Intracardiac ultrasound catheter handle operating device

Abstract

The invention relates to the technical field of medical instruments, and provides an intracardiac ultrasound catheter handle operating device which comprises a shell, a rotating assembly, a linear moving assembly, a first clamping rotating assembly and a second clamping rotating assembly. The shell is provided with a containing space, the shell is further provided with a first opening communicated with the containing space, the intracardiac ultrasound catheter handle is suitable for being fixed in the containing space, and the front end of the intracardiac ultrasound catheter handle is exposed out of the shell through the first opening; the first clamping and rotating assembly and the second clamping and rotating assembly are both installed in the containing space and correspond to two rotating parts of the intracardiac ultrasound catheter handle respectively, and the first clamping and rotating assembly and the second clamping and rotating assembly are both configured to clamp and rotate the corresponding rotating parts; the shell is connected to the linear moving assembly through the rotating assembly, and the rotating assembly is configured to drive the shell to rotate so as to drive the intracardiac ultrasound catheter handle to rotate along the central axis of the intracardiac ultrasound catheter handle. Therefore, feeding, rotating and bending control functions can be realized.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an intracardiac ultrasonic catheter handle operating device. Background Art

[0002] Modern medical testing and surgical treatment are inseparable from the use of intracardiac ultrasound catheter (ICE). Through the intracardiac ultrasound catheter, the condition of the patient's affected part can be intuitively observed. In order to ensure that the monitoring position of the intracardiac ultrasound catheter can smoothly detect the location of the patient's lesion, the posture of the intracardiac ultrasound catheter needs to be controlled.

[0003] If the intracardiac ultrasound catheter (ICE) is controlled manually, it requires high hand-holding stability. The imaging catheter advances or retracts along the blood vessel. If there is a deviation in the control direction of the imaging catheter, it will easily affect the accuracy of the imaging position, and even seriously damage the blood vessel wall. Summary of the invention

[0004] The invention provides an intracardiac ultrasonic catheter handle operating device, which is used to solve the problems in the prior art that manual operation of the intracardiac ultrasonic catheter is prone to fatigue and the accuracy is difficult to ensure.

[0005] The present invention provides an intracardiac ultrasound catheter handle operating device, comprising: a housing, a rotating assembly, a linear moving assembly, a first clamping rotating assembly and a second clamping rotating assembly; The shell is provided with a storage space, and the shell is also provided with a first opening connected with the storage space. The intracardiac ultrasound catheter handle is suitable for being fixed in the storage space, and the front end of the intracardiac ultrasound catheter handle is exposed to the shell through the first opening; the first clamping rotation assembly and the second clamping rotation assembly are both installed in the storage space, and respectively correspond to the two rotating parts of the intracardiac ultrasound catheter handle, and the first clamping rotation assembly and the second clamping rotation assembly are both configured to clamp and rotate the corresponding rotating parts; the shell is connected to the linear moving assembly through the rotating assembly, and the rotating assembly is configured to drive the shell to rotate and thereby drive the intracardiac ultrasound catheter handle to rotate along its own central axis.

[0006] According to an intracardiac ultrasound catheter handle operating device provided by the present invention, the linear moving component includes a base plate, a guide rail, a slider, a first fixed seat and a first driving member, the guide rail is installed on the base plate, the first fixed seat slides with the guide rail through the slider, the first driving member is installed on the base plate and is configured to drive the first fixed seat to move relative to the base plate, and the rotating component is installed on the first fixed seat.

[0007] According to an intracardiac ultrasound catheter handle operating device provided by the present invention, the first driving member includes a first screw, a first screw nut and a first driving motor, the first driving motor is transmission-connected to the first screw, and the first fixing seat is connected to the first screw through the first screw nut.

[0008] According to an intracardiac ultrasound catheter handle operating device provided by the present invention, the rotating assembly includes a first mounting seat, a second fixed seat and a second driving member, the first mounting seat has a first side surface and a second side surface opposite to each other, the shell is mounted on the first side surface, the second side surface is provided with a first arc-shaped guide portion, the second fixed seat is provided with a first arc-shaped guide groove, the first arc-shaped guide portion is slidably mounted in the first arc-shaped guide groove, and the second driving member is mounted on the second fixed seat and is transmission-connected to the first mounting seat.

[0009] According to an intracardiac ultrasound catheter handle operating device provided by the present invention, the first mounting seat comprises a first incomplete worm gear and a first semi-annular guide rail, and the first semi-annular guide rail forms the first arc-shaped guide portion; The second driving member includes a first worm and a second driving motor, the second driving motor is drivingly connected to the first worm, and the first worm is meshingly connected to the first incomplete worm wheel.

[0010] According to an intracardiac ultrasound catheter handle operating device provided by the present invention, a plurality of first rollers are arranged on the second fixing seat, and the plurality of first rollers are arranged side by side to form two rows of roller groups, and the first arc-shaped guide grooves are formed between the roller groups.

[0011] According to an intracardiac ultrasound catheter handle operating device provided by the present invention, the first clamping and rotating assembly and the second clamping and rotating assembly have the same structure, and each of the first clamping and rotating assembly and the second clamping and rotating assembly includes a clamping assembly, a second mounting seat, a third fixing seat and a third driving member; The second mounting seat has a third side surface and a fourth side surface that are opposite to each other, the clamping assembly is mounted on the third side surface, the fourth side surface is provided with a second arc-shaped guide portion, the third fixed seat is provided with a second arc-shaped guide groove, the second arc-shaped guide portion is slidably mounted in the second arc-shaped guide groove, the third driving member is mounted on the third fixed seat and is transmission-connected to the second mounting seat; wherein, the clamping assembly forms an adjustable clamping space.

[0012] According to an intracardiac ultrasound catheter handle operating device provided by the present invention, the second mounting seat comprises a second incomplete worm gear and a second semi-annular guide rail, and the second semi-annular guide rail forms the second arc-shaped guide portion; The third driving member includes a second worm and a third driving motor. The third driving motor is drivingly connected to the second worm, and the second worm is meshingly connected to the second incomplete worm wheel.

[0013] According to an intracardiac ultrasound catheter handle operating device provided by the present invention, the clamping assembly includes a first clamping jaw, a second clamping jaw, a first pull rod, a second pull rod, a second lead screw, a second lead screw nut and a fourth drive motor; The fourth drive motor is transmissionly connected to the second lead screw, the second lead screw nut is connected to the second lead screw, the first clamp and the second clamp are both rotationally connected to the side of the second incomplete worm gear away from the second semi-annular guide rail, one end of the first pull rod is rotationally connected to the first clamp, the other end of the first pull rod is rotationally connected to the second lead screw nut, one end of the second pull rod is rotationally connected to the second clamp, and the other end of the second pull rod is rotationally connected to the second lead screw nut.

[0014] According to an intracardiac ultrasound catheter handle operating device provided by the present invention, the storage space includes a first chamber and a second chamber, the first clamping and rotating assembly and the second clamping and rotating assembly are arranged in the first chamber, the hand-held portion of the intracardiac ultrasound catheter handle is arranged in the second chamber, the first opening is communicated with the second chamber, the shell is provided with a first cover body corresponding to the first chamber, and a second cover body corresponding to the second chamber; and / or, The intracardiac ultrasound catheter handle operating device further comprises a catheter delivery assembly, wherein the catheter delivery assembly comprises a mounting frame, a driving wheel, an eccentric wheel, a fifth drive motor and a sixth drive motor; The fifth drive motor and the sixth drive motor are installed side by side on the mounting frame, the fifth drive motor is transmission-connected to the driving wheel, the sixth drive motor is transmission-connected to the eccentric wheel, and the catheter connected to the intracardiac ultrasound catheter handle is inserted between the driving wheel and the eccentric wheel.

[0015] With the intracardiac ultrasound catheter handle operating device provided by the present invention, the user can control the actions of the rotating component, the linear moving component, the first clamping rotating component and the second clamping rotating component in real time according to actual needs. Under the action of the first clamping rotating component, the first rotating part can be driven to rotate, thereby adjusting the left and right bending of the front end. Under the action of the second clamping rotating component, the second rotating part can be driven to rotate, thereby adjusting the up and down bending of the front end. Under the action of the linear moving component, the intracardiac ultrasound catheter handle can move forward or backward along its own length direction. Under the action of the rotating component, the intracardiac ultrasound catheter handle can rotate around its own central axis, thereby automatically realizing functions such as feeding, rotation and bending control. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 This is one of the structural schematic diagrams of the intracardiac ultrasonic catheter handle operating device provided by the present invention.

[0018] Figure 2 It is a partial exploded view of the intracardiac ultrasound catheter handle operating device provided by the present invention.

[0019] Figure 3 This is the second structural schematic diagram of the intracardiac ultrasound catheter handle operating device provided by the present invention.

[0020] Figure 4 It is a structural schematic diagram of the rotating assembly provided by the present invention.

[0021] Figure 5 It is a structural schematic diagram of the first clamping and rotating assembly provided by the present invention.

[0022] Figure 6 It is an exploded view of the first clamping and rotating assembly provided by the present invention.

[0023] Figure 7 It is a schematic diagram of the structure of the catheter delivery assembly provided by the present invention.

[0024] Reference numerals: 1. Shell; 11. Storage space; 111. First chamber; 112. Second chamber; 12. First opening; 13. Second opening; 14. First cover; 15. Second cover; 16. Handle; 17. First support seat; 18. Second support seat; 2. Linear moving assembly; 21. Bottom plate; 22. Guide rail; 23. Slider; 24. First drive motor; 25. First lead screw nut; 26. First fixing seat; 27. First lead screw; 3. Rotating assembly; 31. First incomplete worm gear; 32. First semi-circular guide rail; 33. Second fixed seat; 34. First roller; 35. Second drive motor; 36. First worm; 37. Gasket; 4. First clamping rotating assembly; 401. Second incomplete worm gear; 402. Second semi-circular guide rail; 403. Second worm; 404. Third drive motor; 405. Fourth drive motor; 406. Second lead screw; 407. Second lead screw nut; 408. First pull rod; 409. Second pull rod; 410. First clamping jaw; 411. Second clamping jaw; 412. Bearing seat; 413. Third fixed seat; 414. Second roller; 415. Motor mounting seat; 5. Second clamping and rotating assembly; 6. catheter delivery assembly; 61. mounting frame; 62. fifth drive motor; 63. sixth drive motor; 64. eccentric wheel; 65. driving wheel; 66. first connecting shaft; 67. second connecting shaft; 68. first flange; 69. second flange; 7. Intracardiac ultrasound catheter handle; 71. First rotating part; 72. Second rotating part; 73. Hand-held part; 74. Front end; 75. Catheter. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] Combine the following Figures 1 to 7 The intracardiac ultrasound catheter handle operating device of the present invention is described.

[0027] like Figure 1 As shown, the intracardiac ultrasound catheter handle 7 includes a catheter 75, a first rotating part 71, a second rotating part 72, a hand-held part 73 and a front end 74, wherein the first rotating part 71 is used to adjust the left and right bending of the front end 74, and the second rotating part 72 is used to adjust the up and down bending of the front end 74.

[0028] like Figure 1 As shown, the intracardiac ultrasound catheter handle operating device according to the embodiment of the present invention comprises: a housing 1, a rotating assembly 3, a linear moving assembly 2, a first clamping rotating assembly 4 and a second clamping rotating assembly 5.

[0029] The shell 1 is provided with a storage space 11, and the shell 1 is also provided with a first opening 12 connected to the storage space 11. The intracardiac ultrasound catheter handle 7 is suitable for being fixed in the storage space 11, and the front end 74 of the intracardiac ultrasound catheter handle 7 is exposed to the shell 1 through the first opening 12.

[0030] In addition, the first clamping rotating assembly 4 and the second clamping rotating assembly 5 are both installed in the storage space 11, and respectively correspond to the two rotating parts of the intracardiac ultrasound catheter handle 7, and the first clamping rotating assembly 4 and the second clamping rotating assembly 5 are both configured to clamp and rotate the corresponding rotating parts. Exemplarily, the first clamping rotating assembly 4 corresponds to the first rotating part 71, and under the action of the first clamping rotating assembly 4, the first rotating part 71 can be driven to rotate, thereby adjusting the left and right bending of the front end 74, and the second clamping rotating assembly 5 corresponds to the second rotating part 72, and under the action of the second clamping rotating assembly 5, the second rotating part 72 can be driven to rotate, thereby adjusting the up and down bending of the front end 74.

[0031] In addition, the housing 1 is connected to the linear motion assembly 2 via the rotation assembly 3, and the rotation assembly 3 is configured to drive the housing 1 to rotate and thereby drive the intracardiac ultrasound catheter handle 7 to rotate along its own central axis. Under the action of the linear motion assembly 2 and the rotation assembly 3, the intracardiac ultrasound catheter handle 7 can rotate around its own central axis and move forward or backward along its own length direction.

[0032] In actual applications, the user can control the actions of the rotating component 3, the linear moving component 2, the first clamping rotating component 4 and the second clamping rotating component 5 in real time according to actual needs. Under the action of the first clamping rotating component 4, the first rotating part 71 can be driven to rotate, thereby adjusting the left and right bending of the front end 74. Under the action of the second clamping rotating component 5, the second rotating part 72 can be driven to rotate, thereby adjusting the up and down bending of the front end 74. Under the action of the linear moving component 2, the intracardiac ultrasound catheter handle 7 can move forward or backward along its own length direction. Under the action of the rotating component 3, the intracardiac ultrasound catheter handle 7 can rotate around its own central axis, thereby automatically realizing functions such as feeding, rotation and bending control.

[0033] In an optional embodiment, if Figure 1 , Figure 2 and Figure 3 As shown, the linear moving component 2 includes a base plate 21, a guide rail 22, a slider 23, a first fixed seat 26 and a first driving member. The guide rail 22 is installed on the base plate 21. The first fixed seat 26 slides with the guide rail 22 through the slider 23. The first driving member is installed on the base plate 21 and is configured to drive the first fixed seat 26 to move relative to the base plate 21. The rotating component 3 is installed on the first fixed seat 26.

[0034] Specifically, there are two guide rails 22, which are fixed side by side on the bottom plate 21, and at least one slider 23 is installed on each guide rail 22. For example, two sliders 23 are provided on each guide rail 22, and the first fixed seat 26 is an L-shaped fixed seat, the bottom wall of the L-shaped fixed seat is installed on each slider 23, and the rotating assembly 3 is installed on the side wall of the L-shaped fixed seat. In this way, under the drive of the first driving member, the rotating assembly 3 can move linearly relative to the bottom plate 21. Among them, a reinforcing plate can also be installed between the bottom wall and the side wall of the L-shaped fixed seat.

[0035] In practical applications, such as Figure 1 , Figure 2 and Figure 3 As shown, the first driving member includes a first lead screw 27 , a first lead screw nut 25 and a first driving motor 24 . The first driving motor 24 is drivingly connected to the first lead screw 27 , and the first fixing seat 26 is connected to the first lead screw 27 via the first lead screw nut 25 .

[0036] Specifically, the first lead screw 27 is arranged between the two guide rails 22, the first lead screw 27 is arranged parallel to the guide rails 22, one end of the first lead screw 27 is sleeved with a bearing, the bearing is mounted on the bottom plate 21 through a support, the other end of the first lead screw 27 is sleeved with another bearing, the bearing is mounted on the bottom plate 21 through another support, and the output shaft of the first drive motor 24 is transmission-connected to one end of the first lead screw 27 through a coupling. Among them, the first lead screw nut 25 is connected to the bottom wall of the L-shaped fixing seat.

[0037] In an optional embodiment, if Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the rotating assembly 3 includes a first mounting seat, a second fixed seat 33 and a second driving member, the first mounting seat has a first side surface and a second side surface opposite to each other, the shell 1 is mounted on the first side surface, the second side surface is provided with a first arc-shaped guide portion, the second fixed seat 33 is provided with a first arc-shaped guide groove, the first arc-shaped guide portion is slidably mounted in the first arc-shaped guide groove, and the second driving member is mounted on the second fixed seat 33 and is transmission-connected to the first mounting seat.

[0038] Specifically, the second fixed seat 33 has a first mounting surface and a second mounting surface relative to each other, the first mounting surface is connected to the side wall of the L-shaped fixed seat, and the second mounting surface is provided with a first arc-shaped guide groove. Driven by the second driving member, the first arc-shaped guide portion can move along the first arc-shaped guide groove, thereby realizing the rotation of the intracardiac ultrasound catheter handle 7 along its own central axis, wherein the first arc-shaped guide groove can be a semi-annular guide groove, and the first arc-shaped guide portion can be a semi-annular guide portion.

[0039] In practical applications, such as Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the first mounting seat includes a first incomplete worm gear 31 and a first semi-annular guide rail 32, the first semi-annular guide rail 32 forms a first arc-shaped guide portion, and a plurality of first rollers 34 are arranged on the second fixed seat 33. The plurality of first rollers 34 are arranged side by side to form two rows of roller groups, and a first arc-shaped guide groove is formed between the roller groups.

[0040] Specifically, four first rollers 34 are arranged on the second mounting surface of the second fixing seat 33, so that each row of roller groups includes two first rollers 34, and the four first rollers 34 form a semi-annular guide groove, and the first semi-annular guide rail 32 is slidably installed in the semi-annular guide groove.

[0041] Exemplarily, in order to improve the movement stability of the first semi-annular guide rail 32 in the semi-annular guide groove, each first roller 34 is formed with a V-shaped recessed portion, and correspondingly, a V-shaped protrusion is formed on the contact surface of the first semi-annular guide rail 32 with the first roller 34.

[0042] It should be noted that the side of the first incomplete worm gear 31 facing away from the first semi-annular guide rail 32 is fixedly connected to the housing 1 via a gasket 37 , wherein the shape of the gasket 37 is adapted to the shape of the first incomplete worm gear 31 .

[0043] In addition, the second driving member includes a first worm 36 and a second driving motor 35 . The second driving motor 35 is drivingly connected to the first worm 36 , and the first worm 36 is meshingly connected to the first incomplete worm gear 31 .

[0044] Specifically, the second fixed seat 33 includes a roller mounting plate and a worm mounting seat, the worm mounting seat is provided with a mounting hole, both ends of the first worm 36 are mounted on the corresponding mounting holes through bearings, and the four first rollers 34 are rotatably mounted on the roller mounting plate. When the first semi-annular guide rail 32 is slidably mounted in the semi-annular guide groove, the first incomplete worm wheel 31 can be meshed and connected with the first worm 36. Driven by the second drive motor 35, the first worm 36 rotates. Driven by the first worm 36, the first incomplete worm wheel 31 can rotate in the plane where the roller mounting plate is located.

[0045] In an optional embodiment, if Figure 1 , Figure 5 and Figure 6 As shown, the first clamping rotating assembly 4 and the second clamping rotating assembly 5 have the same structure, and the following description will be made taking the first clamping rotating assembly 4 as an example.

[0046] The first clamping rotating assembly 4 includes a clamping assembly, a second mounting seat, a third fixed seat 413 and a third driving member. The second mounting seat has a third side surface and a fourth side surface opposite to each other. The clamping assembly is mounted on the third side surface. The fourth side surface is provided with a second arc-shaped guide portion. The third fixed seat 413 is provided with a second arc-shaped guide groove. The second arc-shaped guide portion is slidably mounted in the second arc-shaped guide groove. The third driving member is mounted on the third fixed seat 413 and is transmission-connected to the second mounting seat. The clamping assembly forms an adjustable clamping space.

[0047] The bottom wall of the third fixing seat 413 is fixed to the inner wall of the receiving space 11 , the second arc-shaped guide groove may be a semi-annular guide groove, and the second arc-shaped guide portion may be a semi-annular guide portion.

[0048] It should be noted that the size of the clamping space is adjusted so that the clamping space is adapted to the first rotating portion 71, so that the clamping assembly can clamp the first rotating portion 71. Under the drive of the third driving member, the second mounting seat can rotate, so that the clamping assembly located at the second mounting seat can drive the first rotating portion 71 to rotate, thereby realizing the left and right bending of the front end 74.

[0049] In practical applications, such as Figure 1 , Figure 5 and Figure 6 As shown, the second mounting seat includes a second incomplete worm gear 401 and a second semi-annular guide rail 402, the second semi-annular guide rail 402 forms a second arc-shaped guide portion, and a plurality of second rollers 414 are arranged on the third fixed seat 413. The plurality of second rollers 414 are arranged side by side to form two rows of roller groups, and a second arc-shaped guide groove is formed between the roller groups.

[0050] Specifically, four second rollers 414 are disposed on the third fixed seat 413 , so that each row of roller groups includes two second rollers 414 , and the four second rollers 414 form a semi-annular guide groove, and the second semi-annular guide rail 402 is slidably installed in the semi-annular guide groove.

[0051] Exemplarily, in order to improve the movement stability of the second semi-annular guide rail 402 in the semi-annular guide groove, each second roller 414 is formed with a V-shaped recessed portion, and correspondingly, a V-shaped protrusion is formed on the contact surface of the second semi-annular guide rail 402 with the second roller 414.

[0052] In addition, the third driving member includes a second worm 403 and a third driving motor 404 . The third driving motor 404 is drivingly connected to the second worm 403 . The second worm 403 is meshingly connected to the second incomplete worm wheel 401 .

[0053] Specifically, the third fixed seat 413 includes a roller mounting plate and a worm mounting seat, the worm mounting seat is provided with mounting holes, both ends of the second worm 403 are mounted on the corresponding mounting holes through bearings, and the four second rollers 414 are rotatably mounted on the roller mounting plate. When the second semi-annular guide rail 402 is slidably mounted on the semi-annular guide groove, the second incomplete worm wheel 401 can be meshed and connected with the second worm 403. Under the drive of the third driving motor 404, the second worm 403 rotates, and driven by the second worm 403, the second incomplete worm wheel 401 can rotate in the plane where the roller mounting plate is located. Among them, the worm mounting seat is fixed to the inner wall of the storage space 11.

[0054] In practical applications, such as Figure 1 , Figure 5 and Figure 6 As shown, the clamping assembly includes a first clamping jaw 410, a second clamping jaw 411, a first pull rod 408, a second pull rod 409, a second screw 406, a second screw nut 407 and a fourth drive motor 405; the fourth drive motor 405 is transmission-connected to the second screw 406, the second screw nut 407 is connected to the second screw 406, the first clamping jaw 410 and the second clamping jaw 411 are both rotationally connected to the side of the second incomplete worm gear 401 away from the second semi-annular guide rail 402, one end of the first pull rod 408 is rotationally connected to the first clamping jaw 410, the other end of the first pull rod 408 is rotationally connected to the second screw nut 407, one end of the second pull rod 409 is rotationally connected to the second clamping jaw 411, and the other end of the second pull rod 409 is rotationally connected to the second screw nut 407.

[0055] Specifically, the clamping assembly is installed on the side of the second incomplete worm gear 401 away from the second semi-circular guide rail 402, the fourth drive motor 405 is installed on the second incomplete worm gear 401 through the motor mounting seat 415, the second incomplete worm gear 401 is also installed with a bearing seat 412, the output shaft of the fourth drive motor 405 is installed with the bearing seat 412 through a bearing, the output shaft of the fourth drive motor 405 is connected to the second lead screw 406, the second lead screw nut 407 is connected to the second lead screw 406, the second lead screw nut 407 is provided with a first ear plate and a second ear plate, one end of the first pull rod 408 is rotatably connected to the first clamping jaw 410, the other end of the first pull rod 408 is rotatably connected to the first ear plate, one end of the third pull rod is rotatably connected to the second clamping jaw 411, and the other end of the second pull rod 409 is rotatably connected to the second ear plate. Among them, the second lead screw 406 and the second worm 403 are vertically arranged, and the first clamping jaw 410 and the second clamping jaw 411 are symmetrically arranged about the second lead screw 406.

[0056] In actual application, the connection point between the first clamping jaw 410 and the second incomplete worm gear 401 is close to the inner edge of the second incomplete worm gear 401, and the connection point between the second clamping jaw 411 and the second incomplete worm gear 401 is close to the inner edge of the second incomplete worm gear 401. The first clamping jaw 410 and the second clamping jaw 411 form a clamping space adapted to the first rotating part 71.

[0057] In an optional embodiment, if Figure 1 , Figure 2 and Figure 3 As shown, the storage space 11 includes a first chamber 111 and a second chamber 112, the first clamping rotating assembly 4 and the second clamping rotating assembly 5 are arranged in the first chamber 111, the hand-holding portion 73 of the intracardiac ultrasound catheter handle 7 is arranged in the second chamber 112, the first opening 12 is connected to the second chamber 112, and the shell 1 is provided with a first cover body 14 corresponding to the first chamber 111, and is provided with a second cover body 15 corresponding to the second chamber 112.

[0058] Specifically, in order to facilitate the installation of the intracardiac ultrasound catheter handle 7 into the housing 1, the housing 1 is provided with a first installation port at the first chamber 111, the first cover 14 is installed at the first installation port, and is used to close or open the first installation port, and the housing 1 is provided with a second installation port at the second chamber 112, and the second cover 15 is installed at the second installation port, and is used to close or open the second installation port. Among them, the first incomplete worm gear 31 is installed on the step surface of the housing 1 corresponding to the first chamber 111. Exemplarily, both the first cover 14 and the second cover 15 can be provided with a handle 16.

[0059] In addition, in order to improve the stability of the intracardiac ultrasound catheter handle 7, a second support seat 18 is fixed in the second chamber 112, and a first support seat 17 is fixed in the second cover body 15. The area enclosed by the first support seat 17 and the second support seat 18 is adapted to the shape and size of the handheld portion 73 of the intracardiac ultrasound catheter handle 7.

[0060] The housing 1 is also provided with a second opening 13 communicating with the storage space 11. The rear end of the intracardiac ultrasound catheter handle 7 is passed through the second opening 13. The rear end of the intracardiac ultrasound catheter handle 7 is connected to a catheter 75. In order to facilitate the delivery of the catheter 75, in an optional embodiment, as Figure 1 , Figure 3 and Figure 7 As shown, the intracardiac ultrasound catheter handle operating device also includes a catheter delivery assembly 6 , which includes a mounting frame 61 , a driving wheel 65 , an eccentric wheel 64 , a fifth drive motor 62 and a sixth drive motor 63 .

[0061] The fifth drive motor 62 and the sixth drive motor 63 are installed side by side on the mounting frame 61. The fifth drive motor 62 is connected to the driving wheel 65, and the sixth drive motor 63 is connected to the eccentric wheel 64. The catheter 75 connected to the intracardiac ultrasound catheter handle 7 is passed through the driving wheel 65 and the eccentric wheel 64.

[0062] Specifically, the mounting frame 61 is an L-shaped structural member, the long side of the mounting frame 61 is connected to the head end of the base plate 21, the short side of the mounting frame 61 is arranged parallel to the base plate 21, the fifth drive motor 62 is connected to the short side of the mounting frame 61 through the second flange 69, the second connecting shaft 67 is passed through the short side of the mounting frame 61 and is connected to the output shaft of the fifth drive motor 62, the second connecting shaft 67 is connected to the driving wheel 65, the sixth drive motor 63 is connected to the short side of the mounting frame 61 through the first flange 68, the first connecting shaft 66 is passed through the short side of the mounting frame 61 and is connected to the output shaft of the sixth drive motor 63, and the first connecting shaft 66 is connected to the eccentric wheel 64.

[0063] In practical applications, under the drive of the sixth drive motor 63, the eccentric wheel 64 can rotate relative to the driving wheel 65, so that the gap between the driving wheel 65 and the eccentric wheel 64 can be adjusted to match the size of the conduit 75, and the conduit 75 can be clamped and loosened. Under the drive of the fifth drive motor 62, the conduit 75 can be fed.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intracardiac ultrasound catheter handle operating device, characterized in that: include: A housing, a rotating assembly, a linear moving assembly, a first clamping rotating assembly, and a second clamping rotating assembly; The shell is provided with a storage space, and the shell is also provided with a first opening connected with the storage space. The intracardiac ultrasound catheter handle is suitable for being fixed in the storage space, and the front end of the intracardiac ultrasound catheter handle is exposed to the shell through the first opening; the first clamping rotation assembly and the second clamping rotation assembly are both installed in the storage space, and respectively correspond to the two rotating parts of the intracardiac ultrasound catheter handle, and the first clamping rotation assembly and the second clamping rotation assembly are both configured to clamp and rotate the corresponding rotating parts; the shell is connected to the linear moving assembly through the rotating assembly, and the rotating assembly is configured to drive the shell to rotate and thereby drive the intracardiac ultrasound catheter handle to rotate along its own central axis.

2. The intracardiac ultrasound catheter handle operating device according to claim 1, characterized in that: The linear motion component includes a base plate, a guide rail, a slider, a first fixed seat and a first driving member. The guide rail is installed on the base plate. The first fixed seat slides with the guide rail through the slider. The first driving member is installed on the base plate and is configured to drive the first fixed seat to move relative to the base plate. The rotating component is installed on the first fixed seat.

3. The intracardiac ultrasound catheter handle operating device according to claim 2, characterized in that: The first driving member includes a first lead screw, a first lead screw nut and a first driving motor. The first driving motor is drivingly connected to the first lead screw. The first fixing seat is connected to the first lead screw through the first lead screw nut.

4. The intracardiac ultrasound catheter handle operating device according to claim 1, characterized in that: The rotating assembly includes a first mounting seat, a second fixed seat and a second driving member, the first mounting seat has a first side surface and a second side surface opposite to each other, the shell is mounted on the first side surface, the second side surface is provided with a first arc-shaped guide portion, the second fixed seat is provided with a first arc-shaped guide groove, the first arc-shaped guide portion is slidably mounted in the first arc-shaped guide groove, and the second driving member is mounted on the second fixed seat and is transmission-connected to the first mounting seat.

5. The intracardiac ultrasound catheter handle operating device according to claim 4, characterized in that: The first mounting seat comprises a first incomplete worm gear and a first semi-annular guide rail, wherein the first semi-annular guide rail forms the first arc-shaped guide portion; The second driving member includes a first worm and a second driving motor, the second driving motor is drivingly connected to the first worm, and the first worm is meshingly connected to the first incomplete worm wheel.

6. The intracardiac ultrasound catheter handle operating device according to claim 4, characterized in that: A plurality of first rollers are arranged on the second fixing seat, and the plurality of first rollers are arranged side by side to form two rows of roller groups, and the first arc-shaped guide grooves are formed between the roller groups.

7. The intracardiac ultrasound catheter handle operating device according to claim 1, characterized in that: The first clamping and rotating components and the second clamping and rotating components have the same structure, and each of the first clamping and rotating components and the second clamping and rotating components includes a clamping component, a second mounting seat, a third fixing seat and a third driving member; The second mounting seat has a third side surface and a fourth side surface that are opposite to each other, the clamping assembly is mounted on the third side surface, the fourth side surface is provided with a second arc-shaped guide portion, the third fixed seat is provided with a second arc-shaped guide groove, the second arc-shaped guide portion is slidably mounted in the second arc-shaped guide groove, the third driving member is mounted on the third fixed seat and is transmission-connected to the second mounting seat; wherein, the clamping assembly forms an adjustable clamping space.

8. The intracardiac ultrasound catheter handle operating device according to claim 7, characterized in that: The second mounting seat comprises a second incomplete worm gear and a second semi-annular guide rail, wherein the second semi-annular guide rail forms the second arc-shaped guide portion; The third driving member includes a second worm and a third driving motor. The third driving motor is drivingly connected to the second worm, and the second worm is meshingly connected to the second incomplete worm wheel.

9. The intracardiac ultrasound catheter handle operating device according to claim 8, characterized in that: The clamping assembly includes a first clamping jaw, a second clamping jaw, a first pull rod, a second pull rod, a second lead screw, a second lead screw nut and a fourth drive motor; The fourth drive motor is transmissionly connected to the second lead screw, the second lead screw nut is connected to the second lead screw, the first clamp and the second clamp are both rotationally connected to the side of the second incomplete worm gear away from the second semi-annular guide rail, one end of the first pull rod is rotationally connected to the first clamp, the other end of the first pull rod is rotationally connected to the second lead screw nut, one end of the second pull rod is rotationally connected to the second clamp, and the other end of the second pull rod is rotationally connected to the second lead screw nut.

10. The intracardiac ultrasound catheter handle operating device according to claim 1, characterized in that: The storage space includes a first chamber and a second chamber, the first clamping and rotating assembly and the second clamping and rotating assembly are arranged in the first chamber, the hand-held portion of the intracardiac ultrasound catheter handle is arranged in the second chamber, the first opening is communicated with the second chamber, the shell is provided with a first cover body corresponding to the first chamber, and a second cover body corresponding to the second chamber; and / or, The intracardiac ultrasound catheter handle operating device further comprises a catheter delivery assembly, wherein the catheter delivery assembly comprises a mounting frame, a driving wheel, an eccentric wheel, a fifth drive motor and a sixth drive motor; The fifth drive motor and the sixth drive motor are installed side by side on the mounting frame, the fifth drive motor is transmission-connected to the driving wheel, the sixth drive motor is transmission-connected to the eccentric wheel, and the catheter connected to the intracardiac ultrasound catheter handle is inserted between the driving wheel and the eccentric wheel.

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