CN115414572A

CN115414572A - Manual feedback device for guide wire and interventional operation machine

Info

Publication number: CN115414572A
Application number: CN202211225222.4A
Authority: CN
Inventors: 祁远东; 欧永红; 曹志; 任文永
Original assignee: Shenzhen Aibo Medical Robot Co Ltd
Current assignee: Shenzhen Aibo Medical Robot Co Ltd
Priority date: 2022-10-09
Filing date: 2022-10-09
Publication date: 2022-12-02

Abstract

The invention discloses a guide wire and a manual feedback device of an interventional operation machine, wherein the guide wire comprises a body and a detection assembly, the detection assembly comprises a detection piece, a substrate and a chip, the substrate is arranged at the far end of the body, the chip is arranged on the body, the detection piece is arranged on the substrate, and the substrate is electrically connected with the chip. According to the invention, more accurate force feedback information can be obtained through the detection assembly, and the safety of the guide wire in the operation process is greatly improved.

Description

Manual feedback device for guide wire and interventional operation machine

Technical Field

The present disclosure relates to the field of medical device manufacturing technology, and more particularly, to a guide wire and a manual feedback device for an interventional surgical machine.

Background

Interventional surgery is the objective of performing minimally invasive surgical procedures by imaging internal tissues and organs of a patient's body through real-time radiation. The operator needs to be exposed to the radiation for a long time, and doctors who are engaged in the interventional operation for a long time have a higher probability of suffering from radiation-related diseases and harming the body health.

Since the interventional surgical environment is a harmful environment in which radiation is present, it is desirable to minimize the exposure time of the surgical operator to the radiation environment. The existing interventional operation robot can isolate an operation operator from a harmful environment and realize remote operation.

One of the important technologies in the development process of an interventional surgical robot is a delivery device for a slender medical device (such as a catheter and a guide wire), when the interventional surgical is performed by using the robot, because a doctor controls a slave end driver to deliver the guide wire and the catheter through a master end manipulator at a distance, an instant force value generated when a tip of the guide wire is in contact with a blood vessel wall cannot be acquired when the guide wire and the catheter are delivered, and the adverse effect on the surgical process is easily caused.

Disclosure of Invention

The invention aims to at least solve the problem that the information of the force value generated when the far end and the tip of the guide wire are contacted with the vessel wall cannot be acquired. The purpose is realized by the following technical scheme:

a first aspect of the present invention is directed to a guidewire.

A guidewire according to the present invention comprises: a body; the detection assembly comprises a detection piece, a substrate and a chip, wherein the substrate is arranged at the far end of the body, the chip is arranged on the body, the detection piece is arranged on the substrate, and the substrate is electrically connected with the chip.

According to the guide wire disclosed by the invention, the detection assembly is arranged at the far end of the body, the detection piece can be in contact with the vessel wall and generates a reverse acting force, at the moment, the detection piece and the substrate can be subjected to micro-deformation, the chip can receive a force value generated by the detection piece, a doctor can obtain more accurate force feedback information through the detection assembly, and the safety of the interventional operation robot in the operation process is greatly improved.

In some embodiments of the present invention, the substrate is a force sensor, and the detecting element pushes the substrate to slightly deform, so that the resistance value of the substrate changes.

In some embodiments of the present invention, the base plate includes an annular plate disposed at a distal end of the body, a connecting plate disposed at an inner side of the annular plate through a plurality of connecting portions, and the detecting member is disposed on the connecting plate.

In some embodiments of the invention, an integrated circuit is disposed on at least a portion of the body, the connecting plate and the annular plate, and the chip is disposed on the integrated circuit of the body.

In some embodiments of the present invention, the number of the connecting portions is 4, and 4 connecting portions are uniformly arranged on the inner side of the annular plate in the circumferential direction of the annular plate.

In some embodiments of the invention, the detection member comprises a tip cap disposed at a distal end of the tip cone and a tip cone disposed on the connection plate.

In some embodiments of the present invention, the guide wire further comprises a signal coupler, the signal coupler is disposed at the proximal end of the body, the chip is electrically connected to the signal coupler, and the signal coupler is wirelessly connected to the data processor.

In some embodiments of the invention, the guide wire further includes a push rod connection plate, the push rod connection plate is disposed at the distal end of the body, the base plate is disposed at the distal end of the push rod connection plate, and the chip is disposed on the push rod connection plate.

In some embodiments of the invention, the guide wire further includes a spring sheath, the spring sheath is sleeved on the push rod connecting plate, one end of the spring sheath is connected with the detecting member, and the other end of the spring sheath is connected with the body.

In some embodiments of the present invention, the guide wire further includes a signal line, the signal line sequentially communicates with the substrate and the chip, the chip and the signal coupler, and the signal line is disposed through the body.

The invention provides a human power feedback device of an interventional operation robot in a second aspect.

The invention relates to a human force feedback device of an interventional operation robot, which comprises: a guidewire as in any one of the embodiments above; and the chip is electrically connected with the data processor.

The above description is only an outline of the technical solution of the embodiments of the present application, and the embodiments of the present application will be described below in detail in order to make the technical means of the embodiments of the present application more clearly understood.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like parts are designated by like reference numerals throughout the drawings. In the drawings:

fig. 1 schematically illustrates a perspective view of a guidewire with a spring sheath removed according to an embodiment of the present invention.

Fig. 2 schematically shows an enlarged schematic view a according to fig. 1.

Fig. 3 schematically shows an enlarged schematic view B according to fig. 2.

Fig. 4 schematically shows an enlarged schematic view C according to fig. 1.

Fig. 5 schematically illustrates a front view of a guidewire according to an embodiment of the present invention.

Fig. 6 schematically shows an enlarged schematic view D according to fig. 5.

The reference numbers are as follows:

the guide wire 100, the body 10, the push rod connecting plate 11, the signal wire 12, the detection assembly 20, the detection piece 21, the tip cap 211, the tip cone 212, the base plate 22, the mounting hole 221, the annular plate 222, the connecting plate 223, the connecting part 224, the chip 23, the signal coupler 30 and the spring sheath 40.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

as shown in fig. 1-6, a first aspect of the present invention proposes a guidewire 100. The guidewire 100 includes a body 10 and a detection assembly 20.

Wherein the body 10 is a substantially round rod-shaped structure, and the detecting component 20 is disposed at the distal end of the body 10.

The inspection assembly 20 includes an inspection piece 21, a substrate 22, and a chip 23. The substrate 22 is disposed at the distal end of the body 10, the chip 23 is disposed on the body 10, the detecting member 21 is disposed on the substrate 22, and the substrate 22 is electrically connected to the chip 23.

Specifically, as shown in fig. 1, in the present disclosure, the distal end of the body 10 refers to an end of the body 10 away from the console, i.e., an end of the body 10 protruding into the blood vessel of the patient.

The base plate 22 is disposed at the distal end of the body 10, the base plate 22 has a substantially circular plate shape, a mounting hole 221 is disposed at a central position of the base plate 22, the detecting member 21 is disposed in the mounting hole 221, and the base plate 22 is electrically connected to the chip 23.

It is understood that, in the present disclosure, when the detecting element 21 collides with the blood vessel wall, the detecting element 21 may generate a reaction force, the detecting element 21 may push the substrate 22 to slightly deform, and the substrate 22 and the chip 23 may be electrically connected through the signal line. The chip 23 can transmit the value of the reaction force generated by the detecting member 21 to the operator.

In the present disclosure, the substrate 22 is a force sensor, the detecting element 21 can push the substrate 22 to generate a micro-deformation, and the resistance value of the substrate 22 is changed by the micro-deformation of the substrate 22. The chip 23 is electrically connected to the substrate 22, and the chip 23 can be used to measure the voltage value of the substrate 22, and the voltage value measured by the chip 23 changes due to the change of the resistance value of the substrate 22.

To sum up, the instantaneous force value that produces when detecting piece 21 contacts with the vascular wall can be obtained according to the change of voltage value that chip 23 surveyed, and the doctor accessible chip 23 obtains the instantaneous force value that produces when detecting piece 21 contacts with the vascular wall in real time, has improved the success rate of operation effectively.

According to the guide wire 100 disclosed by the invention, the detection assembly 20 is arranged at the far end of the body 10, wherein the detection piece 21 can be in contact with the vessel wall and generate a reverse acting force, at the moment, the detection piece 21 and the substrate 22 can be slightly deformed, the chip 23 can receive the force value generated by the detection piece 21, a doctor can obtain more accurate force feedback information through the detection assembly 20, and the safety of the interventional operation robot in the operation process is greatly improved.

In some embodiments of the present invention, as shown in FIG. 3, base plate 22 includes an annular plate 222, a web 223, and a plurality of connectors 224. The ring plate 222 is disposed at the distal end of the body 10, the connection plate 223 is disposed inside the ring plate 222 through a plurality of connection portions 224, and the detection member 21 is disposed on the connection plate 223.

Specifically, as shown in fig. 3, the annular plate 222 is a circular ring structure, the outer circumferential surface of the annular plate 222 is connected to the body 10, a plurality of connecting portions 224 are provided inside the annular plate 222, and the connecting portions 224 extend toward the center of the annular plate 222. The connecting plate 223 is disposed at the center of the annular plate 222 by a plurality of connecting portions 224, that is, the connecting plate 223 is in a floating state with respect to the annular plate 222. Therefore, the micro-displacement of the detection piece 21 is facilitated, and the detection precision of the invention is effectively improved.

Further, the material of the connecting portion 224 is silicon nanowires, and the silicon nanowires are grown on the surfaces of the annular plate 222 and the connecting plate 223 by a plasma chemical vapor deposition method. Thus, when the detector 21 is displaced, the connection portion 224 is deformed, and the resistance of the connection portion 224 is changed.

In some embodiments of the present invention, an integrated circuit is disposed on at least a portion of the body 10, the annular plate 222, the connecting plate 223, and the chip 23 disposed on the integrated circuit of the body 10.

It is understood that, among them, the annular plate 222 and the connection plate 223 are provided with integrated circuits on the surfaces thereof on the same side, and communicate through the connection portion 224. An integrated circuit is disposed on at least a portion of the body 10, and the chip 23 is disposed on the integrated circuit of the body 10. Thereby, communication is achieved between the annular plate 222, the connecting plate 223, and the chip 23.

The connecting plate 223 is suspended with respect to the annular plate 222, and the connecting plate 223 and the annular plate 222 constitute a cantilever beam structure, which forms a wheatstone bridge in combination with the connecting portion 224. Therefore, when the connection portion 224 is slightly deformed, the resistance of the connection portion 224 is changed, and a variable voltage is generated, and the chip 23 is disposed on the integrated circuit of the body 10, that is, the chip 23 is electrically connected to the connection plate 223, so that the variable voltage is processed by the chip 23 and transmitted through the signal line, thereby realizing the force feedback.

In some embodiments of the present invention, as shown in fig. 3, the number of the connecting portions 224 is 4, and 4 connecting portions 224 are uniformly arranged inside the annular plate 222 in the circumferential direction of the annular plate 222.

It will be appreciated that the 4 connections 224 are uniformly disposed on the inner side of the annular plate 222, which facilitates the formation of a stable Wheatstone bridge by the annular plate 222, the 4 connections 224 and the connecting plate 223.

Further, the 4 connecting portions 224 are made of the same material, shape and size, so that the stability of the Wheatstone bridge structure is further improved, and the improvement of the detection accuracy is facilitated.

In some embodiments of the present invention, as shown in fig. 1-2, the detection member 21 includes a tip cap 211 and a tip cone 212. Tip cap 211 is disposed at the distal end of tip cone 212, and tip cone 212 is disposed on web 223.

It will be appreciated that the cap portion of the tip cap 211 is a hemispherical structure, thereby effectively reducing irritation to the vessel wall when the tip cap 211 collides with the vessel wall.

The whole tip cone 212 is of a conical structure, which is beneficial for the tip cone 212 to better push the connecting plate 223, so that the connecting plate 223 generates displacement, and the connecting plate 223 can drive the connecting part 224 to deform. Since the connecting portion 224 is made of a piezoresistive material, the resistance of the wheatstone bridge formed by the annular plate 222, the 4 connecting portions 224 and the connecting plate 223 changes, and the value measured by the chip 23 changes.

In some embodiments of the present invention, as shown in fig. 4, guidewire 100 further includes a signal coupler 30. A signal coupler 30 is disposed at the proximal end of the body 10, and the chip 23 is electrically connected to the signal coupler 30.

It can be appreciated that the signal coupler 30 effectively improves the stability of the signal during transmission, which is beneficial to improving the overall detection performance and safety of the guide wire 100.

Furthermore, a channel is arranged in the body 10 of the guide wire 100, the chip 23 is arranged at the far end of the body 10, the signal coupler 30 is arranged at the near end of the body 10, the chip 23 is connected with the signal coupler 30 through a signal wire, and the signal wire can be arranged in the channel of the body 10 in a penetrating manner, so that the safety of the signal wire is improved, and the data transmission is more stable.

In some embodiments of the present invention, as shown in fig. 1-2, guidewire 100 further includes a push rod attachment plate 11. The push rod connecting plate 11 is arranged at the far end of the body 10, the base plate 22 is arranged at the far end of the push rod connecting plate 11, and the chip 23 is arranged on the push rod connecting plate 11.

Specifically, in the present disclosure, as shown in fig. 1 to 2, the pusher connecting plate 11 is substantially straight, and at least one surface of the pusher connecting plate 11 is a horizontal surface, thereby facilitating more stable arrangement of the chip 23 on the pusher connecting plate 11.

Further, at least one surface of the push rod connecting plate 11 is a horizontal plane on which an integrated circuit is arranged, and the chip 23 is arranged on the horizontal plane, which is beneficial to improving the stability of the chip 23.

In some embodiments of the invention, guidewire 100 further includes a spring sheath 40. The spring sheath 40 is sleeved on the push rod connecting plate 11, one end of the spring sheath 40 is connected with the detection piece 21, and the other end of the spring sheath 40 is connected with the body 10.

It will be appreciated that the spring sheath 40 is disposed over the push rod attachment plate 11, and one end of the spring sheath 40 may be connected to the tip cap 211, and the other end of the spring sheath 40 may be connected to the distal end of the body 10. Therefore, when the tip cap 211 collides with a blood vessel wall, the spring sheath 40 can effectively protect the push rod connecting plate 11 from deformation and bending in the collision process, which is beneficial to improving the stability and safety of the guide wire 100.

In some embodiments of the present invention, as shown in fig. 1-2, the guide wire 100 further includes a signal line 12, the signal line 12 sequentially communicates with the substrate 22 and the chip 23, the chip 23 and the signal coupler 30, and the signal line 12 is disposed through the body 10.

It can be understood that the signal line 12 is penetrated in the body 10, effectively protecting the signal line 12.

As shown in fig. 5-6, a second aspect of the present invention proposes an interventional surgical robotic feedback device comprising a guide wire 100 and a data processor (not shown).

The guidewire 100 is the guidewire 100 according to any embodiment of the present disclosure. The chip 23 is electrically connected to the signal coupler 30, and the signal coupler 30 is wirelessly connected to the data processor.

It is understood that the interventional surgical robot force feedback device comprises the guide wire 100, a delivery mechanism of the guide wire 100 and a data processing terminal, and the data processor is a data entry of the data processing terminal.

In the present disclosure, the data measured by the chip 23 is transmitted to the signal coupler 30 through a signal line, and the signal coupler 30 may transmit the data to the data processor by means of wireless transmission.

In summary, the doctor or the operator can visually observe the force feedback value generated by the guide wire 100 on the data processor, thereby ensuring the safety of the operation.

It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" may be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "includes," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless specifically identified as an order of performance. It should also be understood that additional or alternative steps may be used.

Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.

For convenience of description, spatially relative terms, such as "inner", "outer", "lower", "below", "upper", "above", and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the example term "below … …" may include both an up and down orientation. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A guidewire, comprising:

a body;

the detection assembly comprises a detection piece, a substrate and a chip, wherein the substrate is arranged at the far end of the body, the chip is arranged on the body, the detection piece is arranged on the substrate, and the substrate is electrically connected with the chip.

2. The guide wire of claim 1, wherein the substrate is a force sensor, and the detecting member pushes the substrate to slightly deform, so that the resistance value of the substrate changes.

3. The guidewire of claim 1, wherein the base plate includes an annular plate disposed at the distal end of the body, a web disposed on an inner side of the annular plate via a plurality of the connections, and the detector is disposed on the web.

4. The guidewire of claim 3, wherein an integrated circuit is disposed on at least a portion of the annular plate, the web, and the body, and wherein the chip is disposed on the integrated circuit of the body.

5. The guide wire according to claim 3, wherein the number of the connecting portions is 4, and 4 of the connecting portions are arranged uniformly on the inner side of the annular plate in the circumferential direction of the annular plate.

6. The guidewire of claim 3, wherein the detection member includes a tip cap and a tip cone, the tip cap being disposed at a distal end of the tip cone, the tip cone being disposed on the web.

7. The guidewire of claim 1, further comprising a signal coupler disposed at the proximal end of the body, the chip being electrically connected to the signal coupler.

8. The guide wire of claim 7, further comprising a signal wire, wherein the signal wire sequentially communicates with the substrate and the chip, the chip and the signal coupler, and the signal wire is inserted into the body.

9. The guidewire of claim 1, further comprising a pushrod connection plate disposed at a distal end of the body, the base plate disposed at a distal end of the pushrod connection plate, and the chip disposed on the pushrod connection plate.

10. The guide wire of claim 9, further comprising a spring sheath, wherein the spring sheath is sleeved on the push rod connecting plate, one end of the spring sheath is connected with the detecting member, and the other end of the spring sheath is connected with the body.

11. An interventional surgical robotic force feedback device, comprising:

a guidewire according to any one of claims 1-10;

and the chip is electrically connected with the data processor.