Intracardiac ultrasound catheter and control handle thereof

Abstract

The utility model discloses an intracardiac ultrasound catheter and a control handle thereof. The control handle comprises a fixing mechanism, a rotating mechanism and a locking ring. The rotating mechanism comprises a front rotating wheel and a rear rotating wheel, and the front rotating wheel and the rear rotating wheel can rotate around own axes longitudinally arranged along the control handle; the fixing mechanism comprises an upper supporting frame, a lower supporting frame, a rear supporting ring, a middle supporting ring and a front supporting ring. The locking circular ring is located at the rear end of the rear supporting ring and makes contact with the rear supporting ring, slopes are arranged on the contact faces of the locking circular ring and the rear supporting ring, and the slopes are opposite in direction. When the locking circular ring is rotated in the locking direction, the locking circular ring rotates by a certain angle relative to the rear supporting ring, the rear supporting ring extrudes the rear rotating wheel, the middle supporting ring and the front rotating wheel forwards under the action of a slope, extrusion force finally reaches the front supporting ring, friction force among the rear rotating wheel, the middle supporting ring and the front rotating wheel is increased, and self-locking of the control handle is achieved. Compared with the prior art, the scheme is simple in structure, convenient to operate and good in self-locking effect.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to an intracardiac ultrasound catheter and its control handle. Background Technology

[0002] Diagnosis and surgery for cardiac diseases are difficult to perform directly through optical observation, while ultrasound can propagate through opaque media. Therefore, intracardiac ultrasound catheters have a wide range of applications in the medical field.

[0003] To provide direct visualization of anatomical structures within the heart cavity, such as the foramen ovale, left atrial appendage, left and right atria, and ventricles, and to guide and position interventional devices such as occluders, ablation catheters, and ventricular assist devices, as well as to measure physiological characteristics such as blood flow, thrombus, and pericardial effusion, the catheter tip needs to be bent at different angles (often called "bending") to flexibly adjust the spatial position and imaging angle of the ultrasound probe. However, the current method of achieving bending is structurally complex and inconvenient to operate, affecting the success rate and treatment outcomes. Utility Model Content

[0004] To solve the above-mentioned technical problems, the purpose of this utility model is to provide an intracardiac ultrasound catheter with a simple structure and convenient operation, and its control handle.

[0005] The technical solution provided by this utility model is as follows:

[0006] A control handle for an intracardiac ultrasound catheter is connected to the rear end of the catheter body to control the deformation of the front end of the catheter body. The catheter body has four drawstring cavities spaced 90° apart, each containing a drawstring that can move freely within it. One end of each drawstring is fixed to the front end of the catheter body, with drawstrings spaced 180° apart forming a pair, resulting in two pairs. The control handle fixes the other end of each drawstring and includes a fixing mechanism and a rotating mechanism. The rotating mechanism is movably connected to the fixing mechanism and can rotate about its own axis, which is longitudinally aligned with the control handle. The end of each drawstring is fixed to a corresponding rotating mechanism. When the rotating mechanism rotates, it drives the corresponding drawstring to move longitudinally along the control handle, thereby controlling the tension and relaxation of the drawstring to control the deformation of the front end of the catheter body, producing different angles of bending. The rotating mechanism includes a front rotating wheel and a rear rotating wheel, both of which can rotate about their own axes, which are longitudinally aligned with the control handle.

[0007] The fixing mechanism includes an upper support frame, a lower support frame, a rear support ring, a middle support ring, and a front support ring. The rear support ring, the rear rotating wheel, the middle support ring, the front rotating wheel, and the front support ring are sequentially sleeved and fixed on the upper support frame and the lower support frame from back to front. The rear rotating wheel is rotatably sleeved on the upper support frame and the lower support frame and is located between the rear support ring and the middle support ring. The front rotating wheel is rotatably sleeved on the upper support frame and the lower support frame and is located between the middle support ring and the front support ring.

[0008] The control handle also includes a locking ring, which is located at the rear end of the rear support ring and in contact with it. The contact surfaces of both rings have ramps, and the ramps are in opposite directions. The rear support ring can only move freely along the axial direction of the upper and lower support frames, but cannot rotate. The locking ring can only rotate along the axis and cannot move along the axial direction. When the locking ring is rotated in the locking direction, it rotates at a certain angle relative to the rear support ring. Due to the ramp, the rear support ring presses forward against the rear rotating wheel, the middle support ring, and the front rotating wheel. The pressing force eventually reaches the front support ring, increasing the friction between the rear rotating wheel, the middle support ring, and the front rotating wheel to achieve self-locking of the control handle.

[0009] Preferably, the front pull cable push-pull component, the rear pull cable push-pull component, and the two reversing structures are housed within the receiving space formed by the upper support frame and the lower support frame.

[0010] Preferably, the rotating mechanism further includes a front cable push-pull component and a rear cable push-pull component; each of the front and rear cable push-pull components includes two push-pull rods arranged longitudinally along the control handle and parallel to each other, the rear end of the push-pull rods being used to fix the cable; the front and rear rotating wheels cooperate with the corresponding front and rear cable push-pull components, and when the front and rear rotating wheels are rotated, they drive the front and rear cable push-pull components to move back and forth; a reversing structure is provided behind the front and rear cable push-pull components, the axis of the reversing structure being perpendicular to the plane where the two push-pull rods of the corresponding front or rear cable push-pull component are located; one of the pairs of cables is fixed to one of the push-pull rods of the front cable push-pull component. Another wire is fixed to another push-pull rod of the front pull wire push-pull component, bypassing the counter-rotating structure; one of the other two pull wires is fixed to one push-pull rod of the rear pull wire push-pull component, and the other is fixed to another push-pull rod of the rear pull wire push-pull component, bypassing the counter-rotating structure; so that when the front and rear rotating wheels are rotated, the front and rear pull wire push-pull components move back and forth. When the front and rear pull wire push-pull components move backward, the wire directly fixed to the push-pull rod is stretched, causing the conduit body to bend towards the side where the stretched wire is located; when the front and rear pull wire push-pull components move forward, the wire fixed to the push-pull rod, bypassing the counter-rotating structure, is stretched, causing the conduit body to bend towards the side where the stretched wire is located.

[0011] Preferably, the inner walls of the front and rear rotating wheels are provided with a spiral structure, which cooperates with the spiral structure on the outer side of the corresponding front and rear cable push-pull components. When the front and rear rotating wheels are rotated, the internal thread structure drives the front and rear cable push-pull components to move back and forth.

[0012] Preferably, the rear pull cable push-pull component has mounting through holes on both sides, and the plane of the two mounting through holes is perpendicular to the plane of the two push-pull rods of the rear pull cable push-pull component; the two push-pull rods of the front pull cable push-pull component are respectively sleeved in the mounting through holes.

[0013] Preferably, the reversing structure is a pulley.

[0014] Preferably, when it is necessary to release the curved lock, simply rotate the locking ring in the unlocking direction, and the front and rear rotating wheels will automatically return to the neutral position, while the front end of the guide tube returns to the straight position.

[0015] An intracardiac ultrasound catheter includes a catheter body and a control handle connected to the rear end of the catheter body. The catheter body has four drawstring cavities spaced 90° apart, and each drawstring cavity is provided with a drawstring that can move freely within the drawstring cavity. One end of each drawstring is fixed to the front end of the catheter body, and drawstrings spaced 180° apart form a pair, forming two pairs. The control handle is the control handle of the intracardiac ultrasound catheter as described above.

[0016] Preferably, it also includes a catheter tip connected to the front end of the catheter body. The catheter tip includes an ultrasound unit, two magnetic positioning sensors, and a protective layer covering the ultrasound unit and the magnetic positioning sensors. Each of the magnetic positioning sensors is a 5-degree-of-freedom sensor. The two magnetic positioning sensors are arranged in an "X" shape, and the included angle is greater than or equal to 40°.

[0017] Compared with the prior art, the intracardiac ultrasound catheter and its control handle of this utility model achieve self-locking by setting a locking ring and a rear support ring, which are in contact with each other and have slopes on the contact surfaces, and the slopes are in opposite directions. This increases the friction between the rear rotating wheel, the middle support ring and the front rotating wheel. The structure is simple, the operation is convenient and the self-locking effect is good. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of an intracardiac ultrasound catheter according to an embodiment of the present invention;

[0020] Figure 2 for Figure 1 A schematic diagram of the structure of the catheter tip in an intracardiac ultrasound catheter is shown.

[0021] Figure 3 for Figure 1 A schematic diagram of the catheter body in an intracardiac ultrasound catheter is shown.

[0022] Figure 4 for Figure 1 A schematic diagram of another structure in the catheter body of the intracardiac ultrasound catheter shown;

[0023] Figure 5 for Figure 1 An exploded three-dimensional view of the control handle in the intracardiac ultrasound catheter shown.

[0024] Figure 6 for Figure 5 The image shows a three-dimensional view of the assembled control handle.

[0025] Figure 7 for Figure 5 The cross-sectional view of the control handle after all parts are assembled.

[0026] Figure 8 for Figure 5 The diagram shows the structure of the rear support half-ring and locking ring in the control handle. Detailed Implementation

[0027] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0028] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it can be directly on or indirectly set on the other component; when a component is referred to as "connected to" another component, it can be directly connected to or indirectly connected to the other component.

[0029] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0030] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "a plurality of" or "several" means two or more, unless otherwise explicitly specified.

[0031] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which this application can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size should still fall within the scope of the technical content disclosed in this application, provided that they do not affect the effects and purposes that this application can produce.

[0032] like Figures 1 to 4 As shown, this embodiment of the present invention provides an intracardiac ultrasound catheter, which includes a catheter tip 1, a catheter body 2, a control handle 3, a communication unit 4, and a connector plug 5. The catheter tip 1 includes an ultrasound unit 11, two magnetic positioning sensors 12 arranged in an "X" shape, and a protective layer 13 covering the ultrasound unit 11 and the magnetic positioning sensors 12. In this embodiment, the protective layer 13 is made of block polyamide. The ultrasound unit 11 is used to provide ultrasound imaging, and the magnetic positioning sensors 12 can provide positioning information for a three-dimensional cardiac electrophysiological mapping system. The electrical signals generated by the ultrasound unit 11 and the magnetic positioning sensors 12 are transmitted to the connector plug 5 via the communication unit 4. The signals from the connector plug 5 are transmitted to the three-dimensional electrophysiological mapping system and the ultrasound host via a matching connecting cable, enabling imaging of the heart and great vessels, ultrasound imaging of other instruments within the heart, and positioning of the catheter within the cardiac chamber.

[0033] The catheter body 2 has a multi-layered structure. The inner layer 21 can be made of any suitable material, including, for example, polytetrafluoroethylene (PTFE). The inner side of the inner layer 21 forms a central lumen 20, which can be circular (e.g., ...). Figure 3 ) or other shapes (such as Figure 4The outer layer is a braided layer 22. Between the inner layer 21 and the braided layer 22 are four pull-cord cavities 25, spaced 90° apart, to accommodate four pull-cords. These four pull-cords are spaced 90° apart at the front end of the fixed catheter body, forming two pairs, each pair spaced 180° apart. The pull-cords 24 are arranged within the pull-cord cavities 25 and can move freely. The braided layer 22 expands the inner lumen while providing strong support and flexural strength. The outer layer 23 can include materials with different hardness for different segments of the catheter body 2 to provide different flexibility characteristics. The material contains a certain proportion (e.g., 25%) of barium sulfate and is visible under X-ray. The catheter body 2 includes an adjustable bend section and a reinforcing section. The principle of catheter bend adjustment is to fix one end of the pull wire 24 on the tube wall to the front end of the catheter body 2, and extend the other end from the rear end of the catheter body 2. Then, the tension and relaxation of the pull wire 24 are controlled by the control handle 3 to control the deformation of the front end of the catheter body 2, so that the catheter tip 1 can reach any part of the heart.

[0034] In this embodiment, each magnetic positioning sensor 12 is a 5-DOF sensor. The two magnetic positioning sensors 12 are arranged in an "X" shape with an included angle of more than 40°, thereby achieving higher spin angle accuracy (the included angle between two traditional 5-DOF sensors does not exceed 20°), and thus having higher positioning accuracy, enabling the ultrasound unit 11 to accurately reach the lesion location.

[0035] In this embodiment, each magnetic positioning sensor 12 is a 5-DOF sensor. The two magnetic positioning sensors 12 are arranged in an "X" shape with an included angle greater than or equal to 40°, thereby achieving higher spin angle accuracy (the included angle between two traditional 5-DOF sensors does not exceed 20°), and thus having higher positioning accuracy, enabling the ultrasound unit 11 to accurately reach the lesion location.

[0036] Figures 5 to 8 The image shown is Example 1 of the control handle for the intracardiac ultrasound catheter in this embodiment.

[0037] like Figures 5 to 8 As shown, the control handle includes a fixing mechanism and a rotating mechanism. The rotating mechanism is movably connected to the fixing mechanism and can rotate around its own axis, which is set along the longitudinal direction of the control handle. The ends of each pull wire are fixed to the corresponding rotating mechanism. When the rotating mechanism rotates, it drives the corresponding pull wire to move along the longitudinal direction of the control handle, so as to control the deformation of the front end of the conduit body by manipulating the tension and relaxation of the corresponding pull wire, thereby producing a bend at different angles.

[0038] Specifically, in this embodiment, the rotating mechanism includes a rotating wheel and a pull-wire push-pull component. The rotating wheel can rotate around its own axis, which is set longitudinally along the control handle. The pull-wire push-pull component includes two push-pull rods that are set longitudinally along the control handle and are parallel to each other. The rear end of the push-pull rods is used to fix the pull wire. The inner wall of the rotating wheel is provided with a spiral structure, which cooperates with the spiral structure on the outer side of the pull-wire push-pull component. When the rotating wheel is rotated, the pull-wire push-pull component is driven to move back and forth through the internal thread structure. A pulley is provided at the rear of the pull-wire push-pull component (or a directional structure such as a round convex column can be used). The axis of the directional structure is perpendicular to the plane where the two push-pull rods of the corresponding pull-wire push-pull component are located. One of the pull wires is fixed to one of the push-pull rods of the pull-wire push-pull component, and the other wire passes around the corresponding pulley and is fixed to the other push-pull rod of the pull-wire push-pull component.

[0039] In this embodiment, since there are two pairs of pull wires 24, the rotating wheel includes a front rotating wheel 302 and a rear rotating wheel 303, and the pull wire push-pull component includes a front pull wire push-pull component 505 and a rear pull wire push-pull component 506. The plane containing the two push-pull rods 5051 and 5052 of the front pull wire push-pull component 505 is perpendicular to the plane containing the two push-pull rods 5061 and 5062 of the rear pull wire push-pull component 506. There are two pulleys 410, which are respectively set behind the front pull wire push-pull component 505 and the rear pull wire push-pull component 506. One of the pull wires in one pair is fixed to one of the push-pull rods of the front pull wire push-pull component, and the other wire passes around the corresponding pulley and is fixed to the other push-pull rod of the front pull wire push-pull component. In the other pair of pull wires, one wire is fixed to one of the push-pull rods of the rear pull wire push-pull component, and the other wire passes around the corresponding pulley and is fixed to the other push-pull rod of the rear pull wire push-pull component. The rear pull cable push-pull component 506 has mounting through holes on both sides, and the plane of the two mounting through holes is perpendicular to the plane of the two push-pull rods of the rear pull cable push-pull component. The two push-pull rods of the front pull cable push-pull component are respectively fitted into the mounting through holes to combine the front pull cable push-pull component and the rear pull cable push-pull component together for easy installation and positioning. If there are not two pairs of pull cables, the above structure needs to be adjusted according to the number of pull cables. Those skilled in the art should be able to understand this from the above description, and it will not be elaborated further here.

[0040] In this embodiment, the fixing mechanism includes an upper support frame 507, a lower support frame 508, a rear support ring (composed of two rear support half-rings 503), a middle support ring (composed of two middle support half-rings 502), and a front support ring (composed of two front support half-rings 501). The upper support frame 507 and the lower support frame 508 form a receiving space. The front pull cable push-pull member 505, the rear pull cable push-pull member 506, and two pulleys 410 are received in the receiving space. The rear support ring, the rear rotating wheel 303, the middle support ring, the front rotating wheel 302, and the front support ring are sequentially sleeved and fixed on the upper support frame 507 and the lower support frame 508 from back to front. The rear rotating wheel 303 is rotatably sleeved on the upper support frame 507 and the lower support frame 508 and is located between the rear support ring and the middle support ring. The front rotating wheel 302 is rotatably sleeved on the upper support frame 507 and the lower support frame 508 and is located between the middle support ring and the front support ring. The rear support ring can only move freely along the axial direction of the upper support frame 507 and the lower support frame 508, but cannot rotate.

[0041] In this embodiment, the control handle also includes a locking ring 504, which can only rotate along the axis and cannot move along the axial direction. The locking rings 504 are located at the rear end of the rear support ring and are in contact with each other. The contact surfaces of both rings have ramps, and the ramps are in opposite directions.

[0042] In this embodiment, the front pull cable push-pull component 505 passes through two square holes on the rear pull cable push-pull component 506 and is then fitted together. Both are simultaneously installed into the space formed by the upper support frame 507 and the lower support frame 508. Under limited positioning, both can slide a certain distance along the axial direction. At the same time, two pulleys 410 with a 90° difference are arranged inside. The front pulley 410 is vertically assembled, and the rear pulley 410 is horizontally assembled through the pulley support block 509. The two handle shells 312 are combined into a cylinder to cover the rear half of the two support frames. From back to front, the locking ring 504, the rear support half ring 503, the rear rotating wheel 303, the middle support half ring 502, the front rotating wheel 302, the front support half ring 501, the handle cap 401, and the strain release sleeve 301 are assembled in sequence. The inner walls of the front rotating wheel 302 and the rear rotating wheel 303 are provided with spiral structures, which cooperate with the spiral structures on the outer sides of the front pull cable push-pull member 505 and the rear pull cable push-pull member 506, respectively. When the front rotating wheel 302 is rotated, the front pull cable push-pull member 505 is driven to move back and forth through the internal thread structure. When the front pull cable push-pull member 505 moves backward, the pull cable 24 fixed at the right fixing hole 5051 of the front pull cable at the end of the front pull cable push-pull member 505 is stretched, and the guide tube bends toward the side where the pull cable 24 is stretched. When the front pull cable push-pull member 505 moves forward, the pull cable 24 passes around the pulley 410, changes direction, and is fixed on the left fixing hole 5052 of the front pull cable at the end of the front pull cable push-pull member 505. At this time, the pull cable 24 is stretched, and the guide tube bends toward the side where the pull cable 24 is stretched. Similarly, when the rear rotating wheel 303 is rotated, the rear pull cable push-pull component 506 is driven to move back and forth through the internal thread structure. When the rear pull cable push-pull component 506 moves backward, the pull cable 24 fixed at the rear pull cable fixing hole 5061 at the end of the rear pull cable push-pull component 506 is stretched, and the guide tube bends towards the side where the pull cable 24 is stretched. When the rear pull cable push-pull component 506 moves forward, the pull cable 24 passes around the pulley 410, changes direction, and is fixed at the rear pull cable fixing hole 5062 at the end of the rear pull cable push-pull component 506. At this time, the pull cable 24 is stretched, and the guide tube bends towards the side where the pull cable 24 is stretched.

[0043] The rear support semi-ring 503 and the locking ring 504 are in contact with each other, and the contact surfaces of the two parts are respectively equipped with ramps 5031 and 5041 (e.g., Figure 8The two parts have opposite ramp directions. The rear support half-ring 503 can only move freely along the axial direction of the upper support frame 507 and the lower support frame 508, but cannot rotate. The locking ring 504 can only rotate along the axis and cannot move along the axial direction. When the locking ring 504 is rotated in the locking direction, it rotates a certain angle relative to the rear support half-ring 503. Due to the ramp sliding, the two parts squeeze the rear support half-ring 503 towards the front end of the guide tube. The rear support half-ring 503 continues to squeeze the rear rotating wheel 303, the middle support half-ring 502, and the front rotating wheel 302. The squeezing force eventually reaches the front support half-ring 501, increasing the friction between the rear rotating wheel 303, the middle support ring, and the front rotating wheel 302 to achieve self-locking of the control handle. When it is necessary to release the curved lock, simply rotate the locking ring 504 in the unlocking direction. The front rotating wheel 302 and the rear rotating wheel 303 will automatically return to the neutral position, and the front end of the guide tube will return to the straight position.

[0044] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control handle for an intracardiac ultrasound catheter, used to connect to the rear end of the catheter body of the intracardiac ultrasound catheter, controlling the deformation of the front end of the catheter body, wherein the catheter body has four drawstring cavities spaced 90° apart, each drawstring cavity containing a drawstring that can move freely within the drawstring cavity; one end of each drawstring is fixed to the front end of the catheter body, and drawstrings spaced 180° apart form a pair, forming two pairs; characterized in that, The control handle, which fixes the other end of each of the pull wires, includes a fixing mechanism and a rotating mechanism. The rotating mechanism is movably connected to the fixing mechanism and can rotate about its own axis, which is set longitudinally along the control handle. The end of each pull wire is fixed to the corresponding rotating mechanism. When the rotating mechanism rotates, it drives the corresponding pull wire to move longitudinally along the control handle, thereby controlling the tension and relaxation of the corresponding pull wire to control the deformation of the front end of the catheter body and produce a bend at different angles. The rotating mechanism includes a front rotating wheel and a rear rotating wheel, which can rotate about their own axes, which are set longitudinally along the control handle. The fixing mechanism includes an upper support frame, a lower support frame, a rear support ring, a middle support ring, and a front support ring. The rear support ring, the rear rotating wheel, the middle support ring, the front rotating wheel, and the front support ring are sequentially sleeved and fixed on the upper support frame and the lower support frame from back to front. The rear rotating wheel is rotatably sleeved on the upper support frame and the lower support frame and is located between the rear support ring and the middle support ring. The front rotating wheel is rotatably sleeved on the upper support frame and the lower support frame and is located between the middle support ring and the front support ring. The control handle also includes a locking ring, which is located at the rear end of the rear support ring and in contact with it. The contact surfaces of both rings have ramps, and the ramps are in opposite directions. The rear support ring can only move freely along the axial direction of the upper and lower support frames, but cannot rotate. The locking ring can only rotate along the axis and cannot move along the axial direction. When the locking ring is rotated in the locking direction, it rotates at a certain angle relative to the rear support ring. Due to the ramp, the rear support ring presses forward against the rear rotating wheel, the middle support ring, and the front rotating wheel. The pressing force eventually reaches the front support ring, increasing the friction between the rear rotating wheel, the middle support ring, and the front rotating wheel to achieve self-locking of the control handle.

2. The control handle of the intracardiac ultrasound catheter as described in claim 1, characterized in that, The rotating mechanism further includes a front cable push-pull component and a rear cable push-pull component; each of the front and rear cable push-pull components includes two push-pull rods arranged longitudinally along the control handle and parallel to each other, with the rear end of each push-pull rod used to fix the cable; the front and rear rotating wheels cooperate with the corresponding front and rear cable push-pull components, and when the front and rear rotating wheels are rotated, they drive the front and rear cable push-pull components to move back and forth; a reversing structure is provided behind the front and rear cable push-pull components, and the axis of the reversing structure is perpendicular to the plane where the two push-pull rods of the corresponding front or rear cable push-pull component are located; one of the pairs of cables is fixed to one of the push-pull rods of the front cable push-pull component, and the other... One pair of pull wires is fixed to another push-pull rod of the front pull wire push-pull component, bypassing the diverting structure; one of the other pair of pull wires is fixed to one push-pull rod of the rear pull wire push-pull component, and the other is fixed to another push-pull rod of the rear pull wire push-pull component, bypassing the diverting structure. This causes the front and rear rotating wheels to move back and forth when they are rotated. When the front and rear pull wire push-pull components move backward, the pull wires directly fixed to the push-pull rods are stretched, causing the conduit body to bend towards the side where the stretched pull wire is located. When the front and rear pull wire push-pull components move forward, the pull wires fixed to the push-pull rods, bypassing the diverting structure, are stretched, causing the conduit body to bend towards the side where the stretched pull wire is located.

3. The control handle of the intracardiac ultrasound catheter as described in claim 2, characterized in that, The front pull wire push-pull component, the rear pull wire push-pull component, and the two reversing structures are housed within the receiving space formed by the upper support frame and the lower support frame.

4. The control handle of the intracardiac ultrasound catheter as described in claim 2, characterized in that, The inner walls of the front and rear rotating wheels are provided with spiral structures, which cooperate with the spiral structures on the outer sides of the corresponding front and rear cable push-pull components. When the front and rear rotating wheels are rotated, the internal thread structure drives the front and rear cable push-pull components to move back and forth.

5. The control handle of the intracardiac ultrasound catheter as described in claim 2, characterized in that, The rear pull cable push-pull component has mounting through holes on both sides, and the plane of the two mounting through holes is perpendicular to the plane of the two push-pull rods of the rear pull cable push-pull component; the two push-pull rods of the front pull cable push-pull component are respectively sleeved in the mounting through holes.

6. The control handle of the intracardiac ultrasound catheter as described in claim 2, characterized in that, The reversing structure is a pulley.

7. The control handle of the intracardiac ultrasound catheter as described in claim 1, characterized in that, When it is necessary to release the curved lock, simply rotate the locking ring in the unlocking direction. The front and rear rotating wheels will automatically return to the neutral position, and the front end of the guide tube will return to the straight position.

8. An intracardiac ultrasound catheter, characterized in that, The catheter includes a catheter body and a control handle connected to the rear end of the catheter body. The catheter body has four pull-wire cavities spaced 90° apart. Each pull-wire cavity is provided with a pull-wire that can move freely within the pull-wire cavity. One end of each pull-wire is fixed to the front end of the catheter body. Pull-wires spaced 180° apart form a pair, forming two pairs. The control handle is the control handle of the intracardiac ultrasound catheter as described in any one of claims 1 to 7.

9. The intracardiac ultrasound catheter as described in claim 8, characterized in that, It also includes a catheter tip connected to the front end of the catheter body. The catheter tip includes an ultrasound unit, two magnetic positioning sensors, and a protective layer covering the ultrasound unit and the magnetic positioning sensors. Each of the magnetic positioning sensors is a 5-degree-of-freedom sensor. The two magnetic positioning sensors are arranged in an "X" shape with an included angle greater than or equal to 40°.

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