WO2024008057A1 - Tube à commande de flexion et dispositif d'administration - Google Patents

Tube à commande de flexion et dispositif d'administration Download PDF

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Publication number
WO2024008057A1
WO2024008057A1 PCT/CN2023/105652 CN2023105652W WO2024008057A1 WO 2024008057 A1 WO2024008057 A1 WO 2024008057A1 CN 2023105652 W CN2023105652 W CN 2023105652W WO 2024008057 A1 WO2024008057 A1 WO 2024008057A1
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WO
WIPO (PCT)
Prior art keywords
bending
control section
pulling
wires
pulley
Prior art date
Application number
PCT/CN2023/105652
Other languages
English (en)
Chinese (zh)
Inventor
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 (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 上海微创心通医疗科技有限公司 filed Critical 上海微创心通医疗科技有限公司
Publication of WO2024008057A1 publication Critical patent/WO2024008057A1/fr

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Classifications

    • 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
    • A61F2/02—Prostheses implantable into the body
    • A61F2/24—Heart valves ; Vascular valves, e.g. venous valves; Heart implants, e.g. passive devices for improving the function of the native valve or the heart muscle; Transmyocardial revascularisation [TMR] devices; Valves implantable in the body
    • A61F2/2427—Devices for manipulating or deploying heart valves during implantation
    • A61F2/2436—Deployment by retracting a sheath
    • 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
    • A61F2/02—Prostheses implantable into the body
    • A61F2/24—Heart valves ; Vascular valves, e.g. venous valves; Heart implants, e.g. passive devices for improving the function of the native valve or the heart muscle; Transmyocardial revascularisation [TMR] devices; Valves implantable in the body
    • 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
    • A61F2/02—Prostheses implantable into the body
    • A61F2/24—Heart valves ; Vascular valves, e.g. venous valves; Heart implants, e.g. passive devices for improving the function of the native valve or the heart muscle; Transmyocardial revascularisation [TMR] devices; Valves implantable in the body
    • A61F2/2427—Devices for manipulating or deploying heart valves during implantation
    • A61F2/2439—Expansion controlled by filaments

Definitions

  • the invention relates to the technical field of medical devices, and in particular to a bending control tube and a delivery device.
  • 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.
  • Minimally invasive interventional therapy has the advantages of no need for thoracotomy, minimal trauma, and rapid patient recovery, and has attracted widespread attention from experts and institutions.
  • 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.
  • the delivery system must be positioned coaxially with the native valve, and the delivery tube needs to be bent on different planes.
  • the performance of conventional conveying pipes is acceptable because there is no torsion when bending on a plane.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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;
  • 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 proximal ends of the two pulling wires in the pulling wire group are wound around the pulley and then connected.
  • 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.
  • the central angle of the axis of the two pulling wires and the first bending control section is Not greater than 90°.
  • the central angle between the two pull wires and the axis of the twist control section is not less than 90°.
  • the central angle between the two pull wires in the pull wire group and the axis of the twist control section is 180°. .
  • the central angle between the two pull wires in the pull wire group and the axis of the twist control section remains 180°.
  • the two pulling wires in the pulling wire group are symmetrically arranged with respect to the bending plane of the first bending control section.
  • the pulling wire includes an elastic segment, and the elastic segment is used to expand and contract in the axial direction.
  • 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.
  • the present invention also provides a conveying device, which includes the bend control pipe as described above.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • proximal end refers to the position of the component closer to the control end of the bending tube extending outside the body
  • 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.
  • proximal and distal are defined herein with respect to an operator such as a surgeon or clinician.
  • proximal refers to the location of the element closer to the operator
  • distal refers to the location of the element closer to the bending tube and therefore farther from the operator.
  • 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.
  • the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
  • 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.
  • FIGS. 1 and 2 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 .
  • an inner tube control bending wire 12 is provided inside the inner tube 1 .
  • 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.
  • the inner control bending wire 12 is arranged on one side of the wall of the inner tube 1.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • the tube body 3 is configured as an inner tube
  • the tube body 3 is not limited to the inner tube 1 or the outer tube 2 as mentioned above.
  • the pipe body 3 can also be used as a middle-layer pipe, and the present invention is not limited to this.
  • 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.
  • 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 .
  • 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 32 is curved.
  • 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.
  • the pulling wire 4 may need to be extended or shortened depending on the bending direction of the torsion control section 32.
  • 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.
  • 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.
  • 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.
  • 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.
  • the central angle between the two pull wires 4 in the pull wire group and the axis of the twist control section 32 is ⁇ is not less than 90°.
  • the central angle ⁇ 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 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 .
  • 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 ).
  • the central angle ⁇ 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.
  • the central angle ⁇ 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.
  • 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.
  • 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 .
  • 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.
  • 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.
  • 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 .
  • the two traction wires 4 can actually be the same wire formed in one piece.
  • the pulley 6 rotates clockwise
  • 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 .
  • 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.
  • 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.
  • 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 .
  • the fixed connection between the traction wire 4 and the pulley 6 may be welded or glued.
  • 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.
  • 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.
  • 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.
  • pulleys 6 of different diameters can be used to coil or fix two different traction wires 4 respectively.
  • the length change of the pulling wire 4 can also be resolved through the pulley 6 .
  • the proximal end of the pulling wire 4 is coiled or fixed on the pulley 6.
  • 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 .
  • 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.
  • 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.
  • the pulley 6 can also be rotated actively driven by the operator to adapt to the expansion and contraction of the traction wire 4.
  • 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°.
  • 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.
  • 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 .
  • 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.
  • 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 .
  • 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.
  • 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 .
  • 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.
  • 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 .
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 .
  • an embodiment of the present invention further provides a conveying device, which includes the bend-controlled pipe as described above.
  • 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.
  • the solution of using pulleys and elastic segments at the same time is not limited by the present invention.
  • 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.
  • 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.
  • 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.

Landscapes

  • Health & Medical Sciences (AREA)
  • Cardiology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Transplantation (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Vascular Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)
  • Endoscopes (AREA)

Abstract

L'invention concerne un tube à commande de flexion et un dispositif d'administration. Le tube à commande de flexion comprend : un corps de tube (3), un fil de traction (4) et un premier élément d'entraînement (5). Le corps de tube (3) comprend une première section de commande de flexion (31) et une section de commande de torsion (32) située à une extrémité proximale de la première section de commande de flexion (31). Une extrémité distale du fil de traction (4) est reliée à la première section de commande de flexion (31). Une extrémité proximale du fil de traction (4) est reliée au premier élément d'entraînement (5). Le premier élément d'entraînement (5) entraîne la première section de commande de flexion (31) à se courber par l'intermédiaire du fil de traction (4). Le fil de traction (4) est également étirable dans une direction axiale par rapport au premier élément d'entraînement (5) de façon à s'adapter à la torsion de la section de commande de torsion (32). Selon cette configuration, l'extensibilité du fil de traction (4) dans la direction axiale par rapport au premier élément d'entraînement (5) peut éliminer le changement de longueur axiale du fil de traction (4) lorsque le corps de tube (3) est torsadé autour de l'axe, ce qui permet d'améliorer efficacement les performances de commande de torsion du tube de commande de flexion et d'adapter la commande de flexion et la torsion dans divers plans.
PCT/CN2023/105652 2022-07-05 2023-07-04 Tube à commande de flexion et dispositif d'administration WO2024008057A1 (fr)

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CN202210794355.7A CN117379229A (zh) 2022-07-05 2022-07-05 控弯管及输送装置
CN202210794355.7 2022-07-05

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0605796A2 (fr) * 1992-12-04 1994-07-13 C.R. Bard, Inc. Catheter avec commande distale et proximale independante et activateur pour l'utilisation avec celui-ci
CN103619396A (zh) * 2011-07-12 2014-03-05 日本来富恩株式会社 导管用手柄
CN109965946A (zh) * 2017-12-28 2019-07-05 先健科技(深圳)有限公司 扩张穿刺装置、组件及医疗器械
CN111246908A (zh) * 2017-10-20 2020-06-05 爱德华兹生命科学公司 可操纵的导管
US20200324090A1 (en) * 2019-04-10 2020-10-15 W. L. Gore & Associates, Inc. Deployment system access sheath
US20200367871A1 (en) * 2019-05-22 2020-11-26 Evalve, Inc. Devices and systems for accessing and repairing a heart valve
CN113509292A (zh) * 2021-08-09 2021-10-19 宁波健世科技股份有限公司 用于输送瓣膜夹的介入系统
CN114305807A (zh) * 2022-03-10 2022-04-12 上海申淇医疗科技有限公司 一种三尖瓣修复装置

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0605796A2 (fr) * 1992-12-04 1994-07-13 C.R. Bard, Inc. Catheter avec commande distale et proximale independante et activateur pour l'utilisation avec celui-ci
CN103619396A (zh) * 2011-07-12 2014-03-05 日本来富恩株式会社 导管用手柄
CN111246908A (zh) * 2017-10-20 2020-06-05 爱德华兹生命科学公司 可操纵的导管
CN109965946A (zh) * 2017-12-28 2019-07-05 先健科技(深圳)有限公司 扩张穿刺装置、组件及医疗器械
US20200324090A1 (en) * 2019-04-10 2020-10-15 W. L. Gore & Associates, Inc. Deployment system access sheath
US20200367871A1 (en) * 2019-05-22 2020-11-26 Evalve, Inc. Devices and systems for accessing and repairing a heart valve
CN113509292A (zh) * 2021-08-09 2021-10-19 宁波健世科技股份有限公司 用于输送瓣膜夹的介入系统
CN114305807A (zh) * 2022-03-10 2022-04-12 上海申淇医疗科技有限公司 一种三尖瓣修复装置

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