CN103041495A - Endovascular interventional catheter tactile probe - Google Patents
Endovascular interventional catheter tactile probe Download PDFInfo
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- CN103041495A CN103041495A CN201110308673XA CN201110308673A CN103041495A CN 103041495 A CN103041495 A CN 103041495A CN 201110308673X A CN201110308673X A CN 201110308673XA CN 201110308673 A CN201110308673 A CN 201110308673A CN 103041495 A CN103041495 A CN 103041495A
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Abstract
The invention discloses an endovascular interventional catheter tactile probe which comprises a main pipe, a contact head, a first electrode and a plurality of second electrodes. The contact head is arranged at one end of the main pipe, and the other end of the main pipe is used for an interventional catheter to be placed on. The first electrode is located in the main pipe, electrically connected onto the contact head and connected onto an input lead to obtain an electric signal. The plurality of second electrodes are insulated from each other, distributed in the main pipe and respectively connected onto output leads. When the contact head is not contacted with any obstacle, the first electrode is not connected with any second electrode, and no signals are generated on the output leads of the second electrodes. When the contact head is contacted with an obstacle, the first electrode is contacted with at least one second electrode arranged in the main pipe under the effect of the contact head, and the electric signal on the first electrode is output by the output lead of at least one corresponding second electrode. The endovascular interventional catheter tactile probe can accurately distinguish which position contacts the obstacle.
Description
Technical field
The present invention relates to a kind of medical apparatus and instruments, particularly a kind of Research of Intravascular Catheterization sense of touch probe.
Background technology
The development of interventional medicine is the quantum leap on the physianthropy history in the blood vessel, but the at present interior insertion that gets involved guiding catheter of blood vessel all is feel and experience blindmate with the operator, and the thing of injured blood vessel inwall often occurs.What is more, understands the bursting blood vessel, causes the malpractice of massive hemorrhage.For this reason, develop a kind of interposing catheter of the clinical function of feeling that can apply to avoid the injured blood vessel inwall to become the urgent need of this area.
Chinese utility model patent CN201558168U discloses a kind of sense of touch probe that is applied on the Research of Intravascular Catheterization; as shown in Figure 1, this probe comprises Magnet 1, electromagnetic induction sensor 2, provides elastomeric objects 3, outer protective film 4 and the mother of Magnet resilience force to manage 5.Wherein the mother of both ends open manages the top that an end of 5 places interposing catheter, built-in electromagnetic inductive transducer 2, and other end opening part is settled Magnet 1.When the Magnet 1 that protrudes from female Guan Yiduan is run into barrier, Magnet most of even all be compressed in female pipe 5, be close to the gap smaller of electromagnetic induction sensor 2 even both, at this moment the magnetic flux quantitative change that receives of electromagnetic induction sensor 2 is large, cause its output voltage respective change, accept and process to the processor of rear end by wire transmission.After barrier disappeared, because the elastic force that elastomeric objects 3 provides makes Magnet 1 pop into position, also the phase strain was large with the gap of electromagnetic induction sensor 2, and the magnetic flux that electromagnetic induction sensor 2 is accepted diminishes, and its output voltage is corresponding changing again.Outer protective film 4 is used for isolated this sense of touch contacting of all parts and extraneous blood of popping one's head in.
Adopt above-mentioned sense of touch probe can solve in the blood vessel problem of interposing catheter friction injury in the intervene operation even bursting blood vessel, but no matter this sense of touch probe touches blood vessel wall from which kind of angle, can only feed back a signal, namely it can perceive and touch, than going a step further before the former blindmate, be touching of which orientation because can not distinguishing but, increased the difficulty that control system or operator take avoiding action.
Summary of the invention
The technical problem to be solved in the present invention provides and a kind ofly can pick out the Research of Intravascular Catheterization sense of touch probe which orientation touches barrier.
For solving the problems of the technologies described above, the invention provides a kind of Research of Intravascular Catheterization sense of touch probe, comprising: female pipe; Touch head, be arranged at an end of female pipe, the other end of described female pipe is used for arranging an interposing catheter; The first electrode, it is inner to be positioned at described female pipe, and elasticity is connected to the described head that touches, and described the first electrode is connected to an input lead to obtain a signal of telecommunication; A plurality of the second electrodes, mutually insulated also is distributed in described female pipe, and each described second electrode connects respectively an output lead; When touching head when not touching any barrier, described the first electrode not with any the second electrode contact, do not produce signal on the output lead of described the second electrode; When touching head when touching barrier, at least one second electrode contact in the first electrode is managed with mother under the active force that touches head makes the described signal of telecommunication on the first electrode export via the output lead of corresponding at least one the second electrode.
According to a preferred embodiment of the present invention, the outer seal protection film that is provided with of described Research of Intravascular Catheterization sense of touch probe.
According to a preferred embodiment of the present invention, described female pipe is insulant.
According to a preferred embodiment of the present invention, described the first electrode and the second electrode surface plating low resistivity metal.
According to a preferred embodiment of the present invention, described the first electrode is spring, and described spring is arranged on the spring base; Described spring base links to each other with a described elasticity of touching by an elastomer, and described elastomer is arranged on the opening part of female Guan Yiduan; Described elastomer is macromolecular material or spring material.
According to a preferred embodiment of the present invention, described a plurality of the second electrodes are evenly distributed on each place, orientation in female pipe.
Further, described a plurality of the second electrode comprises the side-wall electrode array that is arranged on female inside pipe wall and is arranged on bottom electrode in female pipe over against touching head; Be provided with insulating barrier between described side-wall electrode array and the bottom electrode; Described side-wall electrode array is that petal-shaped is arranged and comprised and be no less than four side-wall electrodes; Described bottom electrode is a disk.
According to a preferred embodiment of the present invention, the described head that touches is the disk umbrella foremost.
The present invention by technique scheme consists of has following advantage:
One, this covering device is contained in the Research of Intravascular Catheterization head, by manage place, interior a plurality of orientation mother the second electrode is set, when Research of Intravascular Catheterization passes in and out in blood vessel, when having run into obstacle, the first electrode and at least one the second electrode contact will touch accordingly signal feedback to the end message processing center, thereby pick out the orientation that runs into obstacle, make control system or operator make avoiding action towards the opposite direction that runs into obstacle to interposing catheter, handle like a cork interposing catheter and break away from barrier.
Two, this device forms its low production cost with cleverly design, cheap material, simple production technology, meets the characteristics that get involved consumptive material in the disposable blood vessel.
Description of drawings
Fig. 1 is a kind of structural representation that is applied to the sense of touch probe on the Research of Intravascular Catheterization in the prior art;
Fig. 2 is the structural representation of the Research of Intravascular Catheterization sense of touch probe of a preferred embodiment of the present invention;
Fig. 3 is the schematic cross-section of the Research of Intravascular Catheterization sense of touch probe of a preferred embodiment of the present invention;
Fig. 4 is the sketch map of sense of touch probe dead ahead when touching barrier;
Fig. 5 is the sketch map of sense of touch probe side the place ahead when touching barrier.
The specific embodiment
For above-mentioned purpose of the present invention, feature and advantage can be become apparent more, below in conjunction with accompanying drawing the specific embodiment of the present invention is described in detail.
With reference to figure 2, according to a preferred embodiment of the present invention, this Research of Intravascular Catheterization sense of touch probe comprises female pipe 10, this mother manages 10 cylindrical insulation tubules that can be opened by one section two, the about 1～3mm of external diameter and makes, the cross sectional shape of female pipe 10 also can be done ovalisation or have other shape of smooth surface, optionally, female pipe 10 is interior can to arrange an isolated component, such as dividing plate, be used for that mother is managed 10 and be separated into forward chamber and back side chamber, be used for holding the realization tactile feel in the forward chamber and answer necessary element, be used for fixing an interposing catheter 20 in the back side chamber.
As shown in Figure 2, female pipe 10 front ends are outstanding to be provided with for what power was touched in transmission and to touch 11, this shape of touching head can be cylinder, cuboid, cone, spheroid, disk umbrella or other shape, preferably, available employing disk umbrella increases the susceptiveness of touching head to strengthen the touching area.Female pipe 10 front end inside are provided with the first electrode 12, and these the first electrode 12 elasticity are connected to touches 11, and this first electrode 12 also is connected to an input lead 13 to continue to obtain a signal of telecommunication.According to a preferred embodiment of the present invention, the first electrode 12 adopts the spring of conductive material to make, public electrode as the sense of touch probe, this spring housing is on a spring base 16, one end is fixed, other end retractable, bending, spring base 16 with touch 11 between realize that by an elastomer 17 elasticity are connected.Above-mentionedly touch 11, elastomer 17, spring base 16 and spring (i.e. the first electrode 12) be fixing in aggregates, an available draw point passes and touches 11, elastomer 17, spring base 16 three centers are fixed, perhaps with glue that the three is bonding, perhaps unite and adopt above-mentioned dual mode.Above-mentioned fixedly all-in-one-piece assembly is managed 10 front opening from mother fill in, again the limit wing of elastomer 17 is enclosed within outside female pipe 10, and in addition gluing fixing.Elastomer 2 can be used macromolecular material, also can make of materials such as springs, as long as enough elastic restoring forces can be provided.
Please in conjunction with reference Fig. 2 and Fig. 3, also be distributed with a plurality of the second electrode 14a, 14b in female pipe 10, mutually insulated between each the second electrode 14a, 14b, and each second electrode connects respectively an output lead 15.In present embodiment, five the second electrodes have been adopted altogether, comprise and be evenly distributed on around female pipe 10 inwalls and be close to four long strip type side-wall electrode 14a of female inside pipe wall setting and over against touching 11 an a slice bottom electrode 14b that are arranged in female pipe 10, these four side-wall electrode 14a form a side-wall electrode array, this bottom electrode 14b can by the side-wall electrode array around a circular electric pole piece.Can insulate by insulating barrier 18 is set between above-mentioned each side-wall electrode 14a and/or between side-wall electrode 14a and the bottom electrode 14b, to improve the reliability of sense of touch probe, in addition, in order to reduce resistance, increase the sensitivity of sense of touch probe, all electrodes comprise the first electrode 12 and the second electrode 14a, 14b, one deck low resistivity metal is all plated on the surface, such as silver, gold, copper, aluminum etc.
Certainly, also can adopt the second electrode of other number, add one or more pieces bottom electrodes 14b such as five, six, seven, eight even more side-wall electrode 14a, those skilled in the art are to be understood that, when the lobe number of side-wall electrode array is more, then distinguishes and touch 11 to run into the direction of barrier meticulousr.In addition, the second electrode also is not limited to the form that the side-wall electrode array adds bottom electrode in the distribution that mother manages in 10, for example each the second electrode evenly can also be arranged in an opening towards touching on 11 the arc surface, as long as the distribution of the second electrode can reach the effect that the orientation is touched in accurate indication.
Optionally, whole sense of touch probe is outer also can to coat layer protecting film 19, with the parts that the sense of touch probe is interior and the blood isolation outside the protecting film 19, to improve the reliability of sense of touch probe.Described input lead 13 and output lead 15 can be coated on protecting film 19 inside, also can pass from protecting film 19.
Below in conjunction with Fig. 2 to Fig. 5 the working method of the Research of Intravascular Catheterization sense of touch probe of a preferred embodiment of the present invention is described in detail.
As shown in Figure 2, when touching 11 when in blood vessel, not touching any barrier, the first electrode 12 is in initial position, be that spring is managed mother any deformation is not occured in 10, its afterbody is in vacant state, do not come in contact with any the second electrode, thereby do not produce any output signal on the output lead 15 of the second electrode 14a, 14b.
When touching 11 when touching barrier, the first electrode 12 can be managed at least one second electrode contact in 10 with mother under the active force that touches head, because the first electrode 12 obtains a signal of telecommunication constantly by input lead 13, and the first electrode 12 and the second electrode all adopt conductive material to make, when the first electrode 12 touched any one or more pieces second electrodes, this signal of telecommunication will be through the second electrode from corresponding output lead 15 outputs.Can receive in real time from the feedback signal of each output lead 15 by a terminal handler and whether touch with monitoring, and identify sense of touch by the source of identification feedback signal and pop one's head in the endovascular orientation of touching, so that operation sense of touch probe is toward moving to dodge barrier in the other direction.Can adopt various ways to realize about sense of touch probe and interposing catheter obtaining with processing of endovascular driving control and feedback information; it is not the claimed emphasis of the present invention; those skilled in the art should be implemented according to common technological know-how, so do not do concrete expansion at this.
Please refer to Fig. 4, the sketch map when it touches barrier for sense of touch probe dead ahead.When touching 11 when touching the barrier of dead ahead, elastomer 17 compressions, to be depressed into as the spring of public electrode the bottom, and touch with bottom electrode 14b, so that the output lead 15 that links to each other with bottom electrode 14b sends feedback signal, thereby terminal handler is known the dead ahead of sense of touch probe and is run into barrier.
When obstacle disappeared, elastomer 17 resiliences made as the spring of public electrode to break away from and the contacting of bottom electrode 14b, and return to original state, with the signal of telecommunication disappearance on the output lead 15 that bottom electrode 14b links to each other.
Please refer to Fig. 5, the sketch map when it touches barrier for sense of touch probe side the place ahead.When touching 11 when touching the barrier in side the place ahead, touching 11 can not only bounce back but also tilt take elastomer 17 as the axle center, at this moment can both meet bottom electrode 14b as the spring of public electrode, meet again at least a slice side-wall electrode 14a, so that with bottom electrode 14b and this at least the output lead 15 that links to each other of a slice side-wall electrode 14a send feedback signal, thereby terminal handler is known side the place ahead of sense of touch probe and is run into barrier.
Same, when obstacle disappeared, elastomer 17 resiliences made as the spring disengaging of public electrode and contacting of bottom electrode 14b and side-wall electrode 14a, return to original state, and the signal of telecommunication on the output lead 15 disappears.
All the other situations of touching can the rest may be inferred, do not give unnecessary details one by one at this.By above-described embodiment as can be known, when adopting four side-wall electrodes and a slice bottom electrode as the second electrode, altogether can indicate 17 kinds and touch the orientation: front, east, south, west, north, the southeast, northeast, southwest, northwest, east+front, south+front, west+front, north+front, the southeast+front, northeast+front, southwest+front, northwest+front, the clinical requirement that interposing catheter is planted can be satisfied in the basic optional position that covers in 360 ° of scopes.Be understandable that when the second electrode number increased, the precision of orientation detection can further improve.
The above only is preferred embodiment of the present invention, and all equalizations of doing according to claim scope of the present invention change and modify, and all should belong to the covering scope of claim of the present invention.
Claims (14)
1. a Research of Intravascular Catheterization sense of touch probe is characterized in that, comprising:
Female pipe;
Touch head, be arranged at an end of female pipe, the other end of described female pipe is used for arranging an interposing catheter;
The first electrode, it is inner to be positioned at described female pipe, and elasticity is connected to the described head that touches, and described the first electrode is connected to an input lead to obtain a signal of telecommunication;
A plurality of the second electrodes, mutually insulated also is distributed in described female pipe, and each described second electrode connects respectively an output lead;
When touching head when not touching any barrier, described the first electrode not with any the second electrode contact, do not produce signal on the output lead of described the second electrode; When touching head when touching barrier, at least one second electrode contact in the first electrode is managed with mother under the active force that touches head makes the described signal of telecommunication on the first electrode export via the output lead of corresponding at least one the second electrode.
2. Research of Intravascular Catheterization sense of touch probe as claimed in claim 1 is characterized in that: the outer seal protection film that is provided with of described Research of Intravascular Catheterization sense of touch probe.
3. Research of Intravascular Catheterization sense of touch as claimed in claim 1 is popped one's head in, and it is characterized in that: described female pipe is insulant.
4. Research of Intravascular Catheterization sense of touch probe as claimed in claim 1 is characterized in that: described the first electrode and the second electrode surface plating low resistivity metal.
5. Research of Intravascular Catheterization sense of touch as claimed in claim 1 is popped one's head in, and it is characterized in that: described the first electrode is spring, and described spring is arranged on the spring base, and described spring base links to each other with a described elasticity of touching.
6. Research of Intravascular Catheterization sense of touch as claimed in claim 5 is popped one's head in, and it is characterized in that: described spring base links to each other with a described elasticity of touching by an elastomer, and described elastomer is arranged on the opening part of female Guan Yiduan.
7. Research of Intravascular Catheterization sense of touch as claimed in claim 6 is popped one's head in, and it is characterized in that: described elastomer is macromolecular material or spring material.
8. Research of Intravascular Catheterization sense of touch as claimed in claim 1 is popped one's head in, and it is characterized in that: described a plurality of the second electrodes are evenly distributed on each place, orientation in female pipe.
9. Research of Intravascular Catheterization sense of touch as claimed in claim 8 probe is characterized in that: described a plurality of the second electrodes comprise the side-wall electrode array that is arranged on female inside pipe wall and are arranged on bottom electrode in female pipe over against touching head.
10. Research of Intravascular Catheterization sense of touch probe as claimed in claim 9 is characterized in that: be provided with insulating barrier between described side-wall electrode array and the bottom electrode.
11. Research of Intravascular Catheterization sense of touch probe as claimed in claim 9 is characterized in that: described side-wall electrode array is that petal-shaped is arranged.
12. Research of Intravascular Catheterization sense of touch as claimed in claim 9 probe is characterized in that: described side-wall electrode array comprises and is no less than four side-wall electrodes.
13. Research of Intravascular Catheterization sense of touch probe as claimed in claim 9, it is characterized in that: described bottom electrode is a disk.
14. Research of Intravascular Catheterization sense of touch probe as claimed in claim 1 is characterized in that, the described head that touches is the disk umbrella foremost.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110308673.XA CN103041495B (en) | 2011-10-12 | 2011-10-12 | Endovascular interventional catheter tactile probe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110308673.XA CN103041495B (en) | 2011-10-12 | 2011-10-12 | Endovascular interventional catheter tactile probe |
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| CN103041495A true CN103041495A (en) | 2013-04-17 |
| CN103041495B CN103041495B (en) | 2014-07-23 |
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| CN201110308673.XA Active CN103041495B (en) | 2011-10-12 | 2011-10-12 | Endovascular interventional catheter tactile probe |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103877664A (en) * | 2014-03-28 | 2014-06-25 | 上海凯旦医疗科技有限公司 | Endovascular intervention touch probe with touch force range and azimuth information feedback |
| CN104783909A (en) * | 2015-04-01 | 2015-07-22 | 南京医科大学第一附属医院 | PICCO temperature sensor cavity protective cap |
| CN108441626A (en) * | 2018-06-06 | 2018-08-24 | 江苏省特种设备安全监督检验研究院 | A kind of low energy consumption ultrasonic implement treatment impact head |
| CN112546403A (en) * | 2020-12-30 | 2021-03-26 | 山东大学齐鲁医院 | Stomach tube with core temperature detects and prevents palirrhea effect of esophagus |
| CN115300749A (en) * | 2022-07-20 | 2022-11-08 | 同济大学 | Force feedback system, control method and control terminal of intelligent PCI (peripheral component interconnect) surgical catheter |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103877664A (en) * | 2014-03-28 | 2014-06-25 | 上海凯旦医疗科技有限公司 | Endovascular intervention touch probe with touch force range and azimuth information feedback |
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| JP2017510392A (en) * | 2014-03-28 | 2017-04-13 | シャンハイ カデンツァ メディカル テクノロジー シーオー．， エルティーディー．Ｓｈａｎｇｈａｉ Ｃａｄｅｎｚａ Ｍｅｄｉｃａｌ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．， Ｌｔｄ． | Intravascular interventional tactile probe that feeds back information on range and direction of contact force |
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| CN104783909A (en) * | 2015-04-01 | 2015-07-22 | 南京医科大学第一附属医院 | PICCO temperature sensor cavity protective cap |
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| CN108441626A (en) * | 2018-06-06 | 2018-08-24 | 江苏省特种设备安全监督检验研究院 | A kind of low energy consumption ultrasonic implement treatment impact head |
| CN108441626B (en) * | 2018-06-06 | 2023-11-28 | 江苏省特种设备安全监督检验研究院 | Impact head for low-energy ultrasonic impact treatment |
| CN112546403A (en) * | 2020-12-30 | 2021-03-26 | 山东大学齐鲁医院 | Stomach tube with core temperature detects and prevents palirrhea effect of esophagus |
| CN115300749A (en) * | 2022-07-20 | 2022-11-08 | 同济大学 | Force feedback system, control method and control terminal of intelligent PCI (peripheral component interconnect) surgical catheter |
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| CN103041495B (en) | 2014-07-23 |
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