Stay wire control device and medical equipment

Abstract

The invention relates to the technical field of medical instruments, and discloses a stay wire control device used for controlling a catheter. The stay wire control device comprises a first stay wire, a second stay wire, a control piece, a first elastic piece and a second elastic piece. The control piece is connected with the first pull wire and the second pull wire and used for controlling the first pull wire and the second pull wire to move. The first elastic piece and the second elastic piece comprise fixed ends and movable ends, the fixed ends are fixed in the stay wire control device, and the movable ends move along with movement of the first stay wire and the second stay wire so as to generate retraction amount or elongation amount. According to the device, the loosening problem of the stay wire is solved by utilizing the elastic reset capability of the elastic piece, so that the effectiveness of bending control is improved, and meanwhile, the control hand feeling of an operator is optimized.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a wire control device and medical equipment. Background Art

[0002] With the development of medical technology, there are more and more types and functions of medical devices, among which interventional medical devices are increasingly widely used. Take medical catheters as an example. They can be inserted into the body and adjust their position and shape in the body, which brings great convenience to interventional treatment. In order to facilitate the adjustment of the position and shape of the medical catheter in the body and enable it to flexibly reach the target position in the body, the adjustable bending technology is introduced into the medical catheter. It mainly controls the shape of the catheter by controlling the pull wire stroke, but the current pull wire control bending structure still has the problem of inconvenient operation. Summary of the invention

[0003] In view of this, the present application provides a pull wire control device and a medical device to improve the maneuverability of the medical device.

[0004] In a first aspect, the present application provides a pull wire control device for controlling a catheter, the device comprising: a pull wire, a control member, and an elastic member; wherein the control member is connected to the pull wire and is used to control the movement of the pull wire; the elastic member comprises a fixed end and a movable end, the fixed end is fixed in position within the pull wire control device, and the movable end moves with the movement of the pull wire to produce a retraction or extension.

[0005] The control member controls the movement of the pull wire to control the bending of the catheter. The movement of the moving end of the elastic member causes the elastic member to produce elastic deformation to provide a retraction force to the pull wire. The retraction force is used to fully or partially offset the relaxation of the pull wire when the catheter recovers from a bending control state (including a bending control state in any direction, such as a maximum bending control state or a reverse bending control state) to a natural state.

[0006] In the above wire control device, when the wire is pulled, the moving end of the elastic member moves with the wire, and when the pulling force is removed, the elastic member provides the wire with a retracting force into the wire cavity of the catheter, and the slackened wire can be fully or partially sent back into the catheter. In this way, the slack problem of the wire is improved, thereby reducing the occurrence of empty control strokes caused by the slack wire, the difficulty of control, and even the inability to control the bend, thereby improving the effectiveness of the bend control and optimizing the operator's control feel.

[0007] The fixed position of the fixed end of the elastic member means that the end will not move with the pull wire, and the fixed position can be designed in many ways. In one implementation, the pull wire control device also includes a first mounting member, and the fixed end of the elastic member is arranged on the first mounting member.

[0008] In one implementation, the first mounting member is disposed between the control member and the proximal end of the catheter, or disposed at the proximal end of the catheter.

[0009] In one implementation, the first mounting member is disposed at the proximal end of the catheter, the pull wire passes through the first mounting member from the proximal end of the catheter and out of the elastic member to be connected to the control member, and the movable end of the elastic member is disposed on the pull wire.

[0010] In one implementation, the first mounting member is disposed at the proximal end of the catheter, the above pull wire is the proximal pull wire, and the pull wire control device further includes a distal pull wire and a pull wire docking member, which are used to connect the proximal pull wire and the distal pull wire. Among them, one end of the proximal pull wire is connected to the control member, and the other end is connected to the pull wire docking member or the movable end of the elastic member; one end of the distal pull wire passes through the proximal end of the catheter and is connected to the pull wire docking member, and the other end passes through the catheter and is connected to the distal end of the catheter; the movable end of the elastic member is disposed on the pull wire docking member or on the proximal pull wire. In this way, the pull wire docking member can further reduce the pull wire slack phenomenon.

[0011] In one implementation, the first mounting member is disposed between the control member and the proximal end of the catheter and has a channel for the pull wire to pass through, and the fixed end of the elastic member is disposed on the first mounting member and is located at the channel opening of the channel, and the pull wire passes through the elastic member from the channel opening and is connected to the control member.

[0012] When the first mounting member is disposed at the proximal end of the catheter, the pull-wire control device may further include a second mounting member disposed between the control member and the first mounting member, wherein the second mounting member has a channel through which the pull-wire passes to connect with the control member.

[0013] In one implementation, a double-layer elastic member can be provided to further reduce the phenomenon of wire relaxation. In this case, the above elastic member is the first layer of elastic member, and the wire control device also includes a second layer of elastic member. The second layer of elastic member includes a fixed end and a movable end, the fixed end is provided on the second mounting member and is located at the channel opening of the channel of the second mounting member, the movable end moves with the movement of the wire, and the wire passes through the second layer of elastic member from the channel opening of the channel of the second mounting member to connect with the control member.

[0014] The above-mentioned wire control device can be used for unidirectional bending control or multi-directional bending control (including bidirectional bending control). Accordingly, the number of the above-mentioned wires and elastic members can be multiple (including two).

[0015] In a second aspect, the present application provides a pull wire control device for controlling a catheter, the device comprising: a first pull wire, a second pull wire, a control member, a first elastic member, and a second elastic member; wherein the control member is connected to the first pull wire and the second pull wire, and is used to control the movement of the first pull wire and the second pull wire; the first elastic member and the second elastic member each comprise a fixed end and a movable end, the fixed end is fixed in position in the pull wire control device, and the movable end moves along with the movement of the first pull wire and the second pull wire, respectively.

[0016] The control member controls the movement of the pull wire (the first pull wire or the second pull wire) to control the bending of the catheter. The movement of the moving end of the elastic member (the first elastic member or the second elastic member) causes the elastic member to produce elastic deformation to provide a retraction force to the pull wire. The retraction force is used to fully or partially offset the relaxation of the pull wire when the catheter recovers from a controlled bending state (including a controlled bending state in any direction, such as a maximum controlled bending state or a reverse controlled bending state) to a natural state.

[0017] In one implementation, the pull wire control device also includes a wire dividing member, which is arranged between the control member and the proximal end of the catheter, and has a first channel and a second channel, which are respectively used for the first pull wire and the second pull wire to pass through. The fixed ends of the first elastic member and the second elastic member are arranged on the wire dividing member, and are respectively located at the channel openings of the first channel and the second channel, and the movable ends of the first elastic member and the second elastic member are respectively arranged on the first pull wire and the second pull wire; the first pull wire and the second pull wire are respectively connected to the control member through the first elastic member and the second elastic member from the channel openings of the first channel and the channel openings of the second channel. In this way, it is convenient to install the elastic member, and different pull wires can be divided to reduce the possibility of wire entanglement.

[0018] In one implementation, the pull-wire control device further includes a mounting member disposed at the proximal end of the catheter, wherein the fixed ends of the first elastic member and the second elastic member are disposed on the mounting member.

[0019] In one implementation, the first pull wire and the second pull wire pass through the mounting member from the proximal end of the catheter and respectively pass out from the first elastic member and the second elastic member to be connected to the control member, and the movable ends of the first elastic member and the second elastic member are respectively arranged on the first pull wire and the second pull wire.

[0020] In one implementation, the pull wire control device further includes a third pull wire, a fourth pull wire, a first pull wire docking piece, and a second pull wire docking piece, wherein: the first pull wire docking piece is used to dock the first pull wire and the third pull wire; the second pull wire docking piece is used to dock the second pull wire and the fourth pull wire. Among them: one end of the first pull wire is connected to the control piece, and the other end is connected to the first pull wire docking piece or the movable end of the first elastic piece; one end of the third pull wire passes through the proximal end of the catheter and is connected to the first pull wire docking piece, and the other end passes through the catheter and is connected to the distal end of the catheter; the movable end of the first elastic piece is arranged on the first pull wire docking piece or on the first pull wire; one end of the second pull wire is connected to the control piece, and the other end is connected to the second pull wire docking piece or the movable end of the second elastic piece; one end of the fourth pull wire passes through the proximal end of the catheter and is connected to the second pull wire docking piece, and the other end passes through the catheter and is connected to the distal end of the catheter; the movable end of the second elastic piece is arranged on the second pull wire docking piece or on the second pull wire.

[0021] In one implementation, when the mounting member is disposed at the proximal end of the catheter, and the fixed ends of the first elastic member and the second elastic member are disposed on the mounting member, the wire control device further includes a wire splitter disposed between the control member and the mounting member. The wire splitter has a first channel and a second channel, wherein the first wire and the second wire pass through the first channel and the second channel respectively to connect to the control member.

[0022] In one implementation, a double-layer elastic member can be provided to further reduce the phenomenon of wire relaxation. At this time, the wire control device also includes a third elastic member and a fourth elastic member. Among them: the third elastic member includes a fixed end and a movable end, the fixed end of the third elastic member is arranged on the line dividing member and is located at the channel opening of the first channel, the movable end of the third elastic member moves with the movement of the first wire, and the first wire passes through the third elastic member from the channel opening of the first channel to connect with the control member; the fourth elastic member includes a fixed end and a movable end, the fixed end of the fourth elastic member is arranged on the line dividing member and is located at the channel opening of the second channel, the movable end of the fourth elastic member moves with the movement of the second wire, and the second wire passes through the fourth elastic member from the channel opening of the second channel to connect with the control member.

[0023] In the third aspect, the wire control device can realize wire control through a pulley structure. In this case, the wire control device includes a wire, a control member, a mounting member, an elastic member, a fixed pulley and a movable pulley. Among them: a slide rail is provided on the mounting member, and the movable pulley is installed on the slide rail and moves along the slide rail; the elastic member has a fixed end and a movable end, the fixed end is fixedly provided on the mounting member, and the movable end is provided on the movable pulley to move with the movable pulley; the wire bypasses the fixed pulley and the movable pulley and is connected to the control member, the control member controls the movement of the wire, and the movement of the wire drives the movable pulley to move.

[0024] The control member controls the movement of the pull wire to control the bending of the catheter. The pull wire drives the movable pulley to move, and the moving end of the elastic member follows the movement of the movable pulley to cause the elastic member to produce elastic deformation to provide a retraction force to the pull wire. The retraction force is used to fully or partially offset the relaxation of the pull wire when the catheter recovers from a controlled bending state (including a controlled bending state in any direction, such as a maximum controlled bending state or a reverse controlled bending state) to a natural state.

[0025] In one implementation, a baffle is provided on one side of the slide rail close to the control member, and the movement of the movable pulley along the slide rail toward the control member is restricted by the baffle.

[0026] The above cable control device can be used for unidirectional bending control or multidirectional bending control (including bidirectional bending control). Accordingly, the number of the above cables is N, and the number of elastic members, fixed pulleys, and movable pulleys is N, where N is a positive integer greater than or equal to 2. Among them: each cable corresponds to an elastic member, a fixed pulley, and a movable pulley, and bypasses the corresponding fixed pulley and movable pulley to connect to the control member to drive the corresponding movable pulley to move under the control of the control member; the movable end of each elastic member is set on the corresponding movable pulley to move with the corresponding movable pulley.

[0027] In one implementation, the mounting member has N channels for N pulling wires to pass through respectively, and each pulling wire passes through the corresponding channel and then bypasses the corresponding fixed pulley and movable pulley to be connected to the control member.

[0028] In one implementation, in the vertical direction, when the elastic member is stretched to a maximum stretching length, a vertical distance between the movable pulley and the fixed end of the elastic member is less than or equal to a vertical distance between the fixed pulley and the fixed end of the elastic member.

[0029] In one implementation, the elastic member is a tension spring or a compression spring.

[0030] In a fourth aspect, the present application also provides a medical device, comprising any of the above pull-wire control devices and a catheter, wherein the pull-wire control device controls the catheter via the pull-wire.

[0031] In a fifth aspect, the present application also provides a catheter control method for controlling a catheter through any of the above pull-wire control devices. The method comprises: controlling the pull-wire through a control member so that the catheter changes in shape; removing the control of the pull-wire so that the catheter returns to its original shape, wherein the pull-wire may include one or more pull-wires. When the pull-wires include multiple pull-wires, the bending control process may include more than one time, for example, the process of controlling the pull-wire through a control member so that the catheter changes in shape may include multiple times.

[0032] In the above wire pulling control device, by pulling the wire, the movable end of the elastic member moves with the wire pulling, and when the pulling force is removed, the elastic member provides the wire pulling with a retracting force into the wire pulling cavity of the catheter, and the slackened wire pulling can be sent back into the catheter in whole or in part. When there is multi-directional bending control, other directional bending control, such as reverse bending control, is similar. It can be seen that the restoring force of the elastic member improves the slackness of the wire pulling, thereby reducing the empty stroke of the control caused by the slackness of the wire pulling, the difficulty of control, and even the occurrence of the situation where the control cannot be made, thereby improving the effectiveness of the bending control and optimizing the operator's control feel. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 A schematic diagram of a state in which a catheter provided in an embodiment of the present application is controlled to bend by a pull wire;

[0035] Figure 2 A schematic diagram of the structure of a wire pulling control device provided in an embodiment of the present application;

[0036] Figure 3 A schematic structural diagram of another wire pulling control device provided in an embodiment of the present application;

[0037] Figure 4 A schematic diagram of a wire pulling state of a wire pulling control device provided in an embodiment of the present application;

[0038] Figure 5 A schematic structural diagram of another wire pulling control device provided in an embodiment of the present application;

[0039] Figure 6 A schematic structural diagram of another wire pulling control device provided in an embodiment of the present application;

[0040] Figure 7 A schematic structural diagram of another wire pulling control device provided in an embodiment of the present application;

[0041] Figure 8 A schematic diagram of a wire pulling and winding method provided in an embodiment of the present application;

[0042] Fig. 9 A schematic structural diagram of another wire pulling control device provided in an embodiment of the present application;

[0043] Fig.10A schematic structural diagram of another wire pulling control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. The details described in the following description are convenient for those skilled in the art to further understand the present application, but do not limit the present application in any form. Adjustments and improvements made without departing from the concept of the present application are all within the scope of protection of the present application.

[0045] In order to simplify the drawings, the drawings in the embodiments of the present application only schematically show the parts related to the application, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some drawings, only parts with the same structure or function are schematically drawn, and there may be more or fewer parts with the same structure or function in reality.

[0046] In the embodiments of the present application, "first", "second", etc. are only used to distinguish and describe the associated objects, and cannot be understood as indicating or implying the relative importance or order between the associated objects; in addition, they do not represent the number of associated objects. "Connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or it can be indirectly connected through other components.

[0047] In the embodiments of the present application, "proximal end" refers to the end of the associated object close to the operator; "distal end" refers to the end of the associated object far from the operator. For example, if the associated object is a catheter, the distal end of the catheter is the end far from the bending control mechanism, and the proximal end of the catheter is the end close to the bending control mechanism.

[0048] With the development of medical technology, interventional medical technology has gained more and more attention, among which the adjustable bending technology of medical catheters (hereinafter referred to as catheters) has gained development because it can help medical devices reach the target position in the body conveniently and flexibly. The adjustable bending technology mainly controls the wire travel to make the catheter reach the desired bending shape, but the current wire-controlled bending structure still has the problem of inconvenient operation.

[0049] The following is a description with reference to the accompanying drawings:

[0050] Please refer to Figure 1 , which is a schematic diagram of a state in which a catheter provided in an embodiment of the present application is controlled to bend by a pull wire. Figure 1As shown, the distal end of the catheter 100 has a bendable section, one end of the pull wire is fixed at the distal end of the catheter and passes through the tube body, and the other end is the operating end, which is placed in the operating device (for example, an operating handle). A bending control mechanism is provided in the operating device, and the other end of the pull wire can be provided on the bending control mechanism. During the bending control, a pulling force is applied to the pull wire by operating the bending control mechanism, so that the catheter bends toward the side of the pull wire where the pulling force is applied. In this embodiment, a double pull wire is taken as an example, and the pull wire A and the pull wire B are distributed on both sides of the central axis of the catheter, passing through the entire catheter, one end is fixed to the distal end of the catheter, and the other end is the operating end. When a pulling force is applied to the pull wire A, the bendable section is compressed along one side of the pull wire A and thus bends, and at the same time, the operating end of the pull wire A produces a certain elongation a. When compression occurs on one side of the pull wire A, the side of the pull wire B located on the other side of the central axis is subjected to corresponding stretching, and the operating end of the pull wire B produces a corresponding retraction amount b. Under ideal conditions, the elongation a of pull wire A is equal to the retraction b of pull wire B. After the tension is removed, the catheter returns to its initial state by its own elasticity or by controlling pull wire B. At the same time, the operating ends of the two pull wires return to their initial positions, and the stretch a and retraction b return to zero.

[0051] In traditional bending control mechanisms, when the catheter returns from a bent state to its initial state (or natural state), the pull wire often cannot be fully restored, and slack occurs. The slack of the pull wire will lead to empty control stroke, increased control difficulty, and even inability to control the bending. In structures with more pull wires to control bending, the above situation is more serious, and the pull wire may be entangled or deviate from the movement trajectory. The occurrence of these situations will affect the operator's control and use of the medical device, and even bring more serious adverse consequences.

[0052] Research has found that the pull wire inside the catheter body is generally limited to a certain cavity, so the pull wire is not easy to loosen in the body section, but is more likely to occur in the operating equipment with a larger space. Therefore, the embodiment of the present application provides a pull wire control device, which uses the elastic reset ability of the elastic member to improve the loosening problem of the pull wire, thereby reducing the occurrence of empty control stroke, difficult control, or even unable to control the bend caused by the loose pull wire, improving the effectiveness of the bend control, and optimizing the operator's control feel.

[0053] Specifically, an embodiment of the present application provides a pull wire control device, including a pull wire, a control member and an elastic member. The control member is connected to the pull wire and is used to control the movement of the pull wire; one end of the elastic member is fixed, and the other end can move with the movement of the pull wire. One end of the elastic member is fixed, which means that the position of this end in the pull wire control device is fixed and will not move with the pull wire, but there is no restriction on its fixed position. For the sake of ease of description, the fixed end of the elastic member is called the fixed end, and the other end that moves with the pull wire is called the moving end.

[0054] The following is a description with reference to the accompanying drawings:

[0055] Please refer to Figure 2 , which is a schematic diagram of the structure of a wire control device provided in an embodiment of the present application. Figure 2 As shown, the wire control device includes a wire 210, an elastic member 220, and a control member 230. The control member 230 is connected to the wire 210 and is used to control the movement of the wire 210. One end of the elastic member 220 is a fixed end 221, and the other end is a movable end 222. The fixed end 221 is fixed in the position of the wire control device, and the movable end 222 moves with the movement of the wire 210. In this way, when the wire 210 is pulled (such as Figure 2 The movable end 222 of the elastic member 220 moves along with the pull wire 210, and when the pulling force is removed, the elastic member 220 provides the pull wire 210 with a retracting force into the pull wire cavity of the catheter 100, and can return all or part of the loose pull wire to the catheter 100. In this way, the loosening problem of the pull wire is improved, thereby reducing the empty control stroke caused by the loose pull wire, the difficulty of control, and even the inability to control the bend, thereby improving the effectiveness of the bend control and optimizing the control feel of the operator.

[0056] The number of the above pull wires 210 can be one, and the number of the elastic member 220 can be one, so as to achieve unidirectional bending control of the catheter. Alternatively, the number of the above pull wires 210 can be N, and the number of the elastic members 220 can be N, where N is a positive integer greater than or equal to 2, so as to achieve multi-directional bending control (including bidirectional bending control) of the catheter.

[0057] The following description takes two-way bending control as an example, and multi-directional bending control is similar.

[0058] Please refer to Figure 3 , which is a schematic diagram of the structure of another wire pulling control device provided in an embodiment of the present application. Figure 3 As shown, the wire control device includes a first wire 311, a second wire 312, a first elastic member 321, a second elastic member 322, and a control member 330. The control member 330 is connected to the first wire 311 and the second wire 312, and is used to control the movement of the first wire 311 and the second wire 312; one end of the first elastic member 321 and the second elastic member 322 is fixed in the wire control device, that is, the fixed end, and the other end moves with the movement of the first wire 311 and the second wire 312 respectively.

[0059] Thus, when the first pull line 311 is pulled (eg Figure 3In the pulling direction indicated by the middle arrow), the moving end of the first elastic member 321 moves with the first pull wire 311. When the pulling force is removed, the first elastic member 321 provides the first pull wire 311 with a retracting force into the pull wire cavity of the catheter 100, so that the slackened pull wire can be sent back into the catheter 100. The reverse bending control is similar, that is, pulling the second pull wire 312 for bending control is similar. In the above structure, the restoring force of the elastic member improves the relaxation problem of the pull wire, thereby reducing the empty stroke of control caused by the relaxation of the pull wire, the difficulty of control, and even the occurrence of the situation where the bending control cannot be controlled, thereby improving the effectiveness of the bending control and optimizing the operator's control feel.

[0060] The above wire pulling control device can be arranged in a control device, and the control member can be fully or partially exposed for the operator to operate; or, an operating member connected to the control member is arranged on the control device for the operator to operate the control member and thus control the movement of the wire.

[0061] The fixed position of one end of the elastic member in the pull-wire control device means that the end will not move with the pull-wire, and there is no restriction on its fixed position, that is, the present application does not restrict the fixed position of the fixed end. In one implementation, the fixed end of the elastic member can be set on a mounting member (such as Figure 3 As shown in FIG. 1 , the mounting member can also be called a wire splitter 340 in the multi-directional bending control structure. The wire splitter 340 is used to separate different pull wires to reduce the possibility of the pull wires being entangled. In another implementation, the fixed end of the elastic member can be fixed to the proximal end of the catheter (such as Figure 5 In other implementations, it can also be fixed on other structures, such as other mounting members provided in the operating device, for fixing the fixed end of the elastic member.

[0062] Similar mounting parts are provided in the one-way bending control structure to limit the position of the cable and reduce the possibility of cable deviation. Figure 2As shown, in some embodiments of the present application, the wire control device further includes a mounting member 240, which has a channel 241 for the wire 210 to pass through. In this way, the mounting member 240 provides a channel for the wire 210, and the movement trajectory of the wire 210 is restricted to a certain extent by using the channel structure, thereby reducing the possibility of wire deviation. Further, the fixed end 221 of the elastic member 220 is arranged on the mounting member 240 and is located at the channel mouth of the channel 241, the wire 210 passes through the elastic member 220, and the moving end 222 of the elastic member 220 is arranged on the wire 210. In the initial state, the elastic member 220 has a preset elastic variation L. The preset elastic variation L is less than the maximum elastic limit of the elastic member 220, and is greater than or equal to the wire travel, that is, the length variation of the wire at the maximum control bending or reverse maximum control bending. The wire travel is set according to the path length of the wire movement during control bending or loose bending; or, in other words, it is set according to the path length of the single wire movement during the catheter one-time control bending process. For example: for one-way bending control, the path length that the control end of the cable moves from the initial state to the bending control state can be used as a reference for setting the cable travel; for another example, for multi-directional bending control, the path length that the control end of a single cable moves from the initial state to the bending control state or the reverse bending control state can be used as a reference for setting the cable travel. The cable travel can be set to be slightly larger than the above path length to provide a certain amount of redundancy so that the cable can be better retracted. In addition, when the elastic member is a tension spring, the preset elastic change amount L can be an elongation, and when the elastic member is a compression spring, the preset elastic change amount L can be a compression. The description of the preset elastic change amount L in the following embodiments is similar to this and will not be repeated here.

[0063] In addition, the present application does not limit the way in which the movable end of the elastic member is arranged on the pull line, for example, it can be fixed on the pull line by adhesion; or the movable end of the elastic member can be arranged on the pull line by a connecting member. The following embodiments are similar to this and will not be described in detail.

[0064] The above mounting parts are set in the multi-directional bending control structure to separate different cables to reduce the possibility of cable entanglement. Please continue to refer to Figure 3 In some embodiments of the present application, the wire control device further includes a wire splitter 340, which has a first channel 341 and a second channel 342, respectively used for the first wire 311 and the second wire 312 to pass through. In this way, the wire splitter 340 provides a channel for the wire, and the movement trajectory of the wire is restricted to a certain extent by using the channel structure, thereby reducing the possibility of wire deviation. Furthermore, for scenarios of multi-directional bending control (including bidirectional bending control), different wires can be split to reduce the possibility of wire entanglement.

[0065] In addition, the line dividing member 340 has the function of fixing the elastic member, that is, the fixed ends of the first elastic member 321 and the second elastic member 322 are arranged on the line dividing member 340. At this time, the fixed end of the first elastic member 321 can be arranged at the channel opening of the first channel 341, the first pull wire 311 passes through the first elastic member 321, and the moving end of the first elastic member 321 is arranged on the first pull wire 311; the fixed end of the second elastic member 322 is arranged at the channel opening of the second channel 342, the second pull wire 312 passes through the second elastic member 322, and the other end of the second elastic member 322 is arranged on the second pull wire 312. Similarly, in the initial state, the first elastic member 321 and the second elastic member 322 can have a preset elastic change amount L. The preset elastic change amount L is less than the maximum elastic limit of the elastic member and is greater than or equal to the pull wire stroke.

[0066] Taking the elastic member as a tension spring as an example, a tension spring is arranged at the passage opening of the mounting member; one end of the tension spring is fixed, for example, relative to the mounting member, or relative to the operating device (such as an operating handle) where the pull-wire control device is located, and does not move with the pull wire. The pull wire passes through the passage opening and the inside of the tension spring; the other end of the tension spring is stretched to a certain length and then fixed at a preset position on the pull wire to move with the pull wire. When the pull wire is pulled, one end of the tension spring moves with the pull wire, and when the tension is removed, the tension spring can pull the pull wire back to its original position. Figure 3 As shown, in the initial state, the pull wire is just taut and not bent, and the elongation of the tension spring is greater than or equal to the pull wire stroke and less than or equal to the maximum elastic limit of the tension spring. The tension spring always provides the pull wire with a pulling force toward the distal end of the catheter, for example, Figure 3 In the figure, the tension spring provides a tension force in the opposite direction to the arrow in the figure to the portion of the pull wire adjacent to the control member.

[0067] Combine the following Figure 3 Describe the several operation processes of the above wire control device from catheter bending control to reverse bending control:

[0068] Initial state: the cable is stretched straight but not bent, the cable travel is 0, and the cable length in the operating device is at the shortest state.

[0069] Maximum controlled bending state: the wire is stretched straight and controlled to bend, the wire stroke is the elongation a, the wire length in the operating device is at the shortest state, and the opposite side is in a loose bending state;

[0070] Reverse bending control state: It can also be called the completely loose bending state. The wire is in a relaxed state, the wire stroke is the retraction amount b, the wire length in the operating device is in the longest state, and the opposite side is in the maximum bending control state.

[0071] Elongation a: the length of the path traveled by the control end of the wire from the initial state to the maximum control bending state during bending control; Retraction b: the length of the path traveled by the control end of the wire from the initial state to the reverse control bending state during loose bending.

[0072] The above description of the state and the pull line is for the pull line on one side, and is consistent with the pull line on the other side.

[0073] Process 1 (from Figure 3 From the initial state shown to the maximum controlled bending state): when the first pull wire 311 is pulled, the first pull wire 311 drives the first elastic member 321 to stretch in the direction of the pulling force (as shown in the direction of the arrow in the figure), and the elongation of the first elastic member 321 increases with the increase of the controlled bending stroke of the pull wire. When the ideal bending shape is reached, the elongation of the pull wire operating end reaches the elongation a, and the tension spring reaches the maximum stretching length but still does not exceed its elastic limit.

[0074] Process 2 (from Figure 3 The maximum bending control state shown in the figure is to the reverse bending control state): When the tension is removed to release the bend, the bendable section of the catheter 100 begins to recover, and the elongation gradually decreases from a until it returns to the initial position before the bending control, that is, returns to the initial state, at which time the elongation is reduced from a to 0. At this time, the bending continues to be released (that is, reverse bending control or contralateral bending control), and the pull wire begins to retract. When the reverse ideal bending shape is reached, the retraction amount of the pull wire operating end reaches the retraction amount b. If there is no elastic member, if the pull wire with a length of retraction amount b is not completely retracted into the main body of the catheter, relaxation will occur. Since the elastic member always provides the pull wire with a retraction force into the catheter pull wire cavity during this process, the relaxed pull wire can be fully or partially returned to the main body of the catheter, thereby improving the problem of pull wire relaxation. In an ideal state, compared with the initial state, the retraction amount L1 of the tension spring is equal to b.

[0075] Process 3 (from Figure 3 When the bending is controlled again, the principle is the same as that of process 2 and will not be described in detail.

[0076] It can be seen that in use Figure 3 In the wire pulling control device shown, in the initial state, the elastic member has a preset elastic change amount (for example, a preset elongation amount) to provide the wire pulling force to the distal end of the catheter, so that the wire pulling force is just taut and does not control the bending; when performing the control operation, the control member is operated to control the bending in one direction, the wire pulling control device changes from the initial state to the maximum control bending state, and the wire pulling control end generates an elongation, which gradually changes from 0 to a, reaching the maximum control bending; when the reverse control is performed, the control member is operated to control the bending in another direction, the wire pulling control device returns to the initial state from the maximum control bending state, and changes from the initial state to the reverse control bending state, the elongation of the wire pulling control end returns from a to 0, and further generates a retraction amount, which gradually increases from 0 to b. It can be seen that the elastic member always provides the wire pulling force to the wire pulling cavity of the catheter, and the slackened wire pulling can be fully or partially sent back to the main section of the catheter to improve the problem of wire slack.

[0077] When the pull wire has a certain rigidity or the friction of the catheter body is small, the following scheme is the best way to reduce the slack of the pull wire. If the pull wire is not rigid enough and there is not enough support at the proximal end of the catheter to allow it to enter the pull wire cavity, although the slack problem of the pull wire can be improved, there may still be a certain amount of pull wire slack. In other words, the above pull wire control structure can "digest" part of the pull wire slack, but there is still another part of the pull wire slack, and the elastic member just transfers this part of the slack to other parts. Figure 4 shown.

[0078] Therefore, in order to further improve the problem of wire relaxation, an elastic member is arranged at the proximal end of the catheter, and the wire at this position is hardened by the elastic member to reduce its redundant deformation space, and for multi-directional bending control devices, the possibility of wire entanglement is further reduced. In this way, the length of the wire pushed back into the wire cavity by the restoring force of the elastic member will be increased.

[0079] The following is a description with reference to the accompanying drawings.

[0080] Please refer to Figure 5 , which is a structural schematic diagram of another wire pulling control device provided in an embodiment of the present application. Figure 5 As shown, the wire control device includes a first wire 511, a second wire 512, a first elastic member 521, a second elastic member 522, and a control member 530. The fixed ends of the first elastic member 521 and the second elastic member 522 are arranged at the proximal end of the catheter 100, and the proximal end is provided with a mounting member 550. The mounting member 550 has a third channel 551 and a fourth channel 552, and the first wire 511 and the second wire 512 pass through the third channel 551 and the fourth channel 552, and the first elastic member 521 and the second elastic member 522, respectively, and are connected to the control member 530. The wire control device may also include a wire splitter 540, which has a first channel 541 and a second channel 542. After the first wire 511 and the second wire 512 pass through the first elastic member 521 and the second elastic member 522, respectively, they are connected to the control member 530 through the first channel 541 and the second channel 542. In other embodiments, the wire splitter 540 may not exist. When present, for multi-directional bending control, the occurrence of wire entanglement can be reduced.

[0081] akin, Figure 2The one-way bending control wire control device shown can also be improved similarly. In this case, the mounting member 250 is located at the proximal end of the catheter 100. In order to distinguish, the mounting member 250 is called the first mounting member, which has a first channel for the wire 210 to pass through. The fixed end 221 of the elastic member 220 is arranged on the first mounting member 250 and is located at the channel opening of the first channel. The wire 210 passes through the elastic member 220, and the movable end of the elastic member 220 is arranged on the wire 210. The mounting member 240 is called the second mounting member, which may exist or not. When it exists, it can further constrain the movement trajectory of the wire 210.

[0082] It can be seen that in one implementation, when the mounting member for setting the elastic member is set between the control member and the catheter, it is the second mounting member or the dividing member 340; when the mounting member for setting the elastic member is set at the proximal end of the catheter, it is the first mounting member or the mounting member 550.

[0083] In the above pull-wire control device, the pull-wire near the proximal end of the catheter passes through the elastic member. The restriction of the pull-wire by the elastic member is equivalent to the hardness of the pull-wire being strengthened, that is, the pull-wire at the proximal end of the catheter is hardened by the elastic member to reduce its redundant deformation space. The length of the pull-wire pushed back into the pull-wire cavity by the restoring force of the elastic member will increase, further improving the problem of loose pull-wire. In addition, for multi-directional bending control devices, the possibility of pull-wire entanglement can be further reduced.

[0084] Furthermore, if the friction of the pull wire in the catheter is too large, the retraction force of the elastic member is insufficient to send the pull wire back, and the pull wire may still be loose. The above solutions are essentially to transfer the slack of the pull wire and retract the slack pull wire into the catheter as much as possible, but they do not completely "digest" the change in the length of the pull wire in the handle caused by the slack of the pull wire.

[0085] In order to further “digest” the slack in the pull wires and reduce the possibility of pull wire slack, the embodiment of the present application further provides a double pull wire structure.

[0086] The first section of the pull wire is connected to the control member, and the second section of the pull wire extends from the proximal end of the catheter. The two sections of the pull wire are connected by a pull wire docking member, wherein the first section of the pull wire is called the proximal pull wire, and the second section of the pull wire is called the distal pull wire. In one implementation, the pull wire docking member is provided with a channel for the first section of the pull wire to pass through, and the first section of the pull wire can move freely in the channel. Optionally, the second section of the pull wire can be set on the pull wire docking member in a fixed manner, for example, by gluing or tin injection. An elastic member is set between the channel opening of the pull wire docking member and the proximal end of the catheter. The proximal end (moving end) of the elastic member is connected to the distal end of the first section of the pull wire passing through the channel. The outer diameter of the elastic member is larger than the inner diameter of the channel of the pull wire docking member, so that the elastic member cannot pass through the channel; the distal end of the elastic member is fixed to the proximal end of the catheter. In one implementation, a mounting member can be set at the proximal end of the catheter, and the fixed end of the elastic member is set on the mounting member. During the manipulation process, the elastic member is in a stretched state, providing a pulling force opposite to the bending control force to the first section of the pull wire, so that the first section of the pull wire is straightened. In the initial state or natural state, the first section of the pull wire and the second section of the pull wire are just in a tight (unbending) state, and the pull wire docking piece and the elastic piece are just in close contact but no interaction force is generated.

[0087] In the above embodiments, the pull wire docking member is provided with a channel, and the first section of the pull wire can pass through the channel and be connected to the elastic member. In other embodiments, one end of the first section of the pull wire can also be arranged on the pull wire docking member.

[0088] The following is a description with reference to the accompanying drawings:

[0089] Please refer to Figure 6 , which is a structural schematic diagram of another wire pulling control device provided in an embodiment of the present application. Figure 6 As shown, the device includes a first pull wire 611, a second pull wire 612, a first elastic member 621, a second elastic member 622, a control member 630, a first pull wire docking member 661 and a second pull wire docking member 662. The control member 630 is connected to the first pull wire 611 and the second pull wire 612, and is used to control the movement of the first pull wire 611 and the second pull wire 612; one end of the first elastic member 621 and the second elastic member 622 is fixed, that is, the fixed end, and the other end moves with the movement of the first pull wire 611 and the second pull wire 612 respectively. The first pull wire docking member 661 is used to dock the first pull wire 611 and the third pull wire 613, and the second pull wire docking member 662 is used to dock the second pull wire 612 and the fourth pull wire 614, and then under the action of the pull wire docking member, the third pull wire 613 moves following the first pull wire 611, and the fourth pull wire 614 moves following the second pull wire 612.

[0090] For example, the first pull wire 611 is connected between the first pull wire docking piece 661 and the control piece 630, or the first pull wire 611 passes through the first pull wire docking piece 661 and is connected between the moving end of the first elastic member 621 and the control piece 630; the third pull wire 613 is connected between the catheter 100 (proximal end) and the first pull wire docking piece 661, that is, one end of the third pull wire 613 passes through the proximal end of the catheter 100 and is connected to the first pull wire docking piece 661, and the other end passes through the catheter 100 and is connected to the distal end of the catheter 100. The fixed end of the first elastic member 621 is set on the mounting member 650 at the proximal end of the catheter 100, and the moving end is set on the first pull wire docking piece 661 or the first pull wire 611, so that the first elastic member 621 moves following the first pull wire 611 through the first pull wire docking piece 661 or directly follows the first pull wire 611. Similarly, the second pull wire 612 is connected between the second pull wire docking piece 662 and the control piece 630, or the second pull wire 612 passes through the second pull wire docking piece 662 and is connected between the movable end of the second elastic piece 622 and the control piece 630; the fourth pull wire 614 is connected between the catheter 100 (proximal end) and the second pull wire docking piece 662, that is, one end of the fourth pull wire 614 passes through the proximal end of the catheter 100 and is connected to the second pull wire docking piece 662, and the other end passes through the catheter 100 and is connected to the distal end of the catheter 100; the fixed end of the second elastic piece 622 is arranged on the mounting piece 650 at the proximal end of the catheter 100, and the movable end is arranged on the second pull wire docking piece 662 or the second pull wire 612, so that the second elastic piece 622 follows the movement of the second pull wire 612 through the second pull wire docking piece 662 or directly follows the movement of the second pull wire 612.

[0091] Optionally, the above wire control device may further include a wire splitter 640, which is disposed between the control member 630 and the mounting member 650. The wire splitter 640 has a first channel 641 and a second channel 642. One end of the first wire 611 is connected to the first wire docking member 661 or the movable end of the first elastic member 621, and the other end passes through the first channel 641 to connect to the control member 630. One end of the second wire 612 is connected to the second wire docking member 662 or the movable end of the second elastic member 622, and the other end passes through the second channel 642 to connect to the control member 630. The wire splitter 640 provides a channel for the wire, and the channel structure is used to restrict the movement trajectory of the wire to a certain extent, thereby reducing the possibility of wire deviation. Furthermore, for the scenario of multi-directional bending control (including bidirectional bending control), different wires can be split to reduce the possibility of wire entanglement. In other embodiments, the wire splitter 640 may not exist.

[0092] The above double-pull wire structure can not only "digest" the slack of the pull wire from the outside of the pull wire cavity, but also no longer require the retraction amount of the pull wire in the pull wire cavity. In addition, the segmented pull wire can also meet the requirements of different sections for the rigidity or flexibility of the pull wire. For example, the pull wires are distributed from the catheter main section to the bending control structure section. It is difficult for a single pull wire to achieve different performances. When pull wires with different rigidity or flexibility are used in different sections, different performance requirements can be met. For example, in the catheter main section, the high rigidity of the pull wire can improve the load transfer efficiency, but the pull wire has a tortuous travel in the operating equipment, and the rigid pull wire is easily deformed after repeated bending control. Therefore, it is more appropriate to use a flexible pull wire in this area.

[0093] akin, Figure 2 The one-way bending control wire control device shown in FIG. 1 can also be similarly improved. Figure 6 Similar, only the number of each pull wire section and the number of elastic members are reduced, which will not be repeated here.

[0094] The following describes several operation processes of the above-mentioned wire pulling control device from catheter bending control to reverse bending control in conjunction with the accompanying drawings. In this drawing, the elastic member takes a tension spring as an example, and the moving end of the elastic member is arranged on the wire pulling device.

[0095] Process 1 (from Figure 6 The initial state shown in the figure is to the maximum controlled bending state): When the first pull wire 611 is pulled to control the bending, the pulling force is first transmitted to the first pull wire 611, and the first pull wire 611 pulls the first elastic member 621 to stretch in the force direction (as shown in the arrow direction in the figure). Since the first elastic member 621 is blocked by the first pull wire docking member 661 and the third pull wire 613 is relatively fixed to the first pull wire docking member 661, the pulling force of the first pull wire 611 will drive the first pull wire docking member 661 and the third pull wire 613 to move away from the catheter 100, so that the bendable section of the catheter is bent. When the catheter reaches the ideal bending shape, the elongation of the third pull wire 613 is a, and the controlled bending reaches the maximum limit. At this time, the first elastic member 621 is still within the elastic limit.

[0096] Process 2 (from Figure 6The catheter 100 is configured as follows: from the maximum bending control state to the reverse bending control state shown in the figure): when the tension is removed to release the bend, on the one hand, the catheter 100 provides a retraction force to the third pull wire 613 to restore the original state, driving the first pull wire docking piece 661 to move toward the distal end of the catheter 100, and the elongation gradually decreases from a; on the other hand, the first elastic piece 621 also provides a retraction force to the distal end of the catheter 100 to the first pull wire 611, so that the first pull wire 611 returns to its initial position, and the length of the first pull wire 611 in the operating device can remain unchanged, and the first pull wire 611 will not be affected by the first pull wire docking piece 661, and can move freely in its first channel 641. When the first pull wire 611, the third pull wire 613, the first elastic piece 621, and the first pull wire docking piece 661 reach a state of equilibrium again, the catheter 100 returns to its initial position before the controlled bending. At this time, the bending is continued to be loose (i.e., reverse control bending or contralateral control bending, and the reverse control bending state can become a completely loose bending state), and the first pull wire 611 is relaxed first, but is always in a taut state under the influence of the retraction force of the first elastic member 621 until the first elastic member 621 retracts to the limit position. Ideally, the third pull wire 613 should produce a retraction amount b that is consistent with the retraction amount of the first elastic member 621, and the first pull wire docking member 661 moves toward the direction of the catheter 100 as the third pull wire 613 retracts, and the moving distance is consistent with the retraction amount of the third pull wire 613. During this process, the distal end of the first pull wire docking member 661 and the proximal end of the first elastic member 621 can always be in close contact but no interaction force is generated. But in fact, the part of the third pull wire 613 in the operating device cannot be completely retracted into the catheter 100, the retraction amount of the first elastic member 621 is greater than the retraction amount of the third pull wire 613, and a gap will appear between the first pull wire docking member 661 and the end of the first elastic member 621, and as the first elastic member 621 retracts, the distance of the gap increases, and the third pull wire 613 will be loose at this time. However, since the first pull wire 611 is always in a taut state, there will be no sense of looseness in the control feel, and whether the third pull wire 613 is loose during the retraction process of the first elastic member 621 will not affect the operation of the handle. During the retraction process of the first elastic member 621, the third pull wire 613 is loose and in a "non-working state". In this state, the third pull wire 613 can passively generate movement without affecting the operation of the operating device and the catheter bending control. The first pull wire 611 connected to the first elastic member 621 and the third pull wire 613 connected to the first pull wire docking member 661 are in two independent states and do not interfere with each other.

[0097] Process 3 (from Figure 6When bending again, the tension first pulls the first pull wire 611 and the first elastic member 621 in the direction of the tension (the direction of the arrow in the figure) until the end of the first elastic member 621 sticks to the first pull wire docking member 661. During this process, the third pull wire 613 is never affected by the tension, the length of the third pull wire 613 in the operating device remains unchanged, and the catheter 100 does not undergo bending control. After that, the first pull wire 611 continues to be pulled, and the tension is transmitted from the first elastic member 621 to the first pull wire docking member 661 and the third pull wire 613. The bendable section of the catheter 100 begins to deform. At this time, the third pull wire 613 returns to the "working state" and begins to affect the catheter bending control. The subsequent operations and principles are consistent with processes one and two.

[0098] The above-mentioned wire pulling control device utilizes a double wire pulling docking structure with different fixed states combined with an elastic member, so that the wire pulling can enter a "working state" under certain conditions, and in a "non-working state", the wire pulling can be placed in any state for "rest" without excessive intervention.

[0099] In the above wire pulling control device, the elastic member improves the problem of wire pulling relaxation, and the limit elastic change of the elastic member is greater than or equal to the length change of the wire pulling maximum control bending and the reverse maximum control bending (that is, the wire pulling stroke). When it is greater than, a certain redundancy can be left, which is more conducive to improving the wire pulling relaxation problem. In the natural state, the elastic change of the elastic member is greater than or equal to the wire pulling stroke (or wire pulling relaxation). When a single wire pulling structure is adopted, the role of the elastic member is to "send" the wire pulling relaxation back to the wire pulling cavity of the catheter. When a double wire pulling structure is adopted, the pushing force of the elastic member and the hardness requirements of the wire pulling will be reduced. It is only necessary to provide tension to the first section of the wire to tighten it. In addition, it cooperates with the wire pulling docking piece to achieve effective bending control in the "working state". The wire pulling state in the "non-working state" has no effect on the bending control operation.

[0100] Other embodiments of the present application may also utilize pulleys to achieve control over the pull wire. Specifically, a pulley at a fixed position and a movable pulley connected to an elastic member may be utilized to achieve slack management of the pull wire.

[0101] The following is a description with reference to the accompanying drawings. Figure 7 , which is a structural schematic diagram of another wire pulling control device provided in an embodiment of the present application. Figure 7As shown, the cable control device includes a first cable 711, a second cable 712, a first elastic member 721, a second elastic member 722, a control member 730, a first fixed pulley 741, a second fixed pulley 742, a first movable pulley 751, and a second movable pulley 752. The control member 730 is connected to the first cable 711 and the second cable 712, and is used to control the movement of the first cable 711 and the second cable 712; the first elastic member 721 and the second elastic member 722 include a fixed end and a movable end, the fixed end is fixed in position in the cable control device, and the movable end moves following the movement of the first cable 711 and the second cable 712, respectively. Specifically, the movable end of the first elastic member 721 is arranged on the movable pulley 751, and the first pull wire 711 bypasses the first fixed pulley 741 and the first movable pulley 751 to be connected to the control member 730; similarly, the movable end of the second elastic member 722 is arranged on the second movable pulley 752, and the second pull wire 712 bypasses the second fixed pulley 742 and the second movable pulley 752 to be connected to the control member 730.

[0102] The above-mentioned wire pulling control device utilizes a movable pulley connected to an elastic member to move in the operating device, forming different wire pulling lengths in the operating device under different stress states, so that the wire can remain taut and bend normally in any state, thereby improving the problem of wire looseness.

[0103] In some embodiments of the present application, a slide rail may be provided so that the movable pulley moves along the slide rail, thereby reducing the deviation of the wire movement trajectory caused by the deviation of the pulley trajectory. Figure 7 As shown, the slide rail 760 is fixedly arranged in the wire control device, and the first movable pulley 751 and the second movable pulley 752 are slidably arranged on the slide rail 760 to move along the slide rail. In addition, a baffle is arranged on one side of the slide rail 760 close to the control member 730 to limit the movement range of the first movable pulley 751 and the second movable pulley 752 facing the control member 730, to prevent the first movable pulley 751 and the second movable pulley 752 from moving beyond a predetermined range, so that the elastic deformation of the first elastic member 721 and the second elastic member 722 does not exceed their elastic limit.

[0104] Similar to the other embodiments above, in some embodiments of the present application, a mounting piece may also be provided. And the function of the mounting piece is the same as that of the above embodiments. For one-way bending control, the mounting piece has a channel for the wire to pass through. In this way, the mounting piece provides a channel for the wire, and the movement trajectory of the wire is restricted to a certain extent by using the channel structure, thereby reducing the possibility of wire deviation. In addition, the mounting piece may also have the function of fixing the elastic piece. For example, the fixed end of the elastic piece is arranged on the mounting piece, and the wire passes through the channel of the mounting piece and then bypasses the fixed pulley and the movable pulley to connect to the control piece. In the initial state, the elastic piece has a preset elastic variation. Considering the existence of the movable pulley, the preset elastic variation is less than the maximum elastic limit of the elastic piece, and is greater than or equal to half of the wire travel. The wire travel is similar to the description of the above embodiments and will not be repeated.

[0105] For multi-directional bending control, the mounting part has multiple channels (for example, N channels, N is a positive integer greater than or equal to 2) for multiple cables (for example, N cables) to pass through. In this case, the mounting part is a cable splitter and has a cable splitting function. Figure 7 As shown, the mounting member 770 has a first channel 771 and a second channel 772, which are used for the first pull wire 711 and the second pull wire 712 to pass through respectively. The fixed ends of the first elastic member 721 and the second elastic member 722 are arranged on the mounting member 770. The first pull wire 711 passes through the first channel 771 and then bypasses the first fixed pulley 741 and the first movable pulley 751 to connect to the control member 730; similarly, the second pull wire 712 passes through the second channel 772 and then bypasses the second fixed pulley 742 and the second movable pulley 752 to connect to the control member 730. In the initial state, the first elastic member 721 and the second elastic member 722 have a preset elastic variation; the preset elastic variation is less than the maximum elastic limit of the elastic member and is greater than or equal to half of the pull wire stroke. The pull wire stroke is similar to the description of the above embodiment and will not be repeated.

[0106] The above mounting member can be arranged in the operation device and located between the control member 730 and the catheter 100, and the position is fixed relative to the operation device. The first fixed pulley 741 and the second fixed pulley 742 and the first movable pulley 751 and the second movable pulley 752 are installed inside the operation device. In one implementation, the first fixed pulley 741 and the second fixed pulley 742 can be arranged on the inner wall 780 of the operation device. In other embodiments, the fixed pulleys can also be arranged on other components, which is not limited in the present application.

[0107] In one implementation, a slide rail is provided on the mounting member 770, and the first movable pulley 751 and the second movable pulley 752 are slidably provided on the slide rail and can slide up and down in the vertical direction in the slide rail; further, baffles are provided on the upper and lower sides of the slide rail to limit the travel range of the first movable pulley 751 and the second movable pulley 752. A first elastic member 721 and a second elastic member 722 are provided between the first movable pulley 751 and the second movable pulley 752 and the mounting member 770, one end of the first elastic member 721 and the second elastic member 722 are respectively provided on the first movable pulley 751 and the second movable pulley 752, and can move with the movement of the first movable pulley 751 and the second movable pulley 752, and the other end is provided on the mounting member 770 and does not move with the first movable pulley 751 and the second movable pulley 752. Therefore, when the movable pulley moves on the slide rail, the elastic member can be stretched accordingly, and after the force to move the movable pulley is removed, the elastic member can pull the movable pulley back to the original position.

[0108] In this embodiment, the horizontal relative position of the movable pulley and the fixed pulley is not limited, and the positions of the two are interchangeable; in the vertical direction, when the elastic member is stretched to the maximum stretching length, the vertical distance between the movable pulley and the other end (fixed end) of the elastic member is less than or equal to the vertical distance between the fixed pulley and the other end (fixed end) of the elastic member. For example, the vertical distance between the baffle and the control member is greater than or equal to the vertical distance from the fixed pulley to the control member. In this embodiment, the movable end of the elastic member is connected to the movable pulley, and the fixed end is set in a place that will not move with the movable pulley, and the stretching direction of the elastic member is consistent with the sliding direction of the movable pulley.

[0109] In the above embodiments, the wire pulling and winding methods may be different depending on the positions of the elastic member and the pulley. Figure 8 Four types of cable winding methods are shown. Figure 8 As shown, the pull wire passes through the proximal end of the catheter or the channel of the mounting member, and passes around two pulleys in sequence, and the angle of the pull wire passing around each pulley (including the fixed pulley and the movable pulley) is not greater than 90°. The pull wire passes through the movable pulley to connect one end of the elastic member, and passes around the other side opposite to the movable pulley when passing through the fixed pulley. The parts of the pull wire on the two pulleys are located on both sides of the line connecting the centers of the two pulleys, and finally connected to the control member.

[0110] The maximum elastic limit of the elastic member, such as the maximum elongation of the tension spring, is represented by L, the elongation of the operating end pull wire when the catheter reaches the maximum bend is represented by a, and the retraction of the pull wire is represented by b. Figure 7 Take an example to describe, in the initial state (the cable is just stretched straight without bending), the movable pulley is located at the baffle on the slide rail, and the tension spring is in a stretched state. At this time, L≥(1 / 2)a, and L≥(1 / 2)b. When L>(1 / 2)b, it is more conducive to the retraction of the cable.

[0111] The following describes several operation processes of the above-mentioned wire control device from catheter bending control to reverse bending control in conjunction with the accompanying drawings:

[0112] Compared with the above embodiment, the relaxation amount B is described, and other meanings are similar to the above embodiment and will not be repeated.

[0113] Relaxation B: The remaining length of the catheter after the retraction amount b is not fully retracted by the operating end.

[0114] Process 1 (from Figure 7 When the first cable 711 is pulled to control the bend, the first movable pulley 751 is blocked by the baffle and cannot move relative to the first fixed pulley 741. The first elastic member 721 is still at the maximum stretching value. At this time, the positions and states of the two pulleys and the elastic member do not change. Only the first cable 711 moves backward along the direction of the pulling force (the direction of the arrow in the figure) until the ideal bend is reached.

[0115] Process 2 (from Figure 7 The maximum bending control state shown in the figure is to the reverse bending control state): when the tension is removed to release the bend, the bendable section of the catheter 100 begins to recover, and the elongation gradually decreases from a until it returns to the initial position before the controlled bending. At this time, the bending continues to be released (i.e., the bending is controlled on the opposite side), and the first pull wire 711 begins to produce a retraction amount, and the retraction amount gradually increases from 0 to b. If the length of the pull wire between the two end points of the retraction amount b is not completely retracted into the catheter 100, relaxation occurs. Since the first pull wire 711 bypasses the side where the first movable pulley 751 is connected to the first elastic member 721 and the elastic member is always in a stretched state, a pulling force opposite to the bending control force is provided to the first movable pulley 751. Therefore, when the bend is released, the vertical distance between the first movable pulley 751 and the first fixed pulley 741 increases, and the first movable pulley 751 drives the first pull wire 711 to move, thereby increasing the length of the pull wire in the operating device. The increased pull wire path "digests" the possible relaxation amount B, so that the pull wire can remain taut even in the loose bending state. At this time, the retracted distance L1 of the first elastic member 721 is (1 / 2) B. In order to keep the first tension wire 711 always in a straight state, the maximum stretching length of the first elastic member 721 can be ≥ (1 / 2) b in actual setting, but the bending control force is not significantly affected.

[0116] Process 3 (from Figure 7 Reverse bending control state shown to initial state): When controlling the bend again, the starting position of the first movable pulley 751 is no longer at the upper baffle plate, but at the position after the first elastic member 721 retracts L1. At this time, when the first pull wire 711 is pulled, the first fixed pulley 741 does not move, and the first movable pulley 751 moves along the pulling direction under the traction of the first pull wire 711 until the first movable pulley 751 moves to the position of the upper baffle plate. In this process, the length of the pull wire in the operating device gradually decreases until the first movable pulley 751 is restricted by the baffle plate and the length of the pull wire in the operating device no longer changes. After that, continuing to pull the first pull wire 711 can realize a similar bending control process as process one again.

[0117] The elastic member in the above embodiment is a tension spring. In other embodiments, the tension spring can be replaced by a compression spring. Fig. 9 As shown. Similarly, one end of the compression spring is arranged on the movable pulley and can move with the movable pulley, and the other end is arranged on the mounting part or inside the operating device and does not move with the movable pulley. Therefore, when the movable pulley moves on the slide rail, the compression spring can be compressed accordingly. After the force for moving the movable pulley is removed, the compression spring can push the movable pulley back to its original position. In this embodiment, the horizontal relative positions of the movable pulley and the fixed pulley are still interchangeable; but in the vertical direction, when the compression spring is compressed to the maximum compression length, the vertical distance between the movable pulley and the other end of the compression spring is greater than or equal to the vertical distance between the fixed pulley and the other end of the compression spring. One end of the compression spring is connected to the movable pulley, and the other end is arranged in a place that will not move with the movable pulley, and the compression direction of the compression spring is consistent with the sliding direction of the movable pulley. When the pull wire passes around the two pulleys, it passes around the movable pulley to connect to the other side of the compression spring, and when it passes around the fixed pulley, it is the opposite side corresponding to the movable pulley. In the initial natural state, the compression spring is compressed to the maximum value. The principle of the bending control process is similar to that of the above embodiment and will not be repeated. Finally, the extension amount of the compression spring consumes the slack amount of the tension wire, and the extension amount L2 = (1 / 2)B.

[0118] The pulley structure used in this embodiment can alleviate the problem of loosening of the pull wire and provide a better control feel. However, compared with the above other embodiments, the cost is increased and the space requirement in the operating device is also increased. The above pull wire control device that does not use a pulley structure has a lower cost and a relatively simple manufacturing process.

[0119] Furthermore, based on the principle of the above pulley structure to improve the slack of the wire, the fixed pulley is used to determine the direction of the wire, and the combination of the movable pulley and the elastic member is used to consume the slack of the wire. Therefore, the pulley structure can also be a combination of multiple pulleys and multiple elastic members. It is only necessary to satisfy that one end of the elastic member can move with the wire or the movable pulley, and the position of the other end is fixed, that is, it does not move with the wire or the movable pulley. In addition, when the wire bypasses the movable pulley, it passes through the side of the movable pulley in the direction of the force of the elastic member, and when it passes through the fixed pulley, it passes through the side opposite to the movable pulley. Therefore, by adopting the above pulley structure, even a multi-pulley combination can realize the arrangement of the wire in any direction according to the design requirements of the operating equipment, and can also consume more wire slack.

[0120] In some embodiments of the present application, considering the aging problem of the elastic member, in order to improve the fatigue resistance of the elastic member, on the basis of any of the above embodiments, an elastic member may be provided. Figure 2 The cable control device shown uses Figure 5 In the structure shown in FIG. 1 , an elastic member (which may be referred to as a first layer of elastic members) is disposed on the mounting member 250, and the elastic member (which may be referred to as a second layer of elastic members) on the mounting member 240 is retained. Figure 3 and Figure 5 Combining the structures shown, or Figure 3 and Figure 6 Combining the structures shown, or Figure 7 and Figure 5 The structure shown is combined, or Figure 7 and Figure 6 The structures shown are combined.

[0121] Please refer to Fig.10 , which is a structural diagram of another wire pulling control device provided in an embodiment of the present application. Figure 6 and Figure 3 The structural combination of Figure 6 On the basis of the wire pulling control device shown, an elastic member is added to the wire dividing member 640, and the first wire pulling wire 611 passes through the third elastic member 101, and the third elastic member 101 is stretched a certain distance to be connected to the first wire pulling wire 611; the second wire pulling wire 612 passes through the fourth elastic member 102, and the fourth elastic member 102 is stretched a certain distance to be connected to the first wire pulling wire 612. In one implementation, the length and elongation of the third elastic member 101 and the fourth elastic member 102 in the natural state are less than or equal to the first elastic member 621 and the second elastic member 622. The design of double elastic members can increase the stability of the wire pulling and the fatigue resistance of the elastic member. Accordingly, during wire pulling control, the bending control force will increase, and the contraction force of the two elastic members needs to be overcome; on the other hand, the cost and process cost will also increase relatively.

[0122] Therefore, the wire pulling device provided by the present application further includes a third elastic member 101 and a fourth elastic member 102, each of which includes a fixed end and a movable end. The fixed end of the third elastic member 101 is arranged on the wire dividing member 640, and the movable end moves along with the movement of the first wire 611; the fixed end of the fourth elastic member 102 is arranged on the wire dividing member 640, and the movable end moves along with the movement of the second wire 612.

[0123] It should be noted that in the above embodiments, the elastic member moves with the pull line, which means that the elastic member can move with the pull line, but it does not mean that the elastic member must move when the pull line moves. First, the movement is limited by the elastic limit of the elastic member; secondly, in order to prevent the elastic member from moving beyond the elastic limit, a baffle can be provided, for example, Figure 7 In the embodiment shown, in other embodiments, a baffle or a limiter may be additionally provided to control the movement range of the elastic member.

[0124] Based on the same concept, the present application also discloses a medical device, comprising any one of the above pull-wire control devices and a catheter, wherein the pull-wire control device controls the catheter via the pull-wire.

[0125] The above embodiments can be freely combined as needed. The above are only some implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application, and these improvements and modifications should also be regarded as the protection scope of the present application.

Claims

1. A pull-wire control device for controlling a catheter, comprising: First pull line; Second pull line; A control member connected to the first pull wire and the second pull wire, and used to control the movement of the first pull wire and the second pull wire; A first elastic member, comprising a fixed end and a movable end, wherein the fixed end of the first elastic member is fixed in the pull-wire control device, and the movable end of the first elastic member moves with the movement of the first pull-wire to generate a retraction amount or an extension amount; The second elastic member includes a fixed end and a movable end. The fixed end of the second elastic member is fixed in the pull-wire control device, and the movable end of the second elastic member moves along with the movement of the second pull wire to generate a retraction amount or an extension amount.

2. The wire control device according to claim 1, characterized in that: Also includes: The wire splitter is disposed between the control member and the proximal end of the catheter and has a first channel and a second channel, respectively used for the first pull wire and the second pull wire to pass through, wherein: The fixed ends of the first elastic member and the second elastic member are arranged on the dividing member and are respectively located at the channel openings of the first channel and the second channel, and the movable ends of the first elastic member and the second elastic member are respectively arranged on the first pull wire and the second pull wire, wherein the first pull wire and the second pull wire pass through the first elastic member and the second elastic member from the channel openings of the first channel and the channel openings of the second channel respectively and are connected to the control member.

3. The wire control device according to claim 1, characterized in that: Also includes: A mounting member is arranged at the proximal end of the catheter, wherein the fixed ends of the first elastic member and the second elastic member are arranged on the mounting member.

4. The wire control device according to claim 3, characterized in that: The first pull wire and the second pull wire pass through the mounting member from the proximal end of the catheter and are connected to the control member after passing through the first elastic member and the second elastic member respectively, and the moving ends of the first elastic member and the second elastic member are respectively arranged on the first pull wire and the second pull wire.

5. The wire control device according to claim 3, characterized in that: Also includes: A third pull line and a fourth pull line; A first pull wire docking member, used for docking the first pull wire and the third pull wire; The second pull wire docking member is used to dock the second pull wire and the fourth pull wire, wherein: One end of the first pull wire is connected to the control member, and the other end is connected to the first pull wire docking member or the movable end of the first elastic member; one end of the third pull wire passes through the proximal end of the catheter and is connected to the first pull wire docking member, and the other end passes through the catheter and is connected to the distal end of the catheter; the movable end of the first elastic member is arranged on the first pull wire docking member or on the first pull wire; and, One end of the second pull wire is connected to the control member, and the other end is connected to the second pull wire docking member or the movable end of the second elastic member; one end of the fourth pull wire passes through the proximal end of the catheter and is connected to the second pull wire docking member, and the other end passes through the catheter and is connected to the distal end of the catheter; the movable end of the second elastic member is arranged on the second pull wire docking member or on the second pull wire.

6. The wire control device according to any one of claims 3 to 5, characterized in that: Also includes: The wiring junction member is arranged between the control member and the mounting member, wherein the wiring junction member has a first channel and a second channel, wherein the first pull wire and the second pull wire pass through the first channel and the second channel respectively to connect with the control member.

7. The wire control device according to claim 6, characterized in that: Also includes a third elastic member and a fourth elastic member, wherein: The third elastic member comprises a fixed end and a movable end, the fixed end of the third elastic member is arranged on the line dividing member and is located at the passage opening of the first passage, the movable end of the third elastic member moves following the movement of the first pull wire, and the first pull wire passes through the third elastic member from the passage opening of the first passage and is connected to the control member; The fourth elastic member includes a fixed end and a movable end. The fixed end of the fourth elastic member is arranged on the dividing member and is located at the channel opening of the second channel. The movable end of the fourth elastic member moves along with the movement of the second pull wire, and the second pull wire passes through the fourth elastic member from the channel opening of the second channel and is connected to the control member.

8. A pull-wire control device for controlling a catheter, characterized in that: include: Pull the wire; A control member connected to the pull wire and used to control the movement of the pull wire; The elastic member comprises a fixed end and a movable end. The fixed end of the elastic member is fixed in the pull-wire control device, and the movable end of the elastic member moves along with the movement of the pull-wire to generate a retraction amount or an extension amount.

9. The wire control device according to claim 8, characterized in that: Also includes: A first mounting member is arranged at the proximal end of the catheter, wherein the fixed end of the elastic member is arranged on the first mounting member.

10. The wire control device according to claim 9, characterized in that: The pull wire passes through the first mounting member from the proximal end of the catheter and passes out from the elastic member to be connected to the control member, and the movable end of the elastic member is arranged on the pull wire.

11. The wire control device according to claim 9, characterized in that: The pull wire is a proximal pull wire, and the device further comprises: Distal pull line; A pull wire docking piece is used to dock the proximal pull wire and the distal pull wire, wherein: One end of the proximal pull wire is connected to the control member, and the other end is connected to the pull wire docking member or the movable end of the elastic member; one end of the distal pull wire passes through the proximal end of the catheter and is connected to the pull wire docking member, and the other end passes through the catheter and is connected to the distal end of the catheter; the movable end of the elastic member is arranged on the pull wire docking member or on the proximal pull wire.

12. The wire control device according to any one of claims 9 to 11, characterized in that: The second mounting member is arranged between the control member and the first mounting member, wherein the second mounting member has a channel, wherein the pull wire passes through the channel to connect with the control member.

13. The wire control device according to claim 12, characterized in that: The elastic member is a first layer of elastic member, and the device further comprises: The second layer of elastic parts includes a fixed end and a movable end. The fixed end of the second layer of elastic parts is arranged on the second mounting part and is located at the channel opening of the channel. The movable end of the second layer of elastic parts moves with the movement of the pull wire, and the pull wire passes through the second layer of elastic parts from the channel opening of the channel and is connected to the control part.

14. A pull-wire control device for controlling a catheter, comprising: Pull wire, control part, mounting part, elastic part, fixed pulley and movable pulley, wherein: The mounting member is provided with a slide rail, and the movable pulley is mounted on the slide rail and moves along the slide rail; The elastic member has a fixed end and a movable end, the fixed end is fixedly arranged on the mounting member, and the movable end is arranged on the movable pulley to move with the movable pulley; The pull wire passes through the fixed pulley and the movable pulley and is connected to the control member. The control member controls the movement of the pull wire, and the movement of the pull wire drives the movable pulley to move.

15. The wire control device according to claim 14, characterized in that: A baffle is provided on one side of the slide rail close to the control member, and the movement of the movable pulley along the slide rail toward the control member is restricted by the baffle.

16. The wire control device according to claim 14, characterized in that: The number of the pull wires is N, and the number of the elastic members, the fixed pulleys, and the movable pulleys are all N, where N is a positive integer greater than or equal to 2, wherein: Each pull line corresponds to an elastic member, a fixed pulley, and a movable pulley, and is connected to the control member by passing through the corresponding fixed pulley and the movable pulley, so as to drive the corresponding movable pulley to move under the control of the control member; The moving end of each elastic member is arranged on the corresponding movable pulley to move along with the corresponding movable pulley.

17. The wire control device according to claim 16, characterized in that: The mounting member has N channels, which are used for the N pulling wires to pass through respectively, and each pulling wire passes through the corresponding channel and then bypasses the corresponding fixed pulley and movable pulley to be connected to the control member.

18. The wire control device according to claim 14, characterized in that: In the vertical direction, when the elastic member is stretched to the maximum stretching length, the vertical distance between the movable pulley and the fixed end of the elastic member is less than or equal to the vertical distance between the fixed pulley and the fixed end of the elastic member.

19. The wire control device according to claim 14, characterized in that: The elastic member is a tension spring or a compression spring.

20. A medical device, characterized in that: The invention comprises a pull-wire control device and a catheter as described in any one of claims 1 to 19, wherein the pull-wire control device controls the catheter via a pull-wire.

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