A robotic irregularly curved visualizing sheath and surgical device

Abstract

The application discloses a robot special-shaped bending visual sheath and a surgical device, a sheath pipe (1) is arranged at one end of a transmission handle (8), a catheter channel is arranged in the sheath pipe (1); the transmission handle (8) comprises a first bevel gear (2) and a first bending mechanism; the first bevel gear (2) is sleeved on the sheath pipe (1) and is used for driving the sheath pipe (1) to rotate around a central axis, so that the catheter is rotated; the first bending mechanism comprises a second bevel gear (3), one end of the second bevel gear (3) is provided with a limiting groove used for connecting the first bevel gear (2), the limiting groove is used for limiting the radial movement of the second bevel gear (3), the second bevel gear (3) can rotate relative to the first bevel gear (2), a first traction wire connecting barrel is arranged on the inner wall of the second bevel gear (3) in a threaded mode, and the first traction wire connecting barrel is symmetrically provided with a first connecting hole and a second connecting hole at one end. The robot special-shaped bending visual sheath can realize precise bending, and the convenience and safety of ablation surgery are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a robotically steerable visualization sheath and surgical device. BACKGROUND

[0002] Arrhythmia is a common heart rhythm symptom in clinical practice, and its incidence has increased significantly in recent years. Its treatment mainly controls ventricular rate and restores sinus rhythm. Electrode catheters have been widely used in medical practice for many years. They are used to stimulate and map electrical activity in the heart and ablate abnormal point activity. Transcatheter radiofrequency ablation is a new method for treating various types of arrhythmia developed in recent years. It has more obvious effect than drug treatment. There are many ways to perform radiofrequency ablation.

[0003] Regardless of the method used, the procedure needs to be performed intracardiacly. First, a sheath is needed to build a channel in the blood vessel to the target lesion site in the heart chamber. The ablation catheter passes through the sheath to the target ablation site and ablates the target lesion. Therefore, the operator needs to accurately position the sheath and accurately deliver the sheath to the target ablation site. Traditional guide sheath operation is difficult, has poor stability and accuracy, and brings many inconveniences to the operation.

[0004] The traditional sheath currently used in clinical practice needs to be manually delivered into the lesion site in the heart chamber under the guidance of fluoroscopy or three-dimensional imaging after entering the blood vessel, resulting in poor stability and accuracy of the sheath. The traditional sheath has no bending function or can only achieve one-way bending. The sheath is not flexible enough, and the sheath cannot accurately reach the target lesion site after entering the heart chamber, especially in some complex positions in the heart chamber. The sheath and the catheter need to be bent in opposite directions based on the bending of the sheath. The catheter and the sheath need to be bent to form a special shape to reach the target lesion site. First, the catheter and the sheath need to be bent, which is complex and difficult to operate. Second, the special shape requires a high bending angle of the catheter to reach the target ablation site. Although the ablation catheter and the sheath can reach the target lesion, the ablation catheter has been bent to the limit angle, and the adjustment range of the angle between the head end of the ablation catheter and the target lesion is small. It is not possible to optimally ablate the catheter at the target lesion site in the heart chamber, which will affect the ablation effect and efficiency. SUMMARY

[0005] The embodiments of the present application provide a robotically steerable visualization sheath and surgical device to achieve precise bending and improve the convenience and safety of ablation surgery.

[0006] The embodiments of the present application provide a robotically steerable visualization sheath, comprising:

[0007] A sheath 1 is arranged at one end of the transmission handle 8, and a catheter channel is arranged in the sheath 1 for guiding a catheter 13.

[0008] The transmission handle 8 comprises a first bevel gear 2 and a first bending mechanism.

[0009] The first bevel gear 2 is sleeved on the sheath 1, and is used to drive the sheath 1 to rotate around the central axis, so as to rotate the sheath 1.

[0010] The first bending mechanism comprises a second bevel gear 3, one end of the second bevel gear 3 is provided with a limiting groove for connecting the first bevel gear 2, the limiting groove is used to limit the radial movement of the second bevel gear 3, the second bevel gear 3 can rotate relative to the first bevel gear 2, and a first traction wire connecting barrel is threadedly arranged on the inner wall of the second bevel gear 3, one end of the first traction wire connecting barrel is symmetrically provided with a first connecting hole and a second connecting hole.

[0011] One end of the first traction wire 101 is connected to the first connecting hole, and the other end of the first traction wire 101 is connected to a first connecting point at the distal end of the sheath 1.

[0012] The second traction wire 102 is connected to the second connecting hole after passing through a change direction pulley of the first traction wire connecting barrel, and the other end of the second traction wire 102 is connected to a second connecting point at the distal end of the sheath.

[0013] Optionally, the transmission handle 8 further comprises a second bending mechanism.

[0014] The second bending mechanism comprises a third bevel gear 4.

[0015] The third bevel gear 4 is rotatably sleeved on a transmission handle support 15, the transmission handle support 15 is used to limit the radial and axial movements of the second bevel gear 3 and the third bevel gear 4, and a second traction wire connecting barrel 6 is threadedly arranged on the inner wall of the third bevel gear 4, one end of the second traction wire connecting barrel 6 is symmetrically provided with a third connecting hole 11 and a fourth connecting hole 12.

[0016] One end of the fourth traction wire 104 is connected to the fourth connecting hole, and the other end of the fourth traction wire 104 is connected to a third connecting point at the distal end of the sheath 1.

[0017] The third traction wire 103 is connected to the fourth connecting hole 12 after passing through a change direction pulley 7 of the second traction wire connecting barrel 6, and the other end of the third traction wire 103 is connected to a fourth connecting point at the distal end of the sheath.

[0018] Optionally, the sheath 1 comprises a deflectable segment and a hard segment which are connected to each other, so that the deflectable segment can complete a bending action.

[0019] Optionally, the first connecting point and the second connecting point are located at the distal end of the sheath 1 compared with the third connecting point and the fourth connecting point.

[0020] Optionally, a plurality of electrode signal lines 105 are arranged on the sheath 1, and the electrode signal lines are respectively connected to a plurality of electrodes arranged at one end of the sheath 1.

[0021] Optionally, a three-way joint is further included, and an output channel of the three-way joint is in communication with the catheter in the sheath.

[0022] The application further provides a surgical device, which comprises a sheath support and the robot-shaped visual sheath.

[0023] The sheath support is respectively provided with a fourth bevel gear and a fifth bevel gear, which are respectively matched with the first bevel gear and the second bevel gear of the robot-shaped visual sheath.

[0024] The fourth bevel gear and the fifth bevel gear are installed on a mechanical arm, and the rotation and deflection of the sheath are driven by controlling the mechanical arm to complete the bending action.

[0025] Optionally, a sixth bevel gear is further included, and the sixth bevel gear is matched with the third bevel gear.

[0026] The sixth bevel gear is installed on the mechanical arm, and the rotation and deflection of the sheath are driven based on the fourth bevel gear, the fifth bevel gear and the sixth bevel gear by controlling the mechanical arm to complete the combined bending action.

[0027] The embodiment of the application drives the first bending mechanism by the transmission handle, rotates the sleeve by the first bevel gear and realizes the bending by the second bevel gear, and the robot-shaped visual sheath can realize the precise bending and improve the convenience and safety of the ablation surgery.

[0028] The above description is only a summary of the technical scheme of the application, in order to more clearly understand the technical means of the application, the specific embodiments of the application can be implemented according to the content of the specification, and in order to make the above and other purposes, characteristics and advantages of the application more obvious and easy to understand, the following specific embodiments of the application are described. BRIEF DESCRIPTION OF DRAWINGS

[0029] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of the preferred embodiments and are not meant to limit the scope of the application. Moreover, the same reference numerals in different figures represent the same or similar components. In the drawings:

[0030] Figure 1The schematic diagram of the overall structure of the robot-shaped bending visual sheath of the embodiment of the present application is shown in the figure.

[0031] Figure 2 The schematic diagram of the external structure of the robot-shaped bending visual sheath of the embodiment of the present application is shown in the figure.

[0032] Figure 3 The schematic diagram of the second traction wire connecting cylinder part structure of the embodiment of the present application is shown in the figure.

[0033] Figure 4 The schematic diagram of the third bevel gear structure of the embodiment of the present application is shown in the figure.

[0034] Figure 5 The schematic diagram of the sheath tube cross-section structure of the embodiment of the present application is shown in the figure.

[0035] Figure 6 The schematic diagram of the sheath tube bending of the embodiment of the present application is shown in the figure.

[0036] Figure 7 The schematic diagram of the sheath tube cross-section of the embodiment of the present application is shown in the figure.

[0037] Figure 8 The schematic diagram of the operation of the surgical device of the embodiment of the present application is shown in the figure.

[0038] Figure 9 The control example of the surgical device of the embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0039] Exemplary embodiments of the present disclosure will be described in greater detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it is understood that the present disclosure can be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure can be more thoroughly understood, and the scope of the present disclosure can be accurately conveyed to those skilled in the art.

[0040] The embodiment of the present application provides a robot-shaped bending visual sheath, as shown in Figure 1 , Figure 2 , Figure 3 and Figure 4 , comprising:

[0041] The sheath tube 1 is arranged at one end of the transmission handle 8, and a catheter is arranged in the sheath tube 1, that is, the catheter 13 can be inserted into the sheath tube 1 in the present example.

[0042] The transmission handle 8 comprises a first bevel gear 2 and a first bending mechanism. The first bevel gear 2 is sleeved on the sheath tube 1 and used to drive the sheath tube 1 to rotate around the central axis, so as to rotate the catheter 13. As shown in Figure 1 , the first bevel gear 2 is sleeved at a position adjacent to one end of the sheath tube 1.

[0043] The first bending mechanism comprises a second bevel gear 3, one end of the second bevel gear 3 is provided with a limiting groove for connecting the first bevel gear 2, the limiting groove is used for limiting the radial movement of the second bevel gear 3, the second bevel gear 3 can rotate relative to the first bevel gear 2, and a first traction wire connecting barrel is arranged on the inner wall of the second bevel gear 3 in a threaded mode, and one end of the first traction wire connecting barrel is symmetrically provided with a first connecting hole and a second connecting hole.

[0044] As shown in Figure 3 The first traction wire 101 passes through the first connecting hole, one end of the first traction wire 101 is connected to a first connecting point at the distal end of the sheath 1, and the other end of the first traction wire 101 is connected to a third connecting point 11 on the transmission handle 8.

[0045] The second traction wire 102 passes through the second connecting hole, one end of the second traction wire 102 is connected to a second connecting point at the distal end of the sheath, and the other end of the second traction wire 102 passes through the variable direction pulley 7 and is connected to a fourth connecting point 12 on the transmission handle 8.

[0046] Specifically, the first traction wire connecting barrel is arranged on the inner wall of the second bevel gear 3 in a threaded mode, the first traction wire connecting barrel connected in a threaded mode can be driven to move axially by rotating the second bevel gear 3, one end of the first traction wire connecting barrel is provided with a first connecting hole and a second connecting hole, and the first connecting hole and the second connecting hole are arranged on the central axis in a symmetrical mode. Figure 5 As shown in Figure 6 The first connecting point and the second connecting point are arranged on the central axis of the sheath in a symmetrical mode, and due to the existence of the variable direction pulley 7, when the first traction wire connecting barrel moves, the first traction wire 101 and the second traction wire 102 will be subjected to opposite actions. When the first traction wire connecting barrel moves away from the deflectable section of the sheath 1, the first traction wire 101 is tightened, the second traction wire 102 is loosened, the sheath 1 is bent (deflected) to the side of the first traction wire, and vice versa, so that the deflectable section of the sheath 1 can be bent in two directions.

[0047] The embodiment of the present application can realize precise bending by the transmission handle cooperating with the first bending mechanism, rotating the sleeve by the first bevel gear, and bending by the second bevel gear, so that the robot special-shaped bending visual sheath can realize precise bending, and the convenience and safety of ablation surgery are improved.

[0048] In some embodiments, the transmission handle 8 further comprises a second bending mechanism;

[0049] The second bending mechanism comprises a third bevel gear 4;

[0050] The third bevel gear 4 is rotatably sleeved on a transmission handle support 15, which is used to limit the radial and axial movement of the second bevel gear 3 and the third bevel gear 4, and the inner wall of the third bevel gear 4 is provided with a second traction wire connecting barrel 6; one end of the second traction wire connecting barrel 6 is symmetrically provided with a third connecting hole and a fourth connecting hole;

[0051] The fourth traction wire 104 passes through the fourth connecting hole, and one end of the fourth traction wire 104 is connected to the third connecting point at the distal end of the sheath 1, and the other end of the fourth traction wire 104 is connected to the third connecting point 11 on the transmission handle 8;

[0052] The third traction wire 103 passes through the third connecting hole, and one end of the third traction wire 103 is connected to the fourth connecting point at the distal end of the sheath, and the other end of the third traction wire 103 passes through the deflection pulley 7 and is connected to the fourth connecting point 12 on the transmission handle 8.

[0053] Continuing to refer to the accompanying drawings Figure 1 - the accompanying drawings Figure 4 The third bevel gear 4 comprises an internal thread 10, and the transmission handle 8 is provided with an external thread 9. The inner wall of the third bevel gear 4 is threadedly connected with the second traction wire connecting barrel 6, one end of the second traction wire connecting barrel 6 is provided with a third connecting hole and a fourth connecting hole, and the third connecting hole and the fourth connecting hole are centrally axially symmetrical.

[0054] The fourth traction wire passes through the fourth connecting hole, and the third traction wire passes through the second connecting barrel, then passes through the deflection pulley 7 fixed on the other side of the fixed block and returns to be connected to the fourth connecting point 12. The other ends of the third traction wire and the fourth traction wire are respectively connected to the two traction wire connecting points (the third connecting point and the fourth connecting point) provided at the proximal bending position of the deflectable segment of the sheath 1.

[0055] The third connecting point and the fourth connecting point are symmetrically arranged with respect to the central axis of the sheath. When the second traction wire connecting barrel moves away from the deflectable segment of the sheath, the third traction wire is tightened, the fourth traction wire is loosened, the sheath is bent to the side of the third traction wire, and vice versa, the sheath is bent to the side of the fourth traction wire, thereby realizing the bidirectional bending at the proximal bending position of the deflectable segment of the sheath.

[0056] In some embodiments, the sheath 1 comprises a deflectable segment and a rigid segment connected to each other, so as to complete the bending action based on the deflectable segment. Optionally, a plurality of electrode signal lines 105 are further provided on the sheath 1, and the electrode signal lines are respectively connected to a plurality of electrodes which are arranged at one end of the sheath 1 in a spaced manner. Optionally, the first connecting point and the second connecting point are located at the distal end of the sheath 1 compared to the third connecting point and the fourth connecting point.

[0057] Specifically, Figure 6 The sheath bending schematic diagram is shown, and the sheath includes a plurality of electrodes 601, a first connecting point 602, a second connecting point 603, a distal bend 604, a proximal bend 607, a third connecting point 605, and a fourth connecting point 606. Figure 7 The sheath cross-sectional schematic diagram is shown, Figure 7 The specific arrangement of the first traction wire 101, the second traction wire 102, the third traction wire 103, and the fourth traction wire 104 in the sheath is shown.

[0058] In some specific examples, the deflectable section of the sheath 1 is sequentially provided with four electrodes 601 from one end away from the transmission handle 8, and the four electrodes are sequentially and spaced apart at the end of the sheath 1 away from the transmission handle 8, for collecting electrophysiological signals, so that the head end of the sheath is visible in the three-dimensional mapping system, and the specific position of the sheath can be determined based on the dielectric three-dimensional mapping system. Due to the four electrodes 601 being spaced apart, the signal transmission lines of the electrodes are arranged in the tube body of the sheath 1, and the signal transmission lines of the electrodes are led out to form electrode signal line joints 14. Through the position arrangement of the four electrodes, not only the specific position of the head end of the sheath can be known, but also the bending and rotating conditions of the head end of the sheath can be displayed, which is helpful for the operator to better control the sheath to reach the target lesion position. Two traction wire attachment points are respectively arranged at the distal bend 604 and the proximal bend 607 of the head end of the sheath, the bending control steel wires are in a free state and run in the special microtubes in the tube wall. The attachment points of the two bending control steel wires in the positive and negative directions and the tube wall are located at the head end of the distal bending section and are symmetrically distributed on the inner tube wall of the bending section and parallel to the bending plane.

[0059] Further referring to Figure 6 Two of the combined changes of the sheath proximal bend 607 and the sheath distal bend 604 are shown in the schematic diagram, and the bending direction and the bending degree of the distal bend and the proximal bend can be adjusted by adjusting the second bevel gear and the third bevel gear, respectively. The two bending combinations form a special-shaped bend together, so as to adapt to the individualized anatomical sites and anatomical variations of different individuals, make the sheath more flexible, and be suitable for more different anatomical structures.

[0060] In some specific examples, a metal woven mesh 106 is embedded in the tube body of the sheath 1, and the metal woven mesh 106 is arranged outside the traction wire, so that the main body of the sheath 1 can withstand the counter-compressive load without deformation during the application of tension to the traction wire, and in response to the change of the rotation direction of the proximal end portion of the sheath, the torque can be transmitted along the longitudinal axis of the sheath from the proximal end portion to the distal end portion of the sheath to improve the rotation fidelity.

[0061] Optionally, a three-way joint 5 is further included, and an output channel of the three-way joint 5 is communicated with the catheter in the sheath. The rear end of the sheath transmission handle is provided with the three-way joint 5, and an output channel of the three-way joint is communicated with the catheter channel in the sheath. The three-way joint can be used to inject saline for lubricating the contact surface between the catheter and the sheath, heparin anticoagulant for preventing blood coagulation near the sheath, DSA contrast agent for cardiac angiography, and the like into the catheter channel.

[0062] In some specific examples, the sheath inner diameter size is adjustable, and can be adapted to different sizes of catheters. The end of the sheath close to the transmission handle is provided with a hemostatic valve for preventing blood from flowing out of the sheath port when the catheter enters the sheath.

[0063] The first bending mechanism and the second bending mechanism are provided, the second bevel gear and the third bevel gear are rotated by cooperating with the mechanical arm, and independent bidirectional bending of two different parts (far bending and near bending) of the sheath body is controlled. The single bending function selection of different lengths and different degrees can be provided, different bending combinations can be adapted to individualized anatomical sites and anatomical variations of different individuals, and can be applied to different anatomical characteristics of the human heart and large blood vessels, especially the anatomical structures that cannot be reached by the same plane and same length double-bending sheath.

[0064] The application further provides a surgical device, which comprises a sheath support and the robotically shaped bending visualization sheath.

[0065] The fourth bevel gear and the fifth bevel gear are arranged on the sheath support, and are matched and installed with the first bevel gear and the second bevel gear of the robotically shaped bending visualization sheath, respectively.

[0066] The fourth bevel gear and the fifth bevel gear are installed on the mechanical arm, and the rotation and deflection of the sheath are driven by controlling the mechanical arm, so that the bending action is completed.

[0067] Optionally, a sixth bevel gear is further included, and the sixth bevel gear is matched and installed with the third bevel gear.

[0068] The sixth bevel gear is installed on the mechanical arm, and the rotation and deflection of the sheath are driven based on the fourth bevel gear, the fifth bevel gear and the sixth bevel gear by controlling the mechanical arm, so that the combined bending action is completed.

[0069] As Figure 8 , as Figure 9In the specific operation process of the surgical device of the present application: 1. First, move the mechanical arm to a suitable position for surgery through the mechanical arm support. 2. Install the sheath support on the mechanical arm, so that the three output shafts of the mechanical arm are inserted into the three bevel gears of the sheath support and mesh with the internal gears of the three bevel gears. 3. Install the guide sheath on the sheath support, so that the first, second and third bevel gears of the sheath transmission handle mesh with the fourth, fifth and sixth bevel gears of the support, respectively. 4. Close the hinge on the sheath support to fix the guide sheath on the sheath support of the mechanical arm. 5. Under the guidance of the three-dimensional mapping system, control the circumferential rotation of the sheath, the bidirectional bending of the sheath at two different positions, and the axial advancement and retreat of the sheath through the robot mechanical arm to send the head end of the sheath to the target lesion position. 6. Inject saline into the catheter channel through the three-way joint at the transmission handle of the sheath for lubrication between the catheter and the sheath. 7. The catheter enters the catheter channel of the sheath from the rear end of the transmission handle, passes through the catheter channel directly to the target lesion position, and performs ablation treatment on the target lesion.

[0070] In the specific operation process of the surgical device of the present application: 1. First, move the mechanical arm to a suitable position for surgery through the mechanical arm support. 2. Install the sheath support on the mechanical arm, so that the three output shafts of the mechanical arm are inserted into the three bevel gears of the sheath support and mesh with the internal gears of the three bevel gears. 3. Install the guide sheath on the sheath support, so that the first, second and third bevel gears of the sheath transmission handle mesh with the fourth, fifth and sixth bevel gears of the support, respectively. 4. Close the hinge on the sheath support to fix the guide sheath on the sheath support of the mechanical arm. 5. Under the guidance of the three-dimensional mapping system, control the circumferential rotation of the sheath, the bidirectional bending of the sheath at two different positions, and the axial advancement and retreat of the sheath through the robot mechanical arm to send the head end of the sheath to the target lesion position. 6. Inject saline into the catheter channel through the three-way joint at the transmission handle of the sheath for lubrication between the catheter and the sheath. 7. The catheter enters the catheter channel of the sheath from the rear end of the transmission handle, passes through the catheter channel directly to the target lesion position, and performs ablation treatment on the target lesion.

[0071] In summary, the robot-shaped visualizing sheath and surgical device of the application can be used for different anatomical characteristics of human heart and large blood vessels, especially for anatomical structures that cannot be reached by the same plane and length of double-bent sheath tube. The sequence double-bent function of the sheath tube can also provide single-bent function selection of different lengths and degrees when used separately. The sequence double-bent function can be used separately or simultaneously in combination. The visualizing function of the double-bent head of the sheath tube is beneficial to the efficient control of the combined operation of the catheter and the sheath tube by the operator. The rotation, axial pushing and retraction, and bidirectional bending of different parts of the sheath tube can be controlled by the robot arm, and the head of the sheath tube is more flexible, which can be used in more surgical scenarios and is safer and more efficient in the surgical process. The sheath tube wall is embedded with metal woven material to improve the rotation fidelity of the sheath tube and more accurately control the rotation of the head of the sheath tube.

[0072] It should be noted that in this document, the terms "comprising", "including", or any other variant thereof are intended to cover non-exclusive inclusions, so that processes, methods, articles, or devices that include a series of elements not only include those elements, but also include other elements not explicitly listed, or inherent to such processes, methods, articles, or devices. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of other identical elements in the process, method, article, or device that includes the element.

[0073] The above-mentioned serial numbers of the embodiments of the application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0074] The embodiments of the application are described above in combination with the drawings, but the application is not limited to the above-mentioned specific embodiments, which are only illustrative and not restrictive. Those skilled in the art can make many forms under the inspiration of the application without departing from the purpose of the application and the scope protected by the claims, which are all within the protection of the application.

Claims

1. A robotic contoured visualization sheath, comprising: The utility model relates to a kind of robotic visualization sheaths, including: Sleeve (1) is arranged at one end of transmission handle (8), conduit channel is arranged in it, and the conduit channel is used to guide conduit (13); Transmission handle (8) includes first bevel gear (2) and first bending mechanism; The first bevel gear (2) is sleeved on the sleeve (1), to drive sleeve (1) to rotate around central axis, to rotate the sleeve (1); The first bending mechanism includes second bevel gear (3), one end of the second bevel gear (3) is provided with limiting slot for linking the first bevel gear (2), the limiting slot is used to limit the radial movement of the second bevel gear (3), the second bevel gear (3) can rotate relative to the first bevel gear (2), the inner wall of the second bevel gear (3) is provided with first traction silk connecting cylinder with thread, one end of the first traction silk connecting cylinder is symmetrically provided with first connecting hole and second connecting hole; Wherein one end of first traction silk (101) is connected in the first connecting hole, and the other end is connected in the first connecting point of the distal end of sleeve (1); Second traction silk (102) is connected to the second connecting hole after the direction-changing pulley of the first traction silk connecting cylinder, and the other end is connected in the second connecting point of the distal end of sleeve; The transmission handle (8) further includes second bending mechanism; The second bending mechanism includes third bevel gear (4); The third bevel gear (4) can be rotatably sleeved on transmission handle support (15), the transmission handle support (15) is used to limit the radial and axial movement of second bevel gear (3) and third bevel gear (4), the inner wall of the third bevel gear (4) is provided with second traction silk connecting cylinder (6) with thread;One end of the second traction silk connecting cylinder (6) is symmetrically provided with third connecting hole (11) and fourth connecting hole (12); Wherein one end of fourth traction silk (104) is connected in the fourth connecting hole, and the other end is connected in the third connecting point of the distal end of sleeve (1); Third traction silk (103) is connected to the fourth connecting hole (12) after the direction-changing pulley (7) of the second traction silk connecting cylinder (6), and the other end is connected in the fourth connecting point of the distal end of sleeve.

2. The robotic contoured visualization sheath of claim 1, wherein, The sleeve (1) includes a deflectable segment and a rigid segment connected to each other, so that the deflectable segment completes a bending action.

3. The robotic contoured visualization sheath of claim 1, wherein, The first connecting point and the second connecting point are located at the distal end of the sleeve (1) compared to the third connecting point and the fourth connecting point.

4. The robotic contoured visualization sheath of claim 1, wherein, The sleeve (1) is further provided with a plurality of electrode signal lines (105), and the electrode signal lines are respectively connected to a plurality of electrodes.

5. The robotic contoured visualization sheath of claim 1, wherein, A three-way connector is further included, and an output channel of the three-way connector is in communication with the conduit in the sleeve.

6. A surgical device, characterized by The robotic visualization sheath further includes a sleeve support, and the robotic visualization sheath is as claimed in any one of claims 1-5. The sleeve support is respectively provided with a fourth bevel gear and a fifth bevel gear to be respectively installed in cooperation with the first bevel gear and the second bevel gear of the robotic visualization sheath. The fourth bevel gear and the fifth bevel gear are installed on the mechanical arm, and rotation and deflection of the sheath are driven by controlling the mechanical arm to complete the bending action.

7. The surgical device of claim 6, wherein, The sixth bevel gear is further included and is installed in cooperation with the third bevel gear. The sixth bevel gear is installed on the mechanical arm, and rotation and deflection of the sheath are driven by controlling the mechanical arm based on the fourth bevel gear, the fifth bevel gear and the sixth bevel gear to complete the combined bending action.

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