CN116763365A - Interventional image guiding system with adjustable guiding device - Google Patents

Interventional image guiding system with adjustable guiding device Download PDF

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Publication number
CN116763365A
CN116763365A CN202310670056.7A CN202310670056A CN116763365A CN 116763365 A CN116763365 A CN 116763365A CN 202310670056 A CN202310670056 A CN 202310670056A CN 116763365 A CN116763365 A CN 116763365A
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CN
China
Prior art keywords
corrugated pipe
guide
electromagnet
modules
adjacent
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
CN202310670056.7A
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Chinese (zh)
Inventor
杨熙园
杨树仁
袁良胜
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Affiliated Baiyun Hospital Of Guizhou Medical University
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Affiliated Baiyun Hospital Of Guizhou Medical University
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Application filed by Affiliated Baiyun Hospital Of Guizhou Medical University filed Critical Affiliated Baiyun Hospital Of Guizhou Medical University
Priority to CN202310670056.7A priority Critical patent/CN116763365A/en
Publication of CN116763365A publication Critical patent/CN116763365A/en
Withdrawn legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00064—Constructional details of the endoscope body
    • A61B1/00071—Insertion part of the endoscope body
    • A61B1/0008—Insertion part of the endoscope body characterised by distal tip features
    • A61B1/00091—Nozzles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00064—Constructional details of the endoscope body
    • A61B1/00071—Insertion part of the endoscope body
    • A61B1/0008—Insertion part of the endoscope body characterised by distal tip features
    • A61B1/00096—Optical elements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00158—Holding or positioning arrangements using magnetic field
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0052—Constructional details of control elements, e.g. handles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0057—Constructional details of force transmission elements, e.g. control wires
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/045—Control thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0127—Magnetic means; Magnetic markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0133—Tip steering devices
    • A61M25/0147—Tip steering devices with movable mechanical means, e.g. pull wires
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0133—Tip steering devices
    • A61M25/0158—Tip steering devices with magnetic or electrical means, e.g. by using piezo materials, electroactive polymers, magnetic materials or by heating of shape memory materials
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/09—Guide wires
    • A61M25/09041—Mechanisms for insertion of guide wires
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00305—Constructional details of the flexible means
    • A61B2017/00314—Separate linked members
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • 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
    • A61M2025/0166—Sensors, electrodes or the like for guiding the catheter to a target zone, e.g. image guided or magnetically guided
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/09—Guide wires
    • A61M2025/09125—Device for locking a guide wire in a fixed position with respect to the catheter or the human body

Abstract

The application discloses an intervention image guiding system of an adjustable guiding device in the technical field of medical instruments, which comprises a corrugated pipe and a guide wire, wherein the corrugated pipe comprises an inlet and an outlet, a guiding mechanism is arranged in the corrugated pipe and comprises a plurality of guiding modules with the same structure, the guiding modules are uniformly arranged in the corrugated pipe and are axially distributed along the inside of the corrugated pipe, and a plurality of groups of driving parts are uniformly distributed on the circumferences of two adjacent guiding modules; a cavity for conveying the guide wire is formed in each guide module, transmission rods are symmetrically arranged on the side walls of the vertical openings at the two ends of each cavity, idler wheels are respectively arranged on the transmission rods, a conveying channel for the guide wire is formed between the idler wheels, and the idler wheels are in sliding fit with the guide wire; and a photographing device is fixed on the side wall close to the outlet of the corrugated pipe, and is connected with a display device in a signal manner. The application can solve the problem that the observation direction of the image equipment is difficult to adjust through the catheter.

Description

Interventional image guiding system with adjustable guiding device
Technical Field
The application belongs to the technical field of medical instruments, and particularly relates to an interventional image guiding system with an adjustable guiding device.
Background
Interventional therapeutics is an emerging discipline which has been rapidly developed in recent years and integrates imaging diagnosis and clinical treatment. Under the guidance and monitoring of digital subtraction angiography machine, CT, ultrasonic and magnetic resonance imaging equipment, the special instrument is led into the lesion site of human body through natural duct or tiny wound of human body by using puncture needle, catheter and other interventional equipment to make minimally invasive treatment. An interventional image guidance system (InterventionalImagingGuidance System) is a medical device that utilizes imaging techniques to assist a physician in performing interventional procedures or operations. Such imaging techniques include X-ray, ultrasound, MRI, CT, and the like. Through these imaging techniques, a physician can observe the condition inside a patient in real time and perform accurate operations during treatment or surgery, thereby improving the success rate of treatment or surgery and reducing risks and side effects.
The automatic needle insertion of the surgical robot or the leading needle insertion of the surgical robot by doctors becomes a main development trend of the CT image equipment interventional puncture operation, but aiming at the technical problems of unexpected relative movement of the surgical robot and the CT image equipment in the related technology.
To solve the above-mentioned problems, the patent with chinese patent publication No. CN114305613a discloses an image guided interventional puncture system, which comprises an imaging device, a control module and a surgical robot, wherein: the imaging device is used for acquiring the image data of the operation object; the surgical robot is used for executing surgical actions; the control module is integrated with the surgical robot and is used for controlling the motion state of the surgical robot according to the motion state of the image equipment or controlling the motion state of the image equipment according to the motion state of the surgical robot. The motion state of the other end is controlled according to the motion state of one end of the imaging device and the motion state of the other end of the surgical robot, so that the technical problem that the surgical robot and the CT imaging device possibly have unexpected relative motion is solved, and the safety of the CT imaging device for guiding the surgical robot to complete the puncturing motion is improved.
The above-mentioned image guidance intervenes puncture system is although can satisfy the demand basically, but when intervene the treatment to the patient, need observe the affected part in the patient through image equipment, image equipment often installs the head at the observation pipe, although the operation robot is through the position of control pipeline in order to control the motion state of image equipment, but often complicated in the patient, the position of observation pipeline can not change in many times, when needs observation pipeline temporarily stay in the affected part promptly, the operation robot can't be through the position of control observation pipeline and then change the observation angle of the camera equipment that is located the observation pipeline head this moment, be located the observation direction of pipe head image equipment and be difficult to in time adjust through the pipe, the problem that is difficult to the observation direction of image equipment through the pipe adjustment exists in the above-mentioned image guidance intervenes puncture system promptly.
Disclosure of Invention
In order to solve the problem that the surgical robot is difficult to adjust the observing direction of the catheter head imaging device by rotating the mechanical arm, the application provides an interventional image guiding system with an adjustable guiding device.
In order to achieve the above object, the technical scheme of the present application is as follows: an interventional image guiding system of an adjustable guiding device comprises a corrugated pipe and a guide wire,
the corrugated pipe comprises an inlet and an outlet, a guide mechanism is arranged in the corrugated pipe, the guide mechanism comprises a plurality of guide modules with the same structure, the guide modules are uniformly arranged in the corrugated pipe and are axially distributed along the corrugated pipe, two adjacent guide modules are uniformly distributed with a plurality of groups of driving pieces on the circumference of the adjacent surface, and each group of driving pieces is used for changing the interval between the two adjacent guide modules;
a cavity for conveying the guide wire is formed in each guide module, openings communicated to the cavities are formed in two ends of each guide module respectively, transmission rods are symmetrically arranged on the side walls of the vertical openings at two ends of each cavity, idler wheels are respectively arranged on the transmission rods, a conveying channel for the guide wire is formed between the idler wheels, and the idler wheels are in sliding fit with the guide wire;
an opening at one side of the guide module close to the corrugated pipe inlet is communicated with the corrugated pipe inlet, and an opening at one side of the guide module close to the corrugated pipe outlet is communicated with the corrugated pipe outlet;
and a photographing device is fixed on the side wall close to the outlet of the corrugated pipe, and is connected with a display device in a signal manner.
The basic scheme has the following principle and beneficial effects:
because the corrugated pipe comprises an inlet and an outlet, the corrugated pipe is internally provided with the guide mechanism, the guide mechanism comprises the guide module, the guide module is internally provided with a cavity, the two ends of the guide module are respectively provided with an opening communicated with the cavity, the opening at one side of the guide module close to the inlet of the corrugated pipe is communicated with the inlet of the corrugated pipe, the opening at one side of the guide module close to the outlet of the corrugated pipe is communicated with the outlet of the corrugated pipe,
so when medical staff intervenes through the corrugated pipe, the guide wire placed at one side of the inlet of the corrugated pipe enters the cavity of the guide module through the opening of the guide module;
because the corrugated pipe is internally provided with a plurality of guide modules with the same structure, the guide modules are mutually communicated through openings at two ends, namely, cavities inside the guide modules are mutually communicated, the side walls of the vertical openings at two ends of each cavity are symmetrically provided with transmission rods, the transmission rods are respectively provided with idler wheels, a conveying channel of a guide wire is formed between the idler wheels, the idler wheels are in sliding fit with the guide wire,
the guide wire after entering the cavity from the bellows inlet will slide in the interconnected cavities under the influence of the rollers and eventually leave the cavity from the bellows outlet. Therefore, when medical staff intervenes in treatment of a patient, the guide wire in the catheter can realize the operations of wire feeding, wire withdrawing and the like in the prior art through the roller fixed on the catheter.
Because the photographing device is fixed on the side wall close to the corrugated pipe outlet, and the photographing device is connected with the display device in a signal way, medical staff can see the contents photographed by the photographing device at the corrugated pipe outlet through the display device.
Because a gap is reserved between two adjacent guide modules, a plurality of groups of driving parts are uniformly distributed on the circumferences of the adjacent surfaces of the two guide modules, medical staff can change the side spacing between the two guide modules by starting any group of driving parts between the two guide modules, namely the side spacing between the guide modules is controlled and can be adjusted by the driving parts, further the corrugated pipe wrapping the guide modules deflects, and the photographing angle of photographing equipment at the outlet of the deflected corrugated pipe changes along with the deflection.
Further, the driving piece comprises an electromagnet and a magnet, the electromagnet is fixed on one side of the adjacent guide module, the magnet is fixed on the other side of the adjacent guide module, an elastic piece is arranged between the electromagnet and the magnet, one end of the elastic piece is fixed with the electromagnet, the other end of the elastic piece is fixed with the magnet, the electromagnet is electrically connected with a power supply, the power supply is positioned outside the corrugated pipe, a control switch for controlling the current direction is arranged on the power supply, the control switch comprises a forward switch and a reverse switch, when the forward switch works, the power supply supplies power to the electromagnet in the forward direction, repulsive force is generated between the electromagnet and the magnet, and the distance between the adjacent guide modules is increased; when the reversing switch works, the power supply reversely supplies power to the electromagnet, and suction force is generated between the electromagnet and the magnet, so that the distance between adjacent guide modules is reduced.
The basic scheme has the following principle and beneficial effects:
when medical staff needs to adjust the visual angle of the photographing equipment at the outlet of the corrugated pipe, the medical staff selectively turns on the control switch on the power supply, so that the side spacing between the adjacent guide modules is increased or reduced, the corrugated pipe wrapping the guide modules deflects, and the photographing angle of the photographing equipment at the outlet of the deflected corrugated pipe changes accordingly.
In addition, after the power supply is powered off, the elastic piece between the electromagnet and the magnet is elastically deformed when the distance between the adjacent guide modules is increased or reduced, the elastic potential energy is accumulated by the spring which is elastically deformed, and after the acting force between the electromagnet and the magnet disappears, the elastic piece between the first electromagnet and the second electromagnet releases the elastic potential energy and enables the first electromagnet and the second electromagnet to reset.
Further, the control switch is a relay, an infrared ranging mechanism is arranged between two adjacent guide modules, the infrared ranging mechanism comprises an infrared transmitter, an infrared receiver and an MCU controller, the infrared transmitter is fixed on one side of each adjacent guide module, a battery is arranged in the infrared transmitter, the infrared receiver is fixed on the other side of each adjacent guide module, the MCU controller is in signal connection with the infrared receiver, and the MCU controller is electrically connected with the relay.
The basic scheme has the following principle and beneficial effects:
when the lateral distance between two adjacent guide modules is too large due to the repulsive force of the electromagnet and the magnet, the elastic piece is easy to generate unrecoverable paradigm deformation, the elastic piece is likely to be broken, deflection of the corrugated pipe is affected, at the moment, the infrared ranging mechanism between the two adjacent guide modules receives infrared signals of the infrared transmitter through the infrared receiver, the infrared receiver converts the infrared signals into electric signals, the electric signals are captured by the MCU controller connected with the infrared receiver, the MCU controller judges the electric signals according to a preset program, if the electric signals are too large, the MCU controller changes the current direction of the power supply output to the electromagnet through the electric connection control relay, so that the electromagnet repels the magnet to be adsorbed, the lateral gap between the two adjacent guide modules is reduced, the elastic piece is not subjected to unrecoverable paradigm deformation, and if the electric signals are too small, the MCU controller changes the current direction of the power supply output to the electromagnet through the electric connection control relay, so that the lateral gap between the two adjacent guide modules is increased from adsorption to repulsion, namely, the distance between the two adjacent guide modules can not be limited by the dynamic corrugated pipe can be avoided.
Further, a magnetic shielding material is arranged between two adjacent guide modules, one end of the magnetic shielding material is fixed on one side of the adjacent guide module, and the other end of the magnetic shielding material is fixed on the other side of the adjacent guide module.
The basic scheme has the following principle and beneficial effects:
when the current direction on the electromagnet changes, the electromagnet can act on the adjacent magnet, and the electromagnet can act on the magnet adjacent to the adjacent magnet, namely, a magnetic leakage phenomenon exists, and at the moment, the magnetic shielding material positioned between the two adjacent guide modules can block the magnetic field, so that the magnetic force generated by the electromagnet only acts on the adjacent magnet, namely, the magnetic shielding material can avoid the magnetic leakage phenomenon.
Further, the driving piece is a telescopic electric hydraulic cylinder, one side of the bottom of the electric hydraulic cylinder is hinged with one side of an adjacent guide module, one side of the output head of the electric hydraulic cylinder is hinged with the other side of the adjacent guide module, a power supply is arranged outside the corrugated pipe, the electric hydraulic cylinder is electrically connected with the power supply, a power switch for controlling the electric hydraulic cylinder to be opened and closed is arranged on the power supply, and when the power switch is opened, the head of the electric hydraulic cylinder stretches out and pushes up the adjacent guide module, so that the distance between the adjacent guide modules is increased; when the power switch is turned off, the electro-hydraulic cylinder head is retracted, so that the spacing between adjacent guide modules is reduced.
The basic scheme has the following principle and beneficial effects:
because the mode of controlling the interval between the direction modules through the magnetic force effect between the electromagnet and the magnet may have the problems of insufficient strength, insufficient gap and unobvious bending degree of the corrugated pipe, the driving piece adopts an electric hydraulic cylinder, when medical staff needs to adjust the bending direction of the corrugated pipe, the power switch outside the corrugated pipe is pressed down, the hydraulic cylinder inside the corrugated pipe is activated, and one side of the direction module hinged with the output head of the hydraulic cylinder is jacked up, so that the interval between the adjacent direction modules is increased, the direction module wrapping the corrugated pipe is bent, and the photographing angle of photographing equipment at the outlet of the deflected corrugated pipe is changed accordingly.
Further, a heat insulation layer is fixed on the inner side wall of the corrugated pipe.
The basic scheme has the following principle and beneficial effects:
because compared with the corrugated pipe without the heat insulation layer, when the medical staff inserts the corrugated pipe into the operation affected part of the patient, the body temperature of the patient is isolated by the heat insulation layer on the corrugated pipe, and the body temperature of the patient can not be quickly lost along with the transmission of the corrugated pipe.
Further, be equipped with the motor on the transfer line, the motor bottom is fixed with the transfer line, and the motor rotates to be connected with motor output shaft, motor output shaft and gyro wheel fixed connection.
The basic scheme has the following principle and beneficial effects:
because the roller is matched with the guide wire by manpower, the mode of driving the roller to match the guide wire by the motor is more convenient, and compared with the roller without the motor, the mode of fixing the motor on the roller can improve the operation efficiency.
Further, anti-skid patterns are uniformly distributed on the surface of the roller along the axial direction.
The basic scheme has the following principle and beneficial effects: because the guide wire body is tiny and difficult to clamp by the roller, and the anti-skid patterns on the surface of the roller can increase the contact area between the guide wire and the roller, so that the roller clamps the guide wire more easily, and the anti-skid patterns on the roller can increase the accuracy of clamping the guide wire by the roller.
Drawings
FIG. 1 is an overall plan view of an interventional image guidance system of an adjustable guide device.
Fig. 2 is a side view of a bellows.
Fig. 3 is a schematic diagram of the driving member between two guiding modules when the driving member is an electromagnet and a magnet.
Fig. 4 is a circuit diagram of the operation of the electromagnet.
Fig. 5 is a schematic diagram of the working principle of the infrared distance measuring mechanism.
Fig. 6 is a schematic view of the drive between two steering modules in the form of an electro-hydraulic cylinder.
Fig. 7 is a circuit diagram of the electro-hydraulic cylinder operation.
Detailed Description
The following is a further detailed description of the embodiments:
reference numerals in the drawings of the specification include: bellows 1, guide wire 2, inlet 3, export 4, direction module 5, driving piece 6, transfer line 7, gyro wheel 8, photographic equipment 9, display screen 10, power 11, control switch 12, elastic component 13, relay 14, infrared emitter 15, infrared receiver 16, MCU controller 17, switch 18, electro-magnet 61, magnet 62, electro-hydraulic cylinder 63.
Example 1
Basically as shown in fig. 1 and 2: the utility model provides an intervention image guidance system of adjustable guider, including bellows 1 and seal wire 2, bellows 1 includes entry 3 and export 4, the inside guiding mechanism that is equipped with of bellows 1, guiding mechanism includes the inside axial distribution of a plurality of structures the same direction module 5 of direction module 5 along bellows 1, direction module 5 shape is cylindrical in this embodiment, direction module 5 evenly places inside bellows 1, adjacent two direction module 5 have a plurality of sets of driving piece 6 in adjacent face circumference equipartition, driving piece 6 between every adjacent direction module 5 is 4 sets of in this embodiment, every set of driving piece 6 all is used for changing the interval between two adjacent direction module 5.
Each guide module 5 is internally provided with a cavity for conveying the guide wire 2, two ends of the guide module 5 are respectively provided with an opening communicated with the cavity, the guide modules 5 are mutually communicated through the openings, namely, the cavities in the guide modules 5 are mutually communicated, the side walls of the vertical openings at two ends of each cavity are symmetrically provided with a transmission rod 7, one end of the transmission rod 7 is fixedly connected with the threads of the side walls, the other side of the transmission rod 7 is rotationally connected with a roller 8, a conveying channel of the guide wire 2 is formed between the rollers 8, and the roller 8 is in sliding fit with the guide wire 2.
The opening of the side of the guide module 5 near the inlet 3 of the corrugated pipe 1 is communicated with the inlet 3 of the corrugated pipe 1, and the opening of the side of the guide module 5 near the outlet 4 of the corrugated pipe 1 is communicated with the outlet 4 of the corrugated pipe 1.
The photographing device 9 is fixed on the side wall close to the outlet 4 of the corrugated pipe 1, in this embodiment, the photographing device 9 is a miniature camera, the miniature camera is of the type XM1101, the bulb diameter is 80mm, the height is 138mm, the body weight is 150 g, the photographing device 9 is connected with a display device in a signal mode, in this embodiment, the display device is a display screen 10, the display screen 10 is of the type BD-TM185, the resolution 1366x768, the interface is USB/COM, and the size is 48.5x27.2x5.8 (cm).
The specific implementation process is as follows:
because bellows 1 includes entry 3 and export 4, and the inside guiding mechanism that is equipped with of bellows 1, guiding mechanism includes direction module 5, is equipped with the cavity in the direction module 5 and direction module 5 both ends are equipped with the opening that communicates to the cavity respectively, and is close to the direction module 5 one side opening of bellows 1 entry 3 and bellows 1 entry 3 intercommunication, is close to the direction module 5 one side opening and bellows 1 export 4 intercommunication of bellows 1 export 4.
So that when a medical staff performs an interventional operation through the bellows 1, the guide wire 2 placed at the inlet 3 side of the bellows 1 will pass through the opening of the guide module 5 into the cavity of the guide module 5.
Because a plurality of guide modules 5 with the same structure are arranged in the corrugated pipe 1, the guide modules 5 are mutually communicated through openings at two ends, namely, cavities in the guide modules 5 are mutually communicated, transmission rods 7 are symmetrically arranged on side walls of vertical openings at two ends of each cavity, idler wheels 8 are connected to the transmission rods 7 in a rolling manner, a conveying channel of the guide wire 2 is formed between the idler wheels 8, the idler wheels 8 are in sliding fit with the guide wire 2, so that the guide wire 22 entering the cavities from the inlet 3 of the corrugated pipe 1 slides in the cavities which are mutually communicated under the action of the idler wheels 8, and finally leaves the cavities from the outlet 4 of the corrugated pipe 1.
So when medical staff intervenes in the treatment of the patient, the guide wire 2 in the catheter can realize the operations of wire feeding, wire withdrawing and the like through the roller 8 on the catheter.
Because the photographing device 9 is fixed on the side wall near the outlet 4 of the bellows 1, and the photographing device 9 is signal-connected with the display device, the medical staff can see the contents photographed by the photographing device 9 at the outlet 4 of the bellows 1 through the display device.
Because a gap is reserved between two adjacent guide modules 5, a plurality of groups of driving pieces 6 are uniformly distributed on the circumferences of the adjacent surfaces of the two guide modules 5, a medical staff can change the distance between the two guide modules 5 by starting any group of driving pieces 6 between the two guide modules 5, namely, the lateral distance between the guide modules 5 is controlled by the driving pieces 6 and can be adjusted, further, the corrugated pipe 1 wrapping the guide modules 5 deflects, the photographing angle of the photographing device 9 at the outlet 4 of the deflected corrugated pipe 1 changes along with the deflection, namely, the function of adjusting the photographing angle of the photographing device 9 on the corrugated pipe 1 can be realized through the driving pieces 6 between the guide modules 5 in the corrugated pipe 1, namely, the application can solve the problem that the observation direction of the photographing device is difficult to adjust through a guide pipe.
Example 2
A further embodiment of the present application, substantially as shown in figures 1, 2, 3, 4 and 5, differs from the above embodiments in that: the driving piece 6 comprises an electromagnet 61 and a magnet 62, in the embodiment, the type of the electromagnet 61 is JL-ET1208, the weight is 6g, the attraction force is 2.5Kg, the electromagnet 61 is fixed on one side of an adjacent guide module 5, the magnet 62 is fixed on the other side of the adjacent guide module 5, an elastic piece 13 is arranged between the electromagnet 61 and the magnet 62, in the embodiment, the elastic piece 13 is a spring, one end of the elastic piece 13 is in threaded fixation with the electromagnet 61, the other end of the elastic piece 13 is in threaded fixation with the magnet 62, the electromagnet 61 is electrically connected with a power supply 11, the power supply 11 is positioned outside the corrugated pipe 1, a control switch 12 for controlling the current direction is arranged on the power supply 11, in the embodiment, the control switch is a single-pole double-throw switch, the power supply 11 is divided into a power supply A and a power supply B, when the control switch 12 is connected with the power supply A, the power supply A supplies power positively to the electromagnet 61, repulsive force is generated between the electromagnet 61 and the magnet 62, and the distance between the adjacent guide modules 5 is increased; when the control switch 12 is turned on with the power supply B, the power supply B reversely supplies power to the electromagnet 61, and suction force is generated between the electromagnet 61 and the magnet 62, so that the space between the adjacent guide modules 5 is reduced.
The specific implementation process is as follows:
when the medical staff needs to adjust the visual angle of the photographing device 9 at the outlet 4 of the corrugated tube 1, the medical staff selectively turns on the control switch 12 on the power supply 11 to increase or decrease the lateral spacing between the adjacent guiding modules 5, so that the corrugated tube 1 wrapping the guiding modules 5 deflects, and the photographing angle of the photographing device 9 at the outlet 4 of the deflected corrugated tube 1 changes accordingly.
In addition, when the power supply 11 is powered off, the elastic member 13 between the electromagnet 61 and the magnet 62 is elastically deformed when the distance between the adjacent guide modules 5 is increased or reduced, the elastic potential energy is accumulated by the elastically deformed spring, and when the acting force between the electromagnet 61 and the magnet 62 is lost, the elastic member 13 between the first electromagnet 61 and the second electromagnet 61 releases the elastic potential energy and resets the first electromagnet 61 and the second electromagnet 61.
Example 3
A further embodiment of the application, substantially as shown in figure 5, differs from the above embodiment in that: the control switch 12 is a relay 14, the type of the relay 14 is RJ2S-CL-D24, two contact points are opened and closed, an infrared ranging mechanism is arranged between two adjacent guide modules 5, the infrared ranging mechanism comprises an infrared transmitter 15, an infrared receiver 16 and an MCU controller 17, the type of the infrared transmitter 15 is IR2835 in the embodiment, the type of the infrared receiver 16 is MLX90614 ESF-000-TU, the type of the MCU controller 17 is TMS320F2812PGFA in the embodiment, the infrared transmitter 15 is fixed on one side of the adjacent guide modules 5, a battery is arranged in the infrared transmitter 15, the battery is a button battery in the embodiment, the infrared receiver 16 is fixed on the other side of the adjacent guide modules 5, the MCU controller 17 comprises a plurality of pins, one pin is in signal connection with the infrared receiver 16, and the other pin of the MCU controller is electrically connected with the relay 14.
The specific implementation process is as follows:
when the lateral distance between two adjacent guide modules 5 is too large due to the repulsive force of the electromagnet 61 and the magnet 62, the elastic piece 13 is easy to generate irrecoverable normal deformation, the elastic piece 13 is likely to be broken by serious people, deflection of the corrugated pipe 1 is affected, at this time, the infrared ranging mechanism between the two adjacent guide modules 5 receives the infrared signal of the infrared transmitter 15 through the infrared receiver 16, the infrared receiver 16 converts the infrared signal into an electric signal, the electric signal is captured by the MCU controller 17 connected with the infrared receiver 16 in a signal manner, the MCU controller 17 judges the electric signal according to a preset program, if the electric signal is too large, the MCU controller 17 changes the current direction output to the electromagnet 61 by the electric connection control relay 14, so that the electromagnet 61 can repel to adsorb the magnet 62, the lateral gap between the two adjacent guide modules 5 is reduced, and the irreversible normal deformation of the elastic piece 13 can not occur; if the electric signal is too small, the MCU controller 17 changes the current direction output by the power supply 11 to the electromagnet 61 through the electric connection control relay 14, so that the electromagnet 61 can repel the magnet 62 from adsorption, namely, the side gap between two adjacent guide modules 5 can be dynamically controlled through the infrared distance measuring mechanism, and the situation that the distance between the adjacent guide modules 5 is limited and the bellows cannot rotate to a desired angle is avoided, so that the gap between the two adjacent guide modules 5 can be maintained in a safer range through the infrared distance measuring mechanism and the relay 14.
Example 4
A further embodiment of the present application differs from the above embodiment in that: a magnetic shielding material is arranged between two adjacent guide modules 5, in this embodiment, the magnetic shielding material is a silicon steel sheet, one end of the magnetic shielding material is fixed on one side of the adjacent guide module 5, and the other end of the magnetic shielding material is fixed on the other side of the adjacent guide module 5.
The specific implementation process is as follows:
when the current direction on the electromagnet 61 changes, the electromagnet 61 may not only act on the adjacent magnet 62, but also act on the magnet 62 adjacent to the adjacent magnet 62 by the electromagnet 61, that is, there is a magnetic leakage phenomenon, and at this time, the magnetic shielding material located between the two adjacent guide modules 5 can block the magnetic field, so that the magnetic force generated by the electromagnet 61 only acts on the adjacent magnet 62, that is, the magnetic shielding material of the present application can avoid the magnetic leakage phenomenon.
Example 5
A further embodiment of the application, substantially as shown in figures 1, 6 and 7, differs from the above embodiments in that: the driving part 6 is a telescopic electric hydraulic cylinder 63, the model of the electric hydraulic cylinder 63 in the embodiment is PC25, the lead is 3mm, the maximum stroke is 600mm, and the IP grade is 65; one side of the bottom of the electric hydraulic cylinder 63 is hinged with one side of the adjacent guide module 5, one side of the output head of the electric hydraulic cylinder 63 is hinged with the other side of the adjacent guide module 5, a power supply 11 is arranged outside the corrugated pipe 1, the electric hydraulic cylinder 63 is electrically connected with the power supply 11, a power switch 18 for controlling the electric hydraulic cylinder 63 to be opened and closed is arranged on the power supply 11, the power switch 18 in the embodiment is a lock-free self-reset switch (the power supply is powered on after being pressed down and the power supply is powered off after being released), the model of the power switch 18 is DS-427, the output end of the power switch 18 is electrically connected with the input end of the power supply 11, and when the power switch 18 is opened, the head of the electric hydraulic cylinder 63 extends out and pushes the adjacent guide module 5 open, so that the interval between the adjacent guide modules 5 is increased; when the power switch 18 is turned off, the head of the electro-hydraulic cylinder 63 is retracted so that the interval between the adjacent guide modules 5 is reduced.
The specific implementation process is as follows:
because there may be insufficient force, insufficient gap, insignificant bending degree of the bellows 1, etc. in the manner of controlling the space between the guide modules 5 by the magnetic force between the electromagnet 61 and the magnet 62, the driving member 6 in this embodiment adopts the electro-hydraulic cylinder 63, when the medical staff needs to adjust the bending direction of the bellows 1, the electro-hydraulic cylinder 63 is pressed down to press the power switch 18 outside the bellows 1, the hydraulic cylinder inside the bellows 1 is activated and pushes up one side of the guide module 5 hinged to the output head of the hydraulic cylinder, so that the space between the adjacent guide modules 5 is increased, thereby bending the guide modules 5 wrapping the bellows 1, and the photographing angle of the photographing device 9 at the output 4 of the deflected bellows 1 is changed accordingly, compared with the manner that the electromagnet 61 and the magnet 62 are used as the driving member 6, the travel path of the output head of the electro-hydraulic cylinder 63 is stable and controllable, so that the application uses the electro-hydraulic cylinder 63 as the driving member 6 to change the distance between the two guide modules 5 more stably and controllably, thereby stably controlling the degree of wrapping the bellows 1 wrapping the guide modules 5.
Example 6
A further embodiment of the present application differs from the above embodiment in that: the inner side wall of the corrugated pipe is fixedly adhered with a heat insulation layer, and the heat insulation layer is made of neutral and nontoxic silicon dioxide.
Specific examples are as follows:
because when medical personnel inserts the bellows to patient operation affected part, patient's body temperature will be lost fast along with the bellows transmission, and the insulating layer on the bellows will isolate patient's body temperature this moment, so compare in the bellows that does not have the insulating layer, patient's body temperature will be isolated by the insulating layer on the bellows, and patient's body temperature's loss rate will slow down.
Example 7
A further embodiment of the present application differs from the above embodiment in that: the transmission rod 7 is provided with a motor, the bottom end of the motor is fixedly connected with the transmission rod 7 through threads, the motor is rotationally connected with a motor output shaft, and the motor output shaft is fixedly connected with the idler wheel 8 through threads.
Specific examples are as follows:
because the way of driving the roller 8 to match the guide wire 22 by the motor is more convenient than the way of matching the roller 8 with the guide wire 22 by manpower, the way of fixing the motor on the roller 8 can improve the operation efficiency compared with the way of fixing the motor on the roller 8 without the motor.
Example 8
A further embodiment of the present application differs from the above embodiment in that: anti-skid patterns are uniformly distributed on the surface of the roller 8 along the axial direction.
Because the guide wire 22 body is tiny and difficult to be clamped by the roller 8, and the anti-skidding lines on the surface of the roller 8 can increase the contact area between the guide wire 22 and the roller 8, so that the roller 8 can clamp the guide wire 22 more easily, and the anti-skidding lines on the roller 8 can increase the accuracy of clamping the guide wire 22 by the roller 8.
The foregoing is merely an embodiment of the present application, and a specific structure and characteristics of common knowledge in the art, which are well known in the scheme, are not described herein, so that a person of ordinary skill in the art knows all the prior art in the application date or before the priority date, can know all the prior art in the field, and has the capability of applying the conventional experimental means before the date, and a person of ordinary skill in the art can complete and implement the present embodiment in combination with his own capability in the light of the present application, and some typical known structures or known methods should not be an obstacle for a person of ordinary skill in the art to implement the present application. It should be noted that modifications and improvements can be made by those skilled in the art without departing from the structure of the present application, and these should also be considered as the scope of the present application, which does not affect the effect of the implementation of the present application and the utility of the patent. The protection scope of the present application is subject to the content of the claims, and the description of the specific embodiments and the like in the specification can be used for explaining the content of the claims.

Claims (8)

1. An interventional image guidance system with an adjustable guiding device, characterized in that: the corrugated pipe comprises an inlet and an outlet, a guide mechanism is arranged in the corrugated pipe, the guide mechanism comprises a plurality of guide modules with the same structure, the guide modules are uniformly arranged in the corrugated pipe and are axially distributed along the inside of the corrugated pipe, a plurality of groups of driving pieces are uniformly distributed on the circumferences of adjacent surfaces of two adjacent guide modules, and each group of driving pieces is used for changing the interval between the two adjacent guide modules; the inside of each guide module is provided with a cavity for conveying the guide wire, two ends of each guide module are respectively provided with an opening communicated with the cavity, the guide modules are mutually communicated through the openings, the side walls of the vertical openings at two ends of each cavity are symmetrically provided with transmission rods, the transmission rods are respectively provided with idler wheels, a conveying channel for the guide wire is formed between the idler wheels, and the idler wheels are in sliding fit with the guide wire; an opening at one side of the guide module close to the corrugated pipe inlet is communicated with the corrugated pipe inlet, and an opening at one side of the guide module close to the corrugated pipe outlet is communicated with the corrugated pipe outlet; and a photographing device is fixed on the side wall close to the outlet of the corrugated pipe, and is connected with a display device in a signal manner.
2. The interventional image guidance system of adjustable guide device of claim 1, wherein: the driving piece comprises an electromagnet and a magnet, the electromagnet is fixed on one side of the adjacent guide module, the magnet is fixed on the other side of the adjacent guide module, an elastic piece is arranged between the electromagnet and the magnet, one end of the elastic piece is fixed with the electromagnet, the other end of the elastic piece is fixed with the magnet, the electromagnet is electrically connected with a power supply, the power supply is positioned outside the corrugated pipe, a control switch for controlling the current direction is arranged on the power supply, the control switch comprises a forward switch and a reverse switch, and when the forward switch works, the power supply supplies power to the electromagnet in the forward direction, repulsive force is generated between the electromagnet and the magnet, so that the distance between the adjacent guide modules is increased; when the reversing switch works, the power supply reversely supplies power to the electromagnet, and suction force is generated between the electromagnet and the magnet, so that the distance between adjacent guide modules is reduced.
3. The interventional image guidance system of adjustable guide device of claim 2, wherein: the control switch is a relay, an infrared ranging mechanism is arranged between two adjacent guide modules and comprises an infrared transmitter, an infrared receiver and an MCU controller, the infrared transmitter is fixed on one side of each adjacent guide module, a battery is arranged in the infrared transmitter, the infrared receiver is fixed on the other side of each adjacent guide module, the MCU controller is in signal connection with the infrared receiver, and the MCU controller is electrically connected with the relay.
4. An interventional image guidance system of an adjustable guide device as set forth in claim 3, wherein: and a magnetic shielding material is arranged between two adjacent guide modules, one end of the magnetic shielding material is fixed on one side of the adjacent guide module, and the other end of the magnetic shielding material is fixed on the other side of the adjacent guide module.
5. The interventional image guidance system of adjustable guide device of claim 4, wherein: the driving piece is a telescopic electric hydraulic cylinder, one side of the bottom of the electric hydraulic cylinder is hinged with one side of an adjacent guide module, one side of the output head of the electric hydraulic cylinder is hinged with the other side of the adjacent guide module, a power supply is arranged outside the corrugated pipe, the electric hydraulic cylinder is electrically connected with the power supply, a power switch for controlling the electric hydraulic cylinder to be opened and closed is arranged on the power supply, and when the power switch is opened, the head of the electric hydraulic cylinder stretches out and pushes up the adjacent guide module, so that the distance between the adjacent guide modules is increased; when the power switch is turned off, the electro-hydraulic cylinder head is retracted, so that the spacing between adjacent guide modules is reduced.
6. The interventional image guidance system of adjustable guide device of claim 5, wherein: the inner side wall of the corrugated pipe is fixed with a heat insulation layer.
7. The interventional image guidance system of adjustable guide device of claim 6, wherein: the transmission rod is provided with a motor, the bottom end of the motor is fixed with the transmission rod, the motor is rotationally connected with a motor output shaft, and the motor output shaft is fixedly connected with the idler wheel.
8. The interventional image guidance system of adjustable guide device of claim 7, wherein: anti-skid patterns are uniformly distributed on the surface of the roller along the axial direction.
CN202310670056.7A 2023-06-07 2023-06-07 Interventional image guiding system with adjustable guiding device Withdrawn CN116763365A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310670056.7A CN116763365A (en) 2023-06-07 2023-06-07 Interventional image guiding system with adjustable guiding device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310670056.7A CN116763365A (en) 2023-06-07 2023-06-07 Interventional image guiding system with adjustable guiding device

Publications (1)

Publication Number Publication Date
CN116763365A true CN116763365A (en) 2023-09-19

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310670056.7A Withdrawn CN116763365A (en) 2023-06-07 2023-06-07 Interventional image guiding system with adjustable guiding device

Country Status (1)

Country Link
CN (1) CN116763365A (en)

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Application publication date: 20230919