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CN116269558A - Sheath tube assembly, medical thread cutting device and medical lock cutting integrated device - Google Patents

Sheath tube assembly, medical thread cutting device and medical lock cutting integrated device
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Publication number
CN116269558A
CN116269558ACN202111572235.4ACN202111572235ACN116269558ACN 116269558 ACN116269558 ACN 116269558ACN 202111572235 ACN202111572235 ACN 202111572235ACN 116269558 ACN116269558 ACN 116269558A
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CN
China
Prior art keywords
medical
wire
locking
sheath
tube
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Pending
Application number
CN202111572235.4A
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Chinese (zh)
Inventor
李阳
梁伟林
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Hangzhou Valgen Medtech Co Ltd
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Hangzhou Valgen Medtech Co Ltd
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Publication date
Application filed by Hangzhou Valgen Medtech Co LtdfiledCriticalHangzhou Valgen Medtech Co Ltd
Priority to CN202111572235.4ApriorityCriticalpatent/CN116269558A/en
Publication of CN116269558ApublicationCriticalpatent/CN116269558A/en
Pendinglegal-statusCriticalCurrent

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Abstract

The application provides a sheath tube assembly, a medical thread cutting device and a medical lock cutting integrated device. The sheath assembly includes a sheath body and a support inner tube. The sheath body has a first lumen extending axially therethrough. The supporting inner tube is arranged in the first inner cavity in a penetrating way. The support inner tube is formed by spirally winding a material around an axial direction and comprises a plurality of spiral rings which are axially arranged. Each spiral turn comprises two end faces arranged opposite in the axial direction. When the supporting inner tube is in a bending state, the inner side of the bending part of the supporting inner tube is in surface contact with the adjacent two end faces of the adjacent two spiral rings to be mutually propped against, so that the supporting inner tube can keep a bending steady state, further the supporting inner tube can bear acting force when cutting lines, stable and enough supporting force is provided for the cutting lines, the possibility of jumping or swaying of the sheath tube assembly is reduced, and the risk of tissue damage or tearing in a patient caused by the jumping or swaying of the sheath tube assembly is reduced.

Description

Sheath tube assembly, medical thread cutting device and medical lock cutting integrated device
Technical Field
The application relates to the field of medical equipment, in particular to a sheath tube assembly, a medical thread cutting device and a medical lock cutting integrated device.
Background
The procedure of knotting and securing medical lines (including but not limited to sutures, repair lines for artificial chordae, repair lines for edge-to-edge repair of valves, etc.) and cutting off excess medical lines is often required in surgery.
Traditional surgery is performed under open direct vision, typically by manually tying knots to fix the knot, and then removing excess medical wire. With the advancement of technology, various minimally invasive and interventional procedures, such as endoscopic procedures, transcatheter interventions, etc., are becoming increasingly popular, which require only a small operating window to be cut through the patient's body, thereby extending the endoscope or interventional catheter, etc., into the patient's body to a predetermined site for treatment.
In such procedures, it is often necessary for the operator to remotely manipulate the medical wire outside the patient through the smaller manipulation window to lock and cut off the excess medical wire from the patient.
The prior medical thread cutting device generally comprises a handle, a thread cutting assembly and a sheath, wherein the thread cutting assembly comprises a blade and a driving piece connected with the blade, the driving piece is arranged in the sheath in a penetrating way, and the handle can be operated to pull the driving piece to the proximal end to drive the blade to cut off a medical thread (such as a suture). Because the sheath needs to be inserted into the human body, the sheath and the driving piece need to have flexibility to be bent to adapt to the bent human body lumen in order to be matched with the physiological anatomical structure of the human body lumen. However, when the driving member penetrating the sheath tube is pulled to the proximal end to cut the medical wire in the bending state, the supporting force of the sheath tube is insufficient, and under the action of the pulling force of the driving member, the abnormal condition of jumping or deflection can occur at the bending part of the sheath tube, so that the distal end of the medical thread cutting device can pull the medical wire, and the risk of tearing internal tissues exists.
Disclosure of Invention
The utility model provides a sheath pipe assembly, medical thread cutting device and medical lock cut integrated device that can reduce the risk of damaging or tearing internal tissue.
In a first aspect, the present application provides a sheath assembly comprising a sheath body and a support inner tube. The sheath body has a first lumen extending axially therethrough. The support inner tube is arranged in the first inner cavity in a penetrating mode. The support inner tube is formed by spirally winding a material around an axial direction, and comprises a plurality of spiral rings which are axially arranged, and each spiral ring comprises two end faces which are axially oppositely arranged. When the supporting inner tube is in a bending state, the adjacent two end surfaces of the adjacent two spiral rings are in surface contact with each other at the inner side of the bending part of the supporting inner tube so as to be mutually abutted.
In a second aspect, the present application provides a medical thread cutting device comprising a sheath assembly, a thread cutting member and a base member as described above; the base member is connected to the distal end of the sheath assembly, the base member comprising an axially extending support, and a mating member connected to the support, the mating member having a tangential surface; the tangent line component comprises a cutter seat, a blade and a tangent line inner core, wherein the cutter seat is arranged on the supporting piece in a sliding sleeve mode and located on the far side of the tangent line surface, the blade is fixedly connected to the cutter seat, the tangent line inner core is connected with the cutter seat to drive the cutter seat to axially move, and the tangent line inner core is movably arranged in the supporting inner pipe of the sheath pipe component in a penetrating mode.
In a third aspect, the present application provides a medical lock-cutting integrated device, including a medical thread cutting device, a locking pin member and a locking thread member as described above; the sheath tube main body further comprises a second inner cavity penetrating along the axial direction; the base member further comprises a first base, the distal end of the support being fixedly connected to the first base; the locking pin component comprises a locking pin main body and a pressing line piece movably connected with the locking pin main body, and the locking pin main body is detachably arranged in the first base body; the locking wire component comprises a push rod and a locking wire inner core connected with the proximal end of the push rod; the distal end of the push rod is detachably connected with the locking nail main body, the locking wire inner core is movably arranged in the second inner cavity in a penetrating mode, and the locking wire inner core drives the push rod to move forward to drive the wire pressing piece to move relative to the locking nail main body so as to lock a medical wire between the wire pressing piece and the locking nail main body; the medical thread cutting device is used for cutting off the medical thread extending from the locking nail main body.
The utility model provides a sheath pipe subassembly, medical tangent line device and medical lock cut integrated device, through wear to establish in the sheath pipe main part and support the inner tube, set up and support the inner tube and include along a plurality of helicoidal circles of axial arrangement, every helicoidal circle is including along two terminal surfaces of axial relative setting, when the sheath pipe subassembly is in the bending state, when cutting medical line at the tangent line inner core in supporting the inner tube is worn to establish to the proximal end pulling, in the inboard of the bending part of supporting the inner tube, the face contact can each other support between the adjacent two terminal surfaces of adjacent two helicoidal circles, thereby support the inner tube and can keep crooked steady state, the effort when supporting the inner tube can bear the tangent line, and provide stable and sufficient holding power for the tangent line, guarantee to support the morphological stabilization of the bending part of inner tube and sheath pipe subassembly, reduce the possibility that the sheath pipe subassembly takes place to beat or beat and arouse the risk of patient internal tissue injury or tearing because of sheath pipe subassembly beat or beat.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some implementations provided by way of example of the present application, and that other drawings may be obtained from these drawings by those of ordinary skill in the art without the inventive effort.
Fig. 1 is a schematic perspective assembly view of a medical lock-cutting integrated device according to an embodiment of the present disclosure;
FIG. 2 is an axial cross-sectional view of the medical lock-cut integrated device of FIG. 1;
FIG. 3a is a partially exploded perspective view of the medical latch and cut integrated device of FIG. 1;
FIG. 3b is a further exploded perspective view of the medical latch integrated device of FIG. 3 a;
FIG. 4 is a perspective assembly view of the medical lock-cut integrated device of FIG. 1 from a perspective with the sleeve removed;
FIG. 5 is a perspective assembly schematic view of the medical lock cutting integrated device of FIG. 1 from another perspective with the sleeve removed;
FIG. 6 is a perspective assembly schematic view of a base member removal sleeve in a medical lock-cut integrated device;
FIG. 7 is an axial cross-sectional schematic view of a base member removal sleeve in a medical lock-cut integrated device;
FIG. 8 is a partially exploded perspective view of the base member;
fig. 9, 10 and 11 are perspective views of a first substrate in the substrate member from different perspectives;
FIG. 12 is a perspective assembly schematic view of a staple component of the medical latch integrated device;
FIG. 13 is a perspective assembly schematic view of another view of the staple component of the medical latch integrated device;
FIG. 14 is an exploded perspective view of the staple member;
FIG. 15 is a schematic perspective view of the assembly of the sheath assembly (with a portion of the outer tube removed);
FIG. 16 is a schematic cross-sectional view of a sheath assembly;
FIG. 17 is a schematic perspective view of the support inner tube in the sheath assembly in a straight state;
FIG. 18 is a schematic cross-sectional view of the support inner tube of FIG. 17 in the axial direction;
FIG. 19 is a schematic view of the support inner tube in a bent state;
FIG. 20 is a schematic axial cross-sectional view of the curved support inner tube of FIG. 19;
FIG. 21 is an enlarged partial area schematic view of the bend region of the support inner tube shown in FIG. 20;
FIG. 22 is an axial cross-sectional view of the second base, outer tube, support inner tube, and connector assembled together;
FIG. 23 is a schematic perspective view of the assembly of the sheath assembly with the connector;
FIGS. 24 and 25 are schematic views illustrating a process of locking a medical wire by the medical locking and cutting integrated device;
FIG. 26 is a schematic view of a medical lock-cut integrated device cut line;
FIG. 27 is a schematic view of the staple member separated from the first substrate;
fig. 28 is a perspective view of the staple member after securing the medical wire and releasing the first substrate.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
Furthermore, the following description of the embodiments refers to the accompanying drawings, which illustrate specific embodiments that can be used to practice the present application. Directional terms, such as "upper", "lower", "front", "rear", "left", "right", "inner", "outer", "side", etc., in the present invention are merely referring to directions of the attached drawings, and thus, directional terms are used for better, more clear description and understanding of the present application, rather than indicating or implying that the apparatus or element being referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
Orientation definition: for clarity of description, the end proximal to the operator and the end distal to the operator will be referred to as the "proximal end" in the surgical procedure; "axial" refers to a direction parallel to the line connecting the distal center and the proximal center of the medical device; "radial" refers to a direction perpendicular or substantially perpendicular to the axial direction. "circumferential" refers to a direction about the axial direction. The foregoing definitions are provided for convenience of description and are not to be construed as limiting the present application.
Referring to fig. 1, an embodiment of the present application provides a medical locking and cutting integrateddevice 100 for locking amedical wire 200 and cutting off redundantmedical wires 200.
Referring to fig. 2, 3a, 3b, 4 and 5, the medical lock cutting integrateddevice 100 includes a medicalthread cutting device 101, alocking pin member 20 and alocking wire member 30. The medicalthread cutting device 101 includes abase member 10, athread cutting member 50, and asheath tube assembly 70. Thelocking pin member 20 is detachably provided on thebase member 10. Thelocking wire member 30 is detachably connected with the lockingpin member 20 for driving thelocking pin member 20 to lock themedical wire 200. The cuttingmember 50 of themedical cutting device 101 is slidably coupled to thebase member 10 for cutting off the excessmedical wire 200 extending from thestaple member 20. Thetangential member 50 is disposed through thesheath assembly 70. Thesheath assembly 70 is connected to thebase member 10 to carry thetangential member 50.
Referring to fig. 6 to 8 together, referring to fig. 2 to 5, thebase member 10 includes afirst base 11, a supportingmember 13 and amating member 15. The distal end of thesupport member 13 is fixedly connected to thefirst base 11. Themating member 15 is provided on thesupport member 13.
Referring to fig. 12 to 14 together, referring to fig. 2 to 5, the lockingpin member 20 includes alocking pin body 21 and a pressingmember 23 movably connected to thelocking pin body 21. The latchmain body 21 is detachably provided in thefirst base 11.
Referring to fig. 2 to 5, thelocking wire member 30 includes apush rod 31, and a distal end of thepush rod 31 is detachably connected to the locking pinmain body 21, and the push rod and the locking pin main body have a self-lockingstructure 210. Thepush rod 31 is moved forward to drive thewire pressing member 23 to move relative to thestaple body 21 to lock themedical wire 200 between thewire pressing member 23 and thestaple body 21. The self-lockingstructure 210 is used to prevent thepush rod 31 from moving in the opposite direction under themedical line 200. Wherein, forward refers to the movement from the proximal end to the distal end, and forward movement refers to the movement from the proximal end to the distal end; reversing refers to distal to proximal movement and reversing movement refers to distal to proximal movement. In the subsequent cutting process, themedical wire 200 needs to be pulled towards the proximal end, thepressing wire piece 23 has a trend of reverse movement under the driving of themedical wire 200, if the self-lockingstructure 210 is not arranged, thepush rod 31 may be driven by thepressing wire piece 23 to move in the reverse direction, so that the locking force of the lockingnail component 20 on themedical wire 200 is triggered to be reduced, and even the medical wire is loosened from the locking nail component, so that the locking nail component is caused to fall off; it is because the self-lockingstructure 210 is provided, after thepush rod 31 moves forward to drive thewire pressing member 23 to move relative to the locking nailmain body 21 to lock themedical wire 200 between thewire pressing member 23 and the locking nailmain body 21, the pulling of themedical wire 200 in the cutting process is insufficient to overcome the self-locking effect of the self-lockingstructure 210, and thepush rod 31 keeps the position of locking themedical wire 200 and does not move reversely under the action of themedical wire 200. In this embodiment, the self-lockingstructure 210 includes an external thread 311 (as shown in fig. 2 and 3 b) disposed at a distal end of thepush rod 31 and a threaded hole 211 (as shown in fig. 2) disposed at a proximal end of thelocking pin body 21 and adapted to the external thread, that is, thepush rod 31 and thelocking pin body 21 realize self-locking through the threaded self-lockingstructure 210; the unlocking between thepush rod 31 and the locking nailmain body 21 can be realized by rotating thepush rod 31, and the self-locking is established between the internal thread and the external thread when thepush rod 31 is stopped, so that the operation is simple and convenient. It is understood that the self-lockingstructure 210 is not limited to threaded connection, and thepush rod 31 and the locking pinmain body 21 may be self-locked by other manners, such as a clamping manner, etc.
Referring to fig. 2 to 5 and 26, thetangential member 50 is slidably connected to thesupport 13. The cuttingmember 50 is adapted to cooperate with thecounterpart 15 to cut off themedical wire 200 extending from the lockingstaple body 21.
Taking themedical wire 200 as an artificial tendon repair wire as an example, after the cutting is completed, the locking pinmain body 21 is easily pulled out from thefirst base body 11 under the pulling of the heart beat, in the process, the pulling direction of the heart beat to themedical wire 200 is towards the distal end, and the acting force of themedical wire 200 to thewire pressing member 23 is towards the distal end, so that the lockingpin member 20 can press themedical wire 200 more tightly.
Specifically, referring to fig. 9 to 11, referring to fig. 3b to 6, thefirst substrate 11 includes a first mountingportion 111 and a second mountingportion 113 fixedly connected to each other. The first mountingportion 111 is located at the proximal end of thefirst base 11. The first mountingportion 111 is provided with a throughgroove 1111 penetrating in the axial direction for accommodating thesupport 13. The proximal end of the first mountingportion 111 has astep 1113 for engagement with thetangential member 50. In the present embodiment, thestep 1113 is formed by removing a part of the material in the radial direction at the proximal end of the first mountingportion 111. Thesecond mounting portion 113 is provided with a receivinggroove 1131 penetrating in the axial direction for receiving thelock pin body 21.
Referring to fig. 3 to 8 in combination, thesupport 13 extends in the axial direction. The proximal end of thesupport member 13 is fixedly attached within the throughslot 1111. The supportingmember 13 is provided with a penetratingchannel 131 penetrating along the axial direction and communicating with theaccommodating groove 1131, so as to penetrate thepush rod 31. The throughpassage 131 communicates with the threaded hole 211 (shown in fig. 2). Thepush rod 31 is movably arranged in the penetratingchannel 131. The throughpassage 131 provides a limiting and guiding function for thepush rod 31.
Referring to fig. 1 to 7 in combination, thebase member 10 further includes asecond base 16 and asleeve 17. Thesecond base 16 is fixed to the proximal end of thesupport 13. Themating element 15 is located between thetangential member 50 and thesecond body 16. Thesleeve 17 is sleeved outside thefirst base 11, thetangential member 50, the matchingpiece 15 and thesecond base 16. The two ends of thesleeve 17 are fixedly connected with thefirst base 11 and thesecond base 16 respectively. Thesecond base 16 supports thesleeve 17 together with thefirst base 11. Thesleeve 17 is provided with awire passing hole 171 for guiding out themedical wire 200 extending from thestaple body 21. Thesleeve 17 is substantially cylindrical, and the arrangement of thesleeve 17 improves the uniformity and smoothness of the appearance of the medical lock-cuttingintegrated device 100, thereby improving the smoothness of the running of the medical lock-cuttingintegrated device 100 in a blood vessel. In the present embodiment, referring to fig. 9 to 11, the outer contour of the second mountingportion 113 of thefirst base 11 is circular, and has a larger diameter for fitting the distal end face of thesleeve 17; the outer contour of the distal end of the first mountingportion 111 is generally circular but slightly reduced in diameter to mate with the inner wall of thesleeve 17. It will be appreciated that the shape of thesleeve 17 is not limited.
Thebase member 10 further comprises apositioning element 18, themating element 15 being provided with afirst positioning hole 151 and thesleeve 17 being provided with asecond positioning hole 173 extending through a side wall of thesleeve 17. Thepositioning piece 18 is inserted into thefirst positioning hole 151 and thesecond positioning hole 173 to fix thematching piece 15 and thesleeve 17 together, so as to facilitate the assembly of thebase member 10. In the present embodiment, the number of the first positioning holes 151 on themating member 15 is two, the number of the second positioning holes 173 is two, the number of thepositioning members 18 is two, and the two first positioning holes 151 are symmetrically arranged along the same diameter of themating member 15 with respect to the axis. It will be appreciated that the number ofpositioning members 18 of the present application is not limited.
The latchmain body 21 is clearance fit in the receivinggroove 1131. The gap between the inner wall of the receivinggroove 1131 and the outer wall of thelocking pin body 21 is preferably in the range of [0.03,0.15] mm, more preferably [0.06,0.10] mm, so that thelocking pin body 21 can be easily fitted into the receivinggroove 1131 and removed from the receivinggroove 1131.
Referring to fig. 12, 13 and 14, and referring to fig. 1 to 5, the latchmain body 21 includes a first mountingportion 214 and a second mountingportion 215. The first mountingportion 214 is located at the proximal end of thestaple body 21. In the present embodiment, the first mountingportion 214 has a substantially truncated cone shape so that thelock pin body 21 is more easily separated from thefirst base 11. A threaded hole 211 (shown in fig. 13) is provided at the proximal end of the first mountingportion 214, to enable detachable connection of the first mountingportion 214 to thepush rod 31. The first mountingportion 214 is reduced in size in various directions, including radial and axial directions, as compared to the second mountingportion 215.
Thesecond mounting portion 215 of the latchmain body 21 is clearance fit with the inner wall of the receiving groove 1131 (as shown in fig. 2). Thefirst base 11 and the second mountingportion 215 are further provided with a rotation stopping structure which is mutually matched, the rotation stopping structure is used for preventing the locking nailmain body 21 from rotating relative to thefirst base 11, and when the medical locking and cuttingintegrated device 100 performs a locking line operation, the locking nailmain body 21 does not rotate, and thepush rod 31 rotates and axially moves relative to the locking nailmain body 21.
In the present embodiment, the rotation stopping structure between thefirst base 11 and the second mountingportion 215 is at least a pair of mutually matched planes. Specific: thefirst substrate 11 has two opposite planes on the inner wall of theaccommodating groove 1131. Thesecond mounting portion 215 of thestaple body 21 includes a first outer surface 2151 (shown in fig. 13), a second outer surface 2152 (shown in fig. 13), a third outer surface 2153 (shown in fig. 12), and a fourth outer surface 2154 (shown in fig. 12) that are interconnected. The firstouter surface 2151 is disposed opposite the thirdouter surface 2153, and the secondouter surface 2152 is disposed opposite the fourthouter surface 2154. The firstouter surface 2151 and thethird surface 2153 are circular arc surfaces, and the secondouter surface 2152 and the fourthouter surface 2154 are flat surfaces. The secondouter surface 2152 is in non-rotational engagement with a flat surface within thereceptacle 1131 of thefirst base 11, and the fourthouter surface 2154 is in non-rotational engagement with another flat surface within thereceptacle 1131 of thefirst base 11. In other words, the rotation stopping structure between thefirst base 11 and the second mountingportion 215 is two pairs of mutually matched planes. It is understood that the present application does not limit the firstouter surface 2151 and thethird surface 2153 to be circular arc surfaces, and does not limit the secondouter surface 2152 and the fourthouter surface 2154 to be flat surfaces, and the second mountingportion 215 may be in rotation-preventing fit with the inner wall of thefirst base 11. It is understood that the rotation stop feature 216 may also include, but is not limited to, axially extending and mating protrusions and recesses.
Thestaple body 21 has a receivingcavity 217 for receiving thewire 23. The receivingcavity 217 extends from the first mountingportion 215 to the second mountingportion 215. The receivingcavity 217 penetrates the second mountingportion 215 away from the distal end of the first mountingportion 214, i.e. the distal end opening of thestaple body 21, to facilitate assembly and disassembly between thewire pressing member 23 and thestaple body 21. The inner wall of the receivingcavity 217 is provided with awire pressing groove 2171. Thecrimp slot 2171 has abottom wall 2173. Aspush rod 31 moves forward,wire pressing member 23 is driven gradually towardbottom wall 2173 until the gap betweenwire pressing member 23 andbottom wall 2173 is smaller than the diameter ofmedical wire 200, to lockmedical wire 200 betweenwire pressing member 23 andbottom wall 2173.
Thestaple body 21 further comprises aguide 218 provided on a side wall of the receivingcavity 217. Thewire 23 is movably connected to theguide 218 and is movable along theguide 218. Theguide portion 218 is used to guide the movement of thewire 23 relative to thestaple body 21. Theguide 218 is gradually closer to thebottom wall 2173 from its proximal end to its distal end. Theguide portion 218 includes afirst guide portion 2181 and asecond guide portion 2183. Thefirst guide portion 2181 is located at a proximal end of theguide portion 218, thefirst guide portion 2181 is disposed obliquely with respect to an axial direction of thestaple body 21, and thesecond guide portion 2183 extends in the axial direction of thestaple body 21.
Thestaple body 21 further includes awire outlet hole 219 in communication with the receivingcavity 217. Thewire outlet hole 219 extends from thefirst surface 2151 of the second mountingportion 215 to the first mountingportion 214, thewire outlet hole 219 being for guiding themedical wire 200 out of the receivingcavity 217. Thewire outlet 219 is disposed obliquely with respect to the axial direction. The ratio range between the length of thewire outlet 219 and the length of thestaple body 21 is preferably [1/3,1/2], and the ratio range between the width of thewire outlet 219 and the maximum width of thestaple body 21 is preferably [1/3,1], so that thewire outlet 219 is arranged to reduce the weight of thestaple body 21 to the maximum extent, reduce the volume of thestaple body 21, and reduce the influence on human tissues after the release of thestaple member 20 which locks themedical wire 200.
The pressingmember 23 is movably accommodated in theaccommodating chamber 217 and movably connected with theguide portion 218. In this embodiment, thewire 23 includes awire pressing portion 231 and a connecting portion 233 that are fixedly connected. Thepressing portion 231 may be pressed onto thebottom wall 2173 of thepressing groove 2171. The outside diameter of thepressing line part 231 is larger than the outside diameter of the connecting part 233. The connection portion 233 is rotatable within theguide portion 231, and thepressing portion 231 is disposed coaxially with the connection portion 233.
The pressingmember 23 further includes a limitingportion 235 fixed to the connecting portion 233, for preventing the connecting portion 233 from being separated from the guidingportion 18. In this embodiment, the guidingportion 18 is a guiding groove penetrating through the locking pinmain body 21, the connecting portion 233 passes through the guiding groove, the limitingportion 235 is located outside the locking pinmain body 21, and the diameter of the limitingportion 235 is larger than the opening height of the guiding groove. In the present embodiment, theguide portion 18 is disposed on thesecond surface 2152 and thefourth surface 2154. In other embodiments, theguide portion 18 may be a guide rail provided on an inner wall of theaccommodating cavity 217, the connecting portion 233 may be accommodated in theaccommodating cavity 217 and may roll along the guide rail, and the limitingportion 235 may be omitted.
The lockingpin member 20 further includes anend cap 25, and theend cap 25 is fixedly disposed on the distal end of the second mountingportion 215 to close the distal end of thelocking pin body 21. Theend cap 25 also serves to limit the movement of thewire 23 on theguide 218, preventing thewire 23 from being disengaged from thestaple body 21. The lock pinmain body 21 and theend cover 25 are arranged in a split mode, and assembling and disassembling of theline pressing piece 23 are facilitated. Theend cap 25 is provided with anaccess hole 251, theaccess hole 251 being used to pass themedical wire 200 into the receivingcavity 217.
Since the locking pin member 20 (including thelocking pin body 21, thewire pressing member 23 and the end cap 25) is finally implanted in the human body, the material of thelocking pin member 20 includes but is not limited to biocompatible materials such as stainless steel, pure titanium, nickel titanium, cobalt chromium alloy, etc., preferably pure titanium, stainless steel.
Referring to fig. 2 to 7, in conjunction with fig. 24 to 25, thepush rod 31 of thelocking wire member 30 is movably disposed through the throughchannel 131. When thepush rod 31 rotates so that thepush rod 31 moves in the axial distal direction (i.e., forward direction) synchronously, thepressing wire 23 is pushed to move from the proximal end to the distal end along the guide portion 218 (i.e., forward direction), themedical wire 200 is gradually pressed in thepressing wire portion 231 and thepressing wire groove 2171 of thepressing wire 23, then thewire cutting member 50 moves in the axial proximal direction, the redundantmedical wire 200 is cut off on thematching piece 15, and in the wire cutting process, the distal end of thepush rod 31 continuously pushes thepressing wire 23 due to the self-locking effect of the external thread on thepush rod 31 and the threadedhole 211 of the locking pinmain body 21, so that thepressing wire 23 is prevented from moving proximally, thepressing wire portion 231 of thepressing wire 23 and thebottom wall 2173 of thepressing wire groove 2171 always keep the minimum gap to press themedical wire 200, and even if themedical wire 200 is pulled proximally or otherwise forced in the operation, themedical wire 200 can be prevented from loosening, and the locking reliability is ensured.
Thewire locking member 30 further includes awire locking core 33 fixedly attached to the proximal end of thepush rod 31. The lock wireinner core 33 is used for driving thepush rod 31 to rotate and axially move. Thelocking wire core 33 is a flexible body with torsion-resistant supporting force, preferably a flexible body such as a laser cutting tube, a spring, a stainless steel wire, a multilayer solid core shaft, and the like, and in this embodiment, thelocking wire core 33 is a stainless steel wire. Thepush rod 31 is rotated and moved by driving thelock wire core 33 to rotate. The lock wireinner core 33 is rotated in a preset direction, the lock wireinner core 33 drives thepush rod 31 to move forward towards the distal end, and thepush rod 31 can drive thewire pressing piece 23 to move relative to the lock pinmain body 21. After the thread cutting is completed, the thread lockinginner core 33 is rotated in the opposite direction, the thread lockinginner core 33 drives thepush rod 31 to move in the opposite direction towards the proximal end, and the distal end of thepush rod 31 is separated from the locking pinmain body 21.
Referring again to fig. 2-5, in conjunction with fig. 26, thetangential member 50 includes aseat 51, aninsert 53, and adriver 55. Thetool holder 51 is used for carrying theblade 53, and the drivingmember 55 is used for driving theblade 53 to move.
Thetool holder 51 is located between thefirst base body 11 and themating element 15. Thetool holder 51 is slidably sleeved on thesupport member 13 so as to be capable of moving along thesupport member 13. Theholder 51 is provided with a mountinggroove 511 for mounting theinsert 53. Thetool holder 51 further includes a third mountingportion 512 and a fourth mountingportion 514. The fourth mountingportion 514 is axially protruding on the distal end surface of the third mountingportion 512. The proximal end of the third mountingportion 512 is provided with a throughhole 5120 for passing the supportingmember 13. Thethird mounting portion 512 is in a rotationally fixed connection with thesupport 13. Preferably, as shown in fig. 8, the supportingmember 13 includes two oppositely disposedflat surfaces 135 and two oppositely disposedcurved surfaces 137, and the profile of the throughhole 5120 is adapted to the profile of the supportingmember 13, so as to prevent thetool holder 51 from rotating relative to the supportingmember 13 through the cooperation between the flat surfaces.
The fourth mountingportion 514 is provided to cover thestep 1113 and is slidable in the axial direction of thefirst base 11. Thestep 1113 is used for providing support for thetool holder 51, and also provides guidance for axial movement of thetool holder 51, which is beneficial for improving stability of movement of thetool holder 51. In addition, thestep 1113 and the fourth mountingportion 514 are complementary and adapted in shape, and share a radial space and an axial space, so that the radial dimension and the axial length of the whole distal end of the medical locking and cuttingintegrated device 100 are reduced, which is beneficial to reducing the volume of the medical locking and cuttingintegrated device 100 and reducing the weight of the medical locking and cuttingintegrated device 100.
Theblade 53 is fixedly received in the mountinggroove 511. After assembly, a gap 530 (shown in FIG. 2) is provided between theblade 53 and thesupport 13 for the medical wire 200 (shown in FIGS. 1, 4 and 5) of the self-lockingstaple body 21 to pass through and under theblade 53. Theblade 53 has acutting edge 531. Referring to fig. 4, themating member 15 further has atangential surface 153 opposite to thecutting edge 531, and thecutting edge 531 cooperates with thetangential surface 153 to cut off themedical wire 200 extending from thewire outlet 219 of the self-lockingpin body 21. Thetangential surface 153 is used to provide abutment for themedical wire 200 during the cutting process of the cuttingmember 50 to facilitate cutting of themedical wire 200 by thecutting edge 531. In the present embodiment, thetangential plane 153 is a plane. It will be appreciated that thetangential surface 153 may also be a curved surface.
The drivingmember 55 is fixedly connected with thetool holder 51 to drive thetool holder 51 to move along the supportingmember 13 toward themating member 15, so that theblade 53 cooperates with themating member 15 to cut off themedical wire 200 extending from thewire outlet 219 of the self-lockingnail body 21. The drivingpiece 55 comprises a connectingrod 551, a guidingpiece 553 and a tangentialinner core 555. The connectingrod 551 is fixedly connected between theguide 553 and the third mountingportion 512 of thetool holder 51. The tangentialinner core 555 is fixedly connected with theguide piece 553 and is used for driving the connectingrod 551, theguide piece 553 and thetool apron 51 to axially move.
More specifically, the proximal end of the third mountingportion 512 of thetool holder 51 is provided with a connection hole 5121. The connectingrod 551 is fixedly connected with the connecting hole 5121, so that the connectingrod 551 is fixedly connected with thetool apron 51. The matchingelement 15 is also provided with aguide hole 155, and the connectingrod 551 passes through the guide hole 155 (as shown in fig. 8). In the present embodiment, theguide hole 155 is a substantially half-waist-shaped hole, and theguide hole 155 penetrates the peripheral wall of themating member 15. The inner wall of theguide hole 155 guides the movement of theconnection bar 551 with respect to thesupporter 13. The connectingrod 551 is a rigid body having a certain length, preferably a rigid body such as a stainless steel tube or a stainless steel rod, and in this embodiment, a stainless steel rod is used. In this embodiment, the number of the connectingrods 551 is two, the supportingmember 13 is located between the two connectingrods 551, the two connectingrods 551 are symmetrically arranged about the central axis of the supportingmember 13, and the stability of the movement of thetool apron 51 relative to the supportingmember 13 is improved. It is understood that the present application does not limit the number of the connection bars 551.
Theguide piece 553 is slidably sleeved on thesupport piece 13, and theguide piece 553 is fixedly connected with the proximal end of the connectingrod 551. Theguide 553 is used to guide the movement of thetool holder 51. Theguide 553 is located between themating piece 15 and thesecond base 16. Referring to fig. 2, the portion of thesupport 13 between thefirst base 11 and themating member 15 serves as a guide for axial movement of thetool holder 51, and the portion of thesupport 13 between themating member 15 and thesecond base 16 serves as a guide for axial movement of theguide 553. Theguide 553 is also provided with a through hole 5531 which is matched with the shape of thesupport 13, so as to ensure the rotation stopping and guiding functions. The outer shape of theguide 553 includes, but is not limited to, a circular shape, an oval shape, and the like.
The tangentialinner core 555 is fixedly connected with the proximal end of theguide 553. Themating piece 15 is located between thetool holder 51 and theguide piece 553. The tangentialinner core 555 is a flexible body with torsion-resistant supporting force, preferably a flexible body such as a laser cutting tube, a spring, a stainless steel wire, a multilayer solid core shaft and the like, and the stainless steel wire is selected in the embodiment. The tangentialinner core 555 applies an axial driving force to theguide member 553, and theguide member 553 drives the connectingrod 551 to move axially so as to drive thetool holder 51 and theblade 53 to move.
Referring to fig. 15 and 16, in combination with fig. 1 to 3b, thesheath assembly 70 includes asheath body 71 and a supportinner tube 73. Thesheath body 71 includes anouter tube 711 and a reinforcingmesh tube 713. Theouter tube 711 is welded to the reinforcingmesh tube 713. Theouter tube 711 is provided to support theinner tube 73, and the reinforcingmesh tube 73 is provided to enhance the strength of theouter tube 711. Theouter tube 711 has afirst lumen 701 and asecond lumen 703 extending therethrough in the axial direction. The supportinginner tube 73 is arranged in the firstinner cavity 701 in a penetrating way, and the tangentinner core 55 is movably arranged in the supportinginner tube 73 in a penetrating way. Thelocking wire core 33 is movably disposed within thesecond lumen 703.
The material of theouter tube 711 is preferably a polymer material such as block polyether amide (polyether block amide, pebax) or nylon. Theouter tube 711 is connected to the reinforcingmesh tube 713 by, but not limited to, hot melt, and the other portions of thesheath body 71 except thefirst lumen 701 and thesecond lumen 703 are filled with the material of theouter tube 711. The reinforcingmesh 713 is preferably, but not limited to, a metal mesh, such as a stainless steel wire mesh, a nickel titanium wire mesh, a tungsten wire mesh, etc., and the reinforcingmesh 713 in the present embodiment is preferably a tungsten wire mesh.
To accommodate the position of thestaple body 21 and alignment with the channel in thesupport 13, thesecond lumen 703 is located approximately in the middle of thesheath body 71, with the central axis of thesheath body 71 being located within thesecond lumen 703. Thefirst lumen 701 is offset to one side of thesecond lumen 703. The tangent lineinner core 555 is movably arranged in the supportinginner pipe 73, namely, movably arranged in the secondinner cavity 703, although the tangent lineinner core 555 is offset relative to the central axis of the sheathmain body 71, the tangent lineinner core 555 transmits the tensile force to the two connectingrods 551 which are symmetrically arranged and correspond to the middle part of the supportingpiece 13 through theguide piece 553, and thetool apron 51 and theblade 53 can be driven to move along the axial direction uniformly.
It is important to note that the supportinner tube 73 is formed by spirally winding a flat wire, a strip, or the like around the axial direction. Referring to fig. 17 to 21, the supportinner tube 73 includes a plurality of spiral turns 731 arranged in the axial direction, and eachspiral turn 731 includes two end faces 7310 arranged opposite to each other in the axial direction. The supportinner tube 73 has a straight state and a curved state. When the supportinner tube 73 is in a flat state, the supportinner tube 73 has a flat structure. When the supportinner tube 73 is in a bent state, the supportinner tube 73 has a bent structure, and the supportinner tube 73 has a bent portion. When the supportinner pipe 73 is in a bent state (as shown in fig. 19 and 20), the adjacent end surfaces 7310 (as shown in fig. 21) of the adjacent two spiral turns 731 are in surface contact with each other on the inner side of the bending portion of the support inner pipe 73 (the inner side of the bending portion means the side where the bending radius is relatively small or the side relatively close to the bending center).
When the supportinginner tube 73 is in a bending state and the tangentinner core 555 penetrating through the supportinginner tube 73 is pulled to cut themedical wire 200, under the action of the pulling force of the tangentinner core 555, the two adjacent end faces 7310 of the two adjacent spiral rings 731 are in surface contact and can mutually abut against and support, so that the supportinginner tube 73 can keep a bending steady state, the supportinginner tube 73 can bear the acting force when being tangent, stable and enough supporting force is provided for the tangent, the morphological stability of the supportinginner tube 73 and the bending part of thesheath tube assembly 70 is ensured, the possibility of jumping or deflection of thesheath tube assembly 70 is reduced, and the risk of tissue injury or tearing of a patient caused by the jumping or deflection of thesheath tube assembly 70 is remarkably reduced.
In the present embodiment, the supportinner tube 73 is preferably, but not limited to, a flat wire spring tube. In contrast to the counter example using round wire spring tube: in a bending state, two adjacent spiral coils of the round wire spring tube are in point contact, and under the action of the tensile force of the tangent inner core, the two adjacent spiral coils can slide and dislocate with each other, so that the bending steady state can not be reached, and jump or deflection can be generated. After the flat wire spring tube is bent, under the action of the tensile force of the tangent inner core, the adjacent twoend surfaces 7310 of the adjacent two spiral rings 731 are in surface contact and can mutually support against each other, so that the bending steady state can be maintained, and the generation of jumping or deflection is avoided.
As shown in fig. 18, the width of the material is a, the thickness of the material is b, the inner diameter of the spiral turn is d, and when the supportinner tube 73 is in a flat state, an axial gap is e between two adjacent spiral turns 731. Wherein:
0<a≤3
0<b≤1
and b < a
0≤e≤0.5。
The helix angle of thehelical turn 731 is c, tan=2 (2b+d)/(a+e), and 30 deg. c.ltoreq.80 deg..
The setting of the above parameter ranges can not only facilitate the bending of the supportinner tube 73, but also generate reliable surface contact between theadjacent end surfaces 7310 of the adjacent two spiral turns 731 after the bending to realize mutual abutment and support, thereby maintaining the bending steady state.
Further, referring to fig. 2 and 22 in combination, the proximal end of thesecond base 16 is fixedly connected to the distal end of the supportinner tube 73. In this embodiment, the proximal end of thesecond substrate 16 is provided with a receivingslot 163 to facilitate fusion with the distal end of theouter tube 711. Referring to fig. 2 and 23 in combination, the proximal end of the supportinner tube 73 is welded to aconnector 301 provided in an operating handle (not shown). The operating handle is provided with corresponding operating mechanisms for operating thethread cutting core 555 and thethread locking core 33 respectively, which are not described herein for the sake of space.
In other embodiments, thesheath body 71 further includes a first inner tube (not labeled) and a second inner tube (not labeled), both of which are disposed in theouter tube 711 at intervals. The lumens of the first inner tube form afirst lumen 701 and the lumens of the second inner tube form asecond lumen 703. Thereinforcement mesh tube 713 is disposed through theouter tube 711 and surrounds the first inner tube and the second inner tube. Theouter tube 711 is fixed to the first inner tube and the second inner tube by, but not limited to, welding. The material of the first inner tube and the second inner tube is preferably but not limited to polytetrafluoroethylene (poly tetra fluoro ethylene, PTFE).
It will be appreciated that in some embodiments, thesheath body 71 may omit the reinforcingmesh tube 713.
According to the medical locking and cuttingintegrated device 100 provided by the embodiment of the application, the lockingnail component 20, thelocking wire component 30 and thecutting wire component 50 are mutually connected through thebase component 10, so that the locking wire function and the cutting wire function are integrated into a whole, the locking wire operation and the cutting wire operation can be completed by one-time intervention of an instrument, the times of the intervention of the instrument in a surgical body can be reduced, the surgical operation process is simplified, and the surgical time is saved; in the tangential operation process, the self-lockingstructure 210 on the distal end of thepush rod 31 in thelocking wire member 30 and the locking pinmain body 21 of thelocking pin member 20 can keep the lockingpin member 20 to lock themedical wire 200, so that themedical wire 200 is ensured to be in a locked state all the time, themedical wire 200 is prevented from loosening from the lockingpin member 20, the lockingpin member 20 is prevented from falling off, and the risk of the falling off of thelocking pin member 20 to a human body is avoided.
The mitral valve is a unidirectional "valve" between the Left Atrium (LA) and the Left Ventricle (LV), which ensures that blood flows from the left atrium to the left ventricle. A normal healthy mitral valve has multiple chordae tendineae. The valve leaflet of the mitral valve is divided into an anterior leaflet and a posterior leaflet, and when the left ventricle is in a diastole state, the two are in an open state, and blood flows from the left atrium to the left ventricle; when the left ventricle is in a contracted state, chordae tendineae are stretched, so that the valve leaflet cannot be flushed to the atrial side by blood flow, and the front leaf and the rear leaf are well closed, thereby ensuring that blood flows from the left ventricle to the aorta through the Aortic Valve (AV). If the mitral valve is ruptured, the mitral valve will not return to a fully closed state as in the normal state when the left ventricle is in a contracted state, but the insufficiency phenomenon occurs, and the impulse of blood flow will further cause the valve leaflet to drop into the left atrium, resulting in regurgitation of blood.
The following describes a process of using the medical lock-cuttingintegrated device 100 according to the present embodiment in a chordae tendineae prosthesis, taking a chordae tendineae prosthesis of a mitral valve as an example, that is, a medical thread as a prosthetic chordae tendineae prosthesis.
The first step: one or moremedical wires 200 are first implanted into the anterior or posterior leaflet of the mitral valve.
And a second step of: themedical wire 200 on the leaflet is passed outside the patient's body through the anchors of the anchoring device and the anchors are delivered into the left ventricle and anchored to the anterior papillary muscle or the posterior papillary muscle or the ventricular wall.
And a third step of: themedical wire 200 on the valve leaflet is all penetrated into thelocking pin member 20 of the medical locking and cuttingintegrated device 100 outside the patient's body, and themedical wire 200 is penetrated out through thewire outlet hole 219 on thelocking pin body 21 and the wire throughhole 171 on thesleeve 17, as shown in fig. 1.
Fourth step: along the guide of themedical wire 200, the distal end of the medical locking and cuttingintegrated device 100 is pushed into the left atrium of the heart through the femoral vein and the atrial septum, and the anterior papillary muscle or the posterior papillary muscle of the left ventricle is moved closer together, while themedical wire 200 is pulled until the distal end of the medical locking and cuttingintegrated device 100 reaches a predetermined position in the left ventricle. During this process, thesheath assembly 70 will accommodate the vessel morphology bending.
Fifth step: the tightness of themedical lines 200 is adjusted separately while the state in which mitral regurgitation is minimized is determined by ultrasound, and when this state is reached, the adjustment is stopped and the tightness state of eachmedical line 200 is maintained. Referring to fig. 24, thewire pressing member 23 is located at the proximal end of thestaple body 21. Thewire locking member 30 is rotated and thepush rod 31 is driven axially distally against thewire pressing member 23 to continue to press themedical wire 200 into the wire pressing groove 2171 (shown in fig. 14) of thestaple body 21. When thewire pressing member 23 moves to be limited by theend cap 25, themedical wire 200 is pressed against thestaple body 21 by thewire pressing member 23, as shown in fig. 25.
Sixth step: after compression of themedical wire 200, an axial pulling force is applied to thewire cutting core 555, and thewire cutting member 50 is moved distally and proximally under the guide of thesupport member 13, cutting the excessmedical wire 200 off thewire cutting surface 153 of themating member 15, as shown in fig. 26. Specifically, during the cutting process, thecutting edge 531 of theblade 53 abuts against thetangential surface 153, and thetangential surface 153 provides abutment for themedical wire 200, and provides an impetus for thecutting edge 531 of theblade 53, so that themedical wire 200 is easily cut; meanwhile, because thecutting edge 531 of theblade 53 and thetangent plane 153 are in a mutually abutting relationship, a mutually staggered relationship similar to that of scissors is not generated, so that the abnormal condition of the extruded wire does not exist between theblade 53 and thetangent plane 153, the whole medical locking and cuttingintegrated device 100 is ensured to be successfully withdrawn, and the risk of pulling organ tissues due to the extruded wire is avoided. During the cutting process of the cuttingmember 50, thewire pressing member 23 is still kept at a position where themedical wire 200 is locked due to the self-lockingstructure 210, without loosening. It should be emphasized that the supportinginner tube 73 is in a curved state, and under the action of the tension of the tangentinner core 555, the twoadjacent end surfaces 7310 of the two adjacent spiral rings 731 are in surface contact and can be mutually propped against and supported, so that the supportinginner tube 73 can keep a curved steady state, further the supportinginner tube 73 can bear the acting force during the tangent, and provide a stable and sufficient supporting force for the tangent, so that the shape stability of the curved parts of the supportinginner tube 73 and thesheath tube assembly 70 is ensured, the possibility of jumping or swaying of thesheath tube assembly 70 is reduced, and the risk of damage or tearing of the valve leaflet caused by the jumping or swaying of thesheath tube assembly 70 is remarkably reduced.
After the thread cutting is completed, the thread locking member 30 (thepush rod 31 and the thread locking core 33) is rotated to drive thethread locking member 30 to move proximally in the axial direction, the distal end of thepush rod 31 is separated from the locking pinmain body 21 of thelocking pin member 20, and thelocking pin member 20 is easily released from thefirst base 11 under the action of heart beat due to the truncated cone-shaped structure of the proximal end of the locking pinmain body 21, as shown in fig. 27.
Seventh step: thebase member 10, thelocking wire member 30, thewire cutting member 50, and the excessmedical wire 200 of the medical lock-cuttingintegrated device 100 are withdrawn from the patient, and thelocking pin member 20 remains in the patient, at which time thelocking pin member 20 secures the medical wire 200 (as shown in fig. 28) to the anterior papillary muscle or the posterior papillary muscle or the ventricular wall, and the chordae tendineae are completed.
It can be appreciated that themedical thread 200 may also be a suture thread, a repair thread for performing edge-to-edge repair on a valve, etc., and the medical locking and cuttingintegrated device 100 provided in the present application may also be applied to a tissue suturing operation, a valve edge-to-edge repair operation, etc., to lock and cut themedical thread 200.
It will be appreciated that thestaple member 20 and thelocking wire member 30 in the medical lock and cuttingintegrated device 100 described above may be removed, while only the medicalthread cutting device 101 composed of thebase member 10, thethread cutting member 50 and thesheath tube assembly 70 remains. After the medical wire is locked by using the additional wire locking device, thewire cutting device 101 can be independently inserted into the body to cut off the redundant medical wire.
The foregoing is a partial embodiment of the present application and it should be noted that, for a person skilled in the art, several improvements and modifications can be made without departing from the principle of the present application, and these improvements and modifications are also considered as the protection scope of the present application.

Claims (19)

1. The sheath tube assembly is characterized by comprising a sheath tube main body and a supporting inner tube; the sheath tube main body is provided with a first inner cavity penetrating along the axial direction, and the supporting inner tube is arranged in the first inner cavity in a penetrating way; the support inner tube is formed by spirally winding a material around an axial direction and comprises a plurality of spiral rings which are axially arranged, and each spiral ring comprises two end faces which are axially oppositely arranged; when the supporting inner tube is in a bending state, the adjacent two end surfaces of the adjacent two spiral rings are in surface contact with each other at the inner side of the bending part of the supporting inner tube so as to be mutually abutted.
8. A medical thread cutting device comprising a sheath assembly according to any one of claims 1 to 7, a thread cutting member and a base member; the base member is connected to the distal end of the sheath assembly, the base member comprising an axially extending support, and a mating member connected to the support, the mating member having a tangential surface; the tangent line component comprises a cutter seat, a blade and a tangent line inner core, wherein the cutter seat is arranged on the supporting piece in a sliding sleeve mode and located on the far side of the tangent line surface, the blade is fixedly connected to the cutter seat, the tangent line inner core is connected with the cutter seat to drive the cutter seat to axially move, and the tangent line inner core is movably arranged in the supporting inner pipe of the sheath pipe component in a penetrating mode.
CN202111572235.4A2021-12-212021-12-21Sheath tube assembly, medical thread cutting device and medical lock cutting integrated devicePendingCN116269558A (en)

Priority Applications (1)

Application NumberPriority DateFiling DateTitle
CN202111572235.4ACN116269558A (en)2021-12-212021-12-21Sheath tube assembly, medical thread cutting device and medical lock cutting integrated device

Applications Claiming Priority (1)

Application NumberPriority DateFiling DateTitle
CN202111572235.4ACN116269558A (en)2021-12-212021-12-21Sheath tube assembly, medical thread cutting device and medical lock cutting integrated device

Publications (1)

Publication NumberPublication Date
CN116269558Atrue CN116269558A (en)2023-06-23

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Family Applications (1)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication numberPriority datePublication dateAssigneeTitle
CN120131092A (en)*2025-05-132025-06-13成都博恩思医学机器人有限公司 A dual-joint flexible instrument, system, control method thereof and electronic equipment

Cited By (1)

* Cited by examiner, † Cited by third party
Publication numberPriority datePublication dateAssigneeTitle
CN120131092A (en)*2025-05-132025-06-13成都博恩思医学机器人有限公司 A dual-joint flexible instrument, system, control method thereof and electronic equipment

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