CN115192178A - A control device for fixing a curved sheath of a robot - Google Patents

Abstract

The invention discloses a control device for fixing a bending sheath of a robot. The invention controls the bending, rotation, pushing or retreating of the sheath tube by controlling the mechanical arm, and conducts stable transmission through the bevel gear, so that the operator can precisely control The movement of the sheath can be accurately controlled to reach the designated position, thereby reducing the operation time and improving the operation precision and operation quality.

Description

A control device for fixing a curved sheath of a robot

technical field

The invention relates to the technical field of medical devices, in particular to a control device for fixing a curved sheath of a robot.

Background technique

Although there are various methods of radiofrequency ablation, no matter which method is adopted, the operation needs to be performed in the room. First, a sheath needs to be used to build a channel into the target lesion of the heart, and the ablation catheter is passed through the sheath to enter the The ability to control the exact position and orientation of the sheath tip is critical to target ablation locations and to ablate the target lesions. The traditional sheath tube requires the operator to manually operate the sheath tube, which is very difficult to operate, and has poor stability and accuracy. During the manual operation of the sheath tube, due to factors such as doctor fatigue and unstable operation of personnel, it is easy to affect the safety of the operation, especially during the operation. Cardiac perforation leads to cardiac tamponade, so manual manipulation of the sheath is inconvenient and unsafe.

SUMMARY OF THE INVENTION

The invention provides a control device for fixing a curved sheath of a robot, so as to solve the problem that the position of the sheath tube cannot be accurately controlled in the prior art.

The invention provides a control device for fixing a curved sheath of a robot, the device includes: the control device includes: a mechanical arm, a sheath tube, a transmission handle and a sheath tube supporter, and the transmission handle is fixed by the sheath tube supporter On the robotic arm; the sheath tube includes a fixed curved section and a hard sheath tube section, one end of the hard sheath tube section is embedded in the transmission handle, and the other end of the hard sheath tube section is connected to the The tails of the fixed curved sections are connected, the conduit passes through the rigid sheath tube section and the tail of the fixed curved section, and extends from the head of the fixed curved section; the transmission handle is fixedly sleeved with a first tapered section The mechanical arm controls the movement of the first bevel gear through the sheath supporter, and drives the transmission handle and the sheath around the center through the rotation of the first bevel gear. The shaft is rotated in the circumferential direction to change the direction of the head of the fixed curved section of the sheath tube, so that the head end of the catheter reaches the target ablation position to realize the ablation operation.

Optionally, the sheath tube supporter is provided with a second bevel gear, the second bevel gear is meshed with the first bevel gear, and the mechanical arm is realized by the second bevel gear Control of the movement of the first bevel gear.

Optionally, an internal gear is provided in the second bevel gear, the output shaft of the manipulator is inserted into the second bevel gear, and the output shaft of the manipulator is in phase with the internal gear of the second bevel gear. The mechanical arm controls the rotation of the first bevel gear by driving the second bevel gear to rotate, so as to realize the rotation control of the sheath tube.

Optionally, a metal ring is provided on the fixed curved section of the sheath tube, and the position of the fixed curved section of the sheath tube is positioned by the metal ring.

Optionally, there are a plurality of metal rings, wherein at least one metal ring is arranged on the head of the fixed curved segment, and at least one metal ring is arranged on the fixed curved segment and the hard curved segment. Connection of sheath segments.

Optionally, an electrode ring is provided on the fixed curved section of the sheath tube, and the position of the fixed curved section of the sheath tube is positioned by the electrode ring.

Optionally, there are a plurality of electrode rings, wherein at least one electrode ring is arranged on the head of the fixed curved segment, and at least one electrode ring is arranged on the fixed curved segment and the rigid sheath. Connection of pipe segments.

Optionally, the control device further includes a controller; the controller drives the push and retraction of the sheath through the forward and backward movement of the mechanical arm, and then drives the forward and backward movement of the catheter, and the control The device drives the sheath tube to rotate through the mechanical arm to change the direction of the head of the fixed curved sheath tube.

Optionally, the controller includes a control terminal and a processor;

The control terminal is used for receiving the operation instruction and displaying the image collected by the imaging device;

The processor is configured to control the sheath tube, the transmission handle and the mechanical arm according to the operation instruction.

Optionally, the sheath tube includes a sheath tube wall and a conduit channel disposed in the sheath tube wall, wherein the conduit channel is disposed at the center of the sheath tube;

And the sheath tube wall is embedded with a metal braided material to improve the rotational fidelity, the inner diameter of the sheath tube is 8.5Fr to fit an 8Fr ablation catheter, and a hemostatic valve is built in the sheath tube.

The beneficial effects of the present invention are as follows:

The present invention controls the bending, rotation, pushing or retreating of the sheath by controlling the mechanical arm, and the bevel gear is used for stable transmission, so that the operator can accurately control the movement of the sheath, so as to accurately control the sheath to reach the designated position. , thereby reducing operation time and improving operation precision and operation quality.

The above description is only an overview of the technical solutions of the present invention, in order to be able to understand the technical means of the present invention more clearly, it can be implemented according to the content of the description, and in order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand , the following specific embodiments of the present invention are given.

Description of drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are for the purpose of illustrating preferred embodiments only and are not to be considered limiting of the invention. Also, the same components are denoted by the same reference numerals throughout the drawings. In the attached image:

1 is a schematic structural diagram of a robotic arm provided by an embodiment of the present invention;

2 is a schematic structural diagram of a handle provided by an embodiment of the present invention;

3 is a schematic structural diagram of a second bevel gear provided by an embodiment of the present invention;

4 is a schematic structural diagram of a sheath tube head end provided in an embodiment of the present invention;

5 is a schematic diagram of a cross-sectional structure of a sheath tube provided by an embodiment of the present invention;

6 is a schematic diagram of the overall structure of a control device provided by an embodiment of the present invention;

7 is a schematic diagram of signal control of a control device provided by an embodiment of the present invention;

Description of drawings: 1. Robot arm, 2. Sheath tube support, 3. Transmission handle, 4. Sheath tube, 5. Tee joint, 6. Catheter, 7. Operating bed, 8. Processor, 9. Control terminal, 10. 3D navigation interface display screen, 11. The second bevel gear, 21 the first bevel gear, 22 the fastener, 41 the fixed curved section, 42 the rigid sheath tube section, 43 the electrode ring, 44 the metal braided mesh, 45 the electrode signal line, 46 the catheter channel.

Detailed ways

The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to illustrate the present invention, but not to limit the present invention.

In the process of catheter radiofrequency ablation, the key step is to deliver the radiofrequency ablation catheter to the target location in the cardiac cavity through sheaths of different lengths. Although the robotic arm mainly controls the forward and backward pushing and axial rotation of the sheath tube through the guidance of the three-dimensional mapping system, the disadvantage of the existing sheath tube is that the operator needs to manually hold the sheath tube for forward and backward pumping and rotation. This kind of operation based on sensory estimation obviously cannot accurately control the amount of sheath push and rotation, so the operation quality cannot be guaranteed and the operation efficiency is low; The tube requires manual operation by the operator and cannot be controlled remotely. Therefore, the operator needs to operate the sheath tube under X-ray radiation during the operation, and the long-term operation will affect the operator's health. Furthermore, most of the existing sheath tube body parts are made of plastic material. Since the sheath tube body is generally long, when the doctor rotates the sheath tube through the sheath tube transmission handle 3, the torque is transmitted from the sheath tube transmission handle 3 to the distal end. During the process, the plastic tube will be deformed, resulting in distortion of the transmitted torque, making it difficult for the operator to control the rotation of the sheath tip, difficult to operate and low precision. In addition, most of the existing sheaths do not have a visual function, so it is impossible to monitor the position and direction of the sheaths in real time during the operation, which can only be done based on the experience of the surgeon.

An embodiment of the present invention provides a control device for fixing a curved sheath for a robot. Referring to FIG. 1 and FIG. 2 , the control device according to the embodiment of the present invention includes a robotic arm 1 , a sheath tube 4 , a transmission handle 3 and a sheath tube supporter 2 , the transmission handle 3 is fixed on the mechanical arm 1 through the sheath tube supporter 2;

The sheath tube 4 includes a fixed curved section 41 and a rigid sheath tube section 42, one end of the rigid sheath tube section 42 is embedded in the transmission handle 3, and the other end of the rigid sheath tube section 42 is connected to the fixed section 42. The tail of the curved section 41 is connected, and the catheter 6 passes through the rigid sheath tube section 42 and the tail of the fixed curved section 41, and protrudes from the head of the fixed curved section 41;

A first bevel gear 21 is fixedly sleeved on the transmission handle 3 , and the mechanical arm 1 controls the movement of the first bevel gear 21 through the sheath tube supporter 2 , and passes the first bevel gear 21 . The rotation of the bevel gear 21 drives the transmission handle 3 and the sheath tube 4 to rotate circumferentially around the central axis to change the direction of the head of the fixed curved section 41 of the sheath tube 4, so that the head end of the catheter 6 reaches the The target ablation location implements the ablation operation.

That is to say, in the embodiment of the present invention, the bending, rotating, pushing or retreating of the sheath tube 4 is controlled by controlling the robotic arm 1, and the transmission is performed stably through the bevel gear, so that the operator can accurately control the movement of the sheath tube. , so as to accurately control the sheath tube to reach the designated position, thereby reducing the operation time and improving the operation precision and operation quality.

Specifically, the sheath tube supporter 2 in the embodiment of the present invention is provided with a second bevel gear 11, the second bevel gear 11 meshes with the first bevel gear 21, and the mechanical arm 1 passes through the second bevel gear 11 realizes control of the movement of the first bevel gear 21 . Therefore, in the embodiment of the present invention, the rotation of the sheath tube is precisely controlled by two meshing bevel gears, and combined with the fixed curved section 41 of the sheath tube head, so that the catheter 6 can reach the ablation position.

In the specific implementation, in the embodiment of the present invention, an internal gear is provided in the second bevel gear 11 , as shown in FIG. 3 , the output shaft of the robot arm 1 is inserted into the second bevel gear 11 , and the output shaft of the robot arm 1 is It meshes with the internal gear of the second bevel gear 11, so that the mechanical arm 1 can control the rotation of the first bevel gear 21 by driving the rotation of the second bevel gear 11, and finally realize the The rotation control of the sheath tube 4 is described.

Of course, those skilled in the art can also realize the control of the sheath tube 4 through other control methods, for example, by setting a conventional spur gear for transmission control, but in comparison, the bevel gear transmission can achieve more precise control.

Further, in the embodiment of the present invention, a metal ring 43 is further provided on the fixed curved section 41 of the sheath tube 4, and the position of the fixed curved section 41 of the sheath tube 4 is positioned by the metal ring 43, thereby realizing more In order to accurately determine the position of the head end of the sheath tube 4.

In the specific implementation, in order to achieve a more precise control effect, in the embodiment of the present invention, a plurality of metal rings are arranged on the fixed curved segment 41 , wherein at least one metal ring is arranged on the head of the fixed curved segment 41 . , and at least one metal ring is arranged at the connection between the fixed bending section 41 and the rigid sheath tube section 42 . That is to say, in the embodiment of the present invention, a metal ring is set at the head and tail of the fixed bending section 41, and the flying position information and direction information of the head end of the sheath tube are obtained under X-ray imaging, so as to further adjust and control the sheath tube 4. , and finally through precise control of the fixed curved segment 41 , the catheter 6 can accurately reach the lesion to achieve ablation treatment, as shown in FIG. 4 for details.

In another embodiment, an electrode ring 43 is provided on the fixed curved section 41 of the sheath tube 4 , and the position of the fixed curved section 41 of the sheath tube 4 is positioned by the electrode ring 43 .

Similar to the arrangement of the metal ring, there are multiple electrode rings 43 in the embodiment of the present invention, and at least one electrode ring 43 is arranged at the head of the fixed curved section 41 of the sheath tube 4, and there is at least one electrode ring 43. The electrode ring 43 is arranged at the connection between the fixed curved section 41 and the rigid sheath tube section 42, so that the position information and direction information of the head end of the sheath tube 4 can be clearly displayed under the three-dimensional color Doppler ultrasound, so as to further align the sheath tube 4. The adjustment and control are performed, and finally, the precise control of the fixed curved segment 41 enables the catheter 6 to accurately reach the lesion to realize ablation treatment.

In the embodiment of the present invention, by arranging an electrode ring 43 or a metal ring at the head end of the sheath tube 4, the flying position information and direction information of the head end of the sheath tube 4 can be accurately obtained. Therefore, the present invention is definitely more accurate and faster than the prior art. control of the sheath 4.

In other words, in the embodiment of the present invention, by arranging a metal ring or an electrode at one end of the curved section of the fixed curved sheath tube, the head end of the sheath tube 4 can be seen under X-ray angiography or in a three-dimensional mapping system, thereby improving the performance of the sheath tube. Surgical precision and surgical quality.

Wherein, the imaging device in the embodiment of the present invention includes the above-mentioned X-ray imaging and three-dimensional mapping system. Of course, during the specific implementation, those skilled in the art can also set up various other available imaging devices according to actual needs. The present invention does not specifically limit this.

Referring to FIG. 5 , the sheath tube 4 in the embodiment of the present invention includes a sheath tube wall and a catheter channel 46 arranged in the sheath tube wall, wherein the catheter channel 46 is arranged at the center of the sheath tube 4; and in the sheath tube wall A metal braided material is embedded to improve the rotational fidelity. The inner diameter of the sheath tube 4 is 8.5Fr, which is suitable for the ablation catheter 6 of 8Fr. The sheath tube has a built-in hemostatic valve.

That is, the embodiment of the present invention improves the rotational fidelity through the metal braided material embedded in the sheath wall. In addition, the inner diameter of the sheath tube 4 in the embodiment of the present invention can be adapted to the corresponding ablation catheter 6 .

In specific implementation, the rear end of the sheath tube transmission handle 3 is provided with a three-way joint 5 in the embodiment of the present invention, and the output channel of the three-way joint 5 is communicated with the catheter channel 46 in the sheath tube 4, and can be guided through the three-way joint 5. The tube channel 46 injects saline for lubricating the interface between the catheter 6 and the sheath 4 or heparin anticoagulation for preventing blood coagulation near the sheath 4, and DSA contrast agent for cardiac angiography, and the like.

Further, in view of the problem that the operation under shooting affects the health of the operator, the operator can remotely control the robotic arm 1 to control the axial push, retraction and rotation of the fixed curved sheath tube, which not only improves the control accuracy, but also enables the operator to control the mechanical arm 1 remotely. Avoid radiation during surgery, see Figure 6 and Figure 7 for details;

During specific implementation, the controller in the embodiment of the present invention drives the pushing and retracting of the sheath tube 4 by controlling the forward and backward movement of the robotic arm 1, thereby driving the forward and backward movement of the catheter 6, and the control The device drives the sheath tube 4 to rotate through the mechanical arm 1 to change the direction of the head of the fixed curved sheath tube.

During specific implementation, in this embodiment of the present invention, the controller includes a control terminal 9 and a processor 8, wherein,

The control terminal 9 is used for receiving operation instructions and displaying the images collected by the imaging device;

The processor 8 is used to control the sheath tube 4 , the transmission handle 3 and the mechanical arm 1 according to the operation instruction.

The fixed curved sheath of the embodiment of the present invention can be operated remotely by a doctor, which avoids being irradiated by X-rays and other radiation during the operation of the doctor, which has an adverse effect on health, and can realize remote operation and provide high-quality medical treatment for more patients. Serve.

The method of the present invention will be explained and described in detail below with reference to accompanying drawings 1-7 through a specific example:

1 , the control device of the embodiment of the present invention includes a robotic arm 1, a sheath tube 4 and a transmission handle 3. The sheath tube 4 is divided into a fixed curved section 41 and a rigid sheath tube section 42, wherein one end of the rigid sheath tube section 42 is embedded In the transmission handle 3, the fixed curved section 41 is arranged at the end of the sheath tube away from the transmission handle 3, and the sheath tube 4 includes a sheath tube wall and a catheter channel 46 arranged in the center of the sheath tube. A first bevel gear 21 is fixedly sleeved on the transmission handle 3 . The rotation of the first bevel gear 21 can drive the transmission handle 3 and the sheath tube 4 to rotate circumferentially around the central axis to achieve the purpose of rotating the sheath tube 4 . By rotating the fixed curved sheath, the direction of the head end of the fixed curved sheath can be changed, so that the head end of the fixed curved sheath can be adjusted to be as close to the target ablation position as possible, so that the ablation catheter 6 can ablate it at the best angle. , the treatment effect and efficiency are improved, and an additional device for controlling the bending of the sheath tube 4 is not required to adjust the direction of the head end of the sheath tube 4 , which saves the manufacturing cost of the sheath tube 4 .

Referring to FIGS. 2 and 3 , the sheath tube 4 of the embodiment of the present invention is mounted on the robotic arm 1 through the sheath tube supporter 2 . The sheath tube supporter 2 is provided with a second bevel gear 11 , and the second bevel gear 11 is also There is an internal gear, after the sheath tube 4 is installed on the sheath tube supporter 2, the second bevel gear 11 on the sheath tube supporter 2 meshes with the first bevel gear 21 of the sheath tube transmission handle 3, and the mechanical arm 1. The output shaft is inserted into the second bevel gear 11 and meshes with its internal gear. The robotic arm 1 controls the rotation of the first bevel gear 21 of the sheath transmission handle 3 by driving the second bevel gear 11 to rotate, thereby realizing the sheath tube 4 The rotation of the sheath tube 4 is completed by controlling the forward and backward movement of the entire robotic arm 1 by the robot.

It should be noted that the sheath tube supporter 2 in the embodiment of the present invention is snap-connected with the sheath tube 4 through the snap-fit piece 22. Of course, during the specific implementation, those skilled in the art can also use other connections. In this way, the sheath tube supporter 2 and the sheath tube 4 are connected.

Referring to FIG. 2 , the rear end of the sheath transmission handle 3 in the embodiment of the present invention is provided with a three-way joint 5 , and the output channel of the three-way joint 5 is communicated with the catheter channel 46 in the sheath tube 4 , and can be connected to the catheter channel 46 through the three-way joint 5 Saline for lubricating the contact surface between the catheter 6 and the sheath tube 4 or heparin anticoagulation for preventing blood coagulation near the sheath tube 4, and a DSA contrast agent for cardiac angiography are injected.

In addition, the inner diameter of the sheath tube 4 in the embodiment of the present invention is 8.5Fr, which can be adapted to the catheter 6 of 8Fr. The end of the sheath tube 4 close to the transmission handle 3 is provided with a hemostatic valve. The hemostatic valve is used when the catheter 6 enters the sheath tube 4. Prevent blood from flowing out of the sheath port.

Referring to FIG. 4 , no less than two metal rings are provided at one end of the sheath fixed deflection section of the embodiment of the present invention, and the metal rings are visible under X-ray contrast, so that the operator can understand the sheath tube 4 in real time under X-ray contrast. The specific position and direction of the head end are controlled according to the position information to control the sheath tube 4 to perform the next action.

Of course, in the specific implementation, no less than two electrodes can also be provided at one end of the fixed deflection section of the sheath tube, and the signal connection lines of the electrodes pass through the sheath tube wall and are connected to the signal line interface at the rear end of the transmission handle 3. The line interface is connected to the 3D mapping system, the electrodes can be visualized under the 3D mapping system, and the operator can know the spatial information and direction of the sheath 4 in real time through the 3D mapping system.

Referring to FIG. 5 , a metal braided mesh and electrode signal wires 45 are embedded in the sheath tube of the embodiment of the present invention, and the metal braided mesh 44 is arranged in the sheath tube wall, so that the fixed bent end of the sheath tube 4 can respond to the sheath tube. 4. The change of the rotation direction of the proximal part can transmit torque from the proximal part of the sheath to the distal part along the longitudinal axis of the sheath 4 to improve the rotation fidelity and improve the accuracy of the operator's manipulation of the sheath 4.

6 and 7, in the embodiment of the present invention, the operator sends control commands (two degrees of freedom of the sheath) to the processor 8 through the control terminal 9, and the processor 8 controls the remote robotic arm after receiving the instructions from the doctor. 1. The sheath tube 4 is controlled to perform corresponding surgical actions, and the present invention displays the current positions of each catheter 6 and the sheath tube 4 in real time through the three-dimensional navigation interface display screen 10 . As shown in Fig. 7, the doctor only needs to perform the operation remotely in the doctor's control room, and does not need to perform the operation beside the operating bed 7, which greatly reduces the exposure time of the operator under the rays.

The ablation process of the present invention includes:

1. First, move the robotic arm 1 to the appropriate position for the operation through the robotic arm bracket;

2. Install the sheath supporter 2 on the robotic arm 1, and insert the output shaft of the robotic arm into the second bevel gear 11 of the sheath supporter 2, and mesh with the internal gear of the second bevel gear 11;

3. Install the sheath tube 4 on the sheath tube supporter 2, so that the first bevel gear 21 is meshed with the second bevel gear 11;

4. Close the hinge on the sheath tube supporter 2, and fix the sheath tube 4 on the sheath tube supporter 2 of the robotic arm 1;

5. The operator sends a surgical instruction to the distal robotic arm 1 from the processor 8 by manipulating the control terminal 9, and controls the circumferential rotation of the sheath tube 4 and the axial advance and retreat through the robotic arm 1, and the sheath tube 4 ends. The terminal is sent to the target lesion location;

6. Inject saline into the catheter channel 46 through the tee joint 5 at the sheath transmission handle for lubrication between the catheter 6 and the sheath 4;

7. The catheter 6 enters the sheath tube from the rear end of the transmission handle 3, passes through the sheath tube 4 and directly reaches the position of the target lesion, and performs ablation treatment on the target lesion.

The control device described in the embodiment of the present invention has at least the following beneficial effects:

1. The control device in the embodiment of the present invention is provided with a transmission handle 3, and the transmission handle 3 can cooperate with the sheath tube supporter 2 of the robotic arm 1 to complete the circumferential rotation of the sheath tube 4 and the advance and retreat of the axial direction;

2. The head end of the sheath tube 4 in the embodiment of the present invention is a fixed bend, and the direction of the head end of the sheath tube 4 can be changed by rotating the sheath tube, so that the head end of the sheath tube 4 is as close to the target ablation position as possible, and no additional punching is required. The bending device saves the cost of the sheath tube 4;

3. The fixed curved sheath of the embodiment of the present invention can be operated remotely by a doctor, which avoids being irradiated by X-rays and other radiation during the operation, which has an adverse effect on health;

4. The sheath transmission handle of the embodiment of the present invention is provided with a tee joint 5 at the 3 ends, and the saline water for lubricating the contact surface between the catheter 6 and the sheath can be injected into the catheter channel 46 through the tee joint 5 or used to prevent the sheath. 4. Heparin anticoagulation for nearby blood coagulation, and DSA contrast agent for cardiac angiography, etc.;

5. The sheath tube wall of the embodiment of the present invention is embedded with a metal braided material to improve the rotational fidelity;

6. No less than 2 electrodes are installed at the head end of the sheath tube 4 in the embodiment of the present invention for collecting electrophysiological signals. The electrodes are visible in the three-dimensional mapping system, and the sheath can be determined based on the dielectric three-dimensional mapping system. The spatial position and shape of the tube 4, or the head end of the sheath tube 4 is provided with no less than 2 metal rings, the metal rings are used for imaging under X-ray, so that the operator can obtain the sheath tube 4 head through X-ray angiography The spatial position and orientation of the end.

Although the preferred embodiments of the present invention have been disclosed for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, and therefore, the scope of the present invention should not be limited to the above-described embodiments.

Claims (10)

1. A control device for fixing a curved sheath by a robot is characterized by comprising: the sheath catheter comprises a mechanical arm, a sheath catheter, a transmission handle and a sheath catheter support, wherein the transmission handle is fixed on the mechanical arm through the sheath catheter support;

the sheath tube comprises a fixed bent section and a hard sheath tube section, one end of the hard sheath tube section is embedded into the transmission handle, the other end of the hard sheath tube section is connected with the tail part of the fixed bent section, and the catheter extends out of the head part of the fixed bent section through the hard sheath tube section and the tail part of the fixed bent section;

the fixed cover is equipped with first conical gear on the transmission handle, the arm passes through the sheath pipe eyelidretractor realizes right the control of first conical gear motion to through the rotation of first conical gear drives the transmission handle reaches the sheath pipe is circumferential direction around the center pin, in order to change the head of the fixed curved section of sheath pipe is directional, makes the pipe head end reach the target and melts the position and realize melting the operation.

2. The control device according to claim 1,

and a second bevel gear is arranged on the sheath supporter and meshed with the first bevel gear, and the mechanical arm realizes control of the movement of the first bevel gear through the second bevel gear.

3. The control device according to claim 2,

an internal gear is arranged in the second bevel gear, the mechanical arm output shaft is inserted into the second bevel gear and meshed with the internal gear of the second bevel gear, and the mechanical arm drives the second bevel gear to rotate to control the first bevel gear to rotate so as to control the rotation of the sheath tube.

4. The control device according to claim 1,

and a metal ring is arranged on the fixed bent section of the sheath tube, and the position of the fixed bent section of the sheath tube is positioned through the metal ring.

5. The control device according to claim 4,

the metal rings are multiple, at least one metal ring is arranged at the head of the fixed bent section, and at least one metal ring is arranged at the joint of the fixed bent section and the hard sheath section.

6. The control device according to claim 1,

and an electrode ring is arranged on the fixed bent section of the sheath tube, and the position of the fixed bent section of the sheath tube is positioned through the electrode ring.

7. The control device according to claim 6,

the electrode rings are multiple, wherein at least one electrode ring is arranged at the head of the fixed bent section, and at least one electrode ring is arranged at the joint of the fixed bent section and the hard sheath pipe section.

8. The control device of any one of claims 1-7, further comprising a controller;

the controller drives the sheath tube to be pushed and retracted through the front and back movement of the mechanical arm so as to drive the guide tube to move back and forth, and the controller drives the sheath tube to rotate through the mechanical arm so as to change the direction of the head of the fixed bent sheath tube.

9. The control device of claim 8, wherein the controller comprises a control terminal and a processor;

the control terminal is used for receiving an operation instruction and displaying an image acquired by the image equipment;

and the processor is used for controlling the sheath tube, the transmission handle and the mechanical arm according to the operation instruction.

10. The control device according to any one of claims 1 to 7,

the sheath tube comprises a sheath tube wall and a catheter channel arranged in the sheath tube wall, wherein the catheter channel is arranged at the central position of the sheath tube;

and the metal woven material is embedded into the wall of the sheath tube to improve the rotation fidelity, the inner diameter of the sheath tube is 8.5Fr to adapt to an 8Fr ablation catheter, and a hemostatic valve is arranged in the sheath tube.

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