Adjustable angiographic catheter

Abstract

The invention relates to medical equipment, and discloses an adjustable angiographic catheter which comprises an inner tube (100), a middle tube (200), an outer tube (300), a first pull rope (400) and a driving part (500), round through holes (221) are formed in the two ends of each compression groove (220), and a motor (530) drives a rope wheel (510) to rotate so as to tighten or loosen the first pull rope (400). The bending section (210) is bent and swings along the notch of the compression groove (220), so that the inner tube (100) and the outer tube (300) are driven to swing to the angle which needs to be controlled by a user, and when the catheter is inserted into the intestines and stomach, the end of the catheter can swing to the angle which has the minimum influence on a patient, or swing to the angle which is most convenient to insert.

Description

Technical Field

[0001] The invention relates to a medical device, in particular to a catheter used for pancreaticobiliary angiography. Background Art

[0002] The angiography catheter is a device for percutaneous vascular angiography. The angiography catheter is a long rubber tube. Its main function is to provide a guide so that the contrast agent can be smoothly introduced into the blood vessels to produce an angiography effect.

[0003] Currently, the catheter used for pancreatic cholangiopancreatography is just a simple plastic tube, and the direction is mainly adjusted by bending it manually or using a lifting forceps.

[0004] The U.S. patent for devices, systems and methods for catheters with an actuation portion, publication number: US20230285721A1, provides an actuation portion of a curved catheter that may include reducing the axial width of each of a plurality of slots. The fluid may be supplied to the body cavity through the second lumen of the catheter. The proximal translation line may include pulling a line along the handle of the catheter toward the outside of the plurality of slots along the actuation portion. A portion of the body cavity may be cut by electrically activating the line. The above patent causes the catheter to bend by pulling a rope at both ends, which was the original idea of ​​the present invention, but after practice, it was found that the above pull line would greatly increase the width of the catheter, that is, when the catheter is bent, the pull line similar to the string of a bow and arrow will cause discomfort to the patient. Although the catheter is bent, it is not easy to pass through complex curved locations such as the stomach and intestines.

[0005] The US patent for a deflectable catheter with a hinge, publication number: US10814100B2, provides a deflectable device, such as a catheter, which includes a hinge that enhances the ability of the device to deflect or bend within a predetermined plane. The catheter includes an elongated tubular catheter body having a proximal end and a distal end and at least one lumen extending therethrough. The distal segment is disposed at the distal end of the distal end of the catheter body. The tubular hinge is disposed between the distal end of the catheter body and the proximal end of the distal segment. The longitudinal movement 76 of the pull wire relative to the proximal region 20 of the catheter shaft 12, which causes the deflection 22 of the distal region, is achieved by appropriately manipulating the control handle 18. The above patent utilizes a catheter with a lumen having a special hinge to achieve a curved shape. The above hinge lumen structure has a certain degree of deflectability. It is assumed that the pull wire is configured at the inner circumference of the above hinge lumen, that is, when the hinge is bent, the pull wire is configured at the arc with the smallest radius of the hinge lumen. The advantage of this is that the structure is simple and the cost is low, but the disadvantage is that the pull wire here will further increase the maximum width of the catheter when it is bent, and may even cause the pull wire of patent US20230285721A1 to become like the string of a bow and arrow when too much force is applied, thereby reducing the comfort of the user.

[0006] The cited U.S. Patent Nos. 5,488,31, 5,798,24, Re34,502, 5,897,529, and U.S. Patent Nos. 6,171,277, 6,123,699, 6,183,463, and 6,198,974 should also be regarded as prior art of the present invention.

[0007] Based on this, how to provide an adjustable angiography catheter that can drive the pancreatic cholangiography catheter to actively bend as much as possible and reduce the catheter width as much as possible. Summary of the invention

[0008] The technical problem to be solved by the present invention is to provide an adjustable angiography catheter which can drive the catheter for pancreaticocholangiopancreatography to actively bend as much as possible and reduce the width of the catheter as much as possible.

[0009] The present invention provides an adjustable angiography catheter, comprising

[0010] an inner tube for delivering contrast media;

[0011] A middle tube, which is sleeved on the outside of the inner tube and connected to the inner tube, the middle tube comprises at least two bending sections fixed end to end, at least two compression grooves are provided on both sides of the bending section along the length direction, and circular through holes are provided at both ends of each compression groove;

[0012] An outer tube, which is sleeved on the outside of the middle tube and connected to the middle tube;

[0013] A first pull rope, wherein the middle portion of the first pull rope is sequentially looped in the circular through hole of the bending section, and one end of the first pull rope is fixed to the bending section;

[0014] The driving part drives the rope wheel to rotate through the motor to tighten or loosen the first pull rope.

[0015] The present invention provides an adjustable angiography catheter, wherein the driving part includes at least two driving units, each driving unit includes a rope pulley, a first gear, and a motor, two first pull ropes in two circular through holes of the same compression groove are fixed to the outer circumferential surface of the rope pulley of the same driving unit near the second end, the outer circumferential surface of the rope pulley is a gear, the rope pulley is meshed with the first gear, the first gear is coaxially fixed to the output shaft of the motor, the motor is fixed to the head section of the bending section, and the head section of the bending section is connected to the inner circumferential surface bearing of the rope pulley.

[0016] The present invention provides an adjustable angiography catheter, wherein the driving part includes at least two driving units, each driving unit includes a rope wheel, a first gear, and a motor, two first pull ropes in two circular through holes of the same compression groove are fixed to the outer circumferential surface of the rope wheel of the same driving unit near the second end, the outer circumferential surface of the rope wheel is a gear, the rope wheel is meshed with the first gear, the first gear is coaxially fixed with the output shaft of the motor, the motor is fixed to the head section of the bending section, and the head section of the bending section is threadedly connected to the inner circumferential surface of the rope wheel.

[0017] The present invention provides an adjustable angiographic catheter, wherein the driving unit further comprises a guide member, wherein the guide member is arranged on both sides of the circular through hole close to the head section and the tail section, wherein a first pull rope is sleeved inside the guide member, wherein the guide member is fixed to the outer surface of the bending section, and the guide member closest to the head section and the guide member closest to the tail section of each bending section are fixed to the outer tube.

[0018] The present invention provides an adjustable angiography catheter, wherein the head section of the fixed motor is fixed to the fixed end of the rope collector, and the movable end of the rope collector is fixed to the second end of the first pull rope.

[0019] The present invention provides an adjustable angiographic catheter, wherein the first pull rope, wherein the middle portion of the first pull rope is sequentially wrapped around the circular through hole of the bending section, comprises the following steps:

[0020] S1, wrap the middle part of the first drawstring around the gap between the circular through hole closest to the tail section and the second circular through hole closest to the tail section for one and a half turns;

[0021] S2, wrap the first drawstring around one circle in sequence from the gap between the second circular through hole close to the tail and the third circular through hole close to the tail section to the gap between the circular through hole close to the head section and the second circular through hole close to the head section;

[0022] S3, using the guide member to cover the first pull rope at the gap and fix the guide member and the gap of the bending section;

[0023] S4. Fix the first end of the first pull rope to the guide member closest to the head section, and connect the second end of the first pull rope to the rope wheel.

[0024] The adjustable angiographic catheter of the present invention further includes the following steps:

[0025] S5. Fix the first end of the first pull rope of the bending section closest to the tail of the middle tube to the guide member of the bending section, and the second end of the first pull rope passes through the guide members of other bending sections to be connected to the driving part.

[0026] The present invention provides an adjustable angiography catheter, wherein the motors of the at least two drive units are both in communication connection with a control module, and the control module controls the rotation angle and direction of each motor as required.

[0027] The present invention provides an adjustable angiography catheter, wherein the compression grooves of adjacent bending sections have opening directions different from each other.

[0028] The present invention provides an adjustable angiography catheter, wherein the inner tube may have a single lumen, a double lumen, or multiple lumens.

[0029] The difference between the adjustable angiography catheter of the present invention and the prior art is that the adjustable angiography catheter of the present invention utilizes a driving unit in cooperation with a first pull rope to pull the circular through hole of each bending section, so that the first pull rope closes the compression grooves corresponding to adjacent circular through holes, causing the bending section to bend and swing along the notch of the compression groove, thereby driving the inner tube and the outer tube to swing to an angle that the user needs to control, so that when the catheter is inserted into the stomach, the end of the catheter can be swung to an angle that has the least impact on the patient, or to an angle that is most convenient for insertion.

[0030] The adjustable angiography catheter of the present invention is further described below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic cross-sectional view of an adjustable angiography catheter;

[0032] Figure 2 It is a schematic diagram of a first posture of a single bending section of a middle tube of an adjustable angiography catheter;

[0033] Figure 3 It is a schematic diagram of a second posture of a single bending section of a middle tube of an adjustable angiography catheter;

[0034] Figure 4 It is a schematic diagram of the second posture of the double-bent section of the middle tube of an adjustable angiography catheter;

[0035] Figure 5 yes Figure 2 Zoom in on a part and draw;

[0036] Figure 6 yes Figure 4 a partial enlarged view of the first position;

[0037] Figure 7 yes Figure 4 a partial enlarged view of a second position of

[0038] Figure 8 yes Figure 4 A partial enlarged view of the third position. DETAILED DESCRIPTION

[0039] like Figures 1 to 8 As shown, see Figure 1 , 2 3. An adjustable contrast catheter of the present invention comprises an inner tube 100 for delivering contrast agent;

[0040] The middle tube 200 is sleeved on the outside of the inner tube 100 and connected to the inner tube 100. The middle tube 200 includes at least two bending sections 210 fixed to each other end to end. At least two compression grooves 220 are opened along the length direction on both sides of the bending section 210. Circular through holes 221 are opened at both ends of each compression groove 220.

[0041] An outer tube 300, which is sleeved on the outside of the middle tube 200 and connected to the middle tube 200;

[0042] A first pull rope 400, wherein the middle portion of the first pull rope 400 is sequentially wrapped in the circular through hole 221 of the bending section 210, and one end of the first pull rope 400 is fixed to the bending section 210;

[0043] The driving unit 500 drives the rope wheel 510 to rotate through the motor 530 to tighten or loosen the first pull rope 400 .

[0044] The present invention utilizes the driving unit 500 to cooperate with the first pull rope 400 to pull the circular through hole 221 of each bending segment 210, so that the first pull rope 400 closes the compression groove 220 corresponding to the adjacent circular through hole 221, causing the bending segment 210 to bend and swing along the notch of the compression groove 220, thereby driving the inner tube 100 and the outer tube 300 to swing to the angle that the user needs to control, so that when it is inserted into the stomach, the end of the catheter can be swung to the angle that has the least impact on the patient, or to the angle that is most convenient for insertion.

[0045] It should be noted that each bending section 210 may be provided with compression grooves 220 on both the upper and lower sides, and the compression grooves 220 may be understood as crescent-shaped through holes, that is, when the bending section 210 is bent to the maximum extent along the compression grooves 220, the two sides of the compression grooves 220 may be completely fitted to an almost sealed extent, so that the thicker bending section 210 can have a sufficient degree of bending. Circular through holes 221 are provided at both ends of the bending section 210, that is, the cross section of the same bending section 210 may have four circular through holes 221; correspondingly, the four circular through holes 221 of the same bending section 210 should pass through four first pull ropes 400, that is, each circular through hole 221 surrounds the middle part of a first pull rope 400. Figure 2 , 3 For example, Figure 2 In a straight line state, when the right end needs to be lifted upward, the driving unit 500 should tighten the two first pull ropes 400 on the upper side, and not tighten or even loosen the two first pull ropes 400 on the lower side.

[0046] For example, Figure 2 As shown, if the bending section 210 needs to bend forward, the driving unit 500 should tighten the two first pull ropes 400 on the front side of the bending section 210, but not tighten or even loosen the two first pull ropes 400 on the rear side.

[0047] In this way, by adjusting the tension of the four first pull cords 400, the bending section 210 can be bent in any direction in theory. However, in order to ensure that the width of the bending section 210 or the conduit after bending is minimized, it is preferred to only bend the two first pull cords 400 in the two circular through holes 221 of the same compression groove 220, so as to minimize the width of the bending section 210 or the conduit. Because the two active and stretched first pull cords 400 are far away from the arc at the minimum radius of the bending section 210 after bending, the maximum diameter of the bending section 210 after bending is not increased, so that the user will not feel uncomfortable.

[0048] The outer tube 300, the middle tube 200 and the inner tube 100 may be made of soft rubber, soft resin, PVC or soft plastic tubes, which can be bent when clamped by utilizing their soft material characteristics.

[0049] The head section 211 of the bending section 210 closest to the head may be made of iron, stainless steel, aluminum alloy or hard resin, so as to provide support force for the driving part 500 .

[0050] In some embodiments, see Figure 4 , 8 The driving part 500 includes at least two driving units, each driving unit includes a rope wheel 510, a first gear 520, and a motor 530. The two first pull ropes 400 in the two circular through holes 221 of the same compression groove 220 are fixed to the outer circumferential surface of the rope wheel 510 of the same driving unit near the second end. The outer circumferential surface of the rope wheel 510 is a gear. The rope wheel 510 is meshed with the first gear 520. The first gear 520 is coaxially fixed with the output shaft of the motor 530. The motor 530 is fixed to the head section 211 of the bending section 210. The head section 211 of the bending section 210 is connected to the inner circumferential surface bearing of the rope wheel 510.

[0051] The present invention drives the contraction of the two first pull ropes 400 of the same compression groove 220 by rotating the rope wheel 510 driven by the above-mentioned motor 530 and the first gear 520, so that the bending section 210 can bend with the rotation of the rope wheel 510, so as to ensure that the bending section 210 can be controlled to bend when the motor 530 rotates.

[0052] In addition, it should be noted that when multiple bending segments 210 are connected in series, the number of driving units of the driving part 500 should be equal to twice the number of bending segments. In addition, multiple driving units should be fixed to the head segment 211 of the same bending segment 210, and should be fixed to the head segment 211 of the bending segment 210 at the head, so that only this head segment 211 does not extend into the user's body, while the head segments 211 and tail segments 212 of other bending segments 210 can extend into the user's body to ensure that the motor 530 does not leak electricity, and this head segment 211 can be convenient for the user to control and observe.

[0053] It should be noted that, since the rope wheel 510 is directly connected to the bearing of the head section 211, the motor 530 should be kept from being rotated at will when it is not powered or rotating. In other words, when the motor 530 is not rotating, external force cannot drive the motor 530 to rotate, thereby ensuring that the first pull rope 400 remains in a contracted state after being contracted by the rope wheel 510. Preferably, the motor 530 is a single-speed reduction motor or a three-phase asynchronous motor.

[0054] The head section 211 of one bending section 210 may be fixed or sealed to the tail section 212 of another bending section 210 .

[0055] Among them, it should be noted that the first pull rope 400 can pass through the through hole axially opened on the outer edge of the rope wheel 510 and be fixed thereto, so as to achieve the effect of fixing the outer circumferential surface of the rope wheel 510 and the first pull rope 400; of course, the outer circumferential surface of the rope wheel 510 is a gear, and the tooth valley between the two teeth of the gear can be fixed to the first pull rope, and the tooth height of the gear is high enough so that the thickness of the first pull rope 400 will not affect the meshing of the rope wheel 510 and the first gear 520.

[0056] It should also be explained that due to the connection between the head section 211 and the rope pulley 510, when the first pull ropes 400 of multiple bending sections 210 need to be controlled by the multiple rope pulleys 510 arranged in sequence of the head section 211, in order to avoid interference between the rope pulley 510 and the first pull rope 400 that is not under its control, then, the above-mentioned head section 211 may be provided with multiple through holes or conduits for guiding the first pull rope 400, so that the first pull rope 400 that does not belong to this rope pulley 510 can bypass this rope pulley 510 and connect to its corresponding rope pulley 510.

[0057] As a variant embodiment of the present invention, see Figure 4 , 8The driving part 500 includes at least two driving units, each driving unit includes a rope wheel 510, a first gear 520, and a motor 530. The two first pull ropes 400 in the two circular through holes 221 of the same compression groove 221 are fixed to the outer circumferential surface of the rope wheel 510 of the same driving unit near the second end. The outer circumferential surface of the rope wheel 510 is a gear. The rope wheel 510 is meshed with the first gear 520. The first gear 520 is coaxially fixed with the output shaft of the motor 530. The motor 530 is fixed to the head section 211 of the bending section 210. The head section 211 of the bending section 210 is threadedly connected to the inner circumferential surface of the rope wheel 510.

[0058] The present invention drives the contraction of the two first pull ropes 400 of the same compression groove 220 by rotating the rope wheel 510 driven by the motor 530 and the first gear 520, so that the bending section 210 can bend with the rotation of the rope wheel 510, so as to ensure that the bending section 210 can be controlled to bend when the motor 530 rotates. It should be noted that the head section 211 is threadedly connected with the rope wheel 510. In other words, the outer circumferential surface of the head section 211 and the inner circumferential surface of the rope wheel 510 are both provided with mutually meshing threads. Then, the present invention can rely on the self-locking of the thread to arbitrarily cut off the power supply or not control the motor 530 after rotating the rotation angle of the rope wheel 510, and the rope wheel 510 will not rotate arbitrarily, so that it can be adapted to any type of motor.

[0059] In some embodiments, see Figure 4 , 5 , 6, 7, 8, the driving part 500 also includes a guide member 550, and the guide member 550 is arranged on both sides of the circular through hole 221 close to the head section 211 and the tail section 212, and the first pull rope 400 is sleeved inside the guide member 550. The guide member 550 is fixed to the outer surface of the bending section 210, and the guide member 550 closest to the head section 211 and the guide member 550 closest to the tail section of each bending section 210 is fixed to the outer tube 300.

[0060] The present invention can guide the movement of the first drawstring 400 through the guide member 550, thereby preventing the first drawstring 400 from hanging out like the string of a bow and arrow, and increasing the maximum diameter of the bent section 210. In addition, the guide members at the head and tail can serve as connecting fixing members between the bent section 210 and the outer tube 300 of the fixed middle tube 200, so that each bent section 210 forms a free cavity with the outer tube 300, preventing the outer tube 300 from hindering the bending of the bent section 210, and protecting the user from being scratched by the bent section 210.

[0061] The guide member 550 may be a sleeve or a through hole provided on the bending section 210 .

[0062] The same guide member 550 can guide different first pull ropes 400 of a plurality of bending segments 210 .

[0063] In some embodiments, see Figure 4 , 5 , 6, 7, 8, the head section 211 of the fixed motor 530 is fixed to the fixed end of the rope collector 540, and the movable end of the rope collector 540 is fixed to the second end of the first pull rope 400.

[0064] The present invention can always retract the second end of the first pull rope 400 through the rope retractor 540 .

[0065] The rope collecting device 540 can be, for example, a spring measuring tape.

[0066] As a variation of the present invention, the second end of the first pull rope 400 may also be directly fixed to the rope wheel 510 .

[0067] In some embodiments, see Figure 4 , 5 , 6, 7, 8, the first pull rope 400, wherein the portion thereof is sequentially wrapped around the circular through hole 221 of the bending section 210, comprises the following steps:

[0068] S1, wrap the middle part of the first pull rope 400 around the gap between the circular through hole 221 closest to the tail section 212 and the second circular through hole 221 closest to the tail section 212 for one and a half turns;

[0069] S2, loop the first pull rope 400 around one circle from the gap between the second circular through hole 221 close to the tail and the third circular through hole close to the tail section 212 to the gap between the circular through hole 221 close to the head and the second circular through hole 221 close to the head section 211;

[0070] S3, using the guide member 550 to cover the first pull rope 400 at the gap and fixing the guide member 550 and the gap of the bending section 210;

[0071] S4. Fix the first end of the first pull rope 400 to the guide member 550 closest to the head section 211 , and connect the second end of the first pull rope 400 to the rope wheel 510 .

[0072] The present invention can adjust the size of the gap by rotating the rope wheel 510, thereby adjusting whether the bending section is bent. In addition, it can prevent the first pull rope 400 from bending like a bow string when the bending section 210 is bent, thereby increasing the maximum diameter and reducing the possibility of discomfort to the user.

[0073] S5. Fix the first end of the first pull rope 400 of the bending section 210 closest to the tail of the middle tube 200 to the guide member 550 of the bending section 210, and the second end of the first pull rope 400 passes through the guide member 550 of the other bending section 210 to connect to the driving part 500.

[0074] The present invention can achieve the bending of the bending section by driving only one side of the first pull rope 400 in the above manner, thereby reducing the problem of increased maximum diameter caused by stacking of two ends of multiple first pull ropes 400 .

[0075] In order to facilitate the arrangement of the first pull ropes 400 of multiple bending sections 210, the first pull rope 400 closest to the tail of the middle tube 200 will be at the largest opening of the other first pull ropes 400 close to the compression groove 220, thereby ensuring that the first pull ropes 400 are stacked like a cone, thereby reducing the maximum diameter.

[0076] In some embodiments, see Figure 4 , 5 , 6, 7, 8, the motors 530 of the at least two drive units are all in communication connection with the control module, and the control module controls the rotation angle and direction of each motor 530 as needed.

[0077] The present invention controls multiple motors 530 through a unified control module, which can facilitate controlling the motors according to needs.

[0078] In some embodiments, see Figure 4 , 5 , 6, 7, 8, the compression grooves 220 of adjacent bending segments 210 have different opening directions.

[0079] For example, the opening direction of the compression grooves 220 of two adjacent bending segments 210 is one up-down direction and the other is one forward-backward direction. Then the control module can control only one bending segment 210 to work when up-down bending is required, and control the other bending segment to work when forward-backward bending is required.

[0080] In some embodiments, see Figure 4 , 5 , 6, 7, 8, the inner tube 100 may have a single lumen, a double lumen, or multiple lumens.

[0081] The embodiments described above are merely descriptions of preferred implementation modes of the present invention and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. An adjustable angiography catheter, characterized in that: include an inner tube (100) for delivering contrast media; a middle tube (200) which is sleeved on the outside of the inner tube (100) and connected to the inner tube (100), the middle tube (200) comprising at least two bending sections (210) fixed end to end, at least two compression grooves (220) being provided on both sides of the bending section (210) along the length direction, and circular through holes (221) being provided at both ends of each compression groove (220); An outer tube (300) which is sleeved on the outside of the middle tube (200) and connected to the middle tube (200); A first pull rope (400), the middle portion of which is sequentially looped around the circular through hole (221) of the bending section (210), and one end of the first pull rope (400) is fixed to the bending section (210); The driving part (500) drives the rope wheel (510) to rotate through the motor (530) to tighten or loosen the first pull rope (400).

2. The adjustable angiography catheter according to claim 1, characterized in that: The driving part (500) includes at least two driving units, each driving unit includes a rope wheel (510), a first gear (520), and a motor (530); the two first pull ropes (400) in the two circular through holes (221) of the same compression groove (220) are fixed to the outer circumferential surface of the rope wheel (510) of the same driving unit near the second end; the outer circumferential surface of the rope wheel (510) is a gear; the rope wheel (510) is meshed with the first gear (520); the first gear (520) is coaxially fixed with the output shaft of the motor (530); the motor (530) is fixed to the head section (211) of the bending section (210); the head section (211) of the bending section (210) is connected to the inner circumferential surface bearing of the rope wheel (510).

3. The adjustable angiographic catheter according to claim 1, characterized in that: The driving part (500) includes at least two driving units, each driving unit includes a rope wheel (510), a first gear (520), and a motor (530); the two first pull ropes (400) in the two circular through holes (221) of the same compression groove (221) are fixed to the outer circumferential surface of the rope wheel (510) of the same driving unit near the second end; the outer circumferential surface of the rope wheel (510) is a gear; the rope wheel (510) is meshed with the first gear (520); the first gear (520) is coaxially fixed with the output shaft of the motor (530); the motor (530) is fixed to the head section (211) of the bending section (210); the head section (211) of the bending section (210) is threadedly connected to the inner circumferential surface of the rope wheel (510).

4. An adjustable angiographic catheter according to any one of claims 2 or 3, characterized in that: The driving part (500) further comprises a guide member (550), wherein the guide member (550) is arranged on both sides of the circular through hole (221) close to the head section (211) and the tail section (212), wherein a first pull rope (400) is sleeved inside the guide member (550), and the guide member (550) is fixed to the outer surface of the bending section (210), and the guide member (550) closest to the head section (211) and the guide member (550) closest to the tail section of each bending section (210) are fixed to the outer tube (300).

5. The adjustable angiographic catheter according to any one of claims 2 or 3, characterized in that: The head section (211) of the fixed motor (530) is fixed to the fixed end of the rope collector (540), and the movable end of the rope collector (540) is fixed to the second end of the first pull rope (400).

6. The adjustable angiographic catheter according to claim 1, characterized in that: The first pull rope (400), wherein the portion thereof is sequentially wrapped around the circular through hole (221) of the bending section (210), comprises the following steps: S1, wrapping the middle portion of the first pull rope (400) around the gap between the circular through hole (221) closest to the tail section (212) and the second circular through hole (221) closest to the tail section (212) by one and a half turns; S2, looping the first pull rope (400) in sequence from the gap between the second circular through hole (221) close to the tail and the third circular through hole close to the tail section (212) to the gap between the circular through hole (221) closest to the head and the second circular through hole (221) close to the head section (211); S3, using a guide member (550) to fit the first pull rope (400) at the gap and fixing the guide member (550) and the gap between the bent section (210); S4. Fix the first end of the first pull rope (400) to the guide member (550) closest to the head section (211), and connect the second end of the first pull rope (400) to the rope wheel (510).

7. The adjustable angiographic catheter according to claim 6, characterized in that: The first pull rope (400), wherein the portion thereof is sequentially wrapped around the circular through hole (221) of the bending section (210), further comprises the following steps: S5. Fix the first end of the first pull rope (400) of the bending section (210) closest to the tail of the middle tube (200) to the guide member (550) of the bending section (210), and the second end of the first pull rope (400) passes through the guide member (550) of the other bending section (210) to connect to the driving part (500).

8. The adjustable angiographic catheter according to claim 2, characterized in that: The motors (530) of the at least two drive units are both in communication connection with the control module, and the control module controls the rotation angle and direction of each motor (530) as required.

9. The adjustable angiographic catheter according to claim 2, characterized in that: The compression grooves (220) of adjacent bending sections (210) have different opening directions.

10. The adjustable angiographic catheter according to claim 1, characterized in that: The inner tube (100) may have a single lumen, a double lumen, or multiple lumens.

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