CN115025367A - IPMC-based adaptive micro-catheter guiding device - Google Patents
IPMC-based adaptive micro-catheter guiding device Download PDFInfo
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- CN115025367A CN115025367A CN202210471855.7A CN202210471855A CN115025367A CN 115025367 A CN115025367 A CN 115025367A CN 202210471855 A CN202210471855 A CN 202210471855A CN 115025367 A CN115025367 A CN 115025367A
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- ISRUGXGCCGIOQO-UHFFFAOYSA-N Rhoden Chemical compound CNC(=O)OC1=CC=CC=C1OC(C)C ISRUGXGCCGIOQO-UHFFFAOYSA-N 0.000 title claims abstract 17
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- BASFCYQUMIYNBI-UHFFFAOYSA-N platinum Chemical compound [Pt] BASFCYQUMIYNBI-UHFFFAOYSA-N 0.000 description 3
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Classifications
-
- 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
-
- 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
Abstract
The invention discloses an IPMC-based self-adaptive micro catheter guiding device. The whole system can be divided into four module units, namely a control execution module, a detection transmission module, a central processing unit module and a peripheral power supply module; the IPMC is used as a main control unit, is matched with various detection modes such as a micro laser probe and the like, is combined with an efficient and rapid transmission mode such as optical fiber transmission and the like, is matched with an efficient processor to process detection information and send corresponding control information to a control module, and the self-adaptive micro catheter guiding device is manufactured. Belongs to the field of IPMC intelligent driving materials and automatic control, and is mainly used for guiding a vascular interventional catheter at present and accurately conveying medicines to a complicated vascular lesion.
Description
Technical Field
The invention relates to the field of IPMC intelligent driving material application and the field of automatic control, in particular to an IPMC-based self-adaptive micro-catheter guiding device.
Background
IPMC (Ionic Polymer Metal composite) is an ionic EAP material, which is an organic-inorganic composite material obtained by depositing precious metals such as platinum (Pt), gold (Au) and the like on the surface of an ion exchange Polymer film (Nafion film), can generate larger deformation by only needing lower voltage compared with other motor driving and flexible driving, has the advantages of light weight, low driving voltage, large displacement, no noise, simple driving mechanism and the like, has greater attention to the field of IPMC driving application at home and abroad at the present time, and is a hotspot of domestic and foreign research in recent years. For example, the IPMC is applied to mechanical fish (lypons, flexible bionic mechanical structure based on ionic polymer-metal composite material and control system thereof research [ D ] alloy industry university, 2019.), ray (preparation of yangjing, ionic polymer-metal composite material, driving characteristics and bionic application research [ D ] west safety science university, 2019.) and the like, wherein the application of the IPMC to the interventional catheter guiding device is rapidly developed in recent years.
The traditional interventional catheter belongs to a passive type, needs to be matched with an interventional guide wire, firstly points the guide wire to a target area, but the guide wire cannot actively select a blood vessel branch, the operability is extremely poor, the guide wire continuously rubs the vessel wall in the process, the human body is damaged, the success of the operation has high requirements on the operation technology of a doctor, and the safety and the effectiveness of interventional therapy are seriously influenced. The existing IPMC-based interventional operation catheter does not have an interventional guide wire, and can complete blood vessel branch selection only by means of the guide function of the IPMC at the front end, thereby greatly reducing the difficulty of minimally invasive interventional operation and reducing the dependence on the operation skill of doctors. When the intelligent blood vessel branch selection instrument is used, external X rays are needed to observe the distribution of blood vessels, and the IPMC is actively and manually controlled to deform and guide by the outside, so that the blood vessel branch selection effect can be achieved. But still rubs against the walls of the cerebral vessels inside a complex tortuous cerebral vessel.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art, and provides an IPMC self-adaptive micro-catheter guiding device which takes other micro distance measuring sensors such as a laser probe or a micro camera as a detection module, forms a transmission module through optical fiber transmission, performs closed-loop processing on the transmission module and a central processing unit central control module, and feeds back the processed result to an IPMC control module for feedback control. The posture of the catheter is automatically adjusted when the catheter is close to the catheter wall, so that the catheter head is prevented from rubbing the blood vessel, and the injury is reduced.
The invention adopts the following technical scheme for solving the technical problems:
the IPMC-based self-adaptive micro-catheter guiding device comprises a control execution module, a detection transmission module, a central processor module and a peripheral power supply module;
the control execution module is manufactured by processing and cutting a special tubular IPMC by a precision machine tool and uniformly dividing to generate four electrodes;
the detection transmission module comprises an information processing part and a detection part, wherein the information processing part comprises a phase modulator, a phase discriminator and a laser generating device, and the detection part comprises an optical fiber and a laser head;
the central processor module consists of a STM32F4 series;
the peripheral power supply module comprises a voltage reduction circuit, a rectification filter circuit and a voltage stabilizing circuit which are connected in series;
the detection parts in the control execution module and the detection transmission module are serially connected and arranged at the forefront end of the device to form an internal working area,
the information processing part of the detection transmission module, the central processor module and the peripheral power supply module are connected with each other to form an external master control area, are arranged outside the body by taking the central processor module as the center and are mutually cooperated with the internal working area through a lead and an optical fiber.
Preferably, the internal working area structure is formed by connecting a guide pipe, an IPMC (control execution module) with an electrode cut, and four micro laser probes (detection transmission modules) with tail ends embedded in the guide pipe in series, and four micro cylindrical channels are reserved in the pipe wall for placing optical fibers and drive wires of the IPMC.
Preferably, the IPMC deflects to the positive electrode side when energized, and the higher the voltage within a certain range, the larger the deflection width, and the vector combination of the divided electrode voltages is adjusted to realize the deflection of the IPMC in any direction.
Preferably, the detection transmission module is divided into customization and self-control, and the customization of the detection transmission module is cooperated with the current authoritative high-quality sensor company to customize the corresponding micro laser sensor;
the detection transmission module self-control comprises two modes of a pulse type laser range finder and a phase type laser range finder:
the pulse laser range finder utilizes an SPLLL90 laser diode and a 555 chip to be combined with a TDC-GP22 chip to send pulse laser, and the distance is calculated by measuring time difference;
the phase type laser range finder utilizes a gallium arsenide (GaAs) diode to generate laser, modulates the laser through a phase modulator, measures the phase of returned laser through a phase detector, and calculates the distance.
Preferably, the central processor module adopts the following control algorithm ideas:
stage one, selecting a signal from the outside, and selecting whether the device works in an artificial mode or a self-adaptive mode;
when the guide device is in an artificial mode, namely an artificial open-loop control mode, an IPMC control signal is directly given from the outside to control the deformation of the guide device at the branch of the guide tube;
and step three, the central processing unit outputs corresponding control signals to change the deviation of the IPMC attitude by processing the measured distance information between the guide pipe and the pipe wall, and the changed laser probe continuously transmits new distance signals to the central processing unit, so that closed-loop control is carried out until the guide device and the guide pipe tend to be coaxial.
Preferably, in the four probes in motion, part of the probes are close to the pipe wall, and the other part of the probes are far from the pipe wall, so that the electrode voltage in the direction of the farther distance between the control probes and the pipe wall is increased, the farther distance is, and the higher the corresponding enhanced voltage amplitude is.
Compared with the prior art, the invention adopting the technical scheme has the following beneficial effects:
1. compared with the existing IPMC-based manufactured catheter guiding device, the IPMC-based adaptive micro catheter guiding device provided by the invention has higher flexibility and increases the adaptive adjustment function when the guiding device is guided.
2. The IPMC-based self-adaptive micro catheter guiding device provided by the invention overcomes the problem that a controller cannot adjust the catheter all the time in actual operation, so that the catheter still possibly rubs the vessel wall when being inserted and extracted, thereby avoiding the damage to the human body, and ensuring that the interventional catheter is safer, more efficient and more intelligent.
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 embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is an overall view of an internal work area;
FIG. 2 is a diagram illustrating correspondence between electrode polarities and control directions of multiple degrees of freedom IPMC;
FIG. 3 is a schematic diagram of a phase laser rangefinder;
FIG. 4 is a diagram of the overall control framework;
FIG. 5 is a schematic view of the adaptive microcatheter guide device in a catheter;
fig. 6 is a schematic diagram of a power module.
In the figure, 1 a common medical transportation catheter, 2 a reserved optical fiber guide wire channel, 3 a laser probe, 4 a tubular IPMC with well cut electrodes, and ABCD represents the side directions of four electrodes of the guiding device.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying 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.
The first embodiment is as follows:
the IPMC-based self-adaptive micro-catheter guiding device is totally composed of four modules, namely a control execution module, a detection transmission module, a central processing unit module and a peripheral power supply module, and can be divided into an internal working area and an external master control area according to the working area of the device.
The interior working area is mainly provided with a control execution module IPMC and a laser probe in a detection transmission module. As shown in figure 1, the uppermost end and the lowermost end, namely 1, are parts of a common medical transmission catheter, the middle section, namely 4, is an IPMC with an electrode cut, and the tail end, namely 3, is four small protrusions, namely four micro laser probes embedded in the catheter, which are connected in series to form a main working part of the device.
Meanwhile, as shown in fig. 1 and 2, four tiny cylindrical channels are reserved in the tube wall for placing the optical fiber for transmitting laser and the drive wire of the IPMC. The system is used for connecting and transmitting information with an external information processing master control module.
The general control principle of the IPMC used for controlling the execution module is described below. When electricity is applied to the IPMC surface electrode, water and cations inside the Nafion membrane on the positive electrode side are repelled to the negative electrode side due to the repulsion in the same direction, and ions on the negative electrode side accumulate to generate a larger internal pressure, which causes the IPMC on the negative electrode side to expand and bend toward the positive electrode side. In short, when energized, the IPMC is shifted to the positive side, and the tubular IPMC used follows this principle.
After the tubular IPMC surface electrode is further precisely cut into four sections, the center of each section is approximately positioned on the same height line with the position of the laser probe. So far, the IPMC can be deflected to the outside of the four electrodes by adjusting according to the polarity combination shown in fig. 3, and then the bending to any angle can be realized by changing the corresponding voltage.
The external master control area comprises a core component of the detection transmission module, a central control module and a peripheral power supply module.
The core component in the detection transmission module is exemplified by a phase laser range finder. Fig. 5 includes a laser generator, a modulator, and a phase detector. The laser generator consists of laser medium, external exciting source and resonant cavity, and different kinds of medium may be selected to produce laser in different wavelengths. The phase of the amplitude is modulated by a modulator, and the phase at that time is measured. The phase of the reflected laser is measured by the phase measuring instrument, and the distance can be measured.
The central control module selects STM32F4 series or F7 series. And then, the processing of the information transmitted back by the laser sensor and the control of the IPMC are realized through the related control technology and control algorithm of the single chip microcomputer.
Wherein the overall control concept is shown in figure 4. First, the device has two states, i.e., an artificial mode and an adaptive mode, and is determined by an external selection signal given from the outside. Here, setting 0, i.e., low voltage, is the manual mode, and 1 is high voltage, i.e., the adaptive control mode.
In the former case, the control mode may be an open loop control mode as shown in the lower part of fig. 4, and the IPMC control signal may be directly externally provided. When the latter self-adaptive mode is adopted, the central processing unit outputs corresponding control signals by processing the measured distance information between each laser probe and the blood vessel wall, so that the attitude deviation of the IPMC is changed, and the changed laser probes transmit new distance signals to the central processing unit until the catheter head approaches the middle part of the blood vessel, namely the catheter guiding device and the outer blood vessel tend to be coaxial.
Wherein the above-mentioned output corresponding control signal, according to the different in the blood vessel state of the guide tube device of the conduit, and adopt the slightly different processing logic correspondingly: in the state shown on the left side of fig. 5, when one of the four probes is close to the pipe wall, the probe on one side is close to the pipe wall, such as side a, the probe on one side is far from the pipe wall, such as side C, and the distance data between the two sides of BD and the pipe wall are close. At this time, the voltage on the C side of the IPMC far away from the pipe wall is increased, so that the guide pipe is close to the direction, the distances between the four detecting heads and the pipe wall are close, and the guide device is positioned near the center of the guide pipe. In the state shown on the right of fig. 5, namely when the position between two adjacent probes is close to the pipe wall, two probes are relatively close to the pipe wall, such as AB side, and the other two laser probes are far away from the pipe wall, such as CD side, at the moment, the voltage at the far position, namely the CD side, is enhanced, and the amplitude of the corresponding voltage input is larger as the distance is farther, so that the head of the device can gradually approach the far end, and the guiding device is positioned near the center of the blood vessel. The core control idea is that when the distance measurement probe is relatively far away from a certain side blood vessel, positive voltage is input to a corresponding side electrode, and the farther the distance is, the larger the positive voltage amplitude is. The specific proportion parameters selected during input can be determined by a PID algorithm, a fuzzy algorithm, a neural network algorithm and the like, so that better control of the effect is realized.
As shown in fig. 6, the power module of the peripheral power supply is formed by connecting a voltage reduction circuit, a rectification filter circuit and a voltage stabilizing circuit in series, and converts alternating current into direct current low voltage after rectification and filtering. The power supply module adopts 220V alternating current input, internal voltage reduction and rectification to be +/-5V and +/-9V voltage and extra working voltage required by the laser ranging module or other measuring modules. The +/-5V is used for supplying power to the single chip microcomputer, the +/-9V voltage is supplied to a digital-to-analog conversion device such as DAC0832 and the like to provide IPMC control voltage, and the whole is finally uniformly controlled and dispatched by the single chip microcomputer.
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 (6)
1. The IPMC-based self-adaptive micro-catheter guiding device is characterized by comprising a control execution module, a detection transmission module, a central processing unit module and a peripheral power supply module;
the control execution module is manufactured by processing and cutting a special tubular IPMC by a precision machine tool and uniformly dividing to generate four electrodes;
the detection transmission module comprises an information processing part and a detection part, wherein the information processing part comprises a phase modulator, a phase discriminator and a laser generating device, and the detection part comprises an optical fiber and a laser head;
the central processor module consists of a STM32F4 series;
the peripheral power supply module comprises a voltage reduction circuit, a rectification filter circuit and a voltage stabilizing circuit which are connected in series;
the detection parts in the control execution module and the detection transmission module are serially connected and arranged at the forefront end of the device and form an internal working area,
the information processing part, the central processing unit module and the peripheral power supply module of the detection transmission module are connected pairwise to form an external main control area, are arranged outside the body by taking the central processing unit module as the center and are mutually cooperated with the internal working area through leads and optical fibers.
2. The IPMC-based adaptive micro-catheter guidance device of claim 1, wherein the inner working area structure is composed of a catheter, an IPMC (control execution module) with cut electrodes, and four micro laser probes (probe transmission module) with tail ends embedded in the catheter, all connected in series, and four micro cylindrical channels are reserved in the wall of the catheter for placing the optical fiber and the IPMC driving wires.
3. The IPMC-based adaptive micro-catheter guidance device of claim 1, wherein the IPMC is biased to the positive side when energized, and the higher the voltage within a certain range, the larger the deflection amplitude, and the IPMC can be deflected to any direction by adjusting the vector combination of the divided electrode voltages.
4. The IPMC-based adaptive microcatheter guide device of claim 1, wherein said probe transmission module is divided into custom and homemade, said probe transmission module custom each cooperating with a currently authoritative premium sensor company to customize a corresponding micro laser sensor;
the detection transmission module self-made comprises two modes of a pulse type laser distance meter and a phase type laser distance meter:
the pulse laser range finder utilizes an SPLLL90 laser diode and a 555 chip to be combined with a TDC-GP22 chip to send pulse laser, and the distance is calculated by measuring time difference;
the phase type laser range finder utilizes a gallium arsenide (GaAs) diode to generate laser, modulates the laser through a phase modulator, measures the phase of returned laser through a phase detector, and calculates the distance.
5. The IPMC-based adaptive microcatheter guide device of claim 1, wherein said central processor module employs the following control algorithm concept:
stage one, selecting a signal from the outside, and selecting whether the device works in an artificial mode or a self-adaptive mode;
when the guide device is in an artificial mode, namely an artificial open-loop control mode, an IPMC control signal is directly given from the outside to control the deformation of the guide device at the bifurcation of the guide tube;
and step three, the central processing unit outputs corresponding control signals to change the deviation of the IPMC attitude by processing the measured distance information between the guide pipe and the pipe wall, and the changed laser probe continuously transmits new distance signals to the central processing unit, so that closed-loop control is carried out until the guide device and the guide pipe tend to be coaxial.
6. The IPMC based adaptive microcatheter guide device of claim 5, wherein four probes in motion will have some probes near the wall and some probes away from the wall, while increasing the electrode voltage in the direction that the control probe is further away from the wall, and the further away the corresponding enhanced voltage amplitude is higher.
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| CN103874525A (en) * | 2011-10-14 | 2014-06-18 | 直观外科手术操作公司 | Catheter systems |
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| CN107929914A (en) * | 2017-10-24 | 2018-04-20 | 南京航空航天大学 | A kind of insertion type active catheter based on column IPMC electric actuations |
| CN111685798A (en) * | 2020-05-28 | 2020-09-22 | 广州新诚生物科技有限公司 | Catheter integrating controllable circumferential ultrasonic scanning and steering functions |
| CN211884909U (en) * | 2017-04-07 | 2020-11-10 | 巴德阿克塞斯系统股份有限公司 | Optical fiber-based medical device tracking and monitoring system |
| CN111973865A (en) * | 2020-08-31 | 2020-11-24 | 尚华 | Optical fiber guide wire, optical fiber guide wire detection system and method |
| CN113974826A (en) * | 2021-10-29 | 2022-01-28 | 深圳微量医疗科技有限公司 | High-adaptability interventional catheter |
-
2022
- 2022-04-29 CN CN202210471855.7A patent/CN115025367A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103874525A (en) * | 2011-10-14 | 2014-06-18 | 直观外科手术操作公司 | Catheter systems |
| CN107854763A (en) * | 2016-09-21 | 2018-03-30 | 羅蓋 | Can the bracing wire injection catheter of autonomous control including the robot system and its operating method of the conduit |
| CN211884909U (en) * | 2017-04-07 | 2020-11-10 | 巴德阿克塞斯系统股份有限公司 | Optical fiber-based medical device tracking and monitoring system |
| CN107929914A (en) * | 2017-10-24 | 2018-04-20 | 南京航空航天大学 | A kind of insertion type active catheter based on column IPMC electric actuations |
| CN111685798A (en) * | 2020-05-28 | 2020-09-22 | 广州新诚生物科技有限公司 | Catheter integrating controllable circumferential ultrasonic scanning and steering functions |
| CN111973865A (en) * | 2020-08-31 | 2020-11-24 | 尚华 | Optical fiber guide wire, optical fiber guide wire detection system and method |
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Application publication date: 20220909 |