An anchoring device and anchoring system

Abstract

This invention provides a surgical device, specifically an anchoring device, comprising: an anchoring unit, the anchoring unit including an anchoring part and an anchoring base; wherein the anchoring part is used to anchor a first target and a second target, and the side of the anchoring base facing the anchoring part is used to limit the movement of the first target and the second target relative to the anchoring base during the anchoring process, but does not restrict the rotation of the anchoring part relative to the first target and the second target to reduce the gap between the first target and the second target; and a connecting system, the connecting system being detachably connected to the anchoring base of the anchoring unit, and driving the anchoring part to rotate in the connected state.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to an anchoring device and an anchoring system. BACKGROUND

[0002] Abdominal aortic aneurysm (AAA) is a potentially fatal vascular disease, and the mortality rate after rupture is as high as 80%-90%. With the aging of the population and the progress of imaging technology, the detection rate of AAA has been increasing year by year, and endovascular aortic repair (EVAR) has become the preferred method for treating AAA due to its minimally invasive and quick recovery characteristics. However, postoperative complications such as stent migration, endoleak and stent structural failure are still major challenges that affect long-term prognosis. In view of the above challenges, there are schemes in the related art to increase the stability of the stent by adding anchoring parts. However, the existing technology has many problems such as large gap between the peritoneal stent and the blood vessel wall, limited number of attacks and limited depth of the anchoring part, etc., which leads to the consequences that the gap cannot be changed after the anchoring part attacks or even increases when the anchoring part attacks again. In addition, in the related art, the anchoring part is not accurately positioned, and cannot be applied to narrow spaces, which is inconvenient to operate. Therefore, there is an urgent need for a surgical device that can be applied to narrow spaces, accurately position the anchoring position, eliminate the problems of large gap and limited number of attacks in the prior art, and is convenient to operate. SUMMARY

[0003] In order to overcome at least one of the many problems in the related art, the present application provides an anchoring device, which comprises:

[0004] An anchoring unit, the anchoring unit comprises an anchoring part and an anchoring base; wherein the anchoring part is used to anchor a first target and a second target, and the side of the anchoring base facing the anchoring part is used to limit the movement of the first target and the second target relative to the anchoring base during the anchoring process, but does not limit the rotation of the anchoring part relative to the first target and the second target to reduce the gap between the first target and the second target;

[0005] A connection system, which is detachably connected with the anchoring base of the anchoring unit, and drives the rotation of the anchoring part in the connected state.

[0006] In some optional embodiments, the side of the anchoring base away from the anchoring part is provided with a first locking part;

[0007] The connection system comprises a buckle, and the buckle is provided with a second locking part;

[0008] The anchor unit is locked with the connection system when the first locking part is connected with the second locking part; the anchor unit is unlocked from the connection system when the first locking part is separated from the second locking part.

[0009] In some optional embodiments, the buckle comprises a guide part which guides the locking of the first locking part and the second locking part.

[0010] In some optional embodiments, the buckle comprises a stop part which, in the non-unlocked state, abuts against the first locking part to prevent the separation of the first locking part and the second locking part.

[0011] In some optional embodiments, a dissociation wire is further included, and a distal end of the dissociation wire comprises an unlocking part.

[0012] The buckle comprises a first elastic arm and a second elastic arm, and the second locking part is arranged on the first elastic arm and the second elastic arm respectively.

[0013] In the locked state, the first elastic arm and the second elastic arm are located at a first position to lock the first locking part and the second locking part; in the unlocked state, the unlocking part pushes the first elastic arm and the second elastic arm to a second position to separate the first locking part and the second locking part.

[0014] In some optional embodiments, the connection system comprises a guide sleeve which is detachably connected with an anchor base of the anchor unit.

[0015] The guide sleeve comprises a first connecting part, and the anchor base is embedded in the first connecting part, so that the connection system drives the anchor unit to rotate.

[0016] In some optional embodiments, the connection system further comprises an outer sleeve joint, and a distal end of the outer sleeve joint is provided with a plug-in part.

[0017] The outer sleeve joint is sleeved on the dissociation wire, and the plug-in part is embedded in the first connecting part to clamp the buckle between the guide sleeve and the outer sleeve joint.

[0018] In some optional embodiments, the connection system further comprises an outer sleeve, and the dissociation wire is at least partially arranged inside the outer sleeve.

[0019] A distal end of the outer sleeve is connected with the outer sleeve joint, so that the anchor base is driven to rotate by the outer sleeve.

[0020] In some optional embodiments, a safety cap is further included, which is arranged at the proximal end of the anchoring device to restrict the movement of the dissociation wire.

[0021] In some optional embodiments, a dissociation button is further included, which is connected to the proximal end of the dissociation wire, and the safety cap restricts the proximal movement of the dissociation button.

[0022] The present application further provides an anchoring system, which comprises the anchoring device described in any of the preceding embodiments; and further comprises:

[0023] An adjustable bending sheath control system, which comprises an adjustable bending sheath, an extension control subsystem and a bending control subsystem;

[0024] The adjustable bending sheath comprises an inner tube unit and an outer tube, the inner tube unit is arranged inside the outer tube, and the distal end of the inner tube unit partially extends out of the outer tube to form a bending control segment;

[0025] The extension control subsystem is connected to the inner tube unit and controls the movement of the inner tube unit relative to the axis of the outer tube to adjust the extension length of the bending control segment relative to the outer tube;

[0026] The bending control subsystem is connected to the inner tube unit and controls the rotational movement of the distal end of the inner tube unit after the length of the bending control segment is adjusted to the target length, wherein the rotation axis of the rotational movement is perpendicular to the axis of the outer tube;

[0027] The anchoring device is arranged in the inner tube unit, and the distal end is located in the bending control segment; after the distal end of the inner tube unit is rotated to the target angle, the anchoring part anchors the first target and the second target, and narrows the gap between the first target and the second target.

[0028] In some optional embodiments, the inner tube unit comprises a rotary joint, an inner tube and a connecting rod;

[0029] The distal end of the inner tube and the distal end of the connecting rod are both connected to the rotary joint, and the rotary joint can rotate relative to the distal end of the connecting rod to drive the anchoring part to rotate;

[0030] The distal end of the inner tube and the distal end of the connecting rod at least partially extend out of the distal end of the outer tube to form the bending control segment.

[0031] In some optional embodiments, the proximal end of the connecting rod is connected to the extension control subsystem;

[0032] The proximal end of the inner tube is connected to the bending control subsystem;

[0033] The telescopic control subsystem controls the movement of the connecting rod along the axis of the outer tube to adjust the length of the control bend section.

[0034] The control bend control subsystem adjusts the relative position between the inner tube and the connecting rod to adjust the rotation angle of the rotary joint.

[0035] In some optional embodiments, the telescopic control subsystem comprises a telescopic knob and a telescopic housing, and the telescopic knob and the telescopic housing are threadedly connected.

[0036] The proximal end of the connecting rod is connected to the telescopic housing.

[0037] In some optional embodiments, the control bend control subsystem comprises a control bend knob and a control bend slider, and the control bend knob and the control bend slider are threadedly connected.

[0038] The proximal end of the inner tube is connected to the control bend slider.

[0039] The technical scheme of the present application has the following advantages or beneficial effects:

[0040] (1) In some embodiments of the present application, the side of the anchoring base facing the anchoring part is used to limit the movement of the first target and the second target relative to the anchoring base during anchoring, but does not limit the rotation of the anchoring part relative to the first target and the second target to reduce the gap between the first target and the second target. The operator can drive the anchoring part to rotate in one direction through the connecting system, which can realize the approach of the first target and the second target and the reduction of the gap between them, greatly reducing the operation difficulty.

[0041] (2) The buckle of some embodiments of the present application comprises a stop portion, which abuts against the first locking portion in the non-unlocking state to prevent the first locking portion and the second locking portion from separating, thereby avoiding the problem of separation of the anchoring part and the connecting system under abnormal external force, and improving the safety of the instrument at low cost.

[0042] (3) The distal end of the dissociation wire of some embodiments of the present application comprises an unlocking portion; by controlling the movement of the dissociation wire to adjust the relative position of the unlocking portion and the first elastic arm and the second elastic arm, the relative position between the first elastic arm and the second elastic arm is controllable, which simplifies and efficiently controls the locking and unlocking between the first locking portion and the second locking portion, greatly reducing the learning cost and operation difficulty of the operator.

[0043] (4) In some embodiments of the present application, the anchoring system comprises two parts, an adjustable bending sheath control system and an anchoring device. The bending control section of the adjustable bending sheath control system can be accurately positioned at the target location under the adjustment of the telescopic control subsystem, and then the distal end of the inner tube unit is rotated perpendicularly to the axis of the outer tube to accurately point to the target anchoring point through the bending control subsystem, and then the anchoring part is controlled to anchor, thereby achieving accurate control of the anchoring position. It is particularly advantageous that the first target and the second target can be continuously driven towards the proximal end of the anchoring part during the rotation of the anchoring part, thereby reducing or eliminating the gap between the first target and the second target, reducing or eliminating the inner leakage, stent displacement and other purposes.

[0044] (5) In some embodiments of the present application, the inner tube unit comprises a rotary joint, an inner tube and a connecting rod. The distal end of the inner tube and the distal end of the connecting rod are connected with the rotary joint, and the rotary joint can rotate relative to the distal end of the connecting rod. Therefore, the telescopic length of the bending control section is adjusted by using the non-stretching deformation characteristics of the connecting rod, and the telescopic length of the inner tube is changed to rotate the rotary joint at the target position by using the supporting effect of the connecting rod, thereby achieving accurate control of the bending support of the distal end of the inner tube unit. Finally, the anchoring device can accurately anchor the target position.

[0045] (6) In some embodiments of the present application, the proximal end of the connecting rod is connected with the telescopic control subsystem, and the proximal end of the inner tube is connected with the bending control subsystem. First, the telescopic control subsystem is used to control the movement of the connecting rod along the axis of the outer tube to accurately adjust the length of the bending control section. Then, the relative position between the inner tube and the connecting rod is adjusted by using the bending control subsystem to adjust the rotation angle and the bending height of the rotary joint. That is, the positioning of the anchoring position is achieved in two steps. The first step is to determine the bending height by the telescopic length of the connecting rod, and the second step is to accurately position the anchoring angle by the rotation angle of the rotary joint. BRIEF DESCRIPTION OF DRAWINGS

[0046] The accompanying drawings are used to better understand the present application and do not constitute an improper limitation on the present application. Among them:

[0047] Figure 1 is an exploded schematic view of the anchoring system according to an embodiment of the present application;

[0048] Figure 2 is an assembly schematic view of the anchoring system according to an embodiment of the present application;

[0049] Figure 3 is a schematic view of the working state of the anchoring system according to an embodiment of the present application;

[0050] Figure 4 is a first local enlarged schematic view of the working state;

[0051] Figure 5 is a second partial enlarged view of the working state;

[0052] Figure 6 is a third partial enlarged view of the working state;

[0053] Figure 7 is a schematic view of an adjustable bending sheath control system according to an embodiment of the present application;

[0054] Figure 8 is a sectional view of an adjustable bending sheath control system according to an embodiment of the present application;

[0055] Figure 9 is an axial view of an adjustable bending sheath control system according to an embodiment of the present application;

[0056] Figure 10 is a partial enlarged view of an adjustable bending sheath control system according to an embodiment of the present application;

[0057] Figure 11 is a bending adjustment view of an adjustable bending sheath control system according to an embodiment of the present application;

[0058] Figure 12 is a sectional view of a bending adjustment state of an adjustable bending sheath control system according to an embodiment of the present application;

[0059] Figure 13 is an exploded view of an adjustable bending sheath control system according to an embodiment of the present application;

[0060] Figure 14 is a schematic view of an anchoring device according to an embodiment of the present application;

[0061] Figure 15 is a partial enlarged view of an anchoring device according to an embodiment of the present application;

[0062] Figure 16 is a sectional view of an anchoring device according to an embodiment of the present application;

[0063] Figure 17 is a first sectional view of a distal portion of an anchoring device according to an embodiment of the present application;

[0064] Figure 18 is a second sectional view of a distal portion of an anchoring device according to an embodiment of the present application;

[0065] Figure 19 is an exploded view of a distal portion of an anchoring device according to an embodiment of the present application;

[0066] Figure 20 is an assembly view of a distal portion of an anchoring device according to an embodiment of the present application;

[0067] Figure 21 is a partial exploded view of a connection system according to an embodiment of the application. DETAILED DESCRIPTION

[0068] The exemplary embodiments of this application are described herein making reference to various figures. The embodiments of the application are illustrated by way of example and not limitation in the figures of the accompanying drawings in which like references indicate similar elements. The following detailed description is presented in connection with the appended drawings. It should be noted that the figures are not drawn to scale and that elements that are known to have the same or similar function are designated with the same reference numerals.

[0069] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting. As used in this application, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0070] It should be understood that, although the terms first, second, third, etc. can be used herein to describe various information, the information should not be limited to these terms. These terms are used only to distinguish one from another information. For example, a first information could be termed a second information, and, similarly, a second information could be termed a first information, without departing from the scope of the present application. As used herein, the term "if' can be construed to mean "when" or "upon" or "in response to determining" depending on the context.

[0071] As can be seen from the description of the background art section, the operation of the anchor device in the related art is complicated, the positioning accuracy is poor, and after the anchor is attacked, the gap between the peritoneal stent and the blood vessel cannot be reduced, and even when it is attacked again, the gap will increase, that is, there are always many problems. To this end, the present application provides an anchor system, which comprises: an adjustable bending sheath control system and an anchor device. Wherein, the adjustable bending sheath control system comprises an adjustable bending sheath tube, a telescopic control subsystem and a bending control subsystem. The adjustable bending sheath tube comprises an inner tube unit and an outer tube, the inner tube unit is arranged inside the outer tube, and the distal end of the inner tube unit partially extends out of the outer tube to form a bending control section. The telescopic control subsystem is connected with the inner tube unit and controls the movement of the inner tube unit relative to the axis of the outer tube to adjust the extension length of the bending control section relative to the outer tube. The bending control subsystem is connected with the inner tube unit and controls the rotational movement of the distal end of the inner tube unit after the length of the bending control section is adjusted to the target length, wherein the rotation axis of the rotational movement is perpendicular to the axis of the outer tube. The anchor device is sleeved in the inner tube unit, and the distal end is located in the bending control section. The anchor unit of the anchor device comprises an anchor part, which anchors the first target and the second target and reduces the gap between the first target and the second target after the distal end of the inner tube unit is rotated to the target angle.

[0072] As Figure 1 and 2 shown in the embodiments, the anchor system body comprises two parts of the adjustable bending sheath control system 1002 and the anchor device 1001. Figure 1 The schematic diagram of the adjustable bending sheath control system 1002 and the anchor device 1001 is shown when they are not assembled; Figure 2 The schematic diagram of the adjustable bending sheath control system 1002 and the anchor device 1001 is shown when they are assembled. From Figure 2 it can be seen that when assembled, the anchor device 1001 penetrates from the proximal end of the adjustable bending sheath control system 1002 and extends to the distal end.

[0073] Referring to Figures 7 to 13 , the adjustable bending sheath control system comprises an adjustable bending sheath tube, a telescopic control subsystem and a bending control subsystem. The adjustable bending sheath tube comprises an inner tube unit and an outer tube 2002. The outer tube is a hollow tube body, and the inner tube unit is arranged inside the hollow cavity of the outer tube and can be controllably moved in the hollow cavity. As Figures 8 to 10 shown, the distal end of the inner tube unit partially extends out of the outer tube to form a bending control section 2010. As Figure 10As shown, the bending control section 2010 can include a rotary joint 2004, an inner tube 2001 and a connecting rod 2003. In the working state, the bending control section 2010 can extend out of the outer tube. In the working state, only the distal end of the inner tube 2001 and the connecting rod 2003 extend out of the distal end of the outer tube. As shown in the figure, Figure 8 As shown, the bending control section is adjacent to a main section 2011.

[0074] A telescopic control subsystem is located at the proximal end of the anchoring system, forming a handle control part. The operator adjusts the extension length of the bending control section by operating the telescopic control subsystem at the proximal end. Specifically, as shown in the figure, Figure 8 and 13 As shown, the telescopic control subsystem is connected to the proximal end of the connecting rod and controls the movement of the inner tube unit relative to the axis of the outer tube through the corresponding control components on the handle to adjust the extension length of the bending control section relative to the outer tube. In practice, the components to be delivered, such as the anchoring device, are arranged in the inner tube unit, and by adjusting the extension length of the bending control section, the support of the bending control section can be improved to accurately attack the anchoring device to the target position. Since the position of the bending control subsystem can be adjusted forward or backward by operating the handle, the operator can accurately adjust the position of the bending control section according to the needs during use, greatly reducing the difficulty of the operator.

[0075] A bending control subsystem is connected to the inner tube unit and controls the distal end of the inner tube unit to rotate after the length of the bending control section is adjusted to the target length, so that the distal end of the inner tube unit points to the target position. The rotation axis of the rotation is perpendicular to the axis of the outer tube. As shown in the figure, Figure 11 and 12 As shown, the distal end of the bending control section rotates around an axis perpendicular to the paper, and the axis of the outer tube extends in the direction parallel to the paper, so the rotation axis of the distal end is perpendicular to the extension axis of the outer tube. Since the bending control section only rotates partially at the distal end, the distal end of the bending control section can be accurately pointed to the target position, improving the positioning accuracy, and finally enabling the anchoring device to be accurately anchored to the desired target point.

[0076] An anchoring device is arranged in the inner tube unit and the distal end is located in the bending control section. The anchoring unit of the anchoring device includes an anchoring part, which anchors a first target and a second target and narrows the gap between the first target and the second target after the distal end of the inner tube unit is rotated to the target angle. Figure 3The schematic diagram shows the working state of the anchoring system, wherein the anchoring system enters through the channel established by the puncture sheath 1005 and reaches the target position with the assistance of the imaging device, i.e. the aneurysm 1003 where the peritoneal stent 1004 is arranged. Figure 4 The schematic diagram shows the working state of the anchoring system, wherein the anchoring system enters through the channel established by the puncture sheath 1005 and reaches the target position with the assistance of the imaging device, i.e. the aneurysm 1003 where the peritoneal stent 1004 is arranged. Figure 3 The local enlarged view at 1007 shows the anchoring device for anchoring the peritoneal stent 1004 and the target blood vessel 10031. In actual operation, after reaching the target position, the bending shape of the control bending section is adjusted so that the distal end thereof is perpendicular to one side of the peritoneal stent wall and the control bending section abuts against the other side of the peritoneal stent wall, thereby providing a good support force to the peritoneal stent and the blood vessel. Then, the corresponding control unit is operated to rotate the anchoring part 3001 into the blood vessel wall for fixation. The anchoring part 3001 can rotate in situ, thereby driving both the first target (i.e. the peritoneal stent) and the second target (i.e. the blood vessel) away from the proximal end of the anchoring part, thereby reducing the gap between the first target and the second target and reducing or eliminating the problems of endoleak, stent displacement, etc. After anchoring is completed, the anchoring part can be released, and the anchoring process can be repeated to implant the required number of anchoring parts. Figure 5 The anchoring part can be released, and the anchoring process can be repeated to implant the required number of anchoring parts. Figure 6 Three anchoring parts are shown in the figure, which do not constitute a limitation to the protection scope of the present application. In practice, the number of anchoring parts can be reasonably selected according to the requirements.

[0077] As can be seen from the above description, the anchoring system of the present application comprises two parts, i.e. the adjustable bending sheath control system and the anchoring device. The control bending section of the adjustable bending sheath control system can accurately reach the target position under the adjustment of the telescopic control subsystem, and then the distal end of the inner tube unit is rotated perpendicularly relative to the axis of the outer tube to accurately point to the target anchoring point through the control of the control bending control subsystem, and then the anchoring part is controlled to anchor, thereby realizing the accurate control of the anchoring position. It is particularly advantageous that the anchoring part can drive both the first target and the second target away from the proximal end of the anchoring part during the rotation process, thereby realizing the reduction of the gap between the first target and the second target and the purposes of reducing or eliminating the problems of endoleak, stent displacement, etc.

[0078] In some optional embodiments, the inner tube unit comprises a rotary joint, an inner tube and a connecting rod; the distal end of the inner tube and the distal end of the connecting rod are connected with the rotary joint, and the rotary joint can rotate relative to the distal end of the connecting rod to drive the anchoring part to rotate; the distal end of the inner tube and the distal end of the connecting rod at least partially extend from the distal end of the outer tube to form the control bending section. Referring to Figure 9 and Figure 10 wherein Figure 10 is Figure 9 The enlarged view of the local part 4001 is shown in the figure. As Figure 10As shown, the proximal end of the rotary joint 2004 is connected with the inner tube 2001 and the connecting rod 2003 respectively. The rotary joint and the inner tube are both hollow tubes and can allow the distal end of the anchoring device to pass through. The rotary joint and the inner tube are coaxially fixedly connected. The rotary joint and the connecting rod are rotatably connected, so that under the action of external force, the rotary joint can rotate around the rotating connection point, i.e., the rotary joint can rotate relative to the distal end of the connecting rod. In some embodiments, the connecting rod is not stretchable and deformable, thereby improving the position control accuracy of the rotary joint. Preferably, the connecting rod is provided in at least one, for example, one, two, or more, to improve the rotation control accuracy and position adjustment accuracy of the rotary joint.

[0079] In some optional embodiments, the proximal end of the connecting rod is connected with the telescopic control subsystem, and the proximal end of the inner tube is connected with the bending control subsystem. The telescopic control subsystem controls the connecting rod to move along the axis of the outer tube to adjust the length of the bending control section. The bending control subsystem adjusts the relative position between the inner tube and the connecting rod to adjust the rotation angle of the rotary joint. As shown in Figure 12 and 13 As shown, the proximal end of the outer tube 2002 is fixedly connected with the outer tube mounting seat, and the outer tube mounting seat is arranged in the main housing 2006, so that the outer tube 2002 is not adjustable. The proximal end of the connecting rod is connected with the telescopic control subsystem, specifically connected with the telescopic housing 2014, which can be controlled to move along the axis of the outer tube. Since the distal end of the connecting rod and the distal end of the inner tube are both connected with the rotary joint, when the connecting rod is adjusted to move along the axis of the outer tube, the rotary joint and the inner tube move with the movement of the connecting rod. The proximal end of the inner tube is connected with the bending control subsystem, specifically connected with the bending slider 2013. The telescopic control subsystem controls the connecting rod to move along the axis of the outer tube to adjust the length of the bending control section, so that the distal end of the bending control section reaches the target position. The bending control subsystem adjusts the relative position between the inner tube and the connecting rod to adjust the rotation angle of the rotary joint. Specifically, when the bending control section is adjusted to the position, the distal end of the connecting rod will be fixed, at this time, by adjusting the movement of the bending slider 2013 to drive the movement of the inner tube, the relative displacement between the inner tube and the connecting rod can be changed. As shown in Figure 12As shown, when the bending control slider moves along the axis of the outer tube to the distal end, the distal end of the inner tube is fixed relative to the rotary joint, and the inner tube is squeezed, the part of the inner tube located in the bending control section under the constraint of the outer tube will be bulged (i.e. the part of the inner tube located outside the outer tube is bent and deformed), thereby driving the rotary joint to rotate around the distal end connection point of the connecting rod and pointing to the target position. The angle of the rotary joint can be adjusted by adjusting the movement amount of the inner tube. Therefore, by precisely controlling the position of the bending control slider, the rotation angle of the rotary joint can be precisely controlled, and thus the anchoring position and angle of the anchoring device can be precisely controlled.

[0080] In some optional embodiments, the telescopic control subsystem includes a telescopic knob and a telescopic housing, and the telescopic knob and the telescopic housing are threadedly connected; the proximal end of the connecting rod is connected to the telescopic housing. As shown, Figure 13 As shown, the telescopic control subsystem at the proximal end of the anchoring system includes a telescopic knob 2007 and a telescopic housing 2014. The telescopic housing 2014 is arranged in the main housing 2006, and the telescopic knob 2007 is sleeved outside the main housing. The telescopic knob and the telescopic housing are threadedly connected, and when the telescopic knob is rotated, the telescopic knob will rotate relative to the main housing, and under the thread transmission, the telescopic housing will move along the axis of the outer tube relative to the main housing. Since the proximal end of the connecting rod is connected to the telescopic housing, when the telescopic knob is rotated, the connecting rod will move with the telescopic housing; thereby changing the extension length of the bending control section. Since the displacement caused by the screwing is small, the precise adjustment of the length of the bending control section can be realized by setting a suitable pitch.

[0081] In some optional embodiments, the bending control subsystem includes a bending knob and a bending slider, and the bending knob and the bending slider are threadedly connected; the proximal end of the inner tube is connected to the bending slider. As shown, Figure 13 As shown, the bending control subsystem includes a bending knob 2008 and a bending slider 2013, and the bending knob and the bending slider are threadedly connected. The bending knob is sleeved at the proximal end of the telescopic housing, and the bending slider slides along the first guide groove on the telescopic housing. When the bending knob is rotated, the control slider will move along the telescopic housing. Since the proximal end of the inner tube is connected to the bending slider, when the bending slider moves, it will guide the inner tube to move along the axis of the outer tube, and finally cause the part of the inner tube located in the bending control section to be bulged and guide the rotary joint to rotate. Since the displacement caused by the screwing is small, the precise adjustment of the rotation angle of the rotary joint can be realized by the above-mentioned thread cooperation.

[0082] In some optional embodiments, the telescopic housing is provided with a first guide groove 2015, and the bending control slider is provided with a first guide protrusion 2016, the first guide protrusion and the first guide groove are in sliding fit, so that the bending control slider only moves in translation. Figure 13 As shown in the drawings, the first guide protrusion and the first guide groove can be provided with two groups respectively to improve the movement stability of the bending control slider. Preferably, the outer wall surface of the first guide protrusion 2016 is provided with a threaded portion to cooperate with the bending knob.

[0083] In some optional embodiments, as shown in the drawings, Figure 8 and 13 The main housing is provided with a second guide groove 2017, and the telescopic housing is provided with a second guide protrusion 2012, the telescopic housing is arranged in the main housing, and the second guide protrusion protrudes out of the second guide groove 2017 and is in sliding fit with the second guide groove, so that the telescopic housing only moves in translation. Preferably, the second guide protrusion and the second guide groove can be provided with two groups respectively to improve the movement stability of the telescopic housing. Preferably, the outer wall surface of the second guide protrusion is provided with a threaded portion to cooperate with the telescopic knob.

[0084] In some optional embodiments, an outer tube mounting seat 2201 is further included, the outer tube mounting seat is arranged in the main housing and connected with the proximal end of the outer tube 2002. The outer tube mounting seat 2201 is fixedly arranged in the main housing. The distal end of the main housing is provided with a front end cover 2005 to close the distal end of the main housing.

[0085] In some optional embodiments, as shown in the drawings, Figures 14 to 21In the described embodiment, the anchoring unit includes an anchoring part 3001 and an anchoring base 3008, which are non-detachably connected, such as by welding. The anchoring part is used to anchor the first target and the second target. Preferably, the anchoring part is in a helical anchoring configuration. During rotation along a first direction, the helical anchoring configuration forces the anchored component to move closer to the proximal end of the anchoring part; while during rotation along a second direction opposite to the first direction, it forces the anchored component to move away from the proximal end of the anchoring part. Therefore, when the anchoring part is continuously rotated in the first direction, multiple anchored target parts will move synchronously towards their proximal ends. During continuous rotation in the second direction, the anchoring relationship between the anchoring part and the target parts can be released, allowing the operator to restart anchoring. The side of the anchoring base facing the anchoring part is used to limit the movement of the first and second targets relative to the anchoring base during anchoring, but does not restrict the rotation of the anchoring part relative to the first and second targets to reduce the gap between them. Under the limiting action of the anchoring base, the first and second targets, having reached their proximal extreme positions of the anchoring portion, will be limited by the anchoring base and will no longer move with the rotation of the anchoring portion. That is, through the limiting action of the anchoring base, the first and second targets move with the rotation of the anchoring portion and ultimately both reach the proximal end of the anchoring portion and are limited, thereby bringing the first and second targets closer together, even to a point of contact, to reduce or eliminate problems such as internal leakage and support displacement. Furthermore, a connecting system is included, which is detachably connected to the anchoring base of the anchoring unit and drives the anchoring portion to rotate in the connected state. Figure 15 As shown, the connection system may include components such as a snap fastener 3005, a guide sleeve 3004, an outer tube connector 3003, and an outer tube 3002. The system composed of these components is detachably connected to the anchoring base. When connected, the operator can drive the anchoring part to rotate at the proximal end, thereby anchoring or releasing the target component. After anchoring, the operator can control the connection system at the proximal end to release the connection with the anchoring base, leaving the anchoring part and anchoring base at the target position, so that the first and second targets are permanently anchored by the anchoring part. Therefore, the operator only needs to drive the anchoring part to rotate in one direction through the connection system to bring the first and second targets closer together and reduce or even eliminate the gap between them, greatly reducing the operational difficulty of the application.

[0086] In some optional embodiments, see Figures 17 to 19 The anchoring base has a first locking portion 4101 on the side away from the anchoring part. In some embodiments, the first locking portion 4101 may be a groove provided at the distal end of the anchoring base. Figure 21As shown, the connecting system comprises a buckle 3005, and the buckle is provided with a second locking part 4102. In some embodiments, the second locking part can be a protrusion, which cooperates with the groove to complete the locking, and when the cooperation is removed, the unlocking is completed. Preferably, when the first locking part cooperates with the second locking part, the anchoring unit is locked with the connecting system; when the first locking part is separated from the second locking part, the anchoring unit is unlocked from the connecting system.

[0087] In some optional embodiments, the buckle comprises a guide part 3015, which guides the locking of the first locking part and the second locking part. As shown in Figure 18 As shown, the guide part 3015 is a guide surface, which is inclined to the rotation axis of the anchoring part. During the locking connection, the first locking part 4101 slides along the guide surface, and pushes the second locking part to be elastically expanded and clamped into the first locking part.

[0088] In some optional embodiments, the buckle comprises a stop part 3018, which abuts against the first locking part in the non-unlocking state, and prevents the separation of the first locking part and the second locking part. As shown in Figure 18 As shown, the stop part 3018 is a plane on the proximal surface of the second locking part. The proximal groove of the first locking part is provided with a corresponding plane. The stop part abuts against the plane of the first locking part to prevent the anchoring base from moving distally to be separated from the connecting system. Therefore, the stop part of the buckle can avoid the separation of the anchoring part and the connecting system under abnormal external force, and the cost is low, and the safety of the instrument is improved.

[0089] In some optional embodiments, as shown in Figure 17 and 18 As shown, the anchoring device further comprises a dissociation wire 3010, and the distal end of the dissociation wire comprises an unlocking part 3009. Preferably, the unlocking part 3009 is a ball head part provided on the distal end of the dissociation wire. The outer diameter of the ball head part is greater than the diameter of the dissociation wire. The buckle comprises a first elastic arm 3016 and a second elastic arm 3017, and the second locking part is arranged on the first elastic arm and the second elastic arm, respectively, as shown in Figure 17The first elastic arm and the second elastic arm are in the form of a cantilever beam, and the second locking part is arranged at the free end of the first elastic arm and the second elastic arm, so that the second locking part can be deformed under external force and restore the deformation after the external force is removed. In the locked state, the first elastic arm and the second elastic arm are located at the first position to make the first locking part and the second locking part locked; in the unlocked state, the unlocking part pushes the first elastic arm and the second elastic arm to the second position to make the first locking part and the second locking part separated. Preferably, the inner side of the first elastic arm and the second elastic arm is provided with a tapered slope with a gradually reduced inner diameter towards the proximal end. In the unlocked state, the unlocking part is pulled towards the proximal end by the dissociation wire, the diameter of the unlocking part is larger, and cooperates with the tapered slope to extrude the first elastic arm and the second elastic arm, so that they are away from each other, thereby making the first locking part and the second locking part separated. As can be seen, the relative position between the unlocking part and the first elastic arm and the second elastic arm is adjusted by controlling the movement of the dissociation wire, so that the relative position between the first elastic arm and the second elastic arm is controllable, the locking and unlocking problems between the first locking part and the second locking part are simply and efficiently controlled, and the learning cost and operation difficulty of the operator are greatly reduced.

[0090] In some optional embodiments, as shown in Figure 15 ( Figure 15 is Figure 14 As shown in the enlarged view of the distal end 5000 of the anchoring device and 17, the connecting system includes a guide sleeve 3004, which is detachably connected with the anchoring base of the anchoring unit; the guide sleeve includes a first connecting part, and the anchoring base is embedded in the first connecting part, so that the connecting system drives the anchoring unit to rotate. The first connecting part can be a groove part, and the two sides of the groove part are flat surfaces. Correspondingly, the part of the anchoring base connected with the connecting system includes a protrusion, and the side surface of the protrusion is also a flat surface. Therefore, in the assembled state, after the groove part cooperates with the protrusion, the flat surfaces are in close contact, so that the torque is transmitted through the flat surfaces to drive the anchoring base to rotate the anchoring part.

[0091] In some optional embodiments, as shown in Figure 2 and Figure 13As shown, the anchoring system further comprises a locking mechanism 1006, which is arranged at the proximal end of the adjustable bending control system to fix the anchoring device at the proximal end of the adjustable bending control system. Preferably, the locking mechanism is a locking screw, which is arranged on a rear end cover 2009 at the proximal end of the anchoring system. The rear end cover 2009 is provided with a through hole to allow the anchoring device to pass through, and the locking screw is assembled on the rear end cover perpendicular to the axis of the rear end cover. When the anchoring device is assembled on the rear end cover, the locking screw is screwed into the rear end cover and presses the anchoring device to fix the anchoring device. When the length adjustment of the bending control section and the rotation angle adjustment of the rotary joint are completed, the locking mechanism can be released, and the anchoring device can work to anchor the target.

[0092] Optionally, in some embodiments, the connecting system further comprises an outer sleeve joint 3003, and the distal end of the outer sleeve joint is provided with a plug-in part. The outer sleeve joint is sleeved on the dissociation wire, and the plug-in part is embedded in the first connecting part to hold the buckle between the guide sleeve and the outer sleeve joint. The buckle is fixed by the guide sleeve and the outer sleeve joint.

[0093] Optionally, in some embodiments, as shown in Figure 21 As shown, the connecting system further comprises an outer sleeve 3002, and the dissociation wire 3010 is at least partially arranged inside the outer sleeve. The distal end of the outer sleeve is connected with the outer sleeve joint 3003 to drive the anchoring base to rotate by the outer sleeve.

[0094] Optionally, in some embodiments, as shown in Figure 16 As shown, the connecting system further comprises a safety cap 3006, which is arranged at the proximal end of the anchoring device to constrain the movement of the dissociation wire. The anchoring device further comprises a dissociation button 3007, which is connected with the proximal end of the dissociation wire, and the safety cap constrains the proximal movement of the dissociation button, thereby constraining the movement of the dissociation wire. When the anchoring part completes anchoring, the safety cap can be removed, and the dissociation wire is pulled to move proximally by the dissociation button to release the connection between the connecting system and the anchoring base.

[0095] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art, after considering the specification and practicing the technical solutions disclosed in this application, will readily conceive of other embodiments of this disclosure. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary technical means in the art not disclosed in this disclosure. The specification and embodiments are considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0096] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A anchoring device, comprising: an anchoring unit, the anchoring unit comprising an anchoring part and an anchoring base, wherein the anchoring part is used to anchor a first target and a second target, and the anchoring base is used to limit the movement of the first target and the second target relative to the anchoring base during the anchoring process, but does not limit the rotation of the anchoring part relative to the first target and the second target to reduce the gap between the first target and the second target; a connecting system, the connecting system is detachably connected with the anchoring base of the anchoring unit, and drives the rotation of the anchoring part in the connected state; the anchoring base is provided with a first locking part on the side away from the anchoring part; the connecting system comprises a buckle, and the buckle is provided with a second locking part; when the first locking part and the second locking part are connected, the anchoring unit and the connecting system are locked; when the first locking part and the second locking part are separated, the anchoring unit and the connecting system are unlocked; further comprising a dissociation wire, and the distal end of the dissociation wire comprises an unlocking part; the buckle comprises a first elastic arm and a second elastic arm, and the second locking part is arranged on the first elastic arm and the second elastic arm respectively; in the locked state, the first elastic arm and the second elastic arm are located at a first position to make the first locking part and the second locking part locked; when unlocking, the unlocking part pushes the first elastic arm and the second elastic arm to a second position to make the first locking part and the second locking part separated. 2.The anchoring device according to claim 1, wherein the buckle comprises a guide part, and the guide part guides the locking of the first locking part and the second locking part. 3.The anchoring device according to claim 1, wherein the buckle comprises a stop part, and the stop part abuts against the first locking part in the non-unlocking state to prevent the first locking part and the second locking part from being separated. 4.The anchoring device according to claim 1, wherein the connecting system comprises a guide sleeve, and the guide sleeve is detachably connected with the anchoring base of the anchoring unit; the guide sleeve comprises a first connecting part, and the anchoring base is embedded in the first connecting part to make the connecting system drive the rotation of the anchoring unit. 5.The anchoring device according to claim 4, wherein the connecting system further comprises an outer sleeve joint, and the distal end of the outer sleeve joint is provided with a plug-in part; the outer sleeve joint is sleeved on the dissociation wire, and the plug-in part is embedded in the first connecting part to clamp the buckle between the guide sleeve and the outer sleeve joint. 6.The anchoring device according to claim 5, wherein the connecting system further comprises an outer sleeve, and the dissociation wire is at least partially arranged inside the outer sleeve; the distal end of the outer sleeve is connected with the outer sleeve joint to drive the rotation of the anchoring base through the outer sleeve. 7.The anchoring device according to claim 6, wherein ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ Further comprising a safety cap, the safety cap is provided at the proximal end of the anchoring device to restrict the movement of the dissociation wire.

8. The anchoring device of claim 7, wherein, Further comprising a dissociation button, the dissociation button is connected to the proximal end of the dissociation wire, and the safety cap restricts the proximal movement of the dissociation button.

9. An anchoring system comprising the anchoring device of any one of claims 1-8, wherein: Further comprising: An adjustable bending sheath control system comprising an adjustable bending sheath, a telescopic control subsystem, and a bending control subsystem; The adjustable bending sheath comprises an inner tube unit and an outer tube, the inner tube unit is provided inside the outer tube, and the distal end of the inner tube unit partially extends out of the outer tube to form a bending control segment; The telescopic control subsystem is connected to the inner tube unit and controls the movement of the inner tube unit relative to the axis of the outer tube to adjust the extension length of the bending control segment relative to the outer tube; The bending control subsystem is connected to the inner tube unit and controls the rotational movement of the distal end of the inner tube unit after the length of the bending control segment is adjusted to the target length, wherein the rotation axis of the rotational movement is perpendicular to the axis of the outer tube; The anchoring device is sleeved in the inner tube unit, and the distal end is located in the bending control segment; after the distal end of the inner tube unit is rotated to the target angle, the anchoring part anchors the first target and the second target, and reduces the gap between the first target and the second target.

10. The anchoring system of claim 9, wherein, The inner tube unit comprises a rotary joint, an inner tube, and a connecting rod; The distal end of the inner tube and the distal end of the connecting rod are both connected to the rotary joint, and the rotary joint can rotate relative to the distal end of the connecting rod to drive the rotation of the anchoring part; The distal end of the inner tube and the distal end of the connecting rod at least partially extend out of the distal end of the outer tube to form the bending control segment.

11. The anchoring system of claim 10, wherein, The proximal end of the connecting rod is connected to the telescopic control subsystem; The proximal end of the inner tube is connected to the bending control subsystem; The telescopic control subsystem controls the movement of the connecting rod along the axis of the outer tube to adjust the length of the bending control segment; The bending control subsystem adjusts the relative position between the inner tube and the connecting rod to adjust the rotation angle of the rotary joint.

12. The anchoring system of claim 11, wherein, The telescopic control subsystem comprises a telescopic knob and a telescopic housing, the telescopic knob and the telescopic housing are threadedly connected; The proximal end of the connecting rod is connected to the telescopic housing.

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