Intracardiac ultrasound catheter and catheter head end

Abstract

The catheter head end comprises an ultrasonic unit, two magnetic positioning sensors and a protective layer wrapping the ultrasonic unit and the magnetic positioning sensors, each magnetic positioning sensor is a five-degree-of-freedom sensor, the two magnetic positioning sensors are arranged in an X shape, and the included angle is larger than or equal to 40 degrees. The utility model discloses an intracardiac ultrasound catheter with the catheter head end. Compared with the prior art, the intracardiac ultrasound catheter and the catheter head end are provided with the two magnetic positioning sensors with five degrees of freedom, the two magnetic positioning sensors are arranged in the X shape, and the included angle is larger than or equal to 40 degrees. Compared with the prior art, the intracardiac ultrasound catheter and the catheter head end can achieve higher spin angle precision, further have higher positioning precision and enable the ultrasound unit to accurately reach a lesion position.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to an intracardiac ultrasound catheter and its tip. 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 positioning accuracy of current ultrasound probes is insufficient; sometimes the probe cannot accurately reach the lesion location, affecting the success rate of the procedure and the treatment outcome. Utility Model Content

[0004] To solve the above-mentioned technical problems, the purpose of this utility model is to provide an intracardiac ultrasound catheter and catheter tip with high positioning accuracy.

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

[0006] The catheter tip of an intracardiac ultrasound catheter 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, and the two magnetic positioning sensors are arranged in an "X" shape with an included angle greater than or equal to 40°.

[0007] An intracardiac ultrasound catheter includes a catheter body, a catheter tip connected to the front end of the catheter body, and a control handle connected to the rear end of the catheter body. The catheter tip is the catheter front end as described above. The catheter body has multiple drawstring cavities, 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, and drawstrings spaced 180° apart form a pair. The other end of each drawstring is fixed to the control handle. The control handle 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 ends of each drawstring are fixed to the 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 corresponding drawstring to control the deformation of the front end of the catheter body, producing bends of different angles.

[0008] Preferably, the rotating mechanism includes a wire fixing component, a rotating shaft, a guide wheel, and multiple cylindrical pins; the wire fixing component is movably connected to the fixing mechanism and can rotate about its own axis arranged longitudinally along the control handle; the rotating shaft is movably connected to the fixing mechanism and can rotate about its own axis arranged transversely along the control handle; the guide wheel is connected to the fixing mechanism and cannot rotate, and the guide wheel has a wire outlet arranged longitudinally; multiple cylindrical pins are installed on the outer circumference of the guide wheel and can rotate along their own axes; a pair of wires pass around the rotating shaft and extend from the wire outlet, then pass around the cylindrical pins in opposite directions and are fixed to the wire fixing component; so that when the wire fixing component rotates, it will tighten one of the wires, and the front end of the guide tube body will be deformed by pulling the wire.

[0009] Preferably, there are four pull wires, spaced 90° apart at the front end of the fixed guide tube, forming two pairs; in the rotating mechanism, the pull wire fixing components include a front pull wire fixing component and a rear pull wire fixing component, and there are two rotating shafts arranged longitudinally along the control handle, corresponding to the front pull wire fixing component and the rear pull wire fixing component respectively; the front pull wire fixing component and the rear pull wire fixing component are located in front and behind the guide wheel respectively; one pair of pull wires extends from the pull wire outlet after passing around the rotating shaft located in front, and then passes around the cylindrical pin in opposite directions and is fixed to the front pull wire fixing component, and the other pair of pull wires extends from the pull wire outlet after passing around the rotating shaft located in rear, and then passes around the cylindrical pin in opposite directions and is fixed to the rear pull wire fixing component.

[0010] Preferably, the fixing mechanism includes a handle housing and a slotted cylinder located at the front end of the handle housing. The front end of the slotted cylinder has a central groove along the longitudinal direction and two pivot holes along the transverse direction to install two pivots respectively.

[0011] Preferably, a retaining ring is provided in front of the front cable fixing member, and a self-locking mechanism is provided between the front cable fixing member and the retaining ring. The self-locking mechanism includes a wave-shaped washer and two movable washers. The retaining ring is fixed on the slotted cylinder, the two movable washers are located between the retaining ring and the front cable fixing member, and the wave-shaped washer is located between the two movable washers. The elasticity of the wave-shaped washer pushes the rear movable washer to push the front cable fixing member, thereby increasing the friction between the front cable fixing member, the guide wheel and the rear cable fixing member, so as to achieve self-locking of the control handle.

[0012] Preferably, the rotating mechanism further includes a front rotating wheel and a rear rotating wheel, the front and rear rotating wheels being respectively sleeved and fixed on the front and rear pull cable fixing members for the operator to perform rotation operations; the front rotating wheel and the rear rotating wheel form a receiving cavity, and the self-locking mechanism, the front pull cable fixing member, the rotating shaft, the guide wheel, multiple cylindrical pins, and the rear pull cable fixing member are received in the receiving cavity.

[0013] Preferably, the rotating mechanism further includes a front rotating wheel and a rear rotating wheel, which are respectively sleeved and fixed on the front and rear cable fixing members for the operator to perform rotation operations; the control handle further includes an adapter sleeve and a transmission sleeve, which is sleeved on a slotted cylinder and can rotate on the slotted cylinder along its own axis; the front cable fixing member, guide wheel, rear cable fixing member, and adapter sleeve are sequentially assembled on the transmission sleeve, wherein the guide wheel and rear cable fixing member can rotate on the transmission sleeve along their own axis; the transmission sleeve is provided with two U-shaped grooves for two pairs of cables to extend out; the front rotating wheel and the adapter sleeve are rigidly connected, the adapter sleeve is rigidly connected to the transmission sleeve, and the front cable fixing member and the transmission sleeve are rigidly connected. The sleeve is movably connected, and the front cable fixing member can move axially along the transmission sleeve but cannot rotate. This structure transmits the rotational motion from the front rotating wheel to the front cable fixing member via the transmission sleeve. The rear rotating wheel is rigidly connected to the rear cable fixing member, and the two rotate synchronously. The two pairs of cables pass over two rotating shafts and extend from two U-shaped grooves on the transmission sleeve, then extend from the cable outlet of the guide wheel, and then pass over the cylindrical pin to fix the two pairs of cables to the front cable fixing member and the rear cable fixing member, respectively. The front rotating wheel, the rear rotating wheel and the front part of the handle housing form a receiving cavity, and the adapter sleeve, the self-locking mechanism, the rear cable fixing member, the guide wheel and the front cable fixing member are received in the receiving cavity.

[0014] Preferably, a self-locking mechanism is provided between the rear cable fixing component and the adapter sleeve. The self-locking mechanism includes a wave-shaped washer and two movable washers. A retaining ring is provided in front of the adapter sleeve and is fixed on the slotted cylinder. The wave-shaped washer is located between the two movable washers. The elasticity of the wave-shaped washer pushes the movable washers behind it to push the rear cable fixing component, thereby increasing the friction between the rear cable fixing component, the guide wheel, and the front cable fixing component to achieve self-locking of the control handle.

[0015] Preferably, the rotating mechanism includes a rotating wheel, a rotary-to-linear motion mechanism, and a wire-fixed slider; the fixing mechanism has a pulley installed behind the wire-fixed slider; the wire-fixed slider is embedded in a corresponding groove provided in the fixing mechanism, the groove restricts the wire-fixed slider to move only axially and not rotate, one of the pairs of wires is fixed to the front end of the wire-fixed slider, and the other passes around the pulley and is fixed to the rear end of the wire-fixed slider; the rotating wheel is connected to the wire-fixed slider through the rotary-to-linear motion mechanism, so that when the rotating wheel rotates, it drives the wire-fixed slider to move through the rotary-to-linear motion mechanism, thereby tightening or loosening the wire fixed to the wire-fixed slider to control the deformation of the front end of the guide tube.

[0016] Preferably, the rotary-to-linear motion mechanism includes a transmission gear ring, a transmission gear, and a cable control screw. The rotating wheel is rigidly connected to the transmission gear ring, the transmission gear ring meshes with the transmission gear, the transmission gear is rigidly connected to the cable control screw, and the cable fixing slider is threaded onto the cable control screw and moves along the axial direction of the cable control screw when the cable control screw rotates.

[0017] Preferably, there are four pull wires, spaced 90° apart at the front end of the fixed guide tube, forming two pairs; in the rotating mechanism, the rotating wheel includes a front rotating wheel and a rear rotating wheel, the transmission gear ring includes a front transmission gear ring and a rear transmission gear ring, the transmission gear includes a front transmission gear and a rear transmission gear, the pull wire control screw includes a front pull wire control screw and a rear pull wire control screw, and the pull wire fixing slider includes a front pull wire fixing slider and a rear pull wire fixing slider; there are two pulleys, located behind the front pull wire fixing slider and the rear pull wire fixing slider respectively; in one pair of pull wires, one is fixed to the front end of the front pull wire fixing slider, and the other passes around the corresponding pulley and is fixed to the rear end of the front pull wire fixing slider; in the other pair of pull wires, one is fixed to the front end of the rear pull wire fixing slider, and the other passes around the corresponding pulley and is fixed to the rear end of the rear pull wire fixing slider.

[0018] Preferably, the fixing structure includes a handle housing, the slide groove is axially disposed in the handle housing, the pull cable control screw is rotatably mounted axially in the handle housing, and the pulley is mounted in the handle housing; the transmission gear is connected to the front end of the pull cable control screw and extends out of the handle housing, and the rotating wheel and transmission gear ring are located in front of the handle housing.

[0019] Preferably, the rotating mechanism includes a rotating wheel and a cable push-pull component. The rotating wheel is rotatable about its own axis, which is arranged longitudinally along the control handle. The cable push-pull component includes two parallel push-pull rods arranged longitudinally along the control handle, with the rear ends of the push-pull rods used to fix the cable. 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 cable push-pull component. When the rotating wheel is rotated, the internal thread structure drives the cable push-pull component to move back and forth. A pulley is correspondingly provided behind the cable push-pull component, and the axis of the pulley is aligned with the two push-pull rods of the corresponding cable push-pull component. The planes are perpendicular to each other; one of the two 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; so that when the rotating wheel is rotated, the pull wire push-pull component is driven to move back and forth through the internal thread structure. When the pull wire push-pull component moves backward, the pull wire directly fixed to the push-pull rod is stretched, causing the conduit body to bend to the side where the stretched pull wire is located; when the pull wire push-pull component moves forward, the pull wire passing around the pulley and fixed to the push-pull rod is stretched, causing the conduit body to bend to the side where the stretched pull wire is located.

[0020] Preferably, there are four pull wires, spaced 90° apart at the front end of the fixed conduit body, forming two pairs; in the rotating mechanism, the rotating wheels include a front rotating wheel and a rear rotating wheel, and the pull wire push-pull component includes a front pull wire push-pull component and a rear pull wire push-pull component; the plane where the two push-pull rods of the front pull wire push-pull component are located is perpendicular to the plane where the two push-pull rods of the rear pull wire push-pull component are located; there are two pulleys, respectively located behind the front pull wire push-pull component and the rear pull wire push-pull component; in one pair of pull wires, one wire is fixed to one push-pull rod 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 push-pull rod 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.

[0021] 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.

[0022] Preferably, 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 upper support frame and the lower support frame form a receiving space. The front pull cable push-pull component, the rear pull cable push-pull component, and the two pulleys are received in the receiving space. 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.

[0023] Preferably, it further 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 effect, 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, thereby achieving self-locking by increasing the friction between the rear rotating wheel, the middle support ring, and the front rotating wheel.

[0024] Compared to existing technologies, this invention's intracardiac ultrasound catheter and catheter tip incorporate two 5-DOF magnetic positioning sensors arranged in an "X" shape with an included angle greater than or equal to 40°. This design achieves higher spin angle accuracy and thus higher positioning precision, enabling the ultrasound unit to accurately reach the lesion location. Attached Figure Description

[0025] 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.

[0026] Figure 1 This is a schematic diagram of the structure of an intracardiac ultrasound catheter with bending adjustment function according to an embodiment of the present invention;

[0027] Figure 2 for Figure 1 A schematic diagram of the structure of the catheter tip in an intracardiac ultrasound catheter is shown.

[0028] Figure 3 for Figure 1 A schematic diagram of the catheter body in an intracardiac ultrasound catheter is shown.

[0029] Figure 4 for Figure 1 A schematic diagram of another structure in the catheter body of the intracardiac ultrasound catheter shown;

[0030] Figure 5 for Figure 1 An exploded perspective view of the control handle in the intracardiac ultrasound catheter of Embodiment 1.

[0031] Figure 6 for Figure 5 A perspective view of the control handle partially assembled according to Embodiment 1 shown;

[0032] Figure 7 for Figure 5 A perspective view of a further partial assembly of the control handle embodiment 1 shown;

[0033] Figure 8 for Figure 5 The cross-sectional view of the control handle embodiment 1 after complete assembly is shown;

[0034] Figure 9 for Figure 1 An exploded perspective view of the control handle in the intracardiac ultrasound catheter, Example 2.

[0035] Figure 10 for Figure 9 The cross-sectional view of the control handle embodiment 2 after complete assembly is shown;

[0036] Figure 11 for Figure 1 An exploded perspective view of the control handle in the intracardiac ultrasound catheter of embodiment 3.

[0037] Figure 12 for Figure 11 The cross-sectional view of the control handle embodiment 3 after complete assembly is shown;

[0038] Figure 13 for Figure 1 An exploded perspective view of the control handle in the intracardiac ultrasound catheter of Embodiment 4.

[0039] Figure 14 for Figure 13 A perspective view of the assembled portion of the control handle in Embodiment 4 shown;

[0040] Figure 15 for Figure 13 The cross-sectional view of the control handle embodiment 4 after complete assembly is shown;

[0041] Figure 16 for Figure 13 The diagram shows the structure of the rear support half-ring and locking ring in embodiment 4 of the control handle. Detailed Implementation

[0042] 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.

[0043] It should be noted that when a component is referred to as being "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 being "connected to" another component, it can be directly connected to or indirectly connected to the other component.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] like Figures 1 to 4 As shown, this embodiment of the invention provides an intracardiac ultrasound catheter with a bend-adjustable function, comprising 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 provides ultrasound imaging, and the magnetic positioning sensors 12 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's interior and great vessel cavities, ultrasound imaging of other intracardiac devices, and positioning of the catheter within the cardiac chambers.

[0048] 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 in shape (e.g., ...). Figure 3 ) or other shapes (such as Figure 4The outer layer is a braided layer 22, and the inner layer 21 contains one or more drawstring cavities 25 for accommodating drawstrings (in this embodiment, there are four drawstrings, spaced 90° apart at the front end of the fixed catheter body, forming two pairs, with each pair spaced 180° apart; of course, in other embodiments, only one or three pairs may be provided, etc.). The drawstrings 24 are arranged in the drawstring 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 may 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 can be visualized 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.

[0049] 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.

[0050] 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.

[0051] Figures 5 to 8 The image shown is Example 1 of the control handle for the intracardiac ultrasound catheter in this embodiment.

[0052] 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.

[0053] Specifically, in this embodiment, the rotating mechanism includes a rotating wheel, a cable fixing member, a rotating shaft 311, a guide wheel 308, and a plurality of cylindrical pins 309. The fixing mechanism includes a handle housing 312 and a slotted cylinder 318 located at the front end of the handle housing 312. The front end of the slotted cylinder 318 has a central groove along the longitudinal direction and a rotating shaft hole 316 along the transverse direction for mounting the rotating shaft 311.

[0054] 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, the pull wire fixing components include a front pull wire fixing component 307 and a rear pull wire fixing component 310, there are two rotating shafts 311, and there are also two rotating shaft holes 316. If there are not two pairs of pull wires, the above structure needs to be adjusted according to the number of pull wires, which should be known by those skilled in the art based on the above description, and will not be repeated here.

[0055] In this embodiment, a retaining ring 304 is provided in front of the front cable fixing member 307, and a self-locking mechanism is provided between the front cable fixing member 307 and the retaining ring 304. The self-locking mechanism includes a wave-shaped washer 306 and two movable washers 305. The retaining ring 304 is fixed on the slotted cylinder 318, the two movable washers 305 are located between the retaining ring 304 and the front cable fixing member 307, and the wave-shaped washer 306 is located between the two movable washers 305.

[0056] In this embodiment, the rear end of the conduit body 2 is fixed on the slotted cylinder 318, which is located at the front end of the handle housing 312. Two rotating shafts 311 are inserted into two rotating shaft holes 316 on the slotted cylinder 318. The front cable fixing member 307, the guide wheel 308, and the rear cable fixing member 310 are sequentially mounted on the slotted cylinder 318. The front cable fixing member 307 and the rear cable fixing member 310 can rotate on the slotted cylinder 318, while the guide wheel 308 cannot rotate relative to the slotted cylinder 318. Two pairs of pull wires 24 pass over two rotating shafts 311 (which can rotate along their own axis within the holes of the slotted cylinder 318) and extend from the pull wire outlet 317 of the guide wheel 308. They then pass over a cylindrical pin 309 (which can rotate along its own axis on the guide wheel 308) and are fixed to the pull wire fixing posts 313 and 314 on the front pull wire fixing member 307 and the rear pull wire fixing member 310, respectively. When the pull wires 24 slide across the surfaces of the rotating shafts 311 and the cylindrical pins 309, the relative friction is rolling friction, making operation more effortless. The front rotating wheel 302 and the rear rotating wheel 303 are connected to the pull wire fixing posts 313 and 314 on the front pull wire fixing member 307 and the rear pull wire fixing member 310, respectively. The connection method is not limited to snap-fit ​​or adhesive bonding. The strain relief sleeve 301 is fixed to the front end of the slotted cylinder 318. When the front rotating wheel 302 is rotated, it will cause the connected front cable fixing member 307 to rotate together. The cable fixing member post 313 on the front cable fixing member 307 will pull the cable 24 fixed thereon. The cable 24 will cause the front end of the conduit to deform, producing a bend at different angles. Similarly, when the rear rotating wheel 303 is rotated, it will cause the connected rear cable fixing member 310 to rotate together. The cable fixing member post 314 on the rear cable fixing member 310 will pull the cable 24 fixed thereon. The cable 24 will cause the front end of the conduit to deform, producing a bend at different angles.

[0057] The front and rear rotating wheels are used for rotational operation by the operator. In other embodiments, the front and rear rotating wheels may be omitted, and the front and rear cable fixing components may be operated directly. In this case, the structure of the front and rear cable fixing components would be more complex. Furthermore, in this embodiment, the front and rear rotating wheels form a receiving cavity, which houses the self-locking mechanism, the front cable fixing component, the rotating shaft, the guide wheel, multiple cylindrical pins, and the rear cable fixing component, thus protecting these parts. The front and rear rotating wheels and the handle housing overlap each other.

[0058] The retaining ring 304 is inserted into the slot 315 of the slotted cylinder 318, and the wave-shaped washer 306 is located between the two movable washers 305. The retaining ring 304 restricts these components to the cylinder of the handle housing 312 with a certain pre-pressure. The pre-pressure of the wave-shaped washer 306 increases the friction between the front cable fixing member 307, the guide wheel 308 and the rear cable fixing member 310, so as to realize the self-locking function of the handle.

[0059] Figures 9 to 10 The image shown is Example 2 of the control handle for the intracardiac ultrasound catheter in this embodiment.

[0060] like Figures 9 to 10 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.

[0061] Specifically, in this embodiment, the control handle structure is modified by adding an adapter sleeve 319 and a transmission sleeve 320 compared to embodiment 1. This allows the guide wheel 308 and the front cable fixing member 307 to be placed inside the handle housing 312, reducing the width and outer diameter of the front rotating wheel 302 and the rear rotating wheel 303, thus achieving a miniaturized handle design. The front rotating wheel 302, the rear rotating wheel 303, and the front part of the handle housing 312 form a receiving cavity, in which parts such as the retaining ring 304, the adapter sleeve 319, the self-locking mechanism, the rear cable fixing member 310, the guide wheel 308, and the front cable fixing member 307 are housed.

[0062] In this embodiment, the transmission sleeve 320 is fitted onto the slotted cylinder 318 and can rotate freely on the slotted cylinder 318. The front cable fixing component 307, guide wheel 308, rear cable fixing component 310, gasket 305, corrugated gasket 306, gasket 305, and adapter sleeve 319 are sequentially assembled onto the transmission sleeve 320. The guide wheel 308, front cable fixing component 307, gasket 305, corrugated gasket 306, and gasket 305 can rotate freely and move axially on the transmission sleeve 320. These components are fixed to the slotted cylinder 318 by a shaft elastic retaining ring 304. The transmission sleeve 320 has two U-shaped grooves 321 for two pairs of cable extensions. The front rotating wheel 302 and the adapter sleeve 319 are rigidly connected. The adapter sleeve 319 is rigidly connected to the transmission sleeve 320. The front cable fixing member 307 is connected to the transmission sleeve 320 through the transmission protrusion 323 and the transmission groove 322. The front cable fixing member 307 can move axially along the transmission sleeve 320 but cannot rotate. Through this structure, the rotational motion from the front rotating wheel 302 can be transmitted to the front cable fixing member 307 via the transmission sleeve 320. The rear rotating wheel 303 and the rear cable fixing member 310 are directly rigidly connected, and the two rotate synchronously. The two pairs of cables 24 pass over the two rotating shafts 311 and extend out from the two U-shaped grooves 321 on the transmission sleeve 320, then extend out from the cable outlet 317 of the guide wheel 308, and then pass over the cylindrical pin 309 to fix the two pairs of cables 24 to the cable fixing posts 313 on the front cable fixing member 307 and the rear cable fixing member 310, respectively. The principle of bending adjustment is basically the same as that in Example 1.

[0063] The self-locking mechanism in this embodiment differs slightly from that in Embodiment 1. In this embodiment, the self-locking mechanism is located between the rear cable fixing member 310 and the adapter sleeve 319. A retaining ring 304 is provided in front of the adapter sleeve 319. The retaining ring 304 is fixed on the slotted cylinder 318. The wave-shaped gasket 306 is located between two movable gaskets 305. The elasticity of the wave-shaped gasket 306 pushes the movable gasket 305 behind it to push the rear cable fixing member 310, thereby increasing the friction between the rear cable fixing member 310, the guide wheel 308, and the front cable fixing member 307 to achieve self-locking of the control handle.

[0064] Figures 11 to 12 The image shown is Example 3 of the control handle for the intracardiac ultrasound catheter in this embodiment.

[0065] like Figures 11 to 12 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.

[0066] Specifically, in this embodiment, the rotating mechanism includes a rotating wheel, a rotary linear motion mechanism, and a wire-fixed slider; the fixing mechanism has a pulley installed behind the wire-fixed slider; the wire-fixed slider is embedded in a corresponding groove provided in the fixing mechanism, the groove restricts the wire-fixed slider to move only axially and not rotate, one of the pairs of wires is fixed to the front end of the wire-fixed slider, and the other passes around the pulley and is fixed to the rear end of the wire-fixed slider; the rotating wheel is connected to the wire-fixed slider through the rotary linear motion mechanism, so that when the rotating wheel rotates, it drives the wire-fixed slider to move through the rotary linear motion mechanism, thereby tightening or loosening the wire fixed to the wire-fixed slider to control the deformation of the front end of the guide tube.

[0067] In this embodiment, the rotary-to-linear motion mechanism includes a transmission gear ring, a transmission gear, and a cable control screw. The rotating wheel is rigidly connected to the transmission gear ring, the transmission gear ring meshes with the transmission gear, and the transmission gear is rigidly connected to the cable control screw. The cable-fixed slider is threaded onto the cable control screw and moves along the axial direction of the cable control screw when the cable control screw rotates. Of course, in other embodiments, the rotary-to-linear motion mechanism can adopt other structures besides the gear ring and screw mechanism described above.

[0068] In this embodiment, the fixing structure includes a handle housing 312, a slide groove 411 is axially disposed in the handle housing 312, a pull cable control screw is rotatably mounted in the handle housing 312 axially, a pulley is mounted in the handle housing 312, a transmission gear is connected to the front end of the pull cable control screw and extends out of the handle housing 312, and a rotating wheel and a transmission gear ring are located in front of the handle housing 312.

[0069] In this embodiment, since there are two pairs of pull cables 24, the rotating wheel includes a front rotating wheel 302 and a rear rotating wheel 303; the transmission gear ring includes a front transmission gear ring 402 and a rear transmission gear ring 403; the transmission gear includes a front transmission gear 404 and a rear transmission gear 405; the pull cable control screw includes a front pull cable control screw 408 and a rear pull cable control screw 409; and the pull cable fixing slider includes a front pull cable fixing slider 406 and a rear pull cable fixing slider 407. There are two pulleys 410, located behind the front pull cable fixing slider 406 and the rear pull cable fixing slider 407, respectively. If there are not two pairs of pull cables, the above structure needs to be adjusted according to the number of pull cables, which should be understood by those skilled in the art based on the above description, and will not be repeated here.

[0070] In this embodiment, the assembly method is as follows: the front rotating wheel 302 is rigidly connected to the front drive gear ring 402, and the rear rotating wheel 303 is rigidly connected to the rear drive gear ring 403. The front drive gear ring 402 meshes with the front drive gear 404, and the rear drive gear ring 403 meshes with the rear drive gear 405. The front drive gear 404 is rigidly connected to the front cable control screw 408, and the rear drive gear 405 is rigidly connected to the rear cable control screw 409. The front cable fixing slider 406 is threaded onto the front cable control screw 408, and can move axially when the screw rotates. The rear cable fixing slider 407 is threaded onto the rear cable control screw 409, and can move axially when the screw rotates. The front cable fixing slider 406 and the rear cable fixing slider 407 are embedded in the groove 411 of the handle housing 312, and the groove restricts the two cable fixing sliders to move only axially and not rotate. The strain relief sleeve 301 is fixed to the handle cap 401, which in turn is fixed to the support cylinder 412 at the front end of the handle housing. A pull cable is connected to the pull cable fixing holes on both sides of the pull cable fixing slider; one of the pull cables needs to pass around the pulley 410 to change its direction. When the front rotating wheel 302 is rotated, it simultaneously drives the connected front drive gear ring 402. The rotation of the front drive gear ring 402 is transmitted to the front drive gear 404 through gear meshing. The front drive gear 404 drives the connected front pull cable control screw 408. The rotation of the front pull cable control screw 408 drives the front pull cable fixing slider 406 to move via a thread, tightening or loosening the pull cable fixed thereon to adjust the bending shape of the guide tube front end. This control handle achieves self-locking through its threaded structure.

[0071] Figures 13 to 16 The image shown is Example 4 of the control handle for the intracardiac ultrasound catheter in this embodiment.

[0072] like Figures 13 to 16 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.

[0073] 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 correspondingly behind the pull-wire push-pull component. The axis of the pulley 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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 16The 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.

[0079] The above description of the disclosed embodiments enables those skilled in the art to make or use the present 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 present invention. Therefore, the present 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 catheter tip for an intracardiac ultrasound catheter, characterized in that, It includes an ultrasonic unit, two magnetic positioning sensors, and a protective layer covering the ultrasonic 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°.

2. An intracardiac ultrasound catheter, comprising a catheter body, a catheter tip connected to the front end of the catheter body, and a control handle connected to the rear end of the catheter body, characterized in that, The catheter tip is the catheter tip as described in claim 1. The catheter body has multiple pull-wire cavities, and 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, and pull-wires spaced 180° apart form a pair. The other end of each pull-wire is fixed to a control handle. 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 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 to control the deformation of the front end of the catheter body by manipulating the tension and relaxation of the corresponding pull-wire, thereby producing a bend at different angles.

3. The intracardiac ultrasound catheter as described in claim 2, characterized in that, The rotating mechanism includes a cable fixing component, a rotating shaft, a guide wheel, and multiple cylindrical pins. The cable fixing component is movably connected to the fixing mechanism and can rotate about its own axis, which is set longitudinally along the control handle. The rotating shaft is movably connected to the fixing mechanism and can rotate about its own axis, which is set transversely along the control handle. The guide wheel is connected to the fixing mechanism and cannot rotate. The guide wheel has a cable outlet set longitudinally. Multiple cylindrical pins are installed on the outer circumference of the guide wheel and can rotate along their own axes. A pair of cables pass around the rotating shaft and extend from the cable outlet, then pass around the cylindrical pins in opposite directions and are fixed to the cable fixing component. This allows the cable fixing component to tighten one of the cables when it rotates, thereby deforming the front end of the guide tube body by pulling the cable.

4. The intracardiac ultrasound catheter as described in claim 3, characterized in that, There are four pull cables, spaced 90° apart at the front end of the fixed guide tube, forming two pairs. In the rotating mechanism, the pull cable fixing components include a front pull cable fixing component and a rear pull cable fixing component. There are two rotating shafts, arranged longitudinally along the control handle, corresponding to the front pull cable fixing component and the rear pull cable fixing component respectively. The front pull cable fixing component and the rear pull cable fixing component are located in front and behind the guide wheel respectively. One pair of pull cables extends from the pull cable outlet after passing over the rotating shaft located in front, and then passes over the cylindrical pin in opposite directions before being fixed to the front pull cable fixing component. The other pair of pull cables extends from the pull cable outlet after passing over the rotating shaft located in rear, and then passes over the cylindrical pin in opposite directions before being fixed to the rear pull cable fixing component. The fixing mechanism includes a handle housing and a slotted cylinder located at the front end of the handle housing. The front end of the slotted cylinder has a central groove along the longitudinal direction and two rotating shaft holes along the transverse direction to install two rotating shafts respectively.

5. The intracardiac ultrasound catheter as described in claim 4, characterized in that, A retaining ring is provided in front of the front cable fixing component, and a self-locking mechanism is provided between the front cable fixing component and the retaining ring. The self-locking mechanism includes a wave-shaped washer and two movable washers. The retaining ring is fixed on a slotted cylinder, and the two movable washers are located between the retaining ring and the front cable fixing component. The wave-shaped washer is located between the two movable washers. The elasticity of the wave-shaped washer pushes the rear movable washer to push the front cable fixing component, thereby increasing the friction between the front cable fixing component, the guide wheel, and the rear cable fixing component to achieve self-locking of the control handle. The rotating mechanism also includes a front rotating wheel and a rear rotating wheel. The front and rear rotating wheels are respectively sleeved and fixed on the front and rear cable fixing components for the operator to perform rotation operations. The front and rear rotating wheels form a receiving cavity, in which the self-locking mechanism, the front cable fixing component, the rotating shaft, the guide wheel, multiple cylindrical pins, and the rear cable fixing component are received.

6. The intracardiac ultrasound catheter as described in claim 4, characterized in that, The rotating mechanism further includes a front rotating wheel and a rear rotating wheel, which are respectively fitted and fixed on the front and rear cable fixing members for the operator to perform rotation operations. The control handle also includes an adapter sleeve and a transmission sleeve. The transmission sleeve is fitted on a slotted cylinder and can rotate on its own axis on the slotted cylinder. The front cable fixing member, guide wheel, rear cable fixing member, and adapter sleeve are sequentially assembled on the transmission sleeve, wherein the guide wheel and rear cable fixing member can rotate on the transmission sleeve along their own axis. The transmission sleeve has two U-shaped grooves for the two pairs of cables to extend out. The front rotating wheel and the adapter sleeve are rigidly connected, the adapter sleeve and the transmission sleeve are rigidly connected, and the front cable fixing member is movably connected to the transmission sleeve. The front cable fixing member can move along the axial direction of the transmission sleeve but cannot rotate. Through this structure, the rotational motion from the front rotating wheel is transmitted to the front cable fixing member via the transmission sleeve. The rear rotating wheel is rigidly connected to the rear cable fixing member. Both rotate synchronously; the two pairs of pull cables pass over the two rotating shafts and extend from the two U-shaped grooves on the transmission sleeve, then extend from the pull cable outlet of the guide wheel, and pass over the cylindrical pin to fix the two pairs of pull cables to the front pull cable fixing component and the rear pull cable fixing component respectively; the front rotating wheel, the rear rotating wheel and the front part of the handle housing form a receiving cavity, and the adapter sleeve, the self-locking mechanism, the rear pull cable fixing component, the guide wheel and the front pull cable fixing component are received in the receiving cavity; a self-locking mechanism is also provided between the rear pull cable fixing component and the adapter sleeve. The self-locking mechanism includes a wave-shaped washer and two movable washers. A retaining ring is provided in front of the adapter sleeve. The retaining ring is fixed on the slotted cylinder. The wave-shaped washer is located between the two movable washers. The elasticity of the wave-shaped washer pushes the movable washer behind it to push the rear pull cable fixing component, thereby increasing the friction between the rear pull cable fixing component, the guide wheel and the front pull cable fixing component to achieve self-locking of the control handle.

7. The intracardiac ultrasound catheter as described in claim 2, characterized in that, The rotating mechanism includes a rotating wheel, a rotary-to-linear motion mechanism, and a wire-fixed slider. A pulley is installed behind the wire-fixed slider in the fixing mechanism. The wire-fixed slider is embedded in a corresponding groove in the fixing mechanism, restricting its axial movement. One wire is fixed to the front end of the wire-fixed slider, and the other wire passes around the pulley and is fixed to the rear end. The rotating wheel is connected to the wire-fixed slider via the rotary-to-linear motion mechanism, causing the rotating wheel to move via the mechanism, thus tightening or loosening the wire fixed to the slider to control the deformation of the guide tube's front end. The rotary-to-linear motion mechanism includes a transmission gear ring, a transmission gear, and a wire-controlling screw. The rotating wheel is rigidly connected to the transmission gear ring, which meshes with the transmission gear. The transmission gear is rigidly connected to the wire-controlling screw. The wire-fixed slider is threaded onto the wire-controlling screw and moves axially along the screw when it rotates.

8. The intracardiac ultrasound catheter as described in claim 7, characterized in that, There are four pull wires, spaced 90° apart at the front end of the fixed guide tube, forming two pairs; the rotating mechanism includes a front rotating wheel and a rear rotating wheel, a transmission gear ring including a front transmission gear ring and a rear transmission gear ring, a transmission gear including a front transmission gear and a rear transmission gear, a pull wire control screw including a front pull wire control screw and a rear pull wire control screw, and a pull wire fixing slider including a front pull wire fixing slider and a rear pull wire fixing slider; there are two pulleys, located behind the front pull wire fixing slider and the rear pull wire fixing slider respectively; one of the pull wires in one pair is fixed to... The front pull cable is fixed to the front end of the slider, and the other cable passes around the corresponding pulley and is fixed to the rear end of the front pull cable fixing slider; one of the other two pull cables is fixed to the front end of the rear pull cable fixing slider, and the other cable passes around the corresponding pulley and is fixed to the rear end of the rear pull cable fixing slider. The fixing structure includes a handle housing, the slide groove is axially disposed in the handle housing, the pull cable control screw is rotatably mounted axially in the handle housing, and the pulley is mounted in the handle housing; the transmission gear is connected to the front end of the pull cable control screw and extends out of the handle housing, and the rotating wheel and transmission gear ring are located in front of the handle housing.

9. The intracardiac ultrasound catheter as described in claim 2, characterized in that, The rotating mechanism includes a rotating wheel and a pull-wire push-pull component. The rotating wheel can rotate about its own axis, which is set longitudinally along the control handle. The pull-wire push-pull component includes two push-pull rods, which are set longitudinally along the control handle and parallel to each other. The rear end of each push-pull rod 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 correspondingly behind the pull-wire push-pull component, and the axis of the pulley is perpendicular to the plane where the two push-pull rods of the 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. This allows the pull-wire push-pull component to move back and forth through the internal thread structure when the rotating wheel is rotated. When the pull-wire push-pull component moves backward, the pull wire directly fixed to the push-pull rod is stretched, causing the guide tube body to move towards the... The tension cable bends on one side where it is located; when the tension cable push-pull component moves forward, the tension cable, which is fixed to the push-pull rod after passing the pulley, is stretched, causing the guide tube body to bend towards the side where the tension cable is located; there are four tension cables, which are spaced 90° apart at the front end of the fixed guide tube body, forming two pairs; in the rotating mechanism, the rotating wheels include a front rotating wheel and a rear rotating wheel, and the tension cable push-pull component includes a front tension cable push-pull component and a rear tension cable push-pull component; the plane of the two push-pull rods of the front tension cable push-pull component is perpendicular to the plane of the two push-pull rods of the rear tension cable push-pull component; there are two pulleys, which are respectively set behind the front tension cable push-pull component and the rear tension cable push-pull component; in one pair of tension cables, one cable is fixed to one push-pull rod of the front tension cable push-pull component, and the other cable passes through the corresponding pulley and is fixed to the other push-pull rod of the front tension cable push-pull component; in the other pair of tension cables, one cable is fixed to one push-pull rod of the rear tension cable push-pull component, and the other cable passes through the corresponding pulley and is fixed to the other push-pull rod of the rear tension cable push-pull component.

10. The intracardiac ultrasound catheter as described in claim 9, characterized in that, 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 upper and lower support frames form a receiving space. The front pull cable push-pull component, the rear pull cable push-pull component, and two pulleys are received within the receiving space. 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 onto the upper and lower support frames from back to front. The rear rotating wheel is rotatably sleeved onto the upper and lower support frames and located between the rear and middle support rings. The front rotating wheel is rotatably sleeved onto the upper and lower support frames and located between the middle and front support rings. The heart chamber The internal ultrasound catheter 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 effect, 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, thereby achieving self-locking by increasing the friction between the rear rotating wheel, the middle support ring, and the front rotating wheel.

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