CN108066881B

CN108066881B - Vessel intervention catheter, device, contact force detection method and detection device

Info

Publication number: CN108066881B
Application number: CN201810087573.0A
Authority: CN
Inventors: 左思洋; 何城彬; 王树新
Original assignee: Tianjin University
Current assignee: Tianjin University
Priority date: 2018-01-29
Filing date: 2018-01-29
Publication date: 2021-01-29
Anticipated expiration: 2038-01-29
Also published as: CN108066881A

Abstract

The present disclosure provides a vascular intervention catheter, device, contact force detection method and detection device, comprising: a phase change material conduit having a stiffness that changes in response to temperature changes, comprising: the stress induction section is arranged at the top end of the phase change material catheter, intervenes in a blood vessel and is used for acquiring the contact force between the phase change material catheter and the blood vessel wall; and the rigidity adjusting section is connected with the stress induction section and is used for adjusting the rigidity of the phase-change material conduit. The vessel intervention catheter, the vessel intervention device, the contact force detection method and the vessel intervention detection device provided by the disclosure can monitor the contact force of the vessel wall by arranging the stress induction section, and can adjust the rigidity of the vessel intervention catheter by arranging the rigidity adjustment section, so that the safety of the intervention process is improved.

Description

Vessel intervention catheter, device, contact force detection method and detection device

Technical Field

The present disclosure relates to the field of vascular intervention surgery, and in particular, to a vascular intervention catheter, a vascular intervention device, a contact force detection method, and a vascular intervention device.

Background

In China, cardiovascular and cerebrovascular disease death accounts for the first cause of death of urban and rural residents, and minimally invasive vascular interventional surgery (endo vascular interventional surgery) is used as a substitute for traditional thoracotomy, and has been widely applied to clinical treatment of cardiovascular diseases due to the advantages of small wound, good effect and quick recovery. The traditional vascular interventional operation is a process that a doctor holds a specially-made catheter guide wire, and under the assistance of real-time images, the catheter and the guide wire are conveyed into a blood vessel from a puncture part and are continuously conveyed to a target blood vessel for corresponding treatment. In conventional manual intervention, the doctor has to endure a large dose of radiation due to the drawbacks of medical imaging techniques, and the doctor's health is seriously affected. Meanwhile, because doctors lack of perception of the stress condition of the catheter and the used interventional catheter has higher rigidity, accidents are easy to happen in the operation process, and complications such as thrombus, perforation and the like are easy to cause.

In order to reduce the burden of doctors and improve the efficiency and safety of vascular interventional procedures, a method of performing an interventional procedure with the assistance of a vascular interventional machine is becoming a research hotspot in the industry. The vascular intervention machine system has the advantages of accurate movement, high repeated positioning precision, remote control and the like, thoroughly frees a doctor from a radiation environment, and eliminates the danger caused by physiological tremor in the manual operation process.

In carrying out the present disclosure, however, the applicant has found that the method of using machine-assisted intervention also presents some problems: firstly, most commercial products of the current vascular interventional robots have the defects of large size, long installation preparation time, lack of strength perception and the like, and limit the further popularization of the robot-assisted vascular interventional surgery; secondly, the traditional force sensor is large in size, needs corresponding accessories such as a lead and the like, and is not suitable for force sensing of the vascular interventional operation; in addition, due to the particularity of the working environment of the interventional catheter, the catheter with high rigidity brings safety hazards.

Disclosure of Invention

Technical problem to be solved

Based on the technical problems, the present disclosure provides a vessel intervention catheter, a device, a contact force detection method and a detection device, so as to alleviate the technical problems that in the prior art, the method of adopting a machine-assisted intervention operation cannot measure the contact force between the intervention catheter and the vessel wall, the intervention catheter has high rigidity, and potential safety hazards are easily generated.

(II) technical scheme

According to an aspect of the present disclosure, there is provided a vascular interventional catheter comprising: a phase change material conduit having a stiffness that changes in response to temperature changes, comprising: the stress induction section is arranged at the top end of the phase change material catheter, intervenes in a blood vessel and is used for acquiring the contact force between the phase change material catheter and the blood vessel wall; and the rigidity adjusting section is connected with the stress induction section and is used for adjusting the rigidity of the phase-change material conduit.

In some embodiments of the present disclosure, the stress-inducing segment comprises: a phase change material conduit body providing structural support for the stress-inducing section; and the optical fiber is attached to the outer side of the phase-change material catheter body along the radial direction of the phase-change material catheter body, is used for receiving and reflecting optical signals, and comprises: the grating section is arranged at the end part of the optical fiber, the center wavelength of the grating section changes along with the deformation of the grating section, and the grating section is used for receiving optical signals and reflecting the optical signals which change along with the deformation of the grating section; the optical fibers comprise four optical fibers which are uniformly arranged along the circumferential direction of the phase-change material conduit body.

In some embodiments of the present disclosure, the phase change material conduit body has an outer diameter of between 1.5mm and 3mm and an inner diameter of between 0.2mm and 1.5 mm; the diameter of the optical fiber is between 80 and 200 μm; the length of the grating segment is between 3mm and 18 mm.

In some embodiments of the present disclosure, the stiffness adjusting section includes: the phase-change material conduit body is connected and not communicated with the stress induction section and is used for introducing a cooling medium, wherein: the phase-change material conduit body is provided with a cooling medium outlet for enabling a cooling medium to flow out of the phase-change material conduit body; the reflux sleeve is wrapped on the outer side of the phase change material conduit body to form a cooling medium reflux cavity; the return pipe is communicated with the cooling medium return cavity and is used for leading out and returning the cooling medium; wherein the cooling medium contains pure medical water.

In some embodiments of the present disclosure, the phase change material conduit body is made of a phase change material, the stiffness of which decreases with increasing temperature; wherein the glass transition temperature of the phase change material is between 35 ℃ and 45 ℃.

In some embodiments of the present disclosure, the phase change material comprises: a polyurethane.

According to another aspect of the present disclosure, there is also provided a vascular access device including: fixing the clamping device; the moving clamping device is arranged opposite to the fixed clamping device; the rotating device is connected with the moving clamping device and drives the moving clamping device to rotate; the linear motion device is connected with the rotating device and drives the motion clamping device to reciprocate along the connecting line of the motion clamping device and the fixed clamping device; the vessel intervention catheter provided by the disclosure sequentially passes through the fixed clamping device and the moving clamping device, is alternately clamped by the fixed clamping device and the moving clamping device, and is driven by the rotating device and the linear moving device to intervene in a vessel.

In some embodiments of the present disclosure, the fixed clamp device and the moving clamp device each comprise: an electromagnet for attracting the metal platen; the metal pressure plate is arranged opposite to the electromagnet and used for attracting the electromagnet and clamping the blood vessel interventional catheter; the spring is respectively connected with the electromagnet and the metal pressure plate and is used for assisting the metal pressure plate to reset after the electromagnet is powered off; when the metal pressure plate and the electromagnet are attracted, a gap which is not larger than the diameter of the blood vessel interventional catheter is reserved between the metal pressure plate and the electromagnet.

In some embodiments of the present disclosure, the rotating device comprises: a rotating electric machine; the speed reducer is connected with the rotating motor and used for transmitting the torque of the rotating motor and outputting a set rotating speed; and the gear plate is meshed with the power output end of the speed reducer, is connected with the motion clamping device and comprises: the center hole is arranged in the circle center of the gear disc and is used for the blood vessel interventional catheter to pass through; and the eccentric hole is arranged on the gear disc and is used for being connected with the motion clamping device.

In some embodiments of the present disclosure, the vascular access device further comprises: the connecting bracket is used for connecting the rotating device and the linear motion device; wherein the rotating electric machine and the speed reducer are embedded in the connecting bracket.

In some embodiments of the present disclosure, the linear motion device comprises: and the linear motor is connected with the connecting bracket and is used for driving the motion clamping device and the rotating device to do linear motion.

In some embodiments of the present disclosure, further comprising: power supply slip ring, with the toothed disc coaxial coupling includes: the rotating end is coaxially connected with the gear disc and synchronously rotates and is used for supplying power to the electromagnet of the motion clamping device; the fixed end is coaxially connected with the rotating end and fixedly connected with the connecting bracket; the rotating end and the fixing end are both provided with through holes for the blood vessel interventional catheter or the electromagnet lead to pass through, and the through holes and the central hole are coaxially arranged.

According to another aspect of the present disclosure, there is also provided a contact force detection method, including: step A: respectively detecting the central wavelength of the optical fiber section of each optical fiber in the vessel interventional catheter provided by the present disclosure in an unloaded state; and B: correcting the manufacturing errors and the property difference of the pasting surface of the other three optical fibers by taking one of the optical fibers as a reference; and C: applying a radial load to the stress induction section, and calibrating the relation between the radial load and the variation of the central wavelength after completing temperature compensation to obtain a relational expression between the variation of the central wavelength and the radial load; step D: inserting the vascular access catheter into a blood vessel using the vascular access device of any of claims 7-12; and step E: and measuring the central wavelength of the grating section, and obtaining the contact force between the vascular interventional catheter and the vascular wall according to a relational expression of the central wavelength variation and the radial load.

In some embodiments of the present disclosure, the step B comprises: step B1: applying a load with constant magnitude and variable direction to the stress induction section; step B2: obtaining the relation of the variation of the central wavelength of the grating segments in the four optical fibers along the load direction; step B2: and taking one optical fiber as a reference, and performing fitting correction on the results of the other three optical fibers by using the following formula:

Δλ＝Acos(aθ-ψ)+B

wherein, Delta lambda is the measured wavelength variation, theta is the included angle of the load and the initial position, and A, a, B and psi are parameters of the fitting curve.

In some embodiments of the disclosure, wherein: in the step C, compensating the temperature load includes: subtracting the loads borne by the two oppositely arranged optical fibers; in the step C, the radial load is decomposed into components in two mutually perpendicular directions, which are consistent with the arrangement direction of the four optical fibers, so as to obtain a relational expression between the central wavelength variation and the two components of the radial load; and E, obtaining the radial loads in two mutually perpendicular directions according to a relation between the central wavelength variation and the radial loads, and obtaining the contact force between the blood vessel intervention catheter and the blood vessel wall according to a parallelogram rule.

According to another aspect of the present disclosure, there is also provided a detection apparatus including: the vascular intervention device provided by the present disclosure is used for interventional the vascular intervention catheter provided by the present disclosure; the vessel interventional catheter sequentially penetrates through the fixed clamping device and the moving clamping device, is involved in a vessel, and is used for receiving and reflecting optical signals; the fiber grating demodulator is connected with the optical fiber and used for transmitting optical signals to the optical fiber and demodulating the reflected optical signals into digital signals; and the data processing device is connected with the fiber grating demodulator, is used for receiving the digital signal sent by the fiber grating demodulator, and performs the following operations: respectively detecting the central wavelength of the optical fiber section of each optical fiber in the vascular interventional catheter in an unloaded state; correcting the other three optical fibers by taking one of the optical fibers as a reference; applying a radial load to the stress induction section, compensating the temperature load, and calibrating the relation between the radial load and the variation of the central wavelength to obtain a relation between the variation of the central wavelength and the radial load; introducing the vascular intervention catheter into a blood vessel using the vascular intervention device; and measuring the central wavelength of the grating section, and obtaining the contact force between the vascular interventional catheter and the vascular wall according to a relational expression of the central wavelength variation and the radial load.

(III) advantageous effects

As can be seen from the above technical solutions, the vessel intervention catheter, the device, the contact force detection method and the detection device provided by the present disclosure have one or some of the following beneficial effects:

(1) by arranging the stress induction section, the contact force of the vessel wall can be monitored, and the safety of the intervention process is improved;

(2) the optical fibers are uniformly arranged along the circumferential direction of the phase-change material catheter body, so that the influence of temperature on the result of the measured contact force can be eliminated, and the precision of the measured result is improved;

(3) the optical fiber and the optical grating have small sizes and are easy to install;

(4) the rigidity of the vessel interventional catheter can be realized by controlling the temperature of the cooling medium, the temperature control structure and the mode are harmless to the human body, and the medical compatibility is good;

(5) in the intervention process, when the vessel intervention catheter encounters an obstacle, a cooling medium is injected into the medium backflow cavity, so that the rigidity of the rigidity adjusting section is increased, force and torque can be transmitted more effectively, excessive bending of the catheter is reduced, and the efficiency of the intervention process is improved;

(6) in the intervention process, the glass transition temperature of the phase-change material is close to the body temperature of a human body, and no stress induction section through which a cooling medium flows, namely the temperature of the arrangement position of the grating section, is basically constant, so that the stress induction section is always in a soft state and is not easy to damage the vascular wall;

(7) the vascular intervention equipment provided by the disclosure has the advantages of compact structure, fewer parts, small volume and easy disassembly, assembly and disinfection;

(8) the motion clamping device moves accurately by arranging the rotary motor and the linear motor;

(9) the rotating end of the conductive slip ring supplies power to the electromagnet, so that the electromagnet lead and the blood vessel interventional catheter both pass through the through hole, and the probability of mutual winding of the blood vessel interventional catheter and the electromagnet lead is reduced in the process that the rotating device drives the blood vessel interventional catheter to rotate;

(10) the contact force of the blood vessel wall can be obtained only through the optical fiber array, the fiber bragg grating demodulator and the data processing device, other peripheral auxiliary equipment is not needed, electromagnetic interference is avoided, the medical compatibility is good, and no radioactive ray exists.

Drawings

Fig. 1 is a schematic perspective view of a stress-inducing section in a vessel interventional catheter provided by the present disclosure.

Fig. 2 is a front view schematic diagram of a stress-inducing section in a vascular interventional catheter provided by the present disclosure.

Fig. 3 is a schematic structural diagram of a stiffness adjusting section in a vascular interventional catheter provided by the present disclosure.

Fig. 4a is a schematic view of a flexibility test experiment of a phase-change material catheter body provided by the present disclosure at different temperatures.

Fig. 4b is a graph of experimental results of deflection testing of a phase change material conduit body provided by the present disclosure at different temperatures.

Fig. 5 is a schematic diagram illustrating the experimental results of the contact force of the interventional catheter in the rigid and flexible state.

Fig. 6 is a schematic perspective view of a vascular access device provided by the present disclosure.

Fig. 7a is a front view schematically illustrating a fixing and clamping device in the vascular access device provided by the present disclosure.

Fig. 7b is a schematic perspective view of a fixing and clamping device in a vascular access device provided by the present disclosure.

Fig. 8 is a schematic structural diagram of a rotating device in a vascular access device provided by the present disclosure.

Fig. 9a is a schematic structural diagram of a moving end in a vascular access device provided by the present disclosure.

Fig. 9b is a schematic structural diagram of another angle of the motion end in the vascular access device provided by the present disclosure.

Fig. 10 is a schematic structural diagram of a linear motor in a vascular access device provided by the present disclosure.

Fig. 11 is a schematic step diagram of a contact force detection method provided by the present disclosure.

Fig. 12 is a graph showing the relationship between the rotation angle and the central wavelength variation of four optical fibers in step B of the contact force detection method provided by the present disclosure.

Fig. 13 is a graph showing the relationship between the central wavelength variation and the components of the radial load in the X direction and the Y direction in the contact force detection method provided by the present disclosure.

[ description of main reference numerals in the drawings ] of the embodiments of the present disclosure

1-a vascular interventional catheter; 10-a stress induction section; 20-a stiffness adjustment section;

30-fixing the clamping device; 40-moving the clamping device; 50-a rotating device;

60-a linear motion device; 70-connecting the bracket; 80-power supply slip ring;

11-phase change material conduit body (stress-inducing section); 12-an optical fiber;

21-phase change material conduit body (stiffness adjusting section); 22-a reflux sleeve;

23-a return pipe; 31-an electromagnet; 32-a metal platen;

33-a spring; 34-a gap; 51-a rotating electrical machine;

52-a speed reducer; 53-gear disc; 61-a linear motor;

81-rotating end; 82-a fixed end;

121-a grating segment; 211-outlet for cooling medium;

221-media recirculation chamber; 222-a seal;

531-center hole; 532-eccentric hole.

Detailed Description

In this disclosure, the rigidity of vessel intervention pipe can be realized through the mode of control cooling medium temperature, and accuse temperature structure and mode are harmless to the human body, and medical compatibility is good, intervenes the in-process, because phase change material's vitrification temperature is close with human body temperature, does not have the stress induction section that cooling medium flowed through, and the temperature that the department was arranged to the grating is invariable basically promptly, consequently the stress induction section is in the soft condition all the time, is difficult to cause the injury to the vascular wall.

For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.

Fig. 1 is a schematic perspective view of a stress-inducing section in a vessel interventional catheter provided by the present disclosure. Fig. 2 is a front view schematic diagram of a stress-inducing section in a vascular interventional catheter provided by the present disclosure. Fig. 3 is a schematic structural diagram of a stiffness adjusting section in a vascular interventional catheter provided by the present disclosure.

In an exemplary embodiment of the present disclosure, there is provided a vascular interventional catheter, as shown in fig. 1-3, including: a phase change material conduit having a stiffness that changes in response to temperature changes, comprising: the stress induction section 10 is arranged at the top end of the phase change material catheter, is inserted into a blood vessel and is used for acquiring the contact force between the phase change material catheter and the blood vessel wall; and a rigidity adjusting section 20 connected to the stress inducing section 10 for adjusting the rigidity of the phase change material conduit.

The magnitude of the contact force between the vessel intervention catheter and the vessel wall can be obtained in real time by arranging the stress induction section 10, so that the monitoring of medical personnel is facilitated, and the safety of the intervention process is improved; meanwhile, the rigidity of the phase-change material conduit is adjusted through the rigidity adjusting section 20, and the intervention efficiency is improved.

In the present disclosure, as shown in fig. 1-2, the stress-inducing segment 10 includes: a phase change material conduit body 11 providing structural support for the stress-inducing section 10; and an optical fiber 12 attached to the outside of the phase change material catheter body 11 in the radial direction of the phase change material catheter body 11, for receiving and reflecting an optical signal, including: a grating segment 121 disposed at an end of the optical fiber 12, having a center wavelength varying with the deformation thereof, for receiving an optical signal and reflecting the optical signal varying with the deformation thereof; the optical fibers 12 include four optical fibers 12, and the four optical fibers 12 are uniformly arranged along the circumferential direction of the phase-change material catheter body 11.

For the grating segment 121, the variation of the center wavelength thereof and the strain satisfy the following relation:

Δλ＝k_εε+k_ΔTΔT (1)

wherein Δ λ represents the variation of the central wavelength of the reflected light peak of the grating segment 121 under a load, ε represents the local strain at the attachment of the grating segment 121, Δ T represents the temperature variation, k represents the temperature variation_εAnd k_ΔTThe four optical fibers 12 are uniformly arranged along the circumferential direction of the phase change material conduit body 11, as shown in fig. 2, the radial stress applied to the stress induction section 10 is decomposed into two components (i.e. the X direction and the Y direction in fig. 2) which are perpendicular to each other, because one of the two optical fibers 12 which are oppositely arranged is under tensile stress and the other one is under compressive stress, the wavelength variation measured at the optical fiber No.1 and the wavelength variation measured at the optical fiber No.3 are subtracted from each other, and the wavelength variation measured at the optical fiber No.2 and the wavelength variation measured at the optical fiber No.4 are subtracted from each other, so that strain values after temperature strain in the Y direction and the X direction is eliminated can be obtained, therefore, by uniformly arranging the optical fibers 12 along the circumferential direction of the phase change material conduit body 11, the influence of temperature on the result of the measured contact force can be eliminated, and the precision.

In the present disclosure, the phase change material conduit body 11 has an outer diameter of between 1.5mm and 3mm and an inner diameter of between 0.2mm and 1.5 mm; the diameter of the optical fiber 12 is between 80 μm and 200 μm; the length of the grating section 121 is between 3mm and 18mm, and the optical fiber 12 and the grating 121 are small in size and easy to install.

In the present disclosure, as shown in fig. 3, the rigidity adjusting section 20 includes: the phase-change material conduit body 21 is connected and not communicated with the stress induction section 10 and is used for introducing a cooling medium, wherein: the phase-change material conduit body 21 is provided with a cooling medium outlet 211 for allowing a cooling medium to flow out of the phase-change material conduit body 21; the reflux sleeve 22 is wrapped on the outer side of the phase change material conduit body 21 and forms a cooling medium reflux cavity 221 by arranging a sealing piece 222; and a return pipe 23 communicating with the cooling medium return chamber 221 for leading out and returning the cooling medium; wherein, the cooling medium contains medical pure water, the rigidity that pipe 1 was intervene to the blood vessel can be realized through the mode of control cooling medium temperature, accuse temperature structure and mode are harmless to the human body, medical compatibility is good, intervene the in-process, when pipe 1 is intervene to the blood vessel meets the obstacle, inject cooling medium into medium backward flow chamber 221 through phase change material pipe body 21 for rigidity of rigidity regulation section 20 increases, can more effectively transmit power and moment of torsion, reduce the excessive bending that pipe 1 was intervene to the blood vessel, improve the efficiency of intervene the process.

Fig. 4a is a schematic view of a flexibility test experiment of a phase-change material catheter body provided by the present disclosure at different temperatures. Fig. 4b is a graph of experimental results of deflection testing of a phase change material conduit body provided by the present disclosure at different temperatures. As shown in fig. 4a and 4b, the span between the two fixed fulcrums was 50mm during the experiment, and the rigidity of the phase-change material catheter body 11(21) was significantly improved in the rigid state.

Fig. 5 is a schematic diagram illustrating the experimental results of the contact force of the interventional catheter in the rigid and flexible state. As shown in fig. 5, in the experiment, the blood vessel interventional catheter respectively intervenes a blood vessel model of a human body in a rigid and flexible state, and the catheter which is introduced with a cooling medium and reaches the rigid state after being cooled can complete intervention operation more quickly.

In the present disclosure, the phase change material conduit body 11(21) is made of a phase change material, the stiffness of which decreases with increasing temperature; the glass transition temperature of the phase-change material is between 35 ℃ and 45 ℃, and in the intervention process, as the glass transition temperature of the phase-change material is close to the body temperature of a human body, the stress induction section 10 through which a cooling medium flows does not exist, namely the temperature of the arrangement position of the grating section 121 is basically constant, so that the stress induction section 10 is always in a soft state and is not easy to cause injury to the vessel wall.

In the present disclosure, a phase change material includes: a polyurethane.

In another exemplary embodiment of the present disclosure, there is also provided a vascular access device, as shown in fig. 6, including: a fixed clamping device 30; a moving clamp 40 disposed opposite to the fixed clamp 30; the rotating device 50 is connected with the moving clamping device 40 and drives the moving clamping device 40 to rotate; and a linear motion device 60 connected with the rotation device 50 for driving the motion clamping device 40 to reciprocate along the connecting line of the motion clamping device and the fixed clamping device 30; the vessel intervention catheter 1 sequentially passes through the fixed clamping device 30 and the moving clamping device 40, the vessel intervention catheter 1 is alternately clamped through the fixed clamping device 30 and the moving clamping device 40, the rotating device 50 and the linear moving device 60 are utilized to drive the vessel intervention catheter 1 to intervene in a vessel, in the process of vessel intervention catheter 1 intervention, when the catheter needs to be conveyed back and forth, the moving clamping device 40 clamps the catheter, the fixed clamping device 30 releases the catheter, the linear moving device 60 drives the rotating device 50 and the moving clamping device 40 to linearly move, when the linear moving device 60 reaches the stroke limit of the linear moving device, the fixed clamping device 30 clamps the catheter, the position of the catheter is locked, and the linear moving device 60 drives the rotating device 50 and the moving clamping device 40 to retreat for a certain distance so as to facilitate next conveying; when the catheter needs to be twisted in the intervention process, the catheter is clamped by the moving clamping device 40, the catheter is loosened by the fixed clamping device 30, the torque is transmitted to the moving clamping device 40 by the rotating device 50, and then the catheter is driven to rotate by the moving clamping device 40.

Fig. 7a is a front view schematically illustrating a fixing and clamping device in the vascular access device provided by the present disclosure. Fig. 7b is a schematic perspective view of a fixing and clamping device in a vascular access device provided by the present disclosure.

In the present disclosure, as shown in fig. 7a and 7b, the fixed clamp 30 and the moving clamp 40 each include: an electromagnet 31 for attracting the metal platen 32; the metal pressure plate 32 is arranged opposite to the electromagnet 31 and is used for attracting the electromagnet 31 and clamping the blood vessel interventional catheter 1; the spring 33 is respectively connected with the electromagnet 31 and the metal pressure plate 32 and is used for assisting the metal pressure plate 32 to reset after the electromagnet 31 is powered off; when the metal pressure plate 32 and the electromagnet 31 are attracted, a gap 34 which is not larger than the diameter of the vessel intervention catheter 1 is reserved between the metal pressure plate and the electromagnet, and the gap 34 is arranged, so that the structure of the vessel intervention catheter 1 can not be damaged under the condition that sufficient clamping force is provided for the vessel intervention catheter 1.

In the present disclosure, the rotating device 50 includes: a rotating electrical machine 51; a speed reducer 52 connected to the rotating electric machine 51, for transmitting the torque of the rotating electric machine 51 and outputting a set rotation speed; and a gear plate 53 engaged with a power output end of the speed reducer 52 and connected with the movement clamping device 40, including: a central hole 531 arranged at the center of the gear disc 53 for the vessel intervention catheter 1 to pass through; and an eccentric hole 532, which is arranged on the gear plate 53 and is used for connecting with the motion clamping device 40, after the motion clamping device 40 is connected with the gear plate 53, when the electromagnet in the motion clamping device 40 is attracted with the metal pressing plate, the vessel intervention catheter 1 is ensured not to be excessively bent.

In the present disclosure, as shown in fig. 9a to 9b, the vascular access device further includes: a connecting bracket 70 for connecting the rotating means 50 and the linear moving means 60; wherein, the rotating electrical machines 51 and the speed reducer 52 are embedded in the connecting support 70, and all the components are connected with each other through the connecting support 70, thereby improving the integration level of the vascular interventional device and reducing the whole volume of the device.

In the present disclosure, as shown in fig. 10, the linear motion device 60 includes: and a linear motor 61 connected to the connecting bracket 70 for driving the moving clamping device 40 and the rotating device 50 to move linearly.

In the present disclosure, as shown in fig. 9a to 9b, further comprising: the power supply slip ring 80, which is coaxially connected with the gear plate 53, includes: a rotating end 81 coaxially connected with the gear disc 53 and synchronously rotating for supplying power to the electromagnet of the moving clamping device 40; and a fixed end 82 coaxially connected with the rotating end 81 and fixedly connected with the connecting bracket 70; wherein, all be provided with the through-hole that is used for blood vessel to intervene pipe 1 or the electro-magnet wire to pass on rotatory end 81 and the stiff end 82, and the through-hole sets up with centre bore 531 is coaxial, supplies power for the electro-magnet through the rotatory end 81 of conducting slip ring 80, makes electro-magnet wire and blood vessel intervene pipe 1 all pass from the through-hole, and in rotary device 50 drove the rotatory in-process of blood vessel intervene pipe 1, has reduced the blood vessel and has intervened pipe 1 and electro-magnet wire intertwine's probability.

In still another exemplary embodiment of the present disclosure, there is provided a contact force detection method, as shown in fig. 11, including: step A: respectively detecting the central wavelength of the optical grating section 121 of each optical fiber 12 in the vessel interventional catheter 1 in an unloaded state; and B: correcting the manufacturing errors and the property difference of the pasting surface of the other three optical fibers 12 by taking one optical fiber 12 as a reference; and C: applying a radial load to the stress induction section 10, and calibrating the relation between the radial load and the variation of the central wavelength after completing temperature compensation to obtain a relational expression between the variation of the central wavelength and the radial load; step D: inserting a vascular intervention catheter 1 into a blood vessel using a vascular intervention device; and step E: and measuring the central wavelength of the grating section 121, and obtaining the contact force between the vascular intervention catheter 1 and the vascular wall according to the relation between the central wavelength variation and the radial load.

In the present disclosure, as shown in fig. 12, step B includes: step B1: applying a load with constant size and variable direction to the stress induction section 10 (in actual operation, the stress induction section 10 can be rotated by different angles respectively and then hung with weights with equal mass); step B2: obtaining the relation of the variation of the central wavelength of the grating segment 121 in the four optical fibers 12 along with the load direction (i.e. the rotation angle of the stress induction segment 10); step B2: with one of the optical fibers 12 as a reference, the results of the remaining three optical fibers 12 are subjected to fitting correction using the following formula:

Δλ＝Acos(aθ-ψ)+B

Because of the manufacturing error of the grating segments 121 in each optical fiber 12 and the different properties of each adhesive surface, different grating segments 121 have different reading results even for the same strain, and therefore the correction formula is adopted for fitting, so that the errors caused by the manufacturing error and the adhesive surface property are eliminated.

In the present disclosure, wherein: in step C, compensating the temperature load comprises: subtracting the loads borne by the two oppositely arranged optical fibers; in step C, the radial load is decomposed into components in two directions perpendicular to each other, the two directions perpendicular to each other are consistent with the arrangement direction of the four optical fibers 12 (i.e., the X direction and the Y direction in fig. 2), and as shown in fig. 13, a relational expression between the central wavelength variation and the two components of the radial load is obtained; in the step E, the radial loads in two mutually perpendicular directions are obtained according to the relation between the central wavelength variation and the radial loads, and the contact force between the vascular intervention catheter 1 and the vascular wall is obtained according to a parallelogram rule.

It should be noted that the relational expression between the central wavelength variation and the two components of the radial load shown in fig. 13 is determined by the properties of the optical fiber and the adhesive surface selected in the present experiment.

The present disclosure also provides a detection apparatus, including: a vascular intervention device for intervention into a vascular intervention catheter 1; the vessel interventional catheter 1 sequentially penetrates through the fixed clamping device 30 and the moving clamping device 40, is involved in a vessel, and is used for receiving and reflecting optical signals; the fiber grating demodulator is connected with the optical fiber 12 and used for transmitting optical signals to the optical fiber 12 and demodulating the reflected optical signals into digital signals; and the data processing device is connected with the fiber grating demodulator, is used for receiving the digital signal sent by the fiber grating demodulator, and performs the following operations:

respectively detecting the central wavelength of the optical grating section 121 of each optical fiber 12 in the vessel interventional catheter 1 in an unloaded state; correcting the manufacturing errors and the adhesive surface properties of the other three optical fibers 12 by taking one optical fiber 12 as a reference; applying a radial load to the stress induction section 10, compensating the temperature load, calibrating the relation between the radial load and the variation of the central wavelength to obtain a relation between the variation of the central wavelength and the radial load; inserting a vascular intervention catheter 1 into a blood vessel using a vascular intervention device; and measuring the central wavelength of the grating segment 121, and obtaining the contact force between the vascular interventional catheter 1 and the vascular wall according to the relation between the central wavelength variation and the radial load.

So far, the embodiments of the present disclosure have been described in detail with reference to the accompanying drawings. It is to be noted that, in the attached drawings or in the description, the implementation modes not shown or described are all the modes known by the ordinary skilled person in the field of technology, and are not described in detail. Further, the above definitions of the various elements and methods are not limited to the various specific structures, shapes or arrangements of parts mentioned in the examples, which may be easily modified or substituted by those of ordinary skill in the art.

From the above description, those skilled in the art should have clear understanding of the vascular interventional catheter, the device, the contact force detection method and the detection device provided by the present disclosure.

In summary, the vessel intervention catheter, the device, the contact force detection method and the detection device provided by the disclosure can realize the rigidity of the vessel intervention catheter by controlling the temperature of the cooling medium, the temperature control structure and the mode are harmless to the human body, the medical compatibility is good, and in the intervention process, as the vitrification temperature of the phase change material is close to the body temperature of the human body, no stress induction section through which the cooling medium flows, namely the temperature at the grating arrangement position is basically constant, the stress induction section is always in a soft state, and the vessel wall is not easily damaged.

It should also be noted that directional terms, such as "upper", "lower", "front", "rear", "left", "right", and the like, used in the embodiments are only directions referring to the drawings, and are not intended to limit the scope of the present disclosure. Throughout the drawings, like elements are represented by like or similar reference numerals. Conventional structures or constructions will be omitted when they may obscure the understanding of the present disclosure.

And the shapes and sizes of the respective components in the drawings do not reflect actual sizes and proportions, but merely illustrate the contents of the embodiments of the present disclosure. Furthermore, in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim.

Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the disclosure, various features of the disclosure are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various disclosed aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that is, the claimed disclosure requires more features than are expressly recited in each claim. Rather, as the following claims reflect, disclosed aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this disclosure.

The above-mentioned embodiments are intended to illustrate the objects, aspects and advantages of the present disclosure in further detail, and it should be understood that the above-mentioned embodiments are only illustrative of the present disclosure and are not intended to limit the present disclosure, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.

Claims

1. A vascular access catheter, comprising: a phase change material conduit having a stiffness that changes in response to temperature changes, comprising:

the stress induction section is arranged at the top end of the phase change material catheter and is used for obtaining the contact force between the phase change material catheter and the blood vessel wall in an intervention blood vessel, wherein the stress induction section comprises:

a phase change material conduit body providing structural support for the stress-inducing section; and

four optic fibre, follow phase change material pipe body radial direction laminating sets up the outside circumference align to grid of phase change material pipe body for receive and the reflected light signal, include: the grating section is arranged at the end part of the optical fiber, the center wavelength of the grating section changes along with the deformation of the grating section, and the grating section is used for receiving optical signals and reflecting the optical signals which change along with the deformation of the grating section; and

a stiffness adjustment section connected to the stress sensing section for adjusting stiffness of the phase change material conduit, the stiffness adjustment section comprising:

a cooling medium outlet for flowing a cooling medium out of the phase change material conduit body;

the reflux sleeve is wrapped on the outer side of the phase change material conduit body to form a cooling medium reflux cavity; and

and the return pipe is communicated with the cooling medium return cavity and is used for leading out and returning the cooling medium.

2. The vascular interventional catheter of claim 1, the phase change material catheter body having an outer diameter of between 1.5mm and 3mm and an inner diameter of between 0.2mm and 1.5 mm;

the diameter of the optical fiber is between 80 and 200 μm;

the length of the grating segment is between 3mm and 18 mm.

3. The vascular interventional catheter as set forth in claim 1, the stiffness adjusting section comprising:

the phase-change material conduit body is connected and not communicated with the stress induction section and is used for introducing a cooling medium;

wherein the cooling medium contains pure medical water.

4. The vascular interventional catheter as set forth in any one of claims 1 to 3, the phase change material catheter body being made of a phase change material, the phase change material decreasing in stiffness with increasing temperature;

wherein the glass transition temperature of the phase change material is between 35 ℃ and 45 ℃.

5. The vascular interventional catheter of claim 4, the phase change material comprising: a polyurethane.

6. A vascular access device comprising:

fixing the clamping device;

the moving clamping device is arranged opposite to the fixed clamping device;

the rotating device is connected with the moving clamping device and drives the moving clamping device to rotate; and

the linear motion device is connected with the rotating device and drives the motion clamping device to reciprocate along the connecting line of the motion clamping device and the fixed clamping device;

wherein the vessel intervention catheter of any one of the claims 1 to 5 passes through the fixed clamping device and the moving clamping device in sequence, the fixed clamping device and the moving clamping device clamp alternately, and the vessel intervention catheter is driven to intervene in a vessel by the rotating device and the linear moving device.

7. The vascular access device of claim 6, said stationary clamping means and said moving clamping means each comprising:

an electromagnet for attracting the metal platen;

the metal pressure plate is arranged opposite to the electromagnet and used for attracting the electromagnet and clamping the blood vessel interventional catheter; and

the spring is respectively connected with the electromagnet and the metal pressure plate and is used for assisting the metal pressure plate to reset after the electromagnet is powered off;

when the metal pressure plate and the electromagnet are attracted, a gap which is not larger than the diameter of the blood vessel interventional catheter is reserved between the metal pressure plate and the electromagnet.

8. The vascular access device of claim 7, said rotation means comprising:

a rotating electric machine;

the speed reducer is connected with the rotating motor and used for transmitting the torque of the rotating motor and outputting a set rotating speed; and

the toothed disc, with the power take off end meshing of speed reducer, and with the motion clamping device is connected, includes:

the center hole is arranged in the circle center of the gear disc and is used for the blood vessel interventional catheter to pass through; and

and the eccentric hole is arranged on the gear disc and is used for being connected with the motion clamping device.

9. The vascular access device of claim 8, further comprising: the connecting bracket is used for connecting the rotating device and the linear motion device;

wherein the rotating electric machine and the speed reducer are embedded in the connecting bracket.

10. The vascular intervention device of claim 9, the linear motion device comprising: and the linear motor is connected with the connecting bracket and is used for driving the motion clamping device and the rotating device to do linear motion.

11. The vascular access device of claim 9, further comprising: power supply slip ring, with the toothed disc coaxial coupling includes:

the rotating end is coaxially connected with the gear disc and synchronously rotates and is used for supplying power to the electromagnet of the motion clamping device; and

the fixed end is coaxially connected with the rotating end and fixedly connected with the connecting bracket;

the rotating end and the fixing end are both provided with through holes for the blood vessel interventional catheter or the guide wire of the electromagnet to pass through, and the through holes and the central hole are coaxially arranged.

12. A detection apparatus, comprising:

vascular intervention device according to any of the preceding claims 6 to 11, for intervention into a vascular intervention catheter according to claim 1 or 2;

the vessel interventional catheter sequentially penetrates through the fixed clamping device and the moving clamping device, is involved in a vessel, and is used for receiving and reflecting optical signals;

the fiber grating demodulator is connected with the optical fiber and used for transmitting optical signals to the optical fiber and demodulating the reflected optical signals into digital signals; and

the data processing device is connected with the fiber grating demodulator, is used for receiving the digital signal sent by the fiber grating demodulator, and performs the following operations:

respectively detecting the central wavelength of the optical fiber section of each optical fiber in the vascular interventional catheter in an unloaded state;

correcting the other three optical fibers by taking one of the optical fibers as a reference;

applying a radial load to the stress induction section, compensating the temperature load, and calibrating the relation between the radial load and the variation of the central wavelength to obtain a relation between the variation of the central wavelength and the radial load;

introducing the vascular intervention catheter into a blood vessel using the vascular intervention device; and

and measuring the central wavelength of the grating section, and obtaining the contact force between the vascular interventional catheter and the vascular wall according to a relational expression of the central wavelength variation and the radial load.