CN211024680U - Guide wire catheter operating device for interventional embolism operation - Google Patents
Guide wire catheter operating device for interventional embolism operation Download PDFInfo
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- CN211024680U CN211024680U CN201921890180.XU CN201921890180U CN211024680U CN 211024680 U CN211024680 U CN 211024680U CN 201921890180 U CN201921890180 U CN 201921890180U CN 211024680 U CN211024680 U CN 211024680U
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- 208000005189 Embolism Diseases 0.000 title description 8
- 230000007246 mechanism Effects 0.000 claims abstract description 79
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- 238000002601 radiography Methods 0.000 claims abstract description 31
- 230000033001 locomotion Effects 0.000 claims abstract description 23
- 230000010102 embolization Effects 0.000 claims abstract description 15
- 238000000034 method Methods 0.000 claims description 18
- 230000008569 process Effects 0.000 claims description 18
- 230000008093 supporting effect Effects 0.000 claims description 18
- 230000003287 optical effect Effects 0.000 claims description 14
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- 210000004204 blood vessel Anatomy 0.000 claims description 7
- 238000002583 angiography Methods 0.000 claims description 4
- 230000003044 adaptive effect Effects 0.000 claims description 3
- 239000010409 thin film Substances 0.000 claims description 3
- 238000000926 separation method Methods 0.000 claims description 2
- 238000013156 embolectomy Methods 0.000 claims 2
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
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- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
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- 239000007924 injection Substances 0.000 description 2
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- 206010028980 Neoplasm Diseases 0.000 description 1
- 208000019155 Radiation injury Diseases 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
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- 230000036770 blood supply Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
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- 238000001647 drug administration Methods 0.000 description 1
- 230000003073 embolic effect Effects 0.000 description 1
- 238000012840 feeding operation Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
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- 229910052742 iron Inorganic materials 0.000 description 1
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Abstract
A guide wire catheter control device for interventional embolization relates to medical instruments. The device comprises a guide wire catheter pushing module, a guide wire catheter rotating module, a telescopic catheter mechanism, a movable radiography catheter locking mechanism, a guide wire force feedback module and a control system; the guide wire and guide tube propelling module comprises a guide wire feeding end miniature precise screw module, a guide tube feeding end miniature precise screw module and a pressing moving slide block; the guide wire catheter rotating module consists of a hollow rotating dividing disc and a guide wire catheter locking device; the telescopic conduit mechanism comprises three groups of telescopic conduits; the guide wire force feedback module comprises a film pressure sensor and a pressure acquisition card; the movable radiography catheter locking mechanism is arranged at the front section of the micro precise screw module at the catheter feeding end; the control system is used for controlling the coordination operation of the propelling module and the rotating module. Simple structure, convenient operation can realize the independent motion control to seal wire and pipe, possesses real-time force feedback function, and the accessory is convenient for change, improves operation efficiency.
Description
Technical Field
The utility model relates to a medical appliance, in particular to a guide wire catheter control device for interventional embolism operation.
Background
Embolization refers to the controlled injection of plugs into the supply vessels of diseased organs by surgical intervention in arterial or venous vessels to occlude them and thereby interrupt the blood supply at the back end in order to achieve the goals of controlling bleeding, treating tumors and vascular lesions and eliminating the functions of the diseased organs.
Generally, a surgeon is required to construct a tiny wound on the surface of a human body under the guidance and monitoring of a digital angiography machine, magnetic resonance equipment and X-ray imaging equipment by utilizing a puncture needle, a catheter, a guide wire and the like, a basic channel is constructed by feeding the puncture needle, the catheter and the guide wire into the radiography catheter from the wound, the guide wire is inserted into the catheter and is ensured to extend out of the front end of the catheter, then an operator inserts the guide wire catheter into the blood vessel along the radiography catheter by guiding the medical image, when the guide wire reaches a vascular bifurcation, one hand needs to fix the catheter to prevent the catheter from moving, the other hand controls the tail end of a twisted guide wire to push the guide wire to generate certain displacement, the twisted guide wire rotates at an angle to feed the guide wire to a certain position and then one hand holds the guide wire to prevent the catheter from moving, the other hand controls the tail. The operator alternately operates the guide wire and the catheter in such a way that the guide wire is always in front of the catheter and guides the catheter to advance until the catheter reaches the target vascular position. After reaching the position of the target blood vessel, an operator needs to hold the catheter, slowly withdraw the guide wire, and then drive in the embolic agent with required dosage from the rear end of the catheter so as to meet the surgical requirements.
The current interventional embolization operation needs an operator to directly operate a guide wire and a catheter on an operation site, and has the following disadvantages: 1) the operation site environment is poor, medical personnel need to suffer long-term radiation injury, an operator needs to work in the X-radiation environment by wrapping a thick and heavy lead coat for a long time, the lead coat can not shield all X rays, particularly the neck part and the body burden 2) which can cause huge injury to the body of the operator due to the accumulated radiation of the neck part and the year round, the time of one interventional embolization operation is long, the vascular part needing embolization varies from person to person, the guide wire catheter feeding operation and the drug administration operation need to be carried out manually for many times, the accuracy of the manual operation is poor, the requirement on the clinical experience of the operator is high, and the inserting accuracy and the stability of the guide wire catheter are greatly influenced by the operation level of the operator;
based on the analysis of the interventional embolization operation process, the interventional embolization operation robot system which has high-precision speed displacement control and force feedback and good man-machine interaction performance is developed, and has very important social value and wide application prospect. Further, through the search of the prior art, for example, chinese patent CN201711336307.9 discloses a guide wire and catheter control device for a vascular interventional surgical robot, comprising: the twisting machine comprises a pushing mechanism, a twisting mechanism and a control system, wherein the pushing mechanism comprises a fine adjusting mechanism and a coarse adjusting mechanism. However, the mechanism is relatively complex in mechanical structure related to the aspect of guide wire catheter feeding rotation control, the motor adopts a gear transmission mechanism, the vibration of the device is large under the conditions of low-speed control and motor starting and stopping, and meanwhile, the device is not convenient to clean due to the fact that blood overflows during the operation process and is easy to pollute.
Disclosure of Invention
An object of the utility model is to the not enough of existence among the above-mentioned prior art, provide and can realize high accuracy speed displacement control, possess the force feedback function through remote control, whole steady operation while simple structure easily operation back medical personnel realize clearing up an intervention embolism operation seal wire pipe controlling means of changing the accessory.
The utility model comprises a guide wire catheter propulsion module, a guide wire catheter rotation module, a telescopic catheter mechanism, a movable radiography catheter locking mechanism, a guide wire force feedback module and a control system;
the guide wire and guide tube propelling module comprises two groups of miniature precise screw modules which are respectively a guide wire feeding end miniature precise screw module and a guide tube feeding end miniature precise screw module, the two groups of miniature precise screw modules have the same structure and comprise two parallel optical axes and a threaded shaft which are symmetrically arranged, and the threaded shaft is arranged between the two parallel optical axes; the guide wire feeding end miniature precise screw module and the guide pipe feeding end miniature precise screw module are both provided with a pressing moving slide block;
the guide wire and guide tube rotating module consists of a hollow rotating dividing disc and a guide wire and guide tube locking device, the hollow rotating dividing disc is arranged on the pressing moving slide block, a rotor on the hollow rotating dividing disc is fastened with the guide wire and guide tube locking mechanism, and the rotor on the hollow rotating dividing disc drives the guide wire and guide tube locking mechanism to rotate so as to form the guide wire and guide tube rotating module;
the telescopic catheter mechanism comprises three groups of telescopic catheters, and the telescopic catheters are used for realizing the supporting effect on the guide wire catheter in the feeding process and preventing the warp and deformation; the rear end of the telescopic guide pipe is provided with a square block which is fixed with a corresponding locking mechanism and can realize rotary linkage with a corresponding hollow rotary dividing disc rotor;
the guide wire and catheter locking mechanisms are fixedly connected with respective telescopic catheters, and the hollow rotary indexing disc rotor rotates to respectively drive the corresponding guide wire and catheter locking mechanisms and the telescopic catheter mechanisms to rotate, so that the far-end rotation of the guide wire and the catheter is realized; the guide wire force feedback module comprises a film pressure sensor and a pressure acquisition card; the film pressure sensor is arranged in the telescopic catheter mechanism corresponding to the guide wire and used for measuring the resistance of a blood vessel touched in the advancing process of the guide wire in real time; the movable radiography catheter locking mechanism is arranged at the front section of the micro precise screw module at the catheter feeding end and used for fastening a radiography catheter and sliding on an optical axis of the micro precise screw module at the corresponding catheter feeding end to meet the requirements of different operation distances; the pressure acquisition card acquires the stress condition of the film pressure sensor in real time and transmits a signal to the control system, and the control system drives the motor through the motor driver so as to control the wire guide catheter pushing module and the wire guide catheter rotating module to operate in a coordinated manner.
The three groups of telescopic guide tubes comprise guide wire telescopic support guide tubes, guide tube telescopic support guide tubes and bridging transition telescopic support guide tubes, each group of telescopic support guide tubes is formed by sleeving and connecting a plurality of telescopic loop bars with different thicknesses, the front section of telescopic loop bar is thin, the rear end of telescopic loop bar is thick, and the telescopic loop bars can smoothly slide after being combined; the guide wire telescopic support catheter and the rear end telescopic sleeve rod of the catheter support telescopic catheter are designed with square structures which can be fixedly connected and matched with the corresponding locking mechanism to realize real-time rotation with the hollow rotary dividing disc rotor, and the front end telescopic sleeve rod is designed with a shaft shoulder which can be fixedly connected with the corresponding locking mechanism but is not influenced by the movement of the locking mechanism; the bridging transition telescopic support pipe is designed to have the same structure, namely a shaft shoulder is designed on the front end telescopic sleeve rod, and a square structure is designed on the rear end telescopic sleeve rod and used for motion transmission.
The rotor on the hollow rotary indexing disc can be fastened with a guide wire and guide pipe locking mechanism through magnetic adsorption, and the guide wire and the guide pipe are positioned in respective locking mechanisms through a guide wire telescopic supporting guide pipe and a guide pipe telescopic supporting guide pipe and are coaxial with the rotating center of the rotor of the hollow rotary indexing disc. The hollow rotary indexing disc consists of a gear reduction mechanism, and the gear reduction mechanism is matched with a driving servo motor and provided with a rotary encoder for sensing and reading the rotating angle of the guide wire and guide pipe locking mechanism; the miniature precise screw rod module at the linear feeding end of the guide wire is provided with a linear grating ruler for sensing and determining the linear displacement of the guide wire.
Harmonic speed reducing motors are arranged in the two groups of miniature precise screw rods, the harmonic speed reducing motors drive the threaded shafts to rotate, the movable sliding blocks can be pressed to feed, the hollow rotary dividing disc arranged above the movable sliding blocks is driven to move, and therefore linear feeding of the guide wire guide pipe is achieved, and meanwhile, the guide wire guide pipe is small in start-stop fluctuation and stable and free of vibration in low-speed operation.
Be equipped with split nut and spring in the removal slider of pressing, with the screw shaft cooperation, press the removal slider accessible and press the knob and realize axial displacement on the lead screw axle for realize pressing the cooperation and the separation of removal slider with the lead screw, for the preliminary judgement that the little pipe of seal wire fed required distance before the doctor was used to the surgeon. The harmonic speed reducing motor drives the threaded shaft to rotate, and can simultaneously drive the two pressing movable sliding blocks to realize precise axial displacement and realize feeding motion.
The control system is used for controlling the coordination operation of the propelling module and the rotating module, and comprises an upper computer interface and a lower computer controlled by an upper computer through a network cable to realize the decoupling motion control of the motor and the signal acquisition design of the film pressure sensor.
The guide wire catheter locking mechanism is designed into an opening and closing clamp form, the profile of an internal clamp is adapted to the specification of the guide wire catheter, and different locking devices are used according to different specifications so as to adapt to different operation requirements; the locking device is used for fixedly connecting the guide wire catheter and the telescopic pipe corresponding to the guide wire catheter; the guide wire and catheter locking mechanism is provided with a magnet connecting column which is used for being fixedly connected with a rotor of the corresponding hollow rotary dividing disc.
The guide wire or the guide pipe is not supported in the telescopic supporting guide pipe corresponding to the guide wire or the guide pipe at the fastening part of the locking mechanism, the inner wall of the telescopic supporting guide pipe plays a supporting role for the guide pipe and the guide wire, the guide wire and the guide pipe are prevented from being warped in the feeding process, meanwhile, the telescopic supporting guide pipe is smooth enough and cannot generate resistance force for feeding the guide wire guide pipe, and the inner diameter of the front end of the telescopic supporting guide pipe is small enough to keep the supporting role for the guide wire guide pipe all the time. The guide wire, the catheter linear feeding or the rotation are completely independent, but linkage can also be realized.
The movable radiography catheter locking mechanism can be fixed on the middle hollow pressing movable sliding block through screws, the middle hollow pressing movable sliding block is hollow, transmission is not achieved through cooperation with the threaded shaft, and medical staff can adjust the movable radiography catheter locking mechanism before an operation according to different operation feeding distances. A spring pressing structure is arranged in the movable radiography conduit locking mechanism and fixedly connected with the optical axis, and the fixed connection can be opened and closed through pressing to realize axial movement; the locking mechanism of the movable radiography conduit locking mechanism is designed into an open-close clamp form, is adaptive to the corresponding radiography conduit, and can ensure that the end part of the radiography conduit is fixed during closing.
The film pressure sensor is arranged on the inner wall of the front end of the telescopic supporting catheter corresponding to the guide wire, when the guide wire touches the vascular wall, the rear end of the guide wire can extrude the wall surface to generate certain pressure in the telescopic catheter mechanism, so that the force applied to the blood vessel in the process of pushing the guide wire can be measured in real time, and the basis is provided for further operation judgment of a doctor.
The utility model has the advantages as follows:
the utility model discloses owing to select the structural style of rotatory graduated disk and harmonic reducer drive's drive mode in adopting for wholly intervene embolism operation robot seal wire pipe controlling device simple structure, there is gear clearance in the use of harmonic reducer ware has not only avoided original relevant gear drive system, vibrates big problem, has improved the degree of accuracy when seal wire and pipe feed simultaneously, opens and stops undulant little, the low-speed steady nothing vibration of operation. The whole device is simple in design, independent motion control over the guide wire and the guide pipe can be achieved, the pressure-sensitive material can sense resistance received when the guide wire is fed, the real-time force feedback function is achieved, the telescopic guide pipe mechanism and the guide wire guide pipe locking mechanism are quick replacement structures, and subsequent equipment cleaning and disinfection are facilitated to improve operation efficiency.
Drawings
Fig. 1 is one of the overall views of the device according to the embodiment of the present invention.
Fig. 2 is a second overall view of the device according to the embodiment of the present invention.
Figure 3 is the embodiment of the utility model provides a magnetism adsorbs pipe locking frame schematic diagram.
Fig. 4 is a schematic view of an internal structure of the hollow rotary dividing plate according to an embodiment of the present invention.
Fig. 5 is a schematic structural view of a bridging locking frame provided in an embodiment of the present invention.
Fig. 6 is one of the internal structure diagrams of the pressing movable slider according to the embodiment of the present invention.
Fig. 7 is one of the internal structure diagrams of the pressing movable slider according to the embodiment of the present invention.
Fig. 8 is a schematic view of a guide wire catheter and a contrast catheter according to an embodiment of the present invention.
Fig. 9 is a schematic structural view of a guide wire telescopic support catheter provided in the embodiment of the present invention.
Fig. 10 is a schematic reference diagram of a control system according to an embodiment of the present invention.
Each of the labels in the figure is: 1. the device comprises a middle hollow pressing moving slide block, 2, a radiography conduit locking frame, 3, a magnetic adsorption conduit locking frame, 3-1, a magnet column, 3-2, a locking frame, 4, a second hollow rotating dividing disc, 4-1, a transmission driven gear, 4-2, a transmission driving gear, 4-3, a coupler, 5, a bridging locking frame, 6, a magnetic adsorption guide wire locking frame, 7, a first hollow rotating dividing disc, 8, a guide wire feeding end miniature precise lead screw module, 9, a first lead screw optical axis, 10, a first pressing moving slide block, 10-1, a spring, 10-2, a floating button, 10-3, a split nut, 11, a second pressing moving slide block, 12, a second lead screw optical axis, 13, a guide wire telescopic supporting conduit, 13-1, a telescopic conduit annular fixed end, 13-2 and a thin film pressure sensor, 13-3 parts of a telescopic guide pipe square fixed end, 14 parts of a bridging transition telescopic support guide pipe, 15 parts of a guide pipe telescopic support guide pipe, 16 parts of an angiography guide pipe, 17 parts of a guide pipe, 18 parts of a guide wire, 19 parts of a linear grating ruler, 20 parts of a fixed bottom plate, 21 parts of a guide pipe feed end miniature precision lead screw module.
Detailed Description
The following examples will further illustrate the present invention with reference to the accompanying drawings.
Referring to fig. 1-9, the embodiment of the present invention includes: the device comprises a guide wire pushing rotation module, a catheter pushing rotation module, a guide wire force feedback module, a telescopic catheter mechanism, a guide wire catheter locking mechanism, a movable radiography catheter locking mechanism and a control system for controlling the pushing module and the rotation module to work in a coordinated mode.
The embodiment of the utility model provides an intervene embolism operation robot seal wire pipe controlling device, the device is whole to be arranged on PMKD 20, and PMKD 20 bottom surface leaves the through-hole can be used for actual operation controlling device position control with follow-up arm flange joint. Two groups of miniature precise screw modules are arranged on the upper part of the fixed bottom plate 20 and comprise a guide wire feeding end miniature precise screw module 8 and a guide pipe feeding end miniature precise screw module 21, the two groups of screw modules are fixedly connected through a bridging locking frame 5 and are arranged side by side, harmonic speed reducing motors are arranged inside the guide wire feeding end miniature precise screw module 8 and the guide pipe feeding end miniature precise screw module 21, and the used harmonic speed reducing motors can drive corresponding screw shafts to rotate and ensure that the transmission of a linear feeding process is stable, impact-free and noise-free.
The guide wire pushing and rotating module comprises a set of guide wire feeding end miniature precise screw module 8, a first pressing and moving slider 10 is arranged on the guide wire feeding end miniature precise screw module 8, the first pressing and moving slider 10 (see figures 6 and 7) comprises a spring 10-1, a floating button 10-2, an opening and closing nut 10-3 and an external shell, a doctor can separate the opening and closing nut 10-3 from a threaded shaft by pressing the floating button 10-2 before an operation starts, the slider can be easily pushed by means of external force to adjust the position, and the opening and closing nut is matched with the threaded shaft in the operation and is driven by a harmonic speed reduction motor to drive the first pressing and moving slider 10 to realize linear motion. A first hollow rotary indexing disc 7 is arranged on the first pressing movable slider 10, a rotor of the first hollow rotary indexing disc 7 is made of iron, the first hollow rotary indexing disc 7 is fixedly connected with a magnetic adsorption guide wire locking frame 6 through magnetic adsorption, and a linear grating ruler 19 is arranged on one side of the first pressing movable slider 10 and used for sensing the linear displacement of the first pressing movable slider 10 so as to indirectly determine the linear displacement of the guide wire; the motor used by the first hollow rotary dividing disc 7 is a harmonic speed reducing motor, and the inside of the first hollow rotary dividing disc is a gear transmission speed reducing mechanism, as shown in fig. 4, the harmonic speed reducing motor can be integrated with an encoder, and 360-degree unlimited angle rotation is realized. Before the art, seal wire 18 is arranged by the doctor and is locked in magnetic adsorption seal wire locking frame 6, by the miniature accurate lead screw module 8 of seal wire feed end and rotatory graduated disk drive magnetic adsorption seal wire locking frame 6 and realize the straight line and feed and free angle rotation.
The catheter pushing and rotating module comprises a set of catheter feeding end miniature precise screw module 21, a second pressing and moving sliding block 11 is arranged on the catheter feeding end miniature precise screw module 21, the second pressing and moving sliding block 11 is structurally the same as the first pressing and moving sliding block 10, and the function of the second pressing and moving sliding block is the same as that of the guide wire pushing module. The second pressing moving slide block 11 is provided with a first hollow rotating dividing disc 4, the first hollow rotating dividing disc 4 and a second hollow rotating dividing disc 7 have the same structure, and the rotor is locked on the frame 3 through a magnetic adsorption guide pipe. The catheter 17 is arranged in the magnetic adsorption catheter locking frame 3 by a doctor before operation and is locked, and the screw rod and the rotary indexing disc drive the magnetic adsorption catheter locking frame 3 to realize linear feeding and free angle rotation. Two sides of the screw of the two groups of miniature precise screw modules are both provided with a first screw optical axis 9 and a second screw optical axis 12, and the reliability of linear feeding is further ensured by pressing the movable sliding blocks.
The internal structure of the first hollow rotary indexing disc 4 is shown in fig. 4, and comprises a transmission driven gear 4-1 and a transmission driving gear 4-2 to construct a basic harmonic speed reduction system, and a coupling 4-3 for connecting a motor. The internal structure of the second hollow rotary indexing disc 7 is the same as that of the first hollow rotary indexing disc 4.
Magnetic adsorption pipe locking frame 3 and magnetic adsorption seal wire locking frame 6 are except that inside fastening chamber profile, other structure machines are the same, refer to fig. 3 the embodiment of the utility model provides a magnetic adsorption pipe locking frame schematic diagram explains, and magnetic adsorption pipe locking frame includes magnet post 3-1, locking frame 3-2. The inner cavity of the locking frame 3-2 is injection molded into different structures aiming at different guide wire and catheter structures, can be designed into disposable operation articles in practical application, and can be detached after the operation is finished.
In the embodiment of the utility model, the telescopic conduit mechanism is a very important ring for ensuring that no warp occurs in the guide wire linear feeding and conduit linear feeding processes, three groups of telescopic conduits (the guide wire telescopic support conduit 13, the conduit telescopic support conduit 15 and the bridging transition telescopic support conduit 14) are formed by connecting a plurality of telescopic sleeve rods with different thicknesses, the front section telescopic sleeve rod is thin, the rear end telescopic sleeve rod is thick, the combination can slide smoothly, each section of sleeve rod moves independently, the three groups of telescopic support conduits have the same structure and only have differences in the number of the combined sections, the guide wire telescopic support conduit 13 mainly comprises a telescopic conduit annular fixed end 13-1, a film pressure sensor 13-2, a telescopic conduit square fixed end 13-3 (see figure 9 for structural design), and the film pressure sensor 13-2 is arranged on the first conduit wall at the front end of the guide wire telescopic support conduit 13, indicated by dashed outline; in the actual operation process, the annular fixed end 13-1 of the guide wire telescopic support catheter is fixed in the magnetic adsorption guide wire locking frame 6 and fixedly connected, and the annular fixed end 13-1 of the telescopic catheter is fixed on one side of the bridging locking frame 5, as shown in figure 1, the telescopic catheter is integrally laid between the two end locking frames, and the center of the support catheter and the rotation centers of the front and rear two groups of hollow rotary dividing discs (the first hollow rotary dividing disc 4 and the second hollow rotary dividing disc 7) are coaxial. The bridging transition telescopic support catheter 14, the catheter telescopic support catheter 15 and the guide wire telescopic support catheter 13 are designed with the same direction and annular fixed end structures, the square fixed end of the bridging transition telescopic support catheter 14 is fixed on one side of the bridging locking frame 5, and the other side of the bridging transition telescopic support catheter is fixed in the magnetic adsorption catheter locking frame 3; the square fixed end of the conduit telescopic supporting conduit 15 is fixed on the magnetic adsorption conduit locking frame 3, and the annular fixed end is fixed in the radiography conduit locking frame 2. The guide wire 18 or the catheter 17 is not supported in the telescopic supporting catheter at the part of the locking mechanism, the inner wall of the telescopic supporting catheter plays a role in supporting and resisting deformation during the feeding process of the guide wire and the catheter, and the inner wall of the telescopic catheter is smooth enough and cannot generate resistance to the feeding and the rotation of the guide wire or the catheter.
It should be noted that the thin film pressure sensor 13-2 is only attached to the inner wall of the front end of the telescopic support catheter corresponding to the guide wire, when the guide wire touches the vascular wall, the middle section of the guide wire can extrude the wall surface in the telescopic catheter mechanism to generate certain pressure, and the force feedback information acquired by the technical acquisition means can be used for measuring the force applied to the blood vessel in the guide wire pushing process in real time, so that a basis is provided for further operation judgment of a doctor.
Further, the movable radiography conduit locking mechanism comprises a middle hollow pressing movable sliding block 1 and a radiography conduit locking frame 2, and the middle hollow pressing movable sliding block and the radiography conduit locking frame are located at the front end of the micro precise screw rod module 21 at the conduit feeding end. The middle hollow pressing moving sliding block 1 is fixedly connected to the micro precision lead screw module 21 at the feed end of the catheter through a second lead screw optical axis 12, and the upper part of the middle hollow pressing moving sliding block 1 is provided with an angiography catheter locking frame 2. Middle fretwork is pressed in the middle of removing slider 1, does not realize the transmission with the screw shaft cooperation, is adjusted before the art according to different operation feed distance needs by medical personnel. A spring pressing structure is arranged in the movable radiography conduit locking mechanism and fixedly connected with the optical axis, and the fixed connection can be opened and closed through pressing to realize axial movement; the locking mechanism of the movable radiography conduit locking mechanism is designed into an open-close clamp form, is adaptive to the corresponding radiography conduit, and can ensure that the end part of the radiography conduit is fixed during closing. The radiography conduit locking frame 2 and the bridging locking frame 5 are used for ensuring that the rotation centers are coaxial after the telescopic supporting conduit is locked.
Fig. 10 shows a schematic reference diagram of a control system provided by an embodiment of the present invention, the whole device is controlled based on an upper computer and a motion controller, the motion controller communicates with the upper computer through a network cable, the upper computer establishes a medical image interface and communicates with the motion controller, the motion controller can drive 4 sets of motor drivers to complete decoupled motor motion with a motion library function, and the 4 sets of motor drivers respectively drive motors for 2 hollow rotary index plates 4 and 7 and harmonic speed reduction motors for 2 sets of feeding end miniature precise lead screw modules 8 and 21; meanwhile, the stress condition of the film pressure sensor is collected in real time through a pressure collecting card to construct a real-time force feedback function, and a basis is provided for further operation judgment of doctors. The control system is used for controlling the coordination operation of the propulsion module and the rotating module, and comprises an upper computer interface and a signal acquisition design, wherein the upper computer controls the lower computer through a network cable to realize the decoupling motion control of 4 groups of motors and the signal acquisition design of the film pressure sensor.
The embodiment of the utility model provides a basic operation principle is: the embodiment of the utility model provides a mainly include two rotatory graduated disks of cavity, the rotatory graduated disk of first cavity 4 and the rotatory graduated disk of second cavity 7, the miniature accurate lead screw module of seal wire feed end 8, the miniature accurate lead screw module of pipe feed end 21. In the operation process, the magnetic adsorption guide wire locking frame 6 is adsorbed on the second hollow rotary dividing disc 7 through magnetic force, and the magnetic adsorption guide wire locking frame 6 is designed into a clamp capable of being opened and closed and used for clamping a guide wire; the magnetic adsorption catheter locking frame 3 is adsorbed on the first hollow rotary dividing disc 4 through magnetic force, and the magnetic adsorption catheter locking frame 3 is designed into an openable clamp form which is the same as the magnetic adsorption guide wire locking frame 6 and is used for clamping a catheter; the guide wire 18 and the guide pipe 17 are fixedly connected in the magnetic adsorption guide wire locking frame 6 and the magnetic adsorption guide pipe locking frame 3 respectively, so that when the locking frames 6 and 3 correspondingly drive the guide wire 18 and the guide pipe 17 to rotate, the rotation centers of the clamped positions of the guide wire 18 and the guide pipe 17 are concentric with the centers of the corresponding hollow rotary indexing disks, the guide wire 18 and the guide pipe 17 can rotate along with the rotation of the hollow ultrasonic motor, and the rotation of the front ends of the guide wire 18 and the guide pipe 17 is realized by means of torque transmission, so that the effect of aligning the position of a blood vessel by twisting the guide wire and the guide pipe by a doctor in an embolization operation is. A bridging locking frame 5 is arranged between the miniature precise screw module 8 at the guide wire feeding end and the miniature precise screw module 21 at the guide pipe feeding end, the two groups of modules are arranged on the fixed bottom plate 20 in series, a harmonic speed reducing motor is arranged inside the miniature precise screw module 8 at the guide wire feeding end and the miniature precise screw module 21 at the guide pipe feeding end and can drive the middle screw to rotate, so that the linear movement of the first pressing movable sliding block 10 and the second pressing movable sliding block 11 is realized, and the two hollow rotary indexing disks can realize the mutually independent linear direction feeding of the guide wire 18 and the guide pipe 17 under the traction of the first pressing movable sliding block 10 and the second pressing movable sliding block 11 which are respectively and fixedly connected. The catheter 17 and the guide wire 18 can realize completely mutually independent twisting action and feeding action under the drive of the hollow rotary indexing disc and the miniature precise screw rod module, so that the motion process of manually feeding the guide wire and the catheter by a doctor in the actual operation process can be simulated. Meanwhile, in the feeding process, the guide wire telescopic support catheter 13 and the catheter telescopic support catheter 15 always play a role in restraining and supporting the guide wire and the catheter, and the guide wire 17 and the guide wire 18 are prevented from being warped to influence the operation delivery effect in the feeding process.
The utility model provides a medical auxiliary device for realizing remote control to a guide wire catheter in interventional embolism operation, which mainly comprises a guide wire propelling and rotating module and a catheter propelling and rotating module, wherein the guide wire catheter rotating module consists of a hollow rotating dividing disc and a guide wire catheter locking device; the guide wire catheter pushing module consists of a miniature precise screw rod and a hollow telescopic tube support frame and is used for realizing linear pushing of the guide wire catheter in the embolism operation; meanwhile, the front part of the catheter propulsion module is provided with a movable radiography catheter locking mechanism suitable for different feeding distance requirements, and motors used by the device are all harmonic speed reduction motors and are stable and reliable in operation. The utility model discloses simple structure, convenient operation can realize simultaneously that the medical treatment of also being convenient for is washd and the accessory is changed to the independent motion control of seal wire and pipe, improves operation efficiency, arranges pressure-sensitive induction system simultaneously in flexible pipe and realizes the real-time force feedback function of little seal wire with the vascular wall contact, judges for the further operation of doctor and provides the foundation. The utility model discloses the part that does not relate to all is the same with prior art or can adopt prior art to realize.
Claims (9)
1. A guide wire catheter control device for interventional embolization is characterized by comprising a guide wire catheter pushing module, a guide wire catheter rotating module, a telescopic catheter mechanism, a movable radiography catheter locking mechanism, a guide wire force feedback module and a control system;
the guide wire and guide tube propelling module comprises two groups of miniature precise screw modules which are respectively a guide wire feeding end miniature precise screw module and a guide tube feeding end miniature precise screw module, the two groups of miniature precise screw modules have the same structure and comprise two parallel optical axes and a threaded shaft which are symmetrically arranged, and the threaded shaft is arranged between the two parallel optical axes; the guide wire feeding end miniature precise screw module and the guide pipe feeding end miniature precise screw module are respectively provided with a pressing moving slide block;
the guide wire and guide tube rotating module consists of a hollow rotating dividing disc and a guide wire and guide tube locking device, the hollow rotating dividing disc is arranged on the pressing moving slide block, a rotor on the hollow rotating dividing disc is fastened with the guide wire and guide tube locking mechanism, and the rotor on the hollow rotating dividing disc drives the guide wire and guide tube locking mechanism to rotate so as to form the guide wire and guide tube rotating module;
the telescopic catheter mechanism comprises three groups of telescopic catheters, and the telescopic catheters are used for realizing the supporting effect on the guide wire catheter in the feeding process and preventing the warp and deformation; the rear end of the telescopic guide pipe is provided with a square block which is fixed with a corresponding locking mechanism and can realize rotary linkage with a corresponding hollow rotary dividing disc rotor;
the guide wire and catheter locking mechanisms are fixedly connected with respective telescopic catheters, and the hollow rotary indexing disc rotor rotates to respectively drive the corresponding guide wire and catheter locking mechanisms and the telescopic catheter mechanisms to rotate, so that the far-end rotation of the guide wire and the catheter is realized; the guide wire force feedback module comprises a film pressure sensor and a pressure acquisition card; the film pressure sensor is arranged in the telescopic catheter mechanism corresponding to the guide wire and used for measuring the resistance of a blood vessel touched in the advancing process of the guide wire in real time; the movable radiography catheter locking mechanism is arranged at the front section of the micro precise screw module at the catheter feeding end and used for fastening a radiography catheter and sliding on an optical axis of the micro precise screw module at the corresponding catheter feeding end to meet the requirements of different operation distances; the pressure acquisition card acquires the stress condition of the film pressure sensor in real time and transmits a signal to the control system, and the control system drives the motor through the motor driver so as to control the wire guide catheter pushing module and the wire guide catheter rotating module to operate in a coordinated manner.
2. The interventional embolization operation guide wire and catheter operating device according to claim 1, wherein the three groups of telescopic catheters comprise guide wire telescopic support catheters, catheter telescopic support catheters and bridging transition telescopic support catheters, each group of telescopic support catheters is formed by sleeving and connecting a plurality of telescopic loop bars with different thicknesses, the front telescopic loop bar is thin, and the rear telescopic loop bar is thick; the guide wire telescopic support catheter and the rear end telescopic sleeve rod of the catheter support telescopic catheter are designed with square structures which can be fixedly connected and matched with the corresponding locking mechanism to realize real-time rotation with the hollow rotary dividing disc rotor, and the front end telescopic sleeve rod is designed with a shaft shoulder which is fixedly connected with the corresponding locking mechanism but is not influenced by the movement of the locking mechanism; the bridging transition telescopic support pipe is designed to have the same structure, namely a shaft shoulder is designed on the front end telescopic sleeve rod, and a square structure is designed on the rear end telescopic sleeve rod and used for motion transmission.
3. The interventional embolization surgical guide wire and catheter manipulating device as claimed in claim 1, wherein the rotor on the hollow rotary indexing disc is fastened to the guide wire and catheter locking mechanism by magnetic attraction, and the guide wire and the catheter are respectively positioned in the respective locking mechanism by the guide wire telescopic support catheter and the catheter telescopic support catheter and are coaxial with the rotation center of the rotor on the hollow rotary indexing disc; the hollow rotary indexing disc consists of a gear reduction mechanism, and the gear reduction mechanism is matched with a driving servo motor and provided with a rotary encoder for sensing and reading the rotating angle of the guide wire and guide pipe locking mechanism; the miniature precise screw rod module at the linear feeding end of the guide wire is provided with a linear grating ruler for sensing and determining the linear displacement of the guide wire.
4. The interventional embolization operation guide wire and catheter control device according to claim 1, wherein harmonic speed reduction motors are arranged in the two groups of miniature precise lead screws, the harmonic speed reduction motors drive the threaded shafts to rotate so as to realize linear feeding of the guide wire and catheter by pressing the movable sliding blocks to feed and driving the hollow rotary dividing disc arranged above the movable sliding blocks to move, and meanwhile, the device has small start-stop fluctuation and stable and vibration-free low-speed operation.
5. The interventional embolectomy guide catheter operating device of claim 1, wherein the pressing movable slider is provided with a split nut and a spring, and is matched with the threaded shaft, and the pressing movable slider is axially moved on the threaded shaft through a pressing knob, so as to realize the matching and the separation of the pressing movable slider and the threaded shaft; the harmonic speed reduction motor drives the threaded shaft to rotate and simultaneously drives the pressing movable sliding block to realize precise axial displacement and realize feeding motion.
6. The guide wire catheter operating device for interventional embolization surgery as claimed in claim 1, wherein the guide wire catheter locking mechanism is designed in the form of an open-close clamp, the profile of the internal clamp is adapted to the specification of the guide wire catheter, and different locking devices are used for different specifications to adapt to different surgical needs; the locking device is used for fixedly connecting the guide wire catheter and the telescopic pipe corresponding to the guide wire catheter; the guide wire and catheter locking mechanism is provided with a magnet connecting column which is used for being fixedly connected with a rotor of the corresponding hollow rotary dividing disc.
7. An interventional embolization surgical guide wire and catheter manipulation device according to claim 1, wherein the guide wire or the guide wire and the guide catheter are respectively supported in the corresponding telescopic support catheters at the parts which are not fastened by the locking mechanism, and the inner walls of the telescopic support catheters support the guide wire or the guide wire.
8. The interventional embolectomy guide catheter control device of claim 1, wherein the movable angiography catheter locking mechanism is fixed on a middle hollow pressing movable sliding block through a screw, the middle hollow pressing movable sliding block is hollow, and is not matched with the threaded shaft to realize transmission; a spring pressing structure is arranged in the movable radiography conduit locking mechanism and fixedly connected with the optical axis, and the fixed connection is opened and closed through pressing to realize axial movement; the locking mechanism of the movable radiography conduit locking mechanism is designed into an open-close clamp form and is adaptive to the radiography conduit correspondingly used.
9. The interventional embolization surgical guide wire catheter manipulation device of claim 1, wherein the thin film pressure sensor is disposed on the inner wall of the front end of the telescopic support catheter corresponding to the guide wire.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921890180.XU CN211024680U (en) | 2019-11-05 | 2019-11-05 | Guide wire catheter operating device for interventional embolism operation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921890180.XU CN211024680U (en) | 2019-11-05 | 2019-11-05 | Guide wire catheter operating device for interventional embolism operation |
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| CN211024680U true CN211024680U (en) | 2020-07-17 |
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| CN201921890180.XU Expired - Fee Related CN211024680U (en) | 2019-11-05 | 2019-11-05 | Guide wire catheter operating device for interventional embolism operation |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110801571A (en) * | 2019-11-05 | 2020-02-18 | 厦门大学 | Guide wire catheter operating device for interventional embolism operation |
| CN113808464A (en) * | 2021-09-24 | 2021-12-17 | 山东静禾医疗科技有限公司 | Interventional operation simulation platform |
| CN114191082A (en) * | 2021-12-14 | 2022-03-18 | 复旦大学 | Blood vessel intervenes surgical robot seal wire centre gripping and seal wire resistance survey device |
| CN114366312A (en) * | 2022-02-21 | 2022-04-19 | 厦门大学 | Liver tumor embolism intervention operation robot |
| WO2022247504A1 (en) * | 2021-05-26 | 2022-12-01 | Precision Robotics (Hong Kong) Limited | Robotic surgery device and feeding system |
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2019
- 2019-11-05 CN CN201921890180.XU patent/CN211024680U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110801571A (en) * | 2019-11-05 | 2020-02-18 | 厦门大学 | Guide wire catheter operating device for interventional embolism operation |
| CN110801571B (en) * | 2019-11-05 | 2024-06-04 | 厦门大学 | Interventional embolic operation guide wire catheter operating device |
| WO2022247504A1 (en) * | 2021-05-26 | 2022-12-01 | Precision Robotics (Hong Kong) Limited | Robotic surgery device and feeding system |
| GB2621095A (en) * | 2021-05-26 | 2024-01-31 | Prec Robotics Hong Kong Limited | Robotic surgery device and feeding system |
| CN113808464A (en) * | 2021-09-24 | 2021-12-17 | 山东静禾医疗科技有限公司 | Interventional operation simulation platform |
| CN113808464B (en) * | 2021-09-24 | 2023-03-21 | 山东静禾医疗科技有限公司 | Interventional operation simulation platform |
| CN114191082A (en) * | 2021-12-14 | 2022-03-18 | 复旦大学 | Blood vessel intervenes surgical robot seal wire centre gripping and seal wire resistance survey device |
| CN114191082B (en) * | 2021-12-14 | 2023-11-24 | 复旦大学 | Vascular intervention operation robot seal wire centre gripping and seal wire resistance measurement device |
| CN114366312A (en) * | 2022-02-21 | 2022-04-19 | 厦门大学 | Liver tumor embolism intervention operation robot |
| CN114366312B (en) * | 2022-02-21 | 2023-07-14 | 厦门大学 | Liver tumor embolism intervention operation robot |
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