CN104771226A

CN104771226A - Interventional device for mini-invasive surgical treatment of cerebral hemorrhage

Info

Publication number: CN104771226A
Application number: CN201410014378.7A
Authority: CN
Inventors: 张帆
Original assignee: Shanghai University of Engineering Science
Current assignee: Shanghai University of Engineering Science
Priority date: 2014-01-13
Filing date: 2014-01-13
Publication date: 2015-07-15
Anticipated expiration: 2034-01-13
Also published as: CN104771226B

Abstract

An interventional device for mini-invasive surgical treatment of cerebral hemorrhage comprises at least two serially connected interventional units, wherein each interventional unit comprises a near-end annular body and a far-end annular body between which at least two elastic smooth connection pieces are connected; at least two traction wires penetrate the near-end annular body, the at least two elastic smooth connection pieces and the far-end annular body and are fixed on the far-end annular body; and a channel allowing surgical instruments to penetrate is formed in the hollow part of each interventional unit. As the technical scheme is adopted, axial bending and rigidity adjustment can be independently carried out and four working modes can be provided. Besides, axial bending in all directions can be realized.

Description

For the intervention apparatus of cerebral hemorrhage minimum traumatic treatment

Technical field

The present invention relates to medical apparatus and instruments, particularly a kind of intervention apparatus for cerebral hemorrhage minimum traumatic treatment.

Background technology

Spontaneous cerebral hemorrhage is hypertension, a kind of common serious cerebral complication of cerebral arteriosclerosis patient.It is occurred frequently gradually with clinical diseases such as hypertension, diabetes, hyperlipidemia.Its onset is hurried, the state of an illness is dangerous, mortality rate is very high, annual because the patient of death from cerebral hemorrhage accounts for about 20% of whole disease death; And its sequela comprises the neural infringements such as disturbance of consciousness, hemiplegia of limb, aphasia, be that China's person in middle and old age's population is lethal, one of the principal disease that disables.

In cerebral hemorrhage treatment, have employed multiple Minimally Invasive Surgery method at present, as Key-hole approach, CT guides hematoma suction etc., and that the mortality rate of Patients with Cerebral Hemorrhage and disability rate is performed the operation from traditional craniotomy 25.4% is reduced to 17.6% (document 1).And soft nerve endoscope is the soft mis instruments of representative, there is soft, very thin, macrobending angle, initiatively dodge the feature of blood vessel, reduce further neurovascular damage, and bilateral tricorn and the ventriculus tertius all positions even in ventriculus quartus can be reached, expand and detect scope in ventricles of the brain brain pond.The once success of 62 examples reported by document 2, and about latter two month of art, brain structure recovers normal substantially, early stage 1 routine hematoma recurrence, surgical healing again.Chronic subdural hematoma is rinsed 63 examples in cleaning art and is occurred without dead and other complication.But it is more difficult to control soft nerve endoscope direction ratio, cause the drawback easily causing brain tissue impairment in mobile scope process, need the direction controllability improving cerebral hemorrhage minimum traumatic surgical operating instrument further, and effectively increase the working chamber of operating theater instruments, hold more apparatus to complete operation technique.

During Hansen Medical Inc. applies for a patent (Instrument driver having independently rotatablecarriages application number: US2008/0262513A1), there is axial bending and stiffness equivalent can not decoupling zero.

Except above-mentioned Minimally Invasive Surgery method, document [3-5] reports stereotactic surgical robot system.These early stage systems adopt straight track to insert a needle in the specific hematoma of brain under vision guide.Document [6-7] describes and adopts movement locus flexibly to arrive at the pin lancing system of hematoma in wound.But the integration problem due to maximum deflection radius and intervention tool makes cone turn to be difficult to be applied to removing cerebral hemorrhage.Adopt the intervention device of the principle of robot at cerebral hemorrhage by introducing in the document [8] first as entrance opening dimension by endoscope.For the hematoma in compacting brain.This research shows when artificial removal's hematoma is very fast, and the robot injury of hematoma clearance method to surrouding brain tissue is less.And in above-mentioned research, although adopt curved passage to instead of the straight channel of transmission, effectively can reduce the damage to important nerve, blood vessel, but still belong to rigid Minimally Invasive Surgery apparatus, although operation technique precision is higher, it can detect scope, it is obviously not enough initiatively to dodge the more soft apparatus of the key performances such as blood vessel.

In sum, cerebral hemorrhage minimum traumatic apparatus is urgently developed one and is had and can detect scope more greatly, initiatively can dodge blood vessel, can have better performance accuracy again in operation technique, be easy to controlling party to surgical instrument.

List of references:

[1] Zhao Ji ancestor Zhou Dingbiao week is good auxiliary etc., 2464 the 32nd phases of the blind research of routine hypertension cerebral hemorrhage with surgical treatment multicenter list " Chinese Medical Journal " 2005,2238-2242

[2] the flat Liu Haisheng of Chen Guoqiang Zheng Jia etc., the application of soft nerve endoscope in neurosurgery, " Chinese neurosurgery magazine " 2007 year the 3rd phase, 169-171

[3]D.F.Louw，T.Fielding，P.B.McBeth，D.Gregoris，P.Newhook，and G.R.Sutherland，“Surgical robotics：A review and neurosurgical prototype development,”Neurosurg.，vol.54，no.3，pp.525-536，2004.

[4]R.Taylor，“A perspective on medical robotics,”Proc.IEEE，vol.94，no.9，pp.1652-1664.Sep.2006.

[5]G.Dogangil，B.L.Davies，and F.Rodriguez y Baena，“A reviewof medicalrobotics forminimally invasive soft tissue surgery,”Proc.Inst.Mech.Eng.Part H：J.Eng.Med.，vol.224，no.5，pp.653-679，2010.

[6]J.A.Engh，G.Podnar，D.Kondziolka，and C.N.Riviere，“Toward effective needlesteering in brain tissue,”in Proc.Int.Conf.IEEE Eng.Med.Biol.Soc.，Aug.／Sep.2006，vol.1，pp.559-562.

[7]R.J.Webster III，J.S.Kim，N.J.Cowan，G.S.Chirikjian，and A.M.Okamura，“Nonholonomic modeling of needle steering,”Int.J.Robot.Res.，vol.25，no.5-6，pp.509-526，2006.

[8]T.M.Goradia，R.H.Taylor，and L.M.Auer，“Robot-assisted minimally invasiveneurosurgical procedures：First experimental experience,”in First Joint Conf.Vision，Virtual Reality.Robotics Med.Med.Robot.Comput.-Assisted Surgery，1997，pp.319-322。

Summary of the invention

Object of the present invention, exactly in order to solve the problem, provides a kind of intervention apparatus for cerebral hemorrhage minimum traumatic treatment.

In order to achieve the above object, present invention employs following technical scheme: a kind of intervention apparatus for cerebral hemorrhage minimum traumatic treatment, comprise the intervention unit of at least two series windings, each intervention unit respectively comprises proximal loop body and distal loop body, at least two elastic compliant connectors are connected with between proximal loop body and distal loop body, at least two traction fibers respectively proximally annular solid, at least two elastic compliant connectors and distal loop body pass and be fixed on distal loop physically, the hollow space of each intervention unit forms the passage be used for through operating theater instruments.

Described proximal loop body, elastic compliant connector and distal loop body are the integral structure components processed by a cylindrical shell.

Described intervention unit is metalwork or working of plastics.

Described intervention unit is 2-10, and a traction fiber getting involved unit far away passes from the proximal loop body of other nearer intervention unit and distal loop body respectively.

By buckle connected mode or the detachable mechanical connection of thread connecting mode between described intervention unit.

Intervention apparatus for cerebral hemorrhage minimum traumatic treatment of the present invention is owing to have employed above technical scheme, its axial bending and stiffness equivalent can independently carry out, form four kinds of mode of operations (as shown in table 1) respectively, and the axial bending of 360 ° of any directions can be realized.

Table 1

	Axial bending	Axially do not bend
			Rigidity increases	Mode of operation 1.	Mode of operation 2.
Rigidity reduces	Mode of operation 3.	Mode of operation 4.

Accompanying drawing explanation

Fig. 1 is the structural representation of one embodiment of the invention;

Fig. 2 is the structural representation that in the present invention, distalmost end first gets involved unit main body;

Fig. 3 is second agent structure schematic diagram getting involved unit.

Detailed description of the invention

Fig. 1, Fig. 2, Fig. 3 is an embodiment of the intervention apparatus for cerebral hemorrhage minimum traumatic treatment of the present invention, in the present embodiment, this intervention apparatus comprises the intervention unit of two series windings, each intervention unit respectively comprises proximal loop body 1 and distal loop body 2, three elastic compliant connectors 31 are connected with between proximal loop body and distal loop body, 32, 33, three traction fiber 4 difference proximally annular solid, three elastic compliant connectors and distal loop body pass and are fixed on distal loop physically, the hollow space of each intervention unit forms the passage 5 be used for through operating theater instruments.

Proximal loop body in the present invention, elastic compliant connector and distal loop body are the integral structure components processed by a cylindrical shell.

Intervention unit in the present invention is metalwork or working of plastics.

Intervention unit in the present invention can be that 2-10 is individual even more, and three traction fibers getting involved unit far away pass from the proximal loop body of other nearer intervention unit and distal loop body respectively.

Connected mode between intervention unit in the present invention can be buckle connected mode or thread connecting mode, and adopts detachable mechanical connection, can connect into the use length of needs according to actual conditions.

Operation principle of the present invention is, under the effect of traction fiber 4, three elastic compliant connectors 31,32,33 are compressed or are released, thus changes the integral rigidity of intervention apparatus.When entering brain, reduce the rigidity of intervention apparatus, make it have good flexibility, initiatively can dodge comparatively trunk and nerve, when arriving at cerebral hemorrhage region, improving the rigidity of robot, manipulation robot can realize operation technique exactly.

Claims

1. the intervention apparatus for cerebral hemorrhage minimum traumatic treatment, it is characterized in that: the intervention unit comprising at least two series windings, each intervention unit respectively comprises proximal loop body and distal loop body, at least two elastic compliant connectors are connected with between proximal loop body and distal loop body, at least two traction fibers respectively proximally annular solid, at least two elastic compliant connectors and distal loop body pass and be fixed on distal loop physically, the hollow space of each intervention unit forms the passage be used for through operating theater instruments.

2. the intervention apparatus for cerebral hemorrhage minimum traumatic treatment according to claim 1, is characterized in that: described proximal loop body, elastic compliant connector and distal loop body are the integral structure components processed by a cylindrical shell.

3. the intervention apparatus for cerebral hemorrhage minimum traumatic treatment according to claim 1, is characterized in that: described intervention unit is metalwork or working of plastics.

4. the intervention apparatus for cerebral hemorrhage minimum traumatic treatment according to claim 1, it is characterized in that: described intervention unit is 2-10, a traction fiber getting involved unit far away passes from the proximal loop body of other nearer intervention unit and distal loop body respectively.

5. the intervention apparatus for cerebral hemorrhage minimum traumatic treatment according to claim 1, is characterized in that: by buckle connected mode or the detachable mechanical connection of thread connecting mode between described intervention unit.