Remote flexible micromagnet sheathing canal device

Abstract

The utility model discloses a remote flexible micromagnet sheathing canal device, and relates to the medical instrument technology, the remote flexible micromagnet sheathing canal device comprises a handle part comprising a tail wire guide part and a mechanical transmission part, and the tail wire guide part comprises a handle, an electrode ring wire and a saline pipe; the mechanical transmission component is arranged at one end of the handle, the other end of the mechanical transmission component is led out of the sheathing canal, and the mechanical transmission component is matched with a surgical robot so as to transmit required actions to the sheathing canal under the control of the surgical robot; the sheath tube is led out from the other end of the mechanical transmission part and comprises a hard section and a flexible section, the flexible section is led out from the hard section, and the visual electrode is arranged on the flexible section. According to the sheathing canal device, remote flexible catheter navigation control can be achieved on the compatible magnetic navigation surgical robot, and a treatment catheter can be remotely guided to reach the cardiac surgery position.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, and particularly relates to a remote flexible micro-magnet sheath device. BACKGROUND

[0002] Interventional therapy is a modern medicine rapidly popularized in recent decades, which usually needs to use various catheter devices with different structures, shapes and sizes to establish a channel between a lesion site in a patient's body and an external operating end, so as to introduce various diagnosis and treatment instruments, drugs and implanted instruments to the lesion site of the patient. In a cardiovascular interventional surgery, an operator usually needs to simultaneously control a catheter and a sheath by two hands to complete an intracardiac interventional surgery. Under the assistance of a DSA imaging and a three-dimensional navigation system, a doctor manually operates a sheath and a catheter, controls the sheath and the catheter through multiple degrees of freedom, places an interventional instrument in a specified heart chamber through a peripheral blood vessel, and controls the catheter head to move to a specific position in the heart chamber which needs ablation treatment, so as to perform ablation treatment.

[0003] The cooperation process of the catheter and the sheath is as follows: first, the sheath needs to be controlled to enter a target heart chamber from a femoral vein through femoral vein puncture, the catheter enters the target heart chamber through the sheath channel established by the sheath, since the sheath head is provided with a fixed bend or an adjustable bend, the operator can point the fixed bend of the sheath head to a target ablation site by rotating the sheath, push the sheath axially to make the sheath head as close as possible to the target ablation site, then push the ablation catheter axially to make the ablation catheter pass through the fixed bend or the pre-adjusted bend of the sheath, extend out of the sheath head, and ensure that the adjustable bend part of the ablation catheter completely extends out of the sheath head, on the basis of the fixed bend or the adjustable bend of the sheath, the catheter is controlled to be bent and rotated and axially pushed until the big head electrode of the catheter head reaches the target ablation position to perform ablation treatment, when the control is performed, the doctor simultaneously injects contrast agent through a three-way connector of the sheath to confirm the position of the image.

[0004] In the above process, the operator needs to wear heavy lead clothes, and at the same time, the operator needs to operate the catheter and the sheath to perform the operation, which is very laborious, and at the same time, the operation efficiency of the operator is affected. In recent years, with the rapid development of medical operation robot industry, the operator can remotely control the axial movement and circumferential rotation of the interventional instrument through the mechanical hand, but the interventional guide sheath is a hard catheter, and the directional navigation in the three-dimensional space of the heart usually needs to be completed by decomposing into multiple motion combinations, for example, the vector motion path in the three-dimensional space usually needs to be completed by decomposing into axial movement, rotation, and then bending. The efficiency is not high, and the accuracy is greatly affected, and it often needs to be adjusted back and forth for a long time to achieve the target position, and the sheath is invisible in the three-dimensional image, and can only be developed by continuously injecting contrast agent under X-ray to obtain the position and state of the sheath in the body, and the operator cannot intuitively understand the relative position between the sheath and the catheter and the corresponding angle, and can only rely on surgical experience to conceive the state between the sheath and the catheter to determine the next operation. Practical new type content

[0005] The embodiment of the present application provides a kind of flexible micro-magnet sheath device remotely, to realize flexible catheter navigation control remotely in compatible magnetic navigation operation robot, realize flexible micro-magnet sheath device remotely and guide treatment catheter to reach heart operation position.

[0006] The embodiment of the present application provides a kind of flexible micro-magnet sheath device remotely, comprising:

[0007] Handle part, including tail wire guide component 2 and mechanical transmission component 3, wherein,

[0008] The tail wire guide component 2 includes handle, electrode ring lead wire 21 and saline pipe 22, the tail wire guide component 2 is used to regularly guide electrode ring lead wire 21 and saline pipe 22 in the mapping process, the electrode ring lead wire 21 is electrically connected with visible electrode 14 arranged on sheath 1, to access mapping system, the saline pipe 22 is communicated with sheath, to provide saline in the mapping process;

[0009] The mechanical transmission component 3 is arranged on one end of the handle, the other end of the mechanical transmission component 3 leads out the sheath, the mechanical transmission component 3 is adapted with surgical robot, to drive the required action to the sheath 1 under the control of the surgical robot;

[0010] Sheath 1, which is led out from the other end of the mechanical transmission component 3, includes rigid section 11 and flexible section 12, the flexible section 12 is led out from the rigid section 11, the visible electrode 14 is arranged on the outer surface of the flexible section 12, the visible electrode 14 is annular electrode, the visible electrode 14 leads out the electrode ring lead wire 21.

[0011] Optionally, the flexible section 12 specifically comprises a visualization section and an outer diameter gradually changing section, the outer diameter gradually changing section is connected with the visualization section and located at the end of the sheath tube 1, the visualization section comprises an inner liner tube, a spring tube and an outer layer flexible polymer tube;

[0012] The end of the outer diameter gradually changing section is treated smooth by polymer tube material.

[0013] Optionally, a plurality of groups of micro-magnets 15 and a plurality of visible electrodes 14 are arranged on the visualization section at intervals, any group of micro-magnets 15 comprises two micro-magnets 15, and one visible electrode 14 is arranged between the two micro-magnets 15.

[0014] Optionally, the outer diameter gradually changing section is a conical surface, and at least two negative pressure prevention micro-holes 16 are arranged on the conical surface.

[0015] Optionally, the mechanical transmission component 3 comprises an axial transmission assembly and a rotary transmission assembly, wherein the axial transmission assembly and the rotary transmission assembly are respectively used to access the effector of the surgical robot to perform corresponding actions.

[0016] Optionally, the axial transmission assembly comprises two fixing frames adapted to the surgical robot, so that after accessing the effector of the surgical robot, the fixing frames are inserted into corresponding positions to control the axial movement of the sheath tube 1.

[0017] The rotary transmission assembly comprises a rotary meshing gear, which is used to mesh with the rotary drive gear of the effector of the surgical robot to control the rotation of the sheath tube 1.

[0018] Optionally, the tail wire guide component 2 is further provided with a guide clamping groove 23 and an anti-winding baffle 24 at the other end of the handle, the electrode ring wire 21 and the saline tube 22 can be wound on the tail wire guide component 2 in the initial state, the guide clamping groove 23 is used to guide the winding of the electrode ring wire 21 and the saline tube 22 respectively, and the anti-winding baffle 24 is used to provide winding intervals for the electrode ring wire 21 and the saline tube 22 respectively.

[0019] Optionally, the guide clamping groove 23 is arranged at the handle side surface at 90° with the handle tail wire with the handle shaft center as the center, and the axial positions of the guide clamping grooves are respectively in front of the corresponding tail wire and saline tube positions of the handle.

[0020] Optionally, the tail wire guide component 2 is further provided with a hemostasis valve assembly 25 at the tail end of the other end of the handle.

[0021] The embodiment of the present application also provides a remote surgery system, comprising a surgery robot and the remote flexible micro-magnet sheath device as described above, and the surgery robot is connected with the remote flexible micro-magnet sheath device through a corresponding actuator to control the remote flexible micro-magnet sheath device to perform corresponding actions according to control instructions.

[0022] The sheath device of the embodiment of the present application can realize remote flexible catheter navigation control on a compatible magnetic navigation surgery robot, and realize remote guidance of a treatment catheter to reach a heart surgery position.

[0023] The above description is only a summary of the technical scheme of the present application, in order to make the technical means of the present application more clearly understood and implemented according to the content of the specification, and in order to make the above and other purposes, characteristics and advantages of the present application more obvious and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0024] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of the preferred embodiments and are not meant to limit the present application. Furthermore, the same reference numerals are used throughout the several drawings to designate the same or similar parts. In the drawings:

[0025] Figure 1 The overall structure of the remote flexible micro-magnet sheath device of the embodiment of the present application is shown in the figure;

[0026] Figure 2 The flexible section structure of the remote flexible micro-magnet sheath device of the embodiment of the present application is shown in the figure;

[0027] Figure 3 The flexible section structure of the remote flexible micro-magnet sheath device of the embodiment of the present application is shown in the figure;

[0028] Figure 4 The mechanical transmission component structure of the remote flexible micro-magnet sheath device of the embodiment of the present application is shown in the figure;

[0029] Figure 5 The tail line guide component state of the remote flexible micro-magnet sheath device of the embodiment of the present application is shown in the figure;

[0030] Figure 6 The tail line guide component side structure of the remote flexible micro-magnet sheath device of the embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0031] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0032] Problems with existing interventional surgeries include:

[0033] Navigating an interventional guide sheath within the three-dimensional heart space typically requires breaking down into multiple motion combinations. For example, a vector motion path within three dimensions typically requires a combination of axial movement, rotation, and bending. This is inefficient and significantly impacts accuracy, requiring frequent back-and-forth adjustments and numerous manipulations to achieve precise positioning within a narrow range.

[0034] Interventional guide sheaths are prone to serious surgical complications because the sheath is made of hard material and has a traction wire installed at the tip, which allows the pressure of the manipulation action in the heart cavity to cause perforation on the beating heart and damage to the inner layer of blood vessel tissue.

[0035] The surgeon has a long learning curve. Learning to manually manipulate a rigid sheath is often challenging due to the risks of complications associated with interventional procedures and spatial positioning errors. The sheath morphology and control handle designs used in clinical practice vary, hindering the surgeon's learning curve.

[0036] Traditional rigid sheaths are designed for surgery and cannot be remotely controlled, thereby failing to improve the level of intelligent surgery and popularize the standardization of surgery.

[0037] Manual sheaths cannot be directly linked to the robot's motor drive components. Traditional sheaths need to be specifically improved and adapted, and additional propulsion mechanisms need to be added to complete the adaptation to the surgical robot's drive components, thereby completing operations with corresponding degrees of freedom.

[0038] When the surgical robot remotely controls the sheath for rotational movement, the saline contrast agent pipeline at the sheath handle and the tail wire of the signal line at the handle end are easily entangled at the handle, causing a jam with the robot actuator. In severe cases, the actuator may even be stuck, causing the operation to fail.

[0039] The operator cannot perform three-dimensional imaging on the sheath through the three-dimensional mapping system during the operation, and can only confirm the sheath position through X-ray contrast. In the case of needing to cooperate the sheath and the catheter to make an S-bend in some special positions of the heart, the operator needs to determine the actual position and state of the sheath through rich clinical experience, which requires very high operation of the operator. The operator can only determine the next operation by imagining the relative position of the head end of the sheath in the body and the catheter in the three-dimensional space to control the head end of the catheter to correctly reach the lesion position, thereby greatly increasing the brain calculation of the operator and the operation time, and indirectly increasing the risk in the operation process.

[0040] Therefore, the sheath device provided by the embodiment of the present application can realize remote flexible catheter navigation control on the compatible magnetic navigation surgical robot, and realize remote guidance of the treatment catheter to reach the heart operation position. Figure 1 As shown in the figure, the remote flexible micro-magnet sheath device provided by the embodiment of the present application mainly comprises a handle part and a sheath.

[0041] The handle part comprises a tail wire guide part 2 and a mechanical transmission part 3, wherein,

[0042] The tail wire guide part 2 comprises a handle, an electrode ring guide wire 21 and a saline pipe 22. The tail wire guide part 2 is used to regularly guide the electrode ring guide wire 21 and the saline pipe 22 in the mapping process. The electrode ring guide wire 21 is electrically connected with the visible electrode 14 arranged on the sheath 1 to access the mapping system. The saline pipe 22 is communicated with the sheath to provide saline in the mapping process.

[0043] The mechanical transmission part 3 is arranged on one end of the handle. The other end of the mechanical transmission part 3 leads out the sheath. The mechanical transmission part 3 is adapted with the surgical robot to transmit the required action to the sheath 1 under the control of the surgical robot.

[0044] The sheath 1 leads out from the other end of the mechanical transmission part 3, and comprises a hard section 11 and a flexible section 12. The flexible section 12 leads out from the hard section 11. The visible electrode 14 is arranged on the outer surface of the flexible section 12. The visible electrode 14 is a ring electrode. The visible electrode 14 leads out the electrode ring guide wire 21. In some embodiments, the hard section 11 is used for supporting, and the flexible section 12 is used for navigation, such as axial movement, bending, etc. In specific applications, the overall length of the device of the present application is 900-980 mm, the length of the flexible section 12 is 75-80 mm, and the length of the hard section 11 is 800-900 mm.

[0045] The sheath device of the embodiment of the present application can realize remote flexible catheter navigation control on the compatible magnetic navigation surgical robot, and realize remote guidance of the treatment catheter to reach the heart operation position.

[0046] Independently or additionally, the flexible section 12 specifically includes a visualization section 17 and an outer diameter tapered section 18, the outer diameter tapered section 18 being connected with the visualization section 17 and located at the end of the sheath tube 1, the visualization section including an inner liner tube, a spring tube and an outer layer flexible polymer tube;

[0047] The end of the outer diameter tapered section is treated smooth by polymer tube material, facilitating pushing.

[0048] Independently or additionally, a plurality of groups of micro-magnets 15 and a plurality of visible electrodes 14 are arranged on the visualization section 17 at intervals, any group of micro-magnets 15 including two micro-magnets 15, and one visible electrode 14 being arranged between the two micro-magnets 15.

[0049] As shown in Figure 2 , Figure 3 In some specific examples, the visible electrodes 14 are annular, the visualization section is provided with micro-magnets 15, the number of micro-magnets is not less than 8, the micro-magnets are arranged at intervals in the sheath tube flexible micro-magnet visualization section, the interval between each micro-magnet is 5 mm, the length of each micro-magnet is 3.5 mm, each micro-magnet is a hollow cylinder, the size of the micro-magnet is an outer diameter of 3.8 mm and an inner diameter of 3.0 mm.

[0050] In specific examples, the spatial navigation of the sheath tube flexible tube body navigation section (outer diameter tapered section) is completed by an externally applied magnetic navigation magnetic field and a gradient change in magnetic field strength, wherein the magnetic navigation magnetic field strength controlled by the externally applied magnetic field can determine the sheath tube spatial curvature bending torque, the sheath tube flexible navigation section of the present application requires a spatial static 50 millitesla (mT) uniform magnetic field for navigation, and the control of the sheath tube flexible navigation section to maintain axial consistency, the sheath tube spatial curvature traction requires a certain magnetic field gradient, and the sheath tube device of the present application is suitable for a magnetic field gradient adaptation of not less than 5 millitesla per centimeter (mT / cm) to control the spatial traction bending of the sheath tube flexible navigation section.

[0051] Referring to Figure 3 , the visualization section includes not less than four visible electrodes 14, the visible electrodes 14 being annular electrodes of platinum-iridium metal material, both X-ray contrast and three-dimensional mapping system being visible, the signal line of the visible electrode being connected to the external electro-physiological three-dimensional mapping system through the tube body wiring slot, and the visible electrode ring being arranged at intervals, the interval between each electrode being 14 mm, and the length of each annular electrode being 2 mm.

[0052] The sheath tube device of the present application completely removes the hard traction steel wire in the sheath tube through the flexible sheath tube design, completely solves the pressure influence of the traditional hard sheath tube on the heart through the flexible front end, solves the problem of serious complications such as heart perforation, and greatly simplifies the handle control design of the adjustable bending sheath tube by removing the traction steel wire.

[0053] The magnetic sheath designed in the embodiment of the application is provided with a plurality of micro magnets at the head end of the sheath, and can complete any navigation path in the heart cavity by magnetic field change, and complete navigation at complex heart anatomical sites, thereby solving the problems of manual operation or complex and inefficient to position and part of the anatomical sites that cannot be reached.

[0054] The application can be visualized in the sheath position under the DSA contrast and three-dimensional mapping system through the plurality of electrodes at the front end of the sheath, and can assist the operation of the cardiac interventional surgery, and solve the problem that the traditional fixed curved guide sheath cannot be seen under the navigation system.

[0055] Independently or additionally, the outer diameter gradually changing section 18 is a conical surface, and at least two negative pressure prevention micro holes 16 are arranged on the conical surface. Specifically, as shown in the figure, Figure 3 In some specific examples, the flexible micro magnet visualization section has a length of 60 mm and an outer diameter of 11 Fr, the outer diameter gradually changing section has a length of 15 mm, and the outer diameter of the outer diameter gradually changing section tube body to the tip linearly changes from 11 Fr to 9 Fr. The outer diameter gradually changing section end of the sheath flexible tube body is integrated with the negative pressure prevention micro holes 16, the number of the negative pressure prevention micro holes is not less than two, and the negative pressure prevention micro holes can be symmetrically arranged on the side surface of the outer diameter gradually changing section tube body. When the sheath and the inner wall of the heart contact, the catheter is withdrawn in the sheath, a negative pressure space is formed, the negative pressure can be released through the negative pressure prevention micro holes, and the inner wall of the heart is not damaged when the catheter is controlled.

[0056] Independently or additionally, as shown in the figure, Figure 4 The mechanical transmission component 3 includes an axial transmission assembly 31 and a rotary transmission assembly 32, wherein the axial transmission assembly 31 and the rotary transmission assembly 32 are respectively used to access the actuator of the surgical robot to perform corresponding actions.

[0057] Independently or additionally, the axial transmission assembly 31 includes two fixed frames adapted to the surgical robot, which are inserted into the corresponding positions to control the axial movement of the sheath 1 after accessing the actuator of the surgical robot.

[0058] The rotary transmission assembly 32 includes a rotary meshing gear, which is used to mesh with the rotary drive gear of the actuator of the surgical robot to control the rotation of the sheath 1.

[0059] Independently or additionally, the other end of the handle of the tail wire guide component 2 is further provided with a guide clamping groove 23 and an anti-winding baffle 24. In the initial state, the electrode ring wire 21 and the saline pipe 22 can be wound on the tail wire guide component 2. The guide clamping groove 23 is used to guide the winding of the electrode ring wire 21 and the saline pipe 22 respectively, and the anti-winding baffle 24 is used to provide winding intervals for the electrode ring wire 21 and the saline pipe 22 respectively.

[0060] As shown in Figure 5 The tail wire guide part 2 includes guide clamping grooves 23 arranged on the side of the guide sheath and anti-winding baffles 24. The guide clamping grooves 23 correspond to, for example, electrode tail wire guide clamping grooves and saline pipe guide clamping grooves. The electrode ring wire and the saline pipe are respectively provided with anti-winding baffles at the tail end of the handle, which limits the winding of the electrode ring wire and the saline pipe in a fixed direction and prevents reverse winding. At the same time, the anti-winding baffles also play a role in isolating the electrode ring wire. When the electrode ring wire or the saline pipe has multiple turns of winding on the handle of the sheath, the electrode ring wire and the saline pipe will not be wound with each other, causing machine failure and error.

[0061] In some embodiments, the guide clamping grooves 23 are arranged on the side of the handle at 90° to the tail wire with the handle shaft center as the center. The axial positions of the guide clamping grooves are respectively in front of the positions of the corresponding tail wire and saline pipe of the handle. For example, the axial positions of the guide clamping grooves 23 are respectively in front of the positions of the corresponding tail wire and saline pipe of the handle by a distance of half a pipe body, so as to guide the electrode ring wire and the saline pipe to regularly wind around the handle in a fixed direction.

[0062] In some embodiments, as shown in Figure 6 The tail wire guide part 2 is provided with a hemostasis valve assembly 25 at the other end of the handle. Specifically, the hemostasis valve assembly 25 is fixed at the rear end of the handle. When it is necessary to exchange catheter interventional instruments in surgery, the hemostasis valve can prevent blood from flowing out of the tail of the sheath. The sheath can be fixed as a whole on the manipulator of the surgical robot, and the catheter can be replaced without being detached from the manipulator of the surgical robot. This avoids manual operation of the sheath and switching between the robot operations, reduces the operation time, improves the operation efficiency, and facilitates the promotion and application of the surgical robot operation.

[0063] The sheath device of the embodiments of the present application is designed for a special handle for interventional surgical robots, which includes a mechanical transmission assembly. Therefore, the handle can be directly used on compatible surgical robot manipulators without the need to add additional adapters, which accelerates the installation efficiency of the surgical robot and improves the control accuracy of the surgical robot.

[0064] The innovative saline pipe and wire guide structure of the embodiments of the present application can regularly wind the saline pipe and the electrode ring wire around the handle during rotation control, which will not cause the surgical robot to be blocked. This solves the problem of safe operation of the surgical robot caused by the winding of the wire and the saline pipe and solves the problem of surgical accidents caused by the winding of the wire and the saline pipe.

[0065] The application further provides a remote surgery system, comprising a surgery robot and the flexible micromagnet sheath device as described above, the surgery robot being connected with the flexible micromagnet sheath device through a corresponding actuator, so that the surgery robot drives the head end of the flexible micromagnet sheath to perform a bending operation through an adapted magnetic field generator. The magnetic navigation field strength controlled by the applied magnetic field can determine the bending torque of the spatial curvature of the sheath, the flexible navigation section of the sheath needs a spatial static 50 mT uniform magnetic field for navigation, and the spatial curvature traction of the sheath needs a certain magnetic field gradient, the sheath device of the application is suitable for a magnetic field gradient of not less than 5 mT / cm, so as to control the spatial traction bending of the flexible navigation section of the sheath.

[0066] It should be noted that in the embodiments of the application, the terms "comprising", "containing" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0067] The serial numbers of the embodiments of the application described above are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0068] The embodiments of the application are described above in combination with the drawings, but the application is not limited to the above specific embodiments, the above specific embodiments are only illustrative, but not restrictive, and those skilled in the art can make many forms under the inspiration of the application without departing from the scope of the application and the protection scope of the claims, which all belong to the protection of the application.

Claims

1. A remote flexible micromagnet sheath device, characterized in that: include: The handle portion includes a tail line guide component (2) and a mechanical transmission component (3), wherein: The tail wire guide component (2) comprises a handle, an electrode ring wire (21) and a saline tube (22); the tail wire guide component (2) is used to regularly guide the electrode ring wire (21) and the saline tube (22) during the mapping process; the electrode ring wire (21) is electrically connected to a visible electrode (14) provided on the sheath tube (1) to access the mapping system; the saline tube (22) is connected to the sheath tube to provide saline during the mapping process; The mechanical transmission component (3) is arranged on one end of the handle, and the other end of the mechanical transmission component (3) leads out of the sheath tube. The mechanical transmission component (3) is adapted to the surgical robot to transmit the required action to the sheath tube (1) under the control of the surgical robot; A sheath tube (1) is led out from the other end of the mechanical transmission component (3), and comprises a hard section (11) and a flexible section (12). The flexible section (12) is led out from the hard section (11). The visible electrode (14) is provided on the outer surface of the flexible section (12). The visible electrode (14) is a ring electrode, and the electrode ring wire (21) is led out from the visible electrode (14).

2. The remote flexible micromagnet sheath device according to claim 1, characterized in that: The flexible section (12) specifically includes a visualization section and an outer diameter gradient section, the outer diameter gradient section is connected to the visualization section and is located at the end of the sheath tube (1), and the visualization section includes an inner lining tube, a spring tube, and an outer flexible polymer tube; The end of the outer diameter gradient section is smoothed by using a polymer tube.

3. The remote flexible micromagnet sheath device according to claim 2, characterized in that: On the visualization segment, multiple groups of micromagnets (15) and multiple visual electrodes (14) are arranged at intervals. Any group of micromagnets (15) includes two micromagnets (15), and one visual electrode (14) is arranged between the two micromagnets (15).

4. The remote flexible micromagnet sheath device according to claim 2, characterized in that: The outer diameter gradual change section is a conical surface, and at least two negative pressure prevention microholes (16) are provided on the conical surface.

5. The remote flexible micromagnet sheath device according to claim 1, characterized in that: The mechanical transmission component (3) comprises an axial transmission component and a rotary transmission component, wherein the axial transmission component and the rotary transmission component are respectively used to connect to the actuator of the surgical robot to perform corresponding actions.

6. The remote flexible micromagnet sheath device according to claim 5, characterized in that: The axial transmission assembly includes two fixing frames adapted to the surgical robot, which are inserted into corresponding positions after the actuator of the surgical robot is connected to control the axial movement of the sheath; The rotary transmission assembly includes a rotary meshing gear, which is used to mesh with the actuator rotary driving gear of the surgical robot to control the rotation of the sheath.

7. The remote flexible micromagnet sheath device according to claim 1, characterized in that: The tail wire guide component (2) is further provided with a guide slot (23) and an anti-winding baffle (24) at the other end of the handle. In an initial state, the electrode ring wire (21) and the saline tube (22) can be wound around the tail wire guide component (2). The guide slot (23) is used to guide the winding of the electrode ring wire (21) and the saline tube (22), respectively. The anti-winding baffle (24) is used to provide winding intervals for the electrode ring wire (21) and the saline tube (22).

8. The remote flexible micromagnet sheath device according to claim 7, characterized in that: The guide slot (23) is arranged on the side of the handle at 90 degrees to the handle tail line with the handle axis as the center of the circle. The axial position of the guide slot is respectively forward of the handle tail line and the saline tube position.

9. The remote flexible micromagnet sheath device according to claim 1, characterized in that: The tail wire guide component (2) has a hemostatic valve assembly (25) provided at the other end of the handle.

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