WO2024008057A1

WO2024008057A1 - Bending control tube and delivery device

Info

Publication number: WO2024008057A1
Application number: PCT/CN2023/105652
Authority: WO
Inventors: 吴旭闻; 毛婷; 贾东皓; 陈国明
Original assignee: 上海微创心通医疗科技有限公司
Priority date: 2022-07-05
Filing date: 2023-07-04
Publication date: 2024-01-11
Also published as: CN117379229A

Abstract

Provided are a bending control tube and a delivery device. The bending control tube comprises: a tube body (3), a traction wire (4), and a first driving member (5). The tube body (3) comprises a first bending control section (31) and a torsion control section (32) located at a proximal end of the first bending control section (31). A distal end of the traction wire (4) is connected to the first bending control section (31). A proximal end of the traction wire (4) is connected to the first driving member (5). The first driving member (5) drives the first bending control section (31) to bend via the traction wire (4). The traction wire (4) is also stretchable in an axial direction relative to the first driving member (5) so as to adapt to the torsion of the torsion control section (32). According to this configuration, the stretchability of the traction wire (4) in the axial direction relative to the first driving member (5) can eliminate the axial length change of the traction wire (4) when the tube body (3) is twisted around the axis, thereby effectively improving the torsion control performance of the bending control tube and adapting to bending control and torsion in various planes.

Description

Controlled bending pipe and conveying device

Technical field

The invention relates to the technical field of medical devices, and in particular to a bending control tube and a delivery device.

Background technique

Valvular heart disease is one of the most common heart diseases in my country, mainly valve damage caused by rheumatic fever; in recent years, with the aging of the population, valve degeneration (including calcification and mucus degeneration, etc.) and metabolic disorder valves The damage is also increasing day by day in our country.

Traditional heart valve surgery is an open-heart method performed under general anesthesia. A cut is made through the patient's breastbone (sternotomy), and the patient's heart is stopped and blood flow is rerouted through a "cardiopulmonary" bypass machine (extracorporeal bypass machine). Surgical valve replacement is a highly invasive procedure with significant attendant risks. Patients may be temporarily disrupted due to emboli and other factors related to the extracorporeal bypass machine, and full recovery may take months. In addition, the elderly and some special groups are unable to withstand the trauma caused by the above-mentioned surgical operations, and require longer recovery time or are unable to recover after surgery.

Minimally invasive interventional therapy (transcatheter heart valve replacement) has the advantages of no need for thoracotomy, minimal trauma, and rapid patient recovery, and has attracted widespread attention from experts and scholars. In the new century, research work on the interventional treatment of valvular disease has been significantly accelerated. Percutaneous interventional valve implantation has developed from experimental research to a small-scale clinical parallel research stage. Valvular disease intervention may break through the technical "bottleneck" and quickly achieve widespread clinical application. , it has once again become the focus of attention in the field of interventional cardiology. However, there are still many problems in the current heart valve delivery system technology.

Due to the complex anatomical structure of human valves, the delivery system must be positioned coaxially with the native valve, and the delivery tube needs to be bent on different planes. However, the performance of conventional conveying pipes is acceptable because there is no torsion when bending on a plane. However, if the bending is controlled on different planes, the conveyor pipe needs to twist around the axis, so it also needs to have certain twist control performance to adapt to the bending control and torsion on different planes. However, the twist control performance of the existing delivery pipe is poor and requires a large amount of adjustment force to achieve adjustment, which increases the difficulty of adjustment.

Contents of the invention

The purpose of the present invention is to provide a bending control pipe and a conveying device to solve the problem that the existing conveying pipe has poor twist control performance and is difficult to adapt to bending control on different planes.

In order to solve the above technical problems, the present invention provides a bending control pipe, which includes: a pipe body, a pulling wire and a first driving part;

The pipe body includes a first bending control section and a twist control section located at the proximal end of the first bending control section;

The distal end of the pulling wire is connected to the first bending control section, and the proximal end of the pulling wire is connected to the first driving member; the first driving member drives the first control member through the pulling wire. The bend section is bent;

The pulling wire also telescopes or moves in the axial direction relative to the first driving member to adapt to the twisting of the twisting section.

Optionally, the bending control pipe includes at least one traction wire group, and one of the traction wire groups includes two of the traction wires, and the two traction wires are used to pull under the traction of the first driving member. Move together along the axial direction of the pipe body to drive the first bending control section to bend;

The two pulling wires in the pulling wire group are also used to telescope or move in opposite directions along the axial direction relative to the first driving member, so as to adapt to the twist control section surrounding itself when bending. Axis twist.

Optionally, the control bending pipe also includes: a differential component;

The differential component is provided on the first driving member;

The two pulling wires in the pulling wire group are respectively connected to the differential assembly; the differential assembly is used to rotate around its own axis to adapt to the expansion and contraction of the two pulling wires in opposite directions or move.

Optionally, in the control bend pipe, the differential component includes: a pulley;

The axis of the differential assembly coincides with the axis of the pulley; the axis of the pulley is perpendicular to the axial direction of the tube body;

Two of the traction wires in the traction wire group are respectively wound around the pulleys in opposite directions; when the two traction wires move in opposite directions, the pulley rotates, and one of the traction wires rotates. Coiled on the pulley, the other traction wire is unwound from the pulley to realize the expansion and contraction of the two traction wires in opposite directions;

The two traction wires in the traction wire group are respectively fixed on both sides of the pulley along the radial direction of the pulley; when the two traction wires move in opposite directions, the pulleys rotate accordingly to Adapt to the movement of the pulling wire.

Optionally, in the bend control pipe, the proximal ends of the two pulling wires in the pulling wire group are wound around the pulley and then connected.

Optionally, in the control bending pipe, the differential assembly includes: a two-way screw rod and two nuts; the axis of the differential assembly coincides with the axis of the two-way screw rod;

The two-way screw has two threaded sections with opposite spiral directions; two nuts are respectively sleeved on the two threaded sections, and the rotation of the two-way screw can be converted into two nuts along the Axial movement of the two-way screw;

The two pulling wires in the pulling wire group are respectively connected to the two nuts.

Optionally, in the bending control pipe, at the connection point between the two pulling wires and the first bending control section, the central angle of the axis of the two pulling wires and the first bending control section is Not greater than 90°.

Optionally, in the bending control tube, in the pull wire group, at the proximal end of the twist control section, the central angle between the two pull wires and the axis of the twist control section is not less than 90°.

Optionally, in the bend control tube, at the proximal end of the twist control section, the central angle between the two pull wires in the pull wire group and the axis of the twist control section is 180°. .

Optionally, in the bend control pipe, throughout the twist control section, the central angle between the two pull wires in the pull wire group and the axis of the twist control section remains 180°.

Optionally, in the bending control pipe, the two pulling wires in the pulling wire group are symmetrically arranged with respect to the bending plane of the first bending control section.

Optionally, in the bending control tube, the pulling wire includes an elastic segment, and the elastic segment is used to expand and contract in the axial direction.

Optionally, the bending control pipe also includes an outer tube and a second driving member that are sleeved outside the tube body. The outer pipe includes a second bending control section; the axial position of the second bending control section is consistent with Corresponding to the twist control section, the second driving member is used to drive the second bend control section to bend, so as to drive the twist control section to bend.

In order to solve the above technical problems, the present invention also provides a conveying device, which includes the bend control pipe as described above.

To sum up, in the bending control pipe and conveying device provided by the present invention, the bending control pipe includes: a pipe body, a pulling wire and a first driving member; the pipe body includes a first bending control section and a a twist control section at the proximal end of the first bending control section; the distal end of the pulling wire is connected to the first bending control section, and the proximal end of the pulling wire is connected to the first driving member; the first driving The first bending control section is driven by the pull wire to bend; the pull wire also expands and contracts in the axial direction relative to the first driving member to adapt to the torsion of the torsion control section.

With such a configuration, the axial length change of the pulling wire produced when the pipe body is twisted around the axis can be eliminated by the axial expansion and contraction of the pulling wire relative to the first driving member, effectively improving the torsion control performance of the bending pipe and being able to adapt to Controlled bending and twisting in different planes.

Description of the drawings

Those of ordinary skill in the art will understand that the drawings are provided for a better understanding of the invention and do not constitute any limitation on the scope of the invention. in:

Figure 1 is a schematic diagram of a controlled bend pipe;

Figure 2 is a schematic diagram of a cross-section of an inner pipe control bend section of the bend control pipe shown in Figure 1;

Figure 3 is a schematic diagram of a bend-controlled pipe according to an embodiment of the present invention;

Figure 4 is a schematic diagram of the bend control pipe in the top direction according to the embodiment of the present invention;

Figure 5 is a schematic cross-sectional view of a twist control section according to an embodiment of the present invention;

Figure 6 is a schematic diagram of the differential assembly in the top direction according to the embodiment of the present invention;

Figure 7 is a perspective view of the differential assembly according to the embodiment of the present invention;

Figure 8 is a schematic diagram of another preferred example of the pulling wire according to the embodiment of the present invention.

In the attached picture:
1-Inner tube; 11-Inner tube controlled bending section; 12-Inner tube controlled bending wire; 2-Outer tube; 21-Outer tube controlled bending section;
3-pipe body; 31-first bending control section; 32-twisting control section; 4-traction wire; 41-elastic section; 42-guy wire;
5-first driving part; 6-pulley; 7-handle base; 71-track; 8-outer tube; 81-second control bending section.

Detailed ways

In order to make the purpose, advantages and features of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the drawings are in a very simplified form and are not drawn to scale, and are only used to conveniently and clearly assist in explaining the embodiments of the present invention. In addition, the structures shown in the drawings are often part of the actual structure. In particular, each drawing needs to display different emphasis, and sometimes uses different proportions.

As used in this invention, the singular forms "a", "an" and "the" include plural referents, the term "or" is generally used in its sense including "and/or", and the term "several" The term "at least two" is usually used in a meaning including "at least one", and the term "at least two" is usually used in a meaning including "two or more". In addition, the terms "first" and "th "Second" and "third" are used for descriptive purposes only and cannot be understood as indicating or implying the relative importance or implicitly indicating the quantity of the technical features indicated. Therefore, the features defined as "first", "second" and "third" may explicitly or implicitly include one or at least two of these features, "one end" and "other end" and "proximal end" and "Remote" usually refers to the two corresponding parts, which includes not only the endpoint. The terms "proximal end" and "distal end" are defined herein with respect to a control bending tube having one end for insertion into the human body and a control end extending outside the body. The term "proximal end" refers to the position of the component closer to the control end of the bending tube extending outside the body, and the term "distal end" refers to the end of the component closer to the control end of the bending tube that is inserted into the human body and therefore farther away from the bending tube. The position of the control end. Optionally, in manual or hand-operated applications, the terms "proximal" and "distal" are defined herein with respect to an operator such as a surgeon or clinician. The term "proximal" refers to the location of the element closer to the operator, and the term "distal" refers to the location of the element closer to the bending tube and therefore farther from the operator. In addition, as used in the present invention, "mounted", "connected", "connected", one element is "disposed" on another element, should be interpreted broadly, and usually only mean that there is a connection, coupling, or connection between the two elements. Cooperation or transmission relationship, and the connection, coupling, cooperation or transmission between the two elements can be direct or indirect through an intermediate element, and it cannot be understood as indicating or implying the spatial positional relationship between the two elements, that is, one element can be in another Any orientation inside, outside, above, below, or to one side of a component, unless the content clearly indicates otherwise. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In addition, words such as above, below, up, down, and towards Directional terms up, down, left, right, etc. are used with respect to the exemplary embodiments as they are shown in the figures, with an upward or upward direction being toward the top of the corresponding figure and a downward or downward direction being toward the bottom of the corresponding figure. .

Description will be made below with reference to the drawings.

Please refer to Figures 1 and 2, which illustrate a controlled bending pipe, which includes an inner pipe 1 and an outer pipe 2. The distal end of the inner tube 1 includes an inner tube control bend 11 . In the exemplary examples shown in FIGS. 1 and 2 , an inner tube control bending wire 12 is provided inside the inner tube 1 . By pulling the inner tube control bending wire 12 toward the proximal end, the inner tube control bending section 11 can be driven to bend. The outer tube 2 is set outside the inner tube 1 and has a similar structure to the inner tube 1. The far end of the outer tube 2 includes an outer tube control bending section 21, which is provided with an outer tube control bending wire. By pulling the outer tube towards the proximal end, the outer tube is controlled to bend. The wire can drive the outer control bend section 21 to bend. Furthermore, the outer tube 2 is sleeved outside the inner tube 1 and exposes the distal part of the inner tube 1 . It can be understood that when the outer tube control bend section 21 of the outer tube 2 bends, it will drive the inner tube 1 inside to bend together. In this way, the distal bending shape of the entire bending control pipe is adjusted by the inner bending control section 11 of the inner pipe 1, and the proximal bending shape is adjusted by the outer bending control section 21 of the outer pipe 2.

Please continue to refer to Figure 2. The inner control bending wire 12 is arranged on one side of the wall of the inner tube 1. For the convenience of description, the plane determined by the geometric center of the inner control bending wire 12 and the axis of the inner tube 1 is called the A plane. , it can be understood that when the inner tube control bending wire 12 is pulled proximally, the inner tube 1 can only be bent along the A plane. In the same principle, if the outer tube control bending wire is arranged on one side of the tube wall of the outer tube 2, when the outer tube control bending wire is pulled proximally, the outer tube 2 can only be driven to bend along one plane. When dealing with complex blood vessel paths in practice, it is obviously impossible to always make the bending plane of the inner tube 1 coincide with the bending plane of the outer tube 2 . As shown in Figure 1, in practice, it is often necessary to twist the inner tube 1 around its axial direction so that the bending direction of the distal inner tube control bend section 11 can suit the needs.

The inventor found through research that if the bending shape of the proximal outer tube control bend section 21 needs to be twisted and adjusted, the inner tube 1 and the outer tube 2 can be twisted together, which will not cause any problems. It can be understood that if the outer tube 2 does not perform bending control and maintains a straight shape, twisting the inner tube 1 will not cause any problems. However, when the outer tube 2 is already bent and the inner tube 1 is twisted, the inner tube 1 is required to have a certain twist control performance. Therefore, when the outer tube 2 is already bent, it can adapt to the inner tube 1 and be twisted.

The inventor further studied and found that the existing bending control pipe has poor torsion control performance. The reason is that after the outer control bending section 21 of the outer pipe 2 is controlled to bend, the inner inner pipe 1 has already been bent by the outer control bending section 21. There is a large axial stiffness on the plane. If the inner tube 1 is torsion at this time, the amount of deformation that needs to be resisted by the central axis, the inner side of the central axis, and the outer side of the central axis are all different. Furthermore, the inventor found that in the existing bending control pipe, the inner pipe bending control wire 12 is mainly arranged on one side of the inner pipe 1, and its position is fixed relative to the inner pipe 1 (located on the A plane). the inside of the arc), so it creates a force that resists torsion. Especially when the inner control bending section 11 of the inner tube 1 is bent, the inner control bending wire 12 has a certain tension, and the inner control bending wire 12 is pulled and restricted in the axial direction, and the setting position in the circumferential direction is fixed. , the inner control bending wire 12 is on one side of the pipe wall, has the shortest arc length and maintains tension. If the inner pipe 1 is twisted at this time, the inner control bending wire 12 needs to be stretched to complete, which will not only affect the inner control bending section With the existing bending type of 11, the force value of torsional adjustment will be larger.

Of course, in some other application scenarios, such as when the outer tube 2 encounters a situation where it needs to cross the bow, the outer tube 2 will bend under the restrictions of the blood vessels. At this time, if the outer tube 2 is twisted again, the outer tube 2 is also required to bend. It is necessary to have certain twist control performance so that when the outer tube 2 is already bent, it can adapt to the twist. The specific principle can be understood with reference to the situation of twisting the inner tube 1 when it is already bent.

Based on the above research, please refer to Figure 3. An embodiment of the present invention provides a bending control pipe, which includes: a pipe body 3, a pulling wire 4 and a first driving member 5; the pipe body 3 includes a first bending control section 31 and The twist control section 32 is located at the proximal end of the first bending control section 31; the distal end of the pulling wire 4 is connected to the first bending control section 31, and the proximal end of the pulling wire 4 is connected to the first driving The first driving member 5 is used to drive the first bending control section 31 to bend through the pulling wire 4; the pulling wire 4 is also used to move along the axial direction relative to the first driving member 5. Telescope or move to adapt to the torsion of the torsion control section 32 (referring to the torsion of the torsion control section 32 around its own axis when it is bent). It should be noted that the solution in which the tube body 3 is configured as an inner tube is used as an example in Figure 3 for explanation. However, it should be understood that the tube body 3 here is not limited to the inner tube 1 or the outer tube 2 as mentioned above. Some other In the solution of the delivery catheter, there is sometimes a middle-layer pipe, and the pipe body 3 can also be used as a middle-layer pipe, and the present invention is not limited to this.

With such a configuration, the axial length change of the pulling wire 4 when the tube body 3 is twisted around the axis can be eliminated through the axial expansion, contraction or movement of the pulling wire 4 relative to the first driving member 5, effectively improving the The twist control performance of the bending pipe can be adapted to bending and torsion control in different planes.

Furthermore, when the first driving member 5 moves in the axial direction of the tube body 3, it drives the pulling wire 4 to move in the axial direction, thereby driving the first bending control section 31 to bend. Please refer to Figure 7. In an alternative example, the proximal end of the bending control tube also includes a handle base 7. The handle base 7 has a track 71 extending along the axial direction of the bending control tube. The first driving member 5 It is movably arranged on the track 71 , and the extension direction of the track 71 is arranged along the axial direction of the tube body 3 . With such a configuration, when the first driving member 5 moves along the track 71, it can also drive the pulling wire 4 to move forward and backward in the axial direction, thereby controlling the bending of the first bending control section 31.

Please continue to refer to Figure 3. Preferably, the bending control pipe also includes an outer pipe 8 and a second driving member (not shown) that are sleeved outside the pipe body 3. The outer pipe 8 includes a second bending control member. Section 81; the axial position of the second bending control section 81 corresponds to the twist control section 32, and the second driving member is used to drive the second bending control section 81 to bend to drive the twist control section 81. Section 32 is curved. In one example, the structure of the outer tube 8 and the second driving member may be similar to the structure of the tube body 3 and the first driving member 5 , and the second driving member drives the second bending control section 81 to bend through a corresponding pulling wire. It should be noted that those skilled in the art can understand and configure the structure and principles of the outer tube 8 and the second driving member based on the existing technology, and the present invention is not limited thereto.

It can be understood that if there is one pulling wire 4, when the tube body 3 is twisted, the pulling wire 4 may need to be extended or shortened depending on the bending direction of the torsion control section 32. In some embodiments, after determining the bending shape of the first bending control section 31, the torsion angle of the tube body 3 can be adjusted, and then the axial length of the pulling wire 4 relative to the first driving member 5 can be adaptively adjusted. For example, it can be realized by telescoping or moving.

Optionally, please refer to Figure 4. The bending control pipe includes at least one traction wire group. One of the traction wire groups includes two traction wires 4. The two traction wires 4 are used in the first The driving member 5 moves together in the axial direction of the tube body 3 to drive the first bending control section 31 to bend; the two pulling wires 4 in the pulling wire group are also used to move relative to the The first driving member 5 expands, contracts or moves in opposite directions along the axial direction to adapt to the twisting of the torsion control section 32 around its own axis when it bends. The number of pulling wire groups can be set according to needs and is not limited to one group.

Preferably, the bending control pipe further includes: a differential assembly; the differential assembly is arranged on the first driving member 5; the two pulling wires 4 in the pulling wire group are respectively connected to the differential assembly. moving component connection; The differential assembly is used to rotate around its own axis to adapt to the expansion, contraction or movement of the two pulling wires 4 in opposite directions. In some embodiments, a differential component additionally provided on the first driving member 5 can be used to prevent the two traction wires 4 from stretching or moving in opposite directions, so that in some application scenarios, the two traction wires 4 The opposite expansion, contraction or movement can be automatically adapted to the torsion of the tube body 3 and eliminated, without human intervention and adjustment of the expansion and contraction amount of the pulling wire 4.

Optionally, in the bend control tube, at the proximal end of the twist control section 32, the central angle between the two pull wires 4 in the pull wire group and the axis of the twist control section 32 is α is not less than 90°. It should be noted that the central angle α between the two traction wires 4 and the axis of the twist control section 32 refers to: on the proximal cross section of the twist control section 32, with the axis of the twist control section 32 as the center O, two wires are connected respectively. The angle formed by the connection of the pulling wire 4. The elongation or shortening of the pulling wire 4 is actually determined based on its relative angle with the bending direction of the twist control section 32 . The bending direction of the twist control section 32 is determined under the control of the second bend control section 81 of the outer tube 8 . Specifically, for convenience of description, please refer to FIG. 5 in conjunction with the bending plane of the second bending control section 81 as the reference plane B, and the left side in FIG. 5 is the inside of the bending control arc of the second bending control section 81 . (That is, the second bending control section 81 bends toward the left side in FIG. 5 ). Under this condition, taking the driving twist control section 32 to twist clockwise in the second bending control section 81 as an example, it can be understood that in reference On the lower side of the plane B, as the twist control section 32 twists clockwise in the second bend control section 81, the pulling wire 4 needs to be gradually shortened, while on the upper side of the reference plane B, as the twist control section 32 twists in the second bend control section 81, the pulling wire 4 needs to be gradually shortened. When twisting in the clockwise direction in the second bending control section 81, the pulling wire 4 needs to be gradually stretched. When the central angle α between the two traction wires 4 and the axis of the twist control section 32 is not less than 90°, it can be guaranteed that at least half of the interval, the two traction wires 4 are in opposite changing trends, which can basically meet the needs of most people. requirements in some situations.

More preferably, at the proximal end of the twist control section 32, the central angle α between the two pull wires 4 in the pull wire group and the axis of the twist control section 32 is 180°, as shown in Figure 5 shown. It can be understood that at the proximal end of the torsion control section 32, when the central angle between the two traction wires 4 and the axis of the torsion control section 32 is 180°, and when the torsion control section 32 is bent and torsion occurs, the two traction wires 4 Will always produce the opposite expansion or movement. More preferably, in the entire twist control section 32, the central angle between the two pulling wires 4 and the axis of the twist control section 32 is maintained at 180°, that is, in the entire twist control section 32, the two pulling wires 4 The connection line passes through the axis of the twist control section 32, and the two pulling wires 4 are respectively arranged on both sides of the twist control section 32. In this configuration, when the torsion control section 32 bends and twists, the axial expansion and contraction changes or movement changes of the two pulling wires 4 are within a few seconds. The values are the same, and the axial expansion or movement of the two pulling wires 4 can be eliminated automatically and conveniently through the differential assembly.

Please refer to Figures 6 and 7. Optionally, the differential assembly includes: a pulley 6; the axis of the differential assembly coincides with the axis of the pulley 6; the axis of the pulley 6 is perpendicular to the tube body 3; the two pulling wires 4 are respectively wound around the pulley 6 in opposite directions; optionally, the pulley 6 is rotatably provided on the first driving member 5. It should be noted that in order to facilitate quantitative analysis, the contact point between the pulling wire 4 and the pulley 6 is used as the dividing point, and the part of the pulling wire 4 wound around the pulley 6 is no longer included in the axial length of the pulling wire 4 . When the two traction wires 4 move in opposite directions, the pulley 6 rotates, and one of the traction wires 4 gradually winds around the pulley 6 and gradually shortens relative to the traction wire; the other traction wire The wire 4 is gradually unwound from the pulley 6 and gradually elongates relative to the pulling wire; thereby achieving expansion and contraction of the two pulling wires 4 in opposite directions.

Here, the number of turns of the pulling wire 4 wound around the pulley 6 is not particularly limited. The two pulling wires 4 can each be wound with a number of turns, and the number of turns of the two pulling wires 4 can be the same or different. In a simplified example, when the torsion control section 32 does not bend and maintains a straight shape, the two pulling wires 4 are wound around 1/4 turn on the pulley 6, and then the proximal ends of the two pulling wires 4 are wound around the pulley 6. The pulley 6 is connected after being connected. That is to say, in fact, the proximal ends of the two pulling wires 4 are connected and then sleeved on the pulley 6 . It can be understood that in some embodiments, the two traction wires 4 can actually be the same wire formed in one piece. For example, taking the example shown in Figure 6 for illustration, the pulley 6 rotates clockwise, and the traction wire 4 on the right side rotates clockwise. After bypassing the pulley 6 and moving to the left, it is equivalent to the traction wire 4 on the right transferring part of it to the traction wire 4 on the left, which is equivalent to the shortening of the axial length of the traction wire 4 on the right relative to the pulley 6 , while the traction wire 4 on the left side is elongated relative to the axial length of the pulley 6 .

It can be understood that in other embodiments, the two traction wires 4 in the traction wire group may not be the same wire connected, and the proximal ends of the two traction wires may be respectively fixed on the pulley 6 and can be moved along the pulley 6 respectively. The opposite steering wheel is wound around the pulley 6 several times. This can also achieve a similar effect. Based on this, further, the present invention does not limit the number of pulleys 6. The two traction wires 4 can be wound around the same pulley 6, or they can be wound around two different pulleys 6 or different pulleys of the same pulley 6. On the groove, those skilled in the art can understand based on the existing technology.

In other embodiments, two of the pulling wires 4 in the pulling wire group move along the pulley 6 are respectively fixed on both sides of the pulley 6 in the radial direction; when the two pulling wires 4 move in opposite directions, the pulley 6 follows and rotates to adapt to the movement of the pulling wires 4 . Here, the fixed connection between the traction wire 4 and the pulley 6 may be welded or glued. Optionally, when the torsion control section 32 does not bend but remains straight, the connection line between the connection points of the two traction wires 4 and the pulley 6 is perpendicular to the axial direction of the traction wire 4 . In some cases, the amount of movement of the traction wire 4 along its own axis is not very large. At this time, when one traction wire 4 moves toward the proximal end, it can be coiled on the pulley 6, and when the other traction wire 4 moves toward the distal end, , its connection point with the pulley 6 deflects and moves toward the distal end as the pulley 6 rotates (at this time, the pulling wire 4 not only moves in the axial direction, but also slightly radially shifts with the pulley 6). Since the axial movement of the pulling wire 4 is not large, it can also meet the demand.

Further, if the central angle between the two pulling wires 4 in the pulling wire group and the axis of the twisting control section 32 is between 90° and 180°, or the two pulling wires 4 and the twisting control section 32 The central angle of the axis is not maintained at 180° along the entire twisting section 32, or the two pulling wires 4 are not symmetrically arranged with respect to the bending plane of the first bending section 31, etc., which may lead to the two pulling wires 4 The amount of change produced when the twist control section 32 is twisted is different. For such a situation, in one embodiment, pulleys 6 of different diameters can be used to coil or fix two different traction wires 4 respectively.

In some embodiments, if there is one pulling wire 4 , the length change of the pulling wire 4 can also be resolved through the pulley 6 . Specifically, the proximal end of the pulling wire 4 is coiled or fixed on the pulley 6. In these embodiments, the operator can actively drive the pulley 6 to rotate to adapt to the pulling wire caused by the torsion of the tube body 3. 4 changes. For example, when the tube body 3 is twisted and the traction wire 4 needs to be stretched, the pulley 6 is driven to rotate and a part of the traction wire 4 coiled on the pulley 6 is unwound, which is equivalent to elongating the traction wire 4 . On the contrary, if the traction wire 4 needs to be shortened, the driving pulley 6 will rotate in the opposite direction, so that a part of the traction wire 4 is coiled on the pulley 6 . In addition, in some other embodiments, a pre-tension force can also be set on the pulley 6, for example, through a spring, so that the pulley 6 can exert a certain pre-tension force on the traction wire 4. If the traction wire 4 needs to be stretched, the traction wire 4 can overcome the problem. This pretension force is unwound from the pulley 6 . If the pulling wire 4 needs to be shortened, the pulley 6 can pull the pulling wire 4 back based on the pre-tightening force and coil it around it. In this way, the operator does not need to actively drive the pulley 6 to rotate, and the length change of the pulling wire 4 can be automatically resolved.

When the axial position of the first driving member 5 is fixed, the bending shape of the first bending control section 31 is also fixed. At this time, if the driving tube 3 is twisted, the two traction wires 4 will move in opposite directions. At this time, the opposite movement of the traction wire 4 can drive the pulley 6 to rotate. One traction wire 4 is coiled on the pulley 6, and the other traction wire 4 is wound around the pulley 6. The wire 4 is unwound from the pulley 6 so that one traction wire 4 is elongated relative to the first driving member 5 and the other traction wire 4 is shortened relative to the first driving member 5 . Therefore, it is possible to automatically eliminate the expansion and contraction of the two pulling wires 4 in opposite directions. Of course, in some application scenarios, the pulley 6 can also be rotated actively driven by the operator to adapt to the expansion and contraction of the traction wire 4.

Please continue to refer to Figures 2 and 4. Preferably, in the pulling wire group, at the connection between the two pulling wires 4 and the first bending control section 31, the two pulling wires 4 and the The central angle of the axis of the first bending control section 31 is not greater than 90°. With this configuration, when the two pulling wires 4 are pulled axially together, they can drive the first bending control section 31 to bend relatively smoothly. Preferably, at the connection between the two pulling wires 4 and the first bending control section 31, the central angle is not greater than 10°, so as to further improve the bending control efficiency of the first bending control section 31 by the pulling wires 4 and reduce The pulling force required to control the bend. It should be noted that the pulling wire 4 can form a single point connection with the first bending control section 31, for example, the farthest end of the pulling wire 4 is fixed to the first bending control section 31; the pulling wire 4 can also form a single point connection with the first bending control section 31. Multi-point connection or line connection, for example, the pulling wire 4 is embedded in the pipe wall of the first bending control section 31 , and the entire embedded section is fixedly connected to the first bending control section 31 . Here, the connection point between the pulling wire 4 and the first bending control section 31 should be understood as the proximal end of the part where the pulling wire 4 is fixedly connected to the first bending control section 31 to adapt to reasonable force transmission for bending control.

Preferably, the two pulling wires 4 in the pulling wire group are symmetrically arranged with respect to the bending plane of the first bending control section 31 . At the connection between the two pulling wires 4 and the first bending control section 31, the geometric center of the two pulling wires 4 (for the two pulling wires 4, that is, the midpoint of the connection line of the two pulling wires 4) and the first The plane determined by the axis of the first bending control section 31 is the bending plane of the first bending control section 31 . The two pulling wires 4 are symmetrically arranged with respect to the bending plane of the first bending control section 31 to ensure that when the torsion control section 32 is bent and the tube body 3 is twisted, the expansion and contraction changes of the two pulling wires 4 are equal or as close as possible.

Preferably, from the connection point between the two pulling wires 4 and the first bending control section 31 to the twisting control section 32, the two pulling wires 4 in the pulling wire group are connected to the first bending control section 31. The central angle of the axis of the bending control section 31 gradually becomes larger until it reaches 180°, as shown in Figure 4 .

In another embodiment, the differential assembly includes: a two-way screw and two nuts; the axis of the differential assembly coincides with the axis of the two-way screw; the two-way screw has two sections with opposite screw directions. Threaded sections; two nuts are respectively sleeved on the two threaded sections, and the rotation of the two-way screw can be converted into the movement of the two nuts along the axial direction of the two-way screw; two The pulling wire 4 is connected to two nuts respectively.

The two-way screw is rotatably arranged on the first driving member 5 around its own axis. Preferably, the axis of the two-way screw is parallel to the track 71 on the handle base 7 . The two nuts are restricted from rotating around the two-way lead screw, but do not restrict its axial movement. In this configuration, when the bidirectional screw rotates, the opposite threaded sections at both ends can drive the two nuts to move relatively away or relatively close, thereby driving the two pulling wires 4 to move in opposite directions along the axial direction. , to adapt to the torsion of the torsion control section 32 around its own axis when it is bent. The implementation principle of the two-way screw rod and nut is similar to the implementation principle of the pulley 6, that is, the opposite movement amount of the two traction wires 4 is eliminated by the rotation of the two-way screw rod around itself. It can be understood that in some embodiments, if the pitches of the two thread segments on the two-way screw and the nut are small, the transmission of the two-way screw is unidirectional, that is, the nut can only be driven to move axially by the rotation of the two-way screw. , and the two-way screw cannot be driven to rotate by the axial movement of the nut. In these embodiments, the operator can actively drive the two-way screw to rotate to adapt to the changes in the pulling wire 4 caused by the torsion of the tube body 3 .

Preferably, the rotation of the two-way screw and the movement of the two nuts along the axial direction of the two-way screw are mutually converted. In some embodiments, the pitch of the two thread segments on the two-way screw can be set to be larger, and the corresponding pitches of the two nuts are also larger. In this configuration, the axial movement of the nut can also drive the two-way screw to rotate. Therefore, the operator does not need to actively drive the two-way screw rod to rotate, and the elimination of the movement of the two pulling wires 4 in opposite directions can be automatically realized.

It can be understood that in some cases where the amount of change produced by the two pulling wires 4 when twisting the twist control section 32 is different, in one embodiment, the pitch of the two thread sections on the two-way screw can be set to be different to suit the situation. Equipped with different amounts of change for the two pulling wires 4.

Please refer to FIG. 8 . In other embodiments, it is possible to eliminate the length change of the pulling wire 4 by using the expansion and contraction of the pulling wire 4 itself without using an additional differential component. Optionally, the pulling wire 4 includes an elastic segment 41, and the elastic segment 41 is used to expand and contract in the axial direction. Therefore, through the expansion and contraction of the elastic section 41, the axial length change of the pulling wire 4 produced when the tube body 3 is twisted around the axis can be eliminated. In some embodiments, the elastic segment 41 may be a part of the pulling wire 4, for example, in the example shown in Figure 8, The pulling wire 4 includes a pulling wire 42 located at the distal end and an elastic section 41 located at the proximal end. The elastic section 41 can be a pre-stretched spring or a spiral spring, and the pulling wire 42 can be a non-stretchable metal wire or polymer wire. Materials etc. It can be understood that the elastic modulus of the elastic section 41 should be adapted to the pulling force of the pulling wire 4 pulling the first bending control section 31 to bend. That is, when pulling the pulling wire 4, the first bending control section 31 is controlled first. Bending, at this time the elastic segment 41 should produce a small amount of elongation or no elongation. When the tube body 3 twists around the axis, the elastic segment 41 produces significant expansion and contraction to absorb the length change of the pulling wire 4 . It can be understood that in other embodiments, the pulling wire 4 may also be entirely composed of elastic segments 41 .

Based on the bend-controlled pipe as described above, an embodiment of the present invention further provides a conveying device, which includes the bend-controlled pipe as described above.

In particular, this embodiment does not limit the above-mentioned several solutions to be used alone. In some embodiments, the above-mentioned several solutions can also be combined and applied. For example, the solution of using pulleys and elastic segments at the same time is not limited by the present invention. In addition, this embodiment does not limit the tube body 3 to only be provided with one or two pulling wires 4 and can only be bent in one direction. In an expanded embodiment, the tube body 3 can also be provided with two or more sets of pulling wires. Each group of pulling wires includes one or two pulling wires 4. Persons skilled in the art should be able to understand based on the above description combined with common knowledge in the art, and the description will not be further elaborated here.

To sum up, in the bending control pipe and conveying device provided by the present invention, the bending control pipe includes: a pipe body, a pulling wire and a first driving member; the pipe body includes a first bending control section and a a twist control section at the proximal end of the first bending control section; the distal end of the pulling wire is connected to the first bending control section, and the proximal end of the pulling wire is connected to the first driving member; the first driving The first bending control section is driven by the pull wire to bend; the pull wire also expands and contracts in the axial direction relative to the first driving member to adapt to the torsion of the torsion control section. With such a configuration, the axial length change of the pulling wire produced when the pipe body is twisted around the axis can be eliminated by the axial expansion and contraction of the pulling wire relative to the first driving member, effectively improving the torsion control performance of the bending pipe and being able to adapt to Controlled bending and twisting in different planes.

It should be noted that the above-mentioned embodiments can be combined with each other. The above description is only a description of the preferred embodiments of the present invention, and does not limit the scope of the present invention in any way. Any changes or modifications made by those of ordinary skill in the field of the present invention based on the above disclosure shall fall within the scope of the claims.

Claims

A controlled bending pipe, characterized in that it includes: a pipe body, a pulling wire and a first driving part;

The pipe body includes a first bending control section and a twist control section located at the proximal end of the first bending control section;

The distal end of the pulling wire is connected to the first bending control section, and the proximal end of the pulling wire is connected to the first driving member; the first driving member drives the first control member through the pulling wire. The bend section is bent;

The pulling wire also telescopes or moves in the axial direction relative to the first driving member to adapt to the twisting of the twisting section.
The bending control pipe according to claim 1, characterized in that the bending control pipe includes at least one pulling wire group, and one pulling wire group includes two pulling wires, and the two pulling wires are and move along the axial direction of the tube body under the traction of the first driving member to drive the first bending control section to bend;

The two pulling wires in the pulling wire group are also used to telescope or move in opposite directions along the axial direction relative to the first driving member, so as to adapt to the twist control section surrounding itself when bending. Axis twist.
The bend control pipe according to claim 2, characterized in that the bend control pipe further includes: a differential assembly;

The differential component is provided on the first driving member;

The two pulling wires in the pulling wire group are respectively connected to the differential assembly; the differential assembly is used to rotate around its own axis to adapt to the expansion and contraction of the two pulling wires in opposite directions or move.
The bend-controlled pipe according to claim 3, wherein the differential assembly includes: a pulley;

The axis of the differential assembly coincides with the axis of the pulley; the axis of the pulley is perpendicular to the axial direction of the tube body;

Two of the traction wires in the traction wire group are respectively wound around the pulleys in opposite directions; when the two traction wires move in opposite directions, the pulley rotates, and one of the traction wires rotates. Coiled on the pulley, the other traction wire is unwound from the pulley to realize the expansion and contraction of the two traction wires in opposite directions.
The bend-controlled pipe according to claim 3, wherein the differential assembly includes: a pulley;

The axis of the differential assembly coincides with the axis of the pulley; the axis of the pulley is perpendicular to the axial direction of the tube body;

The two traction wires in the traction wire group are respectively fixed on both sides of the pulley along the radial direction of the pulley; when the two traction wires move in opposite directions, the pulleys rotate accordingly to Adapt to the movement of the pulling wire.
The bend control pipe according to claim 4, characterized in that the proximal ends of the two pulling wires in the pulling wire group are wound around the pulley and then connected.
The bending control pipe according to claim 2, wherein the differential assembly includes: a two-way screw and two nuts; the axis of the differential assembly coincides with the axis of the two-way screw;

The two-way screw has two threaded sections with opposite spiral directions; two nuts are respectively sleeved on the two threaded sections, and the rotation of the two-way screw can be converted into two nuts along the Axial movement of the two-way screw;

The two pulling wires in the pulling wire group are respectively connected to the two nuts.
The bending control pipe according to claim 2, characterized in that, in the pulling wire group, at the connection between the two pulling wires and the first bending control section, the two pulling wires are connected to the first bending control section. The central angle of the axis of the first control bending section is not greater than 90°.
The bend control pipe according to claim 2, characterized in that, at the proximal end of the twist control section, the central angle between the two pull wires in the pull wire group and the axis of the twist control section is Not less than 90°.
The bending control pipe according to claim 9, characterized in that, at the proximal end of the twist control section, the central angle between the two pull wires in the pull wire group and the axis of the twist control section is is 180°.
The bending control pipe according to claim 10, characterized in that, in the entire twisting control section, the central angle between the two pulling wires in the pulling wire group and the axis of the twisting section is maintained. 180°.
The bending control pipe according to claim 2, characterized in that two of the pulling wire groups The pulling wires are arranged symmetrically with respect to the bending plane of the first bending control section.
The bending control pipe according to claim 1, characterized in that the pulling wire includes an elastic section, and the elastic section is used to expand and contract in the axial direction.
The bend-control pipe according to claim 1, wherein the bend-control pipe further includes an outer tube and a second driving member that are sleeved outside the pipe body, and the outer tube includes a second bend-control section; The axial position of the second bending control section corresponds to the torsion control section, and the second driving member is used to drive the second bending control section to bend, so as to drive the torsion control section to bend.
A conveying device, characterized by comprising the bend control pipe according to any one of claims 1 to 14.