Bending adjusting system capable of achieving automatic compensation

Abstract

The invention relates to the field of medical instruments, in particular to an automatic compensation bend adjusting system which comprises a handle, an adjustable bend pipe, a first pull wire and a second pull wire, the adjustable bend pipe comprises a first section and a second section, the far end of the first pull wire is connected with the first section, and the handle comprises a first control unit, a second control unit and a turning part. The first control unit comprises a first moving part, the second control unit comprises a second moving part, the near end of the first pull wire is connected with the first moving part, the second pull wire bypasses the turning part to form a connecting wire and a compensation wire which are connected with each other, the end of the connecting wire is connected with the second section, and the end of the compensation wire is connected with the second moving part; and the second control unit is fixedly connected with the first moving part, and moves synchronously with the first moving part.

Description

Technical Field

[0001] The present invention belongs to the field of medical devices, and in particular relates to an automatic compensating bending adjustment system, which is particularly suitable for interventional treatment of structural heart diseases such as cardiomyopathy via vascular access. Background Art

[0002] Hypertrophic cardiomyopathy is a common autosomal dominant cardiovascular disease with an incidence of about 1:500 in the general population and a mortality rate of about 1.4%-2.2%. It is the most common cause of sudden death in young people and athletes. The main manifestation of hypertrophic cardiomyopathy is hypertrophy of one or more segments of the left ventricle, and the general diagnostic standard is a thickness greater than or equal to 15mm. When the anterior leaflet of the mitral valve moves forward during systole and abuts against the ventricular septum, causing stenosis or even obstruction of the left ventricular outflow tract, that is, when the pressure gradient in the left ventricular outflow tract is too large, it is called obstructive hypertrophic cardiomyopathy.

[0003] Currently, the treatment strategy for obstructive hypertrophic cardiomyopathy is to enlarge the left ventricular outflow tract to reduce the pressure gradient and alleviate its obstruction. Commonly used treatment methods include drug therapy, ventricular septal rotation and ventricular septal alcohol ablation, but these methods have disadvantages such as high surgical risks or poor treatment effects. In recent years, some new technologies for treating obstructive hypertrophic cardiomyopathy have been disclosed. For example, a catheter containing a radiofrequency ablation electrode is used to enter the heart cavity through a vascular pathway for radiofrequency ablation. Although this type of method has certain advantages over traditional methods, the spatial structure within the heart is complex, and multiple non-codirectional bends are required when the catheter reaches the target lesion site. However, the following problems often occur during the bending process: in order to make multiple bends, at least two pull wires are set. During the bending, the pull wires cannot cooperate with each other, and it is easy for one side of the pull wire to be tight and affect the bending of the other side, so that the tension applied to the proximal end of the catheter cannot act equivalently on its distal bending part; or there is a waste of stroke, which makes it impossible for the operator to judge the specific movement stroke of the pull wire, greatly increasing the difficulty of operation. Under the guidance of current conventional imaging technology, it is difficult for the operator to accurately position the interventional catheter to the target lesion site, which prolongs the operation time.

[0004] Similarly, treatment methods that involve delivering a catheter into the heart via the femoral vein, jugular vein or artery to construct a pathway, such as myocardial filling devices for treating heart failure, valve repair devices for treating structural heart disease with valvular regurgitation, valve replacement devices for treating valvular stenosis, and other transvascular interventional treatments require a catheter delivery system that requires multiple bends.

[0005] Therefore, how to design a bending adjustment system with good controllability, accurate positioning in the heart cavity and improved targeting is an urgent problem that needs to be solved. Summary of the invention

[0006] The purpose of the present invention is to overcome the deficiencies of the prior art and to provide an automatic compensating bending adjustment system to address the problem that the interventional catheter is affected by the pull wires on other sides or the pull wire travel is wasted when the catheter is bent.

[0007] The object of the present invention is achieved through the following solutions: A bending adjustment system with automatic compensation includes a handle, an adjustable bending pipe, a first pull wire and a second pull wire, the adjustable bending pipe includes a first section and a second section, the distal end of the first pull wire is connected to the first section, the handle includes a first control unit, a second control unit and a turning member, the first control unit includes a first moving member, the second control unit includes a second moving member, the proximal end of the first pull wire is connected to the first moving member, the second pull wire bypasses the turning member to form an interconnected connecting line and a compensation line, the end of the connecting line is connected to the second section, and the end of the compensation line is connected to the second moving member; and the second control unit is fixedly connected to the first moving member and moves synchronously with the first moving member.

[0008] The purpose of the present invention can be further achieved by the following technical solutions: In one embodiment, the first pull wire moves toward the proximal end under the drive of the first movable member, the second movable member moves toward the proximal end along with the first movable member, the end of the compensation wire moves toward the proximal end, the length of the compensation wire decreases, and the length of the connecting wire increases; and the shrinkage of the compensation wire is equal to the increment of the connecting wire, which is equal to the axial movement length of the proximal end of the first pull wire.

[0009] In one embodiment, the distal end of the first puller wire is connected to the distal portion of the first segment, and the distal end of the second puller wire is connected to the distal portion of the second segment.

[0010] In one embodiment, a first ring-shaped member is disposed at the distal end of the first section, and the first pull wire is connected to the first ring-shaped member.

[0011] In one embodiment, a second ring-shaped member is disposed at the distal end of the second section, and the second pull wire is connected to the second ring-shaped member.

[0012] In one embodiment, the distal end of the connecting wire is connected to the second annular member, and the proximal end of the connecting wire is connected to the proximal end of the compensating wire.

[0013] In one embodiment, the distal end of the compensation wire is connected to the second moving member.

[0014] In one embodiment, the distal end of the first pull wire and the distal end of the second pull wire are symmetrical about the center on the circumference, and the difference between the two is 180°.

[0015] In one embodiment, when the first pull wire moves toward the proximal end, the first section bends, and the side where the first pull wire is located is the small bend side of the adjustable bend tube, and the side where the second pull wire is located is the large bend side of the adjustable bend tube; and the length difference between the small bend side and the large bend side is equal to the sum of the shrinkage of the compensation wire and the increment of the connecting wire.

[0016] In one embodiment, the first control unit further includes a first control member, and the second control unit further includes a second control member. The first control member and the first movable member are threadedly connected. When the first control member is rotated, the first movable member moves axially, and the second control member and the second movable member move synchronously. There is no relative displacement between the second movable member and the second control member.

[0017] In one embodiment, the first control member is an axial stepping mechanism to drive the first moving member to move axially.

[0018] In one embodiment, the first control unit further includes a first limiting sleeve, the first limiting sleeve includes two limiting rails, and the first moving member includes a first cylinder, a threaded member arranged on the surface of the first cylinder, and a rod member arranged at the proximal end of the first cylinder.

[0019] In one embodiment, the threaded member is cooperatively connected with the limiting track, and the first cylinder and the rod are sleeved in the first limiting sleeve.

[0020] In one embodiment, the rod is connected to the second control unit.

[0021] In one embodiment, the second control member and the second movable member are threadedly connected, and when the second control member is rotated, the second movable member moves axially alone, and the second section bends, and the bending direction of the second section is opposite to that of the first section.

[0022] In one embodiment, the connecting line and the compensation line are arranged in parallel and the two are integrated.

[0023] In one embodiment, when the first section is bent, the compensation line passes through the turning member to become a connecting line, and the connecting line is located on the large bend side and adapts to the length of the large bend side.

[0024] In one embodiment, the first movable member is preinstalled at the distal end of the first control unit, and the second movable member is preinstalled at the proximal end of the second control unit; and when adjusting the bending of the first section, the first movable member moves toward the proximal end, and when adjusting the bending of the second section, the second movable member moves toward the distal end.

[0025] In another embodiment, the handle further includes a third control unit, the third control unit includes a third control member and a third moving member, and the third moving member is connected to the turning member.

[0026] In one embodiment, the turning member is a wheel-shaped member, and operating the third movable member to move toward the proximal end makes the second pull wire tight; and further operating the third movable member to move toward the proximal end makes the second pull wire pull the second section to bend.

[0027] In one embodiment, the turning member is a fixed pulley or a movable pulley.

[0028] In one embodiment, the adjustable elbow includes a first pre-installed passage and a second pre-installed passage, and the first pull wire and the second pull wire are pre-installed in the first pre-installed passage and the second pre-installed passage, respectively.

[0029] In one embodiment, the first pre-installed passage and the second pre-installed passage are hollow in the adjustable elbow.

[0030] In one embodiment, the first pull wire and the second pull wire are disposed on two sides of the center axis of the adjustable elbow.

[0031] In one embodiment, the first pull wire and the second pull wire are arranged at 180° relative to the center of the circle.

[0032] In one embodiment, when the first pull wire is taut, the compensation wire of the second pull wire automatically bypasses the turning member to become a connecting wire, and the second pull wire is not taut; and the pulling force of the first moving member is equal to the bending force applied to the far end of the first pull wire.

[0033] In one embodiment, the first pull wire and the second pull wire are symmetrically arranged at 180° relative to the center of the circle, and the compensation wire, the connecting wire and the turning member form a compensation structure. Due to the effect of the compensation mechanism, when the first pull wire is tightened, the second pull wire will not be affected, ensuring that the proximal bending force is transmitted to the distal end in a 1:1 ratio. In one embodiment, it also includes an external adjustment bend pipe arranged on the adjustable bend pipe and a third pull wire connected to the distal end of the external adjustment bend pipe.

[0034] In one embodiment, the external adjustment elbow enters the heart before the adjustable elbow.

[0035] In one embodiment, an ablation device includes an ablation mechanism and an automatically compensating bending adjustment system, wherein the ablation mechanism includes a flexible main body segment and an ablation segment disposed at the distal end of the flexible main body segment; and the flexible main body segment is disposed within the adjustable bending tube.

[0036] In one embodiment, the distal end of the ablation segment acts on the left ventricular myocardium in the heart, including tissues such as the ventricular septum.

[0037] In another embodiment, the distal end of the first pull wire and the distal end of the second pull wire differ in circumference by 90° to 180°.

[0038] Compared with the prior art, the advantages of the present invention are: 1. In the prior art, before ablation of the left ventricular myocardium, especially the ventricular septum, the channel constructed by the pipeline, such as entering the left ventricular cavity through the femoral and aorta, or entering the right ventricular cavity through the femoral and inferior vena cava, needs to bend back in the direction of the pipeline and then bend back toward the ventricular septum. Therefore, at least two bends are required near the lesion. Due to the complexity of the three-dimensional structure of the heart, the first and second bends are difficult to complete independently. For example, the second pull wire is too tight, which affects the bending degree of the first bend, or the second pull wire is free during the first bend, but the specific stroke of the second pull wire is difficult to confirm during the second bend, which greatly reduces the controllability of the delivery system. Although there is imaging equipment to assist in judgment, it is still difficult for the operator to judge the bending state of the heart during operation. The bending system of the present application solves the above problems. First, the second pull wire is not a straight line. The line passes around the turning piece to form a connecting line and a compensation line. When the first section is bent, the position of the first pulling line is the small bend side, and the position of the second pulling line is the large bend side. The length of the large bend side is greater than the length of the adjustable bend tube when it is not bent. Since the first movable member that pulls the first pulling line toward the proximal end is connected to the second control unit, the second control unit will move toward the proximal end with the compensation line. After the compensation line passes around the turning piece, it becomes a connecting line. The length of the connecting line on the large bend side is increased, and the large bend side will not be stretched, thereby not affecting the bending action of the first section. Secondly, although the second pulling line will undergo adaptive compensatory movement to adapt to the bending adjustment of the first section, the second movable member of the second control unit is still in the initial position. When adjusting the second section, the second movable member starts from stroke zero. Adjusting the second control member can know the bending degree of the second section, which is convenient for the operator to operate.

[0039] 2. Different from the prior art, when the first pull wire moves toward the proximal end driven by the first movable member, the shrinkage of the compensation wire of the present application is equal to the increment of the connecting wire, which is equal to the axial movement length of the proximal end of the first pull wire. The advantage of such a design is that when the adjustable bend tube bends, the shrinkage of the arc length on the small bend side is equal to the increment of the arc length on the large bend side, the shrinkage of the arc length on the small bend side is the axial movement length of the proximal end of the first pull wire, and the increment of the arc length on the large bend side is the increment of the connecting wire. Therefore, when the first section bends, no part of the adjustable bend tube is subjected to tension, and the bending degree of the first section can be known by operating the first control member.

[0040] 3. Different from the prior art, when the first control member is operated to cause the first section to bend, if the operator believes that the adjustment is excessively bent, the first control member can be operated to move toward the distal end to make the first section less bent. In addition, during the adjustment process, the second pull wire follows the movement of the first movable member in real time. Therefore, no matter how the first control member is operated, the compensation line and the connecting line follow the bending of the first section in real time, while ensuring that the adjustment of the bending of the second section starts from stroke zero.

[0041] 4. Different from the prior art, the handle also includes a third control unit, which includes a third control member and a third movable member connected to the turning member. Before performing the second bending adjustment action, the third control member is operated to move toward the proximal end so that the second pull wire bypassing the turning member is tightened, so that the second section can be bent by operating the second control member. On the other hand, if the operation of the second control member has reached the limit range and the second section still needs to be bent, the third control member can be operated to move the turning member toward the proximal end. Therefore, the third control member facilitates adaptive adjustment or significantly improves the bending ability of the second control unit.

[0042] The embodiments of the present application can achieve other advantageous technical effects that are not listed one by one. These other technical effects may be partially described below and are predictable and understandable to those skilled in the art after reading the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The above-mentioned features and advantages and other features and advantages of these embodiments and the manner in which they are achieved will become more apparent, and the embodiments of the present application can be better understood by referring to the following description together with the accompanying drawings, in which: Figure 1 It is a schematic diagram of the connection between the handle of the bending adjustment system of the present invention and the external bending pipe and the adjustable bending pipe.

[0044] Figure 2 This is a schematic diagram of the structure inside the handle of the bending adjustment system of the present invention.

[0045] Figure 3-Figure 5 It is a schematic structural diagram of the first control unit and the second control unit of the bending adjustment system of the present invention.

[0046] Figure 6 It is a schematic diagram of the turning member of the bending adjustment system of the present invention.

[0047] Figure 7 It is a schematic diagram of the external bending pipe of the bending adjustment system of the present invention.

[0048] Figure 8 Schematic diagram of the adjustable elbow of the bending adjustment system of the present invention.

[0049] Fig. 9 Schematic diagram of the ablation mechanism of the bending adjustment system of the present invention.

[0050] Fig.10 This is a schematic diagram of the assembly of the various components of the bending adjustment system of the present invention when used for ablation.

[0051] Figure 11-13 Schematic diagram of the bending adjustment principle of the bending adjustment system of the present invention.

[0052] Figure 14-16 It is a schematic diagram of the working process of the bending adjustment system of the present invention.

[0053] Fig.17 and Fig.18 This is another embodiment of the bending adjustment system of the present invention.

[0054] The names of the parts indicated by the numbers in the accompanying drawings are as follows: 1-handle, 11-first control unit, 111-first moving part, 112-first control part, 113-first limiting sleeve, 114-limiting track, 115-first cylinder, 116-threaded part, 117-rod, 12-second control unit, 121-second moving part, 122-second control part, 13-turning part, 2-adjustable elbow, 21-first section, 211-first annular part, 22-second section, 221-second annular part, 23-first pre-installed passage, 24-second pre-installed passage, 3-first pull wire, 4-second pull wire, 41-connecting wire, 42-compensation wire, 5-external adjustment elbow, 6-third pull wire, 7-ablation mechanism, 71-flexible main body section, 72-ablation section, 8-ablation device, 9-third control unit, 91-third control part, 92-third moving part. Implementation

[0055] In the following description of the drawings and specific embodiments, the details of one or more embodiments of the present application will be described. From these descriptions, drawings and claims, other features, purposes and advantages of the present application can be clearly seen.

[0056] It should be understood that the illustrated and described embodiments are not limited in application to the details of the construction and arrangement of the components set forth in the following description or illustrated in the accompanying drawings. The illustrated embodiments may be other embodiments and may be implemented or executed in various ways. Each example is provided by explaining the disclosed embodiments rather than limiting them. In fact, it will be apparent to those skilled in the art that various modifications and variations may be made to the embodiments of the present application without departing from the scope or essence disclosed in the present application. For example, a feature illustrated or described as part of an embodiment may be used together with another embodiment to still produce another embodiment. Therefore, the present application discloses and covers such modifications and variations within the scope of the appended claims and their equivalent elements.

[0057] Likewise, it is understood that the phrases and terms used herein are for descriptive purposes and should not be considered restrictive. The use of "include," "comprise," or "have" and variations thereof herein is intended to be open-ended to include the items listed thereafter and their equivalents and additional items.

[0058] The present application will be described in more detail below with reference to different embodiments and examples of several aspects of the present application.

[0059] In the present application, the term “proximal end” or “proximal side” refers to an end or a side closer to a surgical operator, and the term “distal end” or “distal side” refers to an end or a side farther from a surgical operator. Embodiment 1

[0060] like Figure 1 and Figure 2 As shown, an automatically compensating bending adjustment system is illustrated, comprising a handle 1, an adjustable bending tube 2, a first pull wire 3 and a second pull wire 4, the adjustable bending tube 2 comprising a first section 21 and a second section 22, the distal end of the first pull wire 3 being connected to the first section 21, the handle 1 comprising a first control unit 11, a second control unit 12 and a turning member 13, the first control unit 11 comprising a first moving member 111, the second control unit 12 comprising a second moving member 121, the proximal end of the first pull wire 3 being connected to the first moving member 111, the second pull wire 4 bypassing the turning member 13 to form an interconnected connecting line 41 and a compensation line 42, as shown in FIG. Figure 7 As shown, the end of the connecting line 41 is connected to the second section 22, and the end of the compensation line 42 is connected to the second movable member 121; and, the second control unit 12 is fixedly connected to the first movable member 111, and moves synchronously with the first movable member 111, so as to realize the function of automatic compensation of the second pull wire 4 when the first section 21 is bent, and the bending of the first section 21 and the bending of the second section 22 do not affect each other.

[0061] The composition and connection mode of each component in this embodiment will be described in detail below with reference to the accompanying drawings: In this embodiment, the first pull wire 3 moves toward the proximal end under the drive of the first moving member 111, and the second moving member 121 moves toward the proximal end along with the first moving member 111, and the end of the compensation wire 42 moves toward the proximal end, the length of the compensation wire 42 decreases, and the length of the connecting wire 41 increases; and the amount of contraction of the compensation wire 42 is equal to the increment of the connecting wire 41, which is equal to the axial movement length of the proximal end of the first pull wire 3. Fig.11 and Fig.12 shown.

[0062] In this embodiment, a first annular member 211 is disposed at the distal end of the first section 21, and the first pull line 3 is connected to the first annular member 211; a second annular member 221 is disposed at the distal end of the second section 22, and the second pull line 4 is connected to the second annular member 221. Figure 8 shown.

[0063] In this embodiment, the distal end of the connecting line 41 is connected to the second annular member 221 , and the proximal end of the connecting line 41 is connected to the proximal end of the compensation line 42 .

[0064] In this embodiment, the distal end of the compensation line 42 is connected to the second moving member 121 .

[0065] In this embodiment, the distal end of the first pull wire 3 and the distal end of the second pull wire 4 are symmetrical about the center on the circumference, and the difference between the two is 180°.

[0066] In this embodiment, when the first pull wire 3 moves toward the proximal end, the first section 21 bends, and the side where the first pull wire 3 is located is the small bend side of the adjustable bend tube 2, and the side where the second pull wire 4 is located is the large bend side of the adjustable bend tube 2; and the length difference between the small bend side and the large bend side is equal to the sum of the shrinkage of the compensation line 42 and the increment of the connecting line 41.

[0067] In this embodiment, the first control unit 11 further includes a first control member 112, and the second control unit 12 further includes a second control member 122. The first control member 112 and the first moving member 111 are threadedly connected. When the first control member 112 is rotated, the first moving member 111 moves axially, and the second control member 122 and the second moving member 121 move synchronously. There is no relative displacement between the second moving member 121 and the second control member 122. Fig.11 and Fig.12 shown.

[0068] In this embodiment, the first control unit 11 further includes a first limiting sleeve 113, the first limiting sleeve 113 includes two limiting rails 114, the first moving member 111 includes a first cylinder 115, a threaded member 116 disposed on the surface of the first cylinder 115, and a rod 117 disposed at the proximal end of the first cylinder 115. Figures 3 to 5 shown.

[0069] In this embodiment, the threaded member 116 is slidably connected to the limiting track 114 , and the first cylinder 115 and the rod 117 are sleeved in the first limiting sleeve 113 .

[0070] In this embodiment, the first moving member 111 includes four rods 117, and the rods 117 are connected to the second control unit 12. Figure 5 shown.

[0071] In this embodiment, the second control member 122 and the second moving member 121 are threadedly connected. When the second control member 122 is rotated, the second moving member 121 moves axially alone, and the second section 22 bends. Fig.13 shown.

[0072] In this embodiment, the connecting line 41 and the compensation line 42 are arranged in parallel and are integrated as a whole.

[0073] In this embodiment, when the first section 21 is bent, the compensation line 42 passes through the turning member 13 to become the connecting line 41, and the connecting line 41 is located on the large bend side and adapts to the length of the large bend side.

[0074] In this embodiment, the first movable member 111 is pre-installed at the distal end of the first control unit 11, and the second movable member 121 is pre-installed at the proximal end of the second control unit 12; and, when adjusting the bending of the first section 21, the first movable member 111 moves toward the proximal end, and when adjusting the bending of the second section 22, the second movable member 121 moves toward the distal end.

[0075] In this embodiment, the first pull wire 3 and the second pull wire 4 are arranged on both sides of the central axis of the adjustable bend pipe 2. When the first pull wire 3 is taut, the compensation line 42 of the second pull wire 4 automatically bypasses the turning member 13 to become the connecting line 41, and the second pull wire 3 is not taut; and the pulling force of the first movable member 111 is equal to the bending force exerted on the far end of the first pull wire 3.

[0076] In this embodiment, the bending adjustment system is used to deliver the ablation mechanism 7, and the ablation mechanism 7 includes a flexible main body segment 71 and an ablation segment 72 disposed at the distal end of the flexible main body segment 71. Fig. 9 As shown; and, the flexible main body section 71 is arranged in the adjustable elbow 2, as Figure 2 shown.

[0077] In this embodiment, the distal end of the ablation segment 72 acts on the ventricular septum tissue in the heart.

[0078] In this embodiment, the ablation mechanism 7 and the bending adjustment system are combined to form an ablation device 8. Fig.10 shown.

[0079] In this embodiment, the turning member 13 is a wheel-shaped member, and the turning member 13 is a fixed pulley. Figure 6 shown.

[0080] In this embodiment, the adjustable elbow 2 includes a first pre-installed passage 23 and a second pre-installed passage 24, and the first pull wire 3 and the second pull wire 4 are pre-installed in the first pre-installed passage 23 and the second pre-installed passage 24, respectively. Figure 8 shown.

[0081] In this embodiment, the first pre-installed passage 23 and the second pre-installed passage 24 are hollow in the adjustable elbow 2 .

[0082] In this embodiment, the bending adjustment system further includes an external bending pipe 5 arranged outside the adjustable bending pipe 2 and a third pull wire 6 connected to the distal end of the external bending pipe 5. Figure 7 shown.

[0083] In this embodiment, the externally adjustable curved pipe 5 is connected to the handle 1 .

[0084] In this embodiment, the external adjustable bend tube 5 passes through the aortic arch and crosses the aortic valve, which will not affect the bending of the adjustable bend tube 2, while ensuring that the adjustable bend tube 2 enters the left ventricle.

[0085] The working process steps of the present invention are as follows: (1) The bending adjustment system enters the aorta through retrograde puncture through the femoral artery minimally invasive port, and the third pull wire 6 is operated to make the external bending tube 5 adapt to the shape of the aorta; (2) Pushing the adjustable elbow 2 toward the distal end, such as Fig.14 As shown; (3) The first control member 112 is rotated so that the first section 21 bends toward the mitral valve, and the compensation line 42 of the second pull line 4 automatically compensates, and the adjustable bend tube 2 is not subjected to tension. Fig.15 As shown; (4) Rotating the second control member 122 so that the second section 22 bends toward the ventricular septum, as shown in FIG. Fig.16 As shown; (5) pushing the ablation mechanism 7 to move toward the distal end, so that the ablation segment 72 contacts the ventricular septum, and operating the handle 1 to make the ablation segment 72 work; (6) Retracting the ablation mechanism 7, adjusting the axial movement distance and bending degree of the first section 21 and the second section 22, and performing ablation at another position of the interventricular septum. Embodiment 2

[0086] The difference from the first embodiment is that: In this embodiment, the handle 1 further includes a third control unit 9 , and the third control unit 9 includes a third control member 91 and a third moving member 92 . The third moving member 92 is connected to the turning member 13 .

[0087] The composition and connection mode of each component in this embodiment will be described in detail below with reference to the accompanying drawings: In this embodiment, Fig.17 As shown, an automatically compensated bending adjustment system is illustrated, comprising a handle 1, an adjustable bending pipe 2, a first pull wire 3 and a second pull wire 4, the adjustable bending pipe 2 comprising a first section 21 and a second section 22, the distal end of the first pull wire 3 being connected to the first section 21, the handle 1 comprising a first control unit 11, a second control unit 12 and a turning member 13, the first control unit 11 comprising a first moving member 111, the second control unit 12 comprising a second moving member 121, the proximal end of the first pull wire 3 being connected to the first moving member 111, the second pull wire 4 bypassing the turning member 13 to form an interconnected connecting line 41 and a compensation line 42, the end of the connecting line 41 being connected to the second section 22, the end of the compensation line 42 being connected to the second moving member 121; and, the second control unit 12 is fixedly connected to the first moving member 111, and moves synchronously with the first moving member 111.

[0088] In this embodiment, the third moving member 92 is operated to move toward the proximal end, and the turning member 13 is moved toward the proximal end to make the second pull wire 4 tight; and further the third moving member 92 is operated to move toward the proximal end so that the second pull wire 4 pulls the second section 22 to bend, such as Fig.18 shown.

[0089] In the third embodiment, the third control member 91 and the third moving member 92 are threadedly connected, and rotating the third control member 91 causes the third control member 92 to move axially.

[0090] In this regard, the relevant structure and concept of the second embodiment are similar to those of the first embodiment, and thus will not be described again here.

[0091] The above contents are only preferred embodiments of the present invention. For ordinary technicians in this field, according to the concept of the present invention, there will be changes in the specific implementation methods and application scopes. The content of this specification should not be understood as limiting the present invention.

Claims

1. An automatic compensating bending adjustment system, comprising a handle, an adjustable bending pipe, a first pull wire and a second pull wire, wherein the adjustable bending pipe comprises a first section and a second section, and the distal end of the first pull wire is connected to the first section, characterized in that: The handle includes a first control unit, a second control unit and a turning member, the first control unit includes a first moving member, the second control unit includes a second moving member, the proximal end of the first pull wire is connected to the first moving member, the second pull wire passes around the turning member to form an interconnected connecting line and a compensation line, the end of the connecting line is connected to the second section, and the end of the compensation line is connected to the second moving member; and the second control unit is fixedly connected to the first moving member and moves synchronously with the first moving member.

2. The automatic compensating bending adjustment system according to claim 1, characterized in that: The first pull wire moves toward the proximal end under the drive of the first movable member, and the second movable member moves toward the proximal end along with the first movable member, and the end of the compensation wire moves toward the proximal end, the length of the compensation wire decreases, and the length of the connecting wire increases; and the shrinkage of the compensation wire is equal to the increment of the connecting wire, which is equal to the axial movement length of the proximal end of the first pull wire.

3. The automatic compensating bending adjustment system according to claim 1, characterized in that: When the first pull wire moves toward the proximal end, the first section bends, and the side where the first pull wire is located is the small bend side of the adjustable bend pipe, and the side where the second pull wire is located is the large bend side of the adjustable bend pipe; and the length difference between the small bend side and the large bend side is equal to the sum of the shrinkage of the compensation line and the increment of the connecting line.

4. The automatic compensating bending adjustment system according to claim 1, characterized in that: The first control unit also includes a first control member, and the second control unit also includes a second control member. The first control member and the first movable member are threadedly connected. When the first control member is rotated, the first movable member moves axially, and the second control member and the second movable member move synchronously. There is no relative displacement between the second movable member and the second control member.

5. The automatic compensating bending adjustment system according to claim 2 or 3, characterized in that: The second control member and the second moving member are threadedly connected. When the second control member is rotated, the second moving member moves axially alone, and the second section bends. The bending direction of the second section is opposite to that of the first section.

6. The automatic compensating bending adjustment system according to claim 1, characterized in that: The connecting line and the compensation line are arranged in parallel and the two are an integral whole.

7. The automatic compensating bending adjustment system according to claim 1, characterized in that: The first movable member is preinstalled at the distal end of the first control unit, and the second movable member is preinstalled at the proximal end of the second control unit; and when adjusting the bending of the first section, the first movable member moves toward the proximal end, and when adjusting the bending of the second section, the second movable member moves toward the distal end.

8. The automatic compensating bending adjustment system according to claim 1, characterized in that: The handle further comprises a third control unit, wherein the third control unit comprises a third control member and a third moving member, and the third moving member is connected to the turning member.

9. The automatic compensating bending adjustment system according to claim 8, characterized in that: The turning member is a wheel-shaped member, and the third moving member is operated to move toward the proximal end so that the second pull wire is tightened; and further the third moving member is operated to move toward the proximal end so that the second pull wire pulls the second section to bend.

10. The automatic compensating bending adjustment system according to claim 1, characterized in that: The adjustable elbow comprises a first pre-installed passage and a second pre-installed passage, and the first pull wire and the second pull wire are pre-installed in the first pre-installed passage and the second pre-installed passage, respectively.

11. The automatic compensating bending adjustment system according to claim 1, characterized in that: The first pull wire and the second pull wire are arranged on both sides of the central axis of the adjustable bend pipe. When the first pull wire is taut, the compensation wire of the second pull wire automatically bypasses the turning piece to become a connecting wire, and the second pull wire is not taut; and the pulling force of the first movable piece is equal to the bending force exerted on the far end of the first pull wire.

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