An adjustable contrast catheter

Abstract

The present invention relates to a medical device, which discloses an adjustable contrast catheter, including an inner tube (100), a middle tube (200), circular through holes (221) are provided at both ends of each of the compression grooves (220), an outer tube (300), a first pull rope (400), and a driving part (500), and the first pull rope (400) is tightened or loosened by driving a rope wheel (510) to rotate through a motor (530). In the present invention, the bending section (210) bends and swings along the notch of the compression groove (220), so as to drive the inner tube (100) and the outer tube (300) to swing to the angle required by the user, so that when the catheter is inserted into the gastrointestinal tract, the end of the catheter can be swung to the angle with the least influence on the patient, or swung to the most convenient insertion angle.

Description

Technical Field

[0001] The present invention relates to a medical device, and particularly to a catheter for pancreatocholangiography. Background Art

[0002] An angiographic catheter is a device for percutaneous angiography. The angiographic catheter is a long rubber tube, and its main function is to provide a conduit so that a contrast agent can be smoothly introduced into a blood vessel to produce an angiographic effect.

[0003] Currently, the catheter for pancreatocholangiography is just a simple plastic tube, and the direction adjustment mainly depends on manual bending or a lifting forceps.

[0004] The US patent Device, System, and Method for a Catheter with an Actuating Portion, publication number: US20230285721A1, provides that an actuating portion of a curved catheter may include reducing the axial width of each of a plurality of slots. Fluid may be supplied through a second lumen of the catheter into a body cavity. A proximally translating wire may include pulling a wire along the actuating portion toward a handle of the catheter outside the plurality of slots. A portion of the body cavity may be cut by electrically activating the wire. The above patent causes the catheter to bend by pulling a rope at both ends. This was the original idea of the present invention. However, after practice, it was found that the above-mentioned wire pulling would greatly increase the width of the catheter. That is, when the catheter bends, the wire pulling similar to the string of a bow and arrow will cause discomfort to the patient. Although the catheter bends, it is not easy to pass through complex curved positions such as the stomach and intestines.

[0005] The US patent Deflectable Catheter with Hinge, publication number: US10814100B2, provides a deflectable device, such as a catheter, that includes a hinge that enhances the ability of the device to deflect or bend in 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. A distal segment is disposed at the distal end of the distal end of the catheter body. A 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 wire relative to the catheter axis 12 in the proximal region 20 causes deflection 22 of the distal region, which is achieved by appropriately manipulating the control handle 18. The above patent uses a catheter with a special hinge in the middle cavity to achieve a curved shape. The above hinge middle cavity structure has a certain degree of deflectability. Assuming that the wire is arranged at the inner circumference of the above hinge middle cavity, that is, when the hinge bends, the wire is arranged at the arc with the smallest radius in the hinge middle cavity. The advantage of this is that the structure is simple and the cost is low, but the disadvantage is that the wire will further increase the maximum width of the catheter when bending here, and even when the force is too large, the situation where the wire in US20230285721A1 becomes like the string of a bow and arrow may occur, reducing the comfort of the user.

[0006] The U.S. Patents No. 5,488,31, No. 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 cited therein should also be regarded as the prior art of the present invention.

[0007] Based on this, currently, there is a need to provide an adjustable contrast catheter that can drive the active bending of the catheter for cholangiopancreatography as much as possible and reduce the width of the catheter as much as possible. Summary of the Invention

[0008] The technical problem to be solved by the present invention is to provide an adjustable contrast catheter that can drive the active bending of the catheter for cholangiopancreatography as much as possible and reduce the width of the catheter as much as possible.

[0009] An adjustable contrast catheter of the present invention includes

[0010] an inner tube for delivering contrast agent;

[0011] a middle tube sleeved outside the inner tube and connected to the inner tube. The middle tube includes at least two bent segments fixedly connected end to end. At least two compression grooves are provided along the length direction on both sides of the bent segments. Circular through holes are provided at both ends of each compression groove;

[0012] an outer tube sleeved outside the middle tube and connected to the middle tube;

[0013] a first pull rope, the middle part of which sequentially surrounds the circular through holes of the bent segments, and one end of the first pull rope is fixed to the bent segment;

[0014] a driving part that tightens or loosens the first pull rope by driving a rope pulley to rotate through a motor.

[0015] In an adjustable contrast catheter of the present invention, the driving part includes at least two driving units. Each driving unit includes a rope pulley, a first gear, and a motor. The two first pull ropes in the 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 meshes with the first gear. The first gear is coaxially fixed to the output shaft of the motor. The motor is fixed to the head segment of the bent segment. The head segment of the bent segment is connected to the inner circumferential surface of the rope pulley through a bearing.

[0016] A debuggable contrast catheter according to the present invention, wherein the driving part includes at least two driving units, each driving unit includes a rope pulley, a first gear, and a motor. The two first ropes near the second ends in the 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. The outer circumferential surface of the rope pulley is a gear. The rope pulley meshes 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. The head section of the bending section is threadedly connected to the inner circumferential surface of the rope pulley.

[0017] A debuggable contrast catheter according to the present invention, wherein the driving part further includes a guide member. The guide member is arranged on both sides of the circular through-hole near the head section and the tail section. The first rope is sleeved in the guide member. The guide member is fixed to the outer surface of the bending section. The guide members closest to the head section and the tail section of each bending section are fixed to the outer tube.

[0018] A debuggable contrast catheter according to the present invention, wherein the head section fixing the motor is fixed to the fixed end of the rope take-up device. The movable end of the rope take-up device is fixed to the second end of the first rope.

[0019] A debuggable contrast catheter according to the present invention, wherein the steps for the middle part of the first rope to sequentially surround the circular through-holes of the bending section are as follows:

[0020] S1. Surround the gap between the circular through-hole closest to the tail section and the second closest to the tail section of the first rope for one and a half turns.

[0021] S2. Sequentially surround the first rope for one turn from the gap between the second closest to the tail section and the third closest to the tail section to the gap between the circular through-hole closest to the head section and the second closest to the head section.

[0022] S3. Use the guide member to sleeve the first rope at the gap and fix the guide member to the gap of the bending section.

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

[0024] A debuggable contrast catheter according to the present invention, wherein the steps for the middle part of the first rope to sequentially surround the circular through-holes of the bending section further include the following steps:

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

[0026] The present invention relates to an adjustable contrast catheter. Among them, the motors of at least two driving units are communicatively connected to the control module, and the control module controls the rotation angle and direction of each motor as needed.

[0027] The present invention relates to an adjustable contrast catheter. Among them, the opening directions of the compression grooves of adjacent bending segments are different.

[0028] The present invention relates to an adjustable contrast catheter. Among them, the inner tube can be single-lumen, double-lumen or multi-lumen.

[0029] The difference between the adjustable contrast catheter of the present invention and the prior art is that the adjustable contrast catheter of the present invention uses a driving part to cooperate with a first pulling rope to pull the circular through holes of each bending segment, so that the first pulling rope closes the compression grooves corresponding to the adjacent circular through holes, so that the bending segment bends and swings along the notch of the compression groove, so that the inner tube and the outer tube swing to the angle that the user needs to control, so that when it is inserted into the stomach and intestines, the end of the catheter can be swung to the angle that has the least impact on the patient, or swung to the most convenient insertion angle.

[0030] The following further describes an adjustable contrast catheter of the present invention with reference to the accompanying drawings. Description of the Drawings

[0031] Figure 1 is a cross-sectional schematic diagram of an adjustable contrast catheter;

[0032] Figure 2 is a first attitude schematic diagram of a single bending segment of the middle tube of an adjustable contrast catheter;

[0033] Figure 3 is a second attitude schematic diagram of a single bending segment of the middle tube of an adjustable contrast catheter;

[0034] Figure 4 is a second attitude schematic diagram of a double bending segment of the middle tube of an adjustable contrast catheter;

[0035] Figure 5 is Figure 2 a partial enlarged drawing;

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

[0037] Figure 7 is Figure 4 a partial enlarged view of the second position of;

[0038] Figure 8 is Figure 4 a partial enlarged view of the third position of. Detailed Embodiments

[0039] As shown in Figures 1 - 8 , refer to Figure 1 , 2 , 3, a debuggable contrast catheter of the present invention includes an inner tube 100 for transporting contrast agent;

[0040] A middle tube 200 is sleeved outside the inner tube 100 and connected to the inner tube 100. The middle tube 200 includes at least two bent segments 210 fixedly connected end to end. At least two compression grooves 220 are formed along the length direction on both sides of the bent segment 210. Circular through holes 221 are formed at both ends of each compression groove 220;

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

[0042] A first pull rope 400, the middle part of which is successively wound in the circular through holes 221 of the bent segment 210, and one end of the first pull rope 400 is fixed to the bent segment 210;

[0043] A driving part 500 tightens or loosens the first pull rope 400 by driving a rope wheel 510 to rotate through a motor 530.

[0044] The present invention uses the driving part 500 to cooperate with the first pull rope 400 to pull the circular through holes 221 of each bent segment 210, so that the first pull rope 400 closes the compression grooves 220 corresponding to the adjacent circular through holes 221, causing the bent segment 210 to bend and swing along the notch of the compression groove 220, so as to drive the inner tube 100 and the outer tube 300 to swing to the angle required by the user, so that when it is inserted into the stomach and intestines, the end of the catheter can be swung to the angle with the least impact on the patient, or the angle that is most convenient to insert.

[0045] It should be noted that compression grooves 220 can be formed on both the upper and lower sides of each bent segment 210. The compression grooves 220 can be understood as crescent-shaped through holes, that is, when the bent segment 210 bends to the maximum extent along the compression grooves 220, the two sides of the compression grooves 220 can be completely attached to an almost sealed degree, which is convenient for the relatively thick bent segment 210 to have sufficient bending degree. Circular through holes 221 are provided at both ends of the bent segment 210, that is to say, there can be 4 circular through holes 221 in the cross section of the same bent segment 210; correspondingly, 4 circular through holes 221 of the same bent segment 210 should pass through 4 first pull ropes 400, that is, each circular through hole 221 is where the middle part of a first pull rope 400 is wound. Taking Figure 2 , 3 as an example, Figure 2 is in a straight state. When it needs to lift the right end upward, the driving part 500 should tighten the two upper first pull ropes 400 and not tighten, or even loosen the two lower first pull ropes 400.

[0046] For another example, such as Figure 2 As shown, if the bending section 210 needs to be bent forward, the driving part 500 should tighten the two first pulling ropes 400 on the front side of the bending section 210 and not tighten or even loosen the two first pulling ropes 400 on the rear side.

[0047] In this way, by adjusting the tension of the four first pulling ropes 400, the bending section 210 can theoretically be bent in any direction at will. However, in order to ensure that the width of the bent bending section 210 or the catheter is minimized, then, as a preference, it is better to bend only the two first pulling ropes 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 catheter to the greatest extent. Because the two active and stretched first pulling ropes 400 are far from the arc at the minimum radius of the bent bending section 210 and do not increase the maximum diameter of the bent bending section 210, thus not causing discomfort to the user.

[0048] Among them, the materials of the outer tube 300, the middle tube 200, and the inner tube 100 can be soft rubber, soft resin, PVC, or soft plastic tube. Utilizing their soft material characteristics, they can be bent when being clamped.

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

[0050] In some embodiments, referring to 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 pulling 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 meshes with the first gear 520. The first gear 520 is coaxially fixed to 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 of the rope wheel 510 by a bearing.

[0051] In the present invention, the rotation of the rope wheel 510 driven by the motor 530 and the first gear 520 drives the contraction of the two first pulling ropes 400 in the same compression groove 220, so that the bending section 210 can be bent as the rope wheel 510 rotates, ensuring 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. Moreover, 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 is convenient for the user to control and observe.

[0053] Among them, it should be noted that since the rope pulley 510 is directly connected to the head segment 211 by bearings, the motor 530 should maintain the effect of not being randomly rotatable when not powered on or not rotating. That is to say, when the motor 530 is not rotating, an external force cannot drive the motor 530 to rotate, so as to ensure that after the first pulling rope 400 is retracted by the rope pulley 510, the first pulling rope 400 can remain in the retracted state. Preferably, the motor 530 is a reduction single motor or a three-phase asynchronous motor.

[0054] Among them, the head segment 211 of one bending segment 210 can be fixedly or hermetically fixed to the tail segment 212 of another bending segment 210.

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

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

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

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

[0059] In some embodiments, see Figure 4 , 5 , 6, 7, 8, the driving part 500 further includes a guiding member 550. The guiding member 550 is arranged on both sides of the circular through hole 221 near the head section 211 and the tail section 212. The first pulling rope 400 is sleeved in the guiding member 550. The guiding member 550 is fixed to the outer surface of the bent section 210. The guiding members 550 closest to the head section 211 and the tail section of each bent section 210 are fixed to the outer tube 300.

[0060] In the present invention, the guiding member 550 can guide the movement of the first pulling rope 400, thus preventing the first pulling rope 400 from hanging out in a manner similar to the string of a bow and arrow, and increasing the maximum diameter of the bent bent section 210. Moreover, the guiding members at the head and tail can be used as connecting and fixing members between the bent section 210 of the middle tube 200 and the outer tube 300, 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 at the same time protecting the user from being scratched by the bent section 210.

[0061] Among them, the guiding member 550 can be a sleeve or a through hole opened on the bent section 210.

[0062] The same guiding member 550 can guide different first pulling ropes 400 of multiple bending segments 210.

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

[0064] Through the above-mentioned rope winder 540, the present invention can always converge the second end of the first pulling rope 400.

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

[0066] As a variation of the present invention, the second end of the first pulling rope 400 can also be directly fixed to the rope pulley 510.

[0067] In some embodiments, referring to Figure 4 , 5 , 6, 7, 8, for the first pulling rope 400, the following steps are included when its middle part sequentially surrounds the circular through hole 221 of the bending segment 210:

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

[0069] S2. Sequentially surround the first pulling rope 400 for one turn from the gap between the circular through hole 221 of the second closest to the tail and the circular through hole of the third closest to the tail section 212 to the gap between the circular through hole 221 closest to the head and the circular through hole 221 of the second closest to the head section 211;

[0070] S3. Use the guiding member 550 to sleeved the first pulling rope 400 at the gap and fix the guiding member 550 to the gap of the bending segment 210;

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

[0072] Through the above method, the present invention can adjust the size of the above gap by the rotation of the rope pulley 510, so as to adjust whether the bending segment bends. Moreover, it can avoid that when the bending segment 210 bends, the first pulling rope 400 will take a posture similar to the string of a bow and increase the maximum diameter, reducing the possibility of discomfort for the user.

[0073] S5. Fix the first end of the first cable 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 cable 400 passes through the guide members 550 of other bending sections 210 and is connected to the driving portion 500.

[0074] Through the above method, the present invention can drive the bending of the bending section by only driving one side of the first cable 400, which is convenient for reducing the problem of the increase in the maximum diameter caused by the stacking of both ends of multiple first cables 400.

[0075] Among them, in order to facilitate the arrangement of the first cables 400 of multiple bending sections 210, the first cable 400 closest to the tail of the middle tube 200 will be at the maximum opening of other first cables 400 close to the compression groove 220, so as to ensure that the first cables 400 are stacked like a cone, thereby reducing the maximum diameter.

[0076] In some embodiments, referring to Figure 4 、 5 、6, 7, 8, the motors 530 of the at least two driving units are all communicatively connected to 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 uniformly controlled control module, which is convenient for controlling the motors as needed.

[0078] In some embodiments, referring to Figure 4 、 5 、6, 7, 8, the opening directions of the compression grooves 220 of adjacent bending sections 210 are different.

[0079] For example, the opening directions of the compression grooves 220 of two adjacent bending sections 210 are one in the up-down direction and the other in the front-back direction. Then the control module can control only one bending section 210 to work when up-down bending is needed, and control the other bending section to work when front-back bending is needed.

[0080] In some embodiments, referring to Figure 4 、 5 、6, 7, 8, the inner tube 100 can be single-chamber or double-chamber or multi-chamber.

[0081] The above-described embodiments are only used to describe the preferred embodiments of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall 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 to each other, 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); A driving unit (500) which drives the rope wheel (510) to rotate via a motor (530) to tighten or loosen the first pull rope (400); The driving part (500) comprises at least two driving units, each driving unit comprises a rope wheel (510), a first gear (520), and a motor (530); the second ends of two first pull ropes (400) in 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; 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 of the rope wheel (510) by a bearing; The driving part (500) comprises at least two driving units, each driving unit comprises a rope wheel (510), a first gear (520), and a motor (530); the second ends of two first pull ropes (400) in 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; 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); 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).

2. The adjustable angiography catheter according to claim 1, characterized in that: The first pull rope (400), wherein the middle portion is sequentially wrapped around the circular through hole (221) of the bent 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 of the bending 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).

3. The adjustable angiography catheter according to claim 2, characterized in that: The first pull rope (400), wherein the middle portion of the first pull rope is sequentially wrapped around the circular through hole (221) of the bent 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 connect the second end of the first pull rope (400) to the driving part (500) through the guide member (550) of the other bending section (210).

4. The adjustable angiography catheter according to claim 1, 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.

5. The adjustable angiography catheter according to claim 1, characterized in that: The compression grooves (220) of adjacent bending sections (210) have different opening directions.

6. The adjustable angiographic catheter according to claim 1, characterized in that: The inner tube (100) has a single cavity or multiple cavities.

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