WO2004105849A1 - Tube pliable et procede de fabrication correspondant - Google Patents

Tube pliable et procede de fabrication correspondant Download PDF

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Publication number
WO2004105849A1
WO2004105849A1 PCT/JP2004/007564 JP2004007564W WO2004105849A1 WO 2004105849 A1 WO2004105849 A1 WO 2004105849A1 JP 2004007564 W JP2004007564 W JP 2004007564W WO 2004105849 A1 WO2004105849 A1 WO 2004105849A1
Authority
WO
WIPO (PCT)
Prior art keywords
tube
bending
bent
lumen
bending mechanism
Prior art date
Application number
PCT/JP2004/007564
Other languages
English (en)
Japanese (ja)
Inventor
Masayoshi Esashi
Yoichi Haga
Masanori Mizushima
Tadao Matsunaga
Original Assignee
Japan Science And Technology Agency
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Japan Science And Technology Agency filed Critical Japan Science And Technology Agency
Publication of WO2004105849A1 publication Critical patent/WO2004105849A1/fr

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Classifications

    • 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
    • A61M25/0009—Making of catheters or other medical or surgical tubes
    • A61M25/0013—Weakening parts of a catheter tubing, e.g. by making cuts in the tube or reducing thickness of a layer at one point to adjust the flexibility
    • 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
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0133—Tip steering devices
    • A61M25/0138—Tip steering devices having flexible regions as a result of weakened outer material, e.g. slots, slits, cuts, joints or coils
    • 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
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0133—Tip steering devices
    • A61M25/0147—Tip steering devices with movable mechanical means, e.g. pull wires
    • 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
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0133—Tip steering devices
    • A61M25/0158—Tip steering devices with magnetic or electrical means, e.g. by using piezo materials, electroactive polymers, magnetic materials or by heating of shape memory materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C53/00—Shaping by bending, folding, twisting, straightening or flattening; Apparatus therefor
    • B29C53/02—Bending or folding
    • B29C53/08—Bending or folding of tubes or other profiled members
    • B29C53/083—Bending or folding of tubes or other profiled members bending longitudinally, i.e. modifying the curvature of the tube axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2793/00—Shaping techniques involving a cutting or machining operation
    • B29C2793/0081—Shaping techniques involving a cutting or machining operation before shaping

Definitions

  • the present invention relates to a bent tube used for, for example, a catheter and the like, and particularly to a bent tube having a small radius of curvature and capable of bending with a small force, and a method for manufacturing the same.
  • catheters and guidewires have been used for diagnosis and treatment of blood vessels, ureters, stomachs, intestines, and the like.
  • These catheters and guidewires have a diameter of, for example, about 0.1 to 6.0 mm, and a wire or coil is provided at the distal end to facilitate insertion during diagnosis and treatment. Some are provided with the used bending mechanism.
  • Documents 1 and 2 disclose a catheter provided with a bending mechanism using a wire.
  • a groove or a cut is formed on the bending side of the distal end of the catheter, and this bent portion is configured to be bent by being pulled or pushed by a wire.
  • Patent Document 3 discloses a flexible tube provided with a bending mechanism using a coil.
  • a coil made of a shape memory alloy is wound around and fixed to the tip of a flexible tube having a concave groove formed on one side of an outer peripheral surface, and an axial force is applied to the coil by a temperature change. Is generated and the flexible tube is bent in the region of the concave groove by being deformed more largely in the axial direction.
  • the following document 4 proposes a catheter having a bellows structure in the bending direction.
  • the joints provided at appropriate intervals in the longitudinal direction of the catheter are very flexible as bellows having a bellows structure, so that they can be easily bent.
  • Reference 1 Japanese Patent Application Laid-Open No. 7-80079 (Page 3, Fig. 1)
  • Literature 2 Japanese Patent Application Laid-Open No. 2003-224444 (2 pages, Fig. 1)
  • Literature 3 Japanese Patent Application Laid-Open No. 2000-0-16 15 4 3 (Page 3, Figure 1)
  • Literature 4 Koji Ikuta, Hironobu Takakawa, Takahiro Yamamoto, Katsuya Suzuki, "Study on Micro-Pneumatic for Safety Active Catheter (3rd Kogori)", The 19th Annual Conference of the Robotics Society of Japan, 20 0 1 year September 18-20, 2 ⁇ 1 3, ⁇ ⁇ 6 1 5
  • the joint portion of the catheter is formed by pouring silicone into a mold formed by a stereolithography method using a microphone. For this reason, the cost increases due to the complicated process, and it is difficult to cope with the reduction in the diameter. Furthermore, if the bending mechanism is embedded in the lumen, for example, if the bending mechanism is configured as a shape memory alloy actuator, the operating heat will remain in the tube, causing a large response delay. There is a problem of doing it. Disclosure of the invention
  • an object of the present invention is to provide a bending tube capable of bending with a smaller bending force with a simple configuration and a smaller bending force even with a simple configuration, and a method of manufacturing the same.
  • a hollow bent tube having a predetermined inner diameter, wherein one or a plurality of hollow bent tubes are provided at predetermined intervals in an axial direction from one side of a tip end.
  • a bent tube which is provided with a notch, characterized in that the notch extends centrally towards the opposite side of the bent tube.
  • the bent tube according to the present invention is preferably a catheter tube.
  • This The flexible tube is preferably of a single lumen type or a multi-lumen single tube type.
  • the bending tube has one or a plurality of cuts arranged in the axial direction at one end at the distal end, so that the bending tube can be bent to one side. Tube volume is reduced. Therefore, when the distal end of the bent tube is bent to one side, even if the tube itself is made of a relatively hard material, the bent tube, for example, a catheter tube, preferably a single-lumen type or A multi-lumen tube is easily bent by a small bending force.
  • the bent tube according to the present invention preferably has one or a plurality of second or more cuts between the cuts at predetermined intervals in the axial direction from the other side of the distal end portion. . According to this configuration, the bending tube can be easily bent at one end or the other side with a small bending force.
  • the bending tube according to the present invention preferably has a bending mechanism inserted in the hollow portion.
  • a bending mechanism is inserted into at least one lumen.
  • a bending tube having a bending mechanism is configured.
  • the bending tube can be easily bent by a small bending force, the bending tube can be easily bent even if the radius of curvature of a force teeter having a bending mechanism, a guide wire, or the like is reduced.
  • the notch through which the bending mechanism is passed has a wider periphery and is easier to dissipate heat than the lumen through which the wiring or the wire passes, for example, the bending mechanism is configured as a shape memory alloy actuator.
  • the response delay due to the heat remaining in the tube due to the operating heat can be small.
  • the periphery of the opening to each cut of the lumen into which the bending mechanism is inserted is chamfered. According to this configuration, a part of the bending mechanism exposed on the surface of the tube can be smoothly inserted without being caught on the periphery of the opening to each cut of the lumen, and can be bent during the bending operation. The mechanism can operate smoothly.
  • the bending tube according to the present invention preferably has a working channel tube inserted into the hollow portion.
  • the king channel tube can be liquid-tightly formed in the hollow portion.
  • the bending tube according to the present invention preferably has a sheath tube fitted on the outer peripheral surface of the bending tube. According to this configuration, the bending tube and the working channel tube can be formed in a liquid-tight manner by the jacket tube, and the jacket tube prevents the bending operation of the bending tube. There is nothing.
  • one or a plurality of hollow cylindrical tubes extending from the at least one side of the distal end portion to the opposite side at a predetermined interval in the axial direction are provided. This is achieved by a method for manufacturing a bent tube, which is characterized by forming individual cuts.
  • one or a plurality of cuts are formed at predetermined intervals in the axial direction from one side of a distal end portion of a hollow cylindrical tube having a predetermined inner diameter.
  • the present invention is achieved by a method for manufacturing a bent tube, which is characterized in that the bent tube is formed by injection molding.
  • the bent tube can be easily formed by forming a cut in the distal end of the existing hollow cylindrical tube material or by molding by injection molding. Since it can be formed at low cost and can be formed minutely, even if the radius of curvature of the bending tube for a catheter or the like is reduced, it is possible to reliably configure the tube.
  • the method for manufacturing a bent tube according to the present invention preferably forms a lumen in the cylindrical portion of the bent tube during injection molding.
  • a thin film for covering is formed on the outer peripheral surface of the bent tube during injection molding. According to this configuration, the number of steps can be reduced, and the bent tube having the lumen in the cylindrical portion or the thin film for covering on the outer peripheral surface can be formed at low cost.
  • FIG. 1 is a schematic perspective view showing a configuration of a first embodiment of a bending tube according to the present invention.
  • FIG. 1 is a schematic perspective view showing a manufacturing method of the bent tube of FIG. 1 by cutting.
  • FIG. 3 is a schematic side view showing (A) a straight state and (B) a bent state of the bent tube of FIG.
  • FIG. 4 is a schematic perspective view showing (A) a state before the notch formation and (B) a completed state after the notch formation in the second embodiment of the bent tube according to the present invention.
  • FIG. 5 is a schematic perspective view showing (A) a state before the notch formation and (B) a completed state after the notch formation in the third embodiment of the bending tube according to the present invention.
  • FIG. 6 is a schematic perspective view showing (A) a state before notch formation and (B) a completed state after notch formation of the fourth embodiment of the bent tube according to the present invention.
  • FIG. 7 is a schematic perspective view showing a state in which each of the bent tubes of FIGS. 1, 4 to 6 is manufactured by injection molding.
  • Fig. 8 is a cross-sectional view of a main part showing a state in which a thin film is simultaneously formed in the cut area at the time of injection molding in each of the bent tubes of Figs. 1 and 4.
  • Fig. 9 shows an example of incorporating the bending mechanism into the bending tube of Fig. 1, (A) before insertion of the bending mechanism, (B) after insertion of the bending mechanism, (C) after bonding the outer tube, (D) is a schematic diagram showing before bending, and (E) is a schematic diagram showing after bending. .
  • FIG. 10 shows a first example in which a bending mechanism is incorporated in the bending tube of FIG. 4,
  • A is a perspective view
  • B is a schematic side view showing before bending
  • C is a schematic side view showing after bending. is there.
  • Fig. 11 shows a second example in which a bending mechanism is incorporated in the bending tube of Fig. 4.
  • A is a schematic side view showing the state before bending and
  • B is a state after bending.
  • D is a cross-sectional view of a modified example of the tip portion having a chamfer.
  • FIGS. 12 and 13 show a third example in which the bending mechanism is incorporated in the bending tube of FIG. 4, wherein (A) is before the bending mechanism is inserted, (B) is after the bending mechanism is inserted, and (C) is the outer cover.
  • FIG. 3D is a schematic perspective view showing the state after the tube is bonded, and FIG.
  • FIG. 13 shows a fourth example in which a bending mechanism is incorporated in the bending tube of FIG. () Is a schematic perspective view before assembling, (B) is a schematic perspective view after assembling, and (C) is a sectional view.
  • FIG. 14 shows a fifth example in which a bending mechanism is incorporated in the bending tube of FIG.
  • FIG. 15 shows a sixth example in which a bending mechanism is incorporated in the bending tube of FIG.
  • FIGS. 16A and 16B show a state in which a bending mechanism is incorporated in a fifth embodiment of the bending tube according to the present invention, wherein FIG. 16A is a plan view and FIG. 16B is a side view.
  • FIG. 1 shows a basic configuration of a first embodiment of a bending tube according to the present invention.
  • the bent tube 10 is formed of, for example, a hollow cylindrical silicone tube 11 having an outer diameter of 6.0 mm and a wall thickness of 0.8 mm.
  • an organic polymer material such as polychlorinated vinyl, polyurethane, and fluororesin can be used in addition to the silicon tube.
  • FIG. 1 is a schematic perspective view showing a manufacturing method by cutting the bent tube of FIG. As shown in FIG. 1
  • the bent tube 10 having such a structure is provided with a cut 12 as shown in FIG. 2 (B) with respect to a commercially available hollow cylindrical tube material 11 as shown in FIG. 2 (A). It is manufactured by cutting. Thereby, the bent tube 10 can be formed easily and at low cost.
  • FIG. 3 is a schematic side view showing (A) a straight state and ( ⁇ ) a bent state of the bent tube of FIG. From the straight state shown in Fig. 3 (A),
  • the bent tube 10 is configured as described above. As shown in FIG. 3, when the distal end portion 11 a is bent downward, the tube is cut by the cut 12. Since the volume is reduced, the gap between the cuts 12 is narrowed without the tube 10 itself being crushed, so that the distal end 11 a of the bent tube 10 can be easily formed, and It can be bent by a small bending force.
  • Second embodiment Second embodiment
  • FIG. 4 is a schematic perspective view showing (A) a state before the cut is formed and (B) a completed state after the cut is formed in the second embodiment of the bent tube according to the present invention.
  • a cut 22 is cut from a commercially available bent tube material 21 as shown in FIG. 4 (A).
  • the bent tube 20 has a hollow portion, that is, a main lumen 21a and a tip end 21c of a multi-lumen type silicone tube 21 provided with one small-diameter lumen 21b along the lower edge.
  • the bent tube 20 is formed to have, for example, a diameter of 2 mm and a diameter of a small diameter lumen of 0.5 mm.
  • the bending tube 20 of this configuration the bending tube 1 shown in FIGS.
  • the tube volume is reduced by the cuts 22 provided below the distal end 21c. Therefore, since the gap between the cuts 22 is narrowed without the tube 20 itself being crushed, the distal end 21 c of the bent tube 20 can be easily bent by a small bending force. Will be.
  • Third embodiment
  • FIG. 5 is a schematic perspective view showing (A) a state before notch formation and (B) a completed state after notch formation of the third embodiment of the bent tube according to the present invention.
  • a cut 32 is formed by cutting a commercially available bending tube material 31 as shown in FIG. 5 (A).
  • the bent tube 30 is a multi-lumen type silicone tube having a hollow portion, that is, a main lumen 31a and two lumens along the lower edge, that is, small diameter lumens 31b, 31c.
  • the bent tube 30 is formed to have a diameter of 2 mm, a diameter of the main lumen of 0.9 mm, and a diameter of the small diameter lumen of 0.5 mm, for example.
  • the distal end 31 d in the bent tube 30 having this configuration, similarly to the bent tube 10 shown in FIGS. 1 and 2, when the distal end 31 d is bent downward from a straight state, the distal end 31 The tube volume is reduced by the cuts 32 provided on the lower side of d, and the force of the tube 30 itself is not crushed, and the gap between the cuts 32 is narrowed.
  • the distal end 31 d of the 30 can be easily bent by a small bending force.
  • FIG. 6 is a schematic perspective view showing (A) a state before the notch formation and (B) a completed state after the notch formation of the fourth embodiment of the bent tube according to the present invention.
  • a cut 42 is formed by cutting a commercially available bent tube material 41 as shown in FIG. 6 (A).
  • the bent tube 40 is a multi-lumen type silicone tube having a hollow portion, that is, a main lumen 41 a and one small-diameter lumen 41 b, 41 c along the upper edge and the lower edge, respectively.
  • One or a plurality of, in the illustrated, six notches 42 arranged at a predetermined interval in the axial direction are provided on one side of the distal end portion 41 d in the illustrated example, in the illustrated example, on the lower side in the illustrated example.
  • the leading end 41 d is bent downward from a straight state. Since the tube volume force is reduced by the cuts 42 provided on the lower side of the portion 41d, the gap between the cuts 42 is narrowed without the tube 40 itself being crushed. The leading end 41d of the 0 can be bent easily and with a small bending force.
  • cuts 12, 22, 32, 42 are formed by cutting, respectively.
  • 10 to 40 may be formed by injection molding so that the whole is provided with cuts 12 to 42.
  • FIG. 7 is a schematic perspective view showing a state in which each of the bent tubes of FIGS. 1, 4 to 6 is manufactured by injection molding, wherein (A) is a bent tube 10, (B) is a bent tube 20, (C) ) Is a bent tube 30 and (D) is a bent tube 40.
  • the cuts 12,, 32, 42 are shown schematically by arrows in FIGS. 7 (A) to (D), respectively.
  • it can be easily formed by a punching die that can move downward with respect to a mold that forms the entire bent tubes 10, 20, 30, and 40.
  • each bent tube 10 0, 20 , 30 and 40 can be easily formed.
  • a multi-lumen type and a single-lumen type having a main lumen and a lumen (small-diameter lumen) in the cylindrical portion of the bent tube can also be manufactured by injection molding.
  • each of the bent tubes 10, 20, 30, and 40 is provided with a waterproof film on the outer peripheral surface or the inner peripheral surface in order to configure the hollow portion that is the main lumen in a liquid-tight manner with respect to the outside. It is necessary to provide a jacket tube or a jacket thin film.
  • FIG. 8 is a cross-sectional view of a main part showing a state in which a thin film for covering having a function equivalent to that of a covering tube for waterproofing is simultaneously formed in the cut area during the injection molding of each of the bent tubes in FIGS. 1 and 4.
  • ( ⁇ ) shows the case where the bent tube 10 is used
  • ( ⁇ ) and (C) shows the case where the bent tube 20 is used.
  • a thin film for coating is simultaneously formed on the outer peripheral surface or inner peripheral surface. It may be formed. That is, as shown in FIG. 8 ( ⁇ ), a thin film 13 for a jacket is formed in the bent tube material 11 adjacent to the outer peripheral surface of the cut 12 side. Further, as shown in FIG. 8 (), a thin film for jacket 23 is formed adjacent to the outer peripheral surface of the bent tube material 21 on the side of the cut 22. Further, as shown in FIG. 8 (C), a thin film for jacket 24 is formed adjacent to the inner peripheral surface of the bent tube material 21 on the side of the cut 22 thereof.
  • the outer tube instead of the outer tube, the outer tube or the inner tube is used instead of the outer tube.
  • the thin film to be used may be integrally formed.
  • a flexible tube 1 is used to waterproof the inside of the lumen. There is no need to separately provide a jacket tube on the outer peripheral surface or inner peripheral surface of 0, 20 and assembly is facilitated.
  • FIG. 9 shows an example in which the bending mechanism is incorporated in the bending tube 10 described above.
  • a coil, wire, plate, or the like using a shape memory alloy, or a mechanism incorporating a tow wire can be used.
  • a shape memory alloy is used as the bending mechanism 14, it is configured as a shape memory alloy actuator having a known configuration, such as a silicone tube, a stainless steel coil, a resin link, a shape memory alloy wire (or a coil or sheet). ) And wiring, but detailed description of the configuration is omitted.
  • the bending mechanism 14 is inserted into the bending tube 10 until its tip slightly protrudes from the tip of the bending tube 10 and then shown in FIG. 9 (C).
  • a tube 50 having a wall thickness of 50 m is fitted on the distal end of the bent tube 10, and the adhesive 16 is attached to the distal end and the rear end thereof as shown by arrows X. It is more liquid-tightly adhered and fixed.
  • the controller 17 is connected to the wiring 14a extending from the rear end of the bending mechanism 14, and power is supplied to the shape memory alloy actuator of the bending mechanism 14. Then, as shown in FIG. 9 (E), the shape memory alloy actuate bends downward, and accordingly, the distal end of the bent tube 10 also bends downward.
  • FIGS. 10A and 10B show a first example in which a bending mechanism is incorporated in the bending tube 20 described above, where (A) is a perspective view, (B) is before bending, and (C) is after bending. It is the schematic side view shown.
  • the bending mechanism 25 is inserted into the small-diameter lumen 2 lb of the bending tube 20.
  • This bending mechanism 25 is configured as, for example, a shape memory alloy actuator having a known configuration, similarly to the above-described bending mechanism 14, and one of the wirings 25 a is connected from the tip of the bending mechanism 25 to the other.
  • the bent tube 20 is routed through the main lumen 21a.
  • the small-diameter lumen 2 1b through which the bending mechanism 25 passes and the notch 22 are formed by wiring or wire. Because the surrounding area is wider and heat is easier to dissipate compared to a lumen that passes through, for example, even if the bending mechanism 25 is configured as a shape memory alloy The response delay due to the remaining heat can be reduced. In addition, there is a distance from the shape memory alloy activator, which is a heating element, to the outer coating. Due to the air layer in this space, the surface temperature of the bending tube 20 can be kept low even during the bending operation. '
  • a part having an expansion / contraction function in addition to the above-mentioned parts such as the shape memory alloy actuary, a part having an expansion / contraction function, a part having a bending function, or a key part can be used.
  • a coil or wire made of a shape memory alloy can be used as a component having such an expansion / contraction function.
  • a component having a bending function a zigzag panel, a wire, and a strip-shaped plate made of a shape memory alloy can be used.
  • stainless steel wire is used as the wire component, and it can be used as a tow wire.
  • FIG. 10 (A) the liquid-tight sealing is similarly performed by the sheath tube 15, but is omitted in the drawing.
  • Fig. 11 shows a second example in which a bending mechanism is incorporated in the above-described bending tube 20.
  • A is a schematic side view showing before bending and
  • B is a schematic side view showing after bending.
  • D is a cross-sectional view of a modified example of the distal end portion provided with a chamfered portion, as shown in Fig. 11 (A), in the small-diameter lumen 21b of the bent tube 20.
  • Insert the bending mechanism 27 Insert the bending mechanism 27.
  • the bending mechanism 27 is configured as a pulling wire having a known configuration, is inserted into the small-diameter lumen 2 lb, and the tip 27a of the bending tube 20 is inserted into the bending tube 20.
  • 0 indicates that the opening for each cut 2 2 of the small diameter lumen 2 lb forms a relatively sharp corner as shown in Fig. 11 (C), so that the traction wire is inserted or bent.
  • the surface of the towing wire may be hooked to the above-mentioned corner by a bow I.
  • cut each 2 lb of small-diameter lumen A chamfer 21 d may be formed at the periphery of the opening for 22. Thereby, the traction wire can smoothly slide in the small diameter lumen 2 lb when the traction wire is inserted, or when the traction wire is pulled or returned for bending.
  • FIGS. 12A and 12B show a third example in which a bending mechanism is incorporated in the bending tube 20 described above.
  • (A) is before insertion of the bending mechanism, and (B) is, after insertion of the bending mechanism.
  • (C) is a schematic perspective view showing a state after bonding the jacket tube, and (D) is a sectional view.
  • the bending mechanism 25 is inserted into the small-diameter lumen 11b of the bending tube 20 shown in FIG. 12 (A). Further, a tube 28 for a recording channel is inserted into the main lumen 21 a of the bending tube 20.
  • a guide wire, a drug solution, a contrast agent, and the like as a member that passes through the lumen of the working channel tube 28.
  • one of the wires 25a of the bending mechanism 25 is opposed to the small-diameter lumen 21b within the main lumen 11a from the tip of the bending mechanism 25.
  • a sheath tube 29 is fitted over the distal end of the bent tube 20.
  • adhesive is liquid-tightly adhered and fixed.
  • FIGS. 13A and 13B show a fourth example in which a bending mechanism is incorporated in the bending tube 20 described above.
  • FIGS. 13A and 13B are schematic perspective views before (A) assembly, (B) after assembly, and (C) sectional views, respectively. is there.
  • the bent tube 20 is formed to be relatively short, so that only the distal end portion is formed, and the other portion uses the multi-lumen type tube 41 described above.
  • the bent tube 20 has the same configuration as the bent tube 20 shown in FIG. 12, and as shown in FIG. 13 (A), the tube 41 is provided at the rear end of the bent tube 20. As shown in FIGS. 13 (B) and 13 (C), they are fixed by an adhesive 16 and sealed at the outside and inside of the tube 41.
  • the wires 25a and 25b extending from the rear end of the bent tube 20 are passed through the small-diameter lumens 41b and 41c of the tube 41 and passed through the tube 41a. It is pulled out from the rear end of.
  • the controller 26 is connected to the wires 25 a and 25 b extending from the rear end of the tube 41 in the same manner as the bent tube 20 in FIG.
  • Fig. 14 shows a fifth example in which a bending mechanism is incorporated in the bending tube 30 described above.
  • A Before the bending mechanism is inserted, (B) after the bending mechanism is inserted, and (C) the sheath It is the schematic perspective view and the (D) sectional drawing which show the state after Uub adhesion.
  • the bending mechanism 25 is inserted into both small-diameter lumens 31b and 31c of the bending tube 30 shown in FIG. Then, the working channel tube 28 is inserted into the main lumen 31 a of the bending tube 30.
  • the bending mechanism 25 may be inserted into either one of the small lumens 3 lb and 31 c.
  • the controller 26 is connected to the wirings 25 a and 25 b extending from the rear end of the bending mechanism 25, and when power is supplied to the shape memory alloy actuator of the bending mechanism 25, the shape becomes The memory alloy actuary bends downward, and accordingly, the tip of the bending tube 30 also bends downward.
  • FIGS. 15A and 15B show a sixth example in which a bending mechanism is incorporated into the above-described bending tube 30.
  • A Schematic perspective view before assembly
  • B Schematic perspective view after assembly
  • C sectional view. It is.
  • the bent tube 30 is formed relatively short to form only the distal end portion, and the other portion uses the multi-lumen tube 31 described above.
  • the bending tube 30 ′ has the same configuration as the bending tube 30 shown in FIG. 14, and as shown in FIG. 15 (A), the tube 3 is attached to the rear end of the bending tube 30. 1 are connected and fixed with an adhesive 16 as shown in FIGS. 15 (B) and 15 (C), and sealed on the outside and inside of the tube 31.
  • the wirings 25a and 25b extending from the rear end of the tube 30 are drawn out from the rear end of the tube 31 through the small diameter lumens 31b and 31c of the tube 31. .
  • the controller 26 is connected to the wirings 25 a and 25 b extending from the rear end of the tube 31 in the same manner as the bending tube 30 in FIG.
  • the shape memory alloy actuator bends downward, and accordingly, the bending tube 30 ′ constituting the distal end also bends downward.
  • FIGS. 16A and 16B show a bending tube in a state where a bending mechanism is incorporated in the fifth embodiment, and are respectively (A) a plan view and (B) a side view.
  • the bending tube 50 has a hollow portion, that is, a main lumen 51a, and a multi-lumen having one small-diameter lumen 51b and 51c along the left and right side edges, respectively.
  • a plurality of notches 52 are provided at predetermined intervals in the axial direction and alternately arranged on the left and right sides.
  • Each small lumen 51b, 51c has a bending mechanism 53, 54, respectively, and the main lumen 51a has a working channel tube 55, respectively. Have been.
  • These bending mechanisms 53 and 54 are each configured as a known shape memory alloy actuator.
  • the wiring coming out of the distal ends of the bending mechanisms 53 and 54, together with the wiring coming out of the rear ends of the bending mechanisms 53 and 54 through the main lumen 51a, is connected to the rear of the bending tube 50. It is pulled out from the end. Further, a distal end portion of the bent tube 50 is fitted with a jacket tube (not shown), and both ends are fixed to the outer peripheral surface of the silicone tube 51 in a liquid-tight manner with an adhesive. Further, the working channel tube 55 is fixed to the inner wall of the silicone tube 51 having the cut 52 with an adhesive.
  • the bending tube 50 having this configuration when power is supplied to one bending mechanism, for example, the bending mechanism 53 from a controller (not shown), and the bending mechanism 53 is bent upward in FIG.
  • the distal end of the bending tube 50 also bends upward.
  • the bending mechanism 54 from a controller (not shown), and the bending mechanism 54 is bent downward in FIG. 16 (A), the bending tube is accordingly bent.
  • the tip of 50 also bends downward. In this way, by selectively supplying power to the bending mechanisms 53 and 54, the distal end of the bending tube 50 can be bent right or left.
  • the distal ends of the bent tubes 10, 20, 30, 40, 50 provided with the cuts 12, 22, 32, 42, 52 are provided with a jacket.
  • the areas of cuts 12 to 52 are sealed in a liquid-tight manner, but as shown in FIG. 8, cuts 12 to 52 are provided.
  • the bent tubes 10 to 50 are formed by injection molding, and simultaneously the thin films 13, 23, and 24 for the jacket are integrally formed, these outer tubes are fitted later. It is not necessary to seal with an adhesive, and a bent tube incorporating a bending mechanism can be easily assembled.
  • the bent tubes 10, 20, 30, 40 which are provided in the axial direction like the cuts 12, 22, 32, 42, and two sets of left and right in the axial direction That is, the bent tube 50 provided with the first and second cuts 52 is shown.
  • These cuts may further have a third or more cuts arranged in the axial direction. For example, when a plurality of cuts are provided in three axial directions, cuts may be made at predetermined intervals at three circumferential positions of the bent tube. Similarly, in the case where a plurality of cuts are provided in four axial directions, cuts may be made at predetermined intervals at four circumferential locations.
  • a multi-lumen type silicone tube a silicone tube having one or two small diameter lumens at the lower end or a silicone tube having one small diameter lumen at each of the upper and lower ends.
  • the present invention is not limited to the multi-lumen type silicone tube, and that the present invention can be applied to a bending tube using a silicone tube having lumens of different arrangements. .
  • the bent tube is bent to one side by having one or a plurality of cuts arranged in the axial direction at one end at the distal end thereof.
  • the tube volume at the time is reduced. Therefore, when the distal end of the bending tube is bent to the minus side, even if the tube itself is made of a relatively hard material, the bending tube, for example, a catheter tube, preferably a single-lumen type or a multi-lumen tube is used.
  • the men-type catheter tube can be easily bent by a small bending force.
  • an extremely excellent bent tube which can be bent with a smaller bending force even with a small radius of curvature with a simple configuration and a method of manufacturing the same are provided.

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  • Anesthesiology (AREA)
  • Biophysics (AREA)
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Abstract

Cette invention se rapporte à un tube pliable creux (10) d'un diamètre spécifié, comportant une ou plusieurs fentes (12) formées axialement depuis un côté de la partie d'extrémité (11a) du tube à des intervalles spécifiés. Ces fentes (12) sont formée perpendiculaires à la direction longitudinale du tube pliable et s'étendent en direction du côté opposé du tube pliable, et un mécanisme de pliage est placé dans la partie creuse du tube pliable (10). Le tube pliable (10) peut être fabriqué par moulage par injection, et même si son rayon de courbure est faible, le tube peut être plié avec une force de pliage inférieure par une structure simple.
PCT/JP2004/007564 2003-05-29 2004-05-26 Tube pliable et procede de fabrication correspondant WO2004105849A1 (fr)

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JP2003153431A JP2004351005A (ja) 2003-05-29 2003-05-29 屈曲チューブとその製造方法
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US10188832B2 (en) 2009-06-24 2019-01-29 Shifamed Holdings, Llc Steerable delivery sheaths
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US10398518B2 (en) 2014-07-01 2019-09-03 Auris Health, Inc. Articulating flexible endoscopic tool with roll capabilities
US10420537B2 (en) 2015-03-27 2019-09-24 Shifamed Holdings, Llc Steerable medical devices, systems, and methods of use
US10426661B2 (en) 2013-08-13 2019-10-01 Auris Health, Inc. Method and apparatus for laser assisted cataract surgery
US10463439B2 (en) 2016-08-26 2019-11-05 Auris Health, Inc. Steerable catheter with shaft load distributions
US10493241B2 (en) 2014-07-01 2019-12-03 Auris Health, Inc. Apparatuses and methods for monitoring tendons of steerable catheters
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US10716461B2 (en) 2017-05-17 2020-07-21 Auris Health, Inc. Exchangeable working channel
US10744035B2 (en) 2013-06-11 2020-08-18 Auris Health, Inc. Methods for robotic assisted cataract surgery
US10792464B2 (en) 2014-07-01 2020-10-06 Auris Health, Inc. Tool and method for using surgical endoscope with spiral lumens
US10898276B2 (en) 2018-08-07 2021-01-26 Auris Health, Inc. Combining strain-based shape sensing with catheter control
US10933221B2 (en) 2015-11-09 2021-03-02 Kalila Medical, Inc. Steering assemblies for medical devices, and methods of use
CN112587280A (zh) * 2021-03-04 2021-04-02 上海微创心脉医疗科技(集团)股份有限公司 用于覆膜支架的加强筋及覆膜支架系统
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EP3838325A1 (fr) * 2019-12-17 2021-06-23 Creganna Unlimited Company Arbre articulé pour un système de cathéter orientable et procédé de fabrication
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US11109920B2 (en) 2018-03-28 2021-09-07 Auris Health, Inc. Medical instruments with variable bending stiffness profiles
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US11819636B2 (en) 2015-03-30 2023-11-21 Auris Health, Inc. Endoscope pull wire electrical circuit
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US11350964B2 (en) 2007-01-02 2022-06-07 Aquabeam, Llc Minimally invasive treatment device for tissue resection
WO2009020961A1 (fr) * 2007-08-06 2009-02-12 Boston Scientific Limited Structures micro-usinées de rechange
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US10363103B2 (en) 2009-04-29 2019-07-30 Auris Health, Inc. Flexible and steerable elongate instruments with shape control and support elements
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FR2982181A1 (fr) * 2011-11-07 2013-05-10 Emmanuel Guilloux Procede de cintrage de profiles notamment tubulaires
US9504604B2 (en) 2011-12-16 2016-11-29 Auris Surgical Robotics, Inc. Lithotripsy eye treatment
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JP2016513500A (ja) * 2013-03-08 2016-05-16 オーリス サージカル ロボティクス， インコーポレイテッド 外科環境で器具の屈曲を促進するための方法、装置およびシステム
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US10716461B2 (en) 2017-05-17 2020-07-21 Auris Health, Inc. Exchangeable working channel
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US11109920B2 (en) 2018-03-28 2021-09-07 Auris Health, Inc. Medical instruments with variable bending stiffness profiles
US11779400B2 (en) 2018-08-07 2023-10-10 Auris Health, Inc. Combining strain-based shape sensing with catheter control
US10898276B2 (en) 2018-08-07 2021-01-26 Auris Health, Inc. Combining strain-based shape sensing with catheter control
US11179212B2 (en) 2018-09-26 2021-11-23 Auris Health, Inc. Articulating medical instruments
US11779421B2 (en) 2018-09-26 2023-10-10 Auris Health, Inc. Articulating medical instruments
US11986257B2 (en) 2018-12-28 2024-05-21 Auris Health, Inc. Medical instrument with articulable segment
US11617627B2 (en) 2019-03-29 2023-04-04 Auris Health, Inc. Systems and methods for optical strain sensing in medical instruments
US11717147B2 (en) 2019-08-15 2023-08-08 Auris Health, Inc. Medical device having multiple bending sections
US12005203B2 (en) 2019-12-17 2024-06-11 Creganna Unlimited Company Articulating shaft for a steerable catheter system and fabrication method
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EP3838325A1 (fr) * 2019-12-17 2021-06-23 Creganna Unlimited Company Arbre articulé pour un système de cathéter orientable et procédé de fabrication
US11950872B2 (en) 2019-12-31 2024-04-09 Auris Health, Inc. Dynamic pulley system
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