CN114305656A - Magnetic navigation radio frequency ablation electrode and system - Google Patents
Magnetic navigation radio frequency ablation electrode and system Download PDFInfo
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- CN114305656A CN114305656A CN202111348981.5A CN202111348981A CN114305656A CN 114305656 A CN114305656 A CN 114305656A CN 202111348981 A CN202111348981 A CN 202111348981A CN 114305656 A CN114305656 A CN 114305656A
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Abstract
The invention discloses a magnetic navigation radio frequency ablation electrode and a system, comprising: the flexible sleeve, the radio frequency ablation electrode needle and the magnetic navigation sensor; the radio frequency ablation electrode needle penetrates through the flexible sleeve; the distal end of the flexible sleeve has an opening; the radiofrequency ablation electrode needle and the flexible sleeve can move relatively, so that the distal end of the radiofrequency ablation electrode needle can extend out of the opening of the flexible sleeve and can also be retracted into the flexible sleeve; the magnetic navigation sensor is arranged at the far end of the radio frequency ablation electrode and used for detecting the real-time position of the radio frequency ablation electrode needle so as to use the real-time position as a basis for guiding the radio frequency ablation electrode needle to move based on a pre-planned path. The invention can solve the problem that the image guidance is lacked at the tail end of the bronchus and the lesion tissue area because the bronchoscope can not go deep into the bronchus by singly adopting the bronchoscope in the prior art.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a magnetic navigation radio frequency ablation electrode and a magnetic navigation radio frequency ablation system.
Background
Lung cancer is one of the most common malignant tumors, and the incidence rate thereof is on the trend of increasing year by year, and the disease death rate has jumped over the first of various malignant tumors. Surgical resection remains the dominant means of lung cancer treatment in clinical practice at present. However, it is not suitable for the operation treatment of the early stage patients with older age, weak constitution and poor cardiopulmonary function and most of the late stage patients, so new treatment methods are continuously explored in clinic to improve the prognosis effect and the survival rate of the patients. Since Dupuy first reported RFA treatment of lung cancer in 2000, the Radio Frequency Ablation (RFA) technology has achieved significant efficacy in treating primary and metastatic lung cancer, and has the advantages of safety, effectiveness, minimal invasion, few complications, good repeatability, and capability of prolonging life of patients with lung cancer and improving life quality, and some patients can also obtain curative effects.
At present, when the lung tumor is treated by radiofrequency ablation, the ablation part of the radiofrequency ablation electrode needs to be penetrated into the bronchial wall, and then the target lesion area can be reached for radiofrequency ablation treatment. And to the inside sick tissue of bronchus, when treating through traditional ablation electrode, receive the influence of bronchus complex structure, complicated to the location of sick tissue, the operation degree of difficulty is big, and in case the position is pricked partially in addition, can cause the injury to bronchus and human surface skin simultaneously, brings bigger misery for the patient.
In the prior art, a flexible radiofrequency ablation electrode is commonly used for radiofrequency ablation treatment of human body cavities such as bronchus, blood vessels, sheath tubes and the like, and the flexible radiofrequency ablation electrode which is manually operated by an experienced doctor and is completed under a bronchoscope appears in the market at present because the injury of X-rays to the doctor is very large. This ablation electrode can go deep into under the guide of bronchoscope through nasal cavity or oral cavity in the bronchus to can get into pathological change tissue along the bronchus in the bronchus, nevertheless meet the narrow and small region of bronchus, because the bronchoscope volume is great, can not go deep into bronchus depths, make the radio frequency melt electrode needle lack the image guide in bronchus end and pathological change tissue region, cause the radio frequency to melt electrode needle location inaccurate, influenced the operation effect.
Disclosure of Invention
The invention provides a magnetic navigation radio frequency ablation electrode and a magnetic navigation radio frequency ablation system, which aim to solve the problem that image guidance is lacked at the tail end of a bronchus and a diseased tissue area because a bronchoscope cannot go deep into the bronchus by being used alone in the prior art.
According to a first aspect of the invention, there is provided a magnetically navigated radio frequency ablation electrode comprising: the flexible sleeve, the radio frequency ablation electrode needle and the magnetic navigation sensor; wherein the content of the first and second substances,
the radio frequency ablation electrode needle penetrates through the flexible sleeve;
the distal end of the flexible sleeve has an opening;
the radiofrequency ablation electrode needle and the flexible sleeve can move relatively, so that the distal end of the radiofrequency ablation electrode needle can extend out of the opening of the flexible sleeve and can also be accommodated in the flexible sleeve;
the magnetic navigation sensor is arranged at the far end of the radio frequency ablation electrode and used for detecting the real-time position of the radio frequency ablation electrode needle so as to use the real-time position as a basis for guiding the radio frequency ablation electrode needle to move based on a pre-planned path.
Preferably, the radiofrequency ablation electrode needle comprises: the radiofrequency ablation electrode comprises a radiofrequency ablation part and an insulating part, wherein the radiofrequency ablation part and the insulating part are sequentially distributed from the far end to the near end of the radiofrequency ablation electrode.
Preferably, the method further comprises the following steps: at least one sub-needle;
the near end of the sub-needle is fixed on the outer wall of the radiofrequency ablation electrode needle;
when the distal end of the sub needle and the distal end of the radiofrequency ablation electrode needle are both accommodated in the flexible sleeve, the distance between the distal end of the sub needle and the distal end of the flexible sleeve along the axial direction of the flexible sleeve is smaller than or equal to the distance between the distal end of the radiofrequency ablation electrode needle and the distal end of the flexible sleeve along the axial direction of the flexible sleeve;
when the distal end of the sub-needle is retracted into the flexible sleeve, the shape of the sub-needle is matched with that of the flexible sleeve; when the distal end of the sub-needle extends out of the opening of the flexible sleeve, the distal end of the sub-needle is unfolded towards the outer side of the flexible sleeve.
Preferably, the method further comprises the following steps: at least one sub-needle;
the sub-needle and the flexible sleeve can move relatively, so that the distal end of the sub-needle can be extended out of the opening of the flexible sleeve and also can be retracted into the flexible sleeve;
the longest length of the sub-needle extending out of the opening of the flexible sleeve is greater than or equal to the longest length of the radiofrequency ablation electrode extending out of the opening of the flexible sleeve;
when the distal end of the sub-needle is retracted into the flexible sleeve, the shape of the sub-needle is matched with that of the flexible sleeve; when the distal end of the sub-needle extends out of the flexible sleeve, the distal end of the sub-needle is unfolded towards the outer side of the flexible sleeve.
Preferably, the number of the sub-needles penetrating the flexible sleeve is adjustable.
Preferably, within a threshold range of the deployment amplitude of the distal end of the sub-needle, the longer the length of the sub-needle extending out of the opening of the flexible sleeve is, the greater the deployment amplitude of the distal end of the sub-needle is. The length of the sub-needle extending out of the flexible sleeve is adjustable, the expansion amplitude of the distal end of the sub-needle is adjustable, and different adjustments can be performed according to the width of target tissue to be ablated and the degree of ablation.
Preferably, the method further comprises the following steps: a handle and a traction part; wherein the content of the first and second substances,
the proximal end of the flexible sleeve is fixed on the handle;
the traction part is connected with the handle in a sliding way; the traction part is directly or indirectly connected with the near end of the radio frequency ablation electrode needle and the near end of the sub-needle;
the connection between the proximal end of the sub-needle and the traction part is detachable;
the traction part, the radio frequency ablation electrode needle and the sub-needle can be controlled to move relative to the flexible sleeve, so that the far end of the radio frequency ablation electrode needle and the far end of the sub-needle extend out of the opening of the flexible sleeve and are accommodated in the flexible sleeve.
Preferably, if the number of the sub-needles is multiple and the distal ends of the sub-needles protrude out of the opening of the flexible sleeve, the parts of the sub-needles protruding out of the flexible sleeve are uniformly spread in an umbrella shape in different directions.
Preferably, the method further comprises the following steps: the sub-needle sleeves correspond to the sub-needles one to one;
the sub-needle cannula penetrates through the flexible cannula;
the sub-needle penetrates through the corresponding sub-needle sleeve, and the relative position of the sub-needle and the sub-needle sleeve is unchanged;
the distal end of the sub-needle sleeve is provided with an opening; the distal end of the sub-needle extends out of the opening of the sub-needle sleeve.
Preferably, the sub-needle cannula has an infusion port for injecting a liquid;
after being injected from the perfusion opening, the liquid flows out from the opening of the sub-needle cannula along the sub-needle cannula. The infusion of liquid (such as physiological saline) from the sub-needle sleeve can make the infusion area more uniform, improve the cooling efficiency and also make the ablation area heated more uniformly.
Preferably, the sub-needle is directly or indirectly connected with the radiofrequency ablation electrode needle through a conductive piece, so that the efficiency of conducting radiofrequency signals from the radiofrequency ablation electrode needle to the sub-needle can be improved.
According to a second aspect of the invention, there is provided a magnetically navigated radiofrequency ablation system comprising a magnetically navigated radiofrequency ablation electrode as described above.
Preferably, the method further comprises the following steps: a bronchoscope;
the pre-planned path includes: a first section of path and a second section of path; the first section of path and the second section of path are distributed in sequence from the starting end to the tail end of the pre-planned path;
the bronchoscope and the radio frequency ablation electrode needle can be controlled to move along the first section of path synchronously;
the radiofrequency ablation electrode needle can be controlled to move along the second section of the path. In the second path, the bronchoscope is too bulky and therefore limited to reach deep.
The radio frequency ablation electrode is guided to move together through bronchoscope auxiliary imaging and a magnetic navigation sensor, and the positioning effect is more accurate.
According to the magnetic navigation radio-frequency ablation electrode and the system, the radio-frequency ablation electrode needle is guided to move along the pre-planned path through the magnetic navigation sensor arranged at the far end of the radio-frequency ablation electrode needle, so that the tail end of a bronchus and lesion tissues can be accurately positioned, and the limitation of simply using bronchoscopy for radiography is overcome;
according to the magnetic navigation radio frequency ablation electrode and the system, the radio frequency ablation electrode needle is guided to move along the pre-planned path through the magnetic navigation sensor arranged at the far end of the radio frequency ablation electrode needle, a doctor can perform an ablation operation in an environment far away from X-rays, the positioning is accurate, and the direct injury of the X-rays to the body of the doctor is avoided;
in the alternative of the invention, the number of the sub-needles penetrating the flexible sleeve is adjustable, the number of the sub-needles is selected according to the specific size of the lesion, and the redundant sub-needles can be drawn out or the missing sub-needles can be inserted before the ablation treatment.
In the alternative scheme of the invention, the bronchoscope auxiliary imaging and the magnetic navigation sensor are used for guiding the movement of the radio frequency ablation electrode together, so that the positioning effect is more accurate.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic view of a magnetically navigated RF ablation electrode in accordance with one embodiment of the present invention;
FIG. 2 is a schematic view of a magnetically navigated RF ablation electrode in accordance with a preferred embodiment of the present invention;
FIG. 3 is an enlarged view of a portion of FIG. 2;
FIG. 4 is a schematic view of a RF ablation electrode needle and sub-needle according to a preferred embodiment of the present invention;
FIG. 5 is a schematic view of the RF ablation electrode needle and sub-needle of the magnetically navigated RF ablation electrode of another preferred embodiment of the present invention being received within the flexible sheath;
fig. 6 is a schematic view of the distal end of the rf ablation electrode needle and the distal end of the sub-needle of the magnetically navigated rf ablation electrode of another preferred embodiment of the present invention protruding out of the flexible sleeve.
Description of reference numerals:
1-a flexible sleeve tube, which is,
2-a radio frequency ablation electrode needle,
3-a magnetic navigation sensor, the magnetic field of which,
4-a conducting wire, wherein the conducting wire is connected with the conducting wire,
5-a sub-needle is arranged at the position of the needle,
6-a sub-needle sleeve is arranged,
7-a conductive member having a conductive surface,
8-a handle is arranged at the bottom of the pot,
9-a traction part;
21-a radio-frequency ablation part,
22-insulation.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "upper surface", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.
In the description of the present invention, "a plurality" means a plurality, e.g., two, three, four, etc., unless specifically limited otherwise.
In the description of the present invention, unless otherwise explicitly specified or limited, the terms "connected" and the like are to be construed broadly, e.g., as meaning fixedly attached, detachably attached, or integrally formed; can be mechanically connected, electrically connected or can communicate with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The technical solution of the present invention will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
In one embodiment, a magnetically navigated rf ablation electrode is provided, referring to fig. 1, which includes: a flexible sleeve 1, a radio frequency ablation electrode needle 2 and a magnetic navigation sensor 3. Wherein, the radio frequency ablation electrode needle 2 is arranged in the flexible sleeve 1 in a penetrating way; the distal end of the flexible sleeve 1 has an opening; the radiofrequency ablation electrode needle 2 and the flexible sleeve 1 can move relatively, so that the distal end of the radiofrequency ablation electrode needle 2 can extend out of the opening of the flexible sleeve 1 or be retracted into the flexible sleeve 1.
The magnetic navigation sensor 3 is disposed at the distal end of the radiofrequency ablation electrode 2. Before the radio frequency ablation treatment, CT around a target part of a patient is scanned to complete three-dimensional reconstruction, path planning is carried out on the target part to obtain a pre-planned path, and the magnetic navigation sensor 3 is used for guiding the radio frequency ablation electrode needle 2 to move along the pre-planned path in combination with magnetic navigation equipment so as to reach the target part.
In an embodiment, the magnetic navigation sensor 3 may be connected to the magnetic navigation device by means of a wired connection (wire 4). The radiofrequency ablation electrode needle 2 has a hollow cavity through which the lead wire 4 can pass, see fig. 1. In different embodiments, the magnetic navigation sensor 3 may also be connected to the magnetic navigation device in a wireless manner.
In one embodiment, the magnetic navigation sensor 3 may be integrally packaged at the distal end of the radiofrequency ablation electrode needle 2. The magnetic navigation sensor 3 may also be bonded to the inner wall of the hollow cavity at the distal end of the radiofrequency ablation electrode needle 2 using an adhesive.
In a preferred embodiment, the magnetically navigated rf ablation electrode further comprises: a handle and a traction part. Wherein the proximal end of the flexible sleeve is fixed on the handle; the traction part is connected with the handle in a sliding way; the traction part is directly or indirectly connected with the near end of the radio frequency ablation electrode needle, and the traction part and the radio frequency ablation electrode needle can be controlled to move relative to the flexible sleeve, so that the far end of the radio frequency ablation electrode needle extends out of the opening of the flexible sleeve or is accommodated in the opening of the flexible sleeve.
In a preferred embodiment, in order to obtain better ablation effect, the radiofrequency ablation electrode needle 2 comprises: the rf ablation portion 21 and the insulating portion 22 are sequentially distributed from the distal end to the proximal end of the rf ablation electrode 2, please refer to fig. 4. The radiofrequency ablation part of the needle tip is reserved, and the rest needle channels are replaced by the insulation parts, so that the ablation range can be reduced, and the ablation accuracy is improved.
In a preferred embodiment, the magnetically navigated radiofrequency ablation electrode can further comprise: at least one sub-needle 5, please refer to fig. 2 and fig. 3, and fig. 3 is an enlarged view of a circled portion of fig. 2. The sub-needle 5 can be relatively movable with respect to the flexible cannula so that the distal end of the sub-needle can be extended out of the opening of the flexible cannula 1 and can also be retracted into the flexible cannula 1. The longest length of the sub-needle 5 extending out of the opening of the flexible sleeve 1 is larger than or equal to the longest length of the radio frequency ablation electrode 2 extending out of the opening of the flexible sleeve 1. When the distal end of the sub-needle 5 is retracted into the flexible sleeve, the shape of the sub-needle is matched with that of the flexible sleeve 1, when the distal end of the sub-needle 5 extends out of the opening of the flexible sleeve, the distal end of the sub-needle 5 is unfolded towards the outer side of the flexible sleeve, the contact area between the sub-needle and the pathological change tissue can be increased, the distance between the sub-needle and the pathological change tissue is smaller, and the ablation effect on the pathological change tissue is better. When the far end of the sub-needle extends out of the opening of the flexible sleeve, the part of the sub-needle outside the opening can be in a designated curve, and the curvature center of the curve and the axis of the flexible sleeve are distributed on two sides of the sub-needle.
In this embodiment, the sub-needles 5 are exemplified by six sub-needles, and when the distal ends of the sub-needles 5 protrude out of the opening of the flexible cannula, the sub-needles 5 are uniformly deployed in different directions, and the deployed shape is umbrella-shaped. The sub-needles 5 are uniformly distributed in the lesion tissue, so that the sub-needles 5 can uniformly ablate the lesion tissue.
In one embodiment, the proximal end of the sub-needle 5 is fixed on the outer wall of the radiofrequency ablation electrode needle 2, namely, the sub-needle 5 moves along with the radiofrequency ablation electrode needle 2.
On the basis of the above embodiment, the magnetically navigated radiofrequency ablation electrode may further comprise: a handle 8 and a traction portion 9. Wherein, the proximal end of the flexible sleeve 1 is fixed on the handle 8; the traction part 9 is connected with the handle 8 in a sliding way; the traction part 9 is directly or indirectly connected with the proximal end of the radiofrequency ablation electrode needle 2, please refer to fig. 2. The traction part 9 and the radio frequency ablation electrode needle 2 can be controlled to move relatively to the flexible sleeve 1, and further the sub-needle 5 can move relatively to the flexible sleeve 1, so that the distal end of the radio frequency ablation electrode needle and the distal end of the sub-needle can extend out of the opening of the flexible sleeve or be retracted into the opening of the flexible sleeve.
In a preferred embodiment, the sub-needle 5 is not fixed with the radiofrequency ablation electrode 2, and the sub-needle 5 can move relative to the flexible sleeve independently. So that the distal end of the sub-needle can be extended out of the opening of the flexible sleeve and can be retracted into the flexible sleeve, see fig. 5.
In this embodiment, the number of the sub-needles 5 penetrating the flexible cannula 1 is adjustable. Each sub-needle 5 can be independently drawn out of or inserted into the flexible sleeve 1, the number of the sub-needles can be selected according to the specific size of the lesion, and the purpose of optimally adapting to the actual position and shape of the lesion can be achieved.
Based on the above embodiment, the length of the sub-needle 5 extending out of the flexible sleeve 1 is adjustable, and the deployment size of the sub-needle 5 is determined by the length of the sub-needle extending out of the flexible sleeve 1 rather than the pre-bending radius of the material, so that the clinical application is more flexible. That is, the sub-needles made of memory metal have the same pre-bending radius, and the shorter the length of the sub-needles extending out of the flexible sleeve 1, the smaller the expansion amplitude. Conversely, the longer the sub-needle 5 extends out of the flexible sleeve 1 within the threshold range of the deployment amplitude, the larger the deployment amplitude is. I.e. the longer the sub-needle 5 is extended out of the flexible cannula 1, the larger the maximum perpendicular distance of its extended part to the extension of the axis of the flexible cannula 1. When the number of the sub-needles 5 is multiple, and when the distal ends of the sub-needles 5 extend out of the opening of the flexible sleeve and are uniformly unfolded in different directions, the unfolded shape is umbrella-shaped, and the longer the sub-needles 5 extend out of the flexible sleeve 1, the larger the unfolded diameter (i.e. the diameter of the circumference where the distal ends of the sub-needles 5 are located) is.
The part of the sub-needle extending out of the opening of the flexible sleeve can be partially bent or can be completely bent. In addition, when the deployment range reaches the maximum threshold value, the sub-needle 5 may fully protrude out of the opening of the flexible cannula 1, or may partially protrude out of the opening of the flexible cannula 1.
On the basis of the above embodiment, in order to facilitate adjustment, the magnetically navigated radiofrequency ablation electrode may further: a handle and a traction part. The proximal end of the flexible sleeve is fixed on the handle; the traction part is connected with the handle in a sliding way; the traction part is directly or indirectly connected with the proximal end of the radio frequency ablation electrode needle and the proximal end of the sub-needle. The connection between the proximal end of the sub-needle and the traction part is detachable; the number of sub-needles can be selected according to the specific size of the lesion, and can be extracted or inserted from the proximal end of the handle to adjust the number of sub-needles before ablation treatment. The traction part, the radio frequency ablation electrode needle and the sub-needle can be controlled to move relative to the flexible sleeve, so that the distal end of the radio frequency ablation electrode needle and the distal end of the sub-needle extend out of the opening of the flexible sleeve or are retracted into the opening of the flexible sleeve.
On the basis of the above embodiment, in order to reduce the friction force between the sub-needle and the flexible sleeve, each sub-needle is provided with a sub-needle sleeve 6, so that the sub-needle can be more conveniently extended out of the opening of the flexible sleeve or withdrawn out of the proximal end of the flexible sleeve. Referring to fig. 5 and 6, the sub-needle 5 is inserted into the corresponding sub-needle cannula 6 (two sub-needles 5 and 6 are shown in the figures). The relative position of the sub-needle 5 and the sub-needle sleeve 6 is unchanged; the distal end of the sub-needle cannula 6 has an opening; the distal end of the sub-needle 5 protrudes out of the opening of the sub-needle cannula 6. The sub-needle cannula 6 and the flexible cannula 1 can move relatively (i.e. the sub-needle 5 and the flexible cannula 1 can move relatively) to enable the distal end of the sub-needle 5 to protrude out of the opening of the flexible cannula 1 or retract into the flexible cannula 1, as shown in fig. 5, the flexible inner sleeve 1 is retracted, and as shown in fig. 6, the flexible cannula 1 is protruded out of the opening.
In a preferred embodiment, in order to improve the efficiency of the rf ablation electrode needle for transmitting the rf signal to the sub-needle, the sub-needle 5 and the rf ablation portion 21 of the rf ablation electrode needle may be directly or indirectly connected through a conductive member 7, as shown in fig. 6.
In a preferred embodiment, the sub-needle cannula 6 has an infusion port; after being injected from the perfusion opening, the liquid (such as physiological saline) flows out from the opening of the sub-needle cannula 6 along the sub-needle cannula 6. The infusion of liquid is carried out from the sub-needle sleeve, so that the infusion area is more uniform, the cooling efficiency is improved, and the ablation area is heated more uniformly.
In an embodiment, there is also provided a magnetically navigated radiofrequency ablation system comprising a magnetically navigated radiofrequency ablation electrode of any of the above embodiments.
In a preferred embodiment, to improve the positioning accuracy, the magnetic navigation rf ablation system may further include: and the bronchoscope, the bronchoscope imaging and the magnetic navigation sensor jointly act to complete the guidance of the radio frequency ablation electrode needle.
Wherein, preplanning the route includes: a first section of path and a second section of path; from the beginning to the end of the pre-planned path, the first section of path and the second section of path are distributed in sequence.
In the first section route, magnetic navigation ablation electrode arranges the working channel of bronchoscope in, and magnetic navigation sensor combines magnetic navigation equipment, and guide bronchoscope and radiofrequency ablation electrode needle impel along the first section route of planning, and bronchoscope and radiofrequency ablation electrode needle can be controlled in step and remove along first section route promptly. The first path is a relatively wide region of the bronchi in which the bronchoscope can move.
In the second section of path, the bronchoscope cannot go deep into the bronchus due to the limitation of the outer diameter size, and the radiofrequency ablation electrode needle is continuously pushed in the working channel of the bronchoscope until the magnetic navigation sensor at the distal end of the radiofrequency ablation electrode needle indicates that the distal end of the radiofrequency ablation electrode needle reaches the focus position. Namely, the bronchoscope does not enter the second section of path, and the radiofrequency ablation electrode needle can be controlled to move along the second section of path. In the second path, the bronchoscope is too bulky and therefore limited to reach deep.
In the description herein, reference to the terms "an implementation," "an embodiment," "a specific implementation," "an example" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (12)
1. A magnetically navigated radio frequency ablation electrode, comprising: the flexible sleeve, the radio frequency ablation electrode needle and the magnetic navigation sensor; wherein the content of the first and second substances,
the radio frequency ablation electrode needle penetrates through the flexible sleeve;
the distal end of the flexible sleeve has an opening;
the radiofrequency ablation electrode needle and the flexible sleeve can move relatively, so that the distal end of the radiofrequency ablation electrode needle can extend out of the opening of the flexible sleeve and can also be accommodated in the flexible sleeve;
the magnetic navigation sensor is arranged at the far end of the radio frequency ablation electrode and used for detecting the real-time position of the radio frequency ablation electrode needle so as to use the real-time position as a basis for guiding the radio frequency ablation electrode needle to move based on a pre-planned path.
2. The magnetically navigated radio frequency ablation electrode according to claim 1, wherein the radio frequency ablation electrode needle comprises: the radiofrequency ablation electrode comprises a radiofrequency ablation part and an insulating part, wherein the radiofrequency ablation part and the insulating part are sequentially distributed from the far end to the near end of the radiofrequency ablation electrode.
3. The magnetically navigated radio frequency ablation electrode according to claim 1, further comprising: at least one sub-needle;
the near end of the sub-needle is fixed on the outer wall of the radiofrequency ablation electrode needle;
when the distal end of the sub needle and the distal end of the radiofrequency ablation electrode needle are both accommodated in the flexible sleeve, the distance between the distal end of the sub needle and the distal end of the flexible sleeve along the axial direction of the flexible sleeve is smaller than or equal to the distance between the distal end of the radiofrequency ablation electrode needle and the distal end of the flexible sleeve along the axial direction of the flexible sleeve;
when the distal end of the sub-needle is retracted into the flexible sleeve, the shape of the sub-needle is matched with that of the flexible sleeve; when the distal end of the sub-needle extends out of the opening of the flexible sleeve, the distal end of the sub-needle is unfolded towards the outer side of the flexible sleeve.
4. The magnetically navigated radio frequency ablation electrode according to claim 1, further comprising: at least one sub-needle;
the sub-needle and the flexible sleeve can move relatively, so that the distal end of the sub-needle can be extended out of the opening of the flexible sleeve and also can be retracted into the flexible sleeve;
the longest length of the sub-needle extending out of the opening of the flexible sleeve is greater than or equal to the longest length of the radiofrequency ablation electrode extending out of the opening of the flexible sleeve;
when the distal end of the sub-needle is retracted into the flexible sleeve, the shape of the sub-needle is matched with that of the flexible sleeve; when the distal end of the sub-needle extends out of the flexible sleeve, the distal end of the sub-needle is unfolded towards the outer side of the flexible sleeve.
5. A magnetically navigated radio frequency ablation electrode according to claim 4, wherein the longer the length of the sub-needle that exits the opening of the flexible sleeve, the greater the amplitude of deployment of the distal end of the sub-needle, within a threshold range of amplitudes of deployment of the distal end of the sub-needle.
6. The magnetically navigated radio frequency ablation electrode according to claim 4, further comprising: a handle and a traction part; wherein the content of the first and second substances,
the proximal end of the flexible sleeve is fixed on the handle;
the traction part is connected with the handle in a sliding way; the traction part is directly or indirectly connected with the near end of the radio frequency ablation electrode needle and the near end of the sub-needle;
the connection between the proximal end of the sub-needle and the traction part is detachable;
the traction part, the radio frequency ablation electrode needle and the sub-needle can be controlled to move relative to the flexible sleeve, so that the far end of the radio frequency ablation electrode needle and the far end of the sub-needle extend out of the opening of the flexible sleeve and are accommodated in the flexible sleeve.
7. The magnetically navigated radio frequency ablation electrode according to claim 4, wherein if the number of said sub-needles is multiple and the distal ends of said sub-needles protrude out of the opening of said flexible sleeve, the portions of said sub-needles protruding out of said flexible sleeve are uniformly spread out in different directions to form an umbrella shape.
8. The magnetically navigated radio frequency ablation electrode according to claim 4, further comprising: the sub-needle sleeves correspond to the sub-needles one to one;
the sub-needle cannula penetrates through the flexible cannula;
the sub-needle penetrates through the corresponding sub-needle sleeve, and the relative position of the sub-needle and the sub-needle sleeve is unchanged;
the distal end of the sub-needle sleeve is provided with an opening; the distal end of the sub-needle extends out of the opening of the sub-needle sleeve.
9. A magnetically navigated radio frequency ablation electrode according to claim 8, wherein the sub-needle cannula has an infusion port for injecting a liquid;
after being injected from the perfusion opening, the liquid flows out from the opening of the sub-needle cannula along the sub-needle cannula.
10. The magnetically navigated radio frequency ablation electrode according to claim 8, wherein said sub-needle is directly or indirectly connected to said radio frequency ablation electrode needle by an electrically conductive member.
11. A magnetically navigated radio frequency ablation system comprising a magnetically navigated radio frequency ablation electrode according to any of claims 1 to 10.
12. The magnetic navigation ablation system of claim 11, further comprising: a bronchoscope;
the pre-planned path includes: a first section of path and a second section of path; the first section of path and the second section of path are distributed in sequence from the starting end to the tail end of the pre-planned path;
the bronchoscope and the radio frequency ablation electrode needle can be controlled to move along the first section of path synchronously;
the radiofrequency ablation electrode needle can be controlled to move along the second section of the path.
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| CN202111348981.5A CN114305656A (en) | 2021-11-15 | 2021-11-15 | Magnetic navigation radio frequency ablation electrode and system |
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| CN202111348981.5A CN114305656A (en) | 2021-11-15 | 2021-11-15 | Magnetic navigation radio frequency ablation electrode and system |
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Application publication date: 20220412 |