Interventional medical device

Abstract

The utility model provides a medical device which comprises a first base and a second base, and the first base and the second base can move relatively. The clamping unit is respectively connected with the first base and the second base and generates different opening and closing angles according to the relative movement of the first base and the second base; the opening and closing angle adjusting unit is connected with the first base and can be selectively connected with or separated from the second base; in the separated state, the opening and closing angle adjusting unit is used for rapidly adjusting the opening and closing angle; in the connection state, the opening and closing angle adjusting unit is used for finely adjusting the opening and closing angle; wherein the angle range of the rapidly adjusted opening and closing angle is different from the angle range of the finely adjusted opening and closing angle. The medical device disclosed by the utility model can be switched between fine adjustment and rapid adjustment, and the operation convenience and the use safety of the instrument are improved.

Description

Technical Field

[0001] This disclosure relates to the field of medical device technology, specifically to an interventional medical device. Background Technology

[0002] Currently, common causes of mitral, tricuspid, aortic, and pulmonary valve disease include valvular insufficiency. Valvular insufficiency mainly includes various conditions such as annular dilation, large valvular occlusion gap, and chordae tendineae rupture. Existing treatment methods include surgical procedures or palliative medication to combat unavoidable heart failure. However, in recent years, interventional treatment for valvular heart disease has rapidly developed due to its advantages of minimal invasiveness, relative safety, and good efficacy. Among these, valve repair methods developed based on the principle of surgical valve edge-to-edge suturing have been affirmed due to their high safety, simple technical principle, and feasibility. During this procedure, the valve repair system needs to be released after the valve clamp arms are locked. Because the clamp is easily loosened and opened under the traction force of the valve, the clamp separates from the valve. Therefore, there is an urgent need for a simple, fast, and reliable valve clamping device to at least partially solve one of the aforementioned technical problems. Utility Model Content

[0003] In order to overcome at least one of the many problems in the related art, this disclosure provides an interventional medical device.

[0004] The medical device includes:

[0005] The first base and the second base are movable relative to each other;

[0006] A clamping unit, which is respectively connected to the first base and the second base, and generates different opening and closing angles according to the relative movement of the first base and the second base; and

[0007] An opening / closing angle adjustment unit is connected to the first base and can be selectively connected to or separated from the second base; wherein,

[0008] In the disconnected state, the opening angle adjustment unit is used to quickly adjust the opening angle; while in the connected state, the opening angle adjustment unit is used to finely adjust the opening angle.

[0009] The angle range for quick-adjustment opening and closing is different from that for fine-adjustment opening and closing.

[0010] In some optional embodiments, the angle range of the finely adjusted opening and closing angle is 0°-180°, and / or the angle range of the rapidly adjusted opening and closing angle is 180°-350°, wherein the opening and closing angle is the opening angle between the relatively arranged clamping arms of the clamping unit.

[0011] In some optional embodiments, the opening angle adjustment unit further includes a threaded portion, and the second base includes a through hole, the inner wall of which is provided with threads;

[0012] The first base and the second base are screwed together or separated by the threaded part and the through hole; and in the screwed state, the opening angle adjustment unit can be rotated circumferentially relative to the second base to finely adjust the opening angle.

[0013] In some optional embodiments, the portion of the second base near the opening angle adjustment unit is provided with a guide structure for guiding the threaded portion into the through hole.

[0014] In some optional embodiments, the length of the guide structure in the axial direction is 0.1mm-10mm.

[0015] In some optional embodiments, the opening angle adjustment unit further includes a clamping and positioning part, and the first base further includes a clamping and passing part;

[0016] The clamping and positioning part is disposed in the clamping and through part, and is axially positioned and circumferentially rotated relative to the clamping and through part.

[0017] In some optional embodiments, the clamping positioning part is provided with a first engaging part in the circumferential direction, and the clamping through part is provided with a second engaging part in the circumferential direction. The first engaging part and the second engaging part engage to realize that the clamping positioning part is axially positioned and circumferentially rotated relative to the clamping through part.

[0018] In some optional embodiments, a connector is provided at the end of the opening / closing angle adjustment unit away from the guide structure. The connector is used to transmit the load driving the opening / closing angle adjustment unit to achieve fine and rapid adjustment of the opening / closing angle adjustment unit.

[0019] In some optional embodiments, the clamping unit includes at least two lower clamping arms, each of which is pivotally connected to the second base and can be adjusted to form different opening and closing angles by the movement of the first base relative to the second base.

[0020] In some optional embodiments, the clamping unit further includes at least two upper clamping arms, each of which is connected to the second base and can be driven to move closer to or further away from the lower clamping arm.

[0021] In some alternative embodiments, the upper clamping arm is made of shape memory material.

[0022] The technical solution disclosed herein has the following advantages or beneficial effects:

[0023] (1) The opening and closing angle range of the rapidly adjustable medical device of this disclosure differs from that of the finely adjustable opening and closing angle. The lower clamping arm opening from 0° to 180° is achieved through fine adjustment control, which provides a smooth opening and closing speed of the clamping arm and a stable capture angle during target tissue capture. The lower clamping arm opening from 180° to 350° is achieved through rapid adjustment, which provides a faster opening angle, allowing the lower clamping arm to grip the target tissue, thereby effectively improving the device's operational efficiency and safety.

[0024] (2) The opening angle adjustment unit of this disclosure rotates circumferentially relative to the second base to finely adjust the opening angle. Due to the small pitch of the thread, the driving force needs to rotate multiple times to drive the opening angle adjustment unit to move slightly in the axial direction, thereby achieving fine adjustment. Due to the self-locking function of the thread, when the clamping arm clamps the target tissue, the thread can stabilize the clamping arm in the target position, without worrying about the pulling movement of the target tissue changing the opening angle of the lower clamping arm, which is convenient for the user to operate.

[0025] (3) The portion of the second base near the opening / closing angle adjustment unit of this disclosure is provided with a guide structure for guiding the threaded portion into the through hole. The guide structure guides the opening / closing angle adjustment unit into the through hole, thereby engaging with the threaded portion of the through hole. This improves the alignment accuracy of the opening / closing angle adjustment unit entering the through hole, facilitating subsequent screwing operations. Furthermore, when the guide structure has a length of 0.1mm-10mm in the axial direction, a balance can be achieved between weight and ease of operation. Attached Figure Description

[0026] The accompanying drawings are provided to better understand this disclosure and do not constitute an undue limitation thereof. Wherein:

[0027] Figure 1 This is an axonometric schematic diagram of a medical device according to an embodiment of the present disclosure;

[0028] Figure 2 This is a partial explosion diagram of a medical device according to an embodiment of the present disclosure;

[0029] Figure 3This is a partial cross-sectional schematic diagram of a medical device according to an embodiment of the present disclosure;

[0030] Figure 4 This is a cross-sectional schematic diagram of a medical device according to an embodiment of the present disclosure;

[0031] Figure 5 This is a schematic diagram showing the connection between a medical device and a delivery system according to an embodiment of the present disclosure;

[0032] Figure 6 This is a cross-sectional schematic diagram of the fine adjustment state of a medical device according to an embodiment of the present disclosure;

[0033] Figure 7 This is a cross-sectional schematic diagram of the rapid adjustment state of a medical device according to an embodiment of the present disclosure;

[0034] Figure 8 This is an axonometric schematic diagram of the second base according to an embodiment of the present disclosure;

[0035] Figure 9 This is a schematic diagram of the fine adjustment state of the dual-pivot point of the medical device according to an embodiment of the present disclosure;

[0036] Figure 10 This is a schematic diagram of the rapid adjustment state of the dual-pivot point of the medical device according to an embodiment of the present disclosure;

[0037] Figure 11 This is an axonometric schematic diagram of a second base having two fulcrums according to an embodiment of the present disclosure;

[0038] Figure 12 This is a schematic diagram of the folded state of a medical device according to an embodiment of the present disclosure.

[0039] Explanation of reference numerals in the attached figures:

[0040] 100 - Interventional medical device; 101 - First base; 102 - Second base; 103 - Upper clamping arm; 104 - Lower clamping arm; 105 - Opening angle adjustment unit; 201 - Threaded part; 202 - Clamping and positioning part; 203 - Clamping and inserting part; 204 - First engaging part; 211 - Rotating arm; 212 - Barb; 213 - First rotating shaft; 214 - Second rotating shaft; 301 - Through hole; 302 - Guide structure; 401 - Connector; 402 - Connecting rod assembly; 501 - Second engaging part; 601 - Pull wire; 602 - Conveying system; 701 - Pivot point Detailed Implementation

[0041] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0042] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0043] It should be understood that although the terms first, second, third, etc., may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0044] To overcome at least one of the many problems in related technologies, this disclosure provides an interventional medical device. The medical device includes: a first base and a second base, which are movable relative to each other; a clamping unit connected to the first base and the second base respectively, and generating different opening and closing angles according to the relative movement of the first base and the second base; and an opening and closing angle adjustment unit connected to the first base and selectively connected to or disconnected from the second base; wherein, in the disconnected state, the opening and closing angle adjustment unit is used for rapid adjustment of the opening and closing angle; and in the connected state, the opening and closing angle adjustment unit is used for fine adjustment of the opening and closing angle; wherein the angle range for rapid adjustment is different from the angle range for fine adjustment.

[0045] like Figure 1 and Figure 5 As shown, the interventional medical device 100 of this embodiment is transported to the target location via the delivery system 602 to serve as a valve repair device in the field of interventional treatment for structural heart disease, etc. It can reach the designated anatomical location through a transvascular interventional approach or through the atrial appendage to achieve the repair treatment of heart valves (such as mitral valve, tricuspid valve, aortic valve, pulmonary valve, etc.).

[0046] The interventional medical device 100 comprises a first base 101 and a second base 102, and corresponding components assembled on the first and second bases. The first base 101 and the second base 102 are movable relative to each other, specifically, the first base and the second base can move away from or towards each other along the axial direction of the medical device. Figure 1 As shown, the first base 101 is located below the second base 102, and the first base can be driven to and near the second base.

[0047] Furthermore, the medical device 100 also includes a clamping unit, which comprises various types of clamping arms. Each clamping arm is connected to the second base. For example, the clamping arms include an upper clamping arm 103 and a lower clamping arm 104. Preferably, there are two sets of upper clamping arms 103 and lower clamping arms 104, distributed at 180° intervals in the circumferential direction. This distribution arrangement allows the two lower clamping arms to move relative to each other to form an opening and closing angle. Correspondingly, each upper clamping arm is configured to cooperate with a corresponding lower clamping arm, thereby clamping the target tissue through a set of cooperating upper and lower clamping arms. Figure 5 As shown, the opening angle of the clamping unit can be adjusted when the distance between the first base and the second base is changed. Specifically, the adjustment of the opening angle is achieved through the opening angle adjustment unit 105. One end of the opening angle adjustment unit 105 is connected to the first base 101 and can be selectively connected to or separated from the second base 102. In other words, the opening angle adjustment unit 105 can move axially towards the second base to reduce the distance between the first base and the second base, while moving axially away from the second base can increase the distance between the first base and the second base. In the separated state, the opening angle adjustment unit is freed from the constraint of the second base on its movement and can quickly move away from or towards the second base to achieve the purpose of quickly adjusting the opening angle. In the connected state, the movement of the opening angle adjustment unit is constrained by the second base, and thus the degree of freedom of movement is constrained. It can only slowly and finely adjust the distance between the second base and the first base to achieve the purpose of finely adjusting the opening angle. The angle range for rapid adjustment of the opening and closing angle differs from that for fine adjustment. For example... Figure 6 and Figure 7As shown, the opening and closing angle ranges of the lower clamping arms differ between the rapid adjustment and fine adjustment modes. For example, in the fine adjustment mode, the opening and closing angle range of the clamping arms of the medical device is 0°-180°. In the rapid adjustment mode, the opening and closing angle range is 180°-350°. Particularly advantageously, the opening of the lower clamping arms from 0° to 180° is achieved through fine adjustment control, which provides smooth opening and closing speeds and a stable capture angle during target tissue capture. The opening of the lower clamping arms from 180° to 350° is achieved through rapid control, which provides a faster opening to a larger angle, allowing target tissues such as leaflets and chordae tendineae to quickly detach from the lower clamping arms, effectively improving the device's operational efficiency and safety. With the combined use of fine and rapid adjustments, the medical device can achieve… Figure 12 The collapsed state shown.

[0048] In some optional embodiments, the opening / closing angle adjustment unit further includes a threaded portion, and the second base includes a through hole, the inner wall of which is threaded; the threaded portion and the threaded through hole enable the first base and the second base to be screwed together or separated; and in the screwed-together state, the opening / closing angle adjustment unit can be rotated circumferentially relative to the second base to finely adjust the opening / closing angle. Figure 2 As shown, the opening angle adjustment unit is cylindrical in shape, with most of its upper end including a threaded portion 201, the thread being located on the outer circumference of the cylinder. Figure 3 As shown, the second base includes a through hole 301, and the inner wall of the front section of the through hole is threaded. The threaded portion 201 engages with the thread at the front end of the through hole 301. When the opening angle adjustment unit enters the through hole 301 and achieves thread engagement, the drive mechanism rotates the opening angle adjustment unit to achieve mutual screwing or separation of the first base and the second base; and in the mutually screwed state, the opening angle adjustment unit can be rotated circumferentially relative to the second base to finely adjust the opening angle. It can be understood that, due to the small pitch of the thread, the driving force needs to rotate many times to drive the opening angle adjustment unit to move slightly in the axial direction, thereby achieving fine adjustment. Particularly advantageous is that, due to the self-locking function of the thread, when the clamping arm clamps the target tissue, the thread can stabilize the clamping arm in the target position, without worrying about the pulling movement of the target tissue changing the opening angle of the lower clamping arm, which is convenient for the user to operate.

[0049] In some optional embodiments, the portion of the second base near the opening / closing angle adjustment unit is provided with a guide structure for guiding the threaded portion into the through hole. In some optional embodiments, the length of the guide structure in the axial direction is 0.1mm-10mm. Figure 3 In the illustrated embodiment, a guide structure 302 is provided near the end face of the through hole 301. This guide structure guides the opening angle adjustment unit into the through hole, where it engages with the threaded portion. The inner diameter of the guide structure is slightly larger than the outer diameter of the threaded portion. It is understood that a longer guide structure 302 can improve the alignment accuracy between the threaded portion 201 and the through hole 301, facilitating subsequent screwing operations. However, an excessively long guide structure reduces the fine adjustment angle, which is detrimental to the maximum capture angle of the lower clamping arm. Therefore, through multiple experiments, it was confirmed that a guide structure with an axial length of 0.1mm-10mm strikes a balance between fine adjustment angle and ease of operation.

[0050] In some optional embodiments, the opening / closing angle adjustment unit further includes a clamping and positioning part 202, and the first base further includes a clamping and through part 203; wherein, the clamping and positioning part is disposed in the clamping and through part and is axially positioned and circumferentially rotated relative to the clamping and through part. As described above, the opening / closing angle adjustment unit must not only be able to rotate circumferentially but also be able to move axially, and it must also be connected to the first base. To this end, this disclosure provides a clamping and positioning part 202 on the opening / closing angle adjustment unit to cooperate with the clamping and through part on the first base, thereby solving the above problems. Specifically, the clamping and positioning part is provided with a first engaging part 204 circumferentially, and the clamping and through part is provided with a second engaging part 501 circumferentially. The first engaging part and the second engaging part engage to realize that the clamping and positioning part is axially positioned and circumferentially rotated relative to the clamping and through part. Figure 2 and Figure 4 As shown, the first engaging part is a groove structure, and the second engaging part is a boss structure. Both the groove and the boss structures are distributed along the circumferential direction. By embedding the boss structure into the groove, and with a clearance fit between the groove and the boss structure, rotation between them is ensured. This configuration limits the opening angle adjustment unit to the first base, allowing it only circumferential rotational freedom relative to the first base. Furthermore, when the opening angle adjustment unit engages with the threaded connection in the through hole of the second base, the unit moves axially with the rotation of the thread, simultaneously causing the first base to move along the axis, ultimately adjusting the distance between the first and second bases to change the opening angle of the clamping arm.

[0051] In some optional embodiments, the interventional medical device further includes a connector 401, which is located at the end of the opening / closing angle adjustment unit away from the guide structure. The connector is used to transmit the load driving the opening / closing angle adjustment unit to achieve rapid adjustment of the opening / closing angle adjustment unit. Figure 2 and Figure 7 In the illustrated embodiment, the end of the connector 401 extending from the opening / closing angle adjustment unit has a latch, which engages with the connecting rod assembly 402. In the connected state, the driving load is transmitted to the opening / closing angle adjustment unit through the connector 401, thereby pulling the opening / closing angle adjustment unit to move rapidly along the axis for rapid adjustment. Figure 2 As shown, the opening and closing angle adjustment unit has a through hole inside. The connector 401 can be inserted into the opening and closing angle adjustment unit and fixedly connected to the opening and closing angle adjustment unit, thereby driving the opening and closing angle adjustment unit to move through the connector 401.

[0052] In some optional embodiments, the interventional medical device further includes a drive member 403, and the connector 401 is disposed at the distal end of the second base and protrudes from the end face. The drive member is used to transmit the load driving the opening and closing angle adjustment unit to achieve fine adjustment of the opening and closing angle adjustment unit. Figure 2 and Figure 7 In the illustrated embodiment, the driving member 403 has an anti-rotation structure at its distal end, which can be inserted into the threaded portion 201. The driving member 403 and the threaded portion 201 are connected through the anti-rotation structure. In the connected state, the driving load is transmitted to the opening angle adjustment unit through the driving member 403, thereby driving the opening angle adjustment unit to rotate to achieve fine thread adjustment. Figure 2 As shown, the opening and closing angle adjustment unit has a through hole inside. The driving component 403 can be inserted into the opening and closing angle adjustment unit and sleeved and connected to the opening and closing angle adjustment unit, thereby driving the opening and closing angle adjustment unit to rotate through the driving component 403.

[0053] In some optional embodiments, the clamping unit includes at least two lower clamping arms, each of which is pivotally connected to the second base and can form different opening and closing angles due to the movement of the first base relative to the second base. Figure 8In the illustrated embodiment, the second base has two fulcrums 701 for mounting the lower clamping arm. The fulcrums are spaced 180° apart circumferentially. One end of the lower clamping arm has two through holes, which are respectively fitted and connected to the fulcrums, allowing the lower clamping arm to rotate along the fulcrums 701. The medical device also includes a rotating arm 211, with a first rotating shaft 213 and a second rotating shaft 214 at its two ends. The second rotating shaft 214 is pivotally connected to the middle of the lower clamping arm. The second rotating shaft 213 is pivotally connected to the first base. When the first base moves relative to the second base, the first base transmits the load to the lower clamping arm through the rotating arm to adjust the opening and closing state of the lower clamping arm.

[0054] In some optional embodiments, the clamping unit further includes at least two upper clamping arms, each of which is connected to the second base and can be driven to move closer to or further away from the lower clamping arm. Figure 2 As shown, the end of the upper clamping part is also provided with a through hole for hinge connection with the fulcrum 701, thereby allowing the upper clamping arm to rotate along the fulcrum. Furthermore, the upper clamping arm has a plurality of barbs 212 protruding from the side facing the lower clamping arm. When the lower clamping arm and the upper clamping arm are close together and clamping the target tissue, the barbs penetrate the target tissue to stably anchor the clamping arm to the target tissue. Figure 5 In the described embodiment, the other end of the upper clamping arm is also connected to a pull cable 601, the other end of which extends proximally via a conveying system for easy operator access. The pull cable is used to adjust the opening angle of the upper clamping arm. In some optional embodiments, the upper clamping arm is made of a shape-memory material. It is understood that only when the upper clamping arm has sufficient elastic restoring force can it stably engage with the lower clamping arm after the pull cable tension is removed, providing sufficient clamping load to the target tissue.

[0055] In use, the delivery system is fixedly connected to the second base 102, thereby controlling the position and orientation of the interventional medical device 100. When it is necessary to put the medical device in a retracted, closed state, the distance between the first base and the second base can be adjusted by rotating the opening / closing angle adjustment unit 105. The smaller the distance, the smaller the closing angle of the medical device 100, for example, presenting... Figure 9 The image shows the collapsed state. Conversely, the closing angle increases, for example, showing... Figure 6The opening and closing states are shown. The opening and closing angle adjustment unit allows the lower clamping arms to be at any angle between 0° and 180°. Specifically, the opening and closing angle adjustment from 0° to 180° is achieved by rotating the drive component to adjust the distance between the first base and the second base. When the opening and closing angle adjustment unit is separated from the second base, the distance between the first base and the second base can be quickly adjusted, realizing rapid adjustment of the opening and closing angle between the lower clamping arms. Specifically, the opening and closing angle adjustment from 180° to 350° is achieved by pushing and pulling the connecting rod assembly to adjust the distance between the first base and the second base; the greater the distance, the greater the opening angle of the lower clamping arms, and vice versa.

[0056] In some optional embodiments, the total number of fulcrums 701 is four, divided into two groups, each group being hinged to the end of a lower clamping arm. For example... Figures 9 to 11 The illustrated embodiment demonstrates a design where each end of the second base has two support points on both sides. The two sets of support points are symmetrically arranged circumferentially. Correspondingly, each lower clamping arm has two through holes at its end for hinge connection to its corresponding two support points. After assembly, the lower clamping arms are distributed 180° circumferentially and can rotate along their respective hinge points to move closer or further apart. In this design, the geometry of the two lower clamping arms can be identical, thereby reducing manufacturing costs and facilitating assembly.

[0057] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. 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.

[0058] 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. An invasive medical device, characterized in that: include: A first base and a second base, wherein the first base and the second base are movable relative to each other; A clamping unit, which is respectively connected to the first base and the second base, and generates different opening and closing angles according to the relative movement of the first base and the second base; as well as An opening and closing angle adjustment unit is connected to the first base and can be selectively connected to or separated from the second base; wherein, In the separated state, the opening and closing angle adjustment unit is used to quickly adjust the opening and closing angle; and in the connected state, the opening and closing angle adjustment unit is used to finely adjust the opening and closing angle; The angle range of the opening and closing angle for quick adjustment is different from the angle range of the opening and closing angle for fine adjustment.

2. The invasive medical device according to claim 1, characterized in that: The angle range of the fine adjustment opening and closing angle is 0°-180°, and / or the angle range of the quick adjustment opening and closing angle is 180°-350°, wherein the opening and closing angle is the opening angle between the relatively arranged clamping arms of the clamping unit.

3. The invasive medical device according to claim 1, characterized in that: The opening and closing angle adjustment unit further includes a threaded portion, the second base includes a through hole, and the inner wall of the through hole is provided with a thread; The first base and the second base can be screwed together or separated from each other through the threaded cooperation between the threaded part and the through hole; and in the screwed state, the opening and closing angle adjustment unit can be rotated circumferentially relative to the second base to finely adjust the opening and closing angle.

4. The invasive medical device according to claim 3, characterized in that: A portion of the second base close to the opening and closing angle adjustment unit is provided with a guide structure for guiding the threaded portion to enter the through hole.

5. The invasive medical device according to claim 4, characterized in that: The length of the guide structure in the axial direction is 0.1mm-10mm.

6. The invasive medical device according to claim 3, characterized in that: The opening and closing angle adjustment unit further includes a clamping and positioning portion, and the first base further includes a clamping and penetrating portion; Wherein, the clamping and positioning portion is arranged in the clamping and penetrating portion, and is axially positioned and circumferentially rotated relative to the clamping and penetrating portion.

7. The invasive medical device according to claim 6, characterized in that: A first engaging portion is provided in the circumference of the clamping and positioning portion, and a second engaging portion is provided in the circumference of the clamping and penetrating portion. The first engaging portion and the second engaging portion engage to achieve axial positioning and circumferential rotation of the clamping and positioning portion relative to the clamping and penetrating portion.

8. The invasive medical device according to claim 4, characterized in that: It also includes a connecting piece, which is arranged at one end of the opening and closing angle adjustment unit away from the guide structure, and is used to transmit the load driving the opening and closing angle adjustment unit to achieve fine adjustment and rapid adjustment of the opening and closing angle adjustment unit.

9. The invasive medical device according to claim 2, characterized in that: The clamping unit includes at least two lower clamping arms, each of which is pivotally connected to the second base and can form different opening and closing angles under the movement of the first base relative to the second base.

10. The invasive medical device according to claim 9, characterized in that: The clamping unit further comprises at least two upper clamping arms, each of which is connected to the second base and can be driven to approach or move away from the lower clamping arm.

11. The invasive medical device according to claim 10, characterized in that: The upper clamping arm is made of memory material.

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