CN115869508A - Flexible interventional catheter, catheter system and method of use - Google Patents
Flexible interventional catheter, catheter system and method of use Download PDFInfo
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- CN115869508A CN115869508A CN202211439989.7A CN202211439989A CN115869508A CN 115869508 A CN115869508 A CN 115869508A CN 202211439989 A CN202211439989 A CN 202211439989A CN 115869508 A CN115869508 A CN 115869508A
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Abstract
The invention discloses a bendable interventional operation catheter, a catheter system and a using method. The catheter comprises a plurality of bendable sections, and a group of continuous electroactive polymer drivers are laid on the inner wall of each bendable section; an electromagnetic positioning coil is arranged between adjacent bendable sections in the conduit; each group of the electroactive polymer drivers are mutually connected in parallel and are electrically connected with a controller outside the catheter through a lead; the inner wall of the catheter is embedded with an FBG fiber bragg grating sensor for monitoring the deformation of the catheter; the FBG fiber grating sensors are staggered with the electroactive polymer driver. The invention effectively reduces the volume of the interventional catheter, has simpler and more convenient control and simplifies the structure; the catheter can realize rapid and accurate deformation, shorten the operation time and improve the operation safety and accuracy.
Description
Technical Field
The invention relates to the technical field of intelligent medical instruments, in particular to a bendable interventional operation catheter, a catheter system and a using method.
Background
An intravascular interventional catheter is one of the major instruments for intravascular interventional techniques. The intravascular interventional catheter can be divided into an angiography interventional catheter, a drug administration interventional catheter, an angioplasty interventional catheter, a foreign body extraction interventional catheter and the like according to different purposes. All internal interventional catheters have one thing in common: i.e. must come into contact with the blood and follow the curved blood vessel to the distal lesion. However, the path of blood vessels in the human body is often curved, and thus an interventional catheter having a bendable function is required.
An Electro-Active Polymer (EAP) is a Polymer material that can be physically deformed under the action of current, voltage or electric field, and is characterized in that the EAP can be induced by an external electric field to produce a response such as expansion, contraction, bending, tightening, or swelling through a change in the internal structure of the material, thereby achieving mechanical functions such as traction and fastening. As a novel driving material, the EAP has higher response speed and larger resilience compared with the shape memory alloy, and in addition, the EAP has high tear resistance, inherent vibration damping performance and the like similar to biological muscles. From the beginning of the 90 s of the last century, artificial muscle drivers based on EAP have been rapidly developed.
The Chinese patent application with the application number of CN202110614039.2 provides a perfluorosulfonic acid composite material additive manufacturing method and a catheter active guiding device. The perfluorosulfonic acid composite material is arranged at the front end of the surgical catheter in a columnar shape, and electric fields in different directions are generated by applying different voltage signal combinations, so that the columnar perfluorosulfonic acid composite material can perform complex bending motion in a three-dimensional space, and the functional requirement of the surgical catheter is met. However, the surgical catheter can only realize head bending and cannot accurately fit the blood vessel.
The prior bendable surgical catheter applied to a surgical robot mainly adopts a rope drive and a shape memory alloy drive. Among them, the rope drive has problems of large catheter volume, low flexibility, and less ideal remote control precision; the problem of shape memory alloy actuation is that the rate of temperature change is slow, which results in slow deformation rate, which in turn prolongs the operation time and affects the operation effect.
Thus, the problems with the existing bendable catheter are as follows:
(1) The deformation of the catheter cannot be accurately attached to the blood vessel, and a doctor is still required to continuously adjust the posture of the catheter in the operation process, so that the technical requirement on the doctor is high;
(2) The response speed of the catheter in the deformation process is low, so that the operation time is prolonged, and the effect of improving the operation effect cannot be achieved;
(3) The conventional driver structure results in a catheter that is bulky and unable to reach the focal site in a small diameter vessel.
Disclosure of Invention
Due to the defects of the prior art, the invention provides a bendable interventional operation catheter, a catheter system and a using method, and the rapid bending deformation response of the catheter in a blood vessel is realized by adopting a strategy of sectional bending control by using an electroactive polymer.
In order to achieve the above object, in one aspect, the present invention provides a bendable interventional catheter, which is characterized by comprising a plurality of bendable sections, each of which has a set of continuous electroactive polymer drivers laid on the inner wall; an electromagnetic positioning coil is arranged between adjacent bendable sections in the conduit; each group of the electroactive polymer drivers are mutually connected in parallel and are electrically connected with a controller outside the catheter through a lead; the inner wall of the catheter is embedded with an FBG fiber bragg grating sensor for monitoring the deformation of the catheter; the FBG fiber grating sensors are staggered with the electroactive polymer driver.
The catheter can be used to achieve timely bending of the catheter by adjusting the output voltage to one or more groups of electroactive polymer drivers to change the shape of each bendable section in the catheter. Meanwhile, the pipe is embedded with an electromagnetic positioning coil, the FBG fiber bragg grating sensor and the detection result of electromagnetic radiography are combined, the deformation of the pipe is monitored, and the deformation of the pipe is further corrected.
Preferably, the electroactive polymer driver is of an arc-shaped structure, and the inside of the electroactive polymer driver is formed by connecting a plurality of electroactive polymer sheets in parallel.
Preferably, the active material of the electroactive polymer actuator is one of an ion exchange membrane, a gel polymer, and a perfluorinated sulfonic acid polymer having electroactive properties.
Preferably, the bendable section has 5 to 6 sections.
Preferably, there are three electroactive polymer actuators in each group, which are positioned at 120 ° to each other.
Preferably, the number of the FBG fiber bragg grating sensors is 2-3, and the FBG fiber bragg grating sensors are clamped between the adjacent electroactive polymer drivers.
Preferably, 3 FBG fiber grating sensors are arranged, and the adjacent FBG fiber grating sensors are arranged at 120 degrees.
Preferably, the outer wall of the catheter is provided with a hydrogel coating. This feature helps to allow the catheter to slide within a compact vessel without becoming stuck.
On the other hand, the invention provides a bendable interventional operation catheter system which is characterized by comprising the bendable interventional operation catheter, a medical magnetic field generator, a bending control module and a deformation monitoring module; the bend control module includes an electroactive polymer driver control circuit and a microcontroller; the deformation monitoring module comprises an FBG fiber bragg grating sensor signal demodulation circuit and a microprocessor.
In another aspect, the present invention provides a method for using the bendable interventional catheter system, which comprises the following steps:
s1, before an operation, a doctor uses an in-vitro radiography device to model the position of a blood vessel of a patient;
s2, when a doctor operates the motion of the catheter in an operation, the distal end position of the catheter is positioned by utilizing the magnetic field generator and the magnetic sensor in the catheter and combining the modeling of a patient before the operation; the thickness, the bifurcation and the bending condition of the peripheral blood vessel at the position of the catheter are judged through the in-vitro contrast analysis in the operation; when a bend or an obstacle is encountered, the doctor gives an instruction to bend the catheter; the controller correspondingly outputs a specific excitation voltage which is applied to a certain section of the electroactive polymer driver to cause specific deformation of the electroactive polymer driver; meanwhile, the FBG fiber bragg grating sensor in the catheter can also be matched with external radiography to judge whether the deformation state of the catheter is matched with the actual bending condition of the blood vessel or not and provide feedback;
and S3, the doctor continues to operate the catheter to reach the focus through the designated path, and the operation is performed.
Compared with the prior art, the invention has the following advantages or beneficial effects:
1. the electroactive polymer driver is used as a driving device, so that the structure of the catheter is optimized, the volume of the catheter is reduced, and the control is simpler and more convenient; the surgical instrument can reach the focus position which is difficult to reach by the original large-size catheter, and the surgical effect is effectively improved;
2. the catheter can realize rapid and accurate deformation, can effectively fit the bending of the human blood vessel, shorten the operation time and improve the operation safety and accuracy;
3. the excitation voltage required by the catheter is smaller than that of the shape memory alloy material, and the structure of the catheter is simplified.
Drawings
The invention and its features, aspects and advantages will become more apparent from the following detailed description of non-limiting embodiments, which is to be read in connection with the accompanying drawings. Like reference symbols in the various drawings indicate like elements. The drawings are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the invention.
FIG. 1 is a schematic cross-sectional view of a catheter according to an embodiment of the present invention;
FIG. 2 is a cross-sectional view of a bendable section of a catheter in accordance with an embodiment of the present invention;
FIG. 3 is a schematic cross-sectional view of an electroactive polymer in one embodiment of the invention;
FIG. 4 is a flow chart of a catheter procedure according to an embodiment of the present invention;
FIG. 5 is a schematic view of a deformation of a conduit according to an embodiment of the present invention;
wherein, 1, an electroactive polymer driver; 2. an electromagnetic positioning coil; 3. a wire; 4. FBG fiber bragg grating sensors; 11. an electroactive polymer sheet.
Detailed Description
In order to make the objects, technical solutions, advantages and significant progress of the present invention clearer, the following description will clearly and completely describe embodiments and examples provided by the present invention, and it is obvious that all of the described embodiments and examples are only some embodiments and examples of the present invention, but not all of them.
The present specification and claims relate to a bendable interventional surgical catheter comprising a plurality of bendable sections, each of said bendable sections having a set of consecutive electroactive polymer drivers applied to an inner wall thereof; an electromagnetic positioning coil is arranged between adjacent bendable sections in the conduit; each group of the electroactive polymer drivers are mutually connected in parallel and are electrically connected with a controller outside the catheter through a lead; the inner wall of the catheter is embedded with an FBG fiber bragg grating sensor for monitoring the deformation of the catheter; the FBG fiber grating sensors are staggered with the electroactive polymer driver.
It should be noted that the following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.
Example 1
Referring to fig. 1, the present embodiment provides a bendable interventional surgical catheter, which comprises 6 bendable sections, each bendable section having a set of continuous electroactive polymer drivers 1 applied to the inner wall thereof; an electromagnetic positioning coil 2 is arranged between adjacent bendable sections in the conduit; each group of electroactive polymer drivers are mutually connected in parallel and are electrically connected with a controller outside the catheter through a lead 3; referring to fig. 2, the inner wall of the catheter is further embedded with an FBG fiber grating sensor 4 for monitoring the deformation of the catheter; the FBG fiber grating sensor 4 is staggered with the electroactive polymer driver 1. Each set of electroactive polymer actuators is preferably three, arranged at 120 ° to each other. The FBG fiber grating sensors are 3 and clamped between the adjacent electroactive polymer drivers, and the adjacent FBG fiber grating sensors are arranged at 120 degrees.
An electroactive polymer actuator 1 is arranged on the catheter wall and is connected to a control wire 3. The control lead 3 extends out from the middle part of the catheter and is connected with an external controller to form a combined structure similar to human nerve-muscle. The electromagnetic positioning coil 2 is embedded in the catheter, and in the actual operation process, the spatial coordinates of the nodes are given by combining an external magnetic field generator, so that the spatial position of the catheter is determined. The fixing of the electroactive polymer driver 1, the electromagnetic positioning coil 2 and the FBG fiber bragg grating sensor 4 on the inner wall of the catheter can be carried out by means of a fixing sheet, adhesion and the like. As the FBG fiber bragg grating sensor integrates the functions of deformation monitoring and information transmission, the wire in the conduit only needs to realize shape control on the electric polymer driving tube.
Referring to fig. 3, the electroactive polymer actuator 1 has an arc-shaped structure and is internally formed by connecting a plurality of electroactive polymer sheets 11 in parallel. The active material of the electroactive polymer actuator is preferably one of an electroactive ion exchange membrane, a gel polymer, and a perfluorinated sulfonic acid polymer. The electroactive polymer, under the action of direct current, generates a large strain (contraction along the direction of the electric field lines, and simultaneous expansion along the direction perpendicular to the electric field lines) and a stress σ along the direction of the electric field lines m Comprises the following steps:
wherein: epsilon 0 Is a vacuum dielectric constant of ∈ r Is the relative dielectric constant; e is the electric field strength, U is the voltage applied in the electric field, and d is the material thickness in the direction of the electric field lines.
The catheter housing may be coated with a hydrogel that allows the robot to slide within a compact vessel without becoming stuck.
The circuit connection process in the present invention belongs to the conventional setting in the field, and is not described herein again in order to avoid obscuring the purpose of the present application.
The catheter can be bent in time by adjusting the output voltage to one or more groups of electroactive polymer drivers to change the shape of each bendable section in the catheter. Meanwhile, the pipe is embedded with an electromagnetic positioning coil, the FBG fiber bragg grating sensor and the detection result of electromagnetic radiography are combined, the deformation of the pipe is monitored, and the deformation of the pipe is further corrected.
Example 2
This embodiment provides a bendable interventional catheter similar in construction to embodiment 1. The difference from the embodiment 1 is that the FBG fiber grating sensor comprises 5 bendable sections and 2 FBG fiber grating sensors.
Example 3
The present embodiment provides a bendable interventional catheter system, including the bendable interventional catheter of embodiment 1 or embodiment 2, a medical magnetic field generator, a bending control module, and a deformation monitoring module; the bend control module includes an electroactive polymer driver control circuit and a microcontroller; the deformation monitoring module comprises an FBG fiber bragg grating sensor signal demodulation circuit and a microprocessor. The medical magnetic field generator adopts NDI Aurora V3 series medical magnetic field generators and matched positioning coils; the controller employs a model DSP28335 high performance fast processor from TI corporation.
Referring to fig. 4, the method for using the bendable interventional catheter system comprises the following steps:
s1, before an operation, a doctor uses an in-vitro radiography device to model the position of a blood vessel of a patient;
s2, when a doctor operates the motion of the catheter in an operation, the distal end position of the catheter is positioned by utilizing the magnetic field generator and the magnetic sensor in the catheter and combining the modeling of a patient before the operation; the thickness, the bifurcation and the bending condition of the peripheral blood vessel at the position of the catheter are judged through the in-vitro contrast analysis in the operation; when a bend or an obstacle is encountered, the doctor gives an instruction for bending the catheter; the controller correspondingly outputs a specific excitation voltage which is applied to a certain section of the electroactive polymer driver to cause specific deformation of the electroactive polymer driver; meanwhile, the FBG fiber bragg grating sensor in the catheter can also be matched with external radiography to judge whether the deformation state of the catheter is matched with the actual bending condition of the blood vessel or not so as to provide feedback;
and S3, the doctor continues to operate the catheter to reach the focus through the specified path, and the operation is implemented.
Figure 5 shows the bending effect produced by an interventional catheter driven with an electroactive polymer.
In summary, the present invention provides a bendable interventional catheter, a catheter system and a method of use. The catheter comprises a plurality of bendable sections, and a set of continuous electroactive polymer drivers are laid on the inner wall of each bendable section; an electromagnetic positioning coil is arranged between adjacent bendable sections in the conduit; each group of the electroactive polymer drivers are connected in parallel with each other and electrically connected with a controller outside the catheter through a lead; the inner wall of the catheter is embedded with an FBG fiber bragg grating sensor for monitoring the deformation of the catheter; the FBG fiber grating sensors are staggered with the electroactive polymer driver. The invention effectively reduces the volume of the interventional catheter, has simpler and more convenient control and simplifies the structure; the catheter can realize rapid and accurate deformation, shorten the operation time and improve the operation safety and accuracy.
Those skilled in the art will appreciate that variations may be implemented by those skilled in the art in combination with the prior art and the above-described embodiments, and will not be described herein in detail. Such variations do not affect the essence of the present invention and are not described herein.
The above description is of the preferred embodiment of the invention. It is to be understood that the invention is not limited to the particular embodiments described above, in that devices and structures not described in detail are understood to be implemented in a manner common in the art; those skilled in the art can make many possible variations and modifications to the disclosed solution, or modify the equivalent embodiments with equivalent variations, without departing from the scope of the solution, without thereby affecting the spirit of the invention. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the scope of the protection of the technical solution of the present invention, unless the contents of the technical solution of the present invention are departed.
Claims (10)
1. A bendable interventional surgical catheter, comprising a plurality of bendable sections, each of said bendable sections having a set of continuous electroactive polymer drivers disposed on an inner wall thereof; an electromagnetic positioning coil is arranged between adjacent bendable sections in the conduit; each group of the electroactive polymer drivers are connected in parallel with each other and electrically connected with a controller outside the catheter through a lead; the inner wall of the catheter is embedded with an FBG fiber bragg grating sensor for monitoring the deformation of the catheter; the FBG fiber grating sensors are staggered with the electroactive polymer driver.
2. A bendable interventional catheter according to claim 1, wherein the electroactive polymer driver is of an arcuate configuration with multiple layers of electroactive polymer sheets connected in parallel inside.
3. A bendable interventional catheter according to claim 2, wherein the active material of the electroactive polymer driver is one of an electroactive ion exchange membrane, a gel polymer, a perfluorinated sulfonic acid polymer.
4. A bendable interventional catheter according to claim 1, wherein the bendable section is 5-6.
5. A flexible interventional catheter as defined in claim 1, wherein each set of three electroactive polymer actuators is disposed at 120 ° to each other.
6. A bendable interventional catheter according to claim 5, wherein 2-3 FBG fiber grating sensors are provided, sandwiched between adjacent electroactive polymer drivers.
7. A bendable interventional catheter according to claim 6, wherein there are 3 FBG fiber grating sensors, and the arrangement of 120 ° adjacent to the FBG fiber grating sensors.
8. A bendable interventional catheter according to claim 1, wherein the catheter outer wall is provided with a hydrogel coating.
9. A bendable interventional surgical catheter system, comprising the bendable interventional surgical catheter of any one of claims 1 to 8, a medical magnetic field generator, a bending control module, a deformation monitoring module; the bend control module includes an electroactive polymer driver control circuit and a microcontroller; the deformation monitoring module comprises an FBG fiber bragg grating sensor signal demodulation circuit and a microprocessor.
10. A method of using the bendable interventional surgical catheter system of claim 9, comprising the steps of:
step S1, before an operation, a doctor models the position of a blood vessel of a patient by using an in-vitro radiography device;
s2, when a doctor operates the motion of the catheter in an operation, the distal end position of the catheter is positioned by utilizing the magnetic field generator and the magnetic sensor in the catheter and combining the modeling of a patient before the operation; the thickness, the bifurcation and the bending condition of the peripheral blood vessel at the position of the catheter are judged through the intraoperative in vitro angiography analysis; when a bend or an obstacle is encountered, the doctor gives an instruction to bend the catheter; the controller correspondingly outputs a specific excitation voltage which is applied to a certain section of the electroactive polymer driver to cause specific deformation of the electroactive polymer driver; meanwhile, the FBG fiber bragg grating sensor in the catheter can also be matched with external radiography to judge whether the deformation state of the catheter is matched with the actual bending condition of the blood vessel or not and provide feedback;
and S3, the doctor continues to operate the catheter to reach the focus through the designated path, and the operation is performed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211439989.7A CN115869508A (en) | 2022-11-17 | 2022-11-17 | Flexible interventional catheter, catheter system and method of use |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211439989.7A CN115869508A (en) | 2022-11-17 | 2022-11-17 | Flexible interventional catheter, catheter system and method of use |
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| CN115869508A true CN115869508A (en) | 2023-03-31 |
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| CN202211439989.7A Pending CN115869508A (en) | 2022-11-17 | 2022-11-17 | Flexible interventional catheter, catheter system and method of use |
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- 2022-11-17 CN CN202211439989.7A patent/CN115869508A/en active Pending
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