In-vivo imaging catheter

Abstract

The invention discloses an in-vivo imaging catheter and relates to the technical field of medical instruments. The in-vivo imaging catheter comprises a holding part, a first steering wheel, a second steering wheel and an angle limiting structure. A handle shaft is arranged on the holding piece, the first steering wheel is rotatably arranged on the handle shaft, and two first traction wires are arranged on the first steering wheel; the first steering wheel is rotatably arranged on the handle shaft, the second steering wheel is rotatably arranged on the handle shaft, two second traction wires are arranged on the second steering wheel, the first traction wires and the second traction wires are connected to different positions of the far end of the steering section respectively, and the steering section can be pulled to rotate in different directions by rotating the first steering wheel and the second steering wheel respectively. And the sound transmission section at the far end of the steering section is driven to smoothly detect the focus position of the patient. The angle limiting structure is used for limiting the maximum rotation angle of the first steering wheel and the second steering wheel, and then the maximum deflection angle of the steering section in the first direction and the second direction is limited.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and more particularly to an in-vivo imaging catheter. Background Art

[0002] In vivo imaging is different from traditional in vitro ultrasound diagnostic technology. For example, one type of in vivo imaging technology, intracardiac ultrasound technology ("ICE"), is to place an ultrasound catheter as thick as a ballpoint pen core into the heart cavity through a peripheral blood vessel, and use the ultrasound probe located at the tip of the ultrasound catheter to accurately obtain the heart's anatomical structure at close range and in real time, and can simultaneously display cardiac hemodynamics, and dynamically evaluate local myocardial and overall heart function in real time. In recent years, intracardiac ultrasound technology has shown good application prospects in cardiac interventional treatment and electrophysiological examinations. Intracardiac ultrasound is like a pair of eyes that the doctor places inside the heart. The doctor can "look directly" at the heart structure through ultrasound images and complete heart surgery faster, better, and safer.

[0003] The in vivo imaging catheter can visually observe the condition of the affected part of the patient's body through an ultrasound catheter. In order for the ultrasound catheter to successfully detect the location of the patient's lesion, an operating handle is required to control the posture of the ultrasound catheter. However, existing ultrasound catheters have problems such as inconvenient angle control, complex structure, and inconvenient disassembly and assembly.

[0004] Therefore, how to conveniently control the deflection of the catheter or assemble and repair the catheter has become a technical problem that needs to be urgently solved by those skilled in the art. Summary of the invention

[0005] In view of this, an object of the present invention is to provide an in vivo imaging catheter to overcome at least one of the problems of the prior art.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] An in vivo imaging catheter comprises a catheter and a handle arranged at the proximal end of the catheter, wherein the catheter comprises a steering section, and the handle comprises:

[0008] A gripping piece, wherein a handle shaft is disposed at the distal end of the gripping piece;

[0009] A first steering wheel is rotatably disposed on the handle shaft, and two first traction wires are disposed on the first steering wheel. The two first traction wires are connected to the steering section to drive the steering section to deflect in a first direction;

[0010] A second steering wheel is rotatably disposed on the handle shaft, and two second traction wires are disposed on the second steering wheel, and the two second traction wires are connected to the steering section to drive the steering section to deflect in a second direction;

[0011] An angle limiting structure, including a steering part and a limiting part. The limiting part is arranged on the handle shaft, and the steering part is arranged on the first steering wheel and the second steering wheel. And the steering part can rotate following the first steering wheel and the second steering wheel. The first steering wheel and the second steering wheel can respectively rotate relative to the handle shaft until the steering part abuts against the limiting part.

[0012] The holding part, the first steering wheel, the second steering wheel and the angle limiting structure are coaxially arranged.

[0013] Optionally, in the above-mentioned in-vivo imaging catheter, the first steering wheel and the second steering wheel are connected to a fixed wheel and can respectively rotate relative to the fixed wheel. The fixed wheel is arranged on the handle shaft, and the limiting part includes a first steering protrusion and a second steering protrusion arranged on the fixed wheel.

[0014] The steering part includes a first limiting boss arranged on the first steering wheel. The first limiting boss is used to abut against the side wall of the first steering protrusion to limit the rotation angle of the first steering wheel.

[0015] The steering part includes a second limiting boss arranged on the second steering wheel. The second limiting boss is used to abut against the side wall of the second steering protrusion to limit the rotation angle of the second steering wheel.

[0016] Optionally, in the above-mentioned in-vivo imaging catheter, the central angle corresponding to the first steering protrusion is 10° to 60°, and the central angle corresponding to the first limiting boss is 10° to 60°; and / or,

[0017] The central angle corresponding to the second steering protrusion is 10° to 60°, and the central angle corresponding to the second limiting boss is 10° to 60°.

[0018] Optionally, in the above-mentioned in-vivo imaging catheter, a central groove is formed on the handle shaft, and a wire receiving groove for communicating with the central groove is arranged on the fixed wheel. The first traction wire and the second traction wire are used to enter the central groove from the wire receiving groove and are connected to the distal end of the steering section.

[0019] Optionally, in the above-mentioned in-vivo imaging catheter, a first wire dividing post and a second wire dividing post are respectively arranged at two ends of the fixed wheel, and the extending directions of the first wire dividing post and the second wire dividing post are both perpendicular to the extending direction of the fixed wheel. The first traction wire is used to wind around the first wire dividing post and enter the wire receiving groove, and the second traction wire is used to wind around the second wire dividing post and enter the wire receiving groove.

[0020] Optionally, in the above-mentioned in-vivo imaging catheter, a locking assembly is further included, and a limiting member is provided at the distal end of the handle shaft;

[0021] The locking assembly is arranged on the handle shaft and is used to press the first steering wheel and the second steering wheel in the direction of the limiting member to limit the freedom of rotation of the first steering wheel and the second steering wheel.

[0022] Optionally, in the above-mentioned in-vivo imaging catheter, the locking assembly includes a locking hub and a locking wheel housing;

[0023] The locking hub is arranged on the handle shaft, and a first wedge-shaped boss rising in a spiral manner is provided on the side facing the locking wheel housing;

[0024] The locking wheel housing is rotatably arranged on the handle shaft, and a second wedge-shaped boss rising in a spiral manner is provided on the side facing the locking hub. The second wedge-shaped boss is used to rotate to fit with the first wedge-shaped boss to push the locking hub to press the first steering wheel and the second steering wheel in the direction of the limiting member.

[0025] Optionally, in the above-mentioned in-vivo imaging catheter, a positioning protrusion is provided on the side of the locking hub facing the locking wheel housing;

[0026] A concentric groove for the positioning protrusion to be embedded and slide is provided on the locking wheel housing.

[0027] Optionally, in the above-mentioned in-vivo imaging catheter, the central angle corresponding to the first wedge-shaped boss is a first angle;

[0028] The central angle corresponding to the second wedge-shaped boss is a second angle;

[0029] The maximum angle at which the positioning protrusion slides in the concentric groove is a third angle;

[0030] The first angle is equal to the second angle and is greater than the third angle.

[0031] Optionally, in the above-mentioned in-vivo imaging catheter, the holding member includes:

[0032] A lower holding shell, the handle shaft is arranged at the distal end of the lower holding shell, and a first semi-circular boss for assembly is provided at the distal end of the lower holding shell;

[0033] An upper holding shell, which is detachably arranged on the lower holding shell, and a second semi-circular boss is provided at the distal end of the upper holding shell. The radius of the second semi-circular boss is smaller than that of the first semi-circular boss to facilitate the disassembly of the upper holding shell.

[0034] The in-vivo imaging catheter provided by the present invention includes a catheter and a handle disposed at the proximal end of the catheter. The catheter includes a steering section, and the handle includes a gripping member, a first steering wheel, a second steering wheel, and an angle limiting structure. A handle shaft is disposed at the distal end of the gripping member. The first steering wheel is rotatably disposed on the handle shaft, and two first traction wires are disposed on the first steering wheel. The two first traction wires are connected to the steering section. By rotating the first steering wheel, one of the two first traction wires can be relaxed and the other can be tightened, thereby realizing the deflection of the steering section in the first direction. The second steering wheel is rotatably disposed on the handle shaft, and two second traction wires are disposed on the second steering wheel. The two second traction wires are connected to the steering section. By rotating the second steering wheel, one of the two second traction wires can be relaxed and the other can be tightened, thereby realizing the deflection of the steering section in the second direction. The first traction wire and the second traction wire are respectively connected to different positions of the steering section, that is, the first direction and the second direction are neither collinear nor parallel, so that by rotating the first steering wheel and the second steering wheel, the steering section can be respectively pulled to rotate in different directions, and then the ultrasonic transmission section disposed at the distal end of the steering section can smoothly detect the lesion position of the patient.

[0035] The angle limiting structure includes a steering portion and a limiting portion. The limiting portion is disposed on the handle shaft, and the steering portion is disposed on the first steering wheel and the second steering wheel and can rotate following the first steering wheel and the second steering wheel. The first steering wheel and the second steering wheel can respectively rotate relative to the handle shaft until the steering portion abuts against the limiting portion. The maximum rotation angles of the first steering wheel and the second steering wheel can be limited through the angle limiting structure, and further the maximum angles of deflection of the steering section in the first direction and the second direction can be limited. At the same time, the gripping member, the first steering wheel, the second steering wheel, and the angle limiting structure are coaxially arranged.

[0036] Compared with the prior art, the in-vivo imaging catheter provided by the present invention has a simple structure and is convenient to operate, and can realize precise control of the steering of the steering section. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0038] Figure 1 Structural schematic diagram of the in-vivo imaging catheter disclosed in the embodiment of the present invention Figure 1 ;

[0039] Figure 2 Structural schematic diagram of the in-vivo imaging catheter disclosed in the embodiment of the present invention Figure 2 ;

[0040] Figure 3 Schematic cross-sectional view of the steering section disclosed in the embodiments of the present invention;

[0041] Figure 4 Schematic cross-sectional view of the braided section disclosed in the embodiments of the present invention;

[0042] Figure 5 Schematic structural view of the handle disclosed in the embodiments of the present invention;

[0043] Figure 6 is Figure 5 Schematic view of the A-A cross-section in

[0044] Figure 7 Explosion schematic view of the handle disclosed in the embodiments of the present invention;

[0045] Figure 8 Schematic structural view of the holding member disclosed in the embodiments of the present invention;

[0046] Figure 9 Axonometric view of the first steering hub or the second steering hub disclosed in the embodiments of the present invention;

[0047] Figure 10 Front view of the first steering hub or the second steering hub disclosed in the embodiments of the present invention;

[0048] Figure 11 Schematic view of the internal structure of the handle disclosed in the embodiments of the present invention Figure 1 ;

[0049] Figure 12 Schematic view of the internal structure of the handle disclosed in the embodiments of the present invention Figure 2 ;

[0050] Figure 13 Schematic partial structural view of the in-vivo imaging catheter disclosed in the embodiments of the present invention;

[0051] Figure 14 is Figure 13 Enlarged view at B in

[0052] Figure 15 Schematic view of the structure at the fixed wheel disclosed in the embodiments of the present invention Figure 1 ;

[0053] Figure 16 Schematic structural view of the fixed wheel disclosed in the embodiments of the present invention;

[0054] Figure 17 Schematic view of the internal structure of the handle disclosed in the embodiments of the present invention Figure 3 ;

[0055] Figure 18Explosion diagram of the locking component disclosed in the embodiment of the present invention Figure 1 ;

[0056] Figure 19 Structural schematic diagram of the locking hub disclosed in the embodiment of the present invention;

[0057] Figure 20 Explosion diagram of the locking component disclosed in the embodiment of the present invention Figure 2 ;

[0058] Figure 21 Structural schematic diagram of the locking wheel housing disclosed in the embodiment of the present invention;

[0059] Figure 22 Explosion diagram of the internal structure of the handle disclosed in the embodiment of the present invention.

[0060] Among them, 1 is a catheter, 11 is an acoustic transmission section, 12 is a turning section, 121 is a traction wire cavity, 1211 is a first traction wire cavity, 1212 is a second traction wire cavity, 1213 is a third traction wire cavity, 1214 is a fourth traction wire cavity, 122 is a cable cavity, 13 is a braided section, 131 is an outer layer, 132 is an intermediate layer, 133 is an inner layer;

[0061] 2 is a handle, 21 is a stress diffusion tube, 22 is a first steering wheel, 221 is a first steering wheel housing, 222 is a first steering wheel hub, 2221 is a first wire tying joint, 2222 is a first limiting boss, 223 is a first steering zero position, 23 is a second steering wheel, 231 is a second steering wheel housing, 232 is a second steering wheel hub, 2321 is a second wire tying joint, 2322 is a second limiting boss, 233 is a second steering zero position, 24 is a locking component, 241 is a locking wheel housing, 2411 is a second spiral low point, 2412 is a second spiral high point, 2413 is a concentric groove, 2414 is a second wedge-shaped boss, 242 is a locking hub, 2421 is a first spiral low point, 2422 is a first spiral high point, 2423 is a positioning protrusion, 2424 is a first wedge-shaped boss, 2425 is a limiting boss, 243 is a locking zero position, 244 is a friction plate, 25 is a holding member, 251 is a lower housing of the holding member, 2511 is a first semi-circular boss, 252 is an upper housing of the holding member, 2521 is a second semi-circular boss, 253 is a handle shaft, 2531 is a central groove, 2532 is a clamping groove, 261(261’) is a first traction wire, 262(262’) is a second traction wire, 27 is a fixed wheel, 271 is a fixed protrusion, 272 is a wire receiving groove, 273 is a second wire dividing post, 274 is a first wire dividing post, 275 is a roller, 276 is a first steering protrusion, 276’ is a second steering protrusion, 28 is a snap ring;

[0062] 3 is a cable connector, 31 is a cable, 32 is a connector;

[0063] 4 is the core part, 41 is the transducer, 42 is the flexible cable, and 43 is the signal terminal. Detailed implementation manners

[0064] The core of the present invention lies in disclosing an in-vivo imaging catheter to facilitate medical staff to operate an ultrasonic catheter for detection.

[0065] Hereinafter, embodiments will be described with reference to the accompanying drawings. In addition, the embodiments shown below do not impose any limitation on the content of the invention described in the claims. Further, all the contents of the configurations shown in the following embodiments are not necessarily essential for the solution of the invention described in the claims. It should be noted that, for the sake of convenience of description, only the parts related to the relevant invention are shown in the drawings. Without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other. As used in the present invention, "installed", "connected", "coupled", and an element "arranged" on another element should be understood in a broad sense. Generally, it only means that there is a connection, coupling, cooperation or transmission relationship between the two elements, and the two elements can be directly or indirectly connected, coupled, cooperated or transmitted through an intermediate element, or the two elements can be connected by means of energy or signal response, and cannot be understood as indicating or implying the spatial position relationship or direct contact relationship between the two elements, that is, an element can be inside, outside, above, below or on one side of another element, etc. in any orientation, unless otherwise clearly specified in the content. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0066] For the overall intracardiac imaging catheter, the end closer to the operator (such as medical staff) is defined as the proximal end, and the end for extending into the patient's body is defined as the distal end. For a single component, the end closer to the operator is the proximal end, and the end farther from the operator is the distal end.

[0067] Combined with Figure 1 and Figure 2, the in-vivo imaging catheter disclosed in the embodiments of the present invention includes a catheter 1 and a handle 2 provided at the proximal end of the catheter 1. The catheter 1 includes a steering section 12. The handle includes a gripping member 25, a first steering wheel 22, a second steering wheel 23, and an angle limiting structure. A handle shaft 253 is provided at the distal end of the gripping member 25. The first steering wheel 22 is rotatably provided on the handle shaft 253, and two first traction wires (the first traction wire 261 and the first traction wire 261' respectively) are provided on the first steering wheel 22. The two first traction wires are connected to the steering section 12. By rotating the first steering wheel 22, one of the two first traction wires can be relaxed and the other can be tightened, thereby realizing the deflection of the steering section 12 in the first direction; the second steering wheel 23 is rotatably provided on the handle shaft 253, and two second traction wires (the second traction wire 262 and the second traction wire 262' respectively) are provided on the second steering wheel 23. The two second traction wires are connected to the steering section 12. By rotating the second steering wheel 23, one of the two second traction wires can be relaxed and the other can be tightened, thereby realizing the deflection of the steering section 12 in the second direction. The first traction wire and the second traction wire are respectively connected to different positions of the steering section 12, that is, the first direction and the second direction are neither collinear nor parallel, so that by rotating the first steering wheel 22 and the second steering wheel 23, the steering section 12 can be respectively pulled to rotate in different directions, and then the sound-transmitting section 11 provided at the distal end of the steering section 12 can smoothly detect the lesion position of the patient.

[0068] The angle limiting structure includes a steering portion and a limiting portion. The limiting portion is provided on the handle shaft, and the steering portion is provided on the first steering wheel and the second steering wheel. The steering portion can follow the rotation of the first steering wheel and the second steering wheel. The first steering wheel and the second steering wheel can respectively rotate relative to the handle shaft until the steering portion abuts against the limiting portion. The maximum rotation angles of the first steering wheel 22 and the second steering wheel 23 can be limited through the angle limiting structure, and further the maximum angles of deflection of the steering section 12 in the first direction and the second direction can be limited. At the same time, the gripping member, the first steering wheel, the second steering wheel, and the angle limiting structure are coaxially arranged.

[0069] Compared with the prior art, the in-vivo imaging catheter disclosed in the embodiments of the present invention has a simple structure. Since the structures for controlling the steering are coaxially arranged, for the operator, the first steering wheel and / or the second steering wheel can be adjusted while holding the gripping member, and along with the movement of the angle limiting structure, the steering operation is more convenient, and even single-handed operation can be realized, taking into account both the precise control of the steering of the steering section 12 and the convenience of operation.

[0070] It should be noted that for the description of "the limiting part is arranged on the handle shaft" above, in specific implementation, the limiting part can be directly arranged on the handle shaft (such as a protrusion, groove or notch on the handle shaft that cooperates with the steering part), or an intermediate element (such as a fixed wheel) can be arranged on the handle shaft, and the limiting part is indirectly arranged on the handle shaft by being arranged on the intermediate element.

[0071] In order to fix the deflection angle of the steering section 12, the in-vivo imaging catheter disclosed in the embodiment of the present invention further includes a locking assembly 24. A limiting member is arranged at the distal end of the handle shaft 253. The locking assembly 24 is arranged on the handle shaft 253 and is used to press the first steering wheel 22 and the second steering wheel 23 axially along the handle shaft 253 towards the direction where the limiting member is located. When the locking assembly 24 does not press the first steering wheel 22 and the second steering wheel 23, the degree of freedom of the steering section 12 is relatively high, and the steering section 12 can conform to the physiological curvature of the patient during the stage of inserting and withdrawing the in-vivo imaging catheter; when the locking assembly 24 presses the first steering wheel 22 and the second steering wheel 23, the rotational degree of freedom of the first steering wheel 22 and the second steering wheel 23 is restricted, and only when medical staff apply a rotational force to the first steering wheel 22 and the second steering wheel 23, the steering section 12 can deflect in direction, so as to facilitate medical staff to obtain the best imaging position.

[0072] Specifically, in combination with Figure 1 , the in-vivo imaging catheter includes a catheter 1 arranged at the distal end of the handle 2 and a cable connector 3 arranged at the proximal end of the handle. Among them, the catheter 1 includes an acoustic transmission section 11, a steering section 12 and a braided section 13. The steering section 12 is arranged between the acoustic transmission section 11 and the braided section 13. The proximal end of the braided section 13 is connected to the handle 2, and the steering section 12 can be controlled to rotate through the handle 2 to drive the acoustic transmission section 11 to move to different positions for detection. The proximal end of the holding member 25 is connected to the cable connector 3, and the cable connector 3 includes a cable 31 and a connector 32.

[0073] As Figure 2 shown, a core part 4 is arranged in the catheter 1. The core part 4 includes a transducer 41 (such as a phased array transducer), a flexible cable 42 and a signal end 43. Among them, the transducer 41 is placed in the acoustic transmission section 11 and is mainly used for transmitting and receiving ultrasonic signals. One end of the flexible cable 42 is connected to the transducer 41, and the other end penetrates through the steering section 12, the braided section 13 and the handle 2 and is connected to the cable connector 3. The signal end 43 is placed in the connector 32 of the cable connector 3.

[0074] After the cable joint 3 is connected to the proximal system, the system emits an electrical signal during operation, which is transmitted to the transducer 41 through the signal terminal 43 and the flexible cable 42 in sequence. The transducer 41 converts the electrical signal into ultrasonic waves and emits them, and receives the reflected ultrasonic waves, converts them back into electrical signals and returns them to the system along the original path, and performs ultrasonic imaging through the algorithms and image processing of the system.

[0075] Combined with Figure 3 , the material of the turning section 12 is an elastic polymer material such as Pebax (polyether block polyamide), rubber or polyurethane, etc., to facilitate being pulled and turned by the first traction wire and the second traction wire. Five cavities penetrate through the inside of the turning section 12 from the proximal end to the distal end, namely four traction wire cavities 121 (the first traction wire cavity 1211, the second traction wire cavity 1212, the third traction wire cavity 1213 and the fourth traction wire cavity 1214) and a cable cavity 122. Each traction wire of the first traction wire and the second traction wire respectively corresponds to and passes through a traction wire cavity 121 and then is connected to the turning section 12 (preferably connected to the distal end of the turning section 12), and the flexible cable 42 passes through the cable cavity 122.

[0076] Such as Figure 3 As shown, the four traction wire cavities 121 are evenly arranged along the circumferential direction of the cable cavity 122, and the traction wire cavities 121 where the two first traction wires are located (the third traction wire cavity 1213 and the fourth traction wire cavity 1214) are opposite, and the traction wire cavities 121 where the two second traction wires are located (the first traction wire cavity 1211 and the second traction wire cavity 1212) are opposite. Define the above-mentioned first direction as the up-down direction and the second direction as the left-right direction, that is, the first traction wire is used to control the deflection of the turning section 12 in the up-down direction, and the second traction wire is used to control the deflection of the turning section 12 in the left-right direction.

[0077] Such as Figure 4 As shown, the braided section 13 is composed of three layers of materials. The outer layer 131 is a polymer material with a conventional hardness, the middle layer 132 is a stainless steel braided material, and the inner layer 133 is a five-chamber tube. Generally, the five-chamber tube is a polymer material with excellent electrical insulation performance such as PTFE (polytetrafluoroethylene), PI (polyimide) or PEEK (polyether ether ketone). The five chambers of the five-chamber tube also correspond to the five chambers of the turning section 12 one by one, and are respectively for the first traction wire, the second traction wire and the flexible cable 42 to pass through.

[0078] It should be noted that the larger the outer diameter of the catheter 1, the larger the occupation in the heart cavity, and at the same time, it will also cause inconvenience in the turning control of the turning section 12, thus affecting the detection accuracy. Therefore, in some embodiments, the outer diameter of the catheter 1 is set not to be greater than 8Fr to make the turning control of the catheter 1 more accurate and convenient.

[0079] Further, a stress diffusion tube 21 is provided at the distal end of the handle 21. The stress diffusion tube 21 integrates the functions of a conventional tubular stress diffusion tube and a handle distal fixing device. It can not only effectively protect the connection between the catheter 1 and the handle 2 from damage to the catheter 1 caused by stress concentration, but also reduce the setting of the handle distal fixing device, thereby simplifying the process and reducing costs.

[0080] Combined with Figure 1 , the first steering wheel 22, the second steering wheel 23 and the locking assembly 24 are sequentially arranged at the proximal end of the stress diffusion tube 21.

[0081] A central groove 2531 penetrating through its axis is provided in the handle shaft 253 in the direction from the proximal end to the distal end. Combined with Figure 13 and Figure 14 , the first traction wire and the second traction wire are used to pass out of the handle 2 through the central groove 2531 and enter into the four traction wire cavities 121 respectively, until they are fixed to the steering section 12 by means of lapping, bonding or tying metal rings at the distal end of the steering section 12.

[0082] It should be noted that the number of the central grooves 2531 can be one or more. When the number of the central grooves 2531 is multiple, the first traction wire and the second traction wire can be routed separately to reduce the probability of entanglement between the traction wires.

[0083] Combined with Figure 8 , in an embodiment, a plurality of weight reduction grooves are provided on the handle shaft 253, and the weight reduction grooves avoid the position where the central groove 2531 is located, which can reduce the structural weight of the handle shaft 253.

[0084] In a specific embodiment disclosed in the present invention, as Figure 5 and Figure 6 shown, the first steering wheel 22 includes a first steering wheel housing 221 and a first steering wheel hub 222. The first steering wheel housing 221 is arranged outside the first steering wheel hub 222. The first steering wheel hub 222 is rotatably arranged on the handle shaft 253, and the first steering wheel housing 221 is in direct contact with or indirectly connected to the stress diffusion tube 21. The first steering wheel housing 221 and the first steering wheel hub 222 are rigidly connected by means of fixing buckles or the like, so that the first steering wheel hub 222 can be driven to rotate synchronously by rotating the first steering wheel housing 221. At the same time, the first steering wheel hub 222 can slide freely along the axial direction on the handle shaft 253.

[0085] Specifically, an axial fixing slot can be provided on the outer ring of the first steering wheel hub 222, and a fixing buckle that can be inserted into the fixing slot along the axial direction can be provided on the inner ring of the first steering wheel housing 221 to realize the rigid connection between the first steering wheel housing 221 and the first steering wheel hub 222.

[0086] The structure of the second steering wheel 23 is similar to that of the first steering wheel 22, including a second steering wheel housing 231 and a second steering wheel hub 232. The second steering wheel housing 231 is disposed outside the second steering wheel hub 232. The second steering wheel hub 232 is rotatably disposed on the handle shaft 253. The second steering wheel housing 231 and the second steering wheel hub 232 are rigidly connected by means of fixing buckles or the like. By rotating the second steering wheel housing 231, the second steering wheel hub 232 can be driven to rotate synchronously. The second steering wheel hub 232 can also slide freely along the axial direction on the handle shaft 253, and the rotations of the first steering wheel hub 222 and the second steering wheel hub 232 do not interfere with each other.

[0087] Among them, the fixing manner of the second steering wheel housing 231 and the second steering wheel hub 232 can be the same as that of the first steering wheel housing 221 and the first steering wheel hub 222.

[0088] In one embodiment, in combination with Figure 9 , a first wire tying joint 2221 extending axially towards both ends is provided on the first steering wheel hub 222. The first traction wire is fixed to the first steering wheel hub 222 through the first wire tying joint 2221. The two first traction wires can be wound from the first wire tying joint 2221 along opposite winding directions into the central groove 2531 respectively.

[0089] Correspondingly, a second wire tying joint 2321 extending axially towards both ends is provided on the second steering wheel hub 232. The second traction wire is fixed to the second steering wheel hub 232 through the second wire tying joint 2321. The two second traction wires can be wound from the second wire tying joint 2321 along opposite winding directions into the central groove 2531 respectively.

[0090] It should be noted that the fixing positions of the first traction wire and the second traction wire on the handle 2 can be the same or different, as long as the tightening and relaxation strokes of the two first traction wires are basically the same, and the tightening and relaxation strokes of the two second traction wires are basically the same. That is, the distal ends of the traction wires are connected to the steering section 12. The proximal ends of the two traction wires that control the deflection of the steering section 12 in the same direction can be wound along opposite winding directions and connected to the wire tying joints respectively. For example, one of the two traction wires is wound clockwise and connected to the wire tying joint, and the other is wound counterclockwise and connected to the wire tying joint. As the operator rotates the steering wheel housing (the first steering wheel housing 221 and / or the second steering wheel housing 231), one of the two traction wires is pulled and the winding length becomes longer so as to be tightened, and the other is relaxed and the winding length is shortened so as to be slackened. Then the steering section 12 deflects towards the side controlled by the tightened traction wire, and the freedom degree of the side of the steering section 12 controlled by the slackened traction wire is increased to allow the steering section 12 to deflect, ensuring the effectiveness of the control structure and the multiple operability.

[0091] In order to limit the rotation angles of the first steering wheel 22 and the second steering wheel 23, that is, to limit the steering angle of the steering section 12, the first steering wheel hub 222 and the second steering wheel hub 232 are both connected to the fixed wheel 27, and the first steering wheel hub 222 and the second steering wheel hub 232 can respectively rotate relative to the fixed wheel 27. The fixed wheel 27 is sleeved on the handle shaft 253, and a fixed protrusion 271 for embedding into the central groove 2531 is provided on the inner circle of the fixed wheel 27. Through the fitting of the fixed protrusion 271 and the central groove 2531, the fixed wheel 27 cannot freely rotate relative to the handle shaft 253 and can only slide axially to be axially pushed and pressed by the locking assembly 24.

[0092] Theoretically, the stroke of the traction wire (the first traction wire and the second traction wire) = rotation angle / 360° * π * the diameter D of the fixed wheel 27. Therefore, the larger the rotation angle, the larger the pulling stroke of the traction wire and the larger the deflection angle of the steering section 12. It should be noted that the rotation of the first steering wheel 22, the second steering wheel 23, and the locking assembly 24 can theoretically be greater than 180° or even 360°, but in practice, it is usually set not to be greater than 160° for the convenience of single-handed operation by medical staff and to protect the steering section 12 from being pulled and damaged. Therefore, the present application is provided with an angle limiting structure, specifically as follows:

[0093] Combined with Figure 9 , a first limiting boss 2222 extending axially in the direction of the fixed wheel 27 is provided on the first steering wheel hub 222, and a second limiting boss 2322 extending axially in the direction of the fixed wheel 27 is provided on the second steering wheel hub 232. A first steering protrusion 276 (such as Figure 15 ) is provided at one end of the fixed wheel 27 facing the first steering wheel hub 222, and a second steering protrusion 276' is provided at the end facing the second steering wheel hub 232. In the circumferential direction, the first steering protrusion 276 interferes with the first limiting boss 2222, and the first steering protrusion 276 is used to abut against the side wall of the first limiting boss 2222 to limit the maximum rotation angle of the first steering wheel hub 222; in the circumferential direction, the second steering protrusion 276' interferes with the second limiting boss 2322, and the second steering protrusion 276' is used to abut against the side wall of the second limiting boss 2322 to limit the maximum rotation angle of the second steering wheel hub 232.

[0094] The steering part includes the above-mentioned first limiting boss 2222 and the first limiting boss 2222, and the limiting part includes the above-mentioned first steering protrusion 276 and the second steering protrusion 276'.

[0095] In an embodiment, combined with Figure 10The first limiting boss 2222 is a fan-shaped structure arranged around the axis of the first steering hub 222, and the central angle α corresponding to the fan-shaped structure is 10° to 60°. Figure 16 The first steering protrusion 276 is a fan-shaped structure arranged around the axis of the fixed wheel 27, and the central angle β corresponding to the fan-shaped structure is 10°~60°, so that the maximum rotation angle of the first steering hub 222 in any direction is not greater than 160° (160°=180°-10°*2), and the minimum rotation angle is not less than 60° (60°=180°-60°*2).

[0096] The second limiting boss 2322 is a fan-shaped structure arranged around the axis of the second steering hub 232, and the central angle α corresponding to the fan-shaped structure is 10°~60°. The second steering protrusion 276' is a fan-shaped structure arranged around the axis of the fixed wheel 27, and the central angle β corresponding to the fan-shaped structure is 10°~60°, so that the maximum rotation angle of the second steering hub 232 in any direction is not greater than 160° (160°=180°-10°*2), and the minimum rotation angle is not less than 60° (60°=180°-60°*2).

[0097] In order to facilitate the first traction wire and the second traction wire to enter the central groove 2531, Figure 15 A wire taking-up groove 272 connected to the central groove 2531 is provided on the fixed wheel 27. After the first traction wire and the second traction wire are wound on the outer wall of the fixed wheel 27, they enter the central groove 2531 through the wire taking-up groove 272 and are connected to the distal end of the turning section 12.

[0098] Among them, when the first traction wire and the second traction wire are in the initial state, that is, the general connection state when any of the first traction wire and the second traction wire is neither tightened nor in a relaxed state, the line connecting the positions of the first wire binding joint 2221 and the second wire binding joint 2321 is roughly parallel to the axial direction, so as to facilitate setting the initial zero position of the first steering wheel 22 and the second steering wheel 23, and facilitate the operator to determine the reference benchmark for turning the first steering wheel 22 and the second steering wheel 23 or facilitate the operator to control the first steering wheel 22 and the second steering wheel 23 to return to the initial zero position. Further, at the initial zero position, the circumferential angle between the wire collection groove 272 and any of the first wire binding joint 2221 and the second wire binding joint 2321 is 180°, ensuring that the winding strokes of each traction wire of the first traction wire are consistent with each other in the initial state, and ensuring that the winding strokes of each traction wire of the second traction wire are consistent with each other in the initial state.

[0099] It should be noted that, in addition to the above embodiments, the connection line between the first wire-tying joint 2221 and the second wire-tying joint 2321 may not be parallel to the axial direction at the initial zero position. Correspondingly, physical marks (such as raised lines or color marks) for identifying the initial zero position may be provided on the first steering wheel housing 221 and the second steering wheel housing 231 respectively. When the physical marks are collinear and in a preset position (this position may be the upper position convenient for the operator to observe), it indicates that the first traction wire and the second traction wire are in the initial state. Further, the wire receiving groove 272 may be two wire receiving groove positions at different positions. The first traction wire and the second traction wire respectively correspond to one wire receiving groove position. The circumferential angle between the wire receiving groove position through which the first traction wire passes and the first wire-tying joint 2221 is 180°, and the circumferential angle between the wire receiving groove position through which the second traction wire passes and the second wire-tying joint 2321 is 180°. In this embodiment, the two wire receiving groove positions can be dispersedly arranged, which is beneficial to avoiding the first traction wire and the second traction wire from winding around each other during the wire receiving process.

[0100] To avoid entanglement of each traction wire, a first wire-tying joint 2221 extending axially is provided on the first limiting boss 2222, and a second wire-tying joint 2321 extending axially is provided on the second limiting boss 2322. And the first wire-tying joint 2221 has two groups corresponding to the first traction wire, and the second wire-tying joint 2321 has two groups corresponding to the second traction wire to respectively fix the first traction wire and the second traction wire.

[0101] Further, a first wire dividing post 274 is provided at the distal end of the fixed wheel 27, and a second wire dividing post 273 is provided at the proximal end of the fixed wheel 27. Figure 11 and Figure 12 , during the winding process, the first traction wire winds from the first wire-tying joint 2221 to the first wire dividing post 274 and enters the wire receiving groove 272, and the second traction wire winds from the second wire-tying joint 2321 to the second wire dividing post 273 and enters the wire receiving groove 272, which can avoid entanglement of the winding paths of the first traction wire and the second traction wire, and at the same time ensure that during the rotation of the first steering wheel 22 and the second steering wheel 23, the first traction wire and the second traction wire both wind around the fixed wheel 27.

[0102] To reduce the frictional force when the first steering wheel 22 and the second steering wheel 23 rotate, Figure 15 , six to twelve rollers 275 are symmetrically distributed on the outer ring of the fixed wheel 27, and both ends of the rollers 275 are in clearance fit with other parts of the fixed wheel 27, so that the rollers 275 are rotatably arranged on the fixed wheel 27. The first traction wire and the second traction wire wind around the outer ring of the rollers 275 to reduce the frictional force during the rotation of the first traction wire and the second traction wire respectively with the first steering wheel 22 and the second steering wheel 23.

[0103] Combined withFigure 22 The limiting member is a snap ring 28. To prevent the first steering hub 222 and the second steering hub 232 from disengaging from the handle shaft 253, a slot 2532 is provided at the distal end of the handle shaft 253. The snap ring 28 is disposed in the slot 2532. The first steering hub 222 and the second steering hub 232 are adapted to be pressed by the locking assembly 24 in the direction where the snap ring 28 is located.

[0104] Among them, the locking assembly 24 includes a locking wheel housing 241 and a locking wheel hub 242. The locking wheel hub 242 is movably disposed on the handle shaft 253, and the locking wheel housing 241 is rotatably disposed on the handle shaft 253. By rotating the locking wheel housing 241, the locking wheel hub 242 can move axially on the handle shaft 253, thereby pressing the first steering hub 222 and the second steering hub 232 axially to achieve state locking and prevent the first steering hub 222 and the second steering hub 232 from rotating freely.

[0105] In order to convert the rotational movement of the locking wheel housing 241 into the axial movement of the locking wheel hub 242, in a specific embodiment disclosed in the present invention, in combination with Figure 18 On one side of the locking wheel hub 242 facing the locking wheel housing 241, a first wedge-shaped protrusion 2424 is provided which spirally ascends from a first spiral low point 2421 to a first spiral high point 2422; correspondingly, in combination with Figure 20 On one side of the locking wheel housing 241 facing the locking wheel hub 242, a second wedge-shaped protrusion 2414 is provided which spirally ascends from a second spiral low point 2411 to a second spiral high point 2412. During the process of rotating the locking wheel housing 241 to make the second spiral high point 2412 of the second wedge-shaped protrusion 2414 rotate to abut against the first spiral high point 2422 of the first wedge-shaped protrusion 2424, the locking wheel hub 242 is pushed to move axially in the direction where the limiting member is located, thereby pressing the first steering hub 222 and the second steering hub 232.

[0106] In combination with Figure 20 On the inner ring of the locking wheel hub 242 opposite to the first spiral low point 2421 or the first spiral high point 2422, a limiting protrusion 2425 is provided for fitting and cooperating with the central groove 2531. By providing the limiting protrusion 2425, the locking wheel hub 242 can slide axially on the handle shaft 253 and cannot rotate around the handle shaft 253 as the center.

[0107] In combination with Figure 18 and Figure 19, in order to prevent the excessive rotation of the locking wheel housing 241 (falling from a high position to a low position), a positioning protrusion 2423 is axially provided at the middle position of a first wedge-shaped boss 2424. Correspondingly, a concentric groove 2413 for the positioning protrusion 2423 to be inserted and slide is formed between two second wedge-shaped bosses 2414. When the locking wheel hub 242 is in close contact with the locking wheel housing 241, during the rotation of the locking wheel housing 241 relative to the locking wheel hub 242, the positioning protrusion 2423 slides in the concentric groove 2413 and limits the extreme position of the rotation of the locking wheel housing 241.

[0108] Specifically, on the locking wheel hub 242, the first wedge-shaped bosses 2424 can be multiple ones spirally arranged in forms such as being bisected, trisected, or quadrisected, etc., and the number of the second wedge-shaped bosses 2414 corresponds to that of the first wedge-shaped bosses 2424.

[0109] Define the central angle corresponding to the first wedge-shaped boss 2424 as the first angle, the central angle corresponding to the second wedge-shaped boss 2414 as the second angle, and the maximum angle at which the positioning protrusion 2423 slides in the concentric groove 2413 as the third angle. Then the first angle is equal to the second angle, and the first angle is greater than the third angle to prevent excessive rotation.

[0110] In an embodiment, the first wedge-shaped bosses 2424 are three spirally arranged in a trisected manner, that is, the first angle is 120° (120° = 360° / 3). Correspondingly, the second wedge-shaped bosses 2414 are three spirally arranged in a trisected manner on the locking wheel housing 241, that is, the second angle is 120° (120° = 360° / 3). The positioning protrusion 2423 is a fan-shaped structure arranged around the axis of the locking wheel hub 242, and the central angle corresponding to this fan-shaped structure is about 5° - 10°. The concentric groove 2413 is arranged around the axis of the locking wheel housing 241, and the corresponding central angle is slightly greater than 120° and less than 130° - 140° (130° - 140° = 120° + 2 * the central angle corresponding to the positioning protrusion 2423, and in order to prevent excessive rotation, the actual central angle corresponding to the concentric groove 2413 is less than 130° - 140°).

[0111] Combined Figure 17 , an annular friction plate 244 is provided at the proximal end of the locking wheel housing 241. The thickness of the annular friction plate 244 is 0.8 mm - 2 mm, and the material is an elastic material such as rubber or thermoplastic polyurethane elastomer (TPU), which is used to adapt to the change in the axial dimension of the locking assembly 24 and apply an axial pressing force.

[0112] Furthermore, an annular gasket made of metal or plastic can be provided between the first steering wheel hub 222, the second steering wheel hub 232, and the locking wheel hub 242 to increase the tightness between the wheel hubs.

[0113] Among them, the thickness of the annular gasket can be 0.1 mm to 0.5 mm.

[0114] Combined with Figure 5 , a first steering zero position 223 is provided on the first steering wheel housing 221, a second steering zero position 233 is provided on the second steering wheel housing 231, and a locking zero position 243 is provided on the locking wheel housing 241. In the initial state, the first steering wheel housing 221, the second steering wheel housing 231, and the locking wheel housing 241 are all at the zero position, and the first steering zero position 223, the second steering zero position 233, and the locking zero position 243 are on the same horizontal line. At this time, the steering section 12 has not deflected. At the same time, in the initial state, the second spiral high point 2412 of the locking wheel housing 241 is aligned with the first spiral low point 2421 of the locking wheel hub 242, and the winding lengths of the two first traction wires from the first wire tying joint 2221 to the central groove 2531 are the same, and the winding lengths of the two second traction wires from the second wire tying joint 2321 to the central groove 2531 are the same.

[0115] During clinical use, when the catheter 1 enters the right atrium through the femoral vein, combined with Figure 22 , the medical staff first rotate the locking component 24 by a certain angle from the zero position. At this time, the second spiral high point 2412 of the locking wheel housing 241 leaves the first spiral low point 2421 corresponding to the locking wheel hub 242 and reaches a position corresponding to the first spiral high point 2422 of the locking wheel hub 242 with the above rotation. This rotation action expands the meshing between the locking wheel housing 241 and the locking wheel hub 242 axially by a length h (the length h < the thickness of the friction plate 244). And because of the limitation of the snap ring 28, the first steering wheel hub 222, the second steering wheel hub 232, and the locking wheel hub 242 cannot axially disengage from the handle shaft 253, but only the locking wheel hub 242 can move away from the fixed wheel 27 to squeeze the friction plate 244. The expansion length h is buffered by the compression of the friction plate 244. The compression of the friction plate 244 generates a force towards the fixed wheel 27, making the gaps between the first steering wheel hub 222, the second steering wheel hub 232 and the annular gasket smaller and the damping larger, and the resistance to rotation stronger. Furthermore, it plays a role in locking the deflection direction of the catheter 1, so that only the medical staff can operate to rotate the first steering wheel 22 and the second steering wheel 23 to adjust the steering angle of the steering section 12.

[0116] During the process of rotating the locking wheel housing 241 to align the second helical high point 2412 of the locking wheel housing 241 with the first helical low point 2421 of the locking wheel hub 242, the locking wheel hub 242 moves towards the fixed wheel 27, the extrusion force on the friction plate 244 decreases, the acting force of the friction plate 244 towards the fixed wheel 27 decreases or is revoked, and the degrees of freedom of rotation of the fixed wheel 27, the first steering wheel hub 222, and the second steering wheel hub 232 increase. In this state, the steering section 12 has a higher degree of freedom to bend in accordance with the physiological curvature of the patient and can be used for the stages of inserting and withdrawing the in-vivo imaging catheter.

[0117] In one implementation process, when it is necessary to deflect the sound-transmitting section 11 to the left by a certain angle, the second steering wheel housing 231 is rotated counterclockwise from the zero position, and the second steering wheel hub 232 inside it rotates by the same angle synchronously. At this time, the second traction wire 262 is tensioned, and the second traction wire 262' is relaxed. The distal side of the steering section 12 made of a soft material is tightened by the second traction wire 262 and is integrally compressed to form the effect of deflecting to the left. The deflection angle of the sound-transmitting section 11 can be adjusted in real time by the rotation angle of the second steering wheel housing 231. The larger the rotation angle of the second steering wheel housing 231, the larger the bending angle of the steering section 12, and the maximum rotation angle does not exceed 160°. Preferably, the deflection angles of the sound-transmitting section 11 and the steering section 12 generally do not exceed 150°. The deflections in the other three directions are the same.

[0118] In the implementation process, to obtain the best imaging effect at the desired position, it may be necessary to adjust the deflection angles of the sound-transmitting section 11 in the up-down direction and the left-right direction simultaneously. According to the above deflection principle, after the locking assembly 24 is locked, the left-right deflection and the up-down deflection can be implemented synchronously, and due to the damping effect between the respective wheel hubs, the sound-transmitting section 11 will not rebound during the adjustment process. Therefore, theoretically, it can rotate within 150° in four directions.

[0119] It should be noted that in the above embodiments, the locking assembly 24 is used to restrict the degrees of freedom of the first steering wheel 22 and the second steering wheel 23. In other embodiments, the locking assembly 24 may not be provided, and the locking assembly can be replaced by a buffer member with appropriate elasticity or friction coefficient, which makes the structure simpler and the assembly difficulty is also reduced.

[0120] Combined Figure 17 and Figure 22 , the holding member 25 can be in a detachable form or an integrated design.

[0121] Specifically, for an in-vivo imaging catheter with a need for maintenance or calibration, when a circuit board or other circuit components are installed between the upper housing 252 and the lower housing 251 of the handle, to avoid cumbersome operation or damage to the functions of the in-vivo imaging catheter caused by repeated disassembly, the handle 25 can be in a split and detachable form. Combining Figure 8 , the handle 25 includes an upper housing 252 and a lower housing 251 of the handle. The handle shaft 253 is arranged at the distal end of the lower housing 251 of the handle. The upper housing 252 of the handle can be detached separately from the lower housing 251 of the handle without affecting the assembly relationship of other components.

[0122] In a specific embodiment disclosed in the present invention, combining Figure 6 and Figure 8 , a second semi-circular boss 2521 is arranged at the distal end of the upper housing 252 of the handle, and a first semi-circular boss 2511 is arranged at the distal end of the lower housing 251 of the handle. The centers of the second semi-circular boss 2521 and the first semi-circular boss 2511 are on the axis of the handle shaft 253, and the radius of the second semi-circular boss 2521 is smaller than the radius of the first semi-circular boss 2511. Through the second semi-circular boss 2521 and the first semi-circular boss 2511, the handle 25 can be embedded into the inner cavity at the proximal end of the locking wheel housing 241 to realize the clamping connection between the handle 25 and the locking wheel housing 241, and at the same time, it does not affect the free rotation of the locking wheel housing 241.

[0123] Among them, the size of the first semi-circular boss 2511 matches the size of the inner cavity of the locking wheel housing 241, and the second semi-circular boss 2521 is slightly smaller than the size of the inner cavity of the locking wheel housing 241, that is, there is a certain gap between the second semi-circular boss 2521 and the inner cavity of the locking wheel housing 241, so that the upper housing 252 of the handle can be detached from the lower housing 251 of the handle by lifting the proximal end of the upper housing 252 of the handle, so that the circuit components in the lower housing 251 of the handle can be repaired. After the treatment is completed, the upper housing 252 of the handle can be conveniently reinstalled to the lower housing 251 of the handle.

[0124] Anti-slip patterns can be arranged on the outer surfaces of the upper housing 252 and the lower housing 251 of the handle to facilitate the medical staff to pick up.

[0125] The foregoing description of the disclosed embodiments enables those skilled in the art to practice or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Specific technical means in some embodiments may be combined, in part or in whole, with those in other embodiments, provided that they are not explicitly excluded by the other embodiments. Therefore, the present invention will not be limited to the embodiments shown herein, but rather will be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An in-vivo imaging catheter, characterized in that, It includes a catheter and a handle disposed at the proximal end of the catheter. The catheter includes a steering section, and the handle includes: A gripping member, with a handle shaft provided at the distal end of the gripping member; A first steering wheel rotatably disposed on the handle shaft. Two first traction wires are provided on the first steering wheel, and the two first traction wires are connected to the steering section to drive the steering section to deflect in a first direction; A second steering wheel rotatably disposed on the handle shaft. Two second traction wires are provided on the second steering wheel, and the two second traction wires are connected to the steering section to drive the steering section to deflect in a second direction; An angle limiting structure, including a steering portion and a limiting portion. The limiting portion is provided on the handle shaft, and the steering portion is provided on the first steering wheel and the second steering wheel and can rotate therewith. The first steering wheel and the second steering wheel can respectively rotate relative to the handle shaft until the steering portion abuts against the limiting portion; The gripping member, the first steering wheel, the second steering wheel and the angle limiting structure are coaxially arranged.

2. The in vivo imaging catheter according to claim 1, wherein The first steering wheel and the second steering wheel are connected to a fixed wheel and can respectively rotate relative to the fixed wheel. The fixed wheel is provided on the handle shaft, and the limiting portion includes a first steering protrusion and a second steering protrusion provided on the fixed wheel; The steering portion includes a first limiting boss provided on the first steering wheel, and the first limiting boss is used to abut against the side wall of the first steering protrusion to limit the rotation angle of the first steering wheel; The steering portion includes a second limiting boss provided on the second steering wheel, and the second limiting boss is used to abut against the side wall of the second steering protrusion to limit the rotation angle of the second steering wheel.

3. The in vivo imaging catheter according to claim 2, wherein The central angle corresponding to the first steering protrusion is 10° to 60°, and the central angle corresponding to the first limiting boss is 10° to 60°; and / or, The central angle corresponding to the second steering protrusion is 10° to 60°, and the central angle corresponding to the second limiting boss is 10° to 60°.

4. The in vivo imaging catheter according to claim 2, wherein A central groove is formed on the handle shaft, and a wire receiving groove communicating with the central groove is provided on the fixed wheel. The first traction wire and the second traction wire are used to enter the central groove from the wire receiving groove and are connected to the distal end of the steering section.

5. The in vivo imaging catheter according to claim 4, wherein, First wire dividing posts and second wire dividing posts are respectively provided at both ends of the fixed wheel. The first traction wire is used to wind around the first wire dividing post and enter the wire receiving groove, and the second traction wire is used to wind around the second wire dividing post and enter the wire receiving groove.

6. The in vivo imaging catheter according to any one of claims 1-5, characterized in that, It further includes a locking assembly, and a limiting member is provided at the distal end of the handle shaft; The locking assembly is provided on the handle shaft and is used to press the first steering wheel and the second steering wheel in the direction of the limiting member to limit the freedom of rotation of the first steering wheel and the second steering wheel.

7. The in-vivo imaging catheter according to claim 6, wherein, The locking assembly includes a locking hub and a locking wheel housing; The locking hub is provided on the handle shaft, and a first wedge-shaped protrusion rising in a spiral manner is provided on the side facing the locking wheel housing; The locking wheel housing is rotatably arranged on the handle shaft, and a second wedge-shaped boss rising in a spiral manner is arranged on the side facing the locking wheel hub. The second wedge-shaped boss is used to rotate and fit with the first wedge-shaped boss to push the locking wheel hub to press the first steering wheel and the second steering wheel in the direction of the limiting member.

8. The in vivo imaging catheter according to claim 7, wherein, A positioning protrusion is arranged on the side of the locking wheel hub facing the locking wheel housing; A concentric groove for the positioning protrusion to be embedded and slide is formed in the locking wheel housing.

9. The in vivo imaging catheter according to claim 8, wherein, The central angle corresponding to the first wedge-shaped boss is a first angle; The central angle corresponding to the second wedge-shaped boss is a second angle; The maximum angle for the positioning protrusion to slide in the concentric groove is a third angle; The first angle is equal to the second angle and greater than the third angle.

10. The in-vivo imaging catheter according to any one of claims 1-5, characterized in that, The holding member includes: A lower housing of the holding member. The handle shaft is arranged at the distal end of the lower housing of the holding member, and a first semi-circular boss for assembly is arranged at the distal end of the lower housing of the holding member; An upper housing of the holding member, which is detachably arranged on the lower housing of the holding member. A second semi-circular boss is arranged at the distal end of the upper housing of the holding member, and the radius of the second semi-circular boss is smaller than that of the first semi-circular boss to facilitate the disassembly of the upper housing of the holding member.

Images