CN116196113A - Catheter control device and control method - Google Patents

Abstract

The invention provides a catheter control device and a control method, wherein the control device comprises the following components: the remote controller is provided with a control part and is used for generating a control instruction according to the operation of an operator; the workstation host is in communication connection with the remote controller and is used for receiving the control instruction and analyzing and processing the control instruction to generate a corresponding control command; the manipulator executor is connected with the guide pipe and is in communication connection with the workstation host computer, the manipulator executor is provided with a clamp holder and a driving device, the clamp holder is provided with a transmission component which is matched with the guide pipe handle and a bending knob component on the guide pipe handle, the driving device is provided with a motor array, and the motor array drives the guide pipe to move through the transmission component according to a control command. The catheter control device and the control method do not need additional surgical assistants to fix, are simple to operate, can adjust the position of the catheter and the angle direction of the head end at any time through the manipulator actuator, and improve the surgical efficiency.

Description

Catheter control device and control method

Technical Field

The invention relates to the technical field of medical equipment, in particular to a catheter control device and a catheter control method.

Background

The traditional electrophysiological intervention operation is mainly positioned by means of X-ray fluoroscopy and three-dimensional mapping of an electrophysiological mapping catheter, and can easily cause perioperative complications such as cardiac tamponade and pulmonary vein stenosis due to incapability of completely and clearly providing an internal anatomical structure of a heart, so that the recurrence rate is high.

Intracardiac ultrasound is through placing ultrasonic catheter probe in right atrium or right ventricle to this provides the real-time clear ultrasonic image of left atrium, left ventricle and pulmonary vein opening department, makes the accurate location ablation of operating doctor, improves operation security.

Interventional ultrasound technology, a branch of modern ultrasound medicine, is a new technology developed on the basis of ultrasound imaging to further meet clinical and therapeutic needs.

Especially in intracardiac branch of academic or vocational study operation, intracardiac echocardiography (ICE) technique is a milestone in cardiac imaging's progress, can provide the real-time image of heart anatomy structure and guide the operation on different anatomical levels for the operator in the operation, shows blood flow state and blood velocity of heart in real time whole journey, shows the motion of myocardium, ventricular myofibrosis and ventricular muscle's thickness, and the direct view sees the degree that the pipe contacted with local tissue, can observe even the micropipe-like echo that the tissue bursts and produces around ablating pipe point immediately in the ablation process, can improve the operation treatment effect when effectively reducing the operation risk, reduces the operation complication. Moreover, once conditions similar to acute pericardial tamponade, pre-thrombotic conditions or formations occur, the ultrasound catheter can also be discovered in time even before clinical symptoms occur, so that the clinician can treat the condition as early as possible, saving the life of the patient.

The ultrasonic catheter handle has three rotary knobs, and an operator needs to control the three rotary knobs to control the two-way bending of two vertical planes of the ultrasonic catheter respectively, namely, the locking of the bending of the front, back, left and right of the catheter and the head end of the catheter is controlled, and the axial advancing and retreating and the circumferential forward and backward rotation of the whole ultrasonic catheter handle are also required to be controlled.

In clinical operation, because an operator needs to manually place the ultrasonic catheter probe in the right atrium or right ventricle, after the ultrasonic catheter probe is placed at a designated position, the operator needs to hold the ultrasonic catheter by hand or fix the ultrasonic catheter by a clamp holder, and only heart anatomy with a fixed visual angle can be provided in the operation process. During interventional operation, because of the movement of the patient body, the heart anatomy from different view angles is acquired, the handle locking device must be manually released, the angle of the ultrasonic catheter probe is finely adjusted again, multi-angle visualization of the heart anatomy is realized, and the ICE catheter is manually locked again after the ultrasonic body position is determined. The manual mode of operation also presents problems for the efficiency of the procedure.

Disclosure of Invention

The invention provides a catheter control device and a catheter control method, which aim to solve the technical problem of improving the convenience and safety of operation of an ultrasonic catheter probe.

A catheter control device according to an embodiment of the present invention includes:

the remote controller is provided with a control component and is used for generating a control instruction according to the operation of an operator;

the workstation host is in communication connection with the remote controller and is used for receiving the control instruction and analyzing and processing the control instruction to generate a corresponding control command;

the manipulator executor is connected with the catheter and is in communication connection with the workstation host computer, the manipulator executor is provided with a clamp holder and a driving device, the clamp holder is provided with a transmission component which is matched with the catheter handle and a bending knob component on the catheter handle, the driving device is provided with a motor array, and the motor array drives the catheter to move through the transmission component according to the control command.

According to the catheter control device provided by the embodiment of the invention, the front end manipulator actuator is used for controlling the catheter to perform corresponding operation, an operator can remotely control the manipulator actuator through the control part of the remote controller, and after the catheter reaches the target position, the position locking of the catheter can be completed without additional operation assistant for fixing. Through front end manipulator executor control pipe, easy operation can accomplish the remote control of pipe by the singlehanded, and the operator can be at any time according to the operation needs through remote control ware control manipulator executor adjustment pipe's position and head end angular direction, improves operation efficiency in the operation process. The front end manipulator actuator can provide sub-millimeter moving precision and fine rotating precision, so that an operator can finely operate in heart chambers and blood vessels with complex anatomical structures, and vascular complications caused by harder catheter textures are reduced.

According to some embodiments of the invention, the steering component comprises:

an axial movement control means for generating a control instruction for controlling the axial movement of the catheter in accordance with an operation by an operator;

a circumferential rotation control means for generating a control instruction for controlling circumferential rotation of the catheter in accordance with an operation by an operator;

and the bending control component is used for generating control instructions for controlling the bending of the catheter head end in different planes according to the operation of an operator.

In some embodiments of the invention, the workstation host comprises:

the receiving module is used for receiving the control instruction;

the processor is used for analyzing the control instruction, calculating the position information and the state information of the catheter and generating a corresponding control command based on the control instruction, the position information and the state information;

the sending module is used for sending the control command;

and the display module is used for displaying the position and state information of the catheter.

According to some embodiments of the invention, the manipulator actuator further comprises:

the driving device is slidably arranged on the sliding frame;

and the support navigator is connected with the sliding frame and supports a pipe body part of the catheter, which is close to the catheter handle.

In some embodiments of the invention, the gripper comprises:

the handle mounting seat is connected with the driving device;

the handle sleeve assembly is matched with the catheter handle and the bending knob assembly on the catheter handle;

the transmission assembly comprises an external gear arranged on the handle sleeve assembly, and an output gear of the motor array is meshed with the external gear.

According to some embodiments of the invention, the bending knob assembly comprises a first bending knob for controlling bending of the catheter head end in a first plane and a second bending knob for controlling bending of the catheter head end in a second plane, the first plane being perpendicular to the second plane;

the handle sleeve assembly includes:

the first handle sleeve is matched with the first bending knob;

the second handle sleeve is matched with the second bending knob;

and the third handle sleeve is matched with the holding part of the catheter handle.

In some embodiments of the invention, the handle sleeve assembly comprises: the first half pipe body and the second half pipe body are buckled or separated through the buckling component.

According to some embodiments of the invention, the handle mount comprises:

the base is connected with the driving device;

the turnover cover is pivotally matched with the base;

the handle mounting seat has an open state and a buckled state.

In some embodiments of the invention, the support navigator is provided with a plurality of catheter restraints arranged at intervals along the moving path of the catheter for supporting and navigating the catheter.

According to the control method of the catheter, the catheter is controlled by the catheter control device, and the control method comprises the following steps:

a10, moving the manipulator actuator to an operation position;

a20, mounting the handle mounting seat to the driving device;

a30, opening a handle mounting seat turnover cover, respectively mounting the first handle sleeve, the second handle sleeve and the third handle sleeve to the holding parts of the first bending knob, the second bending knob and the catheter handle, and fixing the first handle sleeve, the second handle sleeve and the third handle sleeve through a buckling assembly on the handle sleeve assembly;

a40, integrally installing the catheter handle and the handle sleeve assembly into the handle mounting seat, enabling an external gear of the handle sleeve assembly to be meshed with an output gear in the handle mounting seat, and covering a turnover cover of the handle mounting seat;

a50, placing the catheter body into a supporting navigator, and supporting the catheter through a catheter restraint;

a60, the operator controls the remote controller to control the manipulator actuator to perform operation control of the catheter according to the requirement.

According to the catheter control method provided by the embodiment of the invention, the front-end manipulator actuator is used for controlling the catheter to perform corresponding operation actions, so that the X-ray dosage of the cardiac intervention operation is effectively reduced, and the radiation and the working intensity of doctors are lightened.

The operator can remotely control the manipulator actuator through the remote controller, after the catheter reaches the target position, the position locking of the ultrasonic catheter can be completed without additional surgical assistant, and stable ultrasonic imaging is provided for the operator.

The ultrasonic catheter is controlled by the front end manipulator actuator, the operation is simple, the remote control of the ultrasonic catheter can be completed by one hand, the manipulator actuator can be controlled by a remote controller at any time according to the operation requirement in the operation process to adjust the position and the head end angle direction of the catheter, the operation efficiency is improved, the operation flow and the recovery time are effectively shortened, and the intervention instruments are rapidly switched to save the extra potential operation cost.

The front end manipulator actuator control motor can provide sub-millimeter level movement precision and fine rotation precision, so that an operator can finely operate in heart chambers and blood vessels with complex anatomical structures, and vascular complications caused by harder catheter textures are reduced.

Drawings

FIG. 1 is a schematic view showing the composition of a catheter device according to an embodiment of the present invention;

FIG. 2 is a schematic view of a manipulator actuator according to an embodiment of the present invention;

FIG. 3 is an exploded view of a partial structure of a manipulator actuator according to an embodiment of the present invention;

FIG. 4 is an exploded view of a handle sleeve according to an embodiment of the present invention;

fig. 5 is an exploded view of a holder according to an embodiment of the present invention.

Reference numerals:

the remote controller 10, the workstation host 20,

the manipulator actuator 30, the carriage 310, the driving device 320, the gripper 330, the handle mount 331, the base 3310, the flip cover 3320, the axial stopper 303, the handle sleeve assembly 332, the first half pipe 3301, the second half pipe 3302, the first fastening member 3311, the second fastening member 3312, the first handle sleeve 3321, the second handle sleeve 3322, the third handle sleeve 3323, the support navigator 340, the catheter tie 341,

a catheter 40, a first bending knob 410, a second bending knob 420, and a locking knob 430.

Detailed Description

In order to further describe the technical means and effects adopted by the present invention for achieving the intended purpose, the following detailed description of the present invention is given with reference to the accompanying drawings and preferred embodiments.

The steps of the method flow described in the specification and the flow chart shown in the drawings of the specification are not necessarily strictly executed according to step numbers, and the execution order of the steps of the method may be changed. Moreover, some steps may be omitted, multiple steps may be combined into one step to be performed, and/or one step may be decomposed into multiple steps to be performed.

As shown in fig. 1, a catheter control device according to an embodiment of the present invention includes: remote controller 10, workstation host 20, and robotic actuator 30.

The remote controller 10 is provided with a control means for generating control instructions according to the operation of the operator. For example, the control component may be a control rocker or a control button, and the operator may trigger the corresponding control component according to the control requirement of the catheter 40 to generate the control instruction.

The workstation host 20 is communicatively connected to the remote controller 10, and is configured to receive the control command, and parse the control command to generate a corresponding control command.

The manipulator actuator 30 is connected with the catheter 40 and is in communication connection with the workstation host 20, the manipulator actuator 30 is provided with a clamp 330 and a driving device 320, the clamp 330 is provided with a transmission component which is matched with the catheter handle and the bending knob component on the catheter handle, the driving device 320 is provided with a motor array, and the motor array drives the catheter 40 to move through the transmission component according to control commands.

According to the catheter control device of the embodiment of the invention, the front end manipulator actuator 30 is used for controlling the catheter 40 to perform corresponding operation, an operator can remotely control the manipulator actuator 30 through the control component of the remote controller 10, and after the catheter 40 reaches the target position, the position locking of the catheter 40 can be completed without additional operation assistant for fixing. The catheter 40 is controlled by the front end manipulator actuator 30, the operation is simple, the remote control of the catheter 40 can be completed by one hand, an operator can control the manipulator actuator 30 to adjust the position and the head end angle direction of the catheter 40 at any time by the remote controller 10 according to the operation requirement in the operation process, and the operation efficiency is improved. The front end manipulator actuator 30 can provide sub-millimeter level movement precision and fine rotation precision, and can enable an operator to finely operate in heart chambers and blood vessels with complex anatomical structures, so that vascular complications caused by the harder texture of the catheter 40 are reduced.

According to some embodiments of the invention, as shown in fig. 1, the manipulation member comprises: an axial movement control member, a circumferential rotation control member and a bending control member.

Wherein, the axial movement control part is used for generating control instructions for controlling the axial movement of the catheter 40 according to the operation of the operator, the circumferential rotation control part is used for generating control instructions for controlling the circumferential rotation of the catheter 40 according to the operation of the operator, and the bending control part is used for generating control instructions for controlling the bending of the head end of the catheter 40 in different planes according to the operation of the operator. Thus, the operator can conveniently control the axial movement, circumferential rotation, and bending operation of the catheter 40 by the axial movement control member, the circumferential rotation control member, and the bending control member.

In some embodiments of the present invention, as shown in FIG. 1, workstation host 20 comprises: the device comprises a receiving module, a processor, a sending module and a display module.

The receiving module is configured to receive the control command, and the processor is configured to parse the control command, calculate the position information and the state information of the catheter 40, and generate a corresponding control command based on the control command, the position information and the state information. The transmitting module is used for transmitting control commands and the display module is used for displaying the position and state information of the catheter 40.

For example, the workstation mainframe 20 may be a computer with preset software, and in the operation process of the operator, the operator can conveniently and clearly know the current state of the ultrasonic catheter 40 in real time through the display module and perform the next operation, so that the operation process is safer and more efficient.

According to some embodiments of the invention, as shown in fig. 2 and 3, the manipulator actuator 30 further comprises: a carriage 310 and a support navigator 340.

Wherein the driving device 320 is slidably disposed on the sliding frame 310, the supporting navigator 340 is connected to the sliding frame 310, and the supporting navigator 340 supports a portion of the catheter 40 near the catheter handle.

It should be noted that, the catheters 40 with different types are designed with the corresponding holders 330, and the holders 330 are designed as disposable consumables, so that the manipulator actuator 30 of the present invention can adapt to more catheters 40 with different types and different manufacturers, and the selectivity of the catheters 40 in operation is enlarged.

When the catheter 40 has a longer delay portion outside the patient's body, the clamp 330 can provide an effective support for the flexible catheter 40 body, preventing the catheter 40 body from rotating around and knotting outside the vascular access, and ensuring the safety of the operation.

In some embodiments of the present invention, as shown in fig. 2-5, the gripper 330 includes: a handle mount 331 and a handle sleeve assembly 332.

The handle mount 331 is coupled to the drive 320 and the handle sleeve assembly 332 is adapted to the catheter handle and the crimping knob assembly on the catheter handle. The drive assembly includes an external gear disposed on the handle sleeve assembly 332 with which the output gears of the motor array are meshed. Thus, the output gear and the external gear may be driven to rotate by the motor array, thereby controlling the bending and rotation of the duct 40.

According to some embodiments of the present invention, as shown in fig. 4, the bending knob assembly includes a first bending knob 410 for controlling bending of the head end of the catheter 40 in a first plane and a second bending knob 420 for controlling bending of the head end of the catheter 40 in a second plane, the first plane being perpendicular to the second plane. Thus, the bending of the catheter 40 in two perpendicular planes may be controlled by the first bending knob 410 and the second bending knob 420.

As shown in fig. 3 and 4, the handle sleeve assembly 332 includes: a first handle sleeve 3321, a second handle sleeve 3322, and a third handle sleeve 3323.

The first handle sleeve 3321 is adapted to the first bending knob 410, the second handle sleeve 3322 is adapted to the second bending knob 420, and the third handle sleeve 3323 is adapted to the grip portion of the catheter handle.

It should be noted that, the motor array may include a plurality of motors, where one motor may drive the first bending knob 410 through the cooperation of the output gear and the first handle sleeve 3321, so as to control the catheter 40 to bend in the first plane; the other motor of the two motors drives the second bending knob 420 through the cooperation of the output gear and the second handle sleeve 3322, so as to control the bending of the catheter 40 in the second plane; an additional motor, through the cooperation of the output gear and the third handle sleeve 3323, may drive rotation of the handle of the catheter 40, thereby controlling circumferential rotation of the catheter 40.

It should be noted that, the working state of the motor can be read by the workstation host 20, the real-time spatial position and degree of freedom information of the catheter 40 including the moving distance, the travel, the spatial rotation degree, the bending state and the like can be calculated, and the information is fed back on the display screen of the catheter navigation software module through the workstation host 20. According to the invention, through the driving matching mode of the motor array and the gear, the axial advancing and retreating precision of the guide pipe 40 can reach 0.1mm, and the circumferential rotation precision can reach 0.1 degree.

In some embodiments of the present invention, as shown in fig. 4, a handle sleeve assembly 332 includes: first half pipe body 3301 and second half pipe body 3302, first half pipe body 3301 and second half pipe body 3302 realize the lock or separate through the lock subassembly. Thus, the handle sleeve assembly 332 is conveniently assembled to the catheter handle to grip and manipulate the catheter 40. The first handle sleeve 3321, the second handle sleeve 3322 and the third handle sleeve 3323 are composed of two detachable half tubes. As shown in FIG. 4, a first fastener 3311 is provided on the first half pipe 3301, a second fastener 3312 is provided on the second half pipe 3302, and the first half pipe 3301 and the second half pipe 3302 are quickly assembled and disassembled by the first fastener 3311 and the second fastener 3312.

According to some embodiments of the invention, as shown in fig. 5, the handle mount 331 includes: a base 3310 and a flip cover 3320, wherein the base 3310 is connected to the driving device 320, the flip cover 3320 is pivotally engaged with the base 3310, and the handle mount 331 has an open state and a snap-fit state. Thereby facilitating assembly between the handle mount 331 and the handle sleeve assembly 332.

In some embodiments of the present invention, as shown in fig. 5, the handle mount 331 or the handle sleeve assembly 332 is provided with an axial stop 303 for limiting axial displacement between the handle mount 331 and the handle sleeve assembly 332. Thus, relative sliding between the handle mount 331 and the handle sleeve assembly 332 can be effectively avoided, and the control accuracy of the catheter 40 can be improved.

According to some embodiments of the present invention, as shown in fig. 2, the support navigator 340 is provided with a plurality of guide tube restraints 341, and the plurality of guide tube restraints 341 are spaced along the moving path of the guide tube 40 for supporting and navigating the guide tube 40. Thereby, a good supporting effect can be provided for the duct 40, and the problem of entanglement during the operation of the duct 40 can be avoided.

According to the catheter control method of the embodiment of the invention, the catheter control device is adopted to control the catheter, and the control method comprises the following steps:

a10, moving the manipulator actuator to an operation position;

a20, mounting the handle mounting seat to the driving device;

a30, opening a handle mounting seat turnover cover, respectively mounting the first handle sleeve, the second handle sleeve and the third handle sleeve to the holding parts of the first bending knob, the second bending knob and the catheter handle, and fixing the first handle sleeve, the second handle sleeve and the third handle sleeve through a buckling assembly on the handle sleeve assembly;

a40, integrally installing the catheter handle and the handle sleeve assembly into the handle mounting seat, enabling an external gear of the handle sleeve assembly to be meshed with an output gear in the handle mounting seat, and covering a turnover cover of the handle mounting seat;

a50, placing the catheter body into a supporting navigator, and supporting the catheter through a catheter restraint;

a60, the operator controls the remote controller to control the manipulator actuator to perform operation control of the catheter according to the requirement.

According to the catheter control method provided by the embodiment of the invention, the front-end manipulator actuator 30 is used for controlling the catheter 40 to perform corresponding operation, so that the X-ray dosage of the cardiac intervention operation is effectively reduced, and the radiation and the working intensity of doctors are lightened.

The operator can remotely control the manipulator actuator 30 through the remote controller 10, and after the catheter 40 reaches the target position, the position locking of the ultrasonic catheter 40 can be completed without additional surgical assistants, so that stable ultrasonic imaging is provided for the operator.

The ultrasonic catheter 40 is controlled by the front end manipulator actuator 30, the operation is simple, the remote control of the ultrasonic catheter 40 can be completed by one hand, an operator can adjust the position and the head end angle direction of the catheter 40 by the remote controller 10 at any time according to the operation requirement in the operation process, the operation efficiency is improved, the operation flow and the recovery time are effectively shortened, and the intervention instrument is rapidly switched to save the extra operation potential cost.

The front end manipulator actuator 30 controls the motor to provide sub-millimeter level movement accuracy and fine rotation accuracy, so that an operator can finely operate in heart chambers and blood vessels with complex anatomical structures, and vascular complications caused by the hard texture of the catheter 40 are reduced.

The present invention is described below by taking a catheter control device for an ultrasound catheter 40 as an example with reference to the accompanying drawings. It should be noted that the following description is only exemplary and should not be construed as limiting the invention in any way.

In the prior art, before an operation starts, under the guidance of a perspective image such as an X-ray, an operator firstly places an ultrasonic probe of an ultrasonic catheter in a right atrium or a right ventricle, adjusts the head end direction of the ultrasonic catheter to an appropriate body position angle for the operation, then manually fixes the ultrasonic probe by an assistant, and then starts to perform the next operation according to a real-time image of a target part anatomical structure provided by the ultrasonic catheter, wherein the manual operation has the following problems:

1. after the ultrasonic catheter is adjusted to a proper angle, as a doctor needs to operate other interventional surgical instruments to perform surgery, the ultrasonic catheter is manually fixed by an assistant, and because of poor stability of manual fixation, slight shaking or swaying of the ultrasonic catheter can influence the imaging definition of the ultrasonic catheter, and meanwhile, surgical risks such as cardiac perforation and the like exist to influence the surgical safety.

2. After the head end angle of the ultrasonic catheter is adjusted, the ultrasonic catheter is manually fixed by an assistant, but the operation can be performed only at a single imaging view angle. When the operator needs multi-angle more detailed heart anatomy images in the operation process, the adjustment of the angle of the head end of the ultrasonic catheter is very inconvenient.

3. The ultrasonic catheter body is hard, and in the operations such as examining left auricle thrombus and guiding atrial fibrillation catheter ablation, an operator needs to operate and advance in the coronary sinus, and if the operation amplitude is large or the operation is improper, the risk of causing vascular interlayer or vein perforation exists.

The invention aims at solving the problems:

1. through the auxiliary intervention operation of the robot manipulator executor 30, the intra-cavity ultrasonic catheter 40 is controlled, the operator can operate the ultrasonic catheter 40 through the remote controller 10, the robot manipulator executor 30 keeps a locking state in a static state, the shaking of the ultrasonic catheter 40 can be effectively prevented, and the stability of the ultrasonic catheter 40 and the definition of ultrasonic imaging are ensured.

2. In the operation process, an operator can remotely adjust the position and the direction of the ultrasonic probe at the head end of the ultrasonic catheter 40 through the robot manipulator actuator 30 according to the operation field requirement so as to acquire more ultrasonic images with different angles and different definition, and the anatomical structure and the relative position of the doctor target operation part and the surrounding tissues are highlighted.

3. The invention solves the problems that the ultrasonic imaging effect is affected by the shaking of the ultrasonic catheter 40 due to the manual instability in the ultrasonic imaging process of the operation and the problems that the position and the direction of the probe of the ultrasonic catheter 40 cannot be adjusted along with the operation requirement by an operator in the operation process, so that the imaging field of view of the ultrasonic catheter 40 is single and the adjustment is inconvenient.

4. The device can greatly improve the operation efficiency, and can be convenient for operators to switch among various interventional instruments by adjusting the degree of freedom of the guide tube 40 driven by the manipulator actuator 30 when simultaneously operating various interventional instruments, thereby completing the operation rapidly and efficiently.

5. The device can control the axial advance and retreat of the catheter 40 with millimeter-level precision, circumferential positive and negative rotation and bending radian control of different planes, and reduces the risk of vascular dissection or vein perforation caused by the fact that the catheter 40 is harder in texture and improper operation by an operator.

The control device of the remote intracardiac ultrasonic catheter 40 is used for assisting an operator to accurately operate the ultrasonic catheter 40, so that the problems that vascular complications and unstable operation are caused by hard texture of the catheter 40, and the ultrasonic catheter 40 cannot be finely adjusted at any time due to switching of various interventional instruments in the operation process are solved.

As shown in fig. 1, the catheter control device comprises three parts, namely a remote controller 10, a workstation host 20 and a manipulator actuator 30, wherein the remote controller 10 and the manipulator actuator 30 are respectively in communication connection with the workstation host 20.

The operator sends control instructions of forward and reverse rotation, axial forward and backward movement and two vertical planes which are independently bent forwards, backwards, leftwards and rightwards to the workstation host 20 through an operation rocker on the remote controller 10, after receiving the operation instructions, software App of the workstation host 20 completes processing to generate control instructions, the control instructions are sent to the manipulator executor 30, the manipulator executor 30 drives the guide pipe 40 to complete corresponding operation actions, and the operator can control the manipulator to perform operation by controlling the remote controller 10.

The workstation host 20 can read the motor state of the manipulator actuator 30, calculate the real-time spatial position and the degree of freedom information of the ultrasonic catheter 40 in real time, including the moving distance, the travel, the spatial rotation degree, the bending state and the like, and display the corresponding information on the display screen of the catheter navigation module of the workstation host 20.

As shown in fig. 2, the manipulator actuator 30 includes: the carriage 310, the driving device 320, the gripper 330 and the supporting navigator 340.

The handle of the ultrasonic catheter 40 is arranged on the driving device 320 through the clamp 330, the driving device 320 is slidably arranged on the sliding frame 310, and the axial pushing of the ultrasonic catheter 40 on the driving device 320 is driven by controlling the driving device 320 to integrally move on the sliding frame 310, so that the millimeter-level advancing and retreating can be realized, and the precision reaches 0.1mm.

The bending knob on the handle of the ultrasonic catheter 40 is in transmission connection with the output gear of the driving device 320 through the transmission component in the clamp 330, and the motor array in the driving device 320 drives the two bending knobs on the handle of the ultrasonic catheter 40 to rotate, so that the head end of the ultrasonic catheter 40 is controlled to bend in two directions in two perpendicular planes independently, and the control of four directions of forward, backward, left and right is completed. By means of the clamp 330, the device can stably fix the catheter 40 in a specific degree of freedom without controlling the locking knob 430 of the catheter 40.

As shown in fig. 2 and 3, the clamper 330 includes: the handle sleeve assembly 332 and the handle mount 331, the handle sleeve assembly 332 is used for adapting the handle of the ultrasonic catheter 40 with different models, and according to the corresponding handle sleeve assembly 332 of different ultrasonic catheters 40, the manipulator actuator 30 can adapt to more ultrasonic catheters 40 with different models.

The handle sleeve assembly 332 includes: the first handle sleeve 3321, the second handle sleeve 3322 and the third handle sleeve 3323 are respectively provided with an inner gear and an outer gear, the inner gears are respectively matched with the two bending knobs and the handle of the catheter 40, the inner gear of the first handle sleeve 3321 is meshed with the first bending knob 410 of the ultrasonic catheter 40, the inner gear of the second handle sleeve 3322 is meshed with the second bending knob 420, and the inner gear of the third handle sleeve 3323 is meshed with the handle holding part of the catheter.

Rotating the first handle sleeve 3321, the second handle sleeve 3322, and the third handle sleeve 3323 can drive the first bending knob 410, the second bending knob 420, and the catheter handle to rotate, respectively, and the manipulator actuator 30 controls the ultrasound catheter 40 without manually locking the spatial degrees of freedom of the catheter 40, so that the manipulator actuator 30 does not need to manipulate the locking knob 430 on the handle of the ultrasound catheter 40.

As shown in fig. 2, the external gears of the three handle sleeves are respectively meshed with the corresponding three transmission gears in the handle mounting seat 331, and the three transmission gears in the handle mounting seat 331 are correspondingly used for controlling the bidirectional independent bending in the two vertical planes of the ultrasonic catheter 40 and the circumferential rotation of the ultrasonic catheter 40, and after the handle mounting seat 331 is mounted on the manipulator driving device 320, the three transmission gears at the bottom of the handle mounting seat 331 are respectively meshed with the corresponding three output gears on the manipulator driving device 320, and the driving device 320 drives the transmission gears at the bottom of the handle mounting seat 331 to rotate through the output gears, so that the handle sleeve assembly 332 and the corresponding knob are driven to rotate, and the ultrasonic catheter 40 is controlled to perform the corresponding operation.

As shown in fig. 4, the handle sleeve is of a split structure, a buckling component is arranged between the two split parts of the handle sleeve, the handle sleeve is fixed at the corresponding position of the handle of the ultrasonic catheter 40 by using the buckling component, so that the internal gear structure of the handle sleeve is respectively meshed with the corresponding structure of the handle of the ultrasonic catheter 40, and the handle sleeve and the handle of the catheter 40 do not slide relatively in the rotating process.

As shown in fig. 5, the handle mount 331 includes a base 3310 and a turnover cover 3320, and adapting structures adapted to the handle sleeve assembly 332 are disposed in the base 3310 and the turnover cover 3320, for limiting the relative axial position of the handle of the catheter 40 and the handle mount 331, and the handle mount 331 can drive the catheter 40 to move axially synchronously when moving axially.

The clamp holder 330 is disposable consumable design, can be used for the operation after the sterilization, through clamp holder 330 adaptation different model ultrasonic conduit 40, under the drive of the driving motor of manipulator executor 30, accomplish the control of the relevant degree of freedom of conduit 40, this device need not manual locking conduit 40 space degree of freedom, can stably realize that ultrasonic conduit 40 is fixed.

The support navigator 340 provides an effective support for the flexible body of the catheter 40, preventing the catheter 40 from rotating around and knotting outside the vascular access of the body, affecting the pushing effect.

The supporting navigator 340 is provided with at least 2 catheter constrainers 341, the catheter constrainers 341 are arranged at intervals along the path of the ultrasonic catheter 40 and are used for limiting the circumferential position of the catheter 40 body, when the catheter 40 has a longer delay part outside a patient, the supporting navigator 340 provides an effective support for the soft body of the catheter 40, plays a role in safe navigation in operation, prevents the catheter 40 body from rotating, winding and knotting outside a vascular access, influences the propulsion effect and ensures the operation safety.

The working process of the invention comprises the following steps:

s100, firstly, moving the manipulator actuator 30 to the position above the legs of the patient on the operating table;

s200, mounting the handle mounting seat 331 to a designated position of a driving device 320 of the manipulator actuator;

s300, opening the turnover cover 3320 of the handle mounting seat 331;

s400, respectively installing three handle sleeves to the tail parts of the first bending knob 410, the second bending knob 420 and the catheter handle, and fixing the handle sleeves through buckling assemblies on the handle sleeves;

s500, integrally installing the catheter handle and the handle sleeve assembly 332 into the handle mounting seat 331, so that the external threads of the handle sleeve assembly 332 are meshed with three transmission gears in the handle mounting seat 331;

s600, covering the turnover cover 3320 of the handle mounting seat 331;

s700, placing the ultrasonic catheter 40 body into the catheter 40 body supporting navigator 340, and limiting the circumferential position of the ultrasonic catheter 40 through the catheter constrainer 341;

s800, the operator controls the remote controller 10 to control the manipulator actuator 30 to perform the bending operation of the ultrasound catheter 40 in the axial direction, and the 2 degrees of freedom vertical to the 90 degree plane according to the operation requirement.

The intra-cavity ultrasonic catheter 40 control device assists the operator to remotely control the intra-cavity ICE ultrasonic catheter 40 for operation, compared with manual control of the operator, the control and adjustment precision of the catheter 40 is improved, and meanwhile the stability of the overall ultrasonic image of the operation and the operation safety are greatly improved.

The invention has the following beneficial effects:

according to the invention, the front-end manipulator actuator 30 is used for controlling the ultrasonic catheter 40 to perform corresponding operation, so that the X-ray dosage of the cardiac intervention operation is effectively reduced, and the radiation and the working intensity of doctors are lightened.

The operator can control the manipulator actuator 30 remotely through the plurality of degrees of freedom of the remote controller 10, and after the ultrasonic catheter 40 reaches the target position in the heart chamber, the position locking of the ultrasonic catheter 40 can be completed without additional surgical assistant for fixing, so that stable ultrasonic imaging is provided for the operator.

The ultrasonic catheter 40 is controlled by the front end manipulator actuator 30, the operation is simple, the remote control of the ultrasonic catheter 40 can be completed by one hand, an operator can adjust the position and the head end angle of the ultrasonic catheter 40 by controlling the manipulator actuator 30 by the remote controller 10 at any time according to the operation requirement in the operation process, the operation efficiency is improved, the operation flow and the recovery time are effectively shortened, and the intervention instrument is rapidly switched to save the extra operation potential cost. At the same time, the phase change expands the imaging field of view of the ultrasound catheter 40, enabling more surgical applications.

The front end manipulator actuator 30 controls the motor to provide sub-millimeter level movement accuracy and fine rotation accuracy, so that an operator can finely operate in heart chambers and blood vessels with complex anatomical structures, and vascular complications caused by the hard texture of the catheter 40 are reduced.

While the invention has been described in connection with specific embodiments thereof, it is to be understood that these drawings are included in the spirit and scope of the invention, it is not to be limited thereto.

Claims (10)

1. A catheter control device, comprising:

the remote controller is provided with a control component and is used for generating a control instruction according to the operation of an operator;

the workstation host is in communication connection with the remote controller and is used for receiving the control instruction and analyzing and processing the control instruction to generate a corresponding control command;

the manipulator executor is connected with the catheter and is in communication connection with the workstation host computer, the manipulator executor is provided with a clamp holder and a driving device, the clamp holder is provided with a transmission component which is matched with the catheter handle and a bending knob component on the catheter handle, the driving device is provided with a motor array, and the motor array drives the catheter to move through the transmission component according to the control command.

2. The catheter control device of claim 1, wherein the steering component comprises:

an axial movement control means for generating a control instruction for controlling the axial movement of the catheter in accordance with an operation by an operator;

a circumferential rotation control means for generating a control instruction for controlling circumferential rotation of the catheter in accordance with an operation by an operator;

and the bending control component is used for generating control instructions for controlling the bending of the catheter head end in different planes according to the operation of an operator.

3. The catheter control device of claim 1, wherein the workstation host comprises:

the receiving module is used for receiving the control instruction;

the processor is used for analyzing the control instruction, calculating the position information and the state information of the catheter and generating a corresponding control command based on the control instruction, the position information and the state information;

the sending module is used for sending the control command;

and the display module is used for displaying the position and state information of the catheter.

4. The catheter control device of claim 1, wherein the manipulator actuator further comprises:

the driving device is slidably arranged on the sliding frame;

and the support navigator is connected with the sliding frame and supports a pipe body part of the catheter, which is close to the catheter handle.

5. The catheter control device of claim 4, wherein the holder comprises:

the handle mounting seat is connected with the driving device;

the handle sleeve assembly is matched with the catheter handle and the bending knob assembly on the catheter handle;

the transmission assembly comprises an external gear arranged on the handle sleeve assembly, and an output gear of the motor array is meshed with the external gear.

6. The catheter control device of claim 5, wherein the bend knob assembly comprises a first bend knob for controlling bending of the catheter head end in a first plane and a second bend knob for controlling bending of the catheter head end in a second plane, the first plane being perpendicular to the second plane;

the handle sleeve assembly includes:

the first handle sleeve is matched with the first bending knob;

the second handle sleeve is matched with the second bending knob;

and the third handle sleeve is matched with the holding part of the catheter handle.

7. The catheter control device of claim 5, wherein the handle sleeve assembly comprises: the first half pipe body and the second half pipe body are buckled or separated through the buckling component.

8. The catheter control device of claim 5, wherein the handle mount comprises:

the base is connected with the driving device;

the turnover cover is pivotally matched with the base;

the handle mounting seat has an open state and a buckled state.

9. Catheter control device according to any of claims 4-8, wherein the support navigator is provided with a plurality of catheter restraints arranged at intervals along the path of movement of the catheter for supporting and navigating the catheter.

10. A method of controlling a catheter, wherein the control method controls the catheter using the catheter control device according to any one of claims 1 to 9, the control method comprising:

a10, moving the manipulator actuator to an operation position;

a20, mounting the handle mounting seat to the driving device;

a30, opening a handle mounting seat turnover cover, respectively mounting the first handle sleeve, the second handle sleeve and the third handle sleeve to the holding parts of the first bending knob, the second bending knob and the catheter handle, and fixing the first handle sleeve, the second handle sleeve and the third handle sleeve through a buckling assembly on the handle sleeve assembly;

a40, integrally installing the catheter handle and the handle sleeve assembly into the handle mounting seat, enabling an external gear of the handle sleeve assembly to be meshed with an output gear in the handle mounting seat, and covering a turnover cover of the handle mounting seat;

a50, placing the catheter body into a supporting navigator, and supporting the catheter through a catheter restraint;

a60, the operator controls the remote controller to control the manipulator actuator to perform operation control of the catheter according to the requirement.

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