CN110179538B - Multi-claw conformal ablation needle with nested structure - Google Patents
Multi-claw conformal ablation needle with nested structure Download PDFInfo
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- CN110179538B CN110179538B CN201910353669.1A CN201910353669A CN110179538B CN 110179538 B CN110179538 B CN 110179538B CN 201910353669 A CN201910353669 A CN 201910353669A CN 110179538 B CN110179538 B CN 110179538B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B2018/1405—Electrodes having a specific shape
- A61B2018/1422—Hook
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B2018/1465—Deformable electrodes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B2018/1467—Probes or electrodes therefor using more than two electrodes on a single probe
Abstract
The invention discloses a multi-claw conformal ablation needle with a nested structure, belonging to the technical field of medical instruments and comprising: the flexible ablation electrode, an electrode outer sleeve sliding block and an electrode sliding block, wherein the electrode outer sleeve is connected with the electrode outer sleeve sliding block, and the electrode outer sleeve sliding block is used for driving the electrode outer sleeve to axially move; the flexible ablation electrode penetrates through the electrode outer sleeve and then is connected with the electrode slider, and the electrode slider is used for driving the flexible ablation electrode to axially move; the position and the posture of the tail end of the flexible ablation electrode can be adjusted through the axial movement of the flexible ablation electrode and the electrode outer sleeve. The multi-claw conformal ablation needle with the nested structure can drive the electrode outer sleeve and the flexible ablation electrode to move axially through the electrode outer sleeve sliding block and the electrode sliding block, so that the position and the shape of the tail end of the ablation electrode in a tissue are adjusted, and the ablation electrode of the multi-claw conformal ablation needle can adapt to various shapes when the multi-claw conformal ablation needle works.
Description
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to a multi-claw conformal ablation needle with a nested structure.
Background
In 2015, a total of about 9050 million people worldwide had cancer. About 1410 thousands of new cancers and about 880 thousands of deaths are the main causes of human deaths each year. Radiofrequency ablation is an important treatment mode for treating various cancers, such as lung cancer, liver cancer, prostate cancer, kidney cancer, breast cancer and the like, as a minimally invasive treatment means with small damage and quick recovery.
The principle of the radio frequency ablation is that a loop is formed between an ablation electrode on a radio frequency ablation needle and the epidermis of a human body, ions in human tissues are driven to vibrate back and forth by a high-frequency radio frequency current signal, and the heat effect generated by mutual friction and collision between various ions and other particles kills tumor cells.
The modern minimally invasive treatment of tumors follows three major principles: tumor control, organ function preservation and reduction of complications. Percutaneous ablation also follows these principles, such as ablation of renal tumors to preserve normal renal tissue and not damage blood vessels, collecting systems, intestinal tracts, etc. adjacent to the tumor, ablation of prostate cancer to minimize damage to urethral sphincter, penile erectile nerves, rectum, etc.
Current ablation procedures are time consuming and the ablation zone is not controllable. For discrete small tumors, irregular tumors, the normal tissue adjacent to the tumor area is inevitably damaged in order to ensure the ablation effect on the tumor area. The current radiofrequency ablation electrode comprises a tubular electrode, a polymer electrode, an electrode with an oblique action surface and the like. The puncture needles are of various types, including inclined sharp needles, single-sided/double-sided pre-bent needles, combined needles and the like, and related control means include methods of needle bottom end control, adjacent tissue external control, sleeve control and the like. However, the motion track of the ablation electrode in the tissue is not controllable, and the instruments cannot actively deform as required in the surgical process so as to meet the application requirements of irregular tumor conformal ablation.
Therefore, the technical problem that active deformation cannot be generated according to needs exists in the prior art.
Disclosure of Invention
In view of the above drawbacks and needs of the prior art, the present invention provides a multi-claw conformal ablation needle with a nested structure, so as to solve the technical problem of the prior art that active deformation cannot be generated according to needs.
To achieve the above object, the present invention provides a multi-claw conformal ablation needle having a nested structure, comprising: flexible ablation electrode, electrode outer tube slider and electrode slider.
The electrode outer sleeve is connected with an electrode outer sleeve sliding block, and the electrode outer sleeve sliding block is used for driving the electrode outer sleeve to axially move;
the flexible ablation electrode penetrates through the electrode outer sleeve and then is connected with the electrode slider, and the electrode slider is used for driving the flexible ablation electrode to axially move;
the position and the posture of the tail end of the flexible ablation electrode are adjusted through the axial movement of the flexible ablation electrode and the electrode outer sleeve.
Furthermore, the number of the flexible ablation electrodes is N × M, the flexible ablation electrodes are divided into N groups which are independently controlled, each group of M ablation electrodes is provided, M is larger than or equal to 2, the number of the electrode outer sleeves is N, the number of the electrode outer sleeve sliding blocks is N, the number of the electrode sliding blocks is N, one electrode sliding block is connected with the M flexible ablation electrodes, and one electrode outer sleeve sliding block is connected with one electrode outer sleeve.
Furthermore, the number of the flexible ablation electrodes, the number of the electrode outer sleeves, the number of the electrode outer sleeve sliding blocks and the number of the electrode sliding blocks are N, N is larger than or equal to 2, each electrode sliding block is connected with one flexible ablation electrode, and each electrode outer sleeve sliding block is connected with one electrode outer sleeve.
Further, the material of the flexible ablation electrode is an alloy material, a semiconductor material or a composite material.
Furthermore, the connection mode between the sliding block and the ablation electrode or the electrode outer sleeve is glue adhesion, metal welding or plastic curing.
Further, the multi-jaw conformal ablation needle further comprises: the rigid puncture sheath is internally provided with a positioning structure, the top end of the rigid puncture sheath is provided with a sharp puncture head, and the flexible ablation electrode and the electrode outer sleeve are distributed in the circumferential direction in the rigid puncture sheath.
Further, the multi-jaw conformal ablation needle further comprises: the rigid puncture sheath is fixed above the rear end handle, and the fixing mode can adopt thread fastening, metal welding or glue adhesion.
Furthermore, when the multi-claw conformal ablation needle works, the ablation needle is driven to integrally generate puncture and withdrawal movement by means of the rigid puncture sheath through pushing and pulling the handle at the rear end.
Furthermore, when the multi-claw conformal ablation needle works, the ablation needle is driven to rotate integrally by twisting the handle at the rear end, so that the needle outlet plane of the flexible ablation electrode is adjusted.
Further, the outer surface of the rigid puncture sheath is an insulating coating.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
(1) the multi-claw conformal ablation needle with the nested structure can drive the electrode outer sleeve and the flexible ablation electrode to move axially through the electrode outer sleeve sliding block and the electrode sliding block, so that the position and the form of the tail end of the ablation electrode in a tissue are adjusted, the ablation electrode of the multi-claw conformal ablation needle can adapt to various forms when the multi-claw conformal ablation needle works, the ablation curative effect is improved, and the boundary ablation effect is enhanced.
(2) When one electrode slider is connected with M flexible ablation electrodes and the M flexible ablation electrodes are positioned in the same electrode outer sleeve, the electrode outer sleeve slider is connected with the electrode outer sleeve, needle outlet points of the flexible ablation electrodes are controlled simultaneously, and then the ablation electrodes are controlled separately in groups, so that the effect of shape adaptation in groups is achieved.
(3) When each electrode slide block is connected with one flexible ablation electrode and each electrode outer sleeve slide block is connected with one electrode outer sleeve, the axial motion degrees of each flexible ablation electrode and each electrode outer sleeve can be independently and differently controlled, and therefore the optimal conformal effect is achieved.
(4) The flexible ablation electrode is made of alloy materials, semiconductor materials or composite materials, and the flexible ablation electrode can deform under the action of external force and can recover to the original shape after the external force is removed.
(5) When the flexible ablation electrode is in operation, the ablation needle can be driven to integrally generate puncture and withdrawal movement by relying on the rigid puncture sheath by pushing and pulling the handle at the rear end, the ablation needle is driven to integrally rotate by twisting the handle at the rear end, so that the needle outlet plane of the flexible ablation electrode is adjusted, the electrode outer sleeve sliding block drives the electrode outer sleeve to axially move to control the needle outlet point of the flexible ablation electrode, and the electrode sliding block drives the flexible ablation electrode to axially move to complete the release and retraction of the multi-claw electrode. Thereby illustrating that the multi-claw conformal ablation needle of the invention can realize various motions.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a multi-jaw conformal ablation needle provided by an embodiment of the invention;
FIG. 2 is a schematic diagram of the internal structure of a rigid penetrating outer sheath of a multi-claw conformal ablation needle provided by an embodiment of the invention;
FIG. 3 is a schematic partial detail view of a tip of a multi-prong conformable ablation needle provided in accordance with embodiments of the present invention;
FIG. 4 is a diagram illustrating the relationship between a flexible ablation electrode, an electrode outer sleeve and a corresponding slider of a multi-jaw conformable ablation needle according to an embodiment of the present invention;
FIG. 5 is a schematic view of a connection structure of a rigid penetrating sheath and a handle provided by an embodiment of the present invention;
the same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein:
the flexible ablation electrode 1, the electrode outer sleeve 2, the rigid puncture outer sheath 3, the outer sheath fixing piece 4, the rear end handle 5, the end cover 6, the electrode slide block 7, the electrode outer sleeve slide block 8, the outer sheath 3.1, the positioning tube 3.2, the puncture head 3.3 and the outer sheath tail fixing piece 3.4.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in FIG. 1, the rigid puncture sheath 3 and the rear handle 5 are fixed to each other by a sheath fixing member 4. The flexible ablation electrode 1 passes through the electrode outer sleeve 2 to form a sliding fit and is integrally positioned in a positioning tube 3.2 inside the rigid puncture outer sheath 3. The flexible ablation electrode is fixedly connected with an electrode sliding block 7, the electrode outer sleeve is fixedly connected with an electrode outer sleeve sliding block 8, and the electrode sliding block and the electrode outer sleeve sliding block can slide on a beam of the handle to enable the flexible ablation electrode and the electrode outer sleeve to generate corresponding axial movement. The slide blocks (the electrode outer sleeve slide block and the electrode slide block) are divided into 3 groups and respectively drive 3 groups of flexible ablation electrodes and electrode outer sleeves to move. If necessary, the number of the flexible ablation electrodes can be increased to achieve better ablation effect. However, the number of individually controlled ablation electrodes is too large, which poses a great challenge to the complexity of the drive device, so that a plurality of flexible ablation electrodes can be combined into a group to be controlled if conditions allow. The specific number of the flexible ablation electrodes can be planned according to actual requirements, the length of each flexible ablation electrode can be inconsistent, and the pre-deformation curvature can be inconsistent.
As shown in fig. 2, inside the sheath 3.1 of the rigid puncture sheath 3 there are a plurality of positioning tubes 3.2 evenly distributed circumferentially. The front end of the positioning tube 3.2 is fixedly connected with the puncture head 3.3 (see figure 1), and the tail end is connected with the tail fixing piece 3.4 of the sheath (see figure 5). The sheath, the positioning tube, the puncture head and the sheath tail fixing piece form a whole: the rigid puncture sheath provides guidance and relative positioning for the flexible ablation electrode 1 and the electrode outer sleeve 2.
As shown in fig. 3, the flexible ablation electrode 1 is threaded in an electrode outer sheath 2, and the electrode outer sheath 2 is threaded in a positioning tube 3.2 inside an outer sheath 3.1. The flexible ablation electrode is made of materials with moderate rigidity and good conductivity, including alloys (shape memory alloys and the like), semiconductor materials, composite materials and the like, can deform under the action of external force, and can recover to the original shape after the external force is removed. The electrode outer sleeve is a hollow sleeve with proper size and can be made of alloy or stainless steel and other materials, and the flexible ablation electrode can be inserted into the electrode outer sleeve, is tightly matched with the electrode outer sleeve and can move back and forth along the axial direction. The rigid puncture sheath can be made of alloy or stainless steel and the like, and the surface of the rigid puncture sheath needs to be subjected to insulation treatment and is provided with puncture depth scale marks.
Specifically, the flexible ablation electrode is made of a titanium-based alloy material, needs to be pre-bent and deformed, has proper rigidity, can be deformed under the action of external force, recovers the original shape after the external force is removed, and is connected with the electrode slider at the tail end. The electrode outer sleeve is made of stainless steel material, the flexible ablation electrode can be inserted into the electrode outer sleeve to be tightly matched with the electrode outer sleeve, and the tail end of the flexible ablation electrode is connected with the electrode outer sleeve sliding block. By controlling the relative position between the two sliders, the release and retraction of the flexible ablation electrode tip can be controlled. The rigid puncture sheath is a welding part consisting of a puncture head, a positioning tube, a sheath and a plurality of stainless steel parts of a tail part fixed connection part, scale marks are processed on the outer surface of the rigid puncture sheath, and meanwhile, the surface of the rigid puncture sheath needs to be subjected to insulation coating treatment.
As shown in fig. 4, the tail ends of the electrode outer sleeve 2 and the flexible ablation electrode 1 are respectively connected with an electrode outer sleeve sliding block 8 and an electrode sliding block 9, and the connection mode can adopt glue adhesion, metal welding, plastic curing connection and the like, and can be specifically selected according to the material of the sliding blocks. In addition, the arrangement mode of the sliding block can also be changed into a space cylindrical mode from a planar mode, and the planar arrangement mode is mainly beneficial to automatically operating the ablation needle.
As shown in FIG. 5, the rigid puncture sheath 3 and the handle 5 are fixed together by the sheath fixing member 5. The lead of the flexible ablation electrode can be directly connected with the conductive part of the rigid sheath, then led out through a small hole on the end cover 6 and connected to a radio frequency energy platform for causing the movement of charged ions in the tissue to generate the temperature required for ablation.
The conformal ablation needle can realize various motions, and the specific control logic is as follows: before ablation, the flexible ablation electrode and the electrode outer sleeve are retracted in the rigid puncture outer sheath; the back-and-forth movement is realized by pushing and pulling the handle at the rear end so as to adjust the depth of puncture, and the circumferential rotation is realized by twisting the handle at the rear end so as to adapt to a needle outlet plane required by a puncture target point; the needle outlet point of the flexible ablation electrode is adjusted through the axial movement of the electrode outer sleeve sliding block (in order to avoid instability of the long rod under axial stress, the electrode outer sleeve sliding block and the electrode sliding block are recommended to move synchronously in the step); and finally, controlling the needle outlet depth and position of the flexible ablation electrode through the electrode slider. In addition, when electrode puncture is carried out, the electrode outer sleeve can be simultaneously controlled theoretically, and at the moment, the flexible ablation electrode can be adjusted in shape under the comprehensive acting force of the electrode outer sleeve and the target tissue, so that the electrode puncture track can be further controlled. After the ablation is finished, the flexible ablation electrode is firstly retracted into the electrode outer sleeve, then the flexible ablation electrode and the electrode outer sleeve thereof are simultaneously retracted into the rigid puncture outer sleeve, and finally the ablation needle is integrally withdrawn through the handle.
In terms of operation logic, the invention can adopt an electrode outer sleeve to correspond to a plurality of ablation electrodes which are controlled independently, in the process that the electrode outer sleeve moves outwards from the deepest part of axial puncture, planned flexible ablation electrodes are released in sequence, and each flexible ablation electrode keeps static relative to the tissue after the release is finished. Under the operation logic, the flexible ablation electrode can be independently controlled only by one electrode outer sleeve, and the design of a rear-end driving module is greatly simplified.
The invention provides a multi-claw conformal ablation needle with a nested structure. In particular, the invention relates to a surgical instrument for developing tumor ablation therapy, and the flexible ablation electrode on the proposed multi-claw conformal ablation needle can independently complete boundary conformal on irregular tumors under specific operation logic, so as to enhance the tumor ablation effect.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (8)
1. A multi-prong conformable ablation needle having a nested configuration, comprising: the flexible ablation electrode, the electrode outer sleeve sliding block and the electrode sliding block are arranged on the flexible ablation electrode;
the electrode outer sleeve is connected with an electrode outer sleeve sliding block, and the electrode outer sleeve sliding block is used for driving the electrode outer sleeve to axially move;
the flexible ablation electrode penetrates through the electrode outer sleeve and then is connected with the electrode slider, and the electrode slider is used for driving the flexible ablation electrode to axially move;
the position and the posture of the tail end of the flexible ablation electrode are adjusted through the axial movement of the flexible ablation electrode and the electrode outer sleeve;
the multi-prong conformable ablation needle further comprises: the rigid puncture sheath is internally provided with a positioning structure, the top end of the rigid puncture sheath is provided with a puncture head, and the flexible ablation electrode and the electrode outer sleeve are distributed in the circumferential direction in the rigid puncture sheath; the rigid puncture sheath is fixed above the rear end handle.
2. The multi-claw conformal ablation needle with the nested structure as claimed in claim 1, wherein the number of the flexible ablation electrodes is N × M, N ≧ 1, M ≧ 2, the number of the electrode outer sleeves is N, the number of the electrode outer sleeve sliders is N, the number of the electrode sliders is N, one electrode slider is connected with M flexible ablation electrodes, and one electrode outer sleeve slider is connected with one electrode outer sleeve.
3. The multi-claw conformal ablation needle with the nested structure as claimed in claim 1, wherein the number of the flexible ablation electrodes, the number of the electrode outer sleeves, the number of the electrode outer sleeve sliders and the number of the electrode sliders are N, N is larger than or equal to 2, each electrode slider is connected with one flexible ablation electrode, and each electrode outer sleeve slider is connected with one electrode outer sleeve.
4. The multi-jaw conformable ablation needle with a nested configuration of any of claims 1-3, wherein the flexible ablation electrode is made of an alloy material, a semiconductor material, or a composite material.
5. The multi-claw conformal ablation needle with the nested structure according to any one of claims 1 to 3, wherein the connection between the electrode outer sleeve and the electrode outer sleeve sliding block and the connection between the flexible ablation electrode and the electrode sliding block are glue adhesion, metal welding or plastic curing.
6. The multi-jaw conformal ablation needle with the nested structure as claimed in claim 1, wherein the multi-jaw conformal ablation needle is driven by pushing and pulling the handle at the rear end to generate the puncturing and withdrawing motion by means of the rigid puncturing sheath during the operation.
7. The multi-claw conformal ablation needle with the nested structure according to claim 1, wherein during operation, the multi-claw conformal ablation needle is rotated by twisting the handle at the rear end, so as to adjust the needle outlet plane of the flexible ablation electrode.
8. The multi-prong conformable ablation needle of claim 1, wherein the outer surface of the rigid penetrating sheath is an insulating coating.
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| CN201910353669.1A CN110179538B (en) | 2019-04-28 | 2019-04-28 | Multi-claw conformal ablation needle with nested structure |
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| CN201910353669.1A CN110179538B (en) | 2019-04-28 | 2019-04-28 | Multi-claw conformal ablation needle with nested structure |
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| CN110179538B true CN110179538B (en) | 2021-06-11 |
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| WO2022141769A1 (en) * | 2020-12-31 | 2022-07-07 | 杭州堃博生物科技有限公司 | Radio-frequency ablation catheter and radio-frequency ablation system |
| CN111584061B (en) * | 2020-04-30 | 2022-05-03 | 北京航空航天大学 | Multi-claw needle automatic puncture control device and method based on model-free adaptive algorithm |
| CN113317823B (en) * | 2021-04-22 | 2022-06-07 | 华中科技大学 | Suction cutting type multipoint sampling needle with active deformation function |
| CN114469307A (en) * | 2021-12-27 | 2022-05-13 | 浙江大学医学院附属第一医院 | Multi-pole controllable pulse electric field ablation device |
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| CN101932288A (en) * | 2007-11-14 | 2010-12-29 | 霍尔特医学公司 | Anchored RF ablation device for the destruction of tissue masses |
| CN204106192U (en) * | 2014-09-19 | 2015-01-21 | 韩树高 | Radio frequency ablation needle |
| CN206167034U (en) * | 2016-08-22 | 2017-05-17 | 北京市肿瘤防治研究所 | Many needle points extension radiofrequency ablation electrode needle |
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| IL136292A (en) * | 2000-05-22 | 2004-08-31 | Moshe Ein Gal | Electrosurgical system |
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| CN101932288A (en) * | 2007-11-14 | 2010-12-29 | 霍尔特医学公司 | Anchored RF ablation device for the destruction of tissue masses |
| CN204106192U (en) * | 2014-09-19 | 2015-01-21 | 韩树高 | Radio frequency ablation needle |
| CN206167034U (en) * | 2016-08-22 | 2017-05-17 | 北京市肿瘤防治研究所 | Many needle points extension radiofrequency ablation electrode needle |
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