A combined driving device for a separate ablation catheter and sheath

Abstract

The application provides a combined driving device for a separate ablation catheter and a sheath tube, which comprises a driving platform, a driving structure panel and adaptive consumables, the driving platform comprises a catheter axial pushing and withdrawing driving module, a catheter head bending driving module and a sheath tube axial pushing and withdrawing driving module; a plurality of mounting holes are arranged on the driving structure panel, the adaptive consumables are fixed on the driving platform through the mounting holes, and the adaptive consumables comprise the catheter and its motion control consumables and the sheath tube and its motion control consumables; the catheter axial pushing and withdrawing driving module is used for controlling the catheter axial pushing and withdrawing operation; the catheter head bending driving module is used for controlling the catheter head bending operation; and the sheath tube axial pushing and withdrawing driving module is used for controlling the sheath tube axial pushing and withdrawing operation, so as to reduce the complexity of the combined operation of the catheter and the sheath tube, meet the requirement that the ablation target point reaches satisfactory catheter adhesion or stable adhesion for a long time, and improve the success rate and efficiency of the operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a combined driving device for a detachable ablation catheter and a sheath. BACKGROUND

[0002] In radiofrequency ablation surgery, when the ablation target is difficult to be positioned by the catheter, the sheath is often operated simultaneously or separately to assist the catheter to reach the target by rotating or advancing and retreating the sheath. Currently, the combined operation of the catheter and the sheath can only be achieved by manual operation of the operator, and the assistant is required to assist when necessary.

[0003] The basic methods for positioning the ablation target in the endocardium by operating the ablation catheter outside the body include: advancing and retreating the catheter, bending the catheter head to the required angle, and rotating the catheter positively or negatively. However, only the catheter head can reach about 50% of the ablation target by simply operating the catheter, and the positioning rate of difficult targets and the positioning success rate of complex targets can be improved by operating the sheath to assist the catheter.

[0004] However, the manual operation of the ablation catheter and the sheath requires high skills of the operator, who needs to operate the sheath with one hand (usually the left hand) and the catheter with the other hand (usually the right hand). During the operation, the movement of the sheath and the movement of the catheter are independent of each other, especially when the position of the sheath is fixed, the operator should not change the position of the sheath by operating the catheter handle to move, rotate and bend the catheter, and when the catheter head cannot reach the ablation target, the operator should keep the catheter handle fixed by operating the sheath to move and rotate the catheter head to reach the ablation target.

[0005] The combined operation of the catheter and the sheath as described above requires the operator to keep the sheath and the catheter stable for a long time during the operation. Because of the complex operation and high risk, many ablation targets cannot be satisfactorily or stably reached by the catheter for a long time, resulting in low success rate and efficiency of the operation. SUMMARY

[0006] The embodiment of the present application provides a combined driving device for a detachable ablation catheter and a sheath, which reduces the complexity of the combined operation of the catheter and the sheath, meets the requirement of satisfactorily or stably reaching the ablation target by the catheter for a long time, and improves the success rate and efficiency of the operation.

[0007] The embodiment of the present application provides a combined driving device of a split ablation catheter and a sheath tube, which comprises a driving platform, a driving structure panel and adaptive consumables, the driving platform comprises a catheter axial pushing and withdrawing driving module, a catheter head bending driving module and a sheath tube axial pushing and withdrawing driving module; a plurality of mounting holes are arranged on the driving structure panel, the adaptive consumables are fixed on the driving platform through the mounting holes, and the adaptive consumables comprise a catheter and catheter motion control consumables and a sheath tube and sheath tube motion control consumables, wherein:

[0008] The catheter axial pushing and withdrawing driving module is used for controlling catheter axial pushing and withdrawing operation through catheter motion control consumables.

[0009] The catheter head bending driving module is used for controlling catheter head bending operation through the catheter motion control consumables.

[0010] The sheath tube axial pushing and withdrawing driving module is used for controlling sheath tube axial pushing and withdrawing operation through sheath tube motion control consumables.

[0011] In a possible implementation, the driving platform further comprises a catheter circumferential rotation driving module and a sheath tube circumferential rotation driving module, wherein:

[0012] The catheter circumferential rotation driving module is used for controlling catheter circumferential rotation operation through the catheter motion control consumables.

[0013] The sheath tube circumferential rotation driving module is used for controlling sheath tube circumferential rotation operation through the sheath tube motion control consumables.

[0014] In a possible implementation, the catheter axial pushing and withdrawing driving module comprises a catheter axial motion driving motor, a first linear guide rail and a first adaptive support column, the catheter motion control consumables comprise a catheter slider support plate, one end of the first adaptive support column is connected with the first linear guide rail, the other end is connected with the catheter slider support plate, and the catheter slider support plate is installed on the driving structure panel through the first adaptive support column.

[0015] The catheter axial motion driving motor is used for controlling the first adaptive support column to advance or retreat along the first linear guide rail, and the catheter slider support plate is driven to advance or retreat through the first adaptive support column, so that catheter axial pushing or withdrawing operation is controlled.

[0016] In a possible implementation, the length of the first linear guide rail is not less than 10 cm.

[0017] In a possible implementation, the catheter circumferential rotation driving module comprises a catheter circumferential rotation driving motor and a second adaptive support column, the catheter motion control consumables comprise a first linkage gear and a first driving gear, one end of the second adaptive support column is connected with the catheter circumferential rotation driving motor, and the other end is connected with the first driving gear, and the first driving gear is mounted on the driving structure panel through the second adaptive support column.

[0018] The catheter circumferential rotation motor is used to drive the first linkage gear and the first driving gear to rotate through the second adaptive support column, so as to control the catheter circumferential rotation operation.

[0019] In a possible implementation, the catheter head bending driving module comprises a catheter head bending driving motor, a second linear guide rail and a third adaptive support column, the catheter motion control consumables comprise a conical sleeve slider support plate, one end of the third adaptive support column is connected with the second linear guide rail, and the other end is connected with the conical sleeve slider support plate, and the conical sleeve slider support plate is mounted on the driving structure panel through the third adaptive support column.

[0020] The catheter head bending driving motor is used to control the third adaptive support column to advance or retreat along the second linear guide rail, drive the conical sleeve slider support plate to advance or retreat through the third adaptive support column, and control the catheter head bending operation.

[0021] In a possible implementation, the second linear guide rail has a length of not less than 5 cm.

[0022] In a possible implementation, the sheath axial movement driving module comprises a sheath axial movement driving motor, a third linear guide rail and a fourth adaptive support column, the sheath motion control consumables comprise a sheath slider support plate, one end of the fourth adaptive support column is connected with the third linear guide rail, and the other end is connected with the sheath slider support plate, and the sheath slider support plate is mounted on the driving structure panel through the fourth adaptive support column.

[0023] The sheath axial movement driving motor is used to control the fourth adaptive support column to advance or retreat along the third linear guide rail, drive the sheath slider support plate to advance or retreat through the fourth adaptive support column, and control the catheter axial movement operation.

[0024] In a possible implementation, the sheath circumferential rotation driving module comprises a sheath circumferential rotation driving motor and a fifth adapter column, and the sheath movement control consumable comprises a second driving gear, a second linkage gear, a sheath support column and a sheath adapter; one end of the fifth adapter column is connected with the sheath circumferential rotation driving motor, and the other end is connected with the second driving gear, and the second driving gear is mounted on the driving structure panel through the fifth adapter column; and the sheath adapter is used for fixing the sheath.

[0025] The sheath circumferential rotation driving motor is used for controlling the rotation of the second linkage gear and the second driving gear through the fifth adapter column, and driving the sheath support column and the sheath adapter to rotate through the second linkage gear and the second driving gear, so as to control the sheath circumferential rotation operation.

[0026] By adopting the technical scheme, the present application has at least the following advantages:

[0027] The separated ablation catheter and sheath combined driving device utilizes the catheter axial pushing and retracting driving module to control the catheter axial pushing and retracting operation through the catheter movement control consumable, utilizes the catheter head bending driving module to control the catheter head bending operation through the catheter movement control consumable, and utilizes the sheath axial pushing and retracting driving module to control the sheath axial pushing and retracting operation through the sheath movement control consumable. In the above process, the surgical operator does not need to manually operate the catheter and the sheath, thereby reducing the complexity of the combined operation of the catheter and the sheath, and through the driving platform, the moving distance and the moving time of the catheter and the sheath can be accurately controlled, the requirement that the ablation target point reaches a satisfactory catheter abutting or stable abutting for a long enough time is met, and the surgical success rate and efficiency are improved. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 FIG. 1 is a basic structure schematic diagram of a catheter and a sheath in the prior art;

[0029] Figure 2 FIG. 3 is a basic structure schematic diagram of a catheter and a sheath according to an embodiment of the present application;

[0030] Figure 3 FIG. 5 is a perspective structure schematic diagram of a separated ablation catheter and sheath combined driving device according to an embodiment of the present application;

[0031] Figure 4a FIG. 7 is a front view of an adapter consumable according to an embodiment of the present application;

[0032] Figure 4b FIG. 8 is a bottom view of an adapter consumable according to an embodiment of the present application;

[0033] Figure 5a FIG. 9 is a right view of a driving platform according to an embodiment of the present application;

[0034] Figure 5b This is a left view of the driving platform according to an embodiment of the present invention;

[0035] Figure 6 This is a schematic diagram of the control interface of a workstation according to an embodiment of the present invention. Detailed Implementation

[0036] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments.

[0037] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of the embodiments of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein.

[0038] In this article, "multiple or several" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0039] like Figure 1 The diagram shows the basic structure of the catheter and sheath, including: catheter body 11, sheath head 12, catheter handle 13, catheter tapered bend cannula 14, catheter saline tubing 15, and sheath saline tubing 16. During electrophysiological ablation surgery, the surgeon holds the sheath head with their left hand, rotating, pushing, and retracting the sheath; their right hand holds the catheter handle, rotating, pushing, and retracting the catheter; and their thumb pushes the tapered cannula to bend.

[0040] The combined operation of the catheter and sheath mentioned above requires manual operation by the surgeon, which is complex and high-risk. This results in many ablation targets not being able to achieve satisfactory catheter contact or not being able to maintain stable contact for a sufficient period of time, leading to low success rate and efficiency of the operation.

[0041] In view of this, embodiments of the present invention provide a combined driving device for a split ablation catheter and sheath, such as... Figure 2As shown, it is the structural schematic diagram of the combined driving device of the separate ablation catheter and the sheath provided by the embodiment of the application, which comprises a driving platform 21, a driving structure panel 22 and an adaptive consumable 23, the driving platform 21 comprises a catheter axial pushing and withdrawing driving module, a catheter circumferential rotation driving module, a catheter head bending driving module, a sheath axial pushing and withdrawing driving module and a sheath circumferential rotation driving module; the driving structure panel 22 is provided with a plurality of mounting holes, the adaptive consumable 23 is fixed on the driving platform 21 through the mounting holes, and the adaptive consumable 23 comprises the catheter and its motion control consumable and the sheath and its motion control consumable.

[0042] In specific implementation, the catheter axial pushing and withdrawing driving module is used for controlling the catheter axial pushing and withdrawing operation through the catheter motion control consumable; the catheter circumferential rotation driving module is used for controlling the catheter circumferential rotation operation through the catheter motion control consumable; the catheter head bending driving module is used for controlling the catheter head bending operation through the catheter motion control consumable; the sheath axial pushing and withdrawing driving module is used for controlling the sheath axial pushing and withdrawing operation through the sheath motion control consumable; and the sheath circumferential rotation driving module is used for controlling the sheath circumferential rotation operation through the sheath motion control consumable.

[0043] In specific implementation, the catheter axial pushing and withdrawing driving module comprises a catheter axial motion driving motor 210, a first linear guide rail 211 and a first adaptive support column 212, the catheter motion control consumable comprises a catheter slider support plate 231, one end of the first adaptive support column 212 is connected with the first linear guide rail 211, the other end is connected with the catheter slider support plate 231, and the catheter slider support plate 231 is installed on the driving structure panel 22 through the first adaptive support column 212; wherein the first adaptive support column 212 connects the first linear guide rail 211 and the catheter slider support plate 231 through the opening on the driving structure panel 22.

[0044] The catheter axial motion driving motor 210 is used for controlling the first adaptive support column 212 to advance or retreat along the first linear guide rail 211, and driving the catheter slider support plate 231 to advance or retreat through the first adaptive support column 212, so as to control the catheter axial pushing or withdrawing operation.

[0045] In a possible implementation, the length of the first linear guide rail is not less than 10 cm, before the operation is prepared, the catheter slider support plate 231 is placed in the middle of the guide rail through the first adaptive support column 212, so as to ensure that the pushing and withdrawing distance of the catheter is not less than 5 cm.

[0046] In a specific implementation, the catheter circumferential rotation driving module includes a catheter circumferential rotation driving motor 213 and a second adaptive support column 214, the catheter motion control consumables include a first linkage gear 233 and a first driving gear 232, one end of the second adaptive support column 214 is connected with the catheter circumferential rotation driving motor 213, the other end is connected with the first driving gear 232, and the first driving gear 232 is installed on the driving structure panel 22 through the second adaptive support column 214; wherein the second adaptive support column 214 connects the catheter circumferential rotation driving motor 213 and the first driving gear 232 through the opening on the driving structure panel 22.

[0047] The catheter circumferential rotation motor 213 is used to drive the first linkage gear 233 and the first driving gear 232 to rotate through the second adaptive support column 214, so as to control the catheter circumferential rotation operation.

[0048] In a specific implementation, the catheter head bending driving module includes a catheter head bending driving motor 215, a second linear guide rail 216 and a third adaptive support column 217, and the catheter motion control consumables include a conical sleeve slider support plate 234; one end of the third adaptive support column 217 is connected with the second linear guide rail 216, the other end is connected with the conical sleeve slider support plate 234, and the conical sleeve slider support plate 234 is installed on the driving structure panel through the third adaptive support column 217; wherein the third adaptive support column 217 connects the second linear guide rail 216 and the conical sleeve slider support plate 234 through the opening on the driving structure panel 22.

[0049] The catheter head bending driving motor 215 is used to control the third adaptive support column 217 to advance or retreat along the second linear guide rail 216, drive the conical sleeve slider support plate 234 to advance or retreat through the third adaptive support column 217, so as to control the catheter head bending operation.

[0050] In a possible implementation, the length of the second linear guide rail 216 is not less than 5 centimeters, the catheter head bending driving motor 215 drives the conical sleeve slider support plate 234 through the third adaptive support column 217, and the head bending of the catheter is realized.

[0051] In specific implementation, the sheath axial advancement and retraction driving module includes a sheath axial movement driving motor 218, a third linear guide rail 219, and a fourth adaptive support column 220. The sheath movement control consumables include a sheath slider support plate 235. One end of the fourth adaptive support column 220 is connected with the third linear guide rail 219, and the other end is connected with the sheath slider support plate 235. The sheath slider support plate 235 is installed on the driving structure panel 22 through the fourth adaptive support column 220. The fourth adaptive support column 220 is connected with the third linear guide rail 219 and the sheath slider support plate 235 through the opening on the driving structure panel 22.

[0052] The sheath axial movement driving motor 218 is configured to control the fourth adaptive support column 220 to advance or retreat along the third linear guide rail 219, and drive the sheath slider support plate 235 to advance or retreat through the fourth adaptive support column 220, so as to control the catheter axial advancement or retraction operation.

[0053] Specifically, the sheath axial movement driving motor 218 controls the fourth adaptive support column 220 to advance or retreat along the third linear guide rail 219, and drives the sheath slider support plate 235 to slide forward or backward, so as to realize the sheath axial advancement or retraction.

[0054] In specific implementation, the sheath circumferential rotation driving module includes a sheath circumferential rotation driving motor 221 and a fifth adaptive support column 222. The sheath movement control consumables include a second driving gear 236, a second linkage gear 237, a sheath support rod 238, and a sheath adapter 239. One end of the fifth adaptive support column 222 is connected with the sheath circumferential rotation driving motor 221, and the other end is connected with the second driving gear 236. The second driving gear 236 is installed on the driving structure panel 22 through the fifth adaptive support column 222. The sheath adapter 239 is configured to fix the sheath. The fifth adaptive support column 222 is connected with the sheath circumferential rotation driving motor 221 and the second driving gear 236 through the opening on the driving structure panel 22.

[0055] The sheath circumferential rotation driving motor 221 is configured to control the second linkage gear 237 and the second driving gear 236 to rotate through the fifth adaptive support column 222, and drive the sheath support rod 238 and the sheath adapter 239 to rotate through the second linkage gear 237 and the second driving gear 236, so as to control the sheath circumferential rotation operation.

[0056] Specifically, the sheath circumferential rotation driving motor 221 controls the second linkage gear 237 and the second driving gear 236 to rotate through the fifth adaptive support column 222, and drives the sheath support rod 238 and the sheath adapter 239 to rotate, so as to realize the sheath rotation driving.

[0057] AsFigure 3 Figure 8 is a perspective view of the combined driving device of the separate ablation catheter and the sheath tube provided by the embodiment of the present application.

[0058] Figure 9 is a front view of the adapter consumable 23, including the catheter 41, the first driving gear 232, the first linkage gear 233, the conical sleeve slider support plate 234, the screw 42 on the driving structure panel for fixing the adapter consumable, and the catheter slider support plate 231. Figure 4a Figure 10 is a bottom view of the adapter consumable 23, including the catheter 41, the catheter slider support plate 231, the screw 42 on the driving structure panel for fixing the adapter consumable, the sliding groove 43 for the sliding of the conical sleeve slider support plate 234, and the first driving gear 232.

[0059] Figure 4b The axial advancement or retraction of the catheter is completed based on the movement of the catheter slider support plate 231, the gear pair of the first driving gear 232 and the first linkage gear 233 is used to control the circumferential rotation of the catheter, and the conical sleeve slider support plate 234 is used to control the adjustment of the curvature of the catheter head.

[0060] According to the embodiment of the present application, the adapter consumable 23 can be a disposable adapter consumable, which is used to adapt the linkage of the catheter, the sheath tube and the driving platform, to match the catheter and the sheath tube for a specific surgery, and as a disposable sterile adapter consumable, it is discarded after the surgery and is not used again.

[0061] Figure 11 is a right view of the driving platform, including the axial movement driving motor 210, the first linear guide rail 211, the driving structure panel 22, the second adapter column 214, and the catheter head bending driving motor 215.

[0062] Figure 12 is a left view of the driving platform, including the fifth adapter column 222, the third adapter column 217, the catheter circumferential rotation driving motor 213, the catheter slider support plate 231, and the main control system circuit board 51. Figure 5a Figure 13 is a bottom view of the driving platform, including the fourth adapter column 221, the second adapter column 214, the first linear guide rail 211, the driving structure panel 22, the catheter head bending driving motor 215, and the axial movement driving motor 210.

[0063] Figure 5b According to the embodiment of the present application, the axial movement of the catheter is completed by the movement of the catheter slider support plate 231 as a whole on the first linear guide rail 211 driven by the axial movement driving motor 210, the circumferential rotation of the catheter is completed by the first driving gear and the first linkage gear of the adapter consumable 23 part controlled by the catheter circumferential rotation driving motor 213, and the adjustment of the curvature of the catheter head is completed by the movement of the conical sleeve slider support plate 234 driven by the movement of the third adapter column 217 of the catheter head bending driving motor 215.

[0064] According to the embodiment of the present application, the axial movement of the catheter is completed by the movement of the catheter slider support plate 231 as a whole on the first linear guide rail 211 driven by the axial movement driving motor 210, the circumferential rotation of the catheter is completed by the first driving gear and the first linkage gear of the adapter consumable 23 part controlled by the catheter circumferential rotation driving motor 213, and the adjustment of the curvature of the catheter head is completed by the movement of the conical sleeve slider support plate 234 driven by the movement of the third adapter column 217 of the catheter head bending driving motor 215.

[0065] ​​According to the embodiment of the present application, the combined driving of the catheter and the sheath can be remotely controlled by the manipulator and the workstation. The control interface of the workstation is shown in FIG. 6, which includes a sheath driving interface 61, a catheter driving interface 62, a 3D catheter display 63, and a surgical point memory tracking 64. The workflow of the combined driving device of the catheter and the sheath is as follows: Figure 6

[0066] 1. Surgical preparation, vascular puncture, sheath placement, sterile placement and operation of the catheter to the target chamber.

[0067] 2. Power on the driving device, and operate the moving mechanical arm to align the sheath adapter with the tail end of the sheath.

[0068] 3. Reset the axial motion driving motor of the sheath and the axial driving motor of the catheter to the middle of the guide rail, and reset the circumferential rotation motor of the sheath and the circumferential and head end bending motor of the catheter.

[0069] 4. Turn on the sheath driver to install the sheath in place, and install the sheath infusion tube in place.

[0070] 5. Turn on the catheter adapter to install the catheter in place.

[0071] 6. Control the rotation or advancement and retreat of the sheath driver, and the rotation, advancement and retreat, and bending freedom of the catheter driver by command to complete the surgery.

[0072] 7. Reset the sheath adapter and the catheter adapter.

[0073] 8. Turn on the relevant clamping groove and clamping ring to remove the sheath and the catheter.

[0074] Through the description of the specific embodiments, the technical means and effects taken by the present application to achieve the predetermined purposes can be more deeply and specifically understood. However, the accompanying drawings are only provided for reference and illustration, and are not used to limit the present application.​

Claims

1. A combined drive device for a split ablation catheter and sheath, characterized in that, The system includes a drive platform, a drive structure panel, and compatible consumables. The drive platform comprises a catheter axial advance and retraction drive module, a catheter tip bending drive module, and a sheath axial advance and retraction drive module. The drive structure panel has several mounting holes through which the compatible consumables are fixed to the drive platform. The compatible consumables include a catheter and its motion control consumables, and a sheath and its motion control consumables. The catheter axial advance and retraction drive module is used to control the axial advance and retraction of the catheter through catheter motion control consumables; the catheter head bending drive module is used to control the bending operation of the catheter head through the catheter motion control consumables. The sheath tube axial advance and retraction drive module is used to control the axial advance and retraction operation of the sheath tube through the sheath tube motion control consumable. The catheter axial advance and retraction drive module includes a catheter axial motion drive motor, a first linear guide rail and a first adapter support. The catheter motion control consumables include a catheter slider support plate. One end of the first adapter support is connected to the first linear guide rail and the other end is connected to the catheter slider support plate. The catheter slider support plate is mounted on the drive structure panel through the first adapter support. The catheter axial motion drive motor is used to control the first adapter support to move forward or backward along the first linear guide rail. The first adapter support drives the catheter slider support plate to move forward or backward, thereby controlling the axial advancement or retraction of the catheter. The catheter head bending drive module includes a catheter head bending drive motor, a second linear guide rail, and a third adapter support. The catheter motion control consumable includes a tapered sleeve slider support plate. One end of the third adapter support is connected to the second linear guide rail, and the other end is connected to the tapered sleeve slider support plate. The tapered sleeve slider support plate is mounted on the drive structure panel via the third adapter support. The catheter head bending drive motor is used to control the third adapter support to move forward or backward along the second linear guide rail. The third adapter support drives the tapered sleeve slider support plate to move forward or backward, thereby controlling the catheter head bending operation. The sheath tube axial advance and retraction drive module includes a sheath tube axial motion drive motor, a third linear guide rail, and a fourth adapter support. The sheath tube motion control consumable includes a sheath tube slider support plate. One end of the fourth adapter support is connected to the third linear guide rail, and the other end is connected to the sheath tube slider support plate. The sheath tube slider support plate is mounted on the drive structure panel via the fourth adapter support. The sheath axial motion drive motor is used to control the fourth adapter support to move forward or backward along the third linear guide rail. The fourth adapter support drives the sheath slider support plate to move forward or backward, thereby controlling the axial advancement or retraction of the catheter. The drive platform further includes a catheter circumferential rotation drive module and a sheath circumferential rotation drive module, wherein: The catheter circumferential rotation drive module is used to control the circumferential rotation operation of the catheter through the catheter motion control consumables; The sheath circumferential rotation drive module is used to control the circumferential rotation operation of the sheath through the sheath motion control consumable.

2. The combined driving device for the split ablation catheter and sheath according to claim 1, characterized in that, The length of the first linear guide rail is not less than 10 centimeters.

3. The combined drive device for the split ablation catheter and sheath according to claim 1 or 2, characterized in that, The catheter circumferential rotation drive module includes a catheter circumferential rotation drive motor and a second adapter support. The catheter motion control consumable includes a first linkage gear and a first drive gear. One end of the second adapter support is connected to the catheter circumferential rotation drive motor, and the other end is connected to the first drive gear. The first drive gear is mounted on the drive structure panel through the second adapter support. The catheter circumferential rotation motor is used to drive the first linkage gear and the first drive gear to rotate through the second adapter support, so as to control the circumferential rotation operation of the catheter.

4. The combined drive device for the split ablation catheter and sheath according to claim 1, characterized in that, The length of the second linear guide rail is not less than 5 centimeters.

5. The combined driving device for the split ablation catheter and sheath according to claim 1, characterized in that, The sheath tube circumferential rotation drive module includes a sheath tube circumferential rotation drive motor and a fifth adapter support. The sheath tube motion control consumables include a second drive gear, a second linkage gear, a sheath tube support rod, and a sheath tube adapter. One end of the fifth adapter support is connected to the sheath tube circumferential rotation drive motor, and the other end is connected to the second drive gear. The second drive gear is mounted on the drive structure panel via the fifth adapter support. The sheath tube adapter is used to fix the sheath tube. The sheath circumferential rotation drive motor is used to control the rotation of the second linkage gear and the second drive gear through the fifth adapter support, and drive the sheath support rod and the sheath adapter to rotate through the second linkage gear and the second drive gear, so as to control the circumferential rotation operation of the sheath.

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