WO2019029572A1 - 输送装置及输送系统 - Google Patents

输送装置及输送系统 Download PDF

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Publication number
WO2019029572A1
WO2019029572A1 PCT/CN2018/099401 CN2018099401W WO2019029572A1 WO 2019029572 A1 WO2019029572 A1 WO 2019029572A1 CN 2018099401 W CN2018099401 W CN 2018099401W WO 2019029572 A1 WO2019029572 A1 WO 2019029572A1
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WO
WIPO (PCT)
Prior art keywords
distal
proximal
guiding structure
axis
rotation
Prior art date
Application number
PCT/CN2018/099401
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English (en)
French (fr)
Inventor
姚斌
Original Assignee
先健科技(深圳)有限公司
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Publication date
Application filed by 先健科技(深圳)有限公司 filed Critical 先健科技(深圳)有限公司
Publication of WO2019029572A1 publication Critical patent/WO2019029572A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/95—Instruments specially adapted for placement or removal of stents or stent-grafts
    • A61F2/962—Instruments specially adapted for placement or removal of stents or stent-grafts having an outer sleeve
    • A61F2/966—Instruments specially adapted for placement or removal of stents or stent-grafts having an outer sleeve with relative longitudinal movement between outer sleeve and prosthesis, e.g. using a push rod
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/95—Instruments specially adapted for placement or removal of stents or stent-grafts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/95—Instruments specially adapted for placement or removal of stents or stent-grafts
    • A61F2002/9505—Instruments specially adapted for placement or removal of stents or stent-grafts having retaining means other than an outer sleeve, e.g. male-female connector between stent and instrument
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/95—Instruments specially adapted for placement or removal of stents or stent-grafts
    • A61F2/962—Instruments specially adapted for placement or removal of stents or stent-grafts having an outer sleeve
    • A61F2/966—Instruments specially adapted for placement or removal of stents or stent-grafts having an outer sleeve with relative longitudinal movement between outer sleeve and prosthesis, e.g. using a push rod
    • A61F2002/9665—Instruments specially adapted for placement or removal of stents or stent-grafts having an outer sleeve with relative longitudinal movement between outer sleeve and prosthesis, e.g. using a push rod with additional retaining means

Definitions

  • the invention belongs to the technical field of interventional medical devices, and relates to a conveying device and a conveying system comprising the same.
  • Percutaneous interventional technique is a disease treatment method that has developed rapidly in recent years, and its application field is more and more extensive.
  • catheter intervention a variety of materials, instruments and drugs can be implanted into the heart, arteriovenous vessels of the human body; such as vascular stents, heart valves, cardiac defect occluders, vascular plugs, vascular filters, and the like.
  • the invention provides a delivery device for delivering an interventional instrument; the interventional device having a connection to the delivery device; the delivery device comprising a connection assembly and a control assembly, the connection assembly comprising a distal rotating member and a proximal rotating member having the same axis of rotation; the distal rotating member is provided with a distal guiding structure about the axis of rotation; the proximal rotating member is provided with a proximal end about the axis of rotation a guiding structure for driving the distal rotating member to rotate about the rotation axis with respect to the proximal rotating member; the distal guiding structure and the proximal guiding structure are disposed to intersect Forming a locking portion of the connecting portion of the locking card; when the distal guiding structure and the proximal guiding structure are relatively rotated about the rotation axis, the locking portion drives the connecting portion to be close to or away from the rotation axis .
  • the distal guiding structure and the proximal guiding structure are formed at a position where the locking portion is located furthest from the axis of rotation for the connecting portion to enter or remove the locking The opening of the department.
  • the end portions of the distal guiding structure and the proximal guiding structure that are closer to the rotation axis are respectively located at the line connecting the locking portion and the rotation center of the distal guiding structure. side.
  • the distal guiding structure is disposed along a radial direction of the distal rotating member or the proximal guiding structure is disposed along a radial direction of the proximal rotating member.
  • a distance of the distal guiding structure farther from the rotating axis is greater than a distance from the rotating axis. Describe a distance of a distal end of the distal guiding structure from the axis of rotation from the axis of rotation;
  • the distal end of the distal guiding structure from the rotating axis is away from the rotating axis by a distance greater than the proximal guiding structure away from the The distance from the distal end of the axis of rotation to the axis of rotation.
  • control assembly includes a distal drive member for driving the distal rotary member to rotate about the rotational axis, and a proximal drive member, the proximal drive member For driving the proximal rotating member to rotate about the rotation axis.
  • the distal guiding structure has a distal curved section; the end of the proximal guiding structure closer to the axis of rotation and the center of the inscribed circle of the distal curved section are located The same side of the distal curved section;
  • the proximal guiding structure has a proximal bending section; an end of the distal guiding structure closer to the rotation axis and a center of an inscribed circle of the proximal bending section are located on the same side of the proximal bending section .
  • the distal guiding structure is a guiding groove or a guiding rod; the proximal guiding structure is a guiding groove or a guiding rod.
  • the proximal end side of the proximal rotating member is provided with abutting the connecting portion a limiting plate located in the guiding groove on the proximal rotating member.
  • the present invention provides a delivery system comprising the above-described delivery device, and a delivery sheath; the delivery sheath is a hollow hose along which the delivery device can be pushed An interventional instrument that is locked to the locking portion pushes or retracts the delivery sheath.
  • the above-mentioned delivery device and its delivery system have the beneficial effects that when the distal rotating member and the proximal rotating member rotate about the same rotational axis, the locking portion formed by the intersection of the distal guiding structure and the proximal guiding structure will drive the connection portion of the interventional instrument. Approaching or moving away from the axis of rotation to gather or unfold the medical device; thus the release rate of the medical device is steerable, thereby preventing the medical device from popping up quickly when released from the distal end of the delivery device.
  • Figure 1 is a schematic view of the implementation of the delivery system
  • FIG. 2 is a schematic structural view of a conveying system
  • Figure 3 is a schematic structural view of a connection assembly
  • Figure 4 is a schematic view showing the assembly of the connecting assembly shown in Figure 3;
  • Figure 5 is a schematic view showing the connection of the interventional instrument and the connection assembly
  • Figure 6 is an exploded perspective view of Figure 5;
  • Figure 7 is a schematic view showing the connecting portion of the interventional instrument when the distal guiding structure and the proximal guiding structure are respectively guiding grooves and guiding rods;
  • Figure 8 is a schematic view of the connecting assembly of Figure 7 locking the connecting portion of the interventional instrument to a collapsed state;
  • Figure 9 is a schematic structural view of a connecting portion of an interventional instrument
  • Figure 10 is a schematic view showing another structure of the connecting portion of the interventional instrument.
  • Figure 11 is a schematic view showing another structure of the connecting portion of the interventional instrument.
  • Figure 12 is a schematic view showing the connection portion of the interventional instrument when the distal guiding structure and the proximal guiding structure are both guiding grooves;
  • Figure 13 is a schematic view showing the connection portion of the locking interventional instrument when the distal guiding structure and the proximal guiding structure are both guiding grooves;
  • Figure 14 is a schematic view showing the structure of the locking portion at the farthest from the axis of rotation
  • Figure 15 is a schematic view showing the structure of the locking portion when it is located closest to the axis of rotation;
  • Figure 16 is a bottom plan view of the connecting assembly of Figure 8.
  • Figure 17 is a schematic view showing the assembly of the proximal guiding structure when the distal guiding structure has a distal curved section;
  • Figure 18 is a schematic view showing the structure of the proximal guiding structure having a proximal curved section.
  • distal and near end are used as the orientation words, which are the common terms in the field of interventional medical devices, wherein “distal” means one end away from the operator during the operation, “near end” means One end of the operator during the procedure.
  • Axial refers to the direction parallel to the center of the distal end of the medical device and the proximal center; radial, refers to the direction through the center of rotation and perpendicular to the axial direction; the distance from the axis refers to the distance from the axis to the axis .
  • a delivery system includes a delivery device and delivery sheath 200; the delivery sheath 200 is a hollow hose, the distal end of the delivery device passes through the delivery sheath 200 and the interventional instrument 100 is received from the delivery sheath 200 The distal end is pushed out; it can be understood that before the interventional procedure, the interventional instrument 100 can be pre-installed at the distal end of the delivery device, and the delivery device can be moved proximally along the axial direction of the delivery sheath 200 to transport the interventional instrument 100. Within the sheath tube 200, upon release of the interventional instrument 100, the delivery device is moved distally along the axial direction of the delivery sheath 200, and the interventional instrument 100 can be pushed out of the delivery sheath 200.
  • the interventional instrument 100 is a self-expanding structure made of memory metal that can be compressed and delivered by a delivery system to a patient site via a blood vessel or incision; of course, it is understood that the interventional instrument 100 A connection 110 to the delivery device can be provided for the delivery device to deliver or release the interventional instrument 100.
  • the delivery device includes a connection assembly 300 and a control assembly 400; the connection assembly 300 is a structure that can be coupled or disconnected from the connection portion 110; to implement the delivery device under the control of the control assembly 400. Connection or separation from the interventional instrument 100. It will be appreciated that the attachment assembly 300 acts as a component of the connection portion 110 that connects the interventional instrument 100 at a distal end of the delivery device.
  • the connection assembly 300 includes a distal rotation member 310 and a proximal rotation member 320 having the same rotation axis w; the distal rotation member 310 and the proximal rotation member 320 are respectively disposed around the rotation axis w
  • a distal guiding structure 311 and a proximal guiding structure 321 are disposed to intersect to form a locking portion 330 of the locking card connecting portion 110 at the intersection; under the action of the control component 400, Rotating the distal rotating member 310 relative to the proximal rotating member 320 about the axis of rotation w such that the intersection of the distal guiding structure 311 and the proximal guiding structure 321 is changed; since the locking portion 330 is passed through the distal guiding structure 311 and The proximal guiding structure 321 is crossed to lock the connecting portion 110 in the distal guiding structure 311 and the
  • the change of the intersecting position also means that the locking portion 330 drives the connecting portion 110 along While the distal guiding structure 311 is moving, it also moves along the proximal guiding structure 321 such that when the locking portion 330 approaches the rotational axis w, the connecting portion 110 in the locking portion 330 is folded inward, that is, the interventional instrument 100 is locked.
  • the connecting portion 110 in the locking portion 330 is deployed outwardly, and when the locking portion 330 is located farthest from the rotational axis w, with the connecting portion 110 It is deployed outwardly and removed from the locking portion 330 to effect release of the interventional instrument 100.
  • the locking portion 330 formed by the distal guiding structure 311 and the proximal guiding structure 321 is located farthest from the rotation axis w, between the distal guiding structure 311 and the proximal guiding structure 321 An opening is formed for the connecting portion 110 to enter or remove the locking portion 330. Based on this, it can be understood that the opening for the connecting portion 110 to enter or remove the locking portion 330 is not necessarily at the end of the distal guiding structure 311 and the proximal guiding structure 321 away from the rotation axis w, specifically, the opening position.
  • the locking portion 330 formed at the intersection of the distal guiding structure 311 and the proximal guiding structure 321 is farthest from the axis of rotation w. It should be noted that when the distal end of the distal guiding structure 311 and the proximal guiding structure 321 far from the rotation axis w is not on the concentric circumference centered on the rotation axis, the intersection of the two is not the distal guiding structure 311. And the proximal guiding structure 321 is away from one end of the axis of rotation w.
  • the opening position is disposed at a position away from the rotation axis w of the locking portion 330; on the one hand, the interventional instrument 100 is gradually deployed outwardly by the relatively rotating distal rotating member 310 and the proximal rotating member 320 before being released, thereby Avoiding the unsuccessful release of the interventional instrument 100 and unfolding the unevenness to cause the valve leakage problem; on the other hand, when the interventional instrument 100 cannot rely on the self-expansion force to expand outward, the locking portion 330 which can be away from the rotation axis w can be connected The portion 110 is biased and driven to the opening position for release. At this time, the interventional instrument 100 has been partially or completely deployed because the connection portion 110 has been deployed. Therefore, the interventional instrument 100 released from the connection assembly 300 at this time can be effectively deployed.
  • control assembly 400 can effectively control the relative rotation of the distal rotating member 310 and the proximal rotating member 320, the insertion portion 110 can be brought closer to or away from the rotational axis w by the locking portion 330 to maintain the interventional instrument 100. In a certain state, it is convenient to lock and retract the interventional instrument 100 into the delivery sheath 200 when not fully released, and adjust the appropriate release position for release.
  • the control assembly 400 includes a distal drive member 410 and a proximal drive member 420 for driving the distal rotary member 310 and the proximal end, respectively.
  • the rotating member 320 rotates about the rotation axis w.
  • the proximal drive member 420 is slidably inserted into the delivery sheath 200; pushing the delivery device along the delivery sheath 200 can push or retract the interventional instrument 100 that is locked onto the locking portion 330.
  • control assembly 400 can implement the distal rotating member 310 and the proximal rotating member 320 by the distal driving member 410 and the proximal driving member 420 in various manners, such as the distal driving member 410 and the proximal driving member 420. Only one drive rotates relative to the rotating member to which it is coupled, and the other only circumferentially limits the rotating member to which it is coupled; it is also possible that the distal drive member 410 and the proximal drive member 420 simultaneously drive the distal rotating member 310 and the proximal rotating member, respectively.
  • the driving mode can be such that the distal rotating member 310 and the proximal rotating member 320 are rotated relative to the axis of rotation w by adjusting the rotational speed or the rotational angle, so that the distal guiding structure 311 and The intersection of the proximal guiding structure 321 moves. It should be noted that the relative rotation angle generated by the simultaneous rotation of the distal rotating member 310 and the proximal rotating member 320 can cause the locking portion 330 to drive the connecting portion 110 to move more slowly, and the fine adjustment has been achieved.
  • the rotational speed of each of the distal rotating member 310 and the proximal rotating member 320 about the rotational axis w there is no limitation, which is easier to achieve for the distal drive member 410 and the proximal drive member 420 that achieve such relative rotational motion, thereby reducing the rotational control accuracy requirements of the distal drive member 410 and the proximal drive member 420.
  • the synchronous rotation control of the distal rotary member 310 and the proximal rotary member 320 can achieve both The relative rotational motion between them is smoother, and the interventional instrument 100 can be slowly released as needed.
  • the proximal drive member 420 is a hollow tubular member and the distal drive member 410 is slidably coupled axially through the proximal drive member 420 to the distal rotary member 310.
  • the arrangement of the distal rotating member 310 and the proximal rotating member 320 with the rotation axis w can be better achieved, and the distal driving member 410 and the proximal driving member 420 can be independently controlled to independently control the distal rotating member 310 and the proximal end.
  • the rotating members 320 do not interfere with each other.
  • the distal guiding structure 311 is a guiding slot or a guiding rod; the proximal guiding structure 321 is a guiding slot or a guiding rod. As shown in FIG. 7, the distal guiding structure 311 is a guiding groove, and the proximal guiding structure 321 is a guiding rod. It can be understood that when the distal rotating member 310 and the proximal rotating member 320 are relatively rotated, the intersections of the guiding grooves or the guiding rods move along with each other, so that the connecting portion 110 locked on the guiding groove or the guiding rod can be driven. Gather inward or spread out.
  • the connecting portion 110 has a connecting end or a guiding hole that is slidably coupled to the guide groove or the guide rod.
  • the connecting portion 110 can slide with the locking portion 330 at the guiding groove or the guide rod.
  • the connecting portion 110 when the proximal guiding structure 321 is a guiding rod, the connecting portion 110 includes a strut 111 and a connecting end 112 , and the connecting end 112 is located at an end of the proximal end of the strut 111 , and the connecting end 112 can be slidably disposed at Guide hole on the guide rod.
  • the guide holes on the strut 111 slide along the guide rod to control the degree of expansion of the interventional instrument 100.
  • the connecting portion 110 of the interventional instrument 100 is locked by the locking portion 330 during the closest position to the rotational axis w, and the guiding hole slides along the guiding rod to the root of the guiding rod (near the proximal end).
  • the strut 111 is moved along the guiding groove on the distal rotating member 310 to one end of the guiding groove near the rotational axis w.
  • the above process is reversible, that is, when the distal rotating member 310 and the proximal rotating member 320 are relatively rotated in opposite directions, the strut 111 of the connecting portion 110 moves along the guiding rod in a direction away from the rotating axis w, and finally The release of the interventional instrument 100 is accomplished by ejection from the tip of the guide rod (away from the end of the center of rotation of the proximal rotation member 320).
  • the distal guiding structure 311 and the proximal guiding structure 321 can be adapted for adjustment by the configuration of the connecting portion 110 of the interventional instrument 100.
  • the connecting end 112 of the connecting portion 110 assumes different structures and shapes. Specifically, in FIG. 9 , the connecting end 112 has a convex shape; in FIG. 10 , the connecting end 112 adopts a sliding ball head; The connecting end 113 has a guiding hole.
  • the distal guiding structure 311 and the proximal guiding structure 321 are both guiding grooves.
  • the locking effect of the locking portion 330 on the connecting portion 110 is affected;
  • the proximal side of the rotating member 320 is provided with a limiting plate 322 for abutting the connecting portion 110 in the guiding groove on the proximal rotating member 320.
  • the limiting plate 322 effectively prevents the connecting portion 110 from moving toward the proximal end in the axial direction, thereby achieving a good radial limiting effect; it should be noted that the limiting plate 322 is near
  • the integrally formed structure on the end guiding structure 321 may also be a separate structure fixed on the side of the proximal guiding structure 321 near the proximal end.
  • the connecting end 112 of the connecting portion 110 can be according to the guiding groove structure of the locking portion 330 .
  • the size is set larger than the guide groove on the distal rotating member 310 to prevent the connecting portion 110 from moving axially toward the distal end.
  • the connecting end 112 of the connecting portion 110 may employ a sliding ball head.
  • the distal guiding structure 311 and the proximal guiding structure 321 can achieve axial limitation of the connecting portion 110 by the distance between the distal rotating member 310 and the proximal rotating member 320 even if they are all guiding grooves. Instead of setting the corresponding limit structure independently.
  • the distal rotating member 310 and the proximal rotating member 320 are disposed along the rotational axis w at a certain distance. At this time, the guiding groove on the distal rotating member 310 and the guiding groove on the proximal rotating member 320 remain.
  • the connecting portion 110 is locked due to the cross setting, and at this time, when the connecting portion 110 of the interventional instrument 100 is at a portion between the proximal end surface of the distal rotating member 310 and the distal end surface of the proximal rotating member 320, the size of the portion is larger than The guiding groove size of the locking portion 330 is formed, and the connecting portion 110 cannot move toward the distal end or the proximal end in the axial direction, that is, the locking portion 330 realizes the axial direction driving of the connecting portion 110, and realizes the axial direction of the connecting portion 110. limits.
  • the structure for limiting the position on the connecting portion 110 may be set to The sheet shape is such that the axial locking of the locking portion 330 to the connecting portion 110 is achieved, and the distal rotating member 310 and the proximal rotating member 320 are brought close to each other as far as possible, thereby effectively ensuring the formation of the relatively rotating guiding groove.
  • the locking portion 330 acts on the radial direction of the connecting portion 110.
  • the end of the distal guiding structure 311 and the proximal guiding structure 321 that are closer to the axis of rotation w are equidistant from the axis of rotation w. That is, when the locking portion 330 is moved to be closest to the rotation axis w, the end portions of the distal end guiding structure 311 and the proximal guiding structure 321 near the rotation axis w are gathered together, and the connecting portion 110 can be stably locked.
  • the distal guiding structure 311 and the proximal guiding structure 321 are offset from the radial arrangement of the distal rotating member 310 and the proximal rotating member 320, respectively.
  • a fixed center line of the distal rotating member 310 and the proximal rotating member 320 as reference lines, respectively, when the distal rotating member 310 and the proximal rotating member 320 are relatively rotationally rotated about the rotational axis w, the distal guiding structure 311 and the near The intersection of the end guiding structure 321 with the reference line of the rotating member that is located with each other will approach or move away from the axis of rotation w with relative rotation.
  • the proximal rotating member 320 as an example, as shown in FIGS.
  • the proximal guiding structure 321 is offset from the radial arrangement of the proximal rotating member 320.
  • a fixed center line of the distal rotating member 310 is used as a reference line.
  • the distal rotating member 310 and the proximal rotating member 320 are relatively rotated about the rotational axis w, the distal guiding structure 311 and the proximal guiding structure 321 which are disposed to intersect each other sandwich the connecting portion of the interventional instrument 100 at the intersection.
  • the approaching or unfolding of the interventional instrument 100 is achieved by approaching or moving away from the axis of rotation w.
  • the distal end of the distal guiding structure 311 and the proximal guiding structure 321 from the axis of rotation w are respectively located on opposite sides of the line connecting the centers of rotation of the locking portion 330 and the distal guiding structure 311.
  • the two sides are disposed on both sides, and the distal guiding structure 311 and the proximal guiding structure 321 can be disposed at a large acute angle.
  • the driving force generated by the locking portion 330 on the connecting portion 110 is along the distal guiding structure 311.
  • the connecting portion 110 can be controlled to move slowly with the locking portion 330.
  • the distal guiding structure 311 and the proximal guiding structure 321 are symmetrically disposed on both sides of the line connecting the rotation centers of the locking portion 330 and the distal guiding structure 311, the moving speed of the connecting portion 110 along the distal guiding structure 311 can be maintained and The moving speed along the proximal guiding structure 321 is equivalent, and the connecting portion 110 can be smoothly gathered inward or outward.
  • the distal guiding structure 311 is disposed along the radial direction of the distal rotating member 310 or the proximal guiding structure 321 in the radial direction of the proximal rotating member 320. This radial arrangement facilitates that the connecting portion 110 is previously snapped into or removed from the locking portion 330 from an end remote from the rotational axis w.
  • the distal guiding structure 311 is disposed along the radial direction of the distal rotating member 310.
  • the distance of the distal end of the proximal guiding structure 321 from the rotational axis w is greater than the rotational axis w is greater than the distal guiding structure 311 from the rotational axis w.
  • the distal end is at a distance from the axis of rotation w; such that when the connecting portion 110 enters or removes the locking portion 330 from the distal end of the distal guiding structure 311 from the axis of rotation w, the connecting portion 110 may be partially or wholly in the proximal guiding structure 321 Within the driving range, relative rotation of the distal rotating member 310 and the proximal rotating member 320 may provide sufficient driving force to cause the connecting portion 110 to enter or exit the locking portion 330. It can be understood that, in order to facilitate the connection portion 110 to enter or remove the locking portion 330, the proximal guiding structure 321 can also be disposed in the radial direction of the proximal rotating member 320. As shown in FIG.
  • the distal guiding structure 311 is away from the rotational axis w.
  • the farther end is at a greater distance from the axis of rotation w than the end of the proximal guiding structure 321 that is further from the axis of rotation w from the axis of rotation w.
  • the distal guiding structure 311 has a distal curved section; the proximal end of the proximal guiding structure 321 from the axis of rotation w is located far from the center of the inscribed circle of the distal curved section.
  • the same side of the end curved section; and/or the proximal guiding structure 321 has a proximal curved section; the distal end of the distal guiding structure 311 from the axis of rotation w and the center of the inscribed circle of the proximal curved section are located at the proximal bending section The same side.
  • the movement trajectory of the connecting portion 110 is extended, so that the speed of the connecting portion 110 approaching or away from the rotation axis w can be more precisely adjusted, and on the other hand, the locking portion 330 is also made.
  • the force in the radial direction of the connecting portion 110 is large, and it is easier to drive the connecting portion 110 to move inwardly to be gathered or externally moved.
  • the curvature of the distal curved section and/or the proximal curved section gradually increases in a direction away from the rotational axis w.
  • the locking portion 330 can exert a greater force on the connecting portion 110 in the radial direction, thereby facilitating the driving of the connecting portion 110 toward or into the locking portion 330.

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Transplantation (AREA)
  • Cardiology (AREA)
  • Vascular Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Infusion, Injection, And Reservoir Apparatuses (AREA)
  • Surgical Instruments (AREA)

Abstract

一种输送装置及输送系统，用于输送介入器械（100）；介入器械（100）具有可与输送装置相连的连接部（110）；输送装置包括连接组件（300）和控制组件（400），连接组件（300）包括具有相同旋转轴线（w）的远端旋转件（310）和近端旋转件（320）；控制组件（400）用于驱动远端旋转件（310）相对于近端旋转件（320）绕旋转轴线（w）旋转；远端旋转件（310）和近端旋转件（320）上分别围绕旋转轴线（w）设有远端导向结构（311）和近端导向结构（321）；远端导向结构（311）和近端导向结构（321）交叉设置，以形成锁卡连接部（110）的锁定部（330）；远端导向结构（311）和近端导向结构（321）绕旋转轴线（w）相对旋转运动时，锁定部（330）带动连接部（110）向内收拢或展开。连接部（110）收拢或展开医疗器械可通过输送装置进行操控，进而实现了缓慢地释放介入器械（100），从而避免医疗器械在从输送装置远端释放时快速地弹出而影响释放效果。

Description

输送装置及输送系统 技术领域
本发明属于介入医疗器械技术领域，涉及一种输送装置以及包括该输送装置的输送系统。
背景技术
经皮介入技术是近年来发展很快的一种疾病治疗方法，适用领域越来越广泛。采用导管介入治疗方法，可以植入各种各样的材料、器械和药物到人体的心脏、动静脉血管；比如血管支架、心脏瓣膜、心脏缺损封堵器、血管塞、血管滤器等。
目前，在通过导管介入方法放置这些介入医疗器械到人体的心脏、动静脉血管中时，由于人体的心脏和动静脉血管的解剖结构复杂，要保证介入医疗器械准确到达预定部位，必须利用输送装置。
然而目前的输送装置，很难控制释放速度。尤其是采用输送装置进行移植自膨胀式支架时，当支架从输送鞘管的远端推出时，支架的向外膨胀力趋向于导致支架从输送鞘管的远端快速地弹出，增加了病人外伤的可能性。而且，由于无法控制释放速度，很容易出现支架上的假体释放时自膨胀不均匀，而导致瓣膜周漏。
发明内容
基于此，有必要针目前输送装置无法稳定的控制介入器械的释放速度而释放效果不佳的问题，提供一种输送装置及输送系统。
一方面，本发明提供了一种输送装置，用于输送介入器械；所述介入器械具有可与所述输送装置相连的连接部；所述输送装置包括连接组件和控制组件，所述连接组件包括具有相同旋转轴线的远端旋转件和近端旋转件；所述远端旋转件上围绕所述旋转轴线设有远端导向结构；所述近端旋转件上围绕所述旋转轴线设有近端导向结构；所述控制组件用于驱动所述远端旋转件相对于所述近 端旋转件绕所述旋转轴线旋转；所述远端导向结构和所述近端导向结构交叉设置，以于交叉处形成锁卡所述连接部的锁定部；所述远端导向结构和所述近端导向结构绕所述旋转轴线相对旋转时，所述锁定部带动所述连接部靠近或远离所述旋转轴线。
在其中一个实施方式中，所述远端导向结构和所述近端导向结构之间在所述锁定部位于离所述旋转轴线最远处的位置形成供所述连接部进入或移出所述锁定部的开口。
在其中一个实施方式中，所述远端导向结构和所述近端导向结构离所述旋转轴线较近的一端分别位于所述锁定部与所述远端导向结构的旋转中心的连线的两侧。
在其中一个实施方式中，所述远端导向结构沿所述远端旋转件的径向设置或所述近端导向结构沿所述近端旋转件的径向设置。
在其中一个实施方式中，所述远端导向结构沿所述远端旋转件的径向设置时，所述近端导向结构离所述旋转轴线较远的一端离所述旋转轴线的距离大于所述远端导向结构离所述旋转轴线较远的一端离所述旋转轴线的距离；
所述近端导向结构沿所述近端旋转件的径向设置时，所述远端导向结构离所述旋转轴线较远的一端离所述旋转轴线的距离大于所述近端导向结构离所述旋转轴线较远的一端离所述旋转轴线的距离。
在其中一个实施方式中，所述控制组件包括远端驱动件和近端驱动件，所述远端驱动件用于驱动所述远端旋转件绕所述旋转轴线旋转，所述近端驱动件用于驱动所述近端旋转件绕所述旋转轴线旋转。
在其中一个实施方式中，所述远端导向结构具有远端弯曲段；所述近端导向结构离所述旋转轴线较近的一端与所述远端弯曲段的内切圆的圆心位于所述远端弯曲段的同侧；
和/或，
所述近端导向结构具有近端弯曲段；所述远端导向结构离所述旋转轴线较近的一端与所述近端弯曲段的内切圆的圆心位于所述近端弯曲段的同侧。
在其中一个实施方式中，所述远端导向结构为导向槽或导向杆；所述近端 导向结构为导向槽或导向杆。
在其中一个实施方式中，当所述远端导向结构和所述近端导向结构均为导向槽时，所述近端旋转件上面向近端的一侧设有将所述连接部抵接限位于所述近端旋转件上的导向槽内的限位板。
相应的，另一方面，本发明提供了一种输送系统，包括上述的输送装置，以及输送鞘管；所述输送鞘管为中空的软管，沿所述输送鞘管推动所述输送装置可将锁卡于所述锁定部上的介入器械推出或收回所述输送鞘管。
上述输送装置及其输送系统具有的有益效果为：远端旋转件和近端旋转件绕相同旋转轴线旋转运动时，远端导向结构和近端导向结构交叉形成的锁定部会带动介入器械的连接部靠近或远离旋转轴线，以收拢或展开医疗器械；这样医疗器械的释放速度是可操控的，从而避免医疗器械在从输送装置远端释放时快速地弹出。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的在一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他实施例的附图。
图1为输送系统实施示意图；
图2为输送系统结构示意图；
图3为连接组件结构示意图；
图4为图3示出的连接组件装配示意图；
图5为介入器械与连接组件的连接示意图；
图6为图5的分解示意图；
图7为远端导向结构和近端导向结构分别为导向槽和导向杆时，连接介入器械的连接部示意图；
图8为图7示出的连接组件将介入器械的连接部锁定至收拢状态示意图；
图9为介入器械的连接部结构示意图；
图10为介入器械的连接部另一种结构示意图；
图11为介入器械的连接部再一种结构示意图；
图12为远端导向结构和近端导向结构均为导向槽时，连接介入器械的连接部示意图；
图13为远端导向结构和近端导向结构均为导向槽时，间隔设置锁扣介入器械连接部示意图；
图14为锁定部位于离旋转轴线最远处时的结构示意图；
图15为锁定部位于离旋转轴线最近处时的结构示意图；
图16为图8中连接组件的仰视图；
图17为远端导向结构具有远端弯曲段时，与近端导向结构装配示意图；
图18为近端导向结构具有近端弯曲段的结构示意图。
具体实施方式
为了便于理解本发明，下面将参照相关附图对本发明进行更全面的描述。附图中给出了本发明的较佳实施方式。但是，本发明可以以许多不同的形式来实现，并不限于本文所描述的实施方式。相反地，提供这些实施方式的目的是使对本发明的公开内容理解的更加透彻全面。
需要说明的是，采用“远端”、“近端”作为方位词，该方位词为介入医疗器械领域惯用术语，其中“远端”表示手术过程中远离操作者的一端，“近端”表示手术过程中靠近操作者的一端。轴向，指平行于医疗器械远端中心和近端中心连线的方向；径向，指经过旋转中心且垂直于上述轴向的方向；离轴线的距离，指沿上述径向抵达轴线的距离。
参阅图1，一种输送系统，包括输送装置和输送鞘管200；输送鞘管200为中空的软管，输送装置的远端穿经输送鞘管200而将介入器械100从输送鞘管200的远端推出；可以理解的，在行介入手术前，介入器械100可以预先安装在输送装置的远端，并将输送装置沿输送鞘管200的轴向朝近端移动而将介入器械100收入输送鞘管200内；在释放介入器械100时，沿输送鞘管200的轴向朝远端移动输送装置，进而可以将介入器械100推出输送鞘管200。
具体的，在一些实施例中，介入器械100是记忆金属制成的自膨式结构，可以被压缩并由输送系统经血管或切口输送至病患部位；当然，可以理解的，介入器械100上可设置与输送装置相连的连接部110，以便输送装置输送或释放介入器械100。
同时参考图2，在一些实施方式中，输送装置包括连接组件300和控制组件400；连接组件300是可以实现与连接部110相连接或分离的结构；以便在控制组件400的作用下实现输送装置与介入器械100的连接或分离。可以理解的是，连接组件300作为连接介入器械100的连接部110的组件，其位置处于输送装置的远端。
具体的，参阅图2至图4，连接组件300包括具有相同旋转轴线w的远端旋转件310和近端旋转件320；远端旋转件310和近端旋转件320上分别围绕旋转轴线w设有远端导向结构311和近端导向结构321；远端导向结构311和近端导向结构321交叉设置，以于交叉处形成锁卡连接部110的锁定部330；在控制组件400的作用下，使远端旋转件310相对于近端旋转件320绕旋转轴线w旋转，这样远端导向结构311和近端导向结构321的交叉位置会发生改变；由于锁定部330是通过远端导向结构311和近端导向结构321交叉而对同处于远端导向结构311和近端导向结构321内的连接部110进行锁卡限位，这种交叉位置的改变也是指锁定部330带动连接部110在沿着远端导向结构311移动的同时，也沿着近端导向结构321移动，这样，在锁定部330靠近旋转轴线w时，锁定部330内的连接部110向内收拢，即介入器械100被锁定在输送装置的远端；在锁定部330远离旋转轴线w时，锁定部330内的连接部110被向外展开，并在锁定部330位于离旋转轴线w最远处时，随着连接部110向外展开而从锁定部330移出，以实现介入器械100的释放。
可以理解的，同时参阅图5和图6，远端导向结构311和近端导向结构321形成的锁定部330位于离旋转轴线w最远处，远端导向结构311和近端导向结构321之间形成供连接部110进入或移出锁定部330的开口。在此基础上，可以理解的，能供连接部110进入或移出锁定部330的开口不一定是处于远端导向结构311和近端导向结构321远离旋转轴线w的一端，确切的说，开口位置 处于远端导向结构311和近端导向结构321交叉形成的锁定部330离旋转轴线w最远处。需要说明的是，当远端导向结构311和近端导向结构321离旋转轴线w较远的一端不是处于以旋转轴心为圆心的同心圆周上时，两者交叉处就不是远端导向结构311和近端导向结构321远离旋转轴线w的一端。
上述实施方式中，开口位置设置在锁定部330远离旋转轴线w的位置；一方面，实现介入器械100在释放前通过相对旋转的远端旋转件310和近端旋转件320逐渐向外展开，从而避免介入器械100释放过快造成而展开不均匀引发瓣膜周漏问题；另一方面，在介入器械100不能依赖自膨胀力向外展开时，这种可远离旋转轴线w的锁定部330可以向连接部110施力而驱动至开口位置进行释放，此时的介入器械100由于连接部110已经被部分或完全展开，因此，此时从连接组件300释放出去的介入器械100可以有效的展开。
上述实施方式中，由于控制组件400可以有效控制远端旋转件310和近端旋转件320的相对旋转，进而可以通过锁定部330带动连接部110逐渐靠近或远离旋转轴线w，将介入器械100保持在一定的状态，便于在未完全释放时，可以将介入器械100锁定并收回至输送鞘管200内，调整合适的释放位置再进行释放。
具体的，同时参阅图2和图6，控制组件400包括远端驱动件410和近端驱动件420，远端驱动件410和近端驱动件420分别用于驱动远端旋转件310和近端旋转件320绕旋转轴线w旋转。近端驱动件420可滑动的插入至输送鞘管200内；沿输送鞘管200推动输送装置可将锁卡于锁定部330上的介入器械100推出或收回输送鞘管200。
可以理解的，控制组件400通过远端驱动件410和近端驱动件420实现远端旋转件310与近端旋转件320的方式有多种，比如，远端驱动件410和近端驱动件420只有一个驱动与其相连的旋转件旋转运动，另一个仅周向限制与其相连的旋转件；也可以是远端驱动件410和近端驱动件420同时分别驱动远端旋转件310和近端旋转件320绕旋转轴线w旋转，这种驱动方式，可以通过调节旋转速度或旋转角度使远端旋转件310和近端旋转件320产生绕旋转轴线w的相对转动，即可使远端导向结构311和近端导向结构321的交叉点移动。需 要说明的是，远端旋转件310和近端旋转件320同时旋转所产生的相对旋转角可以使锁定部330带动连接部110运动节奏更缓慢，已达到微调节的目的。
具体的，当远端旋转件310和近端旋转件320同向转动时，只要能实现微小的相对旋转运动，对远端旋转件310和近端旋转件320各自绕旋转轴线w的旋转运动速度是没有限制的，这对于实现这种相对旋转运动的远端驱动件410和近端驱动件420而言更容易实现，从而降低远端驱动件410和近端驱动件420的旋转控制精度的要求。也就是说，即使在远端驱动件410和近端驱动件420的旋转控制精度不高的情况下，通过对远端旋转件310和近端旋转件320的同步旋转控制，也能实现两者之间的相对旋转运动更平稳，进而可以根据需要，对介入器械100进行缓慢释放。
在一些实施方式中，参阅图6，近端驱动件420为中空的管件，远端驱动件410可滑动的沿轴向贯穿近端驱动件420与远端旋转件310相连接。这样，可以较好的实现远端旋转件310和近端旋转件320同旋转轴线w的设置，而且，便于远端驱动件410和近端驱动件420分别独立控制远端旋转件310和近端旋转件320而互不干扰。
在一些实施方式中，远端导向结构311为导向槽或导向杆；近端导向结构321为导向槽或导向杆。如图7所示，远端导向结构311为导向槽，近端导向结构321为导向杆。可以理解的，在远端旋转件310和近端旋转件320相对旋转时，导向槽或导向杆的相互交叉点会随之移动，进而可以驱动锁卡在导向槽或导向杆上的连接部110向内聚拢或向外散开。
上述实施方式中，连接部110具有与导向槽或导向杆滑动连接的连接端或导向孔。这样在锁定部330移动时，连接部110可以随锁定部330在导向槽或导向杆滑动。具体的，参阅图7，近端导向结构321为导向杆时，连接部110包括支杆111和连接端112，连接端112位于支杆111近端的端部，连接端112可以是滑设在导向杆上的导向孔。在远端旋转件310和近端旋转件320相对转动时，支杆111上的导向孔沿导向杆滑动，以控制介入器械100的膨胀程度。
具体的，结合图7和图8，介入器械100的连接部110被锁定部330收拢锁止在离旋转轴线w最近位置的过程中，导向孔沿导向杆滑动至导向杆的根部(接 近近端旋转件320的旋转中心的一端)，支杆111沿远端旋转件310上的导向槽移动至导向槽靠近旋转轴线w的一端。可以理解的，上述过程是可逆的，即反方向相对旋转远端旋转件310和近端旋转件320时，连接部110的支杆111会沿导向杆朝着远离旋转轴线w的方向移动，最终从导向杆的顶端(远离近端旋转件320的旋转中心的一端)推出而完成介入器械100的释放。
在一些实施方式中，远端导向结构311和近端导向结构321可以通过介入器械100的连接部110的结构作适用性调整。参阅图9至图11，连接部110的连接端112呈现不同的结构和形状，具体的，图9中，连接端112为凸台形；图10中，连接端112采用滑动球头；图11中，连接端113具有导向孔。
具体的，参阅图12，远端导向结构311和近端导向结构321均为导向槽，为了防止连接部110沿轴向在导向槽中移动，影响锁定部330对连接部110的锁定效果；近端旋转件320上面向近端的一侧设有将连接部110抵接限位于近端旋转件320上的导向槽内的限位板322。锁定部330将连接部110锁定住后，限位板322有效阻止连接部110沿轴向朝着近端移动，起到良好的径向限位效果；需要说明的是，限位板322是近端导向结构321上一体成型的结构，也可以是独立结构，固定在近端导向结构321靠近近端的一侧上。当然，可以理解的，锁定部330在允许连接部110沿远端导向结构311和近端导向结构321移动的情况下，可以根据锁定部330的导向槽结构，可以将连接部110的连接端112尺寸设置成大于远端旋转件310上的导向槽，以防连接部110沿轴向朝远端移动。当然，为了便于这种移动效果，连接部110的连接端112可以采用滑动球头。
在一些实施方式中，远端导向结构311和近端导向结构321即便均为导向槽，也可以通过远端旋转件310和近端旋转件320的距离设置实现对连接部110的轴向限位，而无需独立设置相应的限位结构。
具体的，参阅图13，远端旋转件310和近端旋转件320以一定距离沿旋转轴线w设置，此时，远端旋转件310上的导向槽和近端旋转件320上的导向槽依然会因交叉设置而对连接部110进行锁卡，此时，当介入器械100的连接部110处于远端旋转件310的近端端面和近端旋转件320的远端端面之间的部分尺 寸大于形成锁定部330的导向槽尺寸，连接部110就不能沿轴向朝着远端或近端移动，即锁定部330实现对连接部110沿径向驱动的同时，实现对连接部110进行轴向的限制。当然，为了防止远端旋转件310和近端旋转件320沿轴向的间距过大而引起锁定部330带动连接部110移动时不稳定，可以将连接部110上用来限位的结构设置成片状，这样即实现锁定部330对连接部110的轴向限位，又能尽量使远端旋转件310和近端旋转件320接近抵接在一起，而有效保障相对旋转的导向槽形成的锁定部330对连接部110的径向驱动作用。
在一些实施方式中，参阅图14和图15，远端导向结构311和近端导向结构321离旋转轴线w较近的一端离旋转轴线w的距离相等。也就是说，当锁定部330移动至离旋转轴线w最近时，远端导向结构311和近端导向结构321靠近旋转轴线w的一端会汇聚在一起，可以对连接部110进行稳定的锁定。
在一些实施方式中，远端导向结构311和近端导向结构321分别偏离远端旋转件310和近端旋转件320的径向设置。分别以远端旋转件310和近端旋转件320的一条固定的中线作为参考线，当远端旋转件310和近端旋转件320绕旋转轴线w相对旋转运动时，远端导向结构311和近端导向结构321与彼此所在旋转件的参考线的交点会随着相对转动而靠近或远离旋转轴线w。以近端旋转件320为例，如图3和图6，近端导向结构321偏离近端旋转件320的径向设置，此时，以远端旋转件310的一条固定的中线作为参考线，当远端旋转件310和近端旋转件320绕旋转轴线w相对旋转运动时，近端导向结构321与远端旋转件310上的参考线的交点会随着相对转动而靠近或远离旋转轴线w。由此可知，随着远端旋转件310和近端旋转件320绕旋转轴线w相对转动，相互交叉设置的远端导向结构311和近端导向结构321在交叉处夹持介入器械100的连接部110靠近或远离旋转轴线w，即实现介入器械100的收拢或展开。
在一些实施方式中，远端导向结构311和近端导向结构321离旋转轴线w较近的一端分别位于锁定部330与远端导向结构311的旋转中心的连线的两侧。这种分两侧设置，可以将远端导向结构311和近端导向结构321以较大的锐角设置，方便旋转时，锁定部330产生在连接部110上的驱动力在沿远端导向结构311和近端导向结构321上的分力作用较为明显，使连接部110的移动更为 顺畅；而且为相对旋转提供了较大角度的旋转行程，在该旋转行程内完成连接部110的收拢或展开，进而可以控制连接部110随锁定部330慢速移动。当远端导向结构311和近端导向结构321对称设置在锁定部330与远端导向结构311的旋转中心的连线的两侧时，可以保持连接部110沿远端导向结构311的移动速度和沿近端导向结构321的移动速度相当，可以将连接部110平稳的向内收拢或向外展开。
在一些实施方式中，远端导向结构311沿远端旋转件310的径向设置或近端导向结构321沿近端旋转件320的径向设置。这种径向设置便于将连接部110预先从远离旋转轴线w的一端卡入或移出锁定部330。
具体的，将远端导向结构311沿远端旋转件310的径向设置，近端导向结构321离旋转轴线w较远的一端离旋转轴线w的距离大于远端导向结构311离旋转轴线w较远的一端离旋转轴线w的距离；以便连接部110从远端导向结构311离旋转轴线w较远的一端进入或移出锁定部330时，连接部110会部分或全部处于近端导向结构321的驱动范围内，以使远端旋转件310和近端旋转件320相对旋转可以提供足够的驱动力使连接部110进入或移出锁定部330。可以理解的，为了便于连接部110进入或移出锁定部330，也可以将近端导向结构321沿近端旋转件320的径向设置，如图16所示，远端导向结构311离旋转轴线w较远的一端离旋转轴线w的距离大于近端导向结构321离旋转轴线w较远的一端离旋转轴线w的距离。
在一些实施方式中，参阅图17和图18，远端导向结构311具有远端弯曲段；近端导向结构321离旋转轴线w较近的一端与远端弯曲段的内切圆的圆心位于远端弯曲段的同侧；和/或近端导向结构321具有近端弯曲段；远端导向结构311离旋转轴线w较近的一端与近端弯曲段的内切圆的圆心位于近端弯曲段的同侧。利用远端弯曲段和/或近端弯曲段，一方面延长了连接部110移动轨迹，进而可以更为精准调节连接部110靠近或远离旋转轴线w的速度，另一方面，也使得锁定部330对连接部110在沿径向的力较大，更容易驱使连接部110向内运动而收拢或以及外运动而展开。
进一步地，远端弯曲段和/或近端弯曲段的曲率在远离旋转轴线w的方向逐 渐增大。这样在离旋转轴线w较远的一端锁定部330可以对连接部110作用在径向的力较大，从而有利于驱动连接部110朝进入或移出锁定部330。
以上实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (10)

  1. 一种输送装置，用于输送介入器械；所述介入器械具有可与所述输送装置相连的连接部；其特征在于，所述输送装置包括连接组件和控制组件，所述连接组件包括具有相同旋转轴线的远端旋转件和近端旋转件；所述远端旋转件上围绕所述旋转轴线设有远端导向结构；所述近端旋转件上围绕所述旋转轴线设有近端导向结构；所述控制组件用于驱动所述远端旋转件相对于所述近端旋转件绕所述旋转轴线旋转；所述远端导向结构和所述近端导向结构交叉设置，以于交叉处形成锁卡所述连接部的锁定部；所述远端导向结构和所述近端导向结构绕所述旋转轴线相对旋转时，所述锁定部带动所述连接部靠近或远离所述旋转轴线。
  2. 根据权利要求1所述的输送装置，其特征在于，所述远端导向结构和所述近端导向结构之间在所述锁定部位于离所述旋转轴线最远处的位置形成供所述连接部进入或移出所述锁定部的开口。
  3. 根据权利要求1所述的输送装置，其特征在于，所述远端导向结构和所述近端导向结构离所述旋转轴线较近的一端分别位于所述锁定部与所述远端导向结构的旋转中心的连线的两侧。
  4. 根据权利要求1所述的输送装置，其特征在于，所述远端导向结构沿所述远端旋转件的径向设置或所述近端导向结构沿所述近端旋转件的径向设置。
  5. 根据权利要求4所述的输送装置，其特征在于，所述远端导向结构沿所述远端旋转件的径向设置时，所述近端导向结构离所述旋转轴线较远的一端离所述旋转轴线的距离大于所述远端导向结构离所述旋转轴线较远的一端离所述旋转轴线的距离；
    所述近端导向结构沿所述近端旋转件的径向设置时，所述远端导向结构离所述旋转轴线较远的一端离所述旋转轴线的距离大于所述近端导向结构离所述旋转轴线较远的一端离所述旋转轴线的距离。
  6. 根据权利要求1-5任一项所述的输送装置，其特征在于，所述控制组件包括远端驱动件和近端驱动件，所述远端驱动件用于驱动所述远端旋转件绕所述旋转轴线旋转，所述近端驱动件用于驱动所述近端旋转件绕所述旋转轴线旋 转。
  7. 根据权利要求6所述的输送装置，其特征在于，所述远端导向结构具有远端弯曲段；所述近端导向结构离所述旋转轴线较近的一端与所述远端弯曲段的内切圆的圆心位于所述远端弯曲段的同侧；
    和/或，
    所述近端导向结构具有近端弯曲段；所述远端导向结构离所述旋转轴线较近的一端与所述近端弯曲段的内切圆的圆心位于所述近端弯曲段的同侧。
  8. 根据权利要求6所述的输送装置，其特征在于，所述远端导向结构为导向槽或导向杆；所述近端导向结构为导向槽或导向杆。
  9. 根据权利要求8所述的输送装置，其特征在于，当所述远端导向结构和所述近端导向结构均为导向槽时，所述近端旋转件上面向近端的一侧设有将所述连接部抵接限位于所述近端旋转件上的导向槽内的限位板。
  10. 一种输送系统，其特征在于，包括如权利要求1至9任一项所述输送装置，以及输送鞘管；所述输送鞘管为中空的软管，沿所述输送鞘管推动所述输送装置可将锁卡于所述锁定部上的介入器械推出或收回所述输送鞘管。
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