Catheter capable of deflecting in multiple directions

Abstract

The utility model provides a catheter capable of deflecting in multiple directions, which comprises a slender intubation tube, the intubation tube is provided with a near end and a far end, the intubation tube sequentially comprises a main body section and a far side section along the direction from the near end to the far end, and at least part of the far side section is a flexible section; the handle part is connected to the near end of the cannula; the more than four stay wires extend along the longitudinal direction and are arranged in the wall of the cannula, the far ends of the stay wires are fixedly connected to the far side section, the more than four stay wires are uniformly arranged at intervals, and the more than four stay wires are controlled by the handle part to longitudinally move relative to the main body section so as to drive the flexible section to deflect to any direction and any angle.

Description

Technical Field

[0001] This utility model relates to medical devices, specifically to a catheter that can deflect in multiple directions. Background Technology

[0002] Currently, flexible endoscopic surgery via natural orifice primarily utilizes a ureteral guide sheath and a flexible ureteroscope. The ureteral guide sheath is inserted into the urinary tract through the patient's urethra to establish an effective passage for the flexible ureteroscope and other surgical instruments to smoothly enter and exit the urinary tract for surgical procedures. During the procedure, current technology involves water entering the working channel of the endoscope and exiting through the gap between the endoscope and the sheath, creating a negative pressure suction to promptly remove laser-dislodged stone fragments. The existing sheath tip is flexible, relying on the serpentine section of the flexible endoscope for bending. Current serpentine designs are either laser-cut metal tubes or riveted metal components. During bending, gaps may appear between each segment of the serpentine, potentially causing accidental injury upon closure. A protective tube is also needed to cover the serpentine to prevent tissue abrasion, but this protective tube needs to adapt to the bending of the serpentine, leading to wrinkling. These wrinkles may cause obstruction or minor injury during entry and exit within the urinary system.

[0003] In current endoscopic surgery, to reach the target position, the tip of the endpiece is rotated vertically and horizontally via the serpentine tube. This is done in conjunction with rotating the handle. In difficult-to-reach positions, the surgeon needs to rotate the handle continuously, which puts a heavy strain on the surgeon's arm. Furthermore, the tube is prone to damage during the constant twisting process. In addition, the bending angle of the serpentine tube is relatively limited, and the flexible endoscope and sheath are often rotated to adjust the direction, making the operation cumbersome. Utility Model Content

[0004] This utility model provides a multi-directional deflectable catheter, which includes:

[0005] A slender cannula having a proximal end and a distal end, the cannula comprising a main body segment and a distal segment in sequence from the proximal end to the distal end, at least a portion of the distal segment being a flexible segment; and a handle portion connected to the proximal end of the cannula.

[0006] At least four pull wires extend longitudinally and are located inside the cannula wall. The distal ends of the pull wires are fixedly connected to the distal section. The at least four pull wires are evenly spaced. The pull wires are controlled by the handle to move longitudinally relative to the main body section, thereby causing the flexible segment to deflect to any direction and any angle.

[0007] This invention employs at least four drawstrings, allowing the flexible segment to cover a wider range of directions, meeting the needs of different angles in medical surgery. When handling complex surgical cases, such as navigation within narrow or tortuous anatomical structures, the design of at least four drawstrings enables multi-directional simultaneous operation, allowing the catheter to flexibly respond to different surgical needs and real-time changes, effectively improving the success rate of the surgery.

[0008] In some embodiments, the distal segment includes a flexible segment and a head end in the direction from the proximal end to the distal end, the head end being connected to the distal end of the flexible segment, and the distal end of the draw wire being connected to the distal end or the head end of the flexible segment.

[0009] In some embodiments, a pull wire outer tube is fixed inside the wall of the cannula, the pull wire extends longitudinally inside the pull wire outer tube, and the proximal end of the pull wire is controlled by a handle.

[0010] In some embodiments, the head end has a circumferential fixing member, and at least four pull wires are circumferentially fixedly connected to the circumferential fixing member at intervals.

[0011] In some embodiments, the main body segment is a rigid pipe segment; preferably, the rigid pipe segment includes a proximal segment and a distal segment, wherein the hardness of the distal segment is less than that of the proximal segment.

[0012] In some embodiments, the wall of the flexible segment includes an outer tube, a support layer, and an inner tube, with the support layer formed between the outer tube and the inner tube layer, and the pull wires disposed inside any of the outer tube, the support layer, and the inner tube or in the gap between them.

[0013] In some embodiments, the support layer is an elastic layer.

[0014] In some embodiments, the head end includes an outer tube, a circumferential fixing member, and an inner tube, wherein the circumferential fixing member is disposed between the outer tube and the inner tube, and the distal ends of the four pull wires are fixed to the circumferential fixing member.

[0015] In some embodiments, the handle includes at least four power transmission components, the proximal end of the pull cable is disposed on the power transmission component, the power transmission component is adapted to be connected to a motor, and each pull cable is driven by the power transmission machine to move longitudinally; preferably, the power transmission component is a turntable, the proximal end of the pull cable is wound on the turntable, and the counterclockwise or clockwise rotation of the turntable drives the pull cable to move longitudinally to the proximal or distal side.

[0016] In some embodiments, multiple longitudinally extending arched limiting grooves are formed inside the wall of the insertion tube, and the multiple arched limiting grooves are arranged at equal intervals along the wall of the insertion tube, with the pull wire outer tube embedded in the limiting groove.

[0017] In some embodiments, the cannula is rotatably disposed on the handle portion; preferably, the handle portion is provided with a rotating portion that can drive the cannula to rotate.

[0018] In some embodiments, the catheter includes:

[0019] A slender cannula having a proximal end and a distal end, the cannula comprising a main body segment and a distal segment in sequence along a direction from the proximal end to the distal end, wherein at least a portion of the distal segment is a flexible segment.

[0020] The handle portion is connected to the proximal end of the cannula;

[0021] Four pull wires extend longitudinally and are located within the cannula wall. The distal ends of the pull wires are fixedly connected to the distal section. The four pull wires are evenly spaced and are controlled by a handle to move longitudinally relative to the main body section, thereby causing the flexible segment to deflect to any direction and angle. The direction adjustment steps of the flexible segment include:

[0022] The independent longitudinal movement of the four pull wires causes the flexible segment to deflect in four directions, including deflection to the left, right, up, and down. The left and right directions are defined as the X-axis, and the up and down directions are defined as the Y-axis. The X-axis passes through the cannula axis and intersects the Y-axis perpendicularly. The X-axis and Y-axis form a two-dimensional coordinate system, which divides the XY plane into the first quadrant, the second quadrant, the third quadrant, and the fourth quadrant.

[0023] The longitudinal movement of the same displacement of two adjacent guy wires causes the flexible segment to deflect in the directions of 45°, 135°, 225° and 315° in the first quadrant, second quadrant, third quadrant and fourth quadrant respectively.

[0024] The longitudinal movement of the two adjacent guy wires with different displacements causes the flexible segment to deflect in the directions of 0-45°, 45°-90°, 90°-135°, 135°-180°, 180°-225°, 225°-270°, 270°-315°, and 315°-360° in the first, second, third, and fourth quadrants, respectively.

[0025] In some implementations, the travel of the draw wire controls the deflection angle of the flexible segment.

[0026] In some embodiments, the catheter is a ureteral sheath, the cannula wall defines a central channel, the handle defines an inlet communicating with the central channel, the inlet is provided with a sealing valve for the instrument to enter in a sealed manner, and the handle is provided with a negative pressure connector communicating with the central channel, the negative pressure connector being adapted to be connected to a negative pressure suction device.

[0027] In some embodiments, the catheter is a ureteral sheath or a visual catheter.

[0028] The catheter provided by this utility model can be deflected and bent in any direction, and can reach any angle without rotating the catheter. Compared with the structure of an endoscope, it avoids the use of parts such as snake bones, reducing costs. The integrated tube body can avoid wrinkles and can enter and exit the human body very smoothly.

[0029] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0030] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0031] Figures 1-4 A schematic diagram of the structure of the unidirectional deflectable conduit provided by this utility model;

[0032] Figures 5-7 A schematic diagram of the structure of the bidirectional deflectable catheter provided by this utility model;

[0033] Figures 8-10 A schematic diagram of the structure of the multidirectional deflectable conduit provided by this utility model;

[0034] Figures 11-13 A schematic diagram of the orientation method for the multidirectional deflectable conduit provided by this utility model;

[0035] Figures 14-16 A schematic diagram of the fixing structure of the pull wire and anchor ring provided by this utility model;

[0036] Figure 17 This is a schematic diagram of the internal structure of the handle portion of this utility model;

[0037] Figure 18 for Figure 17 A magnified view of a portion of the image. Detailed Implementation

[0038] In the description of this utility model, it should be understood that the terms "front", "rear", "left", "right", "up", "down", 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 utility model 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 utility model.

[0039] In the description of this utility model, "proximal end" and "proximal side" refer to the end of the medical device that is closer to the doctor during normal operation, while "distal end" and "distal side" usually refer to the end that first enters the patient's body.

[0040] Please see Figure 1 The deflectable catheter provided by this invention can be used in natural cavity surgeries, such as pyelolithotomy to remove stones, and can also be used to remove polyps, tumors, blood clots, etc. The catheter allows the target material (e.g., stones, polyps, tumors, blood clots) to be expelled from the body through the cavity.

[0041] Please see Figure 1 The deflectable catheter includes an elongated cannula 1 and a handle 2. The elongated cannula 1 is adapted to enter a natural cavity. The cannula 1 has a proximal end and a distal end. The cannula 1 includes a main body segment 11 and a distal segment 12 sequentially from the proximal end to the distal end. At least a portion of the distal segment 12 is a flexible segment. The handle 2 is connected to the proximal end of the cannula 1, thus allowing for the installation of one or more drawstrings within the cannula 1 wall to achieve bending deformation of the flexible segment. Optionally, the wall of the flexible segment includes an outer tube 121, a support layer 122, and an inner tube 123. The support layer 122 is an elastic layer used to increase the compressive and flexural strength of the tube body. The support layer includes, but is not limited to, a spring tube, a braided tube, or a hyaluronic acid tube. The inner tube is an ultra-thin, smooth layer that effectively reduces friction on the inner surface. To achieve effective connection between the inner tube and the outer tube material, etching is generally added to the outer surface of the inner tube. The inner tube is generally an etched fluoroplastic tube. In some embodiments, please refer to... Figures 2-4 The distal segment 12 is a flexible tube segment, and the main body segment 11 is a rigid tube segment. A pull wire 30 is installed inside the tube wall, and the pull wire 30 is slidably pulled into the outer tube 31. The distal end of the pull wire is fixed to the distal segment 12 and is operated by the handle 2 to drive the pull wire 30 to move longitudinally relative to the main body segment 11, thereby causing the flexible segment to deflect. Thus, pulling the pull wire 30 will cause the flexible segment to deflect relative to the main body segment 11 in an upward direction. In other embodiments, please refer to... Figures 5-7 Two pull wires 30 are symmetrically arranged inside the cannula wall. Pulling the pull wires causes the flexible segment to deflect upward or downward. During renal pelvic surgery, if the target object, such as a stone, polyp, tumor, or blood clot, is located in another position, the user can adjust the direction of the cannula tip by frequently rotating the catheter.

[0042] In the embodiments of this utility model, please refer to Figure 8The deflectable catheter includes a slender cannula 1, a handle 2, and four pull wires 301, 302, 303, and 304. The four pull wires 301, 302, 303, and 304 extend longitudinally and are located inside the wall of the cannula 1. The distal ends of the four pull wires 301, 302, 303, and 304 are fixedly connected to the distal segment 12. The four pull wires 301, 302, 303, and 304 are evenly spaced. The four pull wires 301, 302, 303, and 304 are controlled by the handle 2 to move longitudinally relative to the main body segment 11, thereby causing the flexible segment to deflect to any direction and any angle.

[0043] The method for adjusting in any direction here is as follows: Please refer to [link / reference]. Figure 11 The four individual guy wires 301, 302, 303, and 304 independently move longitudinally, causing the flexible segment to deflect in four directions: left, right, upward, and downward. Here, the left-right direction is defined as the X-axis, and the upward-downward direction as the Y-axis. The X-axis passes through the cannula's axis and intersects the Y-axis perpendicularly. The X-axis and Y-axis form a two-dimensional coordinate system, dividing the XY plane into quadrants A, B, C, and D. The angles in the first quadrant range from 0° to 90°, the second quadrant from 90° to 180°, the third quadrant from 180° to 270°, and the fourth quadrant from 270° to 360°.

[0044] Please see Figure 12 By pulling any two wires with the same tension or the same stroke, the flexible segment can be deflected in the 45° direction in the corresponding quadrant; that is, the longitudinal movement of the same displacement of the two adjacent wires causes the flexible segment to deflect in the 45°, 135°, 225° and 315° directions in the first quadrant A, second quadrant B, third quadrant C and fourth quadrant D respectively.

[0045] Please see Figure 13 By pulling any two strings with different tensions or different strokes, the segment can be deflected in any direction within the corresponding quadrant. Specifically, the longitudinal movement of two adjacent strings with different displacements causes the flexible segment to deflect in the first quadrant (A), second quadrant (B), third quadrant (C), and fourth quadrant (D) in the directions of 0-45°, 45°-90°, 90°-135°, 135°-180°, 180°-225°, 225°-270°, 270°-315°, and 315°-360°, respectively. These deflection angle ranges do not include the endpoints. For example, one string in the target quadrant can be pulled first, and then the direction can be adjusted by pulling another adjacent string. Alternatively, both strings can be pulled simultaneously, and adjusting both strings at the same time can quickly help the doctor align the head with the target position.

[0046] As described above, the flexible segment can be deflected in any direction within 360° through the independent or combined movement of four drawstrings 301, 302, 303, and 304. Users can align the flexible segment to any position within the cavity as needed during surgery, without frequent rotation of the endoscope or catheter. Using more than four drawstrings allows for independent adjustment of the catheter tip in multiple directions. Each drawstring can drive the flexible segment to deflect at different angles, enabling more complex movements and covering a wider range of angles and directions to meet the diverse angular needs of surgical procedures. In handling complex surgical cases, such as navigation within narrow or tortuous anatomical structures, the design of at least four drawstrings allows for simultaneous multi-directional operation, enabling the catheter to flexibly respond to different surgical needs and real-time changes, effectively improving the success rate of the surgery.

[0047] Understandably, to ensure smooth longitudinal movement of the string, please refer to [the relevant documentation / reference]. Figure 8 The cannula 1 has four pull-wire outer tubes 311, 312, 313, and 314 fixed inside its wall. Pull wires 301, 302, 303, and 304 extend longitudinally within these outer tubes. The proximal ends of the pull wires 301, 302, 303, and 304 are controlled by a handle 2. In this embodiment, four pull-wire outer tubes 311, 312, 313, and 314 are arranged inside the cannula 1. Pull wires 301, 302, 303, and 304 pass through these outer tubes. Pulling the pull wires causes them to slide within the outer tubes 311, 312, 313, and 314.

[0048] After adjusting the direction of the flexible segment by pulling the string, the deflection angle of the flexible segment is controlled by adjusting the travel of the string.

[0049] For better directional adjustment of flexible segments, please refer to Figure 2 The distal segment 12, from the proximal end to the distal end, includes a flexible segment and a head end 13. The flexible segment is attached between the head end 13 and the main body segment 11. The head end 13 is connected to the proximal end of the flexible segment. The distal ends of the pull wires 301, 302, 303, and 304 are connected to the distal end of the flexible segment or the head end 13. In some examples, the pull wires 301, 302, 303, and 304 can be fixed at any node of the flexible segment or at the distal end adjacent to the flexible segment, thus enabling deflection of the flexible segment.

[0050] In this embodiment, pull wires 301, 302, 303, and 304 are connected to the cannula tip 13. Pulling pull wires 301, 302, 303, and 304 causes the flexible segment to deflect, which in turn causes the tip 13 to deflect naturally. As mentioned earlier, in order to achieve the discharge of the target object, the tip is designed as a functional tip, for example, equipped with an infusion port, a suction port, a laser port, and a camera. The tip is rigid and difficult to bend or deform. At this time, the tip, with the help of the deflection of the flexible segment, causes the functional tip to deflect to the target position for liquid infusion, suction, laser lithotripsy, and visual operation.

[0051] For easier remote fixing of the pull wires 301, 302, 303, and 304, please refer to [link / reference needed]. Figures 14-16 The head end 13 has a circumferential fixing member 6, and the pull wires 301, 302, 303, and 304 are circumferentially fixedly connected to the circumferential fixing member 6 at intervals. In some embodiments, the head end 13 includes a tube body and the circumferential fixing member 6 disposed within the tube body. In this embodiment, the circumferential fixing member 6 is specifically implemented as an anchoring ring. The head end 13 includes an outer tube, an anchoring ring, and an inner tube. The anchoring ring is disposed between the outer tube and the inner tube, and the distal ends of the four pull wires 301, 302, 303, and 304 are fixed to the circumferential fixing member 6. Exemplarily, the pull wires 301, 302, 303, and 304 are fixedly connected to the anchoring ring by laser welding, soldering, or crimping. This ensures that the direction of the pull wires 301, 302, 303, and 304 will not be significantly deviated after fixing, and also strengthens the directionality of the pull wires during the tube body forming process.

[0052] In this embodiment, please refer to Figure 1 The main body segment 11 is a rigid pipe segment. The hardness of the rigid pipe segment is not uniform. In some specific examples, the rigid pipe segment includes a first pipe segment and a second pipe segment. The second pipe segment is located at the distal end of the first pipe segment, and its hardness is between that of the first pipe segment and the flexible segment. It is attached between the first pipe segment and the flexible segment. This gradual change in hardness extends the service life of the conduit when the flexible segment deflects. The wall of the flexible segment includes an outer pipe 121, a support layer 122, and an inner pipe 123. The pull wires 301, 302, 303, and 304 are all disposed inside or between any of the outer pipe 121, the support layer 122, and the inner pipe 123. In this embodiment, please refer to... Figure 8 and Figure 9 The pull wires 301, 302, 303, and 304 are all located inside the inner tube 121.

[0053] Further, please refer to Figure 17The handle portion 2 includes four power transmission components 71, 72, 73, and 74. The proximal ends of the pull cables 301, 302, 303, and 304 are located on the power transmission components 71, 72, 73, and 74. The power transmission components 71, 72, 73, and 74 are adapted to be connected to a motor. Each pull cable 301, 302, 303, and 304 is driven by the power transmission motor to move longitudinally. For example, the power transmission component is a turntable, and the proximal ends of the pull cables are wound on the turntable. The counterclockwise or clockwise rotation of the turntable drives the pull cables to move longitudinally proximally or distally. Each of the four pull cables is controlled by a separate motor. Inside the handle portion of the guide tube, each individual pull cable is connected via a turntable. The turntable is connected to a corresponding mating part on the equipment, transmitting the power of the motor on the equipment to the turntable, and then through the pull cables to the bending angle of the guide tube head.

[0054] A single motor controlling a single cable allows for bending in four directions. Two adjacent motors using the same force to control two adjacent cables allow for bending in eight directions. If two adjacent motors use different forces to control two adjacent cables, precise angle control can be achieved through precise force control. This allows for omnidirectional adjustment beyond just eight-way bending, ultimately achieving any angle without rotation. The handle operation is simplified and made more user-friendly. Physicians can achieve various deflection methods through different cable combinations, reducing hand fatigue and improving operational comfort and ease of control.

[0055] Please see Figure 9 Multiple longitudinally extending arched limiting grooves 5 are formed within the wall of the cannula 1. These grooves 5 are evenly spaced along the wall of the cannula 1. The pull wire outer tubes 311, 312, 313, and 314 are embedded in these limiting grooves 5, meaning they are confined within the arched grooves 5. Compared to a circular cavity, this design prevents the pull wire outer tubes from shifting during processing and avoids overall confusion in the four directions due to skewed pull wire angles. This ensures the equidistant distribution of the four pull wires and guarantees precise directional adjustment. The evenly distributed pull wires allow for more precise control of the catheter's movement, reducing swaying or errors during deflection.

[0056] Based on the technical concept of this utility model, those skilled in the art can design various pull cables to achieve more flexible directional adjustment, such as setting up six pull cables, according to the four-pull cable design concept provided in the embodiments. Two adjacent pull cables may perform similar functions, but they can be coordinated to achieve more precise directional control. A more complex handle can be designed, including more power transmission components (such as motors, turntables, etc.). Each motor controls one or two pull cables, or one motor can control multiple pull cables through a transmission mechanism to achieve complex deflection angles through the control of individual or combined pull cables. For example, any two adjacent pull cables can be operated simultaneously with different or the same tension to achieve fine directional adjustment.

[0057] In some application scenarios, please refer to Figure 1 The catheter is a ureteral sheath. The cannula 1 defines a central channel, and the handle 2 defines an inlet communicating with the central channel. A sealing valve is provided at the inlet for sealed instrument entry. The handle 2 is provided with a negative pressure connector communicating with the central channel, which is suitable for connection to a negative pressure suction device. For other application scenarios, please refer to... Figure 17 and Figure 18 The catheter is a visual catheter, similar in function to an endoscope. It has an instrument channel, a drainage channel, and a suction channel. Correspondingly, the tip of the catheter includes an infusion port, a suction port, and a camera. The handle 2 includes a handle housing 21, an infusion connector 33, a negative pressure connector 34, and an instrument inlet 32 ​​mounted on the handle housing 21. The suction channel is separated from the drainage channel and the instrument channel. The suction channel is connected to the negative pressure connector 34, the drainage channel is connected to the infusion connector 33, and the instrument channel is connected to the instrument interface 32. A camera is installed at the tip of the catheter to allow the doctor to understand the condition of the target cavity. The instrument channel allows external instruments such as laser beams to pass through and reach the tip to crush stones in the renal pelvis or cut tissue. Liquid is injected into the body cavity through the drainage channel, and liquid in the cavity containing stones or tissue is suctioned out through the suction channel.

[0058] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0059] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A multi-directionally deflectable catheter, characterized by, The catheter includes: A slender cannula having a proximal end and a distal end, the cannula comprising a main body segment and a distal segment in sequence along a direction from the proximal end to the distal end, wherein at least a portion of the distal segment is a flexible segment. The handle portion is connected to the proximal end of the cannula; At least four pull wires extend longitudinally and are located inside the cannula wall. The distal ends of the pull wires are fixedly connected to the distal section. The at least four pull wires are evenly spaced. The pull wires are controlled by the handle to move longitudinally relative to the main body section, thereby causing the flexible segment to deflect to any direction and any angle.

2. The catheter of claim 1, wherein, The distal segment, from the proximal end to the distal end, includes a flexible segment and a head end. The head end is connected to the distal end of the flexible segment, and the distal end of the draw wire is connected to either the distal end or the head end of the flexible segment.

3. The catheter of claim 1, wherein, The cannula is fixedly provided with a pull wire outer tube inside the wall, and the pull wire extends longitudinally inside the pull wire outer tube. The proximal end of the pull wire is controlled by a handle.

4. The catheter according to claim 2, characterized in that, The head end has a circumferential fixing member, and at least four pull wires are circumferentially fixedly connected to the circumferential fixing member at intervals.

5. The catheter according to claim 2, characterized in that, The main body section is a rigid pipe section.

6. The catheter according to claim 1, characterized in that, The flexible segment's wall comprises an outer tube, a support layer, and an inner tube. The support layer is formed between the outer tube and the inner tube. The pull wires are all located inside or between any of the outer tube, the support layer, and the inner tube.

7. The catheter according to claim 6, characterized in that, The support layer is an elastic layer.

8. The catheter according to claim 2, characterized in that, The head end includes an outer tube, a circumferential fixing member, and an inner tube. The circumferential fixing member is located between the outer tube and the inner tube, and the far ends of the four pull wires are fixed to the circumferential fixing member.

9. The catheter according to claim 1, characterized in that, The handle includes at least four power transmission components, with the proximal end of the pull cable located on one of the power transmission components. The power transmission components are designed to be connected to a motor, and each pull cable is driven by the power transmission component to move longitudinally.

10. The catheter according to claim 3, characterized in that, Multiple longitudinally extending arched limiting grooves are formed inside the wall of the insertion tube. The multiple arched limiting grooves are arranged at equal intervals along the wall of the insertion tube, and the pull wire outer tube is embedded in the limiting groove.

11. The catheter according to claim 1, characterized in that, The catheter includes: A slender cannula having a proximal end and a distal end, the cannula comprising a main body segment and a distal segment in sequence along a direction from the proximal end to the distal end, wherein at least a portion of the distal segment is a flexible segment. The handle portion is connected to the proximal end of the cannula; Four pull wires extend longitudinally and are located within the cannula wall. The distal ends of the pull wires are fixedly connected to the distal section. The four pull wires are evenly spaced and are controlled by a handle to move longitudinally relative to the main body section, thereby causing the flexible segment to deflect to any direction and angle. The direction adjustment steps of the flexible segment include: The independent longitudinal movement of the four pull wires causes the flexible segment to deflect in four directions, including deflection to the left, right, up, and down. The left and right directions are defined as the X-axis, and the up and down directions are defined as the Y-axis. The X-axis passes through the cannula axis and intersects the Y-axis perpendicularly. The X-axis and Y-axis form a two-dimensional coordinate system, which divides the XY plane into the first quadrant, the second quadrant, the third quadrant, and the fourth quadrant. The longitudinal movement of the same displacement of two adjacent guy wires causes the flexible segment to deflect in the directions of 45°, 135°, 225° and 315° in the first quadrant, second quadrant, third quadrant and fourth quadrant respectively. The longitudinal movement of the two adjacent guy wires with different displacements causes the flexible segment to deflect in the directions of 0-45°, 45°-90°, 90°-135°, 135°-180°, 180°-225°, 225°-270°, 270°-315°, and 315°-360° in the first, second, third, and fourth quadrants, respectively.

12. The multi-directional deflectable catheter according to claim 11, characterized in that, The travel of the pull wire controls the deflection angle of the flexible segment.

13. The multi-directional deflectable catheter according to claim 1, characterized in that, The catheter is a ureteral sheath or a visual catheter.

Images