrated catheter distal deformation control device includes a sheath-core drive assembly 110, a buckle drive assembly 120, a linear drive assembly 130, and a rotational drive assembly 140.

Wherein the sheath core drive assembly 110 is configured to drive the sheath core 11 to move telescopically relative to the body of the catheter 10 such that the distal end of the catheter 10 is deformed to conform to tissue to perform a particular diagnostic or therapeutic procedure; the bending drive assembly 120 is configured to drive the distal end of the catheter 10 to bend laterally relative to its axis, to better accommodate in-vivo structures of an operating subject, to guide a diagnostic or therapeutic instrument to a particular target area; the linear drive assembly 130 is configured to drive the catheter 10 back and forth along the axis X1, effecting advancement and retraction of the catheter 10; the rotational drive assembly 140 is configured to drive the catheter 10 in rotation about the axis X1, effecting rotation of the catheter 10. By providing each drive assembly 110, 120, 130, 140 such that catheter 10 has at least 4 degrees of freedom, adjustment and control of position, attitude, etc. of catheter 10 may be better performed.

The sheath-core driving assembly 110 is disposed on the mounting base 150, and includes a driving motor 111 and a pushing element 112 driven by the driving motor 111. The drive motor 111 may provide linear reciprocation of the pushing element 112. The pushing element 112 is connected to the proximal end of the sheath core 11 via the sheath core interface 17, and preferably the proximal end of the sheath core 11 is provided with a handle 11a to facilitate pushing and retracting of the sheath core by a human hand in a syringe-like manner. The sheath core interface 17 is provided with a clamping groove 17a matched with the shape of the handle 11a, the handle 11a is detachably clamped in the clamping groove 17a, the sheath core 11 is connected with the sheath core interface 17, the sheath core 11 can be driven to move relative to the tube body in a mechanical control mode, meanwhile, the detachable structure of the handle 11a relative to the clamping groove 17a is convenient to detach and install, and surgical control rights are exchanged under special conditions. Under the action of the driving motor 111, the pushing element 112 moves back and forth along a first direction relative to the mounting seat 150, so as to drive the sheath core interface 17 to move back and forth along a second direction relative to the mounting seat 150, and the first direction and the second direction are parallel, because the driving motor 111 and the proximal end of the catheter are fixed relative to the mounting seat 150, the handle 11a can move back and forth relative to the tube body of the catheter 10 through clamping the handle 11a by the sheath core interface 17, and further the distal end of the sheath core 11 can move in a telescopic manner relative to the tube body of the catheter 10.

In a specific embodiment, catheter 10 may be an ablation catheter with an ablation electrode disposed at its distal end, and catheter 10 may also be a mapping catheter with a mapping electrode disposed at its distal end.

Before the distal end of the catheter 10 reaches the target site of the operation object, the whole distal end supporting framework of the catheter 10 is in a beam-shaped structure; after reaching the target site, the sheath-core driving assembly 110 drives the sheath core 11 to advance or retract, so that the distal support framework of the catheter 10 expands radially, and the distal support framework is in a cage-like structure or other specific structural shape as a whole, and can be better abutted against tissues for diagnosis or treatment purposes. In some embodiments, the distal end of the sheath core 11 is coupled to the distal-most end of the catheter 10, and the distal support armature of the catheter 10 is expanded radially outward by pulling the proximal end of the sheath core 11 back in an axial direction relative to the body of the catheter. In some embodiments, the distal end of the sheath core 11 is retracted within the catheter 10 in an initial state, and the distal support armature of the catheter 10 is caused to extend out of the catheter 10 by pushing the proximal end of the sheath core 11 in an axial direction relative to the body of the catheter, radially expanding due to its shape memory or other characteristics. The shape of the deformation of the distal end of the catheter 10 can be controlled according to the relative position of the control sheath core 11 with respect to the catheter 10. By arranging the sheath core driving assembly 110, the deformation operation and the deformation degree of the distal support framework of the catheter 10 can be automatically and accurately controlled, a doctor is assisted in performing operation, and the stability and the safety of the operation are improved.

In the embodiment shown in fig. 1-5, the pushing element 112 is a telescopic push rod, the fixed end of which is in transmission connection with the driving motor 111, and the movable end of which is fixedly connected with the sheath-core interface 17. Under the action of the driving motor 111, the movable end of the telescopic push rod stretches and moves along the first direction, so that the sheath core interface 17 is driven to move back and forth along the second direction, and the sheath core 11 is further enabled to feed or retreat relative to the catheter 10. In other embodiments, the driving motor 111 may be a linear motor, and the pushing element 112 may be a push rod, where one end of the push rod is in driving connection with the linear motor, and the other end of the push rod is fixedly connected with the sheath-core interface 17.

In the embodiment shown in fig. 6, the pushing element 112 is a gear. The mounting seat 150 is provided with a rack 153 matched with the gear, and the rack 153 extends along a first direction; the driving motor 111 is fixedly connected to the sheath-core interface 17, and the gear is connected with the output shaft of the driving motor 111 and rotates with the output shaft. Under the action of the driving motor 111, the gear moves along the rack 153 along the first direction while rotating therewith, so as to drive the sheath-core interface 17 to move back and forth along the second direction, and further enable the sheath core 11 to feed or retract relative to the catheter 10.

In other embodiments, the sheath-core interface 17 may be connected with a rack; the driving motor 111 is fixedly arranged on the mounting seat 150, an output shaft of the driving motor is connected with a gear, and a rack is meshed with the gear. Under the action of the driving motor 111, the gear rotates and drives the rack to reciprocate along a straight line, so that the sheath-core interface 17 is driven to move back and forth along the second direction, and the sheath core 11 is further driven to feed or retreat relative to the catheter 10.

In an embodiment, the mounting base 150 is provided with a sliding rail 151 and a sliding block 152 matched with the sliding rail 151, and the sliding rail 151 extends along the second direction. The sheath core interface 17 is fixedly connected with the slide block 152 and moves along the slide rail 151. By arranging the slide rail 151 and the slide block 152, the sheath core interface 17 and the sheath core 11 connected with the interface can move more stably.

In addition, the driving motor 111 may be replaced with a cylinder or an oil cylinder to directly provide the linear reciprocating motion.

As shown in fig. 7, the proximal end of the catheter 10 is connected to a handle 12, and the proximal end of the sheath core 11 extends beyond the handle 12 to connect to a sheath core interface 17. The mount 150 is provided with a handle support 160 for securing the handle 12 at the proximal end of the catheter 10. The handle bracket 160 includes a support 161 and a clamping member 162 that is separable from the support 161, the support 161 is connected to the mounting base 150, and the handle 12 is sandwiched between the support 161 and the clamping member 162. In one embodiment, the housing of the handle 12 is provided with a plurality of positioning slots 15, which cooperate with a plurality of ribs 165 provided on the support 161 to facilitate the mounting and securing of the handle 12 on the support 161.

In the embodiment shown in fig. 7, the clamping member 162 is a cover plate detachably connected to the support 161, the support 161 is provided with a fastening hole 163, and the cover plate is provided with a fastening hook 164 corresponding to the fastening hole 163. The support 161 and the cover plate are connected by a clasp 164 and a clasp hole 163, and the cover plate can be conveniently detached when the handle 12 needs to be replaced. In some embodiments, a clasp 164 may also be provided on the support 161 and a corresponding clasp hole 163 on the cover. Compare in structure on mechanical control device with structure such as handle through the mounting hole fixed connection, both played the effect of installation and fixed handle, under the circumstances of not destroying aseptic isolation environment again, conveniently dismantle and change the handle, or under operation emergency, if the condition such as special demand or machine trouble appear in the postoperative patient, exchange the operation control right of pipe or sheath, change by doctor manual operation, need not abandon original pipe consumptive material, change new consumptive material, alleviateed patient's economic burden, also reduced the waste of consumptive material.

In the embodiment shown in fig. 8, the clamping members 162 are elastic members, such as springs, respectively disposed on two opposite sides of the support 161, and the handle 12 of the catheter 10 is sandwiched between the two elastic members. The width of the handle 12 is larger than the interval width between two elastic pieces (in a natural stretching state), when the handle 12 is placed, a certain acting force can be applied to pull the elastic pieces apart, and at the moment, the elastic pieces deform to a certain extent; after the handle 12 is placed, the handle 12 is automatically clamped by releasing the elastic member. The elastic piece can stretch and deform, so that the width of the clamped handle 12 can be automatically adapted, and the clamping device can be suitable for handles 12 with different specifications, and has better universality.

As shown in fig. 5, a force sensing module 154 is further disposed in the driving direction of the feeding and retracting of the catheter 10 of the mounting seat 150, and is used for detecting the force applied to the distal end of the catheter 10, monitoring the pushing force applied to the feeding and retracting of the catheter 10 in real time, and outputting the detected contact force data, for example, feeding back to the doctor by means of communication or the like, so as to avoid the catheter 10 from injuring the operation object and damaging the tissue or organ of the operation object. The mount 150 is provided with a fixing frame, the handle support 160 is slidably connected with the fixing frame, and the force sensing module 154 is disposed between the handle support 160 and the fixing frame. Specifically, the mounting base 150 is provided with a first fixing frame 155 and a second fixing frame 156 at intervals; accordingly, both ends of the support 161 of the handle holder 160 are provided with a first connection portion 168 and a second connection portion 169, respectively. The first connection portion 168 of the handle holder 160 is slidably connected to the first fixing frame 155 of the mounting base 150, and the second connection portion 169 of the handle holder 160 is slidably connected to the second fixing frame 156 of the mounting base 150, so that the catheter 10 and the handle holder 160 as a whole can move in the axial direction of the catheter 10 with respect to the mounting base 150.

Specifically, the force sensing module 154 is disposed along the axial direction of the catheter 10, and has one end close to the operation object slidably connected to the first connection portion 168, one end far from the operation object fixedly connected to the first fixing frame 155, and the second fixing frame 156 slidably connected to the second connection portion 169. In one embodiment, one of the second fixing frame 156 and the second connecting portion 169 is provided with a shaft 158, and the other one of the second fixing frame and the second connecting portion 169 is provided with a bearing 159 matched with the shaft 158, and the axial direction of the shaft 158 is parallel to the first direction and the second direction. When the distal end of the catheter 10 is in contact with tissue, the contact force is transmitted to the handle 12 through the tube body and the handle support 160 for fixing the handle 12, and then transmitted to the force sensing module 154 through the first connection portion 168 of the handle support 160, during which the force sensing module 154 can detect and feedback the contact force born by the distal end of the catheter, so as to monitor the abnormality of the interventional instrument in real time.

Referring to fig. 11, the linear driving assembly 130 includes a first motor 131 and a screw assembly 132 drivingly connected to an output shaft of the first motor 131, and converts rotation of the first motor 131 into linear motion through the screw assembly 132. Specifically, the screw assembly 132 includes a screw 133 and a moving member, such as a nut 134, threadedly coupled to the screw 133. The screw rod 133 is connected to an output shaft of the first motor 131 through a coupling 135, so that the screw rod 133 moves along an axial direction of the screw rod 133 when the screw rod 133 is rotated by the first motor 131.

In an embodiment, the linear driving assembly 130 further includes a linear guide 136 and a slider 137, the slider 137 is slidably connected to the linear guide 136, the nut 134 is fixedly connected to the slider 137, so that the nut 134 cannot rotate, the linear guide 136 only enables the nut 134 to move along the screw rod 133, when the first motor 131 is started, the screw rod 133 will reciprocate along the output shaft of the first motor 131, the nut 134 will reciprocate linearly along the screw rod 133, the slider 137 also reciprocates along the linear guide 136 along with the nut 134, the screw rod assembly 132 pushes the nut 134 to reciprocate linearly, and the linear guide 136 supports the gravity of the component above the nut 134, so that the stability and the stress balance of the linear driving mechanism 130 can be improved. The nut 134 may advance or retract along the screw rod 133 according to different rotational directions of the first motor 131. For example, when the first motor 131 rotates clockwise, the nut 134 moves forward to drive the catheter 10 to feed; conversely, when the first motor 131 rotates counterclockwise, the nut 134 moves backward, driving the catheter 10 backward. Of course, the first motor 131 may rotate clockwise to drive the catheter 10 backward and counter-clockwise to drive the catheter 10 forward.

Referring to fig. 12, the rotary driving assembly 140 includes a second motor 141 and a swing arm 142 drivingly connected to an output shaft of the second motor 141. In the illustrated embodiment, the second motor 141 is fixedly connected to the nut 134 and the slider 137 of the screw assembly 132 through the motor support 143, and the rotary driving assembly 140 can move back and forth along the screw 133 along with the nut 134 as a whole. The second motor 141 and the first motor 131 are arranged in the same direction or in opposite directions, and the axial directions of the two motors are parallel to each other. When the swing arm 142 swings by the second motor 141, the extending direction of the center axis of the swing is identical to that of the second motor 141. Preferably, the catheter interface of the handle 12 is coaxially disposed with the second motor 141 such that the axis X1 involved in the movement and rotation of the catheter 10 is collinear with the central axis of oscillation of the swing arm 142, providing stable rotational degree of freedom control of the catheter.

In one embodiment, the mount 150 is connected perpendicularly to the radially outer end of the swing arm 142, i.e., the mount 150 is connected to the swing arm 142 in the axial direction of the handle 12. The handle 12, the sheath core driving assembly 110 and the bending driving assembly 120 of the catheter 10 are borne on the mounting seat 150, and under the action of the second motor 141, the catheter 10, the sheath core driving assembly 110, the bending driving assembly 120 and the mounting seat 150 synchronously swing along with the swing arm 142 of the rotation driving assembly 140, so that the catheter 10 rotates around the axis X1; the rotation driving assembly 140 is connected to the nut 134 of the linear driving assembly 130, and slides synchronously with the nut 134 under the action of the first motor 131, so that the catheter 10 moves back and forth along the axis X1, and the catheter 10 has at least three degrees of freedom of movement, rotation, and sheath core advancing and retreating, so that the position and posture of the catheter 10 can be conveniently adjusted.

In the above embodiment, the linear driving assembly 130 drives the rotary driving assembly 140 to move, and the rotary driving assembly 140 directly drives the catheter 10 to rotate, so that the catheter 10 can move and rotate. In other embodiments, the order of the linear driving assembly 130 and the rotary driving assembly 140 may be reversed, and it may be that the rotary driving assembly 140 drives the linear driving assembly 130 to rotate, and the linear driving assembly 130 directly drives the catheter 10 to move. The linear driving assembly 130 can also adopt other structures, such as a gear rack, a synchronous belt and the like, to realize conversion between rotation and linear motion, so as to drive the catheter 10 to move back and forth; a transmission element can also be arranged between the second motor 141 of the rotary driving assembly 140 and the swing arm 142, so as to realize remote transmission.

As shown in fig. 9 and 10, a bending adjustment assembly is disposed in the housing of the handle 12, and the bending adjustment assembly includes a traction wire, a rotating portion, and the like, wherein the traction wire movably penetrates the tube body, a distal end of the traction wire is connected with a distal end of the catheter 10, a proximal end of the traction wire is connected with the rotating portion, and the traction wire is wound or released by controlling the rotating portion to rotate, so that lateral bending adjustment and straightening of the distal end of the catheter 10 can be realized. The turn-adjusting assembly includes a turn-adjusting knob 14 located above the housing of the handle 12 for manual or mechanical control of the rotation of the rotating portion. When manual operation is needed, the bending knob 14 is screwed clockwise or anticlockwise by a human hand, and the bending knob 14 is connected with the bending assembly in a transmission manner, so that the traction wire is wound or released, the bending and the straightening of the far end of the pipe body 10 are realized, the bending knob 14 is designed to be convenient for the human hand to operate, and the human engineering design is met. When mechanical control is needed, the bending driving assembly 120 is in transmission connection with the bending assembly through the bending knob 14, the operation of the bending assembly is controlled, and release or tightening of the traction wire is achieved, so that the distal end of the catheter 10 is bent at a certain angle relative to the axial side direction of the catheter. Because the bending knob 14 is located above the handle 12, compared with the structural design that the bending knob is located at two sides of the handle, the control stroke of the bending operation is longer, the bending operation of the catheter can be controlled mechanically conveniently by the transmission connection of the bending assembly matched with the bending knob without affecting the convenience of the manual bending operation, and a larger bending angle is realized, so that the bending thread is convenient to calculate.

In one embodiment, the buckle drive assembly 120 includes a third motor 121, a rotary actuator 122, and a transmission assembly 123 disposed between the third motor 121 and the rotary actuator 122. The rotary actuating member 122 is pivoted with the bending adjusting knob 14, and when the third motor 121 drives the rotary actuating member 122 to rotate, the bending adjusting knob 14 is driven to rotate synchronously, so that the traction wire is released or tightened, and the lateral bending adjustment of the distal end of the catheter 10 is realized. Preferably, the rotary actuating member 122 and the bending knob 14 are coaxially disposed, and the rotation axes of the rotary actuating member 122 and the bending knob are both disposed at an angle to the rotation axis of the third motor 121, so that the third motor 121 can be disposed on one side of the rotary actuating member 122, thereby effectively utilizing space and making the overall structure more compact.

In the illustrated embodiment, the buckle drive assembly 120 is mounted on a mount 150 with a third motor 121 disposed below the mount 150 and the rotary actuator 122 coupled to the buckle 14 above it through the mount 150. The transmission assembly 123 includes intermeshing first and second transmission elements, in this embodiment intermeshing first and second bevel gears 124 and 125, respectively. The first bevel gear 124 is coaxially disposed and fixedly coupled with the output shaft of the third motor 121, and the second bevel gear 125 is coaxially disposed and fixedly coupled with the rotary actuator 122. The torque is transmitted through the transmission assembly 123 while also imparting a 90 degree transition in the direction of rotation such that the axis of rotation of the rotary actuator 122 is perpendicular to the axis of rotation of the third motor 121.

As shown in fig. 10, the rotary actuating member 122 has a shaft-like structure as a whole, a first plug 122a is disposed at a bottom end thereof and connected to a second bevel gear 125 of the transmission assembly 123, and a second plug 122b is disposed at a top end thereof and connected to the bending knob 14. The center of the second bevel gear 125 is provided with a first inserting hole, and the first inserting head 122a is fixedly inserted into the first inserting hole; the center of the bending knob 14 is provided with a second inserting hole, and the second inserting connector 122b is detachably inserted into the second inserting hole.

In an embodiment, the hole wall of the first plugging hole of the second bevel gear 125 is further concavely provided with a key slot, and the outer wall surface of the first plug 122a is convexly provided with a key to be clamped with the key slot, so that the rotation actuating member 122 and the second bevel gear 125 can form a limit in the circumferential direction after being plugged, and the second bevel gear 125 can drive the rotation actuating member 122 to rotate synchronously. It should be understood that a key groove may be concavely provided on the outer wall surface of the first plug 122a, and correspondingly, a key protruding from the wall of the first plug hole is engaged with the key groove, so as to achieve the limitation of the rotary actuator 122 and the second bevel gear 125 in the circumferential direction.

In an embodiment, the cross section of the second plugging hole of the bending adjustment knob 14 is non-circular, preferably regular polygon such as square, regular hexagon, etc., or may be D-shaped, semicircular arc, etc. other irregular shapes, the cross section shape and size of the second plugging head 122b are matched with those of the second plugging hole, and after the two plugging holes are connected, the limiting in the circumferential direction is realized through the matching of the shapes, so that the rotary actuating member 122 can drive the bending adjustment knob 14 to rotate synchronously, and the power transmission from the third motor 121 to the bending adjustment knob 14 is completed. It should be understood that the rotary actuator 122 may be provided with a second insertion hole, and the bending knob 14 may be provided with a second insertion head 122b, which are connected in an insertion manner to achieve the limit in the circumferential direction.

In other embodiments, one of the first transmission element and the second transmission element may be a bevel gear, and the other one may be a worm, for example, the worm being connected to and coaxially disposed with the output shaft of the third motor 121, and the bevel gear being connected to and coaxially disposed with the rotary actuator 122. The arrangement of bevel gears, worm screws, likewise allows power transmission between the third motor 121 and the rotary actuator 122 and changes the direction of rotation such that the axis of rotation of the rotary actuator 122 and the axis of rotation of the third motor 121 are arranged at an angle. It should be appreciated that in some embodiments, the third motor 121 may also directly drive the rotary actuator 122, omitting the drive assembly 123.

The catheter distal end deformation control device of the application is provided with the sheath core driving component 110, the bending driving component 120, the linear driving component 130 and the rotary driving component 140 corresponding to the catheter 10, so that the catheter 10 can have a plurality of degrees of freedom, and can respectively realize the movement, rotation, bending operation and telescopic operation of the sheath core, the distal end structure of the catheter 10 can be expanded or retracted relative to the catheter 10 by the arrangement of the sheath core driving component 110 so as to change the shape of the catheter 10, and the catheter is convenient to move in a lumen in a contracted state and form closer contact with tissues in an extended state; the application can assist doctors to complete vascular interventional operation, has high integral automation degree, effectively improves the stability and safety of operation, is convenient to detach and install, and can exchange operation control rights under special conditions.

It should be noted that the present application is not limited to the above embodiments, and those skilled in the art can make other changes according to the inventive spirit of the present application, and these changes according to the inventive spirit of the present application should be included in the scope of the present application as claimed.

Claims (15)

1. The utility model provides a catheter distal end deformation control device, be provided with the sheath core in the body of pipe, the sheath core distal end with the catheter distal end is connected, its characterized in that, catheter distal end deformation control device include the mount pad with set up in sheath core drive assembly on the mount pad, sheath core drive assembly include driving motor and by driving motor driven push element, push element pass through sheath core interface with sheath core proximal end transmission is connected, push element under driving motor's drive for the mount pad is along first direction back and forth movement, makes sheath core interface for the mount pad is along the second direction back and forth movement, first direction with the second direction is parallel.

2. The catheter distal deformation control device of claim 1, wherein the pushing element is a push rod, one end of the push rod is in transmission connection with the driving motor, and the other end of the push rod is fixedly connected with the sheath core interface.

3. The catheter distal deformation control device of claim 1, wherein the pushing element is a telescopic push rod, a fixed end of the telescopic push rod is in transmission connection with the driving motor, and a movable end of the telescopic push rod is fixedly connected with the sheath core interface.

4. The catheter distal deformation control device of claim 1, wherein the pushing element is a gear, and the mounting base is provided with a rack matched with the gear, and the rack extends along the first direction; the driving motor is fixedly connected to the sheath core interface, and the gear is connected with the output shaft of the driving motor and rotates along with the output shaft.

5. The catheter distal deformation control device according to any one of claims 1-4, wherein a sliding rail and a slider slidingly engaged with the sliding rail are provided on the mounting base, the sliding rail extends in the second direction, and the sheath-core interface is fixedly connected with the slider.

6. The catheter distal deformation control device of claim 1, wherein the proximal end of the sheath core is provided with a handle, the sheath core interface is provided with a clamping groove, and the handle is detachably clamped in the clamping groove.

7. The catheter distal end deformation control device according to claim 1, wherein the proximal end of the catheter is connected with a handle, a handle bracket for fixing the handle is arranged on the mounting seat, and the handle bracket is connected with a force sensing module for detecting the stress of the catheter distal end.

8. The catheter distal deformation control device of claim 7, wherein the handle support comprises a support and a cover removably coupled to the support, the handle being sandwiched between the support and the cover.

9. The catheter distal end deformation control device according to claim 7, wherein the handle holder comprises a support and two elastic members respectively provided on opposite sides of the support, the handle being sandwiched between the two elastic members.

10. The catheter distal deformation control device of claim 7, wherein the handle has a housing with a detent, and the support has a rib for engaging the detent.

11. The catheter distal deformation control device of claim 7, wherein a mount is provided on the mount, the handle support is slidably coupled to the mount, and the force sensing module is disposed between the handle support and the mount.

12. The catheter distal deformation control device of claim 11, wherein the mount comprises a first mount and a second mount disposed at intervals, the handle support is provided with a first connecting portion and a second connecting portion extending in an axial direction, two ends of the force sensing module are respectively connected with the first connecting portion and the first mount, and the second mount is slidingly connected with the second connecting portion.

13. The catheter distal end deformation control device according to claim 12, wherein one of the second fixing frame and the second connecting portion is provided with a shaft, the other of the second fixing frame and the second connecting portion is provided with a bearing which is matched with the shaft, and the axial direction of the shaft is parallel to the first direction and the second direction.

14. The catheter distal deformation control device of any one of claims 7-13, further comprising a rotational drive assembly and a linear drive assembly, wherein the rotational drive assembly is coupled to the linear drive assembly, and wherein the sheath-core drive assembly is coupled to the rotational drive assembly via the mount.

15. The catheter distal deformation control device of claim 14, further comprising a bend adjustment drive assembly coupled to the rotational drive assembly via the mount.