Catheter manipulator and catheter assembly

Abstract

The present invention discloses a catheter manipulator and a catheter assembly. The catheter manipulator includes: a body part, a first driving member, and a second driving member. The body part is connected to the catheter and is used to drive the catheter to move; the first driving member is connected to the sheath and is used to drive the sheath to rotate; the second driving member is connected to both the body part and the first driving member, and the second driving member is used to drive the first driving member to move so as to drive the sheath to move. By adopting the present invention, the catheter can be manipulated by the catheter manipulator, and the sheath matched with the catheter can be synchronously manipulated, thereby simplifying the surgical operation, improving the catheter positioning efficiency and accuracy, and ensuring the safety of the surgery.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a catheter manipulator arm and a catheter assembly. Background Art

[0002] In the related art, a catheter manipulator arm can only manipulate a catheter according to a doctor's instruction and does not have the function of simultaneously manipulating a sheath tube that matches the catheter. This method mainly has the following disadvantages: 1. When the catheter manipulator arm controls the movement of the catheter, it is easy to cause passive displacement or rotation of the sheath tube, affecting the accuracy and effectiveness of catheter positioning. 2. The tail of the sheath tube needs to be fixed separately, affecting the synchronism of the movement of the sheath tube and the catheter and the coaxiality of the positions. 3. Since the catheter manipulator arm cannot synchronously manipulate the sheath tube, when it is necessary to adjust the position and state of the sheath tube, the operation of the catheter manipulator arm must be interrupted and manually adjusted temporarily. Summary of the Invention

[0003] An embodiment of the present invention provides a catheter manipulator arm and a catheter assembly to solve the problem that the catheter manipulator arm in the prior art cannot synchronously manipulate the sheath tube.

[0004] The catheter manipulator arm according to an embodiment of the present invention includes:

[0005] A body part, connected to the catheter, and the body part is used to drive the catheter to move;

[0006] A first driving member, connected to the sheath tube, and the first driving member is used to drive the sheath tube to rotate;

[0007] A second driving member, connected to both the body part and the first driving member, and the second driving member is used to drive the first driving member to move so as to drive the sheath tube to move.

[0008] According to some embodiments of the present invention, the second driving member includes:

[0009] A retraction and extension motor, connected to the body part;

[0010] A telescopic rod, one end of the telescopic rod is connected to the power output end of the retraction and extension motor, and the other end of the telescopic rod is connected to the first driving member;

[0011] The retraction and extension motor drives the telescopic rod to perform a telescopic movement along the extending direction of the telescopic rod.

[0012] According to some embodiments of the present invention, the telescopic rod includes:

[0013] A first gear engaging part, one end of the first gear engaging part is connected to the power output end of the retraction and extension motor, and the retraction and extension motor drives the first gear engaging part to rotate;

[0014] A second gear engaging portion, one end of the second gear engaging portion meshes with the other end of the first gear engaging portion, the other end of the second gear engaging portion is connected to the first driving member, and the rotation of the first gear engaging portion drives the second gear engaging portion to move so as to drive the first driving member to move.

[0015] According to some embodiments of the present invention, both the first gear engaging portion and the second gear engaging portion are cylindrical, and the outer peripheral wall of the other end of the first gear engaging portion meshes with the inner peripheral wall of one end of the second gear engaging portion.

[0016] According to some embodiments of the present invention, the first driving member includes a rotary motor, the rotary motor is connected to the other end of the second gear engaging portion, and the power output end of the rotary motor is connected to the sheath tube to drive the sheath tube to rotate.

[0017] A catheter assembly according to an embodiment of the present invention includes:

[0018] A catheter;

[0019] A sheath tube;

[0020] The catheter manipulator as described above, which is connected to both the catheter and the sheath tube to drive the catheter and the sheath tube to move.

[0021] According to some embodiments of the present invention, the catheter assembly further includes:

[0022] A side tube, which is movably connected to the sheath tube, the side tube is fixedly connected to the second driving member of the catheter manipulator, and the second driving member drives the side tube to move.

[0023] According to some embodiments of the present invention, the sheath tube is provided with a protrusion, and the side tube is provided with a groove body, and the protrusion is adapted to be movably assembled into the groove body.

[0024] According to some embodiments of the present invention, the side tube has a through channel, and the groove body is provided on the wall surface of the through channel;

[0025] One end of the sheath tube is adapted to extend into the through channel, and the protrusion is provided on the outer peripheral wall of one end of the sheath tube.

[0026] According to some embodiments of the present invention, the catheter passes through the sheath tube, the side tube, and the catheter manipulator.

[0027] By using the embodiment of the present invention, the catheter manipulator can not only control the catheter, but also synchronously control the sheath tube matching the catheter, thereby simplifying the surgical operation, improving the catheter positioning efficiency and accuracy, and ensuring the safety of the surgery.

[0028] The above description is only an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention, it can be implemented according to the content of the specification. In addition, in order to make the above and other objects, features, and advantages of the present invention more obvious and understandable, the specific embodiments of the present invention are specifically exemplified below. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] By reading the detailed description of the following embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present invention. In the drawings:

[0030] Figure 1 is a schematic structural diagram of a catheter assembly in an embodiment of the present invention;

[0031] Figure 2 is a schematic structural diagram of a catheter assembly in an embodiment of the present invention;

[0032] Figure 3 is a schematic partial structural diagram of a catheter assembly in an embodiment of the present invention;

[0033] Figure 4 is a schematic partial structural diagram of a catheter assembly in an embodiment of the present invention;

[0034] Figure 5 is a schematic partial structural diagram of a catheter assembly in an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0035] The exemplary embodiments of the present invention will be described in more detail below with reference to the drawings. Although the exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0036] As Figure 1 - Figure 2 shown, a catheter manipulator 40 according to an embodiment of the present invention includes: a body portion 400, a first driving member 410, and a second driving member 420.

[0037] The body portion 400 is connected to the catheter 10, and the body portion 400 is used to drive the catheter 10 to move. For example, the body portion 400 can drive the catheter 10 to perform at least one of the following actions: forward feeding, backward retreating, forward rotation, reverse rotation, tip bending, and tip straightening. In addition, it should be noted that simulating a doctor's operation of the catheter by the catheter manipulator belongs to the common knowledge in the art. The structure of the body portion 400 and the driving of the catheter 10 by the body portion 400 in the embodiments of the present invention can refer to the prior art and will not be described in detail herein.

[0038] The first driving member 410 is connected to the sheath tube 20, and the first driving member 410 is used to drive the sheath tube 20 to rotate. The second driving member 420 is connected to both the body portion 400 and the first driving member 410. The second driving member 420 is used to drive the first driving member 410 to move, so as to drive the sheath tube 20 to move. Through the cooperation of the first driving member 410 and the second driving member 420, the movement and rotation of the sheath tube 20 can be realized.

[0039] By adopting the embodiment of the present invention, the catheter manipulator 40 can not only control the catheter 10, but also synchronously control the sheath tube 20 matching with the catheter 10, thereby simplifying the surgical operation, improving the positioning efficiency and accuracy of the catheter 10, and ensuring the safety of the operation.

[0040] On the basis of the above embodiments, further variant embodiments are proposed. Here, it should be noted that in order to make the description brief, only the differences from the above embodiments are described in each variant embodiment.

[0041] As Figure 1 、 Figure 2 shown, according to some embodiments of the present invention, the catheter 10 is disposed through the body portion 400, the first driving member 410, and the second driving member 420.

[0042] As Figure 1 、 Figure 2 shown, according to some embodiments of the present invention, the second driving member 420 includes: a retraction and extension motor 421 and a telescopic rod 422. The retraction and extension motor 421 is connected to the body portion 400. For example, the retraction and extension motor 421 can be fixed on the body portion 400. One end of the telescopic rod 422 is connected to the power output end of the retraction and extension motor 421, and the other end of the telescopic rod 422 is connected to the first driving member 410. The retraction and extension motor 421 drives the telescopic rod 422 to perform telescopic movement along the extension direction of the telescopic rod 422.

[0043] According to some embodiments of the present invention, the telescopic rod 422 includes: a first gear engaging portion and a second gear engaging portion. One end of the first gear engaging portion is connected to the power output end of the retraction and extension motor 421, and the retraction and extension motor 421 drives the first gear engaging portion to rotate. One end of the second gear engaging portion is engaged with the other end of the first gear engaging portion, and the other end of the second gear engaging portion is connected to the first driving member 410. The rotation of the first gear engaging portion drives the second gear engaging portion to move, so as to drive the first driving member 410 to move.

[0044] According to some embodiments of the present invention, both the first gear engaging portion and the second gear engaging portion are in a cylindrical shape, and the outer peripheral wall of the other end of the first gear engaging portion is engaged with the inner peripheral wall of one end of the second gear engaging portion.

[0045] According to some embodiments of the present invention, the first driving member 410 includes a rotating motor, the rotating motor is connected to the other end of the second gear engaging portion, and the power output end of the rotating motor is connected to the sheath 20 to drive the sheath 20 to rotate.

[0046] As Figure 1 - Figure 2 shown, the catheter assembly 1 according to an embodiment of the present invention includes: a catheter 10, a sheath 20, and the catheter manipulator 40 in any of the above embodiments. The catheter manipulator 40 is connected to both the catheter 10 and the sheath 20, and the catheter manipulator 40 can drive the catheter 10 and the sheath 20 to move.

[0047] By adopting the embodiment of the present invention, the catheter manipulator 40 can not only control the catheter 10, but also synchronously control the sheath 20 that is matched with the catheter 10, thereby simplifying the surgical operation, improving the positioning efficiency and accuracy of the catheter 10, and ensuring the safety of the surgery.

[0048] As Figure 1 - Figure 2 shown, according to some embodiments of the present invention, the catheter assembly 1 further includes: a side tube 30, the side tube 30 is movably connected to the sheath 20, and the side tube 30 is fixedly connected to the second driving member 420 of the catheter manipulator 40. The second driving member 420 drives the side tube 30 to move. Thus, the side tube 30 can move synchronously with the sheath 20, and the sheath 20 can rotate relative to the side tube 30. During the rotation of the sheath 20, the side tube 30 can remain stationary, thereby avoiding winding and knotting of the side tube 30.

[0049] As Figure 1 - Figure 2 shown, according to some embodiments of the present invention, the side tube 30 and the second driving member 420 are connected by a fixator 50, and the fixator 50 can fix the side tube 30 on the second driving member 420 to further prevent the side tube 30 from rotating during the rotation of the sheath 20.

[0050] As Figure 3 - Figure 5 shown, according to some embodiments of the present invention, the sheath 20 is provided with a protrusion 200, and the side tube 30 is provided with a groove 300. The protrusion 200 is adapted to be movably assembled into the groove 300. It can be understood that the protrusion 200 can be limited within the groove 300. Through the cooperation of the protrusion 200 and the groove 300, the connection between the side tube 30 and the sheath 20 can be realized, and the protrusion 200 can move within the groove 300. For example, the protrusion 200 can move along the extending direction of the groove 300, so that the separate rotation of the sheath 20 and the side tube 30 can be realized. Moreover, the structure is simple, convenient to set, has a low processing cost, and is easy to implement.

[0051] As Figure 3 - Figure 5As shown, according to some embodiments of the present invention, the side tube 30 has a through-channel, and the groove 300 is provided on the wall surface of the through-channel. One end of the sheath tube 20 is adapted to extend into the through-channel, and the protrusion 200 is provided on the outer peripheral wall of one end of the sheath tube 20. For example, the sheath tube 20 may include a first section and a second section, and the cross-sectional area of the first section is smaller than that of the second section. One end of the first section is connected to one end of the second section, and a step may be formed at the connection between the first section and the second section. The first section is adapted to be assembled into the through-channel of the side tube 30, and the protrusion 200 is provided on the outer peripheral wall of the first section, and the protrusion 200 can be assembled into the groove 300 of the through-channel. The first section can rotate within the through-channel. Thus, the connection stability and connection sealing performance between the sheath tube 20 and the side tube 30 can be improved.

[0052] According to some embodiments of the present invention, a part of the wall surface of the through-channel is recessed towards the outside of the through-channel to form the groove 300. Thus, the construction of the groove 300 can be facilitated, and the space occupied by the groove 300 in the through-channel can be avoided.

[0053] According to some embodiments of the present invention, the groove 300 is annular and extends along the circumferential direction of the central axis of the side tube 30. Thus, the assembly stability between the protrusion 200 and the groove 300 can be improved. Of course, this is only one form of the groove 300 and does not specifically limit the structure of the groove 300. For example, according to some other embodiments of the present invention, the groove 300 can be in the form of an arc segment and extends along the circumferential direction of the central axis of the side tube 30. Further, the arc segment can be multiple segments, and the multiple arc segments can be arranged at intervals along the circumferential direction of the central axis of the side tube 30.

[0054] According to some embodiments of the present invention, the protrusion 200 is annular and extends along the circumferential direction of the central axis of the sheath tube 20. Thus, the assembly stability between the protrusion 200 and the groove 300 can be improved. Of course, this is only one form of the protrusion 200 and does not specifically limit the structure of the protrusion 200. For example, according to some other embodiments of the present invention, the protrusion 200 can be in the form of an arc segment and extends along the circumferential direction of the central axis of the sheath tube 20. Further, there can be multiple protrusions 200, and the multiple protrusions 200 are arranged at intervals along the circumferential direction of the sheath tube 20.

[0055] It should be noted that the above various embodiments of the protrusion 200 and the groove 300 can be combined arbitrarily.

[0056] According to some embodiments of the present invention, from the fixed end to the free end of the protrusion 200, the cross-sectional area of the protrusion 200 gradually decreases. It should be noted that the "cross-sectional area" mentioned here can be understood as the area of the cross-section formed by cutting the protrusion 200 with a plane parallel to the central axis of the sheath 20. It can be understood that the cross-sectional area of the end of the protrusion 200 connected to the sheath 20 is larger than the cross-sectional area of the end of the protrusion 200 away from the sheath 20. Thus, not only can the connection area between the fixed end and the sheath 20 be increased to improve the connection stability between the protrusion 200 and the sheath 20, but also the area of the free end can be reduced to decrease the contact area between the free end and the groove body 300, so as to reduce the frictional resistance between the protrusion 200 and the groove body 300, thereby facilitating the movement of the protrusion 200 in the groove body 300, and further facilitating the rotation of the sheath 20 relative to the side tube 30. For example, according to some embodiments of the present invention, the free end of the protrusion 200 can be formed into a tip.

[0057] As Figure 4 shown, according to some embodiments of the present invention, a seal 60 is provided at the connection between the sheath 20 and the side tube 30 for sealing the connection gap between the sheath 20 and the side tube 30.

[0058] As Figure 1 - Figure 2 shown, according to some embodiments of the present invention, the catheter 10 is passed through the sheath 20, the side tube 30, and the catheter manipulator arm 40.

[0059] According to some embodiments of the present invention, the head end of the catheter 10 includes a first bending section. The head end of the sheath 20 includes a second bending section, and the first bending section is passed through the second bending section. During the rotation of the sheath 20, the direction of the end of the second bending section can be changed, thereby changing the direction of the end of the first bending section.

[0060] Next, with reference to Figure 1 - Figure 5 a specific embodiment will be used to describe in detail the catheter assembly 1 according to the embodiments of the present invention. It should be understood that the following description is only an exemplary illustration and not a specific limitation of the present invention. Any similar structure and its similar changes using the present invention should be included in the protection scope of the present invention.

[0061] The main functions of the existing catheter manipulator arm are to simulate the doctor's operation of the catheter outside the body to complete minimally invasive interventional surgery. Its basic manipulation actions include: 1. Advancing or retracting the catheter. 2. Rotating the catheter forward and backward. 3. Bending or straightening the head end of the catheter. 4. Combinations of the above actions to different degrees. However, for the target points or lesions located in many special parts of the heart cavity, it is very difficult to quickly and accurately locate abnormal target points by simply manipulating the catheter. It is necessary to operate the sheath simultaneously or successively to make the catheter locate faster, more accurately and more stably.

[0062] For this reason, the embodiments of the present invention propose a catheter assembly 1. AsFigure 1 , Figure 2 As shown in Figure 2 , the catheter assembly 1 includes: a catheter 10, a sheath 20, a side tube 30, and a catheter robotic arm 40. The catheter robotic arm 40 is connected to the catheter 10, the side tube 30, and the sheath 20, and the catheter robotic arm 40 can drive the catheter 10 and the sheath 20 to move.

[0063] Among them, as Figure 1 , Figure 2 shown, the catheter robotic arm 40 includes: a body part 400, a first driving member 410, and a second driving member 420.

[0064] The body part 400 is connected to the catheter 10, and the body part 400 is used to drive the catheter 10 to move. The body part 400 can drive the catheter 10 to complete at least one of the following actions: forward feeding, backward retreating, positive rotation, negative rotation, tip bending, tip straightening. Here, it should be noted that simulating a doctor operating the catheter 10 through the catheter robotic arm 40 belongs to the common knowledge in the art. The structure of the body part 400 and the driving of the catheter 10 by the body part 400 in the embodiments of the present invention can refer to the prior art and will not be elaborated here.

[0065] As Figure 1 , Figure 2 shown, the first driving member 410 is connected to the sheath 20, and the first driving member 410 is used to drive the sheath 20 to rotate. The second driving member 420 is connected to both the body part 400 and the first driving member 410, and the second driving member 420 is used to drive the first driving member 410 to move, so as to drive the sheath 20 to move. Through the cooperation of the first driving member 410 and the second driving member 420, the movement and rotation of the sheath 20 can be realized.

[0066] As Figure 1 , Figure 2 shown, the second driving member 420 includes: a forward and backward motor 421 and a telescopic rod 422. The forward and backward motor 421 is fixed on the body part 400. One end of the telescopic rod 422 is connected to the power output end of the forward and backward motor 421, and the other end of the telescopic rod 422 is connected to the first driving member 410. The forward and backward motor 421 drives the telescopic rod 422 to perform telescopic movement along the extension direction of the telescopic rod 422.

[0067] As Figure 1 , Figure 2 shown, the telescopic rod 422 includes: a first gear engaging part and a second gear engaging part. One end of the first gear engaging part is connected to the power output end of the forward and backward motor 421, and the forward and backward motor 421 drives the first gear engaging part to rotate. One end of the second gear engaging part is engaged with the other end of the first gear engaging part, and the other end of the second gear engaging part is connected to the first driving member 410. The rotation of the first gear engaging part drives the second gear engaging part to move, so as to drive the first driving member 410 to move.

[0068] Both the first gear mating portion and the second gear mating portion are cylindrical, and the outer peripheral wall of the other end of the first gear mating portion meshes with the inner peripheral wall of one end of the second gear mating portion.

[0069] The first driving member 410 includes a rotating motor, the rotating motor is connected to the other end of the second gear mating portion, and the power output end of the rotating motor is connected to the sheath 20 to drive the sheath 20 to rotate.

[0070] As Figure 3 - Figure 5 shown, the side tube 30 is movably connected to the sheath 20, the side tube 30 is fixedly connected to the second driving member 420 of the catheter manipulator 40, and the second driving member 420 drives the side tube 30 to move. Thus, the sheath 20 can rotate relative to the side tube 30, and during the rotation of the sheath 20, the side tube 30 can remain stationary, thereby avoiding entanglement and knotting of the side tube 30.

[0071] As Figure 1 、 Figure 2 shown, the side tube 30 is connected to the second driving member 420 through a fixator 50, and the fixator 50 can fix the side tube 30 on the second driving member 420, further preventing the side tube 30 from rotating during the rotation of the sheath 20.

[0072] As Figure 3 - Figure 5 shown, the sheath 20 is provided with a protrusion 200, and the side tube 30 is provided with a groove 300. The protrusion 200 is adapted to be movably assembled into the groove 300. It can be understood that the protrusion 200 can be limited within the groove 300, and the connection between the side tube 30 and the sheath 20 can be realized through the cooperation of the protrusion 200 and the groove 300, and the protrusion 200 can move along the extending direction of the groove 300, so that the separate rotation of the sheath 20 and the side tube 30 can be realized. Moreover, the structure is simple, convenient to set, has a low processing cost, and is easy to implement.

[0073] As Figure 3 - Figure 5 shown, the side tube 30 has a through channel, and part of the wall surface of the through channel is recessed towards the outside of the through channel to form a groove 300. One end of the sheath 20 is adapted to extend into the through channel, and the protrusion 200 is provided on the outer peripheral wall of one end of the sheath 20. Specifically, the sheath 20 may include a first section and a second section, and the cross-sectional area of the first section is smaller than that of the second section. One end of the first section is connected to one end of the second section, and a step may be formed at the connection between the first section and the second section. The first section is adapted to be assembled into the through channel of the side tube 30, and the protrusion 200 is provided on the outer peripheral wall of the first section, and the protrusion 200 can be assembled into the groove 300 of the through channel. The first section can rotate within the through channel. Thus, the connection stability and connection sealing performance between the sheath 20 and the side tube 30 can be improved.

[0074] The trough body 300 is annular and extends along the circumferential direction of the central axis of the side tube 30. The protrusion 200 is annular and extends along the circumferential direction of the central axis of the sheath tube 20. From the fixed end to the free end of the protrusion 200, the cross-sectional area of the protrusion 200 gradually decreases. It should be noted that the "cross-sectional area" mentioned here can be understood as the area of the cross-section formed by cutting the protrusion 200 with a plane parallel to the central axis of the sheath tube 20. It can be understood that the cross-sectional area of the end of the protrusion 200 connected to the sheath tube 20 is larger than the cross-sectional area of the end of the protrusion 200 away from the sheath tube 20.

[0075] The catheter 10 is disposed through the sheath tube 20, the side tube 30, and the catheter manipulator 40.

[0076] The head end of the catheter 10 includes a first bending section. The head end of the sheath tube 20 includes a second bending section, and the first bending section is disposed through the second bending section. During the rotation of the sheath tube 20, the direction of the end of the second bending section can be changed, thereby changing the direction of the end of the first bending section.

[0077] The telescopic rod 422 can have scale values.

[0078] The procedure of performing a surgery using the catheter assembly 1 according to the embodiment of the present invention is as follows:

[0079] 1. The operator operates the catheter and the sheath tube so that their head ends reach the middle of the target cardiac cavity.

[0080] 2. Zero the position of the telescopic rod: The advance and retreat motor is located at the middle position of the second gear engagement part.

[0081] 3. Reset the rotation motor: Set the starting rotation angle to zero.

[0082] 4. Adjust the position of the catheter manipulator so that the rotation motor is aligned parallel to the tail of the sheath tube.

[0083] 5. Place and fix the catheter and the sheath tube.

[0084] 6. Start the surgery.

[0085] By adopting the embodiment of the present invention, the relative independent movement of the catheter 10 and the sheath tube 20 can be achieved, and the synchronous movement can also be achieved, which significantly improves the accuracy and effectiveness of the positioning of the catheter 10. Moreover, the sheath tube 20 and the catheter 10 are located on the same device, ensuring the synchronism of the movement of the sheath tube 20 and the catheter 10 and the coaxiality of the positions. The catheter manipulator 40 can simultaneously control the catheter 10 and the sheath tube 20. When the position and state of the sheath tube 20 need to be adjusted, the work of the catheter manipulator 40 does not need to be interrupted, and there is no need to manually adjust the position of the sheath tube 20 temporarily, ensuring the continuity, safety, and operation efficiency of the surgical process.

[0086] It should be noted that in the specification provided here, a large number of specific details are described. However, it can be understood that the embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures, and technologies are not shown in detail so as not to obscure the understanding of this specification. Moreover, although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the claims and their equivalents.

[0087] In addition, in the description of this specification, "some embodiments" means that the specific features and structures described in connection with the embodiments are included in at least one embodiment of the present invention. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Although some of the embodiments described herein include certain features included in other embodiments but not other features, the combination of the features of different embodiments means that it is within the scope of the present invention and forms different embodiments. The specific features, structures, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. For example, in the claims, any one of the claimed embodiments can be used in any combination. In addition, the "connection" mentioned in the above description can refer to a direct connection method or an indirect connection method. The use of the words first, second, and third, etc. does not indicate any order. These words can be interpreted as names.

Claims

1. A catheter manipulator, characterized in that, Comprising: A body part, connected to the catheter, and the body part is used to drive the movement of the catheter; A first driving member, connected to the sheath, and the first driving member is used to drive the rotation of the sheath; A second driving member, connected to both the body part and the first driving member, and the second driving member is used to drive the movement of the first driving member to drive the movement of the sheath; The second driving member includes: A retraction and extension motor, connected to the body part; A telescopic rod, one end of the telescopic rod is connected to the power output end of the retraction and extension motor, and the other end of the telescopic rod is connected to the first driving member; The retraction and extension motor drives the telescopic rod to perform telescopic movement along the extension direction of the telescopic rod; The telescopic rod includes: A first gear mating part, one end of the first gear mating part is connected to the power output end of the retraction and extension motor, and the retraction and extension motor drives the first gear mating part to rotate; A second gear mating part, one end of the second gear mating part meshes with the other end of the first gear mating part, and the other end of the second gear mating part is connected to the first driving member. The rotation of the first gear mating part drives the movement of the second gear mating part to drive the movement of the first driving member.

2. The catheter manipulator according to claim 1, characterized in that, Both the first gear mating part and the second gear mating part are cylindrical, and the outer peripheral wall of the other end of the first gear mating part meshes with the inner peripheral wall of one end of the second gear mating part.

3. The catheter manipulator according to claim 2, characterized in that, The first driving member includes a rotation motor, the rotation motor is connected to the other end of the second gear mating part, and the power output end of the rotation motor is connected to the sheath to drive the rotation of the sheath.

4. A catheter assembly, characterized in that, Comprising: A catheter; A sheath; The catheter manipulator according to any one of claims 1-3, connected to both the catheter and the sheath to drive the movement of the catheter and the sheath.

5. The catheter assembly according to claim 4, characterized in that, The catheter assembly further includes: A side tube, movably connected to the sheath, and the side tube is fixedly connected to the second driving member of the catheter manipulator, and the second driving member drives the movement of the side tube.

6. The catheter assembly according to claim 5, characterized in that, The sheath is provided with a protrusion, and the side tube is provided with a groove body, and the protrusion is adapted to be movably assembled into the groove body.

7. The catheter assembly according to claim 6, characterized in that, The side tube has a through channel, and the groove body is provided on the wall surface of the through channel; One end of the sheath is adapted to extend into the through channel, and the protrusion is provided on the outer peripheral wall of one end of the sheath.

8. The catheter assembly according to claim 7, characterized in that, The catheter passes through the sheath, the side tube, and the catheter manipulator.

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