CN107349514B - Catheter guide wire control device for interventional operation and control method thereof - Google Patents
Catheter guide wire control device for interventional operation and control method thereof Download PDFInfo
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- CN107349514B CN107349514B CN201710544635.1A CN201710544635A CN107349514B CN 107349514 B CN107349514 B CN 107349514B CN 201710544635 A CN201710544635 A CN 201710544635A CN 107349514 B CN107349514 B CN 107349514B
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- 230000002441 reversible effect Effects 0.000 claims description 6
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- 230000006872 improvement Effects 0.000 description 10
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- 238000001514 detection method Methods 0.000 description 7
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- 208000026106 cerebrovascular disease Diseases 0.000 description 5
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0113—Mechanical advancing means, e.g. catheter dispensers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/09—Guide wires
- A61M25/09041—Mechanisms for insertion of guide wires
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M2025/0177—Introducing, guiding, advancing, emplacing or holding catheters having external means for receiving guide wires, wires or stiffening members, e.g. loops, clamps or lateral tubes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M2205/00—General characteristics of the apparatus
- A61M2205/33—Controlling, regulating or measuring
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M2205/00—General characteristics of the apparatus
- A61M2205/58—Means for facilitating use, e.g. by people with impaired vision
- A61M2205/582—Means for facilitating use, e.g. by people with impaired vision by tactile feedback
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- Pulmonology (AREA)
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Abstract
The invention discloses a catheter guide wire control device for interventional operation and a control method thereof, belonging to the technical field of minimally invasive vascular interventional operation. The device comprises a clamping mechanism, a sleeve driving assembly and a brake assembly; the clamping mechanism comprises a sleeve, a braking piece and a clamping piece, wherein the clamping piece with a clamping end is connected with the sleeve in a threaded manner after being arranged in the braking piece, one end of the clamping piece is provided with a notch, and the clamping end is matched with the conical surface of the sleeve; the sleeve driving assembly is used for driving the sleeve to rotate; the brake assembly is used for clamping or loosening the brake piece. The method can clamp, push, twist and force the catheter or the guide wire. The invention can realize high-efficiency and accurate nondestructive clamping and loosening of the guide wire and the catheter, and can carry out cooperative operation on the guide wire of the catheter.
Description
Technical Field
The invention belongs to the technical field of minimally invasive vascular interventional procedures, relates to a control technology of a catheter guide wire in an interventional procedure, and particularly relates to a catheter guide wire control device for an interventional procedure and a control method thereof.
Background
The increasingly high cardiovascular and cerebrovascular diseases seriously affect national health and social life, and bring great pressure to the Chinese medical and health system. Cardiovascular and cerebrovascular diseases become one of three causes of death of human diseases, and 1670 ten thousand people die of cardiovascular and cerebrovascular diseases every year worldwide, accounting for 29.2 percent of all the diseases, and 250 ten thousand people die in 900 ten thousand cardiovascular and cerebrovascular diseases patients in China every year.
The cardiovascular and cerebrovascular minimally invasive interventional therapy is a main treatment means for cardiovascular and cerebrovascular diseases, can reduce the trauma and pain brought to patients by the traditional craniotomy and thoracotomy, has short postoperative recovery time, and can effectively improve the utilization rate of medical resources. However, the traditional cardiovascular and cerebrovascular interventional procedures are performed by a physician manually feeding catheters, guidewires, stents, and other instruments into the patient. On the one hand, in the operation process, due to the influence of radioactive rays, the physical strength of doctors is reduced rapidly, the attention and the stability are reduced along with the physical strength, the operation accuracy is reduced, and accidents such as vascular intima injury, vascular perforation and rupture and the like caused by improper pushing force are easy to occur, so that the life of patients is dangerous. On the other hand, cumulative damage from prolonged ionizing radiation can greatly increase the chance of developing leukemia, cancer and acute cataracts in the operator. The problem of thread eating has become a non-negligible problem in damaging the professional lives of doctors and restricting the development of interventional procedures. The surgical method for teleoperation of the catheter and the guide wire by means of the robot technology can effectively solve the problem, can greatly improve the precision and stability of surgical operation, can effectively reduce the damage of radioactive rays to a doctor of a main knife and can reduce the occurrence probability of accidents in the operation. Therefore, the auxiliary robots for cardiovascular and cerebrovascular intervention operation are more and more focused, and become the key research and development objects of the present science and technology in the field of medical robots.
Foreign vascular interventional surgery robots have been studied relatively early, but clinical applications have not yet been fully realized. The related research in China starts later, mainly comprises university of Beijing and Tianjin and university of Beijing aviation aerospace university, university of Harbin industry and the like.
At present, a vascular intervention operation robot mainly adopts a master-slave end operation structure to isolate doctors from radioactive rays, for example, the application number of Tianjin university application is: 201410206956.7, publication date: the invention patent of 2014, 9 and 17 discloses a slave manipulator device of a master-slave minimally invasive vascular interventional operation auxiliary system, which comprises an axial pushing unit, a rotating unit, a clamping unit, an operation catheter, an operation force detecting unit and an inclination angle adjustable base, and the working method comprises signal detection, transmission, processing and action. The advantages are that: the interventional operation action of a doctor can be simulated, the operation precision is high, and the operation safety is effectively improved; different therapists or different intervention positions can be guaranteed to be adjusted to angles expected by operators; the whole device is made of aluminum alloy materials, and has small size and light weight. The invention can well complete the pushing of the guide wire, and adopts the magnetorheological fluid to realize force feedback, and has the advantages of small inertia of moving parts, sensitive feedback and the like. As another example, the application number of the Beijing aviation aerospace university application is: 201210510169.2, publication date: patent literature of 2014, 9 and 17 discloses a master-slave teleoperation vascular interventional operation robot, which comprises a master-end control mechanism, a slave-end propulsion mechanism and a PMAC controller; the main end control mechanism is used as an operation end of a doctor; the slave end propulsion mechanism is used as an actuating mechanism of the robot, and replaces doctors to hold the catheter in an operating room to finish the motion function of the catheter; the PMAC control box is used for realizing information transmission between the master end control mechanism and the slave end propelling mechanism, so that the slave end catheter propelling mechanism moves according to the movement information of the master end control mechanism, a master-slave teleoperation mode is adopted to assist a doctor in carrying out operation, and the slave end propelling mechanism realizes axial feeding and circumferential rotation movement of the catheter. For another example, the name of the catheter robot system for the endovascular minimally invasive interventional operation is applied from the Harbin university of industry on 1 month 17 of 2011, a main hand handle and a computer host are arranged in a control room, a control cabinet, the catheter handle, a main-slave interventional device, a magnetic field generator and a controllable catheter are arranged in an operating room, a main hand handle pose signal is processed by the computer host and then is transmitted to the control cabinet, a motion control card and a driver are arranged in the control cabinet, the motion control card receives a command and sends a command to the driver, the driver transmits a control signal to each motor of the main-slave interventional device, the interventional device is further controlled to realize pushing/pulling, rotating and bending operations of the controllable catheter, the pose sensor acquires pose information of the controllable bending section, and the pose signal is transmitted to the computer host through the motion control card for signal processing. The technical scheme adopts the controllable catheter, can obtain the pose information of the bending controllable section of the controllable catheter, ensures the flexibility of the front end of the controllable catheter and the maneuverability of the intubation operation, simultaneously controls the master-slave interventional device through the master hand handle to realize the pushing/pulling, rotating and bending actions of the controllable catheter, can obtain the conveying force information of the controllable catheter in an operating room, and ensures the accuracy and the stability of the intubation.
The above schemes are advanced research on vascular interventional operation robots in China, but all have the following problems: (1) In the aspect of the clamping structure of the guide wire and the guide pipe, the clamping and loosening of the guide wire and the guide pipe cannot be realized accurately and efficiently, and the clamping efficiency and the success rate are low; (2) In the aspect of pushing force detection of the guide wire and the catheter, the pushing force detection precision is influenced due to the influence of friction force among structural components; (3) The guide wire or the guide wire can be pushed independently, the guide wire and the guide wire can not be pushed cooperatively in the operation process, so that the operation action of a doctor can not be completely simulated, and the operation is difficult at some parts which need the guide wire and the guide wire to be matched and advanced simultaneously, so that the operation precision is low, the operation efficiency is low, the assistance degree to the doctor is low, and certain potential safety hazards exist.
The inventors have made an effort to study this and have previously filed related patents such as chinese patent application No.: 201510064919.1, publication date: patent literature of 2015, 5 and 20 discloses a measuring device for an interventional operation robot, wherein a base of the measuring device is connected with an upper cover through a hinge; the upper cover is provided with a concave limiting plate and a pushing block, when the upper cover is closed, the concave limiting plate compresses the column gear, the driving wheel and the idle wheel to limit the vertical displacement, the pushing block pushes the left U-shaped baffle to the right, and the guide wire driving auxiliary piece is clamped by the right U-shaped baffle and the left U-shaped baffle; the base is mounted on the slider of the linear drive assembly. The scheme can effectively reduce the loss of pushing force in the transmission process, reduce larger errors caused by assembly or vibration and the like, but is only used for driving the guide wire, and has relatively low combined operation precision for clamping, loosening, rotating, pushing force measurement and the like of the guide wire.
After that, the inventors continued to study the technique of the interventional operation robot, and filed the application number of 2016, 3 and 3: 201610119761.8, the name is: the invention discloses a slave end of a master-slave minimally invasive vascular interventional surgical robot and a control method thereof, wherein the slave end comprises a slave end control mechanism and a slave end moving platform, the slave end control mechanism consists of a clamping driving mechanism I, a thrust feedback mechanism II, a nondestructive clamping mechanism III and a clamping control mechanism IV, and the control method of the slave end control mechanism is also provided. According to the technical scheme, the nondestructive clamping mechanism, the clamping control mechanism, the clamping driving mechanism and the thrust feedback mechanism are designed to finish the operations of clamping, loosening, rotating, pushing force measurement and the like of the guide wire in the operation process, the accuracy of pushing force measurement is improved, the reliability of clamping the guide wire is improved, and the structure is relatively complex.
Disclosure of Invention
1. Problems to be solved
Aiming at the problems of low clamping efficiency and success rate of a guide wire and a catheter caused by unreasonable clamping mechanisms of the conventional vascular interventional operation robot in the operation process of the guide wire and the catheter, the invention provides the guide wire control device and the control method for the catheter for interventional operation, which can realize efficient and accurate nondestructive clamping and loosening of the guide wire and the catheter. Considering the rationality of the collaborative work of the detection of the pushing force of the guide wire and the guide wire, the torsion push-pull, the clamping release and other operations, the device further adopts the guide rail slide block combination to design the guide wire and the guide wire pushing force detection structure so as to reduce the influence of the structural friction force on the force measurement precision.
2. Technical proposal
In order to solve the problems, the invention adopts the following technical scheme.
A catheter guide wire control device for interventional operation comprises a clamping mechanism, a sleeve driving assembly and a brake assembly; the clamping mechanism comprises a sleeve, a braking piece and a clamping piece, wherein the clamping piece with a clamping end is arranged in the braking piece, and the braking piece is in threaded connection with the sleeve; the brake piece can drive the clamping piece to move along the axial direction so that the clamping end clamps or unclamps the catheter or the guide wire;
the sleeve driving assembly is used for driving the sleeve to rotate;
the brake assembly is used for clamping or loosening the brake piece.
As a further improvement, one end of the sleeve is provided with a threaded hole, and the tail end of the threaded hole is a taper hole; the brake piece is provided with a threaded section matched with the threaded hole of the sleeve; the clamping piece is arranged in the sleeve and then is exposed out of the clamping end head, the clamping end head is provided with an outer conical surface matched with the taper hole in the sleeve, and the clamping end head is provided with a notch along the circumferential direction of the outer conical surface.
As a further improvement, the brake assembly comprises a brake block and a drive element connected to the brake block; the brake piece is provided with a brake disc, and a driving element of the brake assembly can drive a brake block to press or release the brake disc.
As a further improvement, the driving element is a push-pull electromagnet.
As a further improvement, the sleeve drive assembly includes a large herringbone gear connected to the sleeve, a small herringbone gear meshed with the large herringbone gear, and a motor for driving the small herringbone gear.
As a further improvement, the motor is connected with a coupler, and the coupler is connected with the small herringbone gear through a ball spline pair.
As a further improvement, the clamping mechanism is supported and arranged on the supporting plate through the guide rail sliding block assembly.
As a further improvement, the support plate is mounted in a housing, and the housing is detachably provided with an upper cover.
As a further improvement, the two opposite sides of the upper cover are respectively provided with an ear plate, and the upper cover is detachably connected with the shell through the ear plates.
As a further improvement, the guide rail sliding block assembly is provided with two groups, two ends of the sleeve are respectively supported, each group of guide rail sliding block assembly comprises two pairs of sliding guide rails which are respectively installed on the supporting plate and the upper cover, the two pairs of sliding guide rails are respectively connected with the lower supporting plate and the upper supporting plate, the lower supporting plate is provided with a lower half bearing seat, the upper supporting plate is provided with an upper half bearing seat, and the upper half bearing seat and the lower half bearing seat are combined into a complete bearing seat to support a bearing installed on the sleeve.
As a further improvement, the brake assembly is arranged on the lower supporting plate, and a dynamometer is arranged between the supporting plate and the lower supporting plate.
The control method of the catheter guide wire control device for interventional operation comprises the following steps:
the steps of clamping the catheter or the guide wire are as follows: firstly, a brake component clamps a brake piece of a clamping mechanism; then, the sleeve driving assembly drives the sleeve of the clamping mechanism to rotate, the braking piece is in threaded fit with the sleeve, and the braking piece pushes the clamping end of the clamping piece to be matched with the conical surface of the sleeve, so that the clamping end contracts and clamps or loosens the catheter or the guide wire;
the steps of axially pushing and pulling the catheter or the guide wire are as follows: after the catheter or the guide wire is clamped, the clamping mechanism moves along the axial direction along with the catheter or the guide wire under the action of external force, so that the push-pull operation of the catheter or the guide wire is realized;
the steps of twisting the catheter or guidewire are: after the guide pipe or the guide wire is clamped, the brake component releases the brake piece of the clamping mechanism, the sleeve driving component drives the sleeve of the clamping mechanism to rotate, the brake piece and the clamping piece follow up, and the clamping piece drives the guide pipe or the guide wire to twist.
Further, the brake assembly comprises a brake block and a driving element connected with the brake block; the brake piece is provided with a brake disc, and a driving element of the brake assembly can drive a brake block to press or release the brake disc;
the step of clamping the braking piece by the braking component is as follows: the driving element drives the brake block to act, and the brake block is contacted with the brake disc to compress or separate, so that the clamping or loosening of the brake piece is completed.
Further, the sleeve driving assembly comprises a large herringbone gear connected with the sleeve, a small herringbone gear meshed with the large herringbone gear and a motor for driving the small herringbone gear;
the sleeve driving assembly drives the sleeve to rotate, and the steps are as follows: the motor drives the small herringbone gear to rotate, the small herringbone gear is meshed with the large herringbone gear for transmission, and the large herringbone gear drives the sleeve to rotate; the forward and reverse rotation of the motor controls the forward and reverse rotation of the sleeve.
Further, the clamping mechanism is supported and arranged on the supporting plate through the guide rail sliding block assembly; the supporting plate is arranged in the shell, and the upper cover is detachably arranged on the shell; the guide rail sliding block assembly is provided with two groups which respectively support two ends of the sleeve, each group of guide rail sliding block assembly comprises two pairs of sliding guide rails which are respectively arranged on the supporting plate and the upper cover and are respectively connected with the lower supporting plate and the upper supporting plate, the lower supporting plate is provided with a lower half bearing seat, the upper supporting plate is provided with an upper half bearing seat, and the upper half bearing seat and the lower half bearing seat are combined into a complete bearing seat to support a bearing arranged on the sleeve; the brake assembly is positioned on the lower supporting plate, and a dynamometer is arranged between the supporting plate and the lower supporting plate;
the pushing resistance of the catheter or the guide wire is detected in real time by the following steps: after the guide pipe or the guide wire is clamped, the brake component loosens a brake piece of the clamping mechanism, the clamping mechanism moves along the axial direction along with the guide pipe or the guide wire under the action of external force, the guide rail sliding block component slides along with the guide pipe or the guide wire, pushing resistance is transmitted to the dynamometer through the lower supporting plate, the dynamometer receives a resistance signal, and the resistance signal is converted into an electric signal and transmitted to an external control system, so that pushing resistance is detected in real time.
3. Advantageous effects
Compared with the prior art, the invention has the beneficial effects that:
(1) The invention relates to a catheter guide wire control device for interventional operation, which is characterized in that a clamping mechanism of a catheter guide wire is innovatively designed, and a clamping end of a clamping piece is driven by screw thread screwing of a sleeve and a braking piece to shrink or expand through conical surface matched extrusion, so that a catheter or a guide wire is clamped or loosened, the opening size of the clamping end of the clamping piece is controlled according to screw thread screwing depth, the clamping force is controlled, the stepless adjustment of different clamping forces of the catheter and the guide wire is met, and nondestructive clamping is easy to realize; moreover, by utilizing a conical surface matched clamping mode, the contact surface is large, the clamping force is uniform and reliable, and the slipping phenomenon can not occur; the mode can integrate the operations of clamping, twisting, pushing and the like, and compared with the existing catheter guide wire clamping structure, the method has the advantages that the structure is greatly simplified, and the catheter guide wire can be clamped efficiently, accurately and reliably;
(2) According to the catheter guide wire control device for interventional operation, the sleeve and the brake piece are both provided with the central holes for the catheter or the guide wire to pass through, the sleeve is provided with the threaded holes, the tail ends of the threaded holes are taper holes, the brake piece is provided with the threaded sections matched with the threaded holes of the sleeve, the clamping ends of the clamping pieces are exposed after being arranged in the sleeve, the head ends of the clamping ends are provided with the cuts, and when the sleeve and the brake piece are screwed, the head ends of the clamping pieces can be pushed to be contacted with and extruded by taper hole conical surfaces of the sleeve, and the clamping ends shrink radially due to the existence of the cuts, so that the openings become smaller, and the catheter or the guide wire can be clamped;
(3) According to the catheter guide wire control device for interventional operation, the clamping mechanism clamps the catheter guide wire through the matching of the sleeve driving assembly and the brake assembly, the sleeve and the brake piece are in a threaded connection mode, relative rotation is necessarily existed, the brake assembly clamps the brake piece, the sleeve driving assembly drives the sleeve to rotate, and therefore the structural requirement of threaded connection of the sleeve and the brake piece is met; the brake assembly adopts a structural form that a driving element drives a brake block to compress or loosen a brake disc on a brake piece, so that the brake assembly is very simple and easy to control;
(4) The invention relates to a catheter guide wire control device for interventional operation, wherein a clamping mechanism adopts a threaded screwing mode of a sleeve and a braking piece, and the sleeve and the braking piece are in relative rotation and necessarily have axial linear motion, so that a sleeve driving assembly and a braking assembly are required to adapt to the special transmission mode, and the braking piece is locked by the braking assembly, so that the sleeve needs to act axially; in order to meet the requirement, the sleeve driving assembly adopts meshing transmission of large and small herringbone gears, and can bear axial force; more importantly, the motor is connected with the small herringbone gear through the ball spline pair, and the small herringbone gear can perform axial movement almost without resistance when rotating, so that the action requirement of the sleeve is met, and the influence on the detection precision of the pushing resistance of the catheter guide wire in the follow-up process is reduced;
(5) According to the catheter guide wire control device for interventional operation, the clamping mechanism, the sleeve driving assembly and the brake assembly are arranged in the shell, and are covered by the upper cover, so that the whole device is relatively closed, the device is well protected, the accuracy of the device is guaranteed, and the clamping mechanism can be taken out after the upper cover is taken down, so that the catheter guide wire control device is convenient and quick to disassemble and assemble;
(6) The catheter guide wire control device for interventional operation, provided by the invention, has the advantages that the guide rail slide block assembly is adopted to support the clamping mechanism in order to meet the special clamping mode of the clamping mechanism, so that the clamping mechanism can be stably supported, the requirement of axial movement of a sleeve can be met, the fixed bearing is supported by the upper and lower guide rail slide block assemblies, the support is stable and reliable, the disassembly and the assembly are convenient, and the clamping mechanism is convenient to take down;
(7) According to the catheter guide wire control device for interventional operation, the dynamometer is arranged between the supporting plate and the lower supporting plate, and the pushing resistance of the catheter guide wire can be detected in real time and high precision by matching with the structural form of the guide rail sliding block assembly, so that the change of pushing force is felt in the operation process, and the operation safety is improved;
(8) According to the control method, the catheter guide wire control device for interventional operation is controlled to clamp, push, twist and the like of the catheter guide wire, so that the operation mode requirements of the operation on the catheter or the guide wire can be met, the operation mode of holding the catheter guide wire by a doctor is simulated, the operation is more real and is easy to be accepted by the doctor, meanwhile, the pushing force can be fed back in real time, the operation is more vivid as if the doctor has touch, and the doctor can grasp the pushing force of the catheter guide wire conveniently.
Drawings
FIG. 1 is a three-dimensional perspective view of the visible internal structure of a catheter guidewire control device for interventional procedures in accordance with the present invention;
FIG. 2 is an exploded view of the partial components of the catheter guidewire control device for interventional procedures of the present invention;
fig. 3 is a cross-sectional view of the structure of the clamp mechanism in the catheter guidewire control device for interventional operation according to the present invention, and a partially enlarged view thereof.
The reference numerals in the drawings are respectively:
1. a housing;
2. an upper cover; 201. ear plates;
3. a clamping mechanism; 310. a sleeve; 320. a brake member; 321. a threaded section; 322. a brake disc; 330. a clamping member; 331. clamping the end head;
4. a sleeve drive assembly; 410. large herringbone gears; 420. a small herringbone gear; 430. a motor; 440. a ball spline pair; 450. a coupling; 460. a support plate;
5. a brake assembly; 510. a magnet holder; 520. a brake block; 521. a guide post; 530. push-pull electromagnet;
6. a guide rail slide block assembly; 610. a sliding guide rail; 620. an upper supporting plate; 630. an upper half bearing seat; 640. a lower support plate; 650. a lower half bearing seat;
7. a force measuring instrument.
Detailed Description
The invention is further described below in connection with specific embodiments and the accompanying drawings.
Example 1
As shown in fig. 1, 2 and 3, the catheter guide wire control device for interventional operation of the present embodiment includes a housing 1, a clamping mechanism 3, a sleeve driving assembly 4 and a brake assembly 5, wherein the clamping mechanism 3, the sleeve driving assembly 4 and the brake assembly 5 are all disposed in the housing 1.
Wherein, as shown in fig. 1, the shell 1 is of a U-like structure and has front and rear side walls, and in fig. 1, the front wall of the shell 1 has been removed for the purpose of viewing the internal structure of the device; the top opening of the housing 1 is detachably provided with the upper cover 2, specifically, two opposite sides of the upper cover 2 are respectively provided with an ear plate 201, and the ear plates 201 and the housing 1 are connected through screws. After the upper cover 2 is covered on the shell 1, a relatively closed space is formed, so that the internal parts of the shell are protected, and the precision of the device is guaranteed.
As shown in connection with fig. 2 and 3, the clamping mechanism 3 comprises a sleeve 310, a stopper 320 and a clamping member 330, all of which have a central hole through which a catheter or a guidewire can pass; wherein, one end of the sleeve 310 is provided with a threaded hole, the tail end of the threaded hole is provided with a taper hole, the opening size of the taper hole is 90 degrees, which is a preferred mode; one end of the stopper 320 has a threaded section 321 that mates with the threaded bore of the sleeve 310. One end of the clamping piece 330 is relatively large to form a clamping end 331, conical surfaces are formed at the front end and the rear end of the clamping end 331, four notches are uniformly formed in the clamping piece 330 at the end of the clamping end 331 along the axial direction, of course, the number of the notches is determined according to the requirement, and the notches are preferably four, and extend to the middle of the length direction of the clamping piece 330, so that the clamping end 331 can be extruded, and the opening is contracted; inserting the end of the non-clamping end 331 of the clamping member 330 into a central hole at one end of the threaded section 321 of the braking member 320, wherein the clamping end 331 is exposed out of the braking member 320, and the end of the braking member 320 is provided with an inner conical hole matched with an outer conical surface at the rear end of the clamping end 331; the threaded section 321 of the braking member 320 is screwed with the threaded hole of the sleeve 310 to form a whole, and the front conical surface of the clamping end 331 can be in contact fit with the inner conical surface of the sleeve 310.
Compared with the existing clamping mode of the guide wire of the catheter, including the mode designed before by the inventor, the clamping mechanism 3 is innovatively designed, the clamping end 331 of the clamping piece 330 is driven by screwing threads of the sleeve 310 and the braking piece 320 to shrink or expand through conical surface matched extrusion, so that the guide wire or the guide wire is clamped or loosened, the opening size of the clamping end 331 of the clamping piece 330 is controlled according to the screwing depth of the threads, the clamping force is controlled, stepless adjustment of different clamping forces of the guide wire and the guide wire is met, and nondestructive clamping is easy to realize; moreover, by utilizing a conical surface matched clamping mode, the contact surface is large, the clamping force is uniform and reliable, and the slipping phenomenon can not occur; the clamping structure can integrate clamping, twisting, pushing and other operations, is greatly simplified compared with the existing clamping structure of the catheter guide wire, and can efficiently, accurately and reliably clamp the catheter guide wire.
It should be noted that, the clamping mechanism 3 may be suitable for clamping the catheter and the guide wire at the same time, and the clamping member 330 is preferably made of plastic material when the catheter is made of plastic material and is softer; the guide wire is made of metal, and the clamping piece 330 is preferably made of metal during clamping, so that only the clamping piece 330 needs to be replaced, and different clamping mechanisms 3 do not need to be designed in a targeted manner.
The clamping mechanism 3 clamps the catheter guide wire through the cooperation of the sleeve driving assembly 4 and the brake braking assembly 5, the sleeve 310 and the brake piece 320 are in threaded connection, relative rotation is necessarily existed, the sleeve driving assembly 4 is used for driving the sleeve 310 to rotate, the brake braking assembly 5 is used for clamping or loosening the brake piece 320, and therefore the structural requirement of threaded connection of the sleeve 310 and the brake piece 320 is met.
In this embodiment, the brake assembly 5 includes a brake block 520 and a driving element connected to the brake block 520, where the driving element adopts a push-pull electromagnet 530, and of course, other power elements in the prior art may also be adopted, as long as the driving of the brake block 520 can be achieved, the push-pull electromagnet 530 is fixed on the magnet support 510, and the brake block 520 is connected to a push rod of the push-pull electromagnet 530 through a bolt. In order to effectively and simply brake the brake component 5, a brake disc 322 is arranged at one end of the brake component 320 far away from the threaded section 321, and a driving element of the brake component 5 can drive a brake block 520 to press or release the brake disc 322; the front side of the brake block 520 is provided with a support column, the brake 320 is rotatably supported by a bearing, the support column is provided with a guide hole, the front end of the corresponding brake block 520 is provided with a guide column 521, the guide column 521 extends into the guide hole to guide the front and back movement of the brake block 520, and the support column also supports the brake block 520. The brake assembly 5 adopts a structure that the driving element drives the brake block 520 to press or release the brake disc 322 on the brake piece 320, which is very simple and easy to control.
Further, the clamping mechanism 3 adopts the threaded screwing mode of the sleeve 310 and the brake member 320, and the sleeve 310 and the brake member 320 are necessarily in axial linear motion while rotating relatively, which requires the sleeve driving assembly 4 and the brake assembly 5 to adapt to the special transmission mode, and the brake member 320 is locked by the brake assembly 5 as the structure of the brake assembly 5 is known, so that the sleeve 310 needs to be axially moved, which requires the structure of the sleeve driving assembly 4. In this embodiment, the sleeve drive assembly 4 includes a large herringbone gear 410, a small herringbone gear 420, a motor 430, and a motor mount; wherein, the motor bracket is fixed on the bottom plate of the shell 1, and the motor 430 is fixed on the motor bracket; for the large herringbone gear 410 and the small herringbone gear 420, the small herringbone gear 420 is relatively smaller than the large herringbone gear 410 in diameter, the large herringbone gear 410 is mounted on the sleeve 310 through a key, the small herringbone gear 420 is connected with the motor 430, and the large herringbone gear 410 and the small herringbone gear 420 are meshed for transmission. In order to meet the action requirements of the rotation and axial movement of the sleeve 310, the sleeve driving assembly 4 adopts the meshing transmission of the large and small herringbone gears, can bear the axial force, and also performs the transverse movement in the meshing transmission process. But the motor 430 is fixed on the motor support and can not move, so that the motor 430 can be ensured to drive the small herringbone gear 420 to rotate and simultaneously can adapt to the axial movement of the small herringbone gear 420, therefore, the motor 430 is connected with the coupler 450, the coupler 450 is connected with the small herringbone gear 420 through the ball spline pair 440, the axial movement of the small herringbone gear 420 with almost no resistance can be realized, and the influence on the detection precision of the pushing resistance of the guide wire can be greatly reduced.
It should be noted that, the clamping mechanism 3 needs to be supported during operation, and cannot be suspended, but in view of the specificity of the clamping mode, in this embodiment, the clamping mechanism 3 is supported and arranged on the supporting plate 460 through the guide rail sliding block assembly 6, two sides of the supporting plate 460 are fixed on the front and rear side walls of the housing 1, and the bottom surface thereof is connected with the motor bracket. The guide rail slider assemblies 6 have two groups, which support the two ends of the sleeve 310 respectively, each group of guide rail slider assemblies 6 includes two pairs of sliding guide rails 610 mounted on the support plate 460 and the upper cover 2 respectively, which are connected with the lower support plate 640 and the upper support plate 620 respectively, the lower support plate 640 is mounted with the lower half bearing seat 650, the upper support plate 620 is mounted with the upper half bearing seat 630, and the upper half bearing seat 630 and the lower half bearing seat 650 are combined into a complete bearing seat to support the bearing mounted on the sleeve 310. Adopt guide rail slider assembly 6 to support fixture 3, not only can stably support, also can satisfy sleeve 310 axial displacement's demand to support fixed bearing through upper and lower two sets of guide rail slider assembly 6, support reliable and stable, easy dismounting is convenient for take off fixture 3 moreover. At the same time, the brake assembly 5 is also mounted on the bottom bracket 640.
Example 2
The catheter or the guide wire can be clamped, pushed and pulled by the catheter guide wire control device for interventional operation according to embodiment 1, and the catheter is described as an example.
(1) Catheter clamping operation
First, the catheter passes through the stopper 320, the clip 330 and the sleeve 310 of the clip mechanism 3; then, the brake assembly 5 works to brake the brake piece 320, specifically, the push-pull electromagnet 530 is powered to pull the brake block 520 to approach the brake disc 322 of the brake piece 320 and contact and press the brake disc 322, so that the brake piece 320 brakes; then, the sleeve driving component 4 drives the sleeve 310 of the clamping mechanism 3 to rotate, specifically, the motor 430 is powered to drive the small herringbone gear 420 to rotate, the small herringbone gear 420 is meshed with the large herringbone gear 410 for transmission, and the large herringbone gear 410 drives the sleeve 310 to rotate; the length of the threaded engagement of the stopper 320 with the sleeve 310 increases, the sleeve 310 moves in a direction approaching the stopper 320 under the support of the rail-slider assembly 6, the clamp 330 is pressed, and the opening of the clamp head 331 is gradually reduced until the catheter is clamped. Reverse rotation of the motor 430 controls reverse rotation of the sleeve 310, releasing the grip on the catheter.
(2) Axial push-pull operation of catheter
Under the clamping state of the catheter, the device can be arranged on an operation platform under the action of external force, the operation platform drives the device to move, and the clamping mechanism 3 moves along the axial direction along with the catheter to realize the push-pull operation of the catheter.
(3) Twisting operation of catheter
In the state that the catheter is clamped, the brake component 5 releases the brake piece 320 of the clamping mechanism 3, the sleeve driving component 4 drives the sleeve 310 of the clamping mechanism 3 to rotate, and the brake piece 320 and the clamping piece 330 rotate along with the rotation, so that the clamping piece 330 drives the catheter to twist.
The control method can perform various operations such as catheter clamping, pushing, twisting and the like by controlling the catheter guide wire control device for interventional operation, can meet the operation mode requirements of the operation on the catheter or the guide wire, simulates the operation mode of holding the catheter by a doctor, is more real in operation and is easy to be accepted by the doctor.
Example 3
In the catheter guide wire control device for interventional operation according to the present embodiment, a load cell 7 for detecting the pushing force of the catheter guide wire is provided between the support plate 460 and the bottom plate 640 to which the brake assembly 5 is attached, based on embodiment 1. The device can be used for clamping, pushing and twisting the catheter or the guide wire in the embodiment 2, and also can be used for detecting pushing resistance of the catheter or the guide wire, and the guide wire is taken as an example for illustration, and the device is specifically described below.
The guide wire clamping operation is the same as that of embodiment 2, after the guide wire is clamped, the brake and brake assembly 5 releases the brake piece 320 of the clamping mechanism 3, the clamping mechanism 3 moves along with the guide wire along the axial direction under the pushing action of external force, the guide rail sliding block assembly 6 slides along, pushing resistance is transmitted to the dynamometer 7 through the lower supporting plate 640, the dynamometer 7 receives a resistance signal, and the resistance signal is converted into an electric signal and transmitted to an external control system, so that the pushing resistance is detected in real time.
The control method can feed back the pushing force in real time on the basis of the embodiment 2, is just like the touch of a doctor, is more vivid in operation, and is convenient for the doctor to grasp the pushing force of the guide wire.
Example 4
The catheter and guidewire control device for interventional operation according to the present embodiment has the same structure as that of embodiment 3, but further provides a method for controlling the clamping or loosening of a catheter or guidewire. Taking a guide wire as an example (the same guide tube), the motor 430 rotates by a certain angle θ to drive the small herringbone gear 420 and the large herringbone gear 410 to be meshed for transmission, and further drive the sleeve 310 to rotate by a certain angle, so that the sleeve 310 and the brake disc 322 relatively rotate by a fixed angle, and the clamping piece 330 clamps or releases the guide wire.
The calibration method for the rotation angle theta is as follows:
according to the diameter of a guide wire required by vascular intervention operation, selecting a corresponding clamping piece 330, enabling the guide wire to sequentially pass through a braking piece 320, the clamping piece 330 and a sleeve 310, enabling the guide wire to be in a loosening state, calibrating the engagement position of the internal thread of the sleeve 310 and the external thread of a thread section 321 of the clamping piece 330 as an initial position, driving the sleeve 310 to rotate by different angles through a motor 430 until the guide wire is clamped, recording the rotation angle of the motor 430, repeating 50 times, and taking the average value of the rotation angles of the motors 430 as the clamping or loosening rotation angle theta.
During the above operation, the definition of the guide wire clamping is as follows: applying a torque load τ to the guidewire e And a certain resistance load F e Marking points are made on the guide wire and the device, and verification load from small to large is applied, so that the guide wire is considered to be exactly clamped under the condition that the relative positions of the marking points are exactly changed. Torque load τ e And a resistance load F e The values of (2) are calculated as follows:
τ e ＝ατ max
τ max the maximum resistance moment of the guide wire torsion in the vascular intervention operation process is shown, and alpha is a safety coefficient.
F e ＝αF max
F max The maximum resistance is pushed by the guide wire in the vascular intervention operation process, and alpha is a safety coefficient.
In addition, in the clamping process, nondestructive clamping of the guide wire or the guide pipe needs to be ensured, and the method comprises the following steps: the push-pull electromagnet 530 with proper power is selected, so that after the push-pull electromagnet 530 pulls the brake block 520 to press the brake disc 322, the sliding friction force f and the torque load tau between the brake disc 322 and the brake block 520 e The following relationship is satisfied:
f＝β·τ e ·r
repeating the experiment to gradually increase the rotation angle of the motor 430, the torsion applied to the sleeve 310, the clamping member 330 and the brake disc 322 by the large herringbone gear 410 is gradually increased, and the sliding friction force f between the brake disc 322 and the brake block 520>β·τ e At r, slip will occur between the brake disc 322 and the brake block 520, at which time the pressure between the clamping member 330 and the wire or tube is no longer increased to protect the wire or tube and achieve non-destructive clamping.
The examples of the present invention are merely for describing the preferred embodiments of the present invention, and are not intended to limit the spirit and scope of the present invention, and those skilled in the art should make various changes and modifications to the technical solution of the present invention without departing from the spirit of the present invention.
Claims (13)
1. Catheter guide wire control device for interventional operation, including fixture (3), its characterized in that: the device also comprises a sleeve driving assembly (4) and a brake assembly (5); the clamping mechanism (3) comprises a sleeve (310), a braking piece (320) and a clamping piece (330), wherein after the clamping piece (330) with a clamping end head (331) is arranged in the braking piece (320), the braking piece (320) is in threaded connection with the sleeve (310); the brake piece (320) can drive the clamping piece (330) to move along the axial direction so that the clamping end head (331) clamps or unclamps the catheter or the guide wire; the sleeve driving assembly (4) is used for driving the sleeve (310) to rotate; the brake assembly (5) is used for clamping or loosening the brake piece (320);
the sleeve driving assembly (4) comprises a large herringbone gear (410) connected with the sleeve (310), a small herringbone gear (420) meshed with the large herringbone gear (410) and a motor (430) used for driving the small herringbone gear (420); the motor (430) is connected with the coupler (450), and the coupler (450) is connected with the small herringbone gear (420) through the ball spline pair (440);
the motor 430 drives the small herringbone gear (420) to rotate, and the large herringbone gear (410) drives the small herringbone gear (420) to rotate so as to enable the sleeve (310) to rotate; the coupler (450) is connected with the small herringbone gear (420) through the ball spline pair (440) so as to axially move while rotating the sleeve 310;
the clamping end head (331) is provided with a notch along the circumference of the outer conical surface.
2. A catheter guidewire control device for interventional procedures as set forth in claim 1, wherein: one end of the sleeve (310) is provided with a threaded hole, and the tail end of the threaded hole is a taper hole; the brake (320) has a threaded section (321) that mates with a threaded bore of the sleeve (310); the clamping end (331) is exposed after the clamping piece (330) is arranged in the braking piece (320), and the clamping end (331) is provided with an outer conical surface matched with the conical hole in the sleeve (310).
3. A catheter guidewire control device for interventional procedures as set forth in claim 1, wherein: the brake assembly (5) comprises a brake block (520) and a driving element connected with the brake block (520); the brake piece (320) is provided with a brake disc (322), and a driving element of the brake assembly (5) can drive a brake block (520) to press or release the brake disc (322).
4. A catheter guidewire control device for interventional procedures as set forth in claim 3, wherein: the driving element is a push-pull electromagnet (530).
5. A catheter guidewire control device for interventional procedures as set forth in claim 1, wherein: the clamping mechanism (3) is supported and arranged on the supporting plate (460) through the guide rail sliding block assembly (6).
6. A catheter guidewire control device for interventional procedures as set forth in claim 5, wherein: the supporting plate (460) is arranged in the shell (1), and the upper cover (2) is detachably arranged on the shell (1).
7. A catheter guidewire control device for interventional procedures as set forth in claim 6, wherein: the two opposite sides of the upper cover (2) are respectively provided with an ear plate (201), and the upper cover (2) is detachably connected with the shell (1) through the ear plates (201).
8. A catheter guidewire control device for interventional procedures as set forth in claim 6, wherein: the guide rail sliding block assembly (6) is provided with two groups, two ends of the sleeve (310) are respectively supported, each group of guide rail sliding block assembly (6) comprises two pairs of sliding guide rails (610) which are respectively installed on the supporting plate (460) and the upper cover (2), the two pairs of sliding guide rails are respectively connected with the lower supporting plate (640) and the upper supporting plate (620), the lower supporting plate (640) is provided with the lower half bearing seat (650), the upper supporting plate (620) is provided with the upper half bearing seat (630), and the upper half bearing seat (630) and the lower half bearing seat (650) are combined into a complete bearing seat to support a bearing installed on the sleeve (310).
9. A catheter guidewire control device for interventional procedures as set forth in claim 8, wherein: the brake assembly (5) is positioned on the bottom bracket (640), and a force measuring instrument (7) is arranged between the supporting plate (460) and the bottom bracket (640).
10. A control method applied to a catheter guide wire control device for interventional operation as set forth in claim 1, comprising the steps of: the steps of clamping the catheter or the guide wire are as follows: firstly, a brake assembly (5) clamps a brake piece (320) of a clamping mechanism (3); then, the motor 430 drives the small herringbone gear (420) to rotate, and the large herringbone gear (410) drives the small herringbone gear (420) to rotate so as to drive the sleeve (310) of the clamping mechanism (3) to rotate; the brake piece (320) is in threaded fit with the sleeve (310), the coupler (450) is connected with the small herringbone gear (420) through the ball spline pair (440) so as to enable the sleeve (310) to rotate and simultaneously axially move, and the brake piece (320) pushes the clamping end (331) of the clamping piece (330) to be in conical fit with the sleeve (310) so that the clamping end (331) can shrink to clamp or loosen a catheter or a guide wire; the steps of axially pushing and pulling the catheter or the guide wire are as follows: after the catheter or the guide wire is clamped, the clamping mechanism (3) moves along the axial direction along with the catheter or the guide wire under the action of external force, so that the push-pull operation of the catheter or the guide wire is realized; the steps of twisting the catheter or guidewire are: after the catheter or the guide wire is clamped, the brake component (5) releases the brake piece (320) of the clamping mechanism (3), the sleeve driving component (4) drives the sleeve (310) of the clamping mechanism (3) to rotate, the brake piece (320) and the clamping piece (330) follow up, and the clamping piece (330) drives the catheter or the guide wire to twist.
11. The control method of a catheter guidewire control device for interventional procedures according to claim 10, wherein: the brake assembly (5) comprises a brake block (520) and a driving element connected with the brake block (520); the brake piece (320) is provided with a brake disc (322), and a driving element of the brake assembly (5) can drive a brake block (520) to press or release the brake disc (322); the step of clamping the brake piece (320) by the brake assembly (5) is as follows: the driving element drives the brake block (520) to act, and the brake block (520) is contacted and pressed or separated with the brake disc (322) to clamp or unclamp the brake piece (320).
12. The control method of a catheter guidewire control device for interventional procedures according to claim 11, wherein: the sleeve driving assembly (4) comprises a large herringbone gear (410) connected with the sleeve (310), a small herringbone gear (420) meshed with the large herringbone gear (410) and a motor (430) used for driving the small herringbone gear (420); the sleeve driving assembly (4) drives the sleeve (310) to rotate, and the method comprises the following steps: the motor (430) drives the small herringbone gear (420) to rotate, the small herringbone gear (420) is meshed with the large herringbone gear (410) for transmission, and the large herringbone gear (410) drives the sleeve (310) to rotate; the forward and reverse rotation of the motor (430) controls the forward and reverse rotation of the sleeve (310).
13. The control method of a catheter guidewire control device for interventional procedures according to claim 12, wherein: the clamping mechanism (3) is supported and arranged on the supporting plate (460) through the guide rail sliding block assembly (6); the supporting plate (460) is arranged in the shell (1), and the upper cover (2) is detachably arranged on the shell (1); the guide rail sliding block assembly (6) is provided with two groups, two ends of the sleeve (310) are respectively supported, each group of guide rail sliding block assembly (6) comprises two pairs of sliding guide rails (610) which are respectively installed on the supporting plate (460) and the upper cover (2), the two pairs of sliding guide rails are respectively connected with the lower supporting plate (640) and the upper supporting plate (620), the lower supporting plate (640) is provided with a lower half bearing seat (650), the upper supporting plate (620) is provided with an upper half bearing seat (630), and the upper half bearing seat (630) and the lower half bearing seat (650) are combined into a complete bearing seat to support a bearing installed on the sleeve (310); the brake assembly (5) is positioned on the lower supporting plate (640), and a dynamometer (7) is arranged between the supporting plate (460) and the lower supporting plate (640); the pushing resistance of the catheter or the guide wire is detected in real time by the following steps: after the guide pipe or the guide wire is clamped, the brake component (5) loosens the brake piece (320) of the clamping mechanism (3), the clamping mechanism (3) moves along the axial direction along with the guide pipe or the guide wire under the action of external force, the guide rail sliding block component (6) slides along with the guide pipe or the guide wire, the pushing resistance is transmitted to the dynamometer (7) through the lower supporting plate (640), the dynamometer (7) receives a resistance signal, and the resistance signal is converted into an electric signal and transmitted to an external control system, so that the pushing resistance is detected in real time.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210338753.8A CN114904126A (en) | 2017-07-06 | 2017-07-06 | Catheter guide wire control device for interventional operation and control method thereof |
| CN201710544635.1A CN107349514B (en) | 2017-07-06 | 2017-07-06 | Catheter guide wire control device for interventional operation and control method thereof |
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| CN201710544635.1A CN107349514B (en) | 2017-07-06 | 2017-07-06 | Catheter guide wire control device for interventional operation and control method thereof |
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| CN103083784B (en) * | 2013-02-25 | 2014-09-17 | 中国科学院自动化研究所 | Catheter or guide wire operating device for vessel interventional operation |
| CN105662589B (en) * | 2016-03-03 | 2017-12-12 | 北京理工大学 | Principal and subordinate's interventional surgery robot from end and its control method |
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| CN103239791A (en) * | 2013-04-28 | 2013-08-14 | 北京航空航天大学 | Real-time catheter intervention information measuring device in cardiovascular interventional operation |
| CN104622579A (en) * | 2015-02-06 | 2015-05-20 | 北京理工大学 | Pushing force measurement device for endovascular interventional operation robot |
| CN105662586A (en) * | 2016-03-03 | 2016-06-15 | 北京理工大学 | Interventional operation robot where catheter and guide wire are cooperatively pushed and control method thereof |
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| CN207980153U (en) * | 2017-07-06 | 2018-10-19 | 北京理工大学 | A kind of intervention operation catheter guide wire control device |
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| CN114904126A (en) | 2022-08-16 |
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