WO2024041570A1

WO2024041570A1 - Delivery device and medical system

Info

Publication number: WO2024041570A1
Application number: PCT/CN2023/114444
Authority: WO
Inventors: 胡占明; 周冠冠; 李文思; 李芳�
Original assignee: 应脉医疗科技(上海)有限公司
Priority date: 2022-08-24
Filing date: 2023-08-23
Publication date: 2024-02-29

Abstract

The present invention relates to the technical field of medical instruments, and in particular, to a delivery device and a medical system. The delivery device comprises: a base (100); a sheath assembly (200) arranged on the base (100), comprising a bend-adjustable sheath (210), wherein the proximal end of the bend-adjustable sheath (210) is fixed to the base (100), and the distal end of the bend-adjustable sheath (210) is provided with a bendable portion (211); a bend-adjustment control assembly (300) arranged on the base (100), configured for controlling the bend of the bendable portion (211); and a sound alarm assembly (400), comprising a fluctuation member (410) and an irregular member (420). When the bendable portion (211) approaches a preset angle, the fluctuation member (410) is in contact with the irregular member (420) and makes an alarming sound, such that an operator can accurately determine the bend of the bendable portion (211), ensuring the normal operation of the delivery device, improving the safety of use, and preventing medical accidents.

Description

Delivery equipment and medical systems

Cross-references to related applications

This application is filed based on the Chinese patent application with application number "202211024156.4" with a filing date of August 24, 2022 and the Chinese patent application with application number "202222240440.7" with a filing date of August 24, 2022, and requires these Chinese Priority rights of patent applications, the entire contents of these Chinese patent applications are hereby incorporated into this application by introduction.

Technical field

The embodiments of the present application relate to the technical field of medical devices, and in particular to a delivery device and a medical system.

Background technique

Heart blood flows from the atria to the ventricles, and the valves between the atria and ventricles prevent blood from flowing back. However, these valves may fail or decay due to congenital and acquired factors. For example, the valve between the left atrium and left ventricle is called the mitral valve. When the mitral valve fails to work properly, blood from the left ventricle can flow back into the left atrium during systole, which is called mitral regurgitation.

The disease is generally treated surgically. One procedure involves suturing parts of the mitral valve leaflets directly to each other (called an "Alfieri" suture), which is extremely difficult and prone to many complications. At present, transseptal technology and related devices have been developed to treat this type of disease through minimally invasive intervention. Specifically, the transseptal technique involves inserting a catheter into the right femoral vein, up the inferior vena cava, and into the right atrium, and then passing the catheter through the right interatrial septum into the left atrium. With this technique, a leaflet clip is delivered to the heart and clamped onto the coapting edges of the mitral valve leaflets and holds them together to simulate the "Alfieri" suture.

Currently, this type of device has become more and more popular at home and abroad. The most typical product is Abbott's MitraClip (mitral valve clip). The delivery equipment includes an adjustable bending sheath tube, a bending control device, etc. The operator adjusts the different bending angles of the end of the adjustable bending sheath tube by operating the adjustment handle to deliver the leaflet clip to the appropriate position in the heart.

However, during implantation surgery, the degree of bending of the end of the adjustable sheath tube in existing delivery equipment needs to be judged by ultrasound, X-ray and other imaging means, and imaging means is used to determine whether the bending angle of the end of the adjustable sheath tube has been It is not accurate and reliable enough to reach the extreme position. Therefore, the operator may use excessive force when rotating the adjustment handle, which may cause the sheath control wire to break and cause a medical accident.

Contents of the invention

Embodiments of the present application provide a delivery device and a medical system that allow the operator to accurately determine the degree of bending of the bendable portion, ensure the normal use of the delivery device, improve the safety of the delivery device, and prevent medical accidents.

In order to achieve one or more of the above objects, embodiments of the present application provide a conveying device, including:

Base; a sheath assembly provided on the base. The sheath assembly includes an adjustable and bendable sheath. The proximal end of the adjustable and bendable sheath is fixed on the base. The adjustable and bendable sheath is fixed on the base. The distal end of the sheath is provided with a bendable portion; a bending control component provided on the base, the bending control component is used to control the bending of the bendable portion; and a sound warning component, the sound warning component It includes a undulating member and a reducing member. When the bendable part approaches a preset angle, the undulating member contacts the reducing member to emit a warning sound.

Embodiments of the present application also provide a medical system, including an implant prosthesis and a delivery device as described in the first aspect, the implant prosthesis is detachably connected to the bendable part, or the implant The prosthesis is carried on the flexible part.

Embodiments of the present application also provide a medical system, including an actuator and the delivery device as described in the first aspect, the actuator being connected to the bendable portion.

Compared with the prior art, the delivery equipment provided by the embodiment of the present application includes a base, a sheath assembly disposed on the base, a bending control assembly and an audio warning assembly, wherein the sheath assembly includes an adjustable bending The proximal end of the adjustable and bendable sheath is fixed on the base, the distal end of the adjustable and bendable sheath is provided with a bendable part, the bending control component is used to control the bending of the bendable part, and the sound warning component includes a wave component and a The reducing member, when the bendable part approaches the preset angle under the control of the bending control component, the undulating member contacts the reducing member to emit a warning sound. In this way, the operator can accurately judge the bending degree of the bendable part by using the warning sound information (for example, the presence or absence of the sound, the size, the frequency of the sound, etc.) emitted by the sound warning component, ensuring the normal use of the conveying equipment, and improving the efficiency of the conveying equipment. Safety to prevent medical accidents.

Description of drawings

One or more embodiments are exemplified by the pictures in the corresponding drawings. These exemplary illustrations do not constitute limitations to the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the figures in the drawings are not intended to be limited to scale.

Figure 1 is a cross-sectional view of the overall structure of the conveying equipment according to one embodiment of the present application;

Figure 2 is an enlarged schematic view of the proximal end of the delivery device shown in Figure 1;

Figure 3 is a schematic diagram of the cooperation between the undulating member and the reducing member in the sound warning assembly when the bendable part is not bent according to an embodiment of the present application;

Figure 4 is a schematic diagram of the cooperation between the wave column and the reducing member in the sound warning assembly when the bendable portion is bent according to an embodiment of the present application;

Figure 5 is a schematic structural diagram of a wave member in the sound warning assembly according to an embodiment of the present application;

Figure 6 is a schematic structural diagram of another wave member in the sound warning assembly according to an embodiment of the present application;

Figure 7 is a schematic structural diagram of another wave member in the sound warning assembly according to an embodiment of the present application;

Figure 8 is a schematic structural diagram of a diameter reducing member in the sound warning assembly according to an embodiment of the present application;

Figure 9 is a schematic structural diagram of another reducing part in the sound warning assembly according to an embodiment of the present application;

Figure 10 is a schematic structural diagram of another reducing part in the sound warning assembly according to an embodiment of the present application;

Figure 11 is a schematic structural diagram of a housing of a conveying device according to an embodiment of the present application;

Figure 12 is a schematic structural diagram of the diameter reducing member in the sound warning assembly according to one embodiment of the present application being arranged on the housing;

Figure 13 is a schematic structural diagram of the sound warning component and the bending control component of another embodiment of the present application;

Figure 14 is a schematic structural diagram of the sound warning component in Figure 13 after its position has been changed;

Figure 15 is a schematic structural diagram of the sound warning component and the bending control component of another embodiment of the present application;

Figure 16 is a schematic structural diagram of the sound warning component in Figure 15 after its position has been changed;

Figure 17 is a schematic diagram of a medical system according to an embodiment of the present application;

Figure 18 is a schematic diagram of a medical system according to an embodiment of the present application.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, each embodiment of the present application will be described in detail below with reference to the accompanying drawings. However, those of ordinary skill in the art can understand that in each embodiment of the present application, many technical details are provided to enable readers to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solution claimed in this application can also be implemented.

In the embodiment of this application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle" ”, “vertical”, “horizontal”, “horizontal”, “longitudinal”, etc. indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the drawings. These terms are mainly used to better describe the present application and its embodiments and are not intended to limit the indicated device, element or component to having a specific orientation, or to be constructed and operated in a specific orientation.

Moreover, some of the above terms may also be used to express other meanings in addition to indicating orientation or positional relationships. For example, the term "upper" may also be used to express a certain dependence relationship or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to specific circumstances.

In addition, the terms "installed", "set up", "provided", "established", "connected" and "connected" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or between two devices, components or components. internal connectivity. For those of ordinary skill in the art, the above terms in this application can be understood according to the specific circumstances. specific meaning.

In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, components or components (the specific types and structures may be the same or different), and are not used to indicate or imply that the indicated devices, components or the relative importance and number of components. Unless otherwise stated, "plurality" means two or more.

The following is a detailed description of the implementation details of the conveying equipment according to an embodiment of the present application. The following content is only provided for the convenience of understanding and is not necessary for the implementation of this solution.

The delivery equipment provided by one embodiment of the present application, as shown in Figures 1 to 4, includes: a base 100, a sheath assembly 200 provided on the base 100, a bending control assembly 300 and an audio warning assembly 400, wherein, The sheath assembly 200 includes an adjustable and bendable sheath 210. The proximal end of the adjustable and bendable sheath 210 is fixed on the base 100. The distal end of the adjustable and bendable sheath 210 is provided with a bendable portion 211. The bending control assembly 300 is In order to control the bending of the bendable part 211, the sound warning component 400 includes a undulating member 410 and a reducing member 420. When the bendable part 211 approaches the preset angle under the control of the bending control component 300, the undulating member 410 and the reducing member 420 Touch to make a warning sound.

Compared with related technologies, this embodiment uses the warning sound information emitted by the sound warning component, so that the operator can accurately determine the degree of bending of the flexible part 211 in the body without relying on diagnostic equipment such as CT and X-ray, ensuring that the delivery equipment Normal use improves the safety of transportation equipment and prevents medical accidents.

This embodiment has no special restrictions on the "preset angle". It can be the maximum bending angle reached by the bendable portion when the bendable portion is bent or the control wire is stressed to the physical limit, or it can be the product of the maximum bending angle and the safety factor, that is, the maximum The safety angle is either the angle corresponding to the limit of the surgical operation or the angle corresponding to the specific purpose.

In some embodiments, the sheath assembly 200 includes a proximal end and a distal end, and the adjustable-bend sheath 210 extends from the proximal end of the sheath assembly 200 to the distal end of the sheath assembly 200 and forms an adjustable-bend sheath axis. The proximal end of the adjustable and curved sheath 210 can be rigid to provide support, and the proximal end of the adjustable and curved sheath 210 can be flexible to improve compliance and facilitate the entry of the adjustable and curved sheath 210 into the natural orifice of the human body. When reaching the target position of the human body, the proximal end of the adjustable bending sheath 210 can also be partially rigid and partially flexible along the axial direction, thus providing sufficient support while extending along the natural orifice of the human body.

Further, the bendable portion 211 is provided at the distal end of the adjustable bending sheath 210, and the bendable portion 211 can be deflected relative to the axis of the adjustable bending sheath, so that the prosthesis can be detachably connected to or carried by the bending portion 211, or Connected actuators allow for more precise movement or placement. In this embodiment, the specific structure of the bendable portion 211 is not particularly limited, as long as the bendable portion 211 can meet actual needs. For example, the bendable part 211 may be a tube made of elastic material; for another example, the bendable part 211 may be a mechanical structure with multiple bending degrees of freedom, such as a Hooke hinge or a universal joint; for another example, the bendable part 211 It can also have a bent structure such as a hypotube structure or a corrugated tube structure. In some embodiments, as shown in FIG. 1 , the bendable portion 211 may bend upward and/or downward. In some other embodiments, the bendable portion 211 may bend to the left and/or right (ie, perpendicular to the direction of the paper of FIG. 1 ). In other embodiments, the bendable portion 211 may be bent in other directions.

Further, the proximal end of the adjustable and bendable sheath 210 in the sheath assembly 200 is fixed to the base 100 . Specifically, the base 100 is provided with an axial through hole for accommodating the adjustable bending sheath 210 . The adjustable bending sheath 210 passes through the axial through hole and is fixedly connected to the base 100 . In some embodiments, the sheath assembly 200 further includes a sheath mounting seat, which is used to connect the adjustable bending sheath 210 and the base 100 , that is, the sheath mounting seat is accommodated in the base 100 and is connected to the base 100 . 100 are fastened with screws, and the sheath tube mounting seat is set on the adjustable bending sheath tube 210 and fixed and bonded with medical glue. The material of the adjustable bending sheath 210 is relatively soft. If there is no sheath mounting seat, directly tightening the screws on the adjustable bending sheath 210 will cause the adjustable bending sheath 210 to deform. In other embodiments, the adjustable bending sheath 210 can also be bonded and fixed with the axial through hole through medical glue.

In this embodiment, the bending control component 300 is used to control the bending or reset of the bendable portion 211 .

Further, the bending control assembly 300 includes a rotating shaft 310 and a control wire 320 . The rotating shaft 310 is rotatably disposed on the base 100. The axis of the rotating shaft 310 is perpendicular to the axis of the adjustable bending sheath 210, and the rotating shaft 310 and the adjustable bending sheath 210 are arranged in a staggered manner. The distal end of the control wire 320 is connected to the bendable part 211 of the adjustable bending sheath 210, and the proximal end of the control wire 320 is connected to the rotating shaft 310 to drive the bendable part to bend or reset under the driving of the rotating shaft 310. In some embodiments, the axis of the rotating shaft 310 is parallel to or located in a plane defined by the bending of the bendable portion 211 of the adjustable bending sheath 210 . For example, as shown in FIG. 1 , the plane formed by bending the bendable portion 211 is coplanar with the paper surface, and the axis of the rotating shaft 310 is also located on the paper surface.

In other alternative embodiments, the bending control assembly 300 may also use other structures to drive the bendable portion to bend or reset. For example, this is achieved by driving the gear set and connecting rod structure (such as a parallelogram structure) through the rotating shaft 310 . These solutions are within the protection scope of this application.

Further, please refer to FIG. 2 together. The bending control assembly 300 also includes a wire winding wheel 330. The wire winding wheel 330 is fixedly sleeved on the rotating shaft 310. One end of the control wire 320 is fixedly connected to the bendable portion of the adjustable bending sheath 210. 211. The other end of the control wire 320 is wound on the wire winding wheel 330. When the wire winding wheel 330 is rotated, the wire winding wheel 330 winds the control wire 320 or releases the control wire 320, thereby driving the bendable portion 211 of the wire winding wheel 330 to bend or reset.

Furthermore, the wire winding wheel 330 is provided with a receiving groove along its circumferential direction, and the control wire 320 wound on the wire winding wheel 330 is located in the receiving groove. In this way, the accommodating groove plays a role in limiting the control wire 320, preventing the control wire 320 from breaking away from the wire winding wheel 330 and causing the conveying equipment to fail.

Please refer to Figure 2 again. Specifically, the control wire 320 includes a first control wire 321 and a second control wire 322. The first control wire 321 is used to control the bendable portion 211 to bend toward the first direction, and the second control wire 322 is used to control the bendable portion 211 to bend in the first direction. When the bendable portion 211 is controlled to bend in the second direction, the first direction is opposite to the second direction. In Figure 2, the first direction is upward and the second direction is downward. The wire winding wheel 330 includes a first wire winding wheel 331 and a second wire winding wheel 332 arranged axially symmetrically along the axis of the adjustable bending sheath 210. The first control wire 321 is wound around the first wire winding wheel 331 along the third direction. The second control wire 322 is wound around the second wire winding wheel 332 in a fourth direction, and the third direction is opposite to the fourth direction. In this way, when the rotating shaft 310 is rotated in the third direction, the first wire winding wheel 331 rotates to tighten the first control wire 321, the second wire winding wheel 332 releases the second control wire 322, and the bendable portion 211 bends toward the first direction; when the rotating shaft 310 is rotated along the fourth direction, the first wire winding wheel 331 retracts The first control wire 321 is tightened, the second wire winding wheel 332 releases the second control wire 322, and the bendable portion 211 is bent in the second direction, and the changes in the first control wire 321 and the second control wire 322 are equivalent, which can improve The bending control component 300 controls the bending angle of the bendable portion 211 with precision.

It can be understood that the first wire winding wheel 331 is provided with a first accommodation groove 331a, the first control wire 321 wound on the first wire winding wheel 331 is located in the first accommodation groove 331a, and the second wire winding wheel 332 is provided with a first accommodation groove 331a. A second receiving groove 332a is provided, and the second control wire 322 wound on the second wire winding wheel 332 is located in the second receiving groove 332a.

Correspondingly, the adjustable bending sheath 210 is provided with a first control wire channel and a second control wire channel symmetrically arranged along the axial direction for accommodating the first control wire 321 and the second control wire 322 respectively. The near end of 210 is provided with a first window and a second window. The distal end of the first control wire 321 extends proximally from the flexible portion 211 connected thereto along the first control wire channel, passes out of the first window, and is wound around the first wire winding wheel 331 . Similarly, the distal end of the second control wire 322 extends proximally from the flexible portion 211 connected thereto along the second control wire channel, passes out of the second window, and is wound around the second wire winding wheel 332 . In some embodiments, the first control wire channel and the second control wire channel are located in a plane defined by the bending of the bendable portion 211 .

In this embodiment, when the bending control component 300 controls the bending of the bendable portion 211, the bending control component 300 also drives the relative movement between the undulating member 410 and the reducing member 420. In this way, it can be ensured that the motion between the undulating member 410 and the reducing member 420 is correlated with the bending of the bendable portion 211, ensuring that when the bendable portion 211 approaches the preset angle, there is no movement between the undulating member 410 and the reducing member 420. The warning sound sounds to remind the operator. In some embodiments, the bending control assembly 300 drives the undulating member 410 to move relative to the reducing member 420 . In other embodiments, the bending control assembly 300 drives the reducing member 420 to move relative to the undulating member 410 .

Please refer to Figures 5-7 together. In some embodiments, the undulating member 410 includes a undulating column 411, the reducing member 420 includes a reducing portion 421, and the undulating column 411 and the reducing portion 421 are configured to operate when the bendable portion When the bending angle of 211 is not close to the preset angle, the wave column 411 is adjacent to the variable diameter part 421. When the bendable part 211 is close to the preset angle, the wave column 411 and the variable diameter part 421 Touch to make a warning sound.

Further, with reference to Figure 8, the undulating member 410 also includes an elastic connecting portion 412. The reducing portion 421 includes a body portion 421a and a protruding portion 421b. There are multiple protruding portions 421b, which are sequentially provided on the body portion 421a, and the body portion 421a. The portion 421a can be adjacent to the wave column 411, and the protruding portion 421b can be in contact with the wave column 411. When the wave column 411 abuts a protruding portion 421b, with the relative movement between the wave member 410 and the reducing member 420, the connecting portion 412 deforms so that the wave column 411 passes over the protruding portion 421b and restores its shape at the connecting portion 412 At this time, the wave column 411 contacts the other protruding portion 421b and emits a warning sound.

Please refer to Figure 5 again. The connecting portion 412 is in the shape of a straight rod. In this way, the warning sound can be made clearer during rotation.

Please refer to FIG. 6 again, the connecting portion 412 can also be horn-shaped, and its tip is connected to the wave column 411.

Please refer to Figure 7 again. The connecting part 412 includes a connecting part main body 412a and an extending part 412b. One end of the extending part 412b is connected to the connecting part main body 412a, and the other end is connected to the wave column 411. The extending part 412b at least partially surrounds the connecting part main body 412a. There is a gap 412c between the connecting portion body 412a and the extension portion 412b. Wherein, at least the extension portion 412b is made of elastic material. In this way, the extension portion 412b can squeeze the gap 412c closer to the connecting portion main body 412a under the action of external force, and restore the shape after the force is removed. In some embodiments, the connecting portion 412 is configured as a whole in a disk-like shape, that is, the outer edge of the connecting portion body 412a is arc-shaped, and the outer edge of the extension portion 412b is also arc-shaped, and the two can be spliced to form Roughly round in shape.

In some embodiments, the bending control assembly 300 drives the undulating member 410 and the reducing member 420 to rotate relative to each other. At this time, the body portion 421a of the reducing portion 421 of the reducing member 420 has an arc shape. In this way, when the bending control assembly 300 drives the bendable portion 211 to bend, it directly drives the relative rotation between the wave member 410 and the reducing member 420, simplifying the structure and more accurately reflecting the bending amplitude of the bendable portion 211.

Please refer to FIG. 3-11 . The bending control assembly 300 drives the undulating member 410 to rotate relative to the reducing member 420 , and the reducing member 420 remains stationary relative to the base 100 . In this way, it is prevented that force is applied to the reducing member 420 during the rotation of the undulating member 410 so that the reducing member 420 is displaced, and when the bendable portion 211 approaches the preset angle, the reducing member 420 is displaced and causes the undulating member 410 and the reducing member to be displaced. The corresponding relationship between the interaction of the member 420 and the bending angle of the bendable portion 211 is misaligned, so that the operator cannot be accurately warned.

Please refer to Figures 5-7 again. The undulating member 410 also includes a fixed part 413. The fixed part 413 is fixedly sleeved on the rotating shaft 310. The connecting part 412 is connected to the fixed part 413. When the rotating shaft 310 rotates, the fixed part 413 is driven to rotate, thereby driving the connection. The portion 412 and the wave column 411 move relative to the reducing portion 421, thereby emitting a warning sound.

Furthermore, the length of the wave column 411 and/or the fixed part 413 in the axial direction of the rotating shaft 310 is greater than the length of the connecting part 412 in the axial direction of the rotating shaft 310 . That is, the length of the wave column 411 in the axial direction of the rotating shaft 310 is greater than the length of the connecting portion 412 in the axial direction of the rotating shaft 310 , or the length of the fixed portion 413 in the axial direction of the rotating shaft 310 is greater than the length of the connecting portion 412 in the axial direction of the rotating shaft 310 . The length, or the length of the wave column 411 and the fixed part 413 in the axial direction of the rotating shaft 310 is greater than the length of the connecting part 412 in the axial direction of the rotating shaft 310 .

Furthermore, the length of the wave column 411 and the fixed part 413 in the axial direction of the rotating shaft 310 is greater than the length of the connecting part 412 in the axial direction of the rotating shaft 310 . In this way, it can be ensured that the wave column 411 is firmly connected to the rotating shaft 310, and when the bending control assembly 300 drives the wave member 410 to rotate, it can be ensured that the fixed part 413 can effectively interact with the reducing part 421, thereby emitting a warning sound.

Please refer to Figures 8-11 together. In some embodiments, the reducing member 420 is arc-shaped, the undulating member 410 is located inside the reducing member 420, and the bending control assembly 300 drives the undulating member 410 relative to the reducing member 420. Turn. As mentioned above, the reducing portion 421 It includes a body part 421a and a protruding part 421b. There are multiple protruding parts 421b and they are arranged on the body part 421a in sequence. Furthermore, the reducing member 420 further includes a smooth portion 422. The body portion 421a is connected to the smooth portion 422. Both the body portion 421a and the smooth portion 422 are arc-shaped, and the diameter of the body portion 421a is equal to the diameter of the smooth portion 422. In this way, the reducing member is circular as a whole. The body portion 421a of the reducing portion 421 can be adjacent to the wave column 411, and the protruding portion 421b can be in contact with the wave column 411. When the wave column 411 abuts a protruding portion 421b, as the wave member 410 rotates relative to the reducing member 420, the connecting portion 412 deforms so that the wave column 411 passes over the protruding portion 421b. When the connecting portion 412 recovers its shape, the wave The pillar 411 contacts the other protruding portion 421b and emits a warning sound.

It can be understood that adjacency in this embodiment means that there is a gap between the wave column 413 and the body part 421a, or that the wave column 413 slightly contacts the body part 421a and does not emit sound that causes human ears to perceive/obviously perceive it. As the undulating member 410 rotates relative to the reducing member 420, the undulating column 413 faces the smooth part 422 and the reducing part 421. When the undulating column 413 faces the smooth part 422 (if any), since the undulating column 413 is adjacent to the smooth part 422, Therefore, the two will not contact to emit a warning sound; when the wave column 413 faces the part of the reducing portion 421 that is not provided with the protruding portion 421b (if any), since the wave column 413 is adjacent to the body portion 421a, the two will not contact. to make a warning sound; when the wave column 413 faces the protruding part 421b, it first contacts a protruding part 421b, and with the relative movement between the wave member 410 and the reducing member 420, the connecting part 412 deforms to make the wave column 413 passes over the protruding part 421b, and when the connecting part 412 recovers its shape, the wave column 413 contacts the other protruding part 421b and emits a warning sound.

In some embodiments, protruding portion 421b is serrated. In this way, when the wave column 413 passes over a protruding portion 421b, the protruding portion 421b resists the wave column 413, preventing the wave column 413 from being forced to move in the opposite direction of the preset direction, that is, preventing the wave member 410 from rotating, ensuring that the bendable portion The bending of 211 is kept under control to avoid accidents. Further, the protruding portion 421b is provided in an isosceles sawtooth shape. In this way, the resistance to the rotation and gyration of the wave member 410 can be made moderate.

Please refer to FIGS. 8 to 10 again. Further, when the bendable part 211 has multiple preset angles in different directions, the reducing part 421 may include a first reducing part 421c and a second reducing part 421d. , the smooth part 422 may include a first smooth part 422a and a second smooth part 422b, wherein the first variable diameter part 421c, the first smooth part 422a, the second variable diameter part 421d and the second smooth part 422b are connected in sequence, and the first The variable diameter portion 421c and the second variable diameter portion 421d are spaced apart. When the bendable part 211 bends along the first direction and approaches the first preset angle, the wave column 413 contacts the protruding part of the first reducing part 421c to emit a warning sound; when the bendable part 211 bends along the second direction and approaches the first preset angle At the second preset angle, the wave column 413 contacts the protruding portion of the second diameter reducing portion 421d to emit a warning sound. In this way, when the bendable part 211 bends in different directions and approaches the corresponding preset angle, there is a corresponding reducing part that can interact with the wave column 413 to emit a warning sound, ensuring that the operator makes the bendable part 211 face different directions. When bending, there will be a warning sound to remind the operator to bend.

In some embodiments, the first preset angle and the second preset angle are equal. The first variable diameter portion 421c and the second variable diameter portion 421d can be configured symmetrically.

Please refer to FIG. 9 again, taking the first variable diameter part 421c as an example. When the bending control component 300 controls the bendable part 211 to rotate to a preset angle, the wave column 413 moves in the preset direction relative to the first variable diameter part 421c. , and the spacing distance between two adjacent protruding portions of the first reducing portion 421c is set to decrease along the preset direction. In this way, when the bending of the bendable portion 211 is closer to the preset angle, the frequency of interaction between the wave column 413 and the protruding portion of the first variable diameter portion 421c is higher, and the frequency of the warning sound is also higher, which can facilitate the operation. The reader clearly realizes that the bendable portion 211 is getting closer to the preset angle.

Please refer to Figure 10 again. Further, when the bending control component 300 controls the bendable portion 211 to rotate to a preset angle, the wave column 413 moves in the preset direction relative to the first reducing portion 421c, and the first reducing portion The heights of the plurality of protruding parts 421c are set incrementally along the preset direction. In this way, as the bendable portion 211 gets closer to the preset angle, the deformation amplitude of the connecting portion 412 gradually increases due to the increasing height of the protruding portion. When the wave column 413 crosses one protruding portion, the wave column 413 is connected to the other protruding portion. The collision of the protruding part becomes stronger, and the warning sound gradually increases, which can make the operator clearly aware that the bendable part 211 is getting closer to the preset angle.

Please refer to Figure 11 together. The conveying equipment also includes a housing 500, which is used to accommodate the sound warning component 400. Referring to FIG. 12 , the reducing member 420 is disposed on the inner wall of the housing 500 . In this way, the cavity formed by the housing 500 can amplify the warning sound generated when the undulating member 410 and the reducing member 420 interact, so that the operator can hear the warning sound more clearly.

It can be understood that the reducing member 420 may be integrally formed with the housing 500 , or may be prepared separately from the housing 500 and then fixed by gluing, welding, or other methods.

Please refer to FIG. 11 again. The conveying equipment is also provided with a handle 600 . The handle 600 is fixedly connected to the rotating shaft 310 and is located outside the housing 500 . In this way, when using the conveying equipment, the operator can hold the housing 500 and then rotate the first wire winding wheel 331 and the second wire winding wheel 332 by rotating the handle 600, and then use the first control wire 321 or the second control wire 322. The bendable portion 211 is driven to bend in a specific direction. It is understandable that the size of the handle 600 is generally designed to be larger. In this way, the operator exerting a small force on the handle 600 can bring about a large torque to rotate the handle 600, making the operation more labor-saving.

In other embodiments, the bending control assembly 300 drives the reducing member to rotate relative to the undulating member. Accordingly, the undulating member remains stationary relative to the base 100 . The difference from the above embodiment is that the bending control assembly 300 also includes a connecting piece, which is used to connect the rotating shaft 310 and the reducing member. The undulating member is no longer fixed to the rotating shaft 310 , but is fixed to the base 100 or the housing 500 through the fixing part, so as to remain stationary relative to the base 100 . In this way, when the rotating shaft 310 rotates, the reducing member is driven to rotate through the connecting member. The parts of the undulating element, such as the undulating column, the connecting portion and the reducing element, which are similar to those in the above embodiment will not be described again.

In other embodiments, the bending control assembly 300 drives the relative movement between the undulating member and the reducing member. At this time, the body portion of the reducing portion of the reducing member is strip-shaped. The strip-shaped reducing parts reduce the processing difficulty of the reducing parts, thus reducing the conveying equipment. The difficulty of manufacturing the equipment.

Furthermore, there are one or more reducing parts. When the bending angle of the bendable part 211 is not close to the preset angle, the wave column 413 is adjacent to the reducing part without contact. When the bendable part 211 is close to the preset angle, the wave column 413 is in contact with the reducing part to issue a warning. sound. When there are multiple reducing portions, they are arranged spaced apart from each other.

Furthermore, when the bending control component 300 controls the bendable portion 211 to rotate to a preset angle, the undulating member 410 moves in the preset direction relative to the reducing member 420, and the spacing distance between the two adjacent protruding portions 421a Decrementally set in the preset direction. When the bending control assembly 300 controls the bendable portion 211 to rotate to a preset angle, the undulating member 410 moves in the preset direction relative to the reducing member 420, and the heights of the plurality of protruding portions 421a are set incrementally along the preset direction. The relevant content will not be described again.

In some embodiments, the bending control assembly 300 can drive the reducing member 420 to move relative to the undulating member 410 .

Please refer to FIGS. 13 and 14 together. The difference from the above embodiment is that the undulating member 410 is configured to remain stationary with the base 100 (for example, fixed on the base 100 through the fixing part 413 or fixed on the housing 500 ), the reducing member 420 is configured to be movable relative to the base 100. The bending control assembly 300 also includes a gear 340 sleeved on the rotating shaft 310. The reducing member 420 and the gear 340 are meshed and connected to form a rack-and-pinion structure. , the reducing member 420 and the gear 340 are configured such that when the bendable portion 211 approaches the preset angle under the control of the bending control assembly 300, the reducing member 420 contacts the undulating member 410 driven by the gear 340 to emit a warning sound. Similarities to the above embodiments will not be described again.

Specifically, referring to Figure 13 again, the moving direction of the reducing member 420 is perpendicular to the direction of the axis of the adjustable bending sheath 210. The reducing portion 430 includes a first reducing portion 421c, a second reducing portion 421d and a first smooth portion. 422a, the first reduced diameter part 421c and the second reduced diameter part 421d are connected through the first smooth part 422a, and the main body parts of the first reduced diameter part 421c and the second reduced diameter part 421d and the first smooth part 422a form a strip 432. A rack tooth 431 is provided on the opposite side of the side where the protruding portion of the strip 432 is provided, and the rack tooth 431 is used to form a meshing relationship with the gear 340 . The undulating member 410 is disposed at the distal end of the reducing member 420, and the undulating column 411 can be adjacent to the strip 432 and can contact the protruding portion. In this way, when the rotating shaft 310 drives the bendable portion 211 to bend, through the meshing relationship between the gear 340 and the rack teeth 431, the reducing member 420 is driven to move relative to the wave member 410, and when the bendable portion 211 approaches the preset angle , the reducing member 420 contacts the undulating member 410 to emit a warning sound.

Alternatively, as shown in FIG. 14 , the difference from the embodiment shown in FIG. 13 is that the moving direction of the reducing member 420 is along the axis of the adjustable bending sheath 210 , and the undulating member 410 and the rotating shaft 310 are respectively located on the reducing member 420 . On one side of the member 420, the wave column 411 can be adjacent to the fixed plate 432 and can be in contact with the protruding portion.

In another embodiment, the bending control assembly 300 can drive the undulating member 410 to move relative to the reducing member.

Please refer to Figures 15-16 together. The difference from the above embodiment is that the wave member 410 is configured to move relative to the base 100, while the reducing member 420 is configured to remain stationary relative to the base 100; bending adjustment The control assembly 300 also includes a gear 340 sleeved on the rotating shaft 310. The undulating member 410 and the gear 340 are meshed and connected to form a rack-and-pinion structure. The member 410 and the gear 340 are configured such that when the bendable portion 211 approaches the preset angle under the control of the bending control assembly 300, the undulating member 410 is driven by the gear 340 and contacts the reducing member 420 to emit a warning sound. Similarities to the above embodiments will not be described again.

Specifically, please continue to refer to Figure 15. The moving direction of the undulating member 410 is perpendicular to the direction of the axis of the adjustable bending sheath 210. The fixed portion 413 of the undulating member 410 is in a strip shape, and is opposite to the side connected to the connecting portion 412. The other side is provided with rack teeth 431 for forming a meshing relationship with the gear 340 . The reducing member 420 is arranged perpendicular to the axis of the adjustable bending sheath 210 and includes a first reducing portion 421c and a second reducing portion 421d. The first reducing portion 421c and the second reducing portion 421d are coaxially arranged. In some embodiments, the first reduced diameter portion 421c and the second reduced diameter portion 421d are connected by the first smooth portion 422a. The reducing member 420 is disposed at the distal end of the undulating member 410, and the undulating column 411 may be adjacent to the main body part and may contact the protruding part. In this way, when the rotating shaft 310 drives the bendable portion 211 to bend, through the meshing relationship between the gear 340 and the rack teeth 431, the undulating member 410 is driven to move relative to the reducing member 420, and when the bendable portion 211 approaches the preset angle , the undulating member 410 contacts the reducing member 420 to emit a warning sound.

As shown in Figure 16, the difference from the embodiment shown in Figure 15 is that the moving direction of the wave member 410 is along the axis of the adjustable bending sheath 210, and the reducing member 420 is also along the direction of the axis of the adjustable bending sheath 210. Disposed, and the rotating shaft 310 is respectively located on one side of the undulating member 410, the undulating column 411 can be adjacent to the fixed plate 432, and can be in contact with the protruding portion. It can be understood that the positions of the undulating member 410 and the reducing member 420 relative to the gear 340 can also be adjusted accordingly. Therefore, the positions of the undulating member 410 and the reducing member 420 are not specifically limited, as long as the rotating shaft 310 is rotated so that the gear 340 can drive the undulating member 410 to move relative to the reducing member 420 and emit a warning sound.

One embodiment of the present application provides a medical system, as shown in Figure 17, including an implanted prosthesis 700 and the above-mentioned delivery device. The implanted prosthesis 700 is detachably connected to the bendable portion 211, or the implanted prosthesis 700 700 is carried on the bendable part 211.

Compared with the prior art, this embodiment uses the above-mentioned delivery device to detachably connect or carry the implanted prosthesis 700. When the handle 600 is rotated to transport the implanted prosthesis 700 to the desired position, if the bendable portion 211 is close to the preset position, angle, the sound warning component 400 emits a warning sound to remind the operator. In this way, the operator can accurately determine the bending degree of the flexible portion 211 without relying on diagnostic equipment such as CT and X-ray, ensuring that the transportation equipment is used within the normal range, improving the safety of the transportation equipment, and preventing medical accidents.

It can be understood that this embodiment does not specifically limit the specific type of implanted prosthesis 700 . For example, the implanted prosthesis 700 may be a valve clip, an artificial valve prosthesis for treating valve regurgitation, a left atrial appendage occluder for preventing possible thromboembolism formed in the left atrial appendage, or a vascular stent for treating vascular stenosis. wait. The valve clamp and the left atrial appendage occluder can be threadedly connected to the flexible part 211. The artificial valve prosthesis and vascular stent can be compressed and mounted on the flexible part 211.

The usage method of the medical system provided by this embodiment is as follows:

Taking the implanted prosthesis as a mitral valve clip as an example, the operator detachably connects the mitral valve clip to the flexible part 211, and then The operator then holds the housing 500 and moves the mitral valve clamp toward the desired position. When the mitral valve clamp reaches near the atrioventricular orifice, the operator then rotates the handle 600. At this time, the wire wheel rotates and the wave member 410 also changes in diameter. The member 420 rotates. For example, the first wire winding wheel 331 tightens the first control wire 321, and the second wire winding wheel 332 releases the second control wire 322. At this time, the bendable portion 211 bends toward the first direction. By bending 211, the mitral valve clamp is moved to the desired position. When the mitral valve clamp reaches the expected position, if the bending angle of the bendable portion 211 approaches the preset angle, the undulating member 410 contacts the reducing member 420 and emits a warning sound. In this way, the operator can judge through the warning sound that the bending angle of the bendable part 211 is close to the preset angle, and at the same time stop rotating the handle 600, adjust the attitude of the conveying equipment in time, and re-control the bending of the bendable part 211 to prevent the bendable part 211 from bending. , control wire breakage to avoid damage to the conveying equipment, improve the safety of the conveying equipment, and prevent medical accidents.

One embodiment of the present application provides a medical system, as shown in FIG. 18 , including an actuator 800 and the above-mentioned delivery device. The actuator 800 is connected to the flexible part 211.

The beneficial effects of the embodiments of the present application have been reflected in the foregoing embodiments and will not be described again here.

It can be understood that this embodiment does not specifically limit the specific type of actuator. For example, an actuator is a tool that can perform surgical operations on the human body, such as surgical forceps, staplers, surgical scissors, or electrosurgers.

The delivery equipment and medical system provided by the embodiments of the present application have been introduced in detail above. Specific examples are used in this article to illustrate the principles and embodiments of the present application. The description of the above embodiments is only used to help understand the ideas of the present application. , there will be changes in the specific embodiments and application scope. In summary, the contents of this specification should not be understood as limiting the present application.

Those of ordinary skill in the art can understand that the above-mentioned embodiments are specific embodiments for implementing the present application, and in actual applications, various changes can be made in form and details without departing from the spirit and spirit of the present application. scope.

Claims

A conveying equipment, including:

base(100);

A sheath assembly (200) provided on the base (100). The sheath assembly (200) includes an adjustable and bendable sheath (210). The proximal end of the adjustable and bendable sheath (210) is fixed. Located on the base (100), the distal end of the adjustable bending sheath (210) is provided with a bendable portion;

A bending control component (300) provided on the base (100), the bending control component (300) is used to control the bending of the bendable portion (211); and

Sound warning assembly (400). The sound warning assembly (400) includes a undulating member (410) and a reducing member (420). When the bendable portion (211) approaches a preset angle, the undulating member (410) ) contacts the reducing member (420) to emit a warning sound.
The conveying equipment according to claim 1, wherein the bending control component (300) controls the bending of the bendable portion (211) while causing the undulating member (410) and the reducing member ( 420) Relative motion.
The conveying equipment according to claim 2, wherein the undulating member (410) includes a undulating column (411), and the reducing member (420) includes a reducing portion (421);

When the bending angle of the bendable part (211) is not close to the preset angle, the wave column (411) is adjacent to the reducing part (421). When the bendable part (211) is close to the preset angle, When, the wave column (411) contacts the reducing portion (421) to emit a warning sound.
The conveying equipment according to claim 3, wherein the reducing member (420) further includes a smooth portion (422), the smooth portion (422) is used to connect the reducing portion (421) and with the The wave columns (411) are adjacent.
The conveying equipment according to claim 3, wherein the reduced diameter part (421) includes a first reduced diameter part (421c) and a second reduced diameter part (421d), and the first reduced diameter part (421c) and The second reducing portions (421d) are arranged at intervals. When the bendable portion (211) is bent toward the first direction and approaches a first preset angle, the wave column (411) and the first reducing portion are When the bendable part (211) is bent in the second direction and approaches the second preset angle, the wave column (411) is in contact with the second reducing part (421d). , the first direction and the second direction are opposite.
The conveying device according to claim 5, wherein the first preset angle and the second preset angle are equal, and the first reducing part (421c) and the second reducing part (421d) Symmetrical arrangement.
The conveying equipment according to claim 3, wherein the undulating member (410) further includes an elastic connecting part (412), and the reducing part (421) includes a body part (421a) and a protruding part (421b) , there are multiple protruding parts (421b), which are arranged on the body part (421a) in sequence, and the body part (421a) and the wave column (411) Adjacent, the protruding portion (421b) is in contact with the wave column (411). When the wave column (411) is in contact with one of the protruding portions (421b), as the wave member (410) The relative movement between the reducing member (420) and the connecting part (412) deforms so that the wave column (411) passes over the protruding part (421b), and recovers at the connecting part (412). When the wave column (411) is in the correct shape, the wave column (411) contacts the other protruding portion (421b) and emits a warning sound.
The conveying equipment according to claim 7, wherein the connecting part (412) is horn-shaped, and the tip of the connecting part (412) is connected to the wave column (411), or the connecting part (412) is 412) is in the shape of a straight rod, one end of which is connected to the wave column (411).
The delivery device according to claim 7, wherein the connection part (412) includes a connection part body (412a) and an extension part (412b), one end of the extension part (412b) is connected to the connection part body (412b) 412a), the other end is connected to the wave column (411), the extension part (412b) at least partially surrounds the connection part body (412a), and the connection part body (412a) and the extension part (412b) ) has a gap (412c) between them, so that the extension portion (412b) can move relative to the connecting portion main body (412a) to generate deformation.
The conveying equipment according to claim 7, wherein the protruding portion (421b) is in a zigzag shape to prevent relative movement in opposite directions between the undulating member (410) and the reducing member (420).
The conveying device according to claim 7, wherein a plurality of the protruding parts (421b) are spaced on the body part (421a), and when the bending control assembly (300) controls the bendable part ( 211) When rotating to a preset angle, the undulating member (410) moves in a preset direction relative to the reducing member (420), and the spacing distance between the two adjacent protruding parts (421d) Decreasingly set along the preset direction.
The conveying equipment according to claim 7, wherein when the bending control component (300) controls the bendable portion (211) to rotate to a preset angle, the wave member (410) is relatively The diameter member (420) moves along a preset direction, and the heights of the plurality of protruding portions (421b) are arranged incrementally along the preset direction.
The conveying equipment according to claim 3, wherein the undulating member (410) is configured to remain stationary with the base (100), the reducing member (420) is strip-shaped, and is configured to be able to Move relative to the base (100);

The bending control assembly (300) includes a rotating shaft (310) and a gear (340) sleeved on the rotating shaft (310). The rotating shaft (310) is rotatably provided on the base (100), The axis of the rotating shaft (310) is perpendicular to the axis of the adjustable bending sheath (210), and the rotating shaft (310) and the adjustable bending sheath (210) are arranged in a staggered manner;

The reducing member (420) is engaged and connected with the gear (340) to move driven by the gear (340);

The reducing member (420) and the gear (340) are configured such that when the bendable portion (211) approaches a preset angle under the control of the bending control assembly (300), the reducing member (420) and the gear (340) are configured to The diameter member (420) is driven by the gear (340) and contacts the undulating member (410) to emit a warning sound.
The conveying equipment according to claim 13, wherein the undulating member (410) further includes an elastic connecting part (412) and a fixing part (413), and is connected to the base through the fixing part (413). The seat (100) remains stationary;

The reducing member (420) includes a first reducing portion (421c) and a second reducing portion (421d). The first reducing portion (421c) includes a first body portion and a first protruding portion. The second reducing part (421d) includes a second body part and a second protruding part, and the reducing member (420) also includes a first smooth part, which is respectively connected with the first reducing part ( 421c) and the second reducing part (421d) are connected, and the first smooth part forms a strip (432) with the first body part and the second body part, and the strip (432) is provided with the Rack teeth (431) are provided on opposite sides of the first protruding portion and the second protruding portion, and the meshing connection is formed with the gear (340) through the rack teeth (431);

The first body part, the second body part and the first smooth part are all adjacent to the wave column (411), and the first protruding part and the second protruding part are in contact with the wave column (411). When the undulating column (411) abuts one of the protruding parts, the connecting portion (412) deforms as the relative movement between the undulating member (410) and the reducing member (420) occurs. The wave column (411) passes over the protruding portion (421b), and when the connecting portion (412) recovers its shape, the wave column (411) abuts the other protruding portion (421b), and Make a warning sound.
The conveying equipment according to claim 3, wherein the reducing member (420) is strip-shaped and configured to remain stationary with the base (100), and the undulating member (410) is configured to be able to Move relative to the base (100);

The bending control assembly (300) includes a rotating shaft (310) and a gear (340) sleeved on the rotating shaft (310). The rotating shaft (310) is rotatably provided on the base (100), The axis of the rotating shaft (310) is perpendicular to the axis of the adjustable bending sheath (210), and the rotating shaft (310) and the adjustable bending sheath (210) are arranged in a staggered manner;

The undulating member (410) is meshed with the gear (340) to move driven by the gear (340);

The undulating member (410) and the gear (340) are configured such that when the bendable portion (211) approaches a preset angle under the control of the bending control assembly (300), the undulating member (340) (410) is driven by the gear (340) and contacts the reducing member (420) to emit a warning sound.
The conveying equipment according to claim 15, wherein the undulating member (410) further includes an elastic connecting part (412) and a fixing part (413), the fixing part (413) is strip-shaped, and the fixing part (413) is strip-shaped. The portion (413) is connected to the connecting portion (412) on the side opposite to the reducing member (420), and is provided with rack teeth (431) on the other side, and passes through the rack teeth (431). ) forms the meshing connection with the gear (340);

The reducing member (420) includes a first reducing portion (421c) and a second reducing portion (421d). The first reducing portion (421c) and the second reducing portion (421d) are arranged along the undulation. The moving directions of the parts (410) are arranged in sequence, the first reducing part (421c) includes a first body part and a first protruding part, and the second reducing part (421d) includes a second body part and a second protruding part. part;

The first body part and the second body part are adjacent to the wave column (411), and the first protruding part and the second body part are adjacent to the wave column (411). The protruding part is in contact with the undulating column (411). When the undulating column (411) is in contact with one of the protruding parts, as the undulating member (410) and the reducing member (420) move The connecting part (412) deforms so that the undulating column (411) passes over the protruding part. When the connecting part (412) recovers its shape, the undulating column (411) and another The protruding portion contacts and emits a warning sound.
The conveying equipment according to claim 7, wherein the reducing part is (421) arc-shaped and is configured to remain stationary with the base (100), and the undulating member (410) can be moved relative to the base (100). The diameter reducing part (421) rotates;

The bending control assembly (300) includes a rotating shaft (310), which is rotatably provided on the base (300), the axis of the rotating shaft (310) and the adjustable bending sheath. The axis of (210) is perpendicular, and the rotating shaft (310) and the adjustable bending sheath (210) are arranged in a staggered manner;

The undulating member (410) also includes a fixed part (413). The fixed part (413) is sleeved on the rotating shaft (310), and the fixed part (413) is connected through the connecting part (412). The undulating column (411), when the bendable portion (211) approaches a preset angle under the control of the bending control component (300), the undulating member (410) moves on the rotating shaft (310) The undulating member (410) is driven to make a warning sound.
The conveying equipment according to claim 7, wherein the undulating member (410) includes a fixed part (413) and is kept stationary with the base (100) through the fixed part (413), and the variable diameter The portion (421) is arc-shaped and can rotate relative to the undulating member (410);

The bending control assembly (300) includes a rotating shaft (310) and a connecting piece. The rotating shaft (310) is rotatably provided on the base (100). The axis of the rotating shaft (310) and the adjustable The axis of the curved sheath tube (210) is perpendicular, and the rotating shaft (310) and the adjustable curved sheath tube (210) are arranged in a staggered manner;

The connecting piece is used to connect the rotating shaft (310) with the reducing member (420) and drive the reducing member (420) to rotate. When the bendable portion (211) is in the bending control assembly ( When it approaches the preset angle under the control of 300), the diameter reducing member (420) contacts the undulating member (410) driven by the rotating shaft (310) to emit a warning sound.
The conveying equipment according to any one of claims 15-17, wherein the conveying equipment further includes a housing (500), the housing (500) is used to accommodate the sound warning assembly (400), and the The reducing member (420) is arranged on the inner wall of the housing (500).
The conveying equipment according to any one of claims 14 and 16-18, wherein the length of the fixed part (413) and/or the wave column (411) in the axial direction of the rotating shaft (310) is greater than the The length of the connecting portion (412) in the axial direction of the rotating shaft (310).
The conveying equipment according to any one of claims 14 and 16-18, wherein the bending control assembly (300) further includes a control wire (320) and a wire winding wheel (330), and the wire winding wheel (330) ) is fixedly sleeved on the rotating shaft (310), one end of the control wire (320) is fixedly connected to the bendable portion (211), and the other end of the control wire (320) is wound On the wire winding wheel (330);

The control wire (320) and the wire winding wheel (330) are configured such that when the wire winding wheel (330) is rotated, the wire winding wheel (330) winds or releases the control wire (320) To drive the bendable portion (211) to bend or reset.
The conveying equipment according to claim 21, wherein the wire winding wheel (330) is provided with a receiving groove along its circumferential direction, and the control wire (320) wound on the wire winding wheel (330) is located in the receiving groove. in the trough.
The conveying device according to claim 21, wherein the control wire (320) includes a first control wire (321) and a second control wire (322), the first control wire (321) is used to control the The bendable portion (211) bends in a first direction, and the second control wire (322) is used to control the bendable portion (211) to bend in a second direction, and the first direction is opposite to the second direction;

The wire winding wheel (330) includes a first wire winding wheel (331) and a second wire winding wheel (332). The first wire winding wheel (331) and the second wire winding wheel (332) can be The axis of the bending sheath (210) is arranged axially symmetrically, the first control wire (321) is wound around the first wire winding wheel (331) along the third direction, and the second control wire (322) is wound along the third direction. The second winding wheel (332) is wound in four directions, the third direction is opposite to the fourth direction, and when the rotating shaft (310) rotates, the change amount of the first control wire (321) It is equivalent to the change amount of the second control wire (322).
A medical system, comprising an implant prosthesis (700) and a delivery device according to any one of claims 1-23, the implant prosthesis (700) being detachably connected to the bendable portion (211), or the implant prosthesis (700) is carried on the flexible part (211).
A medical system, comprising an actuator (800) and the delivery device according to any one of claims 1-23, the actuator (800) being connected to the bendable portion (211).