Flexible extendable tubular medical device

Abstract

The present disclosure relates to the field of medical devices, and discloses a bendable and extendable tubular medical device, comprising: an extendable tube, a bendable member, a drive wire, and a medical instrument. The extendable tube includes an inner layer, an outer layer, and a fluid cavity located between the inner layer and the outer layer. The extendable tube includes a deployable area at the distal end, where the inner layer and the outer layer are connected and deployable, and the radial dimensions of the inner layer and the outer layer stepwise decrease in the extending direction from the proximal end to the distal end. The bendable member is disposed in the channel surrounded by the inner layer of the extendable tube, and includes a flexible tube and a wrist joint disposed at the distal end of the flexible tube. The drive wire is disposed through the flexible tube and tightly connected to the wrist joint at the distal end, and the drive wire is used to drive the wrist joint to bend so as to drive the extendable tube to bend. The medical instrument is disposed at the distal end of the wrist joint. The bendable and extendable tubular medical device can better adapt to a gradually narrowing and complexly curved cavity, so as to reduce or avoid touching and friction with the cavity.

Description

Technical Field

[0001] The present disclosure relates to the field of medical devices, and particularly to a bendable and extendable tubular medical device. Background Art

[0002] Endovascular interventional surgery has gradually become a research hotspot in the industry. Compared with traditional open surgeries that mainly rely on manual operations by doctors, it has the advantages of less trauma, high safety, rapid postoperative recovery, and fewer complications. At the same time, it can also eliminate the risks brought by the physiological tremors of doctors during manual operations and misoperations during fatigue. Doctors can use a teleoperation method to control endovascular interventional devices to perform surgeries, with stable and reliable movement and high precision, which is beneficial to improving the quality of surgeries.

[0003] However, currently, the flexibility of interventional devices is relatively poor, unable to adapt to complexly curved human body cavities, which may cause damage to the cavities. Moreover, the interventional devices are relatively large in size, restricting the further popularization of device-assisted endovascular interventional diagnosis or surgeries. Summary of the Invention

[0004] Based on the above problems, the present disclosure provides a bendable and extendable tubular medical device, which has good flexibility, can achieve controllable extension, and can well adapt to gradually narrowing and complexly curved cavities.

[0005] In some embodiments, the present disclosure provides a bendable and extendable tubular medical device, including: an extendable tube, which includes an inner layer, an outer layer, and a fluid cavity located between the inner layer and the outer layer, and the fluid cavity is used to accommodate fluid; the extendable tube includes a flippable region at the distal end, where the inner layer and the outer layer are connected and flippable in the flippable region, and the radial dimensions of the inner layer and the outer layer stepwise decrease in the extending direction from the proximal end to the distal end; a bendable member disposed in the channel surrounded by the inner layer of the extendable tube, the bendable member includes a flexible tube and a wrist joint disposed at the distal end of the flexible tube; a driving wire penetrating through the flexible tube, the distal end of the driving wire is fixedly connected to the wrist joint, and the driving wire is used to drive the wrist joint to bend under the drive of a wrist joint drive mechanism to drive the extendable tube to bend; and a medical instrument disposed at the distal end of the wrist joint. Brief Description of the Drawings

[0006] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following will briefly introduce the drawings required for describing the embodiments of the present disclosure. Obviously, the following described drawings only show some embodiments of the present disclosure. For those of ordinary skill in the art, without creative efforts, other embodiments can also be obtained based on the content of the embodiments of the present disclosure and these drawings.

[0007] Figure 1 Schematic diagram showing the distal part structure of an extendable tube according to some embodiments of the present disclosure;

[0008] Figure 2 Schematic structural diagram of the distal portion of another extensible tube according to some embodiments of the present disclosure;

[0009] Figure 3 Schematic structural diagram of the distal portion of another extensible tube according to some embodiments of the present disclosure;

[0010] FIG. 4(a) shows a cross-sectional view of an extensible tube according to some embodiments of the present disclosure;

[0011] FIG. 4(b) shows another cross-sectional view of an extensible tube according to some embodiments of the present disclosure;

[0012] FIG. 5(a) shows a partial structural schematic diagram of a tube driving mechanism according to some embodiments of the present disclosure;

[0013] FIG. 5(b) shows a cross-sectional schematic diagram of a tube driving mechanism according to some embodiments of the present disclosure;

[0014] Figure 6 Schematic structural diagram of a bendable and extensible tubular medical device according to some embodiments of the present disclosure;

[0015] Figure 7 Schematic structural diagram of a bendable member according to some embodiments of the present disclosure;

[0016] Figure 8 Schematic structural diagram of the wrist joint of a bendable member according to some embodiments of the present disclosure;

[0017] Figure 9 Schematic structural diagram of the flexible tube of a bendable member according to some embodiments of the present disclosure;

[0018] Figure 10 Schematic structural diagram of a slit unit according to some embodiments of the present disclosure. Detailed Description of the Embodiments

[0019] To make the technical problems solved, the technical solutions adopted, and the technical effects achieved by the present disclosure clearer, the technical solutions of the embodiments of the present disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some of the embodiments of the present disclosure, rather than all of them. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present disclosure.

[0020] In the description of the present disclosure, it should be noted that the orientation or positional relationship indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present disclosure. In addition, the terms "first", "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present disclosure, it should be noted that unless otherwise clearly specified and limited, the terms "installed", "connected", "coupled" should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to specific situations. In the present disclosure, the end closer to the operator (such as a doctor) is defined as the proximal end, proximal part, rear end or rear portion, and the end closer to the surgical patient is defined as the distal end, distal part, front end or front portion.

[0021] Figure 1 A schematic structural diagram of the distal portion of the bendable and extendable tubular medical device 100 according to some embodiments of the present disclosure is shown. The bendable and extendable tubular medical device 100 can enter a cavity through an opening (such as an incision or a natural opening). The cavity can include, for example, blood vessels, tracheas, esophaguses, vaginas, intestines, etc. in the human body or an animal body. As Figure 1As shown, the bendable and extendable tubular medical device 100 may include an extendable tube 110, and the extendable tube 110 may include a flexible material. The extendable tube 110 includes an inner layer 111, an outer layer 112, and a fluid cavity 113 located between the inner layer 111 and the outer layer 112. The fluid cavity 113 is used to accommodate a fluid 140. The extendable tube 110 further includes a flippable region 114 at the distal end, where the inner layer 111 and the outer layer 112 are connected and flippable. In some embodiments, the radial dimensions of the inner layer 111 and the outer layer 112 may decrease stepwise in the extending direction from the proximal end to the distal end. Thus, the bendable and extendable tubular medical device 100 can adapt to a gradually narrowing channel to reduce or avoid touching and friction with the channel. In some embodiments, the fluid cavity 113 may be uniformly distributed stepwise in the extending direction from the proximal end to the distal end. The inner layer 111 may be turned outwards in the flippable region 114 to form the outer layer 112, or the outer layer 112 may be turned inwards in the flippable region 114 to form the inner layer 111. By flipping between the inner layer 111 and the outer layer 112, the extendable tube 110 can extend distally or retract, facilitating the bendable and extendable tubular medical device 100 to extend to a target position in the channel or retract from the channel. For example, when the inner layer 111 moves distally by a length L, the inner layer 111 with a length of L in the flippable region 114 is turned outwards to form the outer layer 112, and the fluid 140 fills the fluid cavity 113 extended by the outward turning of the inner layer 111, so that the extendable tube 110 can extend forward. When the inner layer 111 moves proximally by a length L', the outer layer 112 with a length of L' in the flippable region 114 is turned inwards to form the inner layer 111, so that the extendable tube 110 can retract.

[0022] Figure 2 and Figure 3 respectively show schematic structural diagrams of the distal portions of the extendable tubes 210 and 310 according to some embodiments of the present disclosure. In some embodiments, as Figure 1 、 Figure 2 and Figure 3 shown, the radial dimension of the outer layer 112 - 312 may decrease stepwise in the extending direction from the proximal end to the distal end, and the radial dimension of the inner layer 111 - 311 may decrease stepwise in the extending direction from the proximal end to the distal end. It can be understood that Figure 1 、 Figure 2 and Figure 3 the configurations of the extendable tubes 110, 210, and 310 shown may be the configurations during the extension process or when the extension stops. The profiles of the outer layer and the inner layer may be straight lines, curves, or a combination thereof. In the present disclosure, stepwise means that the slope of the layer profile changes significantly at the step region.

[0023] As Figure 1As shown, the outer layer 112 may include a proximal segment 1121 and a distal segment 1122 with different radial dimensions. The radial dimensions of the proximal segment 1121 and the distal segment 1122 remain substantially unchanged in the direction of extension from the proximal end to the distal end. The proximal segment 1121 and the distal segment 1122 may be connected by a sudden change or a gradual change at the connection region. The contour slope of the proximal segment 1121 at the connection and the contour slope of the distal segment 1122 at the connection are different to form a stepped contour. The radial dimension of the inner layer 111 of the extendable tube 110 remains substantially unchanged in the proximal segment 1121, remains substantially unchanged in the distal segment 1122, and may be connected by a sudden change or a gradual change at the connection region between the proximal segment 1121 and the distal segment 1122. The contour slope of the proximal segment 1121 at the connection and the contour slope of the distal segment 1122 at the connection are different to form a stepped contour. When the extendable tube 110 is in a state where flipping stops (such as a fully extended state or when approaching the lesion location), the thickness of the fluid cavity 113 remains substantially unchanged in the direction of extension from the proximal end to the distal end to form a stepped shape with uniform thickness. The inner layer 111 surrounds and forms a channel 1111. The radial dimension of the channel 1111 remains substantially unchanged in the proximal segment 1121, remains substantially unchanged in the distal segment 1122, and may be connected by a gradual change at the connection region between the proximal segment 1121 and the distal segment 1122. The channel 1111 can be used to accommodate a bending member to achieve the turning of the extendable tube 110 through the bending member. The inner layer 111 or the outer layer 112 can be driven to move distally or proximally, so that the inner layer 111 can be turned outwards to form the outer layer 112 in the turnable region 114, or the outer layer 112 can be turned inwards to form the inner layer 111 in the turnable region 114. For example, the inner layer 111 moves distally by a length L, and the inner layer 111 with a length of L in the turnable region 114 is turned outwards to form the outer layer 112. The fluid 140 fills the fluid cavity 113 extended by the outward turning of the inner layer 111, so that the extendable tube 110 can extend forward. The inner layer 111 moves proximally by a length L', and the outer layer 112 with a length of L' in the turnable region 114 is turned inwards to form the inner layer 111, so that the extendable tube 110 can be retracted.

[0024] In some embodiments, as Figure 2 and Figure 3 shown, the outer layers 212 and 312 may include a stepped contour composed of multiple segments with different radial dimensions. As Figure 2As shown, the outer layer 212 may sequentially include a proximal section 2121a, a proximal section 2121b, a distal section 2122a, and a distal section 2122b with different radial dimensions. The radial dimensions of the proximal section 2121a and the distal section 2122a remain substantially unchanged. The radial dimensions of the proximal section 2121b and the distal section 2122b gradually decrease in the extending direction from the proximal end to the distal end. The proximal section 2121a and the proximal section 2121b may be connected with a gradual change or a sudden change at the connection region. The proximal section 2121b and the distal section 2122a may be connected with a gradual change or a sudden change at the connection region. The distal section 2122a and the distal section 2122b may be connected with a gradual change or a sudden change at the connection region to form a multi-segment stepped profile. The inner layer 211 remains substantially unchanged in the proximal section 2121a and the distal section 2122a, gradually decreases in the extending direction from the proximal end to the distal end in the proximal section 2121b and the distal section 2122b, and may be connected with a gradual change at the connection regions between the proximal section 2121a and the proximal section 2121b, between the proximal section 2121b and the distal section 2122a, and between the distal section 2122a and the distal section 2122b to form a stepped profile. As Figure 2 shown, in a state where the extendable tube 210 stops flipping (such as in a fully extended state or when approaching the lesion location), the thickness of the fluid cavity 213 remains substantially unchanged in the extending direction from the proximal end to the distal end to form a stepped profile with uniform thickness. The inner layer 211 surrounds and forms a channel 2111, and the channel 2111 decreases in the extending direction from the proximal section 2121a, the proximal section 2121b, the distal section 2122a, and the distal section 2122b. The channel 2111 can be used to accommodate a bending member to achieve the turning of the extendable tube 210 through the bending member. The inner layer 211 or the outer layer 212 can be driven to move distally or proximally, so that the inner layer 211 can be turned outwards to form the outer layer 212 in the turnable region 214, or the outer layer 212 can be turned inwards to form the inner layer 211 in the turnable region 214. The fluid 240 fills the fluid cavity 213 extended by the turning outwards of the inner layer 211 or the turning inwards of the outer layer 212, so that the extendable tube 210 can extend forward.

[0025] As Figure 3 shown, the outer layer 312 may sequentially include a proximal section 3121a, a proximal section 3121b, a distal section 3122a, and a distal section 3122b with different radial dimensions. The radial dimensions of the proximal section 3121a, the proximal section 3121b, the distal section 3122a, and the distal section 3122b remain substantially unchanged. The proximal section 3121a and the proximal section 3121b may be connected with a sudden change at the connection region. The proximal section 3121b and the distal section 3122a may be connected with a sudden change at the connection region. The distal section 3122a and the distal section 3122b may be connected with a sudden change at the connection region to form a multi-segment stepped profile. The inner layer 311 may include multiple segments corresponding to the segments of the outer layer 312, and each segment may be connected with a sudden change at the connection region to form a stepped profile. As Figure 3As shown, in the state where the extendable tube 310 stops flipping or in the stable state during the extension process, the thickness of the fluid cavity 313 remains substantially unchanged in the extending direction from the proximal end to the distal end, so as to form a stepped shape with uniform thickness. The inner layer 311 encloses to form a channel 3111, and the channel 3111 decreases in the extending directions of the proximal section 3121a, the proximal section 3121b, the distal section 3122a, and the distal section 3122b. The channel 3111 can be used to accommodate a bending member to realize the turning of the extendable tube 310 through the bending member. The inner layer 311 or the outer layer 312 can be driven to move towards the distal end or the proximal end, so that the inner layer 311 can be turned outwards to form the outer layer 312 in the turnable area 314, or the outer layer 312 can be turned inwards to form the inner layer 311 in the turnable area 314. The fluid 340 fills the fluid cavity 313 extended by the outward turning of the inner layer 311 or the inward turning of the outer layer 312, so that the extendable tube 310 can extend forward.

[0026] FIG. 4(a) and FIG. 4(b) respectively show cross-sectional views of an extendable tube 110 (or 210, 310) according to some embodiments of the present disclosure. In some embodiments, as shown in FIG. 4(a), the cross-section of the extendable tube 110 can be circular. In some embodiments, as shown in FIG. 4(b), the cross-section of the extendable tube 110 can be elliptical. It should be understood that the cross-section of the extendable tube 110 includes but is not limited to the structures of the above embodiments, and can include other shapes, such as rectangular, polygonal, and the like.

[0027] In some embodiments, the extendable tube 110 (or 210, 310) can include a flexible material, including but not limited to plastics, rubbers, etc., such as low-density polyethylene, silicone-containing polymers, or fluorine-containing polymers, etc. The flexible extendable tube 110 can avoid damaging the cavity.

[0028] The bendable and extendable tubular medical device 100 can include one of the extendable tubes 110-310. In some embodiments, the bendable and extendable tubular medical device 100 can further include a tube driving mechanism 120. FIG. 5(a) and FIG. 5(b) respectively show partial schematic structural views of the tube driving mechanism 120 according to some embodiments of the present disclosure. As shown in FIG. 5(a), the tube driving mechanism 120 is connected to the extendable tube 110 (or 210, 310), and the tube driving mechanism 120 can perform linear motion to drive the outer layer 112 or the inner layer 111 of the extendable tube 110 to move. In some embodiments, the tube driving mechanism 120 can be connected to the outer layer 112 of the extendable tube 110 to drive the outer layer 112 of the extendable tube 110 to move. In some embodiments, the tube driving mechanism 120 can be connected to the inner layer 111 of the extendable tube 110 to drive the inner layer 111 of the extendable tube 110 to move.

[0029] In some embodiments, as shown in FIGS. 5(a) and 5(b), the tube driving mechanism 120 may include a motor 121, a connecting sleeve 122, a transmission assembly 123, and a lead screw nut module 124. The lead screw nut module 124 may employ a friction lead screw or a ball screw. The lead screw nut module 124 may include a lead screw 1241, a nut 1242 disposed on the lead screw 1241, and a moving rod 1243 fixedly connected to the nut 1242. The connecting sleeve 122 includes an integrally formed mounting flange 1221 and a mounting box housing 1222, wherein the mounting flange 1221 is connected to the motor 121, and the mounting box housing 1222 is used to accommodate the transmission assembly 123. In some embodiments, as shown in FIG. 5(b), the transmission assembly 123 may include a worm 1231 and a worm gear 1232 that are rotationally engaged with each other. The worm 1231 is connected to the output shaft of the motor 121 by a key connection, and the worm gear 1232 is connected to the lead screw 1241 by a key connection. The output torque of the output shaft of the motor 121 in the axial direction (along the longitudinal axis A direction) is transmitted laterally (along the axis B direction) to the lead screw 1241 through the transmission assembly 123. By converting the rotational motion of the motor 121 into the rotational motion of the lead screw 1241, the nut 1242 is driven to rotate relative to the lead screw 1241 to drive the moving rod 1243 fixedly connected to the nut 1242 to linearly move. The outer layer 112 or the inner layer 111 of the extendable tube 110 (or 210-310) is hermetically connected to the moving rod 1243, thereby driving the movement of the outer layer 112 or the inner layer 111 of the extendable tube 110.

[0030] It should be understood that the tube driving mechanism of the present disclosure includes, but is not limited to, the structures of the above embodiments, and any driving mechanism capable of realizing linear motion does not depart from the scope of the present disclosure.

[0031] Figure 6 FIG. shows a schematic structural diagram of a bendable and extendable tubular medical device 100 according to some embodiments of the present disclosure. In some embodiments, as Figure 6 shown, the bendable and extendable tubular medical device 100 may further include a fluid controller 130. The fluid controller 130 may be used to pressurize the fluid 140 (or 240, 340) to drive the fluid 140 to gradually fill the fluid cavity 113 between the outer layer 112 and the inner layer 111. In some embodiments, the fluid 140 may be a liquid fluid, such as normal saline, or a gaseous fluid, such as air, carbon dioxide gas, or other inert gases. In some embodiments, the fluid controller 130 may include a gas pump, a liquid pump, or the like.

[0032] In some embodiments, as Figure 6As shown, the bendable and extendable tubular medical device 100 may further include a fluid tank 150. The fluid tank 150 includes a fluid outlet channel 151 and a fluid control channel 152. The fluid controller 130 communicates with the fluid tank 150 through the fluid control channel 152. At least one sealing ring 153 may be provided in the fluid tank 150. The outer periphery of the sealing ring 153 is sealingly fitted with the inner wall of the fluid tank 150. The fluid outlet channel 151 is annular. The inner layer 111 of the extendable tube 110 (or 210, 310) is sealingly connected to the inner side or the outer side of the inner ring wall of the fluid outlet channel 151. The outer layer 112 of the extendable tube 110 passes through the fluid outlet channel 151 and extends towards the proximal end of the fluid tank 150 and is sealingly connected to the sealing ring 153. The sealing ring 153 and the moving rod 1243 of the tube driving mechanism 120 are tightly connected through at least one connecting rod 126. The tube driving mechanism 120 is arranged in the fluid tank 150. One end of the moving rod 1243 of the tube driving mechanism 120 is connected to the sealing ring 153 to drive the sealing ring 153 to linearly move along the length direction of the fluid tank 150. The sealing ring 153 can prevent the fluid 140 in the fluid tank 150 from leaking from the gap between the outer layer 112 of the extendable tube 110 and the inner layer of the fluid tank 150. For example, the tube driving mechanism 120 drives the outer layer 112 of the extendable tube 110 to move a length L towards the distal end. The outer layer 112 with a length of L in the turnable area 114 turns inwards to form the inner layer 111. The fluid 140 fills the fluid cavity 113 extended by the inward turning of the outer layer 112, so that the extendable tube 110 can extend forward. The outer layer 112 moves a length L' towards the proximal end. The inner layer 111 with a length of L' in the turnable area 114 turns outwards to form the outer layer 112, so that the extendable tube 110 can retract.

[0033] In some embodiments, the tube driving mechanism 120 may be arranged inside the fluid tank 150. The inner layer 111 or the outer layer 112 of the extendable tube 110 (or 210, 310) may extend into the fluid tank 150 and be connected to the tube driving mechanism 120. In some embodiments, as Figure 6 shown, the tube driving mechanism 120 may be arranged outside the fluid tank 150. At least a part of the moving rod 1243 of the tube driving mechanism 120 is arranged inside the fluid tank 150. The outer layer 112 of the extendable tube 110 (or 210, 310) may extend into the fluid tank 150 and be sealingly connected to the moving rod 1243.

[0034] As Figure 6As shown, in some embodiments, the bendable and extendable tubular medical device 100 further includes a pressure sensor 160. The pressure sensor 160 can be disposed on the fluid tank 150 for detecting the pressure inside the fluid tank 150. The pressure sensor 160 can be connected to the fluid controller 130 to send a fluid pressure signal inside the fluid tank 150 to the fluid controller 130. The fluid controller 130 can control the fluid pressure in the fluid tank 150 and the fluid cavity 113 (213 or 313) according to the fluid pressure signal.

[0035] In some embodiments, the bendable and extendable tubular medical device 100 may further include a bendable member that is bendable in at least one degree of freedom at the distal end. Figure 7 The structural schematic diagram of the bendable member 170 according to some embodiments of the present disclosure is shown. As Figure 7 shown, the inner layer 111 of the extendable tube 110 (or 210, 310) surrounds to form a channel 1111, the bendable member 170 is disposed in the channel 1111, and the distal end of the bendable member 170 can drive the extendable tube 110 to bend when bending.

[0036] In some embodiments, as Figure 7 shown, the bendable member 170 may include a flexible tube 174 and a wrist joint 172 disposed at the distal end of the flexible tube 174. Figure 8 The structural schematic diagram of the wrist joint 172 of the bendable member 170 according to some embodiments of the present disclosure is shown. As Figure 8 shown, the wrist joint 172 may include a snake bone structure, and the snake bone structure may include a plurality of hollow bamboo joint-shaped bending units 1721 connected end to end. A radially bendable kinematic pair can be formed between two adjacent bending units 1721 through mutually nested connection grooves 1722 and connection protrusions 1723.

[0037] Figure 9 The structural schematic diagram of the flexible tube 174 of the bendable member 170 according to some embodiments of the present disclosure is shown. In some embodiments, as Figure 9 shown, the flexible tube 174 may be provided with a plurality of slit units 175 at intervals along its extending direction, and each slit unit 175 may include at least one slit 1751 extending along the circumferential direction of the flexible tube 174. Figure 10 The structural schematic diagram of the slit unit 175 according to some embodiments of the present disclosure is shown. In some embodiments, as Figure 10 shown, the slit unit 175 may include a plurality of slits 1751, and the plurality of slits 1751 are arranged at intervals along the axial direction of the flexible tube 174, and the plurality of slits 1751 are sequentially offset along the circumferential direction of the flexible tube 174. By providing the slits 1751, the flexible tube 174 can be passively bent to adapt to the cavity. It should be understood that the flexible tube 174 includes but is not limited to the above structure, and may also be other flexible tubes that can be passively bent.

[0038] In some embodiments, as Figure 8 shown, the bendable and extendable tubular medical device 100 may further include a drive wire 173. The drive wire 173 may be disposed through the inside of the flexible tube 174 or through the tube wall of the flexible tube 174. The distal end of the drive wire 173 is fixedly connected to the wrist joint 172. The drive wire 173 is used to drive the wrist joint 172 to bend under the drive of the wrist joint drive mechanism, so as to drive the extendable tube 110 (or 210, 310) to bend.

[0039] In some embodiments, as Figure 8 shown, the distal end of the drive wire 173 may be disposed through the inside of each bending unit 1721 or through the tube wall of each bending unit 1721. The distal end of the drive wire 173 is fixedly disposed at the distal end of the snake bone structure. The wrist joint drive mechanism pushes or pulls the drive wire 173 to drive the snake bone structure to bend, thereby driving the extendable tube 110 to bend. In some embodiments, the number of drive wires 173 may be multiple, and they are distributed at intervals in the circumferential direction. By pushing, pulling or cooperatively pushing and pulling the multiple drive wires 173, the bending direction of the wrist joint 172 is adjusted to achieve the bending of the extendable tube 110 (or 210, 310) in multiple degrees of freedom directions. Through the bending guidance of the bendable member 170, the steering of the extendable tube 110 can be realized to adapt to a complexly curved cavity. Thus, the extendable tube 110 can extend distally and pass through the cavity to reach the target position.

[0040] In some embodiments, the bendable and extendable tubular medical device 100 further includes a system controller (not shown in the figure). By controlling the moving distance of the tube drive mechanism 120 and the pressure applied by the fluid controller 130 in the fluid cavity 113 (213 or 313), the bendable and extendable tubular medical device 100 can be controllably extended. In some embodiments, the system controller can control the fluid controller 130, for example, sending pressurization and depressurization commands to the fluid controller 130. In some embodiments, as Figure 6 shown, the bendable member 170 may be disposed in the channel 1111 (or 2111, 3111). The proximal portions of the drive wire 173 and the flexible tube 174 of the bendable member 170 pass through the inner cavity of the moving rod 1243 of the tube drive mechanism 120. The drive wire 173 is connected to a wrist joint drive mechanism (not shown in the figure). The wrist joint 172 of the bendable member 170 bends under the drive of the wrist joint drive mechanism, so as to drive the extendable tube 110 (or 210, 310) to bend to adapt to a complexly curved cavity.

[0041] In some embodiments, the system controller may also control the bending of the bendable member 170 so as to control the extending direction of the bendable and extendable tubular medical device 100. In some embodiments, the medical instrument 171 may be disposed at the distal end of the wrist joint 172 of the bendable member 170. The medical instrument 171 may include an ultrasonic probe, a probe, a drug capsule, or an end effector, etc. When the extendable tube 110 (or 210, 310) approaches the lesion location, the system controller may also control the medical instrument 171 to process the tissue at the lesion location, such as releasing radioactive particles, releasing drugs, capturing or fragmenting the lesion tissue, etc.

[0042] Note that the above are only exemplary embodiments of the present disclosure and the technical principles applied. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments here. Various obvious changes, re-adjustments, and substitutions can be made by those skilled in the art without departing from the protection scope of the present disclosure. Therefore, although the present disclosure has been described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments. Without departing from the concept of the present disclosure, more other equivalent embodiments can be included, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A bendable and extendable tubular medical device, comprising: An extendable tube, including an inner layer, an outer layer, and a fluid cavity located between the inner layer and the outer layer, the fluid cavity being used to accommodate fluid; The extendable tube includes a flippable area at the distal end, where the inner layer and the outer layer are connected and flippable; the radial dimensions of the inner layer and the outer layer decrease stepwise in the extending direction from the proximal end to the distal end; A bendable member, disposed in a channel surrounded by the inner layer of the extendable tube, the bendable member including a flexible tube and a wrist joint disposed at the distal end of the flexible tube; A drive wire, penetrating through the flexible tube, the distal end of the drive wire being fixedly connected to the wrist joint, the drive wire being used to drive the wrist joint to bend so as to drive the extendable tube to bend; and A medical instrument, disposed at the distal end of the wrist joint; The bendable and extendable tubular medical device further includes: A tube drive mechanism, connected to the extendable tube, for driving the outer layer or the inner layer of the extendable tube to move; A fluid controller, used to pressurize or depressurize the fluid to drive the fluid to gradually fill the fluid cavity of the flippable area or withdraw from the fluid cavity; A fluid tank, the fluid tank including an annular fluid outlet channel, at least one sealing ring being provided in the fluid tank, the outer periphery of the sealing ring being hermetically fitted with the inner wall of the fluid tank, the inner layer of the extendable tube being hermetically connected to the inner side or the outer side of the inner ring wall of the fluid outlet channel, the outer layer of the extendable tube passing through the fluid outlet channel and extending towards the proximal end of the fluid tank and being hermetically connected to the sealing ring, the sealing ring and the moving rod of the tube drive mechanism being fixedly connected by at least one connecting rod, the tube drive mechanism driving the moving rod to drive the sealing ring to linearly move so as to drive the extendable tube to extend or withdraw; The proximal part of the drive wire and the flexible tube of the bendable member pass through the inner cavity of the moving rod of the tube drive mechanism, and the drive wire is connected to the wrist joint drive mechanism.

2. The bendable and extendable tubular medical device according to claim 1, wherein, The outer layer flips inwards in the flippable area or the inner layer flips outwards in the flippable area.

3. The bendable and extendable tubular medical device according to claim 1, wherein, The fluid cavity is uniformly distributed stepwise in the extending direction from the proximal end to the distal end.

4. The bendable and extendable tubular medical device according to claim 1, wherein, The wrist joint includes a snake bone structure, the snake bone structure including a plurality of hollow bamboo joint-shaped bending units connected end to end, and a radially bendable kinematic pair is formed between adjacent two of the bending units through mutually nested connecting grooves and connecting protrusions.

5. The bendable and extendable tubular medical device according to claim 1, wherein, A plurality of slit units are provided at intervals along the extending direction of the flexible tube, and each of the slit units includes at least one slit extending along the circumferential direction of the flexible tube.

6. The bendable and extendable tubular medical device according to claim 1, wherein, The tube driving mechanism includes: a motor, a connecting sleeve, a transmission component, and a lead screw nut module; The connecting sleeve is connected to the motor, and the transmission component is located inside the connecting sleeve; The lead screw nut module includes a lead screw, a nut provided on the lead screw, and a moving rod fixedly connected to the nut, and the moving rod is hermetically connected to the inner layer or the outer layer of the extendable tube; The transmission component includes a worm and a worm wheel that are rotationally engaged with each other. The worm is key-connected to the output shaft of the motor, and the worm wheel is key-connected to the lead screw to convert the rotational motion of the motor into the rotational motion of the lead screw, so as to drive the nut to rotate relative to the lead screw to drive the moving rod fixedly connected to the nut to linearly move.

7. The bendable and extendable tubular medical device according to claim 1, wherein, the medical instrument includes an ultrasonic probe, a drug capsule, or a distal surgical actuator.

8. The bendable and extendable tubular medical device according to claim 1, wherein, the medical instrument includes a probe.

9. The bendable and extendable tubular medical device according to any one of claims 1-5, wherein, the fluid is a liquid fluid or a gaseous fluid.

10. The bendable and extendable tubular medical device according to any one of claims 1-5, wherein, the extendable tube is made of a flexible material, and the cross-section of the extendable tube is circular or elliptical.

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