CN114904126A - Catheter guide wire control device for interventional operation and control method thereof - Google Patents
Catheter guide wire control device for interventional operation and control method thereof Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0113—Mechanical advancing means, e.g. catheter dispensers
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/09—Guide wires
- A61M25/09041—Mechanisms for insertion of guide wires
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M2025/0177—Introducing, guiding, advancing, emplacing or holding catheters having external means for receiving guide wires, wires or stiffening members, e.g. loops, clamps or lateral tubes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M2205/00—General characteristics of the apparatus
- A61M2205/33—Controlling, regulating or measuring
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M2205/00—General characteristics of the apparatus
- A61M2205/58—Means for facilitating use, e.g. by people with impaired vision
- A61M2205/582—Means for facilitating use, e.g. by people with impaired vision by tactile feedback
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Abstract
The invention discloses a catheter guide wire control device for interventional operation and a control method thereof, and belongs to the technical field of minimally invasive vascular interventional operation. The device comprises a clamping mechanism, a sleeve driving assembly and a brake assembly; the clamping mechanism comprises a sleeve, a braking part and a clamping part, after the clamping part with a clamping end is arranged in the braking part, the braking part is in threaded connection with the sleeve, one end of the clamping part at the clamping end is provided with a notch, and the clamping end is matched with the conical surface of the sleeve; the sleeve driving assembly is used for driving the sleeve to rotate; the brake assembly is used for clamping or releasing the braking member. The method can clamp, push, twist and measure the force of the catheter or the guide wire. The invention can realize the efficient, accurate and nondestructive clamping and releasing of the guide wire and the catheter, and can carry out the cooperative operation on the guide wire of the catheter.
Description
The application is a divisional application of Chinese patent application with the application date of 2017, 07/06 and the application number of CN201710544635.1, and the name of the invention is 'a catheter guide wire control device for interventional operation and a control method thereof'.
Technical Field
The invention belongs to the technical field of minimally invasive vascular interventional operations, relates to a control technology of a catheter guide wire in an interventional operation, and particularly relates to a catheter guide wire control device for the interventional operation and a control method thereof.
Background
Increasingly high-incidence cardiovascular and cerebrovascular diseases seriously affect national health and social life and bring huge pressure to the Chinese medical health system. Cardiovascular and cerebrovascular diseases become one of three main causes of human disease death, 1670 million people die of cardiovascular and cerebrovascular diseases every year in the world, accounting for 29.2 percent of all disease mortality, and 250 million people die of 900 million cardiovascular and cerebrovascular disease patients in China every year.
The minimally invasive interventional therapy for the cardiovascular and cerebrovascular diseases is a main treatment means for the cardiovascular and cerebrovascular diseases, can reduce the trauma and pain of patients caused by traditional craniotomy and thoracotomy, has short postoperative recovery time, and can effectively improve the utilization rate of medical resources. However, in the conventional cardiovascular and cerebrovascular interventional operation, a doctor manually sends devices such as a catheter, a guide wire and a stent into a patient. On one hand, in the operation process, due to the influence of radioactive rays, the physical strength of a doctor is reduced quickly, the attention and the stability are reduced, the operation precision is reduced, accidents such as vascular intimal injury, vascular perforation and rupture and the like caused by improper pushing force are easy to happen, and the life risk of a patient is caused. On the other hand, the cumulative damage of long-term ionizing radiation significantly increases the risk of patients suffering from leukemia, cancer and acute cataract. The problem of 'eating line' is a problem which damages the professional life of a doctor and restricts the development of an interventional operation to be not neglected. The operation method for remotely operating the catheter and the guide wire by means of the robot technology can effectively solve the problem, greatly improve the precision and the stability of the operation, effectively reduce the harm of radioactive rays to a doctor operating on a main knife and reduce the occurrence probability of accidents in the operation. Therefore, the assisted robot for cardiovascular and cerebrovascular interventional surgery is more and more concerned by people and gradually becomes a key research and development object in the field of medical robots in all the science and technology strong countries at present.
Foreign vascular intervention surgical robots are relatively early studied, but have not yet fully realized clinical applications. The related research in China is started late, and mainly comprises Beijing university of justice, Tianjin university of justice, Beijing university of aerospace, Harbin university of industry and the like.
At present, a vascular interventional surgical robot mainly adopts a master-slave end operation structure to isolate a doctor from radioactive rays, for example, the application numbers applied by the university of tianjin nursing staff are as follows: 201410206956.7, publication date is: the invention patent of 9, 17 days in 2014 discloses a slave manipulator device of a master-slave minimally invasive vascular interventional operation auxiliary system, which comprises an axial pushing unit, a rotating unit, a clamping unit, an operation catheter, an operation force detection unit and an inclination angle adjustable base, wherein the working method comprises signal detection, transmission, processing and action. The advantages are that: the interventional operation action of a doctor can be simulated, the operation precision is high, and the operation safety is effectively improved; the angle which is expected by an operator can be adjusted by different receiving objects or different interventional positions; the whole device is made of aluminum alloy materials, and is small in size and light in weight. The invention can well complete the pushing of the guide wire, and force feedback is realized by adopting the magnetorheological fluid, and the invention has the advantages of small inertia of moving parts, sensitive feedback and the like. For another example, the application numbers of the Beijing university of aerospace applications are: 201210510169.2, publication date is: patent literature 9/17/2014 discloses a master-slave teleoperation vascular interventional surgical robot, which comprises a master end control mechanism, a slave end propulsion mechanism and a PMAC controller; the main end control mechanism is used as an operation end of a doctor; the slave end propelling mechanism is used as an actuating mechanism of a robot, and replaces a doctor to hold a catheter in an operating room to complete the motion function of the catheter; the PMAC control box is used for realizing information transmission between the master end control mechanism and the slave end propelling mechanism, so that the slave end catheter propelling mechanism moves according to the motion information of the master end control mechanism, a master-slave teleoperation mode is adopted to assist a doctor to carry out an operation, and the slave end propelling mechanism realizes axial feeding and circumferential rotating motion of the catheter. For another example, the patent of the catheter robot system for intravascular minimally invasive interventional surgery, which is applied by the Harbin university of industry on 2011, 1, 17, is that a main hand handle and a computer host are arranged in a control room, a control cabinet, a catheter handle, a main intervention device, a slave intervention device, a magnetic field generator and a controllable catheter are arranged in the operating room, a position and posture signal of the main hand handle is processed by the computer host and then transmitted to the control cabinet, a motion control card and a driver are arranged in the control cabinet, the motion control card receives a command and sends an instruction to the driver, the driver transmits a control signal to each motor of the main intervention device and the slave intervention device, the intervention device is further controlled to realize the push/pull, rotation and bending operations of the controllable catheter, the position and posture sensor acquires the position and posture information of a controllable bending section, and the position and posture signal is transmitted to the computer host through the motion control card to be processed. The scheme adopts the controllable conduit, can obtain the pose information of the bent controllable section of the controllable conduit, ensures the flexibility of the front end of the controllable conduit and the maneuverability of the intubation operation, controls the main-auxiliary intervention device through the main handle to realize the pushing, pulling, rotating and bending actions of the controllable conduit, can obtain the conveying force information of the controllable conduit in the operating room, and ensures the accuracy and stability of the intubation.
The above schemes are all relatively advanced researches on vascular interventional surgical robots in China, but the following problems exist in all the schemes: (1) in the aspect of a guide wire and catheter clamping structure, the clamping and releasing of the guide wire and the catheter cannot be accurately and efficiently realized, and the clamping efficiency and the success rate are low; (2) in the aspect of detecting the pushing force of the guide wire and the catheter, the detection precision of the pushing force is influenced due to the influence of the friction force between the structural parts; (3) the guide wire or the guide pipe can only be pushed independently, the guide pipe and the guide wire cannot be pushed in cooperation in the operation process, so that the operation action of a doctor cannot be completely simulated, and the operation is difficult to be carried out at parts which need the guide wire and the guide pipe to be matched with each other to advance, so that the problems of low operation precision, low operation efficiency, low degree of assistance to the doctor and certain potential safety hazard exist.
The inventor has devoted his research to this aspect and applied for related patents before that, such as chinese patent application No.: 201510064919.1, publication date is: patent document 2015 5/20 discloses a measuring device for an interventional surgical robot, wherein a base of the measuring device is connected with an upper cover through a hinge; the upper cover is provided with a concave limiting plate and a pushing block, when the upper cover is closed, the concave limiting plate tightly presses the column gear, the driving wheel and the idle wheel to limit displacement in the vertical direction, the pushing block pushes the left U-shaped blocking piece to the right, and the guide wire driving auxiliary piece is clamped by the right U-shaped blocking piece and the left U-shaped blocking piece; the base is mounted on a slide of the linear drive assembly. The scheme can effectively reduce the loss of the pushing force in the conduction process and reduce larger errors caused by assembly or vibration and the like, but the scheme is only used for driving the guide wire, and the combined operation precision of clamping, loosening, rotating, pushing force measurement and the like of the guide wire is relatively low.
After that, the inventors continued to study the technique of the interventional surgical robot and applied for the following application No. 3/3 in 2016: 201610119761.8, the name is: the invention discloses a slave end of a master-slave minimally invasive vascular interventional surgical robot and a control method thereof. According to the scheme, the nondestructive clamping mechanism, the clamping control mechanism, the clamping driving mechanism and the thrust feedback mechanism are designed, so that the operations of clamping, loosening, rotating, pushing force measurement and the like of the guide wire in the operation process are completed, the accuracy of the pushing force measurement is increased, the reliability of guide wire clamping is improved, and the structure of the guide wire clamping device is relatively complex.
Disclosure of Invention
1. Problems to be solved
Aiming at the problems of low clamping efficiency and low success rate of guide wires and catheters caused by unreasonable clamping mechanisms of the existing vascular interventional operation robot in the operation process of the guide wires and the catheters, the invention provides a catheter guide wire control device for interventional operations and a control method thereof, which can realize efficient, accurate and nondestructive clamping and loosening of the guide wires and the catheters.
2. Technical scheme
In order to solve the above problems, the present invention adopts the following technical solutions.
The utility model provides a intervene operation and use pipe wire controlling means, its includes fixture (3), with fixture (3) complex sleeve drive assembly (4), fixture (3) include sleeve (310), arresting member (320) and holder (330), sleeve drive assembly (4) are in the relative position of axial adjustment sleeve (310) and arresting member (320), make sleeve (310) and arresting member (320) extrude or loosen holder (330), and then make holder (330) press from both sides tightly or loosen the pipe wire.
Further, the brake device also comprises a brake assembly (5), and when the sleeve driving assembly (4) adjusts the relative position of the sleeve (310) and the braking part (320) in the axial direction, the brake assembly (5) limits the braking part (320).
Further, the brake actuating assembly (5) comprises a brake block (520) and an actuating member connected to the brake block (520).
Furthermore, the brake member (320) is provided with a brake disc (322), and the driving element of the brake assembly (5) can drive the brake block (520) to press or release the brake disc (322).
Furthermore, the sleeve (310) and the braking part (320) are provided with mutually matched thread structures, the sleeve driving assembly (4) drives the sleeve (310) to rotate relative to the braking part (320), and the relative positions of the sleeve (310) and the braking part (320) are axially adjusted under the action of the thread structures.
Furthermore, one end of the sleeve (310) is provided with a threaded hole, and the tail end of the threaded hole is a taper hole; the braking member (320) is provided with a threaded section (321) matched with the threaded hole of the sleeve (310); the clamping end head (331) is provided with an outer conical surface matched with the conical hole in the sleeve (310), and a notch is formed in the clamping end head (331) along the circumferential direction of the outer conical surface.
Further, sleeve drive assembly (4) include motor (430), ball spline pair (440) and connecting piece, motor (430) pass through ball spline pair (440) and connecting piece and drive sleeve (310) and rotate, and sleeve (310) and connecting piece can carry out the axial positioning on ball spline pair (440).
Further, the connecting piece comprises a big herringbone gear (410) of the connecting sleeve (310) and a small herringbone gear (420) which is meshed with the big herringbone gear (410) and connected with the ball spline pair (440).
Further, the device also comprises a guide rail sliding block assembly (6) for guiding the clamping mechanism.
Further, guide rail sliding block set spare (6) have two sets ofly, and every guide rail sliding block set spare (6) of group includes two pairs of sliding guide (610), and they are connected with bottom plate (640) and upper plate (620) respectively, and bottom plate (640) installation lower half bearing frame (650), upper plate (620) installation upper half bearing frame (630), and upper half bearing frame (630) and lower half bearing frame (650) make up into complete bearing frame and support the bearing of installing on sleeve (310).
The invention also provides a control method of the catheter guide wire control device for the interventional operation, which comprises the following steps:
(1) a catheter or guidewire passes through the sleeve (310), detent (320) and grip (330);
(2) a braking part (320) for clamping and fixing the clamping mechanism (3);
(3) the sleeve driving assembly (4) drives the sleeve (310) of the clamping mechanism (3) to move axially, so that the sleeve (310) and the braking part (320) press the clamping part (330), and the clamping part (330) shrinks and clamps the catheter or the guide wire;
when the catheter or the guide wire needs to be twisted, after the catheter or the guide wire is clamped, the braking part (320) of the clamping mechanism (3) is released, the sleeve driving assembly (4) drives the sleeve (310) of the clamping mechanism (3) to rotate, the braking part (320) and the clamping part (330) follow up, and the clamping part (330) drives the catheter or the guide wire to twist.
3. Advantageous effects
Compared with the prior art, the invention has the beneficial effects that:
(1) the catheter guide wire control device for interventional operation is characterized in that a clamping mechanism of a catheter guide wire is innovatively designed, threads of a sleeve and a braking part are screwed to drive a clamping end of a clamping piece to contract or expand through conical surface matched extrusion, so that the catheter or the guide wire is clamped or loosened, the opening size of the clamping end of the clamping piece is controlled according to the screwing depth of the threads, the clamping force is controlled, stepless regulation of different clamping forces of the catheter and the guide wire is met, and lossless clamping is easy to realize; moreover, the conical surface is matched with a clamping mode, so that the contact surface is large, the clamping force is uniform and reliable, and the phenomenon of slipping is avoided; the mode can integrate the operations of clamping, twisting, pushing and the like, greatly simplifies the clamping structure of the existing conduit guide wire, and can clamp the conduit guide wire efficiently, accurately and reliably;
(2) the invention relates to a catheter and guide wire control device for interventional operation, wherein a sleeve and a brake part in a clamping mechanism are both provided with central holes for a catheter or a guide wire to pass through, the sleeve is provided with a threaded hole, the tail end of the threaded hole is a taper hole, the brake part is provided with a threaded section matched with the threaded hole of the sleeve, a clamping end is exposed after a clamping piece is arranged in the sleeve, the end of the clamping end is provided with a notch, when the sleeve and the brake part are screwed, the end of the clamping piece can be pushed to contact and extrude with the taper surface of the taper hole of the sleeve, and the clamping end contracts radially due to the existence of the notch, and the opening is reduced, so that the catheter or the guide wire can be clamped;
(4) the catheter guide wire control device for interventional operation of the invention has the advantages that the clamping mechanism adopts a mode of screwing the sleeve and the braking part, and the sleeve and the braking part are in relative rotation and simultaneously have linear motion along the axial direction, so that the sleeve driving component and the brake component are required to adapt to the special transmission mode, and the braking part is locked by the brake component, so the sleeve needs to move axially; in order to meet the requirements, the sleeve driving assembly adopts the meshing transmission of large and small herringbone gears and can bear axial force; more importantly, the motor is connected with the small herringbone gear through the ball spline pair, and the small herringbone gear can perform axial movement almost without resistance while rotating so as to meet the action requirement of the sleeve and reduce the subsequent influence on the detection precision of the pushing resistance of the guide wire of the catheter;
(5) according to the catheter guide wire control device for interventional operation, the clamping mechanism, the sleeve driving assembly and the brake assembly are all arranged in the shell and are covered by the upper cover, so that the whole body is relatively closed, the device is well protected, the precision of the device is guaranteed, and the clamping mechanism can be taken out by taking down the upper cover, so that the catheter guide wire control device is convenient and quick to disassemble and assemble;
(6) the catheter guide wire control device for interventional operation, provided by the invention, has the advantages that in order to meet the special clamping mode of the clamping mechanism, the guide rail sliding block assemblies are adopted to support the clamping mechanism, so that not only can stable support be realized, but also the requirement for axial movement of the sleeve can be met, and a fixed bearing is supported by the upper and lower groups of guide rail sliding block assemblies, so that the support is stable and reliable, the disassembly and the assembly are convenient, and the clamping mechanism can be conveniently taken down;
(7) according to the catheter guide wire control device for interventional operation, the dynamometer is arranged between the supporting plate and the lower supporting plate, and the pushing resistance of the catheter guide wire can be detected in real time and high precision by matching with the structural form of the guide rail sliding block component, so that the change of pushing force is sensed in the operation process, and the operation safety is improved;
(8) the control method can perform various operations such as clamping, pushing, twisting and the like on the catheter guide wire by controlling the catheter guide wire control device for interventional operation, can meet the operation mode requirements of the operation on the catheter or the guide wire, simulates the operation mode that a doctor holds the catheter guide wire by hand, is more real in operation, is easy to accept by the doctor, can feed back the pushing force in real time, is just like the touch of the doctor, is more vivid in operation, and is convenient for the doctor to grasp the pushing force of the catheter guide wire.
Drawings
FIG. 1 is a three-dimensional structural view of a visible internal structure of a catheter guidewire control device for interventional operation according to the present invention;
FIG. 2 is an exploded view of the components of the catheter guidewire control device for interventional procedures;
fig. 3 is a sectional structural view of a clamping mechanism in the catheter guidewire control device for interventional operation according to the present invention and a partially enlarged view thereof.
The reference numbers in the drawings are respectively:
1. a housing;
2. an upper cover; 201. an ear plate;
3. a clamping mechanism; 310. a sleeve; 320. a stopper; 321. a threaded segment; 322. a brake disc; 330. a clamping member; 331. clamping the end head;
4. a sleeve drive assembly; 410. a herringbone gear; 420. a small herringbone gear; 430. a motor; 440. a ball spline pair; 450. a coupling; 460. a support plate;
5. a brake assembly; 510. a magnet holder; 520. a brake block; 521. a guide post; 530. a push-pull electromagnet;
6. a guide rail slider assembly; 610. a sliding guide rail; 620. an upper supporting plate; 630. an upper half bearing seat; 640. a lower supporting plate; 650. a lower half bearing block;
7. a force measuring instrument.
Detailed Description
The invention is further described with reference to specific embodiments and the accompanying drawings.
Example 1
As shown in fig. 1, 2 and 3, the catheter guide wire control device for interventional operation of the present embodiment includes a housing 1, a clamping mechanism 3, a sleeve driving assembly 4 and a brake assembly 5, wherein the clamping mechanism 3, the sleeve driving assembly 4 and the brake assembly 5 are all disposed in the housing 1.
Wherein, as shown in fig. 1, the housing 1 is of a similar U-shaped structure and has front and rear side walls, and in fig. 1, the front wall of the housing 1 is removed for the purpose of viewing the internal structure of the device; the top opening of the housing 1 is detachably provided with the upper cover 2, specifically, two opposite side surfaces of the front and the back of the upper cover 2 are respectively provided with an ear plate 201, and the ear plates 201 are connected with the housing 1 through screws. After the upper cover 2 is covered on the shell 1, a relatively closed space is formed, internal parts are protected, and the precision of the device is guaranteed.
Referring to fig. 2 and 3, the clamp mechanism 3 comprises a sleeve 310, a detent 320 and a clamp 330, all of which have a central hole through which a catheter or guide wire can pass; wherein, one end of the sleeve 310 is provided with a threaded hole, the tail end of the threaded hole is provided with a taper hole, the opening size of the taper hole is 90 degrees, and this is only a preferred mode; one end of the detent 320 has a threaded section 321 that mates with a threaded bore of the sleeve 310. One end of the clamping piece 330 is relatively large to form a clamping head 331, the front end and the rear end of the clamping head 331 are provided with conical surfaces, the clamping piece 330 is provided with four notches uniformly along the axial direction at the end of the clamping head 331, the number of the notches is determined according to the requirement, preferably four notches are provided, and the notches extend to the middle of the clamping piece 330 in the length direction, so that the clamping head 331 can be extruded, and the opening is contracted; inserting the non-clamping tip 331 end of the clamping member 330 into a central hole at one end of the threaded section 321 of the braking member 320, wherein the clamping tip 331 is exposed outside the braking member 320, and the end of the braking member 320 is provided with an inner tapered hole matched with the outer tapered surface at the rear end of the clamping tip 331; the threaded section 321 of the stopper 320 is screwed into the threaded hole of the sleeve 310 to form a whole, and the front end conical surface of the clamping head 331 can be in contact fit with the inner conical surface of the sleeve 310.
Compared with the existing clamping mode for the guide wire of the catheter, the clamping mode comprises a mode designed by the inventor, the clamping mechanism 3 is innovatively designed in the embodiment, the clamping end 331 of the clamping piece 330 is driven to contract or expand by adopting the screwing of the threads of the sleeve 310 and the braking piece 320 through the matching extrusion of the conical surfaces, so that the catheter or the guide wire is clamped or loosened, the opening size of the clamping end 331 of the clamping piece 330 is controlled according to the screwing depth, the clamping force is controlled, the stepless regulation of different clamping forces of the catheter and the guide wire is met, and the lossless clamping is easy to realize; moreover, the conical surface is matched with a clamping mode, so that the contact surface is large, the clamping force is uniform and reliable, and the slipping phenomenon cannot occur; the mode can integrate the operations of clamping, twisting, pushing and the like, is greatly simplified compared with the traditional catheter guide wire clamping structure, and can clamp the catheter guide wire efficiently, accurately and reliably.
It should be noted that the clamping mechanism 3 can be suitable for clamping the catheter and the guide wire at the same time, since the catheter is made of plastic material and is relatively soft, the clamping member 330 is preferably made of plastic material when clamping the catheter; and the seal wire is the metal material, and during the centre gripping, the preferred metal material of holder 330 to, only need change holder 330 can, need not the different fixture 3 of targeted design.
The clamping mechanism 3 clamps the guide wire of the catheter through the cooperation of the sleeve driving assembly 4 and the brake assembly 5, the sleeve 310 and the brake 320 are screwed, relative rotation is necessarily caused, the sleeve driving assembly 4 is used for driving the sleeve 310 to rotate, and the brake assembly 5 is used for clamping or loosening the brake 320, so that the structural requirement that the sleeve 310 and the brake 320 are screwed is met.
Specifically, in the present embodiment, the brake braking assembly 5 includes a brake block 520 and a driving element connected to the brake block 520, the driving element is a push-pull electromagnet 530, and other power elements in the prior art may also be used as long as the driving of the brake block 520 can be implemented, the push-pull electromagnet 530 is fixed on the magnet support 510, and the brake block 520 is connected to a push rod of the push-pull electromagnet 530 through a bolt. In order to effectively and conveniently brake the brake member 320 by the brake assembly 5, a brake disc 322 is disposed at an end of the brake member 320 away from the threaded section 321, and the driving element of the brake assembly 5 can drive the brake block 520 to press or release the brake disc 322; the front side of the brake block 520 is provided with a support column, the brake member 320 is rotatably supported by a bearing, the support column is provided with a guide hole, a guide post 521 is arranged at the front end corresponding to the brake block 520, the guide post 521 extends into the guide hole to guide the forward and backward movement of the brake block 520, and the support column also supports the brake block 520. The brake actuating assembly 5 is simple and easy to control, and adopts a structure in which the actuating member actuates the brake block 520 to press or release the brake disc 322 on the brake member 320.
Further, the clamping mechanism 3 adopts a way that the sleeve 310 and the braking member 320 are screwed together, and the sleeve 310 and the braking member 320 are necessarily moved linearly along the axial direction while rotating relatively, which requires the sleeve driving assembly 4 and the brake braking assembly 5 to be adapted to the special transmission way, while the braking member 320 is locked by the brake braking assembly 5, so that the sleeve 310 needs to be moved axially, which puts requirements on the structure of the sleeve driving assembly 4. In this embodiment, the sleeve driving assembly 4 includes a large herringbone gear 410, a small herringbone gear 420, a motor 430 and a motor bracket; wherein, the motor bracket is fixed on the bottom plate of the shell 1, and the motor 430 is fixed on the motor bracket; as for the big herringbone gear 410 and the small herringbone gear 420, relatively speaking, the small herringbone gear 420 is only smaller than the diameter of the big herringbone gear 410, the big herringbone gear 410 is installed on the sleeve 310 through keys, the small herringbone gear 420 is connected with the motor 430, and the big herringbone gear 410 and the small herringbone gear 420 are in meshing transmission. In order to meet the action requirements of rotation and axial movement of the sleeve 310, the sleeve driving assembly 4 adopts meshing transmission of large and small herringbone gears, can bear axial force, and also performs transverse movement in the meshing transmission process. However, the motor 430 is fixed on the motor support and cannot move, and it is required to ensure that the motor 430 drives the small herringbone gear 420 to rotate and simultaneously is adaptable to the axial movement of the small herringbone gear 420, therefore, the motor 430 is connected with the coupler 450, the coupler 450 is connected with the small herringbone gear 420 through the ball spline pair 440, the axial movement of the small herringbone gear 420 without resistance can be realized, and the subsequent influence on the detection precision of the catheter guide wire pushing resistance can be greatly reduced.
It should be noted that the clamping mechanism 3 needs to be supported during operation and cannot be suspended, and in view of the particularity of the clamping manner, the clamping mechanism 3 of the present embodiment is supported and disposed on the supporting plate 460 through the guide rail slider assembly 6, two sides of the supporting plate 460 are fixed on the front and rear side walls of the housing 1, and the bottom surface of the supporting plate is connected with the motor bracket. The guide rail slider assemblies 6 are provided with two groups, which respectively support two ends of the sleeve 310, each group of guide rail slider assemblies 6 comprises two pairs of sliding guide rails 610 respectively installed on the supporting plate 460 and the upper cover 2, which are respectively connected with a lower supporting plate 640 and an upper supporting plate 620, the lower supporting plate 640 is provided with a lower half bearing seat 650, the upper supporting plate 620 is provided with an upper half bearing seat 630, and the upper half bearing seat 630 and the lower half bearing seat 650 are combined into a complete bearing seat to support a bearing installed on the sleeve 310. Adopt guide rail sliding block set spare 6 to support fixture 3, can not only the steady support, also can satisfy sleeve 310 axial displacement's demand to support fixing bearing through upper and lower two sets of guide rail sliding block set spares 6, support reliable and stable, easy dismounting is convenient for take off fixture 3 moreover. Meanwhile, the brake actuating assembly 5 is also mounted on the lower plate 640.
Example 2
The catheter/guide wire control device for interventional operation according to embodiment 1 can perform clamping, pushing, pulling, and twisting operations on a catheter or a guide wire, and the catheter is described as follows.
Holding operation of catheter
First, the catheter passes through the stopper 320, the retainer 330 and the sleeve 310 of the retainer mechanism 3; then, the brake assembly 5 works to brake the brake member 320, specifically, the push-pull type electromagnet 530 is electrified to pull the brake block 520 to approach the brake disc 322 of the brake member 320, and contact and press the brake disc 322, so that the brake member 320 brakes; then, the sleeve driving component 4 drives the sleeve 310 of the clamping mechanism 3 to rotate, specifically, the motor 430 is powered on to drive the small herringbone gear 420 to rotate, the small herringbone gear 420 and the large herringbone gear 410 are in meshing transmission, and the large herringbone gear 410 drives the sleeve 310 to rotate; the length of the threaded fit between the stopper 320 and the sleeve 310 is increased, the sleeve 310 moves towards the stopper 320 under the support of the guide rail slider assembly 6, the clamping piece 330 is pressed, and the opening of the clamping head 331 is gradually reduced until the conduit is clamped. Reverse rotation of the motor 430 controls reverse rotation of the sleeve 310, which releases the grip on the catheter.
Push-pull operation of catheter in axial direction
Under the state that the conduit is clamped, the device can be arranged on an operation platform under the action of external force, the operation platform drives the device to move, and the clamping mechanism 3 moves along the axial direction along with the conduit, so that the push-pull operation of the conduit is realized.
③ twisting operation of the catheter
In the state that the conduit is clamped, the brake assembly 5 releases the brake member 320 of the clamping mechanism 3, the sleeve driving assembly 4 drives the sleeve 310 of the clamping mechanism 3 to rotate, and the clamping member 330 drives the conduit to twist along with the rotation of the brake member 320 and the clamping member 330.
The control method can perform various operations such as catheter clamping, pushing, twisting and the like by controlling the catheter and guide wire control device for interventional operation, can meet the operation mode requirements of the operation on the catheter or guide wire, simulates the operation mode of holding the catheter by a doctor, is more real in operation and is easy to be accepted by the doctor.
Example 3
In the catheter guide wire control device for interventional operation of the present embodiment, on the basis of embodiment 1, a force measuring instrument 7 is disposed between a support plate 460 and a lower support plate 640 on which a brake assembly 5 is mounted, and is used for detecting the pushing force of the catheter guide wire. The device can be used for clamping, pushing and pulling and twisting the catheter or the guide wire in the embodiment 2, and can also be used for detecting the pushing resistance of the catheter or the guide wire, and the guide wire is taken as an example for description, and the details are as follows.
The guide wire clamping operation is the same as that of embodiment 2, after the guide wire is clamped, the brake assembly 5 releases the brake member 320 of the clamping mechanism 3, the clamping mechanism 3 moves along with the guide wire along the axial direction under the action of external force pushing, the guide rail sliding block assembly 6 slides along with the guide wire, pushing resistance is transmitted to the dynamometer 7 through the lower supporting plate 640, the dynamometer 7 receives resistance signals, the resistance signals are converted into electric signals, and the electric signals are transmitted to an external control system, so that the real-time detection of the pushing resistance is realized.
On the basis of the embodiment 2, the control method can feed back the pushing force in real time, is just like the touch of a doctor, is more vivid in operation, and is convenient for the doctor to grasp the guide wire pushing force.
Example 4
The catheter/guide wire control device for interventional surgery of the present embodiment has the same structure as that of embodiment 3, and further provides a control method for clamping or releasing the catheter or guide wire. In this embodiment, taking a guide wire as an example (the guide tube is the same), when the motor 430 rotates by a certain angle θ, the small herringbone gear 420 and the large herringbone gear 410 are driven to mesh and transmit, and further the sleeve 310 is driven to rotate by a certain angle, so that the sleeve 310 and the brake disc 322 realize relative rotation at a fixed angle, and the clamping member 330 clamps or releases the guide wire.
The calibration method for the rotation angle theta is as follows:
the diameter of the guide wire is selected according to the requirement of the vascular interventional operation, the corresponding clamping piece 330 is selected, the guide wire sequentially penetrates through the braking piece 320, the clamping piece 330 and the sleeve 310, the guide wire is in a loosening state at the moment, the meshing position of the internal thread of the sleeve 310 and the external thread of the thread section 321 of the clamping piece 330 is marked as an initial position, the sleeve 310 is driven by the motor 430 to rotate by different angles until the guide wire is clamped, the rotation angle of the motor 430 is recorded, the operation is repeated for 50 times, and the average value of the rotation angles of the motor 430 at each time is taken as the clamping or loosening rotation angle theta.
During the above procedure, the definition of the clamping of the guide wire is as follows: applying a certain torque load τ e and a certain resistance load Fe to the guide wire, marking points on the guide wire and the device, applying verification loads from small to large, and considering that the guide wire is just clamped under the condition that the relative positions of the marking points are just changed. The values of torque load τ e and drag load Fe are calculated as follows:
τe＝ατmax
tau max is the maximum resistance moment of guide wire torsion in the vascular interventional operation process, and alpha is a safety factor.
Fe＝αFmax
Fmax is the maximum resistance of guide wire pushing in the process of the vascular interventional operation, and alpha is a safety factor.
In addition, the method needs to ensure the nondestructive clamping of the guide wire or the catheter in the clamping process and comprises the following steps: after the push-pull electromagnet 530 with proper power is selected, the sliding friction force f between the brake disc 322 and the brake block 520 and the torque load τ e satisfy the following relationship after the push-pull electromagnet 530 pulls the brake block 520 to press the brake disc 322:
f＝β·τe·r
the experiment is repeated, the rotation angle of the motor 430 is gradually increased, the torsion applied to the sleeve 310, the clamping piece 330 and the brake disc 322 by the herringbone gear 410 is gradually increased, when the sliding friction force f between the brake disc 322 and the brake block 520 is greater than beta. tau. r, the brake disc 322 and the brake block 520 slide, and at the moment, the pressure between the clamping piece 330 and the guide wire or the guide pipe is not increased any more, so that the guide wire or the guide pipe is protected, and the lossless clamping is realized.
The examples described herein are merely illustrative of the preferred embodiments of the present invention and do not limit the spirit and scope of the present invention, and various modifications and improvements made to the technical solutions of the present invention by those skilled in the art without departing from the design concept of the present invention shall fall within the protection scope of the present invention.
Claims (11)
1. A catheter guide wire control device for interventional operation is characterized in that: the catheter guide wire clamping device comprises a clamping mechanism (3) and a sleeve driving assembly (4) matched with the clamping mechanism (3), wherein the clamping mechanism (3) comprises a sleeve (310), a braking piece (320) and a clamping piece (330), the sleeve driving assembly (4) adjusts the relative position of the sleeve (310) and the braking piece (320) in the axial direction, so that the sleeve (310) and the braking piece (320) extrude or release the clamping piece (330), and the clamping piece (330) clamps or releases the catheter guide wire.
2. The interventional catheter guidewire control device of claim 1, wherein: the sleeve driving device is characterized by further comprising a brake braking assembly (5), and when the sleeve driving assembly (4) adjusts the relative position of the sleeve (310) and the braking part (320) in the axial direction, the brake braking assembly (5) limits the braking part (320).
3. A catheter guidewire control device for interventional procedures as set forth in claim 2, wherein: the brake assembly (5) comprises a brake block (520) and a driving element connected with the brake block (520).
4. The interventional catheter guidewire control device of claim 3, wherein: the brake member (320) is provided with a brake disc (322), and the driving element of the brake assembly (5) can drive the brake block (520) to press or release the brake disc (322).
5. The interventional catheter guidewire control device of claim 1, wherein: the sleeve (310) and the braking part (320) are provided with thread structures which are matched with each other, the sleeve driving assembly (4) drives the sleeve (310) to rotate relative to the braking part (320), and under the action of the thread structures, the relative positions of the sleeve (310) and the braking part (320) are adjusted in the axial direction.
6. The interventional catheter guidewire control device of claim 5, wherein: one end of the sleeve (310) is provided with a threaded hole, and the tail end of the threaded hole is a taper hole; the braking part (320) is provided with a threaded section (321) matched with the threaded hole of the sleeve (310); the clamping end head (331) is provided with an outer conical surface matched with the conical hole in the sleeve (310), and a notch is formed in the clamping end head (331) along the circumferential direction of the outer conical surface.
7. The catheter guidewire control device for interventional procedures of claim 5, wherein: sleeve drive assembly (4) are vice (440) and the connecting piece including motor (430), ball spline, motor (430) drive sleeve (310) through ball spline vice (440) and connecting piece and rotate, and sleeve (310) and connecting piece can carry out the axial positioning on ball spline is vice (440).
8. The interventional catheter guidewire control device of claim 7, wherein: the connecting piece comprises a large herringbone gear (410) of the connecting sleeve (310) and a small herringbone gear (420) which is meshed with the large herringbone gear (410) and is connected with a ball spline pair (440).
9. A catheter guidewire control device for interventional procedures as set forth in claim 1, wherein: the clamping mechanism is characterized by further comprising a guide rail sliding block assembly (6) for guiding the clamping mechanism in a sliding mode.
10. The interventional catheter guidewire control device of claim 1, wherein: the sleeve (310), the brake (320) and the clamping piece (330) are all provided with central holes for guiding tubes or guide wires to pass through.
11. A control method of the catheter guidewire control device for interventional surgery as set forth in any one of claims 1 to 10, comprising the steps of:
(1) a catheter or guidewire passes through the sleeve (310), detent (320) and grip (330);
(2) a braking part (320) for clamping and fixing the clamping mechanism (3);
(3) the sleeve driving assembly (4) drives the sleeve (310) of the clamping mechanism (3) to move axially, so that the sleeve (310) and the braking part (320) press the clamping part (330), and the clamping part (330) shrinks and clamps the catheter or the guide wire;
when the catheter or the guide wire needs to be twisted, after the catheter or the guide wire is clamped, the braking part (320) of the clamping mechanism (3) is released, the sleeve driving assembly (4) drives the sleeve (310) of the clamping mechanism (3) to rotate, the braking part (320) and the clamping part (330) follow up, and the clamping part (330) drives the catheter or the guide wire to twist.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210338753.8A CN114904126A (en) | 2017-07-06 | 2017-07-06 | Catheter guide wire control device for interventional operation and control method thereof |
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| CN202210338753.8A CN114904126A (en) | 2017-07-06 | 2017-07-06 | Catheter guide wire control device for interventional operation and control method thereof |
| CN201710544635.1A CN107349514B (en) | 2017-07-06 | 2017-07-06 | Catheter guide wire control device for interventional operation and control method thereof |
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| CN107349514A (en) | 2017-11-17 |
| CN107349514B (en) | 2023-12-01 |
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