An automatically compensable bending system

Abstract

The present application relates to the field of medical devices, and more particularly to an automatic compensation bending system, comprising a handle, an adjustable bending tube, a first pull wire and a second pull wire, the adjustable bending tube comprising a first section and a second section, the distal end of the first pull wire being connected to the first section, the handle comprising a first control unit, a second control unit and a turning piece, the first control unit comprising a first moving piece, the second control unit comprising a second moving piece, the proximal end of the first pull wire being connected to the first moving piece, the second pull wire being wound around the turning piece to form a connecting line and a compensation line connected to each other, the end of the connecting line being connected to the second section, and the end of the compensation line being connected to the second moving piece; and the second control unit is fixedly connected to the first moving piece and moves synchronously with the first moving piece.

Description

Technical Field

[0001] This invention belongs to the field of medical devices, specifically relating to an automatically compensating bending system, which is particularly suitable for interventional treatment of structural heart diseases such as cardiomyopathy via vascular access. Background Technology

[0002] Hypertrophic cardiomyopathy is a common autosomal dominant inherited cardiovascular disease with an incidence of approximately 1 in 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 criterion is a thickness of ≥15 mm. When the anterior leaflet of the mitral valve moves forward during systole and adheres to the interventricular septum, causing narrowing or even obstruction of the left ventricular outflow tract, i.e., when the pressure gradient of 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 widen the left ventricular outflow tract to reduce the pressure gradient and alleviate the obstruction. Commonly used treatments include drug therapy, septal resection, and septal alcohol ablation. However, these methods have disadvantages such as high surgical risk or poor treatment effect. In recent years, some new technologies for treating obstructive hypertrophic cardiomyopathy have been disclosed, such as using a catheter containing a radiofrequency ablation electrode to enter the heart chamber via a vascular pathway for radiofrequency ablation. Although this method has certain advantages over traditional methods, the complex spatial structure of the heart requires multiple non-unidirectional bends during the catheter's journey to the target lesion. However, the following problems often arise during the bends: at least two guide wires are used for multiple bends, and these wires cannot coordinate with each other during the bends. One wire may become taut, affecting the bend on the other side, making the tension applied to the proximal end of the catheter not equivalent to the bend at the distal end; or there may be wasted travel, making it impossible for the operator to determine the specific travel of the guide wires, greatly increasing the difficulty of the 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, thus prolonging the operation time.

[0004] Similarly, treatment methods that establish access by inserting catheters into the heart via the femoral, jugular, or arterial veins, such as myocardial filling devices for heart failure, valve repair devices for structural heart disease with valvular regurgitation, and valve replacement devices for valvular stenosis, all involve catheter delivery systems that require multiple bends during vascular interventional treatments.

[0005] Therefore, how to design a bend adjustment system that is highly controllable, can be precisely positioned within the heart chambers, and improves targeting is an urgent problem to be solved. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the prior art and provide an automatically compensating bending adjustment system to address the problem of the interventional catheter being affected by the pull wire on the other side or the waste caused by the pull wire stroke when it bends.

[0007] The objective of this invention is achieved through the following solution:

[0008] An automatically compensated bending system includes a handle, an adjustable bend tube, a first pull cable, and a second pull cable. The adjustable bend tube includes a first segment and a second segment. The distal end of the first pull cable is connected to the first segment. The handle includes a first control unit, a second control unit, and a turning component. The first control unit includes a first moving component, and the second control unit includes a second moving component. The proximal end of the first pull cable is connected to the first moving component. The second pull cable bypasses the turning component to form an interconnected connecting line and a compensation line. The end of the connecting line is connected to the second segment, and the end of the compensation line is connected to the second moving component. Furthermore, the second control unit is fixedly connected to the first moving component and moves synchronously with the first moving component.

[0009] The objective of this invention can also be further achieved through the following technical solutions:

[0010] In one embodiment, the first pull wire moves toward the proximal end under the drive of the first moving member, the second moving member moves toward the proximal end along with the first moving 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 amount of decrease of the compensation wire is equal to the amount of increase of the connecting wire is equal to the axial movement length of the proximal end of the first pull wire.

[0011] In one embodiment, the distal end of the first pull wire is connected to the distal portion of the first segment, and the distal end of the second pull wire is connected to the distal portion of the second segment.

[0012] In one embodiment, a first ring-shaped member is provided at the distal end of the first segment, and the first pull wire is connected to the first ring-shaped member.

[0013] In one embodiment, a second ring-shaped member is provided at the distal end of the second segment, and the second pull wire is connected to the second ring-shaped member.

[0014] In one embodiment, the distal end of the connecting line is connected to the second ring, and the proximal end of the connecting line is connected to the proximal end of the compensation line.

[0015] In one embodiment, the distal end of the compensation line is connected to the second moving member.

[0016] In one embodiment, the distal ends of the first pull wire and the distal ends of the second pull wire are symmetrical about the center on the circumference, and are 180° apart.

[0017] In one embodiment, when the first pull wire moves toward the proximal end, the first segment bends, the side where the first pull wire is located is the small bend side of the adjustable bend, and the side where the second pull wire is located is the large bend side of the adjustable bend; and the length difference between the small bend side and the large bend side is equal to the sum of the reduction of the compensation line and the increase of the connecting line.

[0018] In one embodiment, the first control unit further includes a first control element, and the second control unit further includes a second control element. The first control element and the first moving element are threadedly connected. When the first control element is rotated, the first moving element moves axially, and the second control element and the second moving element move synchronously. The second moving element and the second control element have no relative displacement.

[0019] In one embodiment, the first control element is an axial stepping mechanism to drive the first moving element to move axially.

[0020] In one embodiment, the first control unit further includes a first limiting sleeve, the first limiting sleeve including two limiting tracks, and the first moving member including a first cylinder, a threaded member disposed on the surface of the first cylinder, and a rod disposed near the end of the first cylinder.

[0021] In one embodiment, the threaded component is connected to the limiting track, and the first cylinder and the rod are sleeved inside the first limiting sleeve.

[0022] In one embodiment, the rod is connected to the second control unit.

[0023] In one embodiment, 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 independently, and the second segment bends in the opposite direction to the first segment bend.

[0024] In one embodiment, the connecting line and the compensation line are arranged in parallel and are a single unit.

[0025] In one embodiment, when the first segment bends, the compensation line becomes a connecting line through the turning member, and the connecting line is located on the side of the large bend and adapts to the length of the side of the large bend.

[0026] In one embodiment, the first movable member is pre-installed at the distal end of the first control unit, and the second movable member is pre-installed at the proximal end of the second control unit; and when adjusting the first segment of curvature, the first movable member moves toward the proximal end, and when adjusting the second segment of curvature, the second movable member moves toward the distal end.

[0027] In another embodiment, the handle further includes a third control unit, which includes a third control element and a third moving element, the third moving element being connected to the turning element.

[0028] In one embodiment, the turning member is a wheel-shaped member, and the operation of the third moving member to move towards the proximal end causes the second pull line to become taut; and further operation of the third moving member to move towards the proximal end causes the second pull line to pull the second segment of bending.

[0029] In one embodiment, the turning element is a fixed pulley or a movable pulley.

[0030] In one embodiment, the adjustable bend includes a first pre-installed passage and a second pre-installed passage, wherein 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.

[0031] In one embodiment, the first pre-installed passage and the second pre-installed passage are hollow inside the adjustable bend.

[0032] In one embodiment, the first pull wire and the second pull wire are positioned on opposite sides of the central axis of the adjustable bend.

[0033] In one embodiment, the first pull wire and the second pull wire are positioned at 180° relative to each other's centers.

[0034] In one embodiment, when the first pull cable is taut, the compensation line of the second pull cable automatically bypasses the turning member to become a connecting line, and the second pull cable is not taut; and the tension of the first moving member is equal to the bending force received at the distal end of the first pull cable.

[0035] In one embodiment, the first and second pull wires are symmetrically arranged at 180° relative to their centers. The compensation line, the connecting line, and the turning component form a compensation structure. Due to the effect of the compensation mechanism, when the first pull wire is taut, the second pull wire is not affected, ensuring that the bending force at the near end is transmitted to the far end in a 1:1 ratio.

[0036] In one embodiment, the system further includes an outer bend disposed on the adjustable bend and a third pull wire connected to the distal end of the outer bend.

[0037] In one embodiment, the externally adjustable bend enters the core before the adjustable bend.

[0038] In one embodiment, an ablation device includes an ablation mechanism and an automatically compensating bending system. 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.

[0039] In one embodiment, the distal end of the ablation segment acts on the left ventricular myocardium within the heart, including tissues such as the interventricular septum.

[0040] In another embodiment, the distal ends of the first pull wire and the distal ends of the second pull wire are 90° to 180° apart on the circumference.

[0041] Compared with the prior art, the advantages of the present invention are as follows:

[0042] 1. In existing technologies, before ablation of the left ventricular myocardium, especially at the interventricular septum, the conduit used to construct a pathway, such as through the femoral or aortic artery into the left ventricular cavity, or through the femoral or inferior vena cava into the right ventricular cavity, requires a backbend in the direction of the conduit before bending back towards the interventricular septum. Therefore, at least two bends are required near the lesion. Due to the complexity of the heart's three-dimensional structure, the first and second bends are difficult to complete independently. For example, if the second guide wire is too tight, it affects the degree of bending in the first bend; or if the second guide wire is free during the first bend, its specific stroke is difficult to confirm during the second bend, greatly reducing the controllability of the delivery system. Although imaging equipment assists in judgment, it is still difficult for the operator to judge the intracardiac bending state. The bend adjustment system of this application solves the above problems. First, the second guide wire is not a straight line. The wires, which bypass the turning component to form connecting and compensating lines, are used to adjust the bending action of the first segment. When the first segment bends, the first wire is located on the small bend side, and the second wire is located on 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 moving component that pulls the first wire towards the proximal end is connected to the second control unit, the second control unit will move towards the proximal end with the compensating line. After the compensating line bypasses the turning component, it becomes a connecting line. The length of the connecting line on the large bend side increases, so it will not suspend the large bend side, thus not affecting the bending action of the first segment. Secondly, although the second wire will undergo adaptive compensating movement to adapt to the bending of the first segment, the second moving component of the second control unit is still in the initial position. When bending the second segment, the second moving component starts from zero stroke. Adjusting the second control component allows the operator to know the degree of bending of the second segment, which is convenient for the operator.

[0043] 2. Unlike existing technologies, during the movement of the first pull wire towards the near end driven by the first moving component, the shrinkage of the compensation wire in this application is equal to the increment of the connecting wire, which is equal to the axial movement length of the near end of the first pull wire. The advantage of this design is that when the adjustable bend 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 near 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, the adjustable bend is not subjected to any tension force, and the degree of bending of the first section can be known by operating the first control component.

[0044] 3. Unlike existing technologies, when the first control component is operated to cause the first segment to bend, if the operator believes that the adjustment is too excessive, the first control component can be moved to the distal end to make the first segment less bent. Furthermore, during the adjustment process, the second pull wire follows the movement of the first moving component in real time. Therefore, no matter how the first control component is operated, the compensation wire and the connecting wire will follow the bending of the first segment in real time, while ensuring that the adjustment of the bending of the second segment starts from zero stroke.

[0045] 4. Unlike existing technologies, the handle also includes a third control unit. The third control unit includes a third control element and a third moving element connected to the turning element. Before performing the second bending action, the third control element is moved towards the near end to tighten the second pull line that passes around the turning element, so that the second bending can occur when the second control element is operated. On the other hand, if the operation of the second control element has reached its limit and you still want to make the second bending occur, you can operate the third control element to move the turning element towards the near end. Therefore, the third control unit is easy to adaptively adjust or significantly improves the bending capability of the second control unit.

[0046] The embodiments of this application can achieve other advantageous technical effects not listed one by one. These other technical effects may be partially described below and can be expected and understood by those skilled in the art after reading this application. Attached Figure Description

[0047] The above-described features and advantages, as well as other features and advantages, and the ways in which they are implemented, of these embodiments will become more apparent and the embodiments of this application will be better understood by referring to the following description in conjunction with the accompanying drawings, in which:

[0048] Figure 1 This is a schematic diagram showing the connection between the handle of the bending system of the present invention and the external bending pipe and the adjustable bending pipe.

[0049] Figure 2 This is a schematic diagram of the internal structure of the handle of the bending system of the present invention.

[0050] Figures 3-5 This is a schematic diagram of the first and second control units of the bending system of the present invention.

[0051] Figure 6 This is a schematic diagram of the turning component of the bending system of the present invention.

[0052] Figure 7 This is a schematic diagram of the external bending pipe of the bending system of the present invention.

[0053] Figure 8 This is a schematic diagram of the adjustable bend pipe of the bending system of the present invention.

[0054] Figure 9This is a schematic diagram of the ablation mechanism of the bending system of the present invention.

[0055] Figure 10 This is a schematic diagram of the assembly of the various components of the bending system of the present invention during ablation.

[0056] Figures 11-13 This is a schematic diagram illustrating the bending principle of the bending system of the present invention.

[0057] Figures 14-16 This is a schematic diagram of the working process of the bending adjustment system of the present invention.

[0058] Figure 17 and Figure 18 This is another embodiment of the bending adjustment system of the present invention.

[0059] The parts referred to by the numbers in the attached diagram are as follows: 1-Handle, 11-First control unit, 111-First moving part, 112-First control part, 113-First limiting sleeve, 114-Limiting rail, 115-First cylinder, 116-Threaded part, 117-Rod, 12-Second control unit, 121-Second moving part, 122-Second control part, 13-Turn part, 2-Adjustable bend, 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 bend, 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

[0060] The details of one or more embodiments of this application will be set forth in the following description of the accompanying drawings and specific embodiments. Other features, objects, and advantages of this application will become clear from these descriptions, drawings, and claims.

[0061] 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 can be implemented or performed in various ways. The examples are provided by way of explanation rather than limitation of the disclosed embodiments. In fact, it will be apparent to those skilled in the art that various modifications and variations can be made to the embodiments of this application without departing from the scope or spirit of this disclosure. For example, features illustrated or described as part of one embodiment may be used with another embodiment to still produce another embodiment. Therefore, this disclosure covers such modifications and variations that fall within the scope of the appended claims and their equivalents.

[0062] Similarly, it is understood that the phrases and terms used in this document are for descriptive purposes and should not be considered restrictive. The use of “including,” “contains,” or “has,” and their variations, in this document is intended to include, in an open-ended manner, the items listed thereafter, their equivalents, and any additional items.

[0063] The present application will now be described in more detail with reference to various embodiments and examples of several aspects thereof.

[0064] In this application, the terms "proximal" or "proximal" refer to the end or side closer to the surgeon, and "distal" or "distal" refer to the end or side farther from the surgeon. Example 1

[0065] like Figure 1 and Figure 2 The diagram illustrates an automatically compensated bending system, including a handle 1, an adjustable bending tube 2, a first pull cable 3, and a second pull cable 4. The adjustable bending tube 2 includes a first section 21 and a second section 22. The distal end of the first pull cable 3 is connected to the first section 21. The handle 1 includes a first control unit 11, a second control unit 12, and a turning component 13. The first control unit 11 includes a first moving component 111, and the second control unit 12 includes a second moving component 121. The proximal end of the first pull cable 3 is connected to the first moving component 111. The second pull cable 4 bypasses the turning component 13 to form an interconnected connecting line 41 and a compensation line 42. Figure 7 As shown, the end of the connecting line 41 is connected to the second segment 22, and the end of the compensation line 42 is 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, thereby realizing the function of automatic compensation of the second pull line 4 when the first segment 21 bends, and the bending of the first segment 21 and the bending of the second segment 22 do not affect each other.

[0066] The composition and connection method of each component in this embodiment will be described in detail below with reference to the accompanying drawings:

[0067] In this embodiment, the first pull wire 3 moves towards its proximal end under the drive of the first moving member 111, and the second moving member 121 moves towards its proximal end along with the first moving member 111. The end of the compensation wire 42 moves towards its proximal end, the length of the compensation wire 42 decreases, and the length of the connecting wire 41 increases. Furthermore, the decrease in the length of the compensation wire 42 is equal to the increase in the length of the connecting wire 41, which is equal to the axial movement length of the proximal end of the first pull wire 3. Figure 11 and Figure 12 As shown.

[0068] In this embodiment, a first ring-shaped member 211 is provided at the distal end of the first segment 21, and the first pull wire 3 is connected to the first ring-shaped member 211; a second ring-shaped member 221 is provided at the distal end of the second segment 22, and the second pull wire 4 is connected to the second ring-shaped member 221, such as... Figure 8 As shown.

[0069] 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.

[0070] In this embodiment, the distal end of the compensation line 42 is connected to the second moving member 121.

[0071] In this embodiment, the distal ends of the first pull wire 3 and the second pull wire 4 are symmetrical about the center on the circumference, and the two are 180° apart.

[0072] In this embodiment, when the first pull wire 3 moves toward the near end, the first segment 21 bends, 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 reduction of the compensation line 42 and the increase of the connecting line 41.

[0073] In this embodiment, the first control unit 11 further includes a first control element 112, and the second control unit 12 further includes a second control element 122. The first control element 112 and the first moving element 111 are threadedly connected. Rotating the first control element 112 causes the first moving element 111 to move axially, and the second control element 122 and the second moving element 121 move synchronously. The second moving element 121 and the second control element 122 have no relative displacement. Figure 11 and Figure 12 As shown.

[0074] In this embodiment, the first control unit 11 further includes a first limiting sleeve 113, which includes two limiting tracks 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 near the end of the first cylinder 115. Figures 3 to 5 As shown.

[0075] In this embodiment, the threaded part 116 is slidably connected to the limiting track 114, and the first cylinder 115 and the rod 117 are sleeved inside the first limiting sleeve 113.

[0076] In this embodiment, the first moving component 111 includes four rods 117, which are connected to the second control unit 12, such as... Figure 5 As shown.

[0077] In this embodiment, the second control member 122 and the second moving member 121 are threadedly connected. Rotating the second control member 122 causes the second moving member 121 to move axially independently, and the second segment 22 bends, as shown. Figure 13 As shown.

[0078] In this embodiment, the connecting line 41 and the compensation line 42 are arranged in parallel and are a whole.

[0079] In this embodiment, when the first segment 21 bends, the compensation line 42 becomes a connecting line 41 through the turning member 13. The connecting line 41 is located on the side of the large bend and adapts to the length of the side of the large bend.

[0080] In this embodiment, the first moving part 111 is pre-installed at the far end of the first control unit 11, and the second moving part 121 is pre-installed at the near end of the second control unit 12; and when the first segment 21 is adjusted to bend, the first moving part 111 moves toward the near end, and when the second segment 22 is adjusted to bend, the second moving part 121 moves toward the far end.

[0081] In this embodiment, the first pull wire 3 and the second pull wire 4 are arranged on opposite sides of the central axis of the adjustable bend 2. When the first pull wire 3 is taut, the compensation line 42 of the second pull wire 4 automatically bypasses the bend member 13 to become the connecting line 41, and the second pull wire 4 is not taut. Furthermore, the tension of the first moving member 111 is equal to the bending force received at the far end of the first pull wire 3.

[0082] In this embodiment, the bending system is used to deliver the ablation mechanism 7. 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, such as... Figure 9 As shown; and, the flexible main body segment 71 is disposed within the adjustable bend 2, as... Figure 2 As shown.

[0083] In this embodiment, the distal end of the ablation segment 72 acts on the ventricular septum tissue within the heart.

[0084] In this embodiment, the ablation mechanism 7 and the bending system are combined to form an ablation device 8, such as... Figure 10 As shown.

[0085] In this embodiment, the turning component 13 is a wheel-shaped component, and the turning component 13 is a fixed pulley, such as... Figure 6 As shown.

[0086] In this embodiment, the adjustable bend 2 includes a first pre-installed passage 23 and a second pre-installed passage 24. The first pull wire 3 and the second pull wire 4 are respectively pre-installed in the first pre-installed passage 23 and the second pre-installed passage 24. Figure 8 As shown.

[0087] In this embodiment, the first pre-installed passage 23 and the second pre-installed passage 24 are hollow inside the adjustable bend 2.

[0088] In this embodiment, the bending system further includes an outer bending pipe 5 disposed outside the adjustable bending pipe 2 and a third pull wire 6 connected to the distal end of the outer bending pipe 5, such as... Figure 7 As shown.

[0089] In this embodiment, the external adjustment bend 5 is connected to the handle 1.

[0090] In this embodiment, the externally adjustable tube 5 passes through the aortic arch and crosses the aortic valve, which will not affect the adjustment of the adjustable tube 2, while ensuring that the adjustable tube 2 enters the left ventricle.

[0091] The working process of this invention is as follows:

[0092] (1) The bending system enters the aorta through a femoral artery micro-invasive puncture, and the third pull wire 6 is operated to make the external bending tube 5 adapt to the shape of the aorta;

[0093] (2) Push the adjustable bend 2 toward the distal end, such as Figure 14 As shown;

[0094] (3) Rotating the first control component 112 causes the first segment 21 to bend towards the mitral valve, and the compensation line 42 of the second pull wire 4 automatically compensates, so the adjustable bend 2 is not under tension. Figure 15 As shown;

[0095] (4) Rotate the second control element 122 so that the second segment 22 bends toward the interventricular septum, as... Figure 16 As shown;

[0096] (5) Push the ablation mechanism 7 toward the distal end, and the ablation segment 72 contacts the interventricular septum. Operate the handle 1 to make the ablation segment 72 work.

[0097] (6) Retrieve the ablation mechanism 7, adjust the axial movement distance and bending degree of the first segment 21 and the second segment 22, and perform ablation at another position of the interventricular septum. Example 2

[0098] The difference from Example 1 is as follows:

[0099] In this embodiment, the handle 1 further includes a third control unit 9, which includes a third control component 91 and a third moving component 92, and the third moving component 92 is connected to the turning component 13.

[0100] The composition and connection method of each component in this embodiment will be described in detail below with reference to the accompanying drawings:

[0101] In this embodiment, as Figure 17 The diagram illustrates an automatically compensated bending system, comprising a handle 1, an adjustable bend tube 2, a first pull cable 3, and a second pull cable 4. The adjustable bend tube 2 includes a first segment 21 and a second segment 22. The distal end of the first pull cable 3 is connected to the first segment 21. The handle 1 includes a first control unit 11, a second control unit 12, and a turning component 13. The first control unit 11 includes a first moving component 111, and the second control unit 12 includes a second moving component 121. The proximal end of the first pull cable 3 is connected to the first moving component 111. The second pull cable 4 bypasses the turning component 13 to form an interconnected connecting line 41 and a compensation line 42. The end of the connecting line 41 is connected to the second segment 22, and the end of the compensation line 42 is connected to the second moving component 121. Furthermore, the second control unit 12 is fixedly connected to the first moving component 111 and moves synchronously with the first moving component 111.

[0102] In this embodiment, the third moving member 92 is moved towards the proximal end, and the turning member 13 is moved towards the proximal end, causing the second pull wire 4 to become taut; furthermore, the third moving member 92 is moved towards the proximal end, causing the second pull wire 4 to pull the second segment 22 to bend, such as... Figure 18 As shown.

[0103] In this 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 91 to move axially.

[0104] In this regard, the relevant construction and concept of Embodiment 2 are similar to those of Embodiment 1, and therefore will not be described again here.

[0105] The above description is only a preferred embodiment of the present invention. For those skilled in the art, there will be changes in the specific implementation and application scope based on the ideas of the present invention. The content of this specification should not be construed as a limitation of the present invention.

Claims

1. An automatically compensated bending system, comprising a handle, an adjustable bending tube, a first pull cable, and a second pull cable, wherein the adjustable bending tube comprises a first section and a second section, and the distal end of the first pull cable is connected to the first section, characterized in that, The handle includes a first control unit, a second control unit, and a turning component arranged sequentially from the distal end to the proximal end. The first control unit includes a first moving component, and the second control unit includes a second moving component. The proximal end of the first pull cable is connected to the first moving component. The second pull cable bypasses the turning component to form an interconnected connecting line and a compensation line. The connecting line and the compensation line are arranged in parallel and are a single unit. The end of the connecting line is connected to the second segment, and the end of the compensation line is connected to the second moving component. Furthermore, the second control unit is fixedly connected to the first moving component and moves synchronously with the first moving component.

2. The automatically compensated bending system according to claim 1, characterized in that, The first pull wire moves toward the proximal end under the drive of the first moving member, the second moving member moves toward the proximal end along with the first moving 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 amount of decrease of the compensation wire is equal to the amount of increase of the connecting wire is equal to the axial movement length of the proximal end of the first pull wire.

3. The automatically compensated bending system according to claim 1, characterized in that, When the first pull line moves toward the near end, the first segment bends, and the side where the first pull line is located is the small bend side of the adjustable bend tube, and the side where the second pull line 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 reduction of the compensation line and the increase of the connecting line.

4. The automatically compensated bending system according to claim 1, characterized in that, The first control unit further includes a first control element, and the second control unit further includes a second control element. The first control element and the first moving element are threadedly connected. When the first control element is rotated, the first moving element moves axially, and the second control element and the second moving element move synchronously. The second moving element and the second control element have no relative displacement.

5. The automatically compensated bending system according to claim 4, characterized in that, The second control component and the second moving component are threadedly connected. When the second control component is rotated, the second moving component moves axially independently, causing the second segment to bend. The direction of the second segment bending is opposite to that of the first segment bending.

6. The automatically compensated bending system according to claim 1, characterized in that, The first moving part is pre-installed at the far end of the first control unit, and the second moving part is pre-installed at the near end of the second control unit; and when adjusting the first segment of curvature, the first moving part moves toward the near end, and when adjusting the second segment of curvature, the second moving part moves toward the far end.

7. The automatically compensated bending system according to claim 1, characterized in that, The handle also includes a third control unit, which includes a third control element and a third moving element, the third moving element being connected to the turning element.

8. The automatically compensated bending system according to claim 7, characterized in that, The turning component is a wheel-shaped component. Operating the third moving component to move it towards the proximal end causes the second pull line to become taut. Furthermore, operating the third moving component to move it towards the proximal end causes the second pull line to pull the second section of the bend.

9. The automatically compensated bending system according to claim 1, characterized in that, The adjustable bend includes a first pre-installed passage and a second pre-installed passage, with the first pull wire and the second pull wire pre-installed in the first pre-installed passage and the second pre-installed passage, respectively.

10. The automatically compensated bending system according to claim 1, characterized in that, The first pull wire and the second pull wire are positioned on opposite sides of the central axis of the adjustable bend. When the first pull wire is taut, the compensation line of the second pull wire automatically bypasses the bend to become a connecting line, and the second pull wire is not taut. Furthermore, the tension of the first moving part is equal to the bending force received at the far end of the first pull wire.

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