Line-driven flexible catheter robot for mitral valve interventional therapy

Abstract

The invention provides a wire-driven flexible catheter robot for mitral valve interventional therapy, comprising: a catheter driving mechanism comprising a bending driving unit and a rotation driving unit; the output end of the bending driving unit comprises two bending joint driving ropes, one bending joint driving rope is in a tensioned state, and the other bending joint driving rope is in a relaxed state; the output end of the rotary driving unit comprises two torsion joint driving ropes, one torsion joint driving rope is in a tensioned state, and the other torsion joint driving rope is in a relaxed state; the adjustable bending guide pipe comprises a guide pipe body, an adjustable bending snake bone pipe rotationally connected with the guide pipe body and a stainless steel cylindrical guide piece located in the guide pipe body, and the two torsion joint driving ropes are jointly fixed to a first section pipe body of the adjustable bending snake bone pipe after being wound around the two sides of the stainless steel cylindrical guide piece; the two bending joint driving ropes penetrate through the catheter body and the adjustable bending snake bone pipe and are fixed to the tail section of pipe body of the adjustable bending snake bone pipe. According to the invention, bending and then far-end torsion can be realized.

Description

Technical Field

[0001] This invention belongs to the technical field of mitral valve treatment devices, and particularly relates to a line-driven flexible catheter robot for mitral valve interventional treatment. Background Technology

[0002] Minimally invasive interventional surgery for mitral valve disease is the mainstream clinical treatment for mitral valve disease. It has the advantages of being less invasive, having a faster recovery, and having fewer postoperative complications. The adjustable catheter is the core interventional device for this surgery. Currently, the industry uses wire-driven technology as the core technical route to achieve catheter posture adjustment and manipulator motion control. This technology is widely used in the design of various interventional catheter robots due to its direct force transmission and simple structural basis.

[0003] These types of surgeries are mostly performed under the guidance of digital subtraction angiography equipment, which has the following drawbacks: most existing catheters can only achieve bidirectional bending in a single plane at the distal end, and their axial torsion requires rotation by proximal operation. However, the slender catheter has low torsional stiffness, and there will be force loss and response lag in the torsion process, which reduces the control accuracy and safety of the catheter. Summary of the Invention

[0004] The purpose of this invention is to provide a wire-driven flexible catheter robot for mitral valve interventional treatment, capable of first bending and then twisting distally. The technical solution adopted is as follows: A wire-driven flexible catheter robot for mitral valve interventional treatment, comprising: The catheter drive mechanism 2 is used to provide bending power and rotational power for the adjustable bendable catheter 5 around its axis. It includes a bending drive unit and a rotation drive unit. The output end of the bending drive unit includes two bending joint drive ropes, one of which is in a taut state and the other is in a relaxed state. The output end of the rotation drive unit includes two torsion joint drive ropes, one of which is in a taut state and the other is in a relaxed state. And an adjustable bendable conduit 5, which includes a conduit body 51, an adjustable bendable snake tube 52 rotatably connected to the conduit body 51, a stainless steel cylindrical guide 55 located inside the conduit body 51, two torsion joint drive ropes are wound around both sides of the stainless steel cylindrical guide 55 and are fixed together at the same position of the first section of the adjustable bendable snake tube 52; two bending joint drive ropes are located on both sides of the axis of the adjustable bendable conduit 5 and both pass through the conduit body 51 and the adjustable bendable snake tube 52 and are fixed to the last section of the adjustable bendable snake tube 52 523. The actuator push rod 411 passes through the conduit drive mechanism 2 and the adjustable bending conduit 5, both of which have through hollow channels.

[0005] Preferably, the bending drive unit further includes: Drive motor 201, coupling 202, ball screw 203, screw nut 204, screw nut fastener 205, front steel shaft 206, linear bearing 207, linear bearing fastener 208, pulley 209, antagonistic tension cable 210; The drive motor 201, coupling 202, and ball screw 203 are arranged coaxially in sequence, and the screw nut 204 is connected to the ball screw 203. A lead screw nut 204 is fixedly connected to a lead screw nut fastener 205; the lead screw nut fastener 205 is inserted through one of the front steel shafts 206. The front end face of the lead screw nut fixing part 205 is fixedly connected to one of the bending joint drive ropes; the front end face of the linear bearing fixing part 208 is fixedly connected to the other bending joint drive rope. The lead screw nut fastener 205 and the linear bearing fastener 208 are connected by an antagonistic pull wire 210 that passes over the pulley 209.

[0006] Preferably, the structure of the rotary drive unit is the same as that of the bending drive unit.

[0007] Preferably, the catheter body 51 includes a metal inner liner, a composite functional layer, a winding and fixing layer, and a heat-shrinkable coating layer arranged radially from the inside to the outside. The composite functional layer contains four independent polytetrafluoroethylene tubes 513 that extend axially. Two bending joint drive ropes and two torsion joint drive ropes are respectively threaded through different polytetrafluoroethylene tubes 513 of the adjustable bending conduit 5.

[0008] Preferably, the adjustable bendable conduit 5 further includes: a stainless steel inner sleeve 53 and a stainless steel outer sleeve 54; Stainless steel inner sleeve 53 is embedded and bonded to the winding and fixing layer, and is glued to the front end face of the heat shrinkable coating layer. The stainless steel outer sleeve 54 is embedded and bonded to the stainless steel inner sleeve 53, and it is clearance-fitted with the first section of the pipe body 521.

[0009] Preferably, it further includes an operator drive mechanism 4, which includes: a drive motor 401, a coupling 402, a ball screw 403, a screw nut 404, a screw nut fixing part 405, a linear bearing fixing part 406, a pulley 407, and an antagonistic tension wire 408. The drive motor 401, coupling 402, and ball screw 403 are arranged coaxially in sequence, and the screw nut 404 is connected to the ball screw 403. The lead screw nut 404 is fixedly connected to the lead screw nut fixing part 405, and the lead screw nut fixing part 405 is inserted through one of the rear steel shafts 413. Linear bearing fixing component 406 is inserted through the other two rear steel shafts 413 and moves linearly under the drive of antagonistic tension wire 408; The lead screw nut fixing part 405 and the linear bearing fixing part 406 are connected by the antagonistic pull wire 408 that passes around the pulley 407; The first actuator drive rope 409 and the second actuator drive rope 410 pass through the actuator push rod 411 and are connected to the actuator.

[0010] The core of this invention is: The adjustable bending guide tube achieves precise control of the combined degrees of freedom of bending and rotation around the axis by driving the antagonistic wire with a motor, thus eliminating the loss of rotational power transmission. Remote control operation enables remote control, and the catheter control offers high precision and stability. Adjustable bendable catheters are manufactured using standard medical materials and simple process design.

[0011] This invention significantly improves the precision of catheter operation control, breaks through the bottlenecks of traditional catheters in terms of degree of freedom and transmission loss, significantly reduces the cost of catheter manufacturing, and solves the problem of radiation exposure for doctors. The design and manufacturing process of each core component and catheter have been verified, demonstrating high practicality and technological maturity.

[0012] Compared with the prior art, the advantages of the present invention are: 1. The torsional degree of freedom of the catheter is set at the distal end, and the torsion at the distal end is driven by the drive rope, which effectively avoids the transmission loss caused by the torsion at the proximal end of the catheter and achieves higher control accuracy.

[0013] 3. By using a motor in conjunction with a ball screw and antagonistic tension wire, the displacement control accuracy of the end of the conduit can be less than 1mm, with small error. At the same time, the self-locking of the screw mechanism can ensure the stability of the end position.

[0014] 4. The catheter body adopts a four-layer composite structure design, including a metal inner liner, a composite functional layer, a winding and fixing layer, and a heat-shrinkable coating layer, which can maintain high stability in the clinical environment. The layer components are made of stainless steel springs, polytetrafluoroethylene tubes, nickel-titanium alloy wires, silicone, PE wires, and PE heat-shrinkable tubing. The manufacturing process only includes winding and fixing, heat shrinking, and threading, which is simple and has low material and manufacturing costs.

[0015] 5. Each part can be controlled remotely, so doctors do not need to be close to the operating table and radiation source, effectively reducing X-ray radiation exposure and lowering the risk of occupational injury caused by radiation. Attached Figure Description

[0016] Figure 1 A schematic diagram of the overall structure of a line-driven flexible catheter robot used for mitral valve interventional treatment; Figure 2 This is a schematic diagram of the adjustable base structure; Figure 3 This is a schematic diagram of the catheter drive mechanism; Figure 4 Side view of the catheter drive mechanism; Figure 5 This is a schematic diagram of a linear feed drive mechanism; Figure 6 This is a schematic diagram of the manipulator drive mechanism; Figure 7 This is a schematic diagram of an adjustable bend conduit structure; Figure 8 This is a schematic diagram of the radial cross-section of the main body of the catheter; Figure 9 This is a schematic cross-sectional view of the connection between the main body of the catheter and the adjustable bend serpentine tube. Figure 10 Schematic diagram of the adjustable curved snake-bone tube rotation drive structure; Figure 11 This is a schematic diagram of an adjustable bendable serpentine tube structure. Figure 12 A diagram showing the positional relationship between the four drive ropes, the manipulator push rod, and the adjustable bend guide tube; Figure 13 for Figure 12 A magnified view of a portion of the image; Figure 14 This diagram shows the positional relationship between the four drive ropes and the adjustable bending guide tube. Figure 15 This diagram shows the positional relationship between the two actuator drive ropes and the actuator push rod. Figure 16 for Figure 15 A magnified view of a portion of the image; Figure 17 Spatial distribution diagram of bending joint drive rope one and bending joint drive rope two; Figure 18 for Figure 17 A magnified view of a portion of the image; Figure 19 A perspective view of the lead screw and nut fastener 1; Figure 20 This is a three-dimensional view of the intermediate tube. Figure 21 This diagram shows the positional relationship between the two actuator drive ropes and the actuator push rod. Figure 22 This diagram shows the positional relationship between the stainless steel inner sleeve, stainless steel outer sleeve, silicone filler strip, and the first section of the pipe. Figure 23 A diagram showing the positional relationship between the manipulator, manipulator push rod, manipulator drive rope one, manipulator drive rope two, and adjustable curved snake tube. Figure 24 Diagram showing the connection relationship between rod nut fixing component one and bending joint drive rope two; Figures 25-26 This is a diagram showing the position of the second locking knob; Figure 27 This is a diagram showing the position of the pitch lock slider.

[0017] 1. Adjustable base 101. Base platform; 102. Hinge support; 103. Slide rail base; 104. Support arm; 105. Locking knob one; 106. Slide rail; 107. Slider; 108. Locking knob two; 109. Fixing plate; 110. Conduit support; 111. Pitch locking slider; 112. Push locking slider. 2. Catheter drive mechanism, 201. Drive motor 1; 202. Coupling 1; 203. Ball screw 1; 204. Screw nut 1; 205. Screw nut fixing part 1; 206. Front steel shaft; 207. Linear bearing; 208. Linear bearing fixing part 1; 209. Pulley 1; 210. Antagonistic tension cable 1; 211. Bending joint drive rope 1; 212. Bending joint drive rope 2. 213. Drive motor II; 214. Coupling II; 215. Ball screw II; 216. Screw nut II; 217. Screw nut fixing part II; 218. Linear bearing fixing part II; 219. Pulley II; 220. Antagonistic tension cable II; 221. Torsional joint drive rope I; 222. Torsional joint drive rope II; 223. Conduit fixing seat; 224. Initialization limit switch; 3. Linear feed drive mechanism, 301. Drive motor three; 302. Coupling three; 303. Ball screw three; 304. Screw nut three; 305. Screw nut fixing part three; 306. Linear slide rail; 307. Linear slider. 4. Operator drive mechanism, 401. Drive motor four; 402. Coupling four; 403. Ball screw four; 404. Screw nut four; 405. Screw nut fixing part four; 406. Linear bearing fixing part four; 407. Pulley three; 408. Antagonistic tension cable three; 409. Operator drive rope one; 410. Operator drive rope two; 411. Operator push rod; 412. Base plate; 413. Rear steel shaft. 5. Adjustable bendable conduit, 51. Conduit body; 511. Stainless steel spring; 512. Nickel-titanium alloy wire; 513. PTFE tubing; 514. Silicone filler strip; 515. PE thread; 516. Heat shrink tubing. 52. Adjustable bendable serpentine tube; 521. First tube section; 522. Middle tube section; 523. Last tube section; 524. Hinge buckle structure; 525. Drive rope guide groove; 526. Drive rope positioning groove. 53. Stainless steel inner sleeve; 54. Stainless steel outer sleeve; 55. Stainless steel cylindrical guide component. 6. Sliding base plate, 7. Motor controller, 8. Remote control handle. Detailed Implementation

[0018] The following is a more detailed description of the wire-driven flexible catheter robot for mitral valve interventional treatment according to the present invention, with reference to schematic diagrams illustrating preferred embodiments of the invention. It should be understood that those skilled in the art can modify the invention described herein while still achieving its advantageous effects. Therefore, the following description should be understood as being of general knowledge to those skilled in the art and is not intended to limit the invention.

[0019] Definitions: Remote end: The end furthest from the operator.

[0020] Front: The side furthest from the operator.

[0021] PE: High molecular weight polyethylene.

[0022] like Figures 1-27 A line-driven flexible catheter robot for mitral valve interventional treatment includes: an adjustable base 1, a catheter drive mechanism 2, a linear feed drive mechanism 3, an operator drive mechanism 4, an adjustable bending catheter 5, a sliding base plate 6, a motor controller 7, and a remote control handle 8.

[0023] like Figure 1 As shown, a sliding base plate 6 is fixedly installed on the adjustable base 1; the guide tube drive mechanism 2, the linear feed drive mechanism 3, and the operator drive mechanism 4 are all integrated on the base plate. The catheter drive mechanism 2 is arranged on the sliding base plate 6. Its output end (bending joint drive rope 1 211, bending joint drive rope 2 212, torsion joint drive rope 1 221, torsion joint drive rope 2 222) passes through the proximal end of the adjustable bending catheter 5 into the corresponding drive rope channel (polytetrafluoroethylene tube 513), providing the catheter with two degrees of freedom of bending and rotation around the axis. The linear feed drive mechanism 3 and the manipulator drive mechanism 4 are arranged sequentially behind the guide tube drive mechanism 2 and are fixedly connected; the linear feed drive mechanism 3 realizes the linear advance of the manipulator push rod 411, and the manipulator drive mechanism 4 is used to perform the action drive.

[0024] Both the conduit drive mechanism 2 and the adjustable bend conduit 5 have through hollow channels inside, and the operator push rod 411 passes through the above channels to realize the coaxial linkage between the operator and each drive mechanism. The proximal end of the actuator push rod 411 is connected to the actuator drive mechanism 4, and the distal end extends into an adjustable bendable guide tube 5.

[0025] The operator is connected to operator drive rope 1 409 and operator drive rope 2 410; the operator is located outside the adjustable bend conduit 5, that is, at the front end of the adjustable bend conduit 5, such as... Figure 23 As shown.

[0026] Operator drive rope one 409 and operator drive rope two 410 extend from inside the operator push rod 411 to connect to the operator, such as Figure 23 As shown.

[0027] This invention enables remote control of each drive mechanism, and its overall structure is simple to manufacture and has high control precision, making it suitable for the clinical needs of mitral valve interventional surgery.

[0028] The specific descriptions of each institution are as follows: The adjustable base 1 includes: a base platform 101, a hinge support 102, a slide rail base 103, a support arm 104, a locking knob 105, a slide rail 106, a slider 107, a locking knob 2 108, a fixing plate 109, a guide tube support 110, and a pitch locking slider 111.

[0029] like Figure 27 As shown, the pitch locking slider 111 is U-shaped, which is fitted into the groove of the base platform 101 and can slide. Its open end faces upward. The locking knob 105 is threadedly connected to one support arm 104 and locked to the other support arm 104 by fasteners. The locking knob 105 passes through the light hole on the pitch locking slider 111.

[0030] The pitch locking slider 111 achieves pitch angle locking via locking knob 105.

[0031] The slide rail 106 is fixed to the slide rail base 103. The slider 107 slides with the slide rail 106 and is fixed to the fixing plate 109. The locking knob 108 locks the initial push displacement. like Figures 25-26 As shown, the push-lock slider 112 is located in the limiting groove on the slider 107. The locking knob 108 passes through the push-lock slider 112 and is threadedly engaged with the push-lock slider 112. When the locking knob 108 is tightened, the push-lock slider 112 presses against the side wall of the slide rail 106, thereby achieving locking.

[0032] Locking knob 2 108 passes through slider 107 and can rotate on slider 107.

[0033] The conduit support 110 is fixed to the front end of the fixing plate 109, which assists in supporting the adjustable conduit 5 and ensuring its coaxiality.

[0034] The fixed plate 109 is fixed to the guide tube support 110 by two bolts, the fixed plate 109 is fixed to the slide rail base 103 by two bolts, and the fixed plate 109 and the hinge support 102 form a rotating pair by a pin.

[0035] like Figures 3-4 As shown, the catheter driving mechanism 2 includes: a bending driving unit, a rotation driving unit, a hollow channel, and a catheter fixing seat 223.

[0036] The hollow channel is located in the middle of the duct drive mechanism 2, with both its proximal and distal ends open to allow the manipulator push rod 411 to pass through; The bending drive unit and the rotation drive unit have the same structure and are arranged in parallel. Both are antagonistic wire drive units.

[0037] The structure of the bending drive unit is described as an example.

[0038] The bending drive unit includes: a drive motor 201, a coupling 202, a ball screw 203, a screw nut 204, a screw nut fixing part 205, a front steel shaft 206, a linear bearing 207, a linear bearing fixing part 208, a pulley 209, an antagonistic tension cable 210, a bending joint drive rope 211, and a bending joint drive rope 212.

[0039] The drive motor 201, coupling 202, and ball screw 203 are arranged coaxially in sequence, and the screw nut 204 is connected to the ball screw 203. The screw nut 204 and the ball screw 203 form a ball screw pair.

[0040] A lead screw nut 204 is fixedly connected to a lead screw nut fixing part 205; the lead screw nut fixing part 205 is inserted on one of the front steel shafts 206 and is constrained to rotate around the shaft by the front steel shaft 206. in, Figures 3-4 All the front steel shafts 206 are optical shafts and are arranged in parallel.

[0041] Linear bearing fixing component 208 is mounted on the other two front steel shafts 206 and moves linearly under the drive of antagonistic tension wire 210; The screw nut fixing component 205 and the linear bearing fixing component 208 are connected near the motor side, i.e., at their rear ends, by the same antagonistic pull wire (antagonistic pull wire 210) that passes around the pulley 209 (fixed pulley). Near the adjustable bend guide tube side, i.e., at their front ends, they are respectively fixed to the drive ropes corresponding to the adjustable bend guide tube 5. The antagonistic linkage of the pull wires is achieved by a single motor.

[0042] Specifically: like Figure 4 , Figure 17 As shown, the front end face of the integral assembly of lead screw nut fastener 205 and lead screw nut 204 is fixedly connected to bending joint drive rope 212; the front end face of linear bearing fastener 208 is fixedly connected to bending joint drive rope 211.

[0043] Pulley 209 is rotatably mounted on bracket 1, which is fixedly connected to two supports.

[0044] This achieves antagonistic motion of the two bent joint drive ropes, i.e., one is tightened while the other is simultaneously relaxed.

[0045] Taking the screw nut fastener 1205 as an example, this section describes the fixed connection (fixed connection) between the fastener and the drive rope: like Figure 24 As shown, both the lead screw nut fixing part 205 and the lead screw nut 204 have small holes for the drive rope to pass through, so as to ensure that the drive rope is led out in parallel; at the same time, there are bolt holes on them. After the bending joint drive rope 212 passes through the small holes, it is wrapped around the bolt to be tightened and fixed by the bolt.

[0046] Similarly, the fixing connection between the other three fasteners and their corresponding drive ropes and antagonistic tension wires is the same as described above.

[0047] Specifically: One end of the antagonistic pull wire 210 passes through the coaxial small hole of the lead screw nut fixing part 205, and then folds back through the other small hole, as shown. Figure 24 As shown, the wire is wound around a fixing bolt, and when the bolt is tightened, one end of the antagonistic pull wire 210 is fixed to the screw nut fixing part 205.

[0048] The other end of the antagonistic pull wire 210 is fixed to the linear bearing fixture 208 in the same way as described above.

[0049] The proximal end of the bending joint drive rope 212 passes through the coaxial small hole of the screw nut fixing part 205 and is wrapped around another fixing bolt. When the bolt is tightened, the proximal end of the bending joint drive rope 212 is fixed to the screw nut fixing part 205.

[0050] The method of fixing the proximal end of the bending joint drive rope 211 to the linear bearing fixing member 208 is the same as described above.

[0051] The installation method between the drive rope and the adjustable bending guide tube 5 in the bending drive unit: Combination Figure 7 , Figure 8 , Figure 10 , Figure 13 , Figure 14 , Figure 18 It can be seen that the bending joint drive rope 1 211 and the bending joint drive rope 212 respectively pass through a polytetrafluoroethylene tube 513 of the adjustable bending conduit 5, and are transmitted sequentially through the drive rope guide grooves 525 of each section of the adjustable bending snake tube 52 to the final section tube 523, as follows. Figure 14 As shown.

[0052] Specifically, the front ends of the bending joint drive rope 1 211 and the bending joint drive rope 212 are fixed to the drive rope guide groove 525 of the end section tube 523 by tying knots. In other embodiments, the front ends of the two bending joint drive ropes can also be embedded in the drive rope guide groove 525 of the end section tube 523 and then glued.

[0053] exist Figure 13 As shown in the installation method, bending joint drive rope 1 211 and bending joint drive rope 212 extend to the adjustable bending guide tube 5. The bending joint drive rope 1 211 and bending joint drive rope 212 are symmetrically arranged about the actuator push rod to achieve bending of the actuator push rod 411. Figure 10 , Figure 7 As shown.

[0054] The rotary drive unit includes: a second drive motor 213, a second coupling 214, a second ball screw 215, a second screw nut 216, a second screw nut fixing part 217, a second linear bearing fixing part 218, a second pulley 219, a second antagonistic tension wire 220, a first torsion joint drive rope 221, and a second torsion joint drive rope 222.

[0055] The difference between the rotary drive unit and the bending drive unit lies in the installation method between the drive rope and the adjustable bending conduit 5.

[0056] The installation method between the drive rope and the adjustable bendable guide tube 5 in the rotary drive unit: Combination Figure 8 , Figure 10 , Figure 14 It can be seen that the first torsion joint drive rope 221 and the second torsion joint drive rope 222 are respectively inserted into different polytetrafluoroethylene tubes 513 of the conduit body 51, and their distal ends are respectively wound around the stainless steel cylindrical guide 55 and then fixed together at the same position (drive rope positioning groove 526) of the first section of the adjustable bend snake tube 52.

[0057] The first and second torsion joint drive ropes 221 and 222 both extend out of the drive rope positioning groove 526 at their front ends. The part extending out of the drive rope positioning groove 526 is tied into a knot to fix it to the drive rope positioning groove 526.

[0058] catheter fixation seat 223, such as Figure 4As shown, it is located in front of the conduit drive mechanism 2 and is used to receive the adjustable bend conduit 5 and the operator push rod 411.

[0059] In addition, regarding Figures 3-4 Support in the conduit drive mechanism 2: From front to back, they are called support number one, support number two, support number three and support number four, all of which are fixed to the sliding base plate 6.

[0060] Both No. 4 and No. 3 supports have through holes through which the power supply motor passes.

[0061] The No. 2 support has a through hole for the coupling to pass through.

[0062] The first support has through holes for the actuator push rod 411, bending joint drive rope 1 211, bending joint drive rope 212, torsion joint drive rope 1 221, and torsion joint drive rope 222 to pass through, such as Figure 3 As shown.

[0063] Both drive motor 1 (201) and drive motor 2 (213) are mounted on support number 3.

[0064] Coupling 1 202 and Coupling 2 214 are both installed on support No. 2.

[0065] Both ball screw 1 203 and ball screw 2 215 are rotatably mounted between support 2 and support 1.

[0066] All front steel shafts 206 are interference-fitted with bearings 1 and 4, and pass through bearings 2 and 3.

[0067] about Figures 3-4 The two fasteners: Linear bearing retainer 208, such as Figure 1 As shown, it is equipped with a linear bearing 207, which is adapted to the corresponding front steel shaft 206.

[0068] Screw nut fastener 1205, such as Figure 19 As shown, it also has a linear bearing embedded inside, which is adapted to the corresponding front steel shaft 206.

[0069] In addition, the screw nut fixing part 205 is provided with a mounting hole (through hole), which is clearance-fitted with the ball screw 203.

[0070] The linear feed drive mechanism 3 includes: a drive motor 301, a coupling 302, a ball screw 303, a screw nut 304, a screw nut fixing part 305, a linear slide rail 306, and a linear slider 307.

[0071] Among them, the drive motor 301, coupling 302, and ball screw 303 are arranged coaxially in sequence, and the screw nut 304 is connected to the ball screw 303. The screw nut 304 and the ball screw 303 also form a ball screw pair.

[0072] The lead screw nut fixing part 305 is fixedly connected to the bottom (base plate 412) of the operator drive mechanism 4; A linear slider 307 is fixed to the bottom of the substrate 412, and the linear slider 307 slides in cooperation with the linear slide rail 306 on the sliding base plate 6.

[0073] The front end (support No. 5) of the manipulator drive mechanism 4 is fixed with the manipulator push rod 411. Under the action of the drive motor 301, the manipulator push rod 411 can move linearly along the empty channel of the middle guide tube drive mechanism 2 to achieve precise advancement of the manipulator.

[0074] The operator drive mechanism 4 includes: a drive motor 401, a coupling 402, a ball screw 403, a screw nut 404, a screw nut fixing part 405, a linear bearing fixing part 406, a pulley 407, an antagonistic tension wire 408, an operator drive rope 1 409, and an operator drive rope 2 410.

[0075] The front end of the operator drive mechanism 4 leads out the first operator drive rope 409 and the second operator drive rope 410. After passing through the hollow channel formed by the operator push rod 411 itself, the first operator drive rope 409 and the second operator drive rope 410 extend out of the operator push rod 411 and connect with the operator to realize the repair execution action of the operator.

[0076] Figure 16 Only a portion of the actuator drive rope 1 409 and actuator drive rope 2 410 are shown.

[0077] It should be noted that the actuator push rod 411 is a non-rigid rod, so it can bend and then twist (rotate around the axis) under the action of the adjustable bending guide tube 5.

[0078] The structure of the manipulator drive mechanism 4 is exactly the same as that of the single antagonistic pull wire drive unit of the guide tube drive mechanism 3, and adopts the antagonistic pull wire drive method of motor + ball screw pair + pulley reversing.

[0079] Specifically: drive motor 401, coupling 402, and ball screw 403 are arranged coaxially in sequence, and screw nut 404 is connected to ball screw 403.

[0080] The lead screw nut 404 is fixedly connected to the lead screw nut fixing part 405. The lead screw nut fixing part 405 is inserted through one of the rear steel shafts 413, and the rear steel shaft 413 constrains the lead screw nut 404 and the lead screw nut fixing part 405 to rotate around the shaft. in, Figure 6 All rear steel shafts 413 are optical shafts and are arranged in parallel.

[0081] Linear bearing fixing component 406 is inserted through the other two rear steel shafts 413 and moves linearly under the drive of antagonistic tension wire 408; Screw nut fixing part 405 and linear bearing fixing part 406: Their rear ends are connected by the same antagonistic pull line (antagonistic pull line 408) that passes around pulley 3 407, and their front ends are respectively fixed to the drive rope corresponding to the adjustable bending guide tube 5. The antagonistic linkage of the pull line is realized by a single motor.

[0082] Specifically: like Figure 6 As shown, the front end of the integral assembly consisting of lead screw nut fixing part 405 and lead screw nut 404 is fixedly connected to the actuator drive rope 1 409; the front end of linear bearing fixing part 406 is fixedly connected to the actuator drive rope 2 410.

[0083] Pulley 3407 is rotatably mounted on bracket 2, which is fixedly connected to brackets 6 and 7.

[0084] The manipulator drive mechanism 4 also includes: support No. 5, support No. 6 and support No. 7, which are fixed to the base plate 412 from front to back.

[0085] The actuator push rod 411 is embedded in or fixed to the wiring hole on the No. 5 support, such as... Figure 21 As shown.

[0086] about Figure 6 The fasteners in the middle: the structure of the screw nut fastener 405 is the same as that of the screw nut fastener 205; the structure of the linear bearing fastener 406 is the same as that of the linear bearing fastener 208.

[0087] about Figure 6 Supports No. 5, No. 6, and No. 7: The No. 7 support has a through hole through which the power supply motor passes.

[0088] The No. 6 support has a through hole for the coupling to pass through.

[0089] The fifth support has a wiring hole for inserting the actuator push rod 411. The actuator drive rope 1 409 and actuator drive rope 2 410 pass through the actuator push rod 411, as shown. Figure 21 As shown.

[0090] The drive motor 401 is mounted on support number 7.

[0091] Coupling 402 is installed on support 6.

[0092] The ball screw 403 is rotatably mounted between support number 6 and support number 7.

[0093] All rear steel shafts 413 are interference-fitted with bearings 5 ​​and 7, and pass through bearing 6.

[0094] Adjustable bendable conduit 5 includes a conduit body 51, an adjustable bendable serpentine tube 52, a stainless steel inner sleeve 53, a stainless steel outer sleeve 54, and a stainless steel cylindrical guide 55, such as... Figures 7-9 As shown.

[0095] The adjustable bendable catheter 5 is composed of a catheter body 51 close to the operator and an adjustable bendable snake-bone tube far from the operator, which are coaxially connected. The overall outer diameter is 5.5 mm and the inner diameter is 3.4 mm, which can be adapted to the commonly used interventional sheaths on the market.

[0096] The catheter body 51 is located behind the adjustable curved serpentine tube 52 and is placed in the catheter fixation seat 223, such as... Figure 3 As shown.

[0097] like Figure 8 As shown, the conduit body 51 includes a metal inner liner, a composite functional layer, a winding and fixing layer and a heat-shrinkable coating layer arranged in sequence from the inside to the outside along the radial direction. The composite functional layer is provided with four independent polytetrafluoroethylene tubes 513 that extend along the axial direction, serving as dedicated passageways for various drive ropes.

[0098] like Figure 13 As shown, four polytetrafluoroethylene tubes 513 extend out of the catheter body 51 and to the rear end of the catheter body 51.

[0099] The metal inner liner is a stainless steel spring 511. The metal inner liner wraps around the outside of the actuator push rod 411 and is clearance-fitted with the actuator push rod 411.

[0100] The stainless steel spring 511 provides radial support for the conduit body (otherwise the assembly of the composite functional layer could not be achieved, and the conduit body could be easily flattened), and provides a hollow channel for the manipulator push rod 411.

[0101] The stainless steel spring 511 is in its natural state, meaning it is neither in a compressed nor a stretched state.

[0102] The stainless steel spring 511 is not connected to the stainless steel cylindrical guide 55; the two only have end-face contact. Figure 9 As shown.

[0103] The composite functional layer includes a polytetrafluoroethylene tube 513, a nickel-titanium alloy wire 512, and an adhesive filler strip 514.

[0104] Nickel-titanium alloy wires provide the catheter body with axial tensile / compression resistance and bending elasticity. The bending stiffness of the catheter can be adjusted by changing the number and circumferential arrangement of the nickel-titanium alloy wires.

[0105] The winding fixing layer is formed by all the PE lines 515.

[0106] Heat shrinkable coating, also known as medical heat shrink tubing 516.

[0107] like Figure 22 As shown, along the axial direction, the length of the stainless steel spring 511 is less than the length of the composite functional layer, and the length of the composite functional layer is greater than the length of the medical heat shrink tubing 516.

[0108] The length of the stainless steel spring 511 is less than the length of the composite functional layer. Purpose: To install the stainless steel cylindrical guide 55 on the front end face of the stainless steel spring 511.

[0109] Torsion joint drive rope 1 221 and torsion joint drive rope 222 are inserted into the polytetrafluoroethylene tube 513 of the conduit body 51. Their distal ends are respectively wound around the stainless steel cylindrical guide 55 and then fixed together at the same position of the first section of the adjustable bend serpentine tube 52.

[0110] The length of the composite functional layer is greater than the length of the medical heat shrink tubing 516. The purpose is to install a stainless steel inner sleeve 53 and a stainless steel outer sleeve 54 at the front end of the heat shrink coating layer, and to allow the first tube section 521 to rotate relative to the catheter body 51 and around the axis.

[0111] The stainless steel inner sleeve 53 is embedded and bonded to the winding and fixing layer, and is adhesively bonded to the front end face of the medical heat shrink tubing 516, as shown below. Figure 22 As shown.

[0112] The first section of the pipe 521, along the axial direction, has its outer edge fitted with a stainless steel inner sleeve 53, such as... Figure 22 As shown; radially, its inner edge is located outside the PTFE tube 513, as... Figure 9 , Figure 22 As shown, this is to avoid interference with the four drive ropes.

[0113] The stainless steel outer sleeve 54 is embedded and bonded to the stainless steel inner sleeve 53, and it is clearance-fitted with the first section of the tube body 521.

[0114] The stainless steel cylindrical guide 55 is bonded to the inner wall of the adhesive filler strip 514.

[0115] Method for manufacturing catheter body 51: A stainless steel spring 511 (medical 304 stainless steel spring) with an outer diameter of 4 mm and a wire diameter of 0.4 mm was used as the metal inner lining layer of the catheter body 51. Five nickel-titanium alloy wires 512 with a diameter of 0.5 mm and four polytetrafluoroethylene tubes 513 with an outer diameter of 0.5 mm are arranged around the circumference of the stainless steel spring 511. The stainless steel spring 511 and the actuator push rod 411 are fitted with clearance so that the actuator push rod 411 can move axially within the stainless steel spring 511.

[0116] A silicone filler strip 514 with a thickness of 0.5 mm is used to fill the circumferential gap between the nickel-titanium alloy wire 512 and the polytetrafluoroethylene tube 513, so that the components are arranged densely. The polytetrafluoroethylene tube 513 serves as an independent axial passage for each drive rope. PE wire 515 with a diameter of 0.07mm is used to interlacedly wrap around the outside of the above components to achieve circumferential and axial fixation of each component; Finally, a medical heat-shrink tubing 516 made of PE material is fitted outside the PE line 515. After heat shrinking, it tightly covers the outside of the tubing body, controlling the outer diameter of the catheter body 51 to 5.5-5.6mm, and retaining a through hollow passage of 3.4mm in the inner diameter, thus completing the fabrication of the catheter body 51.

[0117] The adjustable bendable snake bone tube 52 is made of medical stainless steel and consists of 7 small tube sections connected in series by a concave-convex hinge buckle structure. The maximum relative bending angle between adjacent tube sections is ±20°, and the tube section is provided with a drive rope guide groove and a drive rope positioning groove 526. The drive rope guide groove 525 and drive rope positioning groove 526 correspond to the guide tube bending joint drive rope and the torsion joint drive rope. The distal end of the drive rope is fixed to the corresponding position of the adjustable curved snake tube 52, and the proximal end of the drive rope is fixedly connected to the fixing part of the guide tube drive mechanism 2.

[0118] Adjustable bendable snake bone tube 52 fabrication: The adjustable bendable snake tube 52 is made of medical-grade stainless steel tubing. A stainless steel tubing with an inner diameter of 5mm, an outer diameter of 5.5mm, and a length of 26mm is used. Through laser cutting, it is integrally processed into a single structure consisting of a first section 521, five intermediate sections 522, and a final section 523, totaling seven sections. These sections are connected in series via a convex-concave hinge buckle structure 524, with all hinges located in the same plane, allowing for a relative bending angle of ±20° between adjacent sections. On each section, two symmetrical drive rope guide grooves 525 are formed by die pressing on the side wall perpendicular to the hinge buckle structure 524. These grooves are used for threading and guiding the bending joint drive rope, thus completing the fabrication of the adjustable bendable snake tube 52.

[0119] Adjustable bendable conduit 5 overall assembly: The stainless steel inner sleeve 53 is embedded on the outer side of the distal end of the catheter body 51, and the stainless steel outer sleeve 54 is embedded on the outer side of the stainless steel inner sleeve 53. At the same time, the first section 521 of the adjustable bend serpentine tube 52 is placed inside the stainless steel outer sleeve 54, so as to achieve the coaxial connection between the catheter body 51 and the adjustable bend serpentine tube 52, and ensure that the adjustable bend serpentine tube 52 can rotate freely around the axis of the catheter body 51. A stainless steel cylindrical guide 55 is fixedly installed at the connection between the conduit body 51 and the adjustable bend serpentine tube 52. The first bending joint drive rope 211 and the second bending joint drive rope 212 are respectively inserted into the polytetrafluoroethylene tube 513 of the catheter body 51 and the drive rope guide grooves 525 on both sides of the adjustable bend snake tube 52. The distal ends are fixed together to the terminal tube body 523 of the adjustable bend snake tube 52, and the proximal end is reserved for connection with the catheter drive mechanism 2. The first torsion joint drive rope 221 and the second torsion joint drive rope 222 are threaded into the polytetrafluoroethylene tube 513 of the catheter body 51. The distal ends are respectively wound around the stainless steel cylindrical guide 55 and then fixed together to the same position of the first section of the adjustable bend serpentine tube 52. The proximal end is reserved for connection with the catheter drive mechanism 2, thus completing the overall assembly of the adjustable bend catheter 5.

[0120] Overall robot operation process: (a) Adjustment of the initial posture and displacement of the adjustable base 1.

[0121] Before the procedure, according to the clinical requirements of mitral valve intervention surgery, first loosen the locking knob 105 of the adjustable base 1. This will push the pitch locking slider 111 and the lower side of the support arm 104 to slide along the groove of the base platform 101, causing the slide rail base 103 and the fixing plate 109 to rotate around the rotating pair with the hinge support 102. This will then drive the sliding base plate 6 and all the drive mechanisms above it, the catheter support 110, and the adjustable bend catheter 5 to rotate synchronously. After adjusting the pitch angle of the adjustable bend catheter 5 to a suitable angle, tighten the locking knob 105 to lock the pitch angle. Then loosen the locking knob 108 to push the slider 107 to slide along the slide rail 106 on the slide rail base 103, causing the sliding base plate 6 and the mechanisms above it to move back and forth, adjusting the initial advance displacement of the adjustable bend catheter 5. After it is in place, tighten the locking knob 108 to lock the displacement.

[0122] When the locking knob 105 is tightened, the tightening pressure causes the two sides of the pitch locking slider 111 to press against the groove of the base platform 101 in the middle. The frictional force fixes the pitch locking slider 111 relative to the base platform 101, so that the support arm 104 and the slide rail base 103 can no longer rotate. When the locking knob 105 is loosened, the above pressure disappears, and the pitch locking slider 111 can slide back and forth on the groove of the base platform 101.

[0123] When the locking knob 108 is locked, a locking block inside the slider 107 will press against the inner wall of the slide rail 106, and the friction will fix the slider 107 relative to the slide rail 106. When the locking knob 108 is loosened, the above pressure will disappear, and the slider 107 can slide back and forth on the slide rail 106.

[0124] (ii) Bending joint drive of adjustable bending guide tube 5.

[0125] After the adjustable bendable catheter 5 is inserted into the human blood vessel through a commercially available interventional sheath and reaches the left atrium, the drive motor 201 of the catheter drive mechanism 2 is activated. The power of the drive motor 201 is transmitted to the ball screw 203 through the coupling 202 and drives it to rotate. This drives the screw nut 204 that is matched with it to move linearly along the ball screw 203, and drives the screw nut fixing part 205 to move linearly in one direction. The lead screw nut fixing component 205 and the linear bearing fixing component 208 are connected by an antagonistic pull wire 210 that passes around the pulley 209. The pulley 209 realizes the power reversal, so that when the lead screw nut fixing component 205 moves linearly towards the motor side, the linear bearing fixing component 208 moves linearly in the opposite direction along the front steel shaft 206. The linear bearing fixing component 1 208 and the lead screw nut fixing component 1 205 are respectively fixed to the proximal ends of the bending joint drive rope 1 211 and the bending joint drive rope 2 212, thereby realizing the antagonistic movement of the two bending joint drive ropes, that is, one is tightened and the other is relaxed synchronously. The tension is transmitted along the drive rope through the polytetrafluoroethylene tube 513 of the conduit body 51 and the drive rope guide groove 525 of the adjustable bend snake tube 52 to the terminal tube body 523, causing the adjustable bend snake tube 52 to bend along the plane of the bending joint drive rope to the target angle. The initial limit switch 224 can limit its movement.

[0126] During the above process, the manipulator does not bend. For example... Figure 23 As shown, the manipulator is fixed to the front end of the push rod 411, and the manipulator is always located in front of the adjustable curved snake tube 52. Initially, it should be against the front end face of the last section of the tube body 523. The curved snake tube 52 bends, causing the push rod 411 inside it to bend, so that the manipulator makes an arc movement, and the manipulator itself does not bend.

[0127] like Figure 10 As shown, bending joint drive rope 1 211 and bending joint drive rope 2 212 are located on different sides of the axis to achieve bending motion.

[0128] Figure 23 In this context, "push rod" refers to the actuator push rod 411.

[0129] The connection method between the operator drive rope 1 409, the operator drive rope 2 410 and the operator is existing technology; the fixing method between the operator and the operator push rod 411 is also existing technology.

[0130] The polytetrafluoroethylene tube 513 and the stainless steel spring 511 are internal components of the conduit body. The stiffness of the conduit body 51 is greater than the stiffness of the actuator push rod 411. Therefore, if... Figure 12 As shown, the actuator push rod 411 inside the catheter body 51 is not affected by the above-mentioned bending process.

[0131] The first and second driver drive ropes 409 and 410 inside the driver push rod 411 can be considered to be basically coaxial with the driver push rod 411. When the driver push rod 411 bends, its axial length does not change. Therefore, the lengths of the two ropes inside do not need to change, and there is no need to consider the problem of breakage.

[0132] Similarly, the bending joint drive rope 211 and the bending joint drive rope 212 are located in the catheter body 51. Since the bending stiffness of 411 is less than that of the catheter body 51 and the adjustable bending snake tube 52 is independent of the catheter body 51, the bending of the adjustable bending snake tube 52 and the manipulator push rod 411 will not cause the catheter body 51 to bend. Therefore, it will not affect the length change of the bending joint drive rope 211 and the bending joint drive rope 212 in the catheter body 51.

[0133] (iii) Rotary joint drive of adjustable bending guide tube 5.

[0134] If the circumferential angle of the adjustable curved snake tube 52 is mismatched, the drive motor 213 of the guide tube drive mechanism 2 is activated. Its power transmission and motion reversal principle is completely the same as that of the bending joint drive: after the power is transmitted through the coupling 214 and the ball screw 215, it drives the screw nut 216 and the screw nut fixing part 217 to make linear motion. After the reversal through the pulley 219 and the antagonistic tension wire 220, the linear bearing fixing part 218 moves in the opposite direction, which in turn drives the torsion joint drive rope 221 and the torsion joint drive rope 222 to achieve antagonistic motion. The pulling force is transmitted to the first section 521 of the adjustable bend serpentine tube 52 via the stainless steel cylindrical guide 55, which drives the entire adjustable bend serpentine tube 52 to rotate around the axis of the catheter body 51 to the target circumferential angle, thus completing the coaxial alignment of the manipulator with the mitral valve annulus plane.

[0135] The tension is reversed by the stainless steel cylindrical guide at 55°. After the torsion joint drive rope 221 passes through the polytetrafluoroethylene tube 514 along the axial direction, it winds about 180° from one side of the stainless steel cylindrical guide 55 to the drive rope positioning groove 526 on the first section of the tube 521. The torsion joint drive rope 222 winds from the other side of the stainless steel cylindrical guide 55 around the first section of the tube to the drive rope positioning groove 526 on 521. When the torsion joint drive rope 221 is tightened, the tension in the drive rope positioning groove 526 can be decomposed into an effective tension along the circumferential tangential direction, which causes the first section of the tube 521 to rotate.

[0136] During the above process, the actuator does not twist around its own axis. Essentially, when the adjustable bendable serpentine tube 52 is in a straight state, the rotational motion of the adjustable bendable serpentine tube 52 will not affect the attitude of the push rod and the actuator; only when the adjustable bendable serpentine tube 52 first bends, the push rod bends, and the actuator deviates from the initial central axis position, can the rotational motion of the adjustable bendable serpentine tube 52 change the position of the bending plane, thereby changing the position of the actuator.

[0137] The reason why the adjustable bendable serpentine tube 52 will not detach from the catheter body 51: The bending joint drive rope 1 211 or the bending joint drive rope 212 always has a tension, and the first section of the tube 521 is located in the stainless steel outer tube 54.

[0138] (iv) Operation of linear feed drive mechanism 3.

[0139] After the adjustable bendable catheter 5 is precisely aligned with the mitral valve annulus plane, the drive motor 301 of the linear feed drive mechanism 3 is started. The power is transmitted to the ball screw 303 via the coupling 302 and drives it to rotate, so that the screw nut 304 makes a linear feed motion along the ball screw 303. The screw nut 304 is fixedly connected to the screw nut fixing part 305, and the screw nut fixing part 305 is fixedly connected to the bottom of the operator drive mechanism 4. The linear slider 307 at the bottom of the operator drive mechanism 4 makes a precise linear slide along the linear slide rail 306 on the sliding base plate 6 to ensure the coaxiality of the feed motion. The manipulator push rod 411 at the front end of the manipulator drive mechanism 4 passes through the hollow channel of the catheter drive mechanism 2 and the internal hollow passage of the adjustable bend catheter 5 in sequence. It moves forward synchronously with the linear movement of the manipulator drive mechanism 4, pushing the manipulator at the distal end of the manipulator push rod 411 through the mitral valve and reaching the lesion location.

[0140] Initially, before propulsion, the manipulator should be placed against the front end face of the last section of the tube 523.

[0141] (v) The operator drives the mechanism 4 to operate.

[0142] After the manipulator reaches the lesion location, the drive motor 401 of the manipulator drive mechanism 4 is activated. Its power transmission and motion reversal principle is the same as the bending joint drive of the catheter drive mechanism 2: the power is transmitted to the screw nut 404 via the coupling 402 and the ball screw 403, which drives the screw nut fixing part 405 to make linear motion. The linear bearing fixing part 406 moves in the opposite direction via the pulley 307 and the antagonistic pull line 308, which in turn drives the manipulator drive rope 1 409 and the manipulator drive rope 2 410 to achieve antagonistic motion. Two actuator drive ropes are threaded through the hollow channel of the actuator push rod 411, which precisely transmits the pulling force to the far end of the actuator, driving the actuator to complete the mitral valve repair operation.

[0143] In summary, the working principle of this catheter robot is as follows: Initial posture and displacement adjustment: Before the operation, according to the needs of the operation, loosen the locking knob one and locking knob two, and manually push the support arm and slider to adjust the catheter introduction pitch angle and initial advance displacement of the adjustable base respectively to adapt to the clinical operation needs.

[0144] Adjustable bendable catheter alignment: After the adjustable bendable catheter is inserted into the human body through the large sheath and reaches the left atrium, the catheter drive mechanism is remotely controlled. The bending drive unit drives the adjustable bendable snake tube to bend to the target angle, so that the front manipulator is initially aligned with the mitral valve annulus plane. If the circumferential angle does not match, the rotation drive unit drives the snake tube to rotate around the axis to the target circumferential angle, so as to achieve precise coaxial alignment between the manipulator and the mitral valve annulus plane.

[0145] The conduit drive mechanism is controlled remotely: pushing the corresponding joystick on the remote control handle sends data to the receiver via 2.4G wireless communication. The STM32F103RCT6 microcontroller extracts the data from the receiver via serial communication and converts it into motor control data, including direction and speed. Finally, the TB6612 motor drive module completes the control of the motor.

[0146] Linear advance of the manipulator: After the catheter is precisely aligned, the linear feed drive mechanism is remotely controlled to drive the manipulator drive mechanism to make precise linear feed movements along the linear slide rail. The manipulator push rod moves forward synchronously along the catheter drive mechanism and the hollow channel of the adjustable bend catheter, pushing the manipulator through the mitral valve and reaching the lesion repair position.

[0147] Repair procedure and device reset: After the manipulator is in position, the manipulator drive mechanism is activated to drive the manipulator to complete the mitral valve repair procedure; after the repair procedure is completed, the drive mechanisms are controlled to move in the opposite direction to complete the retraction and reset.

[0148] The above are merely preferred embodiments of the present invention and do not constitute any limitation on the present invention. Any equivalent substitutions or modifications made by those skilled in the art to the technical solutions and content disclosed in the present invention without departing from the scope of the present invention shall be deemed to have remained within the protection scope of the present invention.

Claims

1. A wire-driven flexible catheter robot for mitral valve interventional treatment, characterized in that, include: The catheter drive mechanism (2) is used to provide bending power and rotational power about the axis for the adjustable bend catheter (5). It includes a bending drive unit and a rotation drive unit. The output end of the bending drive unit includes two bending joint drive ropes, one of which is in a taut state and the other is in a relaxed state. The output end of the rotation drive unit includes two torsion joint drive ropes, one of which is in a taut state and the other is in a relaxed state. And an adjustable bendable conduit (5), which includes a conduit body (51), an adjustable bendable snake tube (52) rotatably connected to the conduit body (51), and a stainless steel cylindrical guide (55) located inside the conduit body (51). Two torsion joint drive ropes are wound around the stainless steel cylindrical guide (55) from both sides and are fixed together at the same position of the first section (521) of the adjustable bendable snake tube (52). Two bending joint drive ropes are located on both sides of the axis of the adjustable bendable conduit (5) and pass through the conduit body (51) and the adjustable bendable snake tube (52) and are fixed to the last section (523) of the adjustable bendable snake tube (52). The actuator push rod (411) passes through the conduit drive mechanism (2) and the adjustable bending conduit (5) in sequence, both of which have through hollow channels.

2. The wire-driven flexible catheter robot for mitral valve interventional treatment according to claim 1, characterized in that, The bending drive unit further includes: Drive motor 1 (201), coupling 1 (202), ball screw 1 (203), screw nut 1 (204), screw nut fastener 1 (205), front steel shaft 206, linear bearing 207, linear bearing fastener 1 (208), pulley 1 (209), antagonistic tension wire 1 (210); The drive motor (201), coupling (202), and ball screw (203) are arranged coaxially in sequence, and the screw nut (204) is connected to the ball screw (203); A lead screw nut (204) is fixedly connected to a lead screw nut fastener (205); the lead screw nut fastener (205) is inserted through one of the front steel shafts (206). The front end face of the screw nut fastener (205) is fixedly connected to one of the bending joint drive ropes; the front end face of the linear bearing fastener (208) is fixedly connected to the other bending joint drive rope. The lead screw nut fastener (205) and the linear bearing fastener (208) are connected by an antagonistic pull wire (210) that passes over the pulley (209).

3. The wire-driven flexible catheter robot for mitral valve interventional treatment according to claim 1, characterized in that, The structure of the rotary drive unit is the same as that of the bending drive unit.

4. The wire-driven flexible catheter robot for mitral valve interventional treatment according to claim 1, characterized in that, The catheter body (51) includes a metal inner liner, a composite functional layer, a winding and fixing layer, and a heat-shrinkable coating layer arranged radially from the inside to the outside. The composite functional layer contains four independent polytetrafluoroethylene tubes (513) that extend axially. Two bending joint drive ropes and two torsion joint drive ropes are respectively threaded through different polytetrafluoroethylene tubes (513) of the adjustable bending conduit 5.

5. The wire-driven flexible catheter robot for mitral valve interventional treatment according to claim 4, characterized in that, The adjustable bendable conduit (5) also includes: a stainless steel inner sleeve (53) and a stainless steel outer sleeve (54). A stainless steel inner sleeve (53) is embedded and bonded to the winding and fixing layer, and is glued to the front end face of the heat shrinkable coating layer. A stainless steel outer sleeve (54) is embedded and bonded to a stainless steel inner sleeve (53), which is clearance-fitted with the first section of the tube (521).

6. The wire-driven flexible catheter robot for mitral valve interventional treatment according to claim 1, characterized in that, The system further includes an operator drive mechanism (4), which includes: a drive motor (401), a coupling (402), a ball screw (403), a screw nut (404), a screw nut fixing part (405), a linear bearing fixing part (406), a pulley (407), and an antagonistic pull wire (408). The drive motor (401), coupling (402), and ball screw (403) are arranged coaxially in sequence, and the screw nut (404) is connected to the ball screw (403). The lead screw nut four (404) is fixedly connected to the lead screw nut fixing part four (405), and the lead screw nut fixing part four (405) is inserted through one of the rear steel shafts (413). Linear bearing fixing part four (406) is inserted through the other two rear steel shafts (413) and moves linearly under the drive of antagonistic tension line three (408); The lead screw nut fixing part four (405) and the linear bearing fixing part four (406) are connected by an antagonistic pull wire three (408) that passes around the pulley three (407); The first manipulator drive rope (409) and the second manipulator drive rope (410) pass through the manipulator push rod (411) and are connected to the manipulator.

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