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CN-115192180-B - Electrophysiology guiding sheath of double-bending robot

CN115192180BCN 115192180 BCN115192180 BCN 115192180BCN-115192180-B

Abstract

The invention provides an electrophysiology guiding sheath of a double-bending robot, which comprises a sheath tube and a control assembly, wherein a first traction wire and a second traction wire are symmetrically arranged in the sheath tube, and are respectively connected to the sheath tube and the control assembly, and the control assembly is used for traction of the first traction wire or the second traction wire to realize bidirectional bending of the sheath tube. The control assembly can be connected to the robot mechanical arm, and the sheath is controlled to the operation target position through the robot mechanical arm, so that circumferential rotation, bidirectional bending and axial movement of the sheath are realized, and the operation process is safer and more efficient.

Inventors

  • CHEN YUEMENG
  • ZHANG XINLONG
  • Ge Dayang

Assignees

  • 绍兴梅奥心磁医疗科技有限公司

Dates

Publication Date
20260505
Application Date
20220606

Claims (5)

  1. 1. The double-bending robot electrophysiology guiding sheath is characterized by comprising a sheath tube and a control assembly, wherein a first traction wire and a second traction wire are arranged in the sheath tube, the first traction wire and the second traction wire are respectively connected to the sheath tube and the control assembly, and the control assembly is used for traction of the first traction wire or the second traction wire to realize bidirectional bending of the sheath tube; The control assembly includes: The first control part comprises a first conical gear fixedly sleeved on the sheath tube, and the first conical gear can drive the sheath tube to rotate around the circumference of the sheath tube when rotating; The second control part is rotationally connected with the first control part and comprises a second bevel gear, a connecting cylinder and a fixed block; the connecting cylinder is connected with the internal thread of the second conical gear through external threads and is movably connected with the first control part through a limit groove, so that the connecting cylinder can axially move but cannot rotate; the second end of the first traction wire is fixed in the first connecting hole, and the second end of the second traction wire bypasses the turning pulley and is then fixed in the second connecting hole; the control assembly is suitable for being connected to a sheath pipe support of a robot mechanical arm, controls the sheath pipe to a surgical target position through the robot mechanical arm, and realizes circumferential rotation, bidirectional bending and axial movement of the sheath pipe; the sheath pipe support is provided with a third conical gear meshed with the first conical gear and a fourth conical gear meshed with the second conical gear; by driving the third and/or fourth bevel gears by the robotic arm, the following operations can be achieved: Synchronously driving the first conical gear and the second conical gear to rotate in the same direction and at the same speed, and driving the whole sheath tube to rotate around the central shaft so as to keep the bending form unchanged; independently driving a second bevel gear to rotate, and pulling the first traction wire or the second traction wire through axial movement of the connecting cylinder to realize bidirectional bending of the distal end of the sheath; the axial pushing or withdrawing of the sheath tube is realized through the integral movement of the mechanical arm of the robot.
  2. 2. The double-bender robotic electrophysiology introducer sheath of claim 1, wherein the sheath tube comprises: a flexible segment, the flexible segment being bendable; and the hard section is provided with the control component.
  3. 3. The double-bending robotic electrophysiology guiding sheath of claim 2, wherein the sheath flexible segment is provided with a plurality of electrodes spaced apart in an axial direction for determining a spatial position and morphology of the sheath flexible segment.
  4. 4. The electrophysiology guide sheath of claim 1, wherein an ablation catheter is inserted into the sheath, the sheath is provided with a tee joint, and an output channel of the tee joint is communicated with the ablation catheter channel to inject a medical solvent into the ablation catheter channel through the tee joint.
  5. 5. The double-curved robotic electrophysiology guiding sheath of any one of claims 1-4, wherein the sheath is embedded with a metallic mesh, the metallic mesh being radially outward of the first traction wire and the second traction wire.

Description

Electrophysiology guiding sheath of double-bending robot Technical Field The invention relates to the field of medical ablation surgical instruments, in particular to an electrophysiology guide sheath of a double-bending robot. Background Atrial fibrillation is one of the more common symptoms of arrhythmia in clinic, and the incidence rate is obviously increased in recent years, and the treatment of the atrial fibrillation mainly comprises the control of ventricular rate, the recovery of sinus rhythm and the like. Electrode catheters have been widely used in medical practice for many years, and are used for stimulating and drawing electric activities in the heart and ablating abnormal point active parts, and the radio frequency ablation through the catheter is a new method developed in recent years for treating various types of arrhythmia, and has more obvious therapeutic effects than medicines, but in any way, the radio frequency ablation needs to be operated in an room, a channel entering a target focus position in a heart cavity needs to be built in a blood vessel through a sheath, and the ablation catheter passes through the sheath to enter the target ablation position and ablate the target focus, so that an operator needs to accurately position the sheath, the traditional guiding sheath has great operation difficulty, poor stability and accuracy, and a great deal of inconvenience is brought to the operation. At present, after a traditional sheath tube clinically adopted enters a blood vessel, an operator is required to manually send the sheath tube into a focus position in a heart cavity under the guidance of perspective or three-dimensional images, so that the stability and the accuracy of the sheath tube are poor. The traditional sheath tube has no bending function or can only realize unidirectional bending, the sheath tube cannot accurately reach the target focus position after entering the heart chamber, the sheath tube can only be pushed axially, most of the traditional sheath tube tips are arc-shaped, the positions of the sheath tube tips can be adjusted only by rotating the sheath tube, so that the aim of approaching the target ablation position as much as possible is fulfilled, the traditional sheath tube needs to be rotated by 180 degrees to turn the sheath tube tips to the position of the other side of the tips, the action amplitude is large, the restriction of the space size in the heart chamber is easy because the sheath tube tips are arc-shaped, the traditional unidirectional bending sheath tube cannot finish 180-degree turning of the arc-shaped tip of the sheath tube particularly in narrow parts, the traditional unidirectional bending sheath tube needs to straighten the sheath tube firstly, the sheath tube is rotated by 180 degrees in the second step, and finally the sheath tube is bent to the target focus, so that the aim can be fulfilled, the operation is complex, and the efficiency is low. The pushing, rotating and bending of the traditional sheath are manually operated by a surgeon, the pushing, rotating and bending variables cannot be accurately controlled, the sheath can be controlled only by the feeling of the surgeon, the surgical accuracy is poor, the professional capability requirement of the surgeon is high, the surgical safety is easily influenced by factors of fatigue of doctors and unstable operation of staff in the manual operation process, and particularly, the pericardium is stuffed due to heart perforation in the surgical process. In related art, a deflectable introducer is disclosed that includes a shaft having a deflectable portion, the shaft having a lumen through which a catheter may extend, a control handle having first and second tension members extending from the control handle to the deflectable portion and back to the control handle, wherein the control handle has a deflection assembly of a deflection member and a rotatable member, the deflection member rotatable about an axis generally perpendicular to a longitudinal axis of the control handle, the rotatable member having a first pulley engaged with a first proximal portion of the tension member located within the control handle, and a second pulley engaged with a second proximal portion of the tension member located within the control handle, wherein manipulation of the deflection member in one direction attracts the first proximal portion of the tension member to deflect the deflectable portion of the shaft in one direction, and manipulation of the deflection member in the other direction pulls the second proximal portion of the tension member up to deflect the deflectable portion of the shaft in the other direction. According to the technical scheme, the stretching member extends from the control transmission handle to the deflectable part and winds back into the control transmission handle, and the rotating member and the stretching member are used for controlling the deflection of the deflectable part at t