CN116785555A - Retractable vascular interventional surgical catheters, catheter systems and methods of use - Google Patents

Abstract

The invention discloses a telescopic vascular interventional surgical catheter, a catheter system and a method of use. The catheter includes two coaxial tubular members nested inside and outside; the proximal end of the outer tubular member is provided with a shape memory alloy spring, and the shape memory alloy spring drives the inner tubular member to telescopically move in the outer tubular member under the ambient temperature field. ; The inner tubular component is provided with shape memory alloy wires and wires from the proximal end to the distal end. The shape memory alloy wire drives the inner tubular component to deform under the ambient temperature field of segmented temperature control; the distal end of the inner tubular component A surgical function compartment is provided; a magnetic sensor is provided at the distal end of the inner tubular member close to the surgical function compartment. The catheter of the present invention has the characteristics of small size, simple structure, and easy control; the present invention allows medical supplies to reach the end of blood vessels, capillaries and other lesions that are usually difficult to reach; it can achieve deformation independently in segments, and more effectively fits the body's blood vessels Degree of curvature.

Description

Retractable vascular interventional surgical catheters, catheter systems and methods of use

Technical field

The present invention relates to the technical field of intelligent medical devices, and more specifically, to a telescopic vascular interventional surgical catheter, a catheter system and a method of using the same.

Background technique

Intravascular interventional catheter is one of the main devices of endovascular interventional technology. According to different uses, intravascular interventional catheters can be divided into angiography interventional catheters, drug delivery interventional catheters, angioplasty interventional catheters, and foreign body removal interventional catheters. All endovascular catheters have one thing in common: they must be in contact with the blood and follow the tortuous blood vessels to reach the distal lesion.

However, the blood vessels in the human body are thick and thin, and their paths are curved. Most of the current catheters have a fixed shape and provide a limited range of movement. Once lesions occur in capillaries, tortuous and diseased blood vessels, most existing catheters will be unable to do anything.

The invention patent application number 201780068465.2 proposes a telescopic conduit, which adopts a push-type telescopic method, and can realize the telescopic and rotating movements of the conduit through handle control or motor drive. However, this catheter cannot be flexible and accurately fit the shape of blood vessels. When using this catheter, the surgeon or the intelligent surgical system needs to adjust the posture of the catheter from time to time, which requires high accuracy and delay.

Therefore, developing a stretchable vascular interventional surgical catheter that can adapt to the shape of blood vessels is an urgent technical problem that needs to be solved.

Contents of the invention

Since the existing technology has the above-mentioned defects, the present invention provides a telescopic vascular interventional surgical catheter, a catheter system and a method of using the same to solve the problem that the existing technology cannot adapt to the complex shape of blood vessels.

In order to achieve the above object, the present invention provides a telescopic vascular interventional surgical catheter, including an inner and outer two nested coaxial tubular members; the tubular member has a proximal end, a distal end, and a proximal end and a distal end. a passage extending between ends; the inner tubular member is movably inserted inside the outer tubular member; it is characterized in that the proximal end of the outer tubular member is provided with a shape memory alloy spring, and the shape memory alloy spring is provided at the proximal end of the outer tubular member. The memory alloy spring drives the inner tubular member to expand and contract in the outer tubular member under the ambient temperature field; the inner tubular member is provided with shape memory alloy wires and wires from the proximal end to the distal end, and the shape memory alloy The wire drives the inner tubular component to deform under the segmented temperature-controlled ambient temperature field; the distal end of the inner tubular component is provided with a surgical function warehouse, which loads the medical equipment involved in the operation according to actual surgical needs. Medical supplies; a magnetic sensor is provided at the distal end of the inner tubular member close to the surgical function compartment.

The catheter can use a shape memory alloy spring to drive the expansion and contraction of the catheter, extending the inner tubular member to enter a thinner blood vessel; the shape memory alloy wire can realize the flexibility of the inner tubular member of the catheter, and has the advantages of small size, simple structure, and control. Advantages of ease. A functional compartment is provided at the distal end of the inner tubular member to help doctors perform medical operations.

Further, the inner tubular member of the catheter has a diameter of 2.5-2.7 mm, the outer tubular member has a diameter of 3.2-3.5 mm, the shape memory alloy spring has a diameter of 1.8-2 mm, and the shape memory alloy wire The diameter is 0.7~0.9mm.

Further, the outer walls of the two layers of the tubular member are provided with a hydrogel coating. This feature helps the catheter glide within tight blood vessels without getting stuck.

Further, the wires include electric heating wires, power lines and communication lines; the electric heating wires are connected in sections, and the ambient temperature field of the electric heating wires is unevenly changed by changing the access voltage of each section; the shape memory alloy The spring and the shape memory alloy wire deform correspondingly when the ambient temperature changes due to the operation of the electric heating wire; the power cord supplies power to the surgical function chamber; the communication line is connected to the controller outside the catheter to receive and feedback the The control signal of the surgical function compartment.

Further, the shape memory alloy wires and conductors are arranged along the direction of the central axis; a fixing piece is provided in the radial direction inside the inner tubular member; the fixing piece is externally connected to the inner wall of the inner tubular member and is aligned with the shape of the inner tubular member. The positions of memory alloy wires and conductors are constrained.

Furthermore, the cross-sections of the electric heating wire, power supply wire and communication wire are located at different positions on the same circle with a point on the central axis as the center.

Further, the shape memory alloy spring and the shape memory alloy wire are both made of Ni-Ti shape memory alloy; the medical supplies loaded in the surgical functional compartment include micro endoscopes, micro guide wires, drugs to be delivered, and micro One or more types of surgical clamps and microballoons.

On the other hand, the present invention provides a telescopic vascular interventional surgery catheter system, including the above-mentioned telescopic vascular interventional surgery catheter, a medical magnetic field generator, a telescopic control module, and a shape control module; the telescopic control module includes a shape memory alloy spring temperature Control circuit and microcontroller; the shape control module includes a shape memory alloy wire temperature control circuit and a microcontroller; the microcontroller of the telescopic control module and the shape control module can be integrated or discrete.

Further, the telescopic vascular interventional surgery catheter system further includes a movable sealing mechanism at the connection portion of the inner tubular member and the outer tubular member.

In yet another aspect, the present invention provides a method of using the above-mentioned telescopic vascular interventional surgery catheter system, which includes the following steps:

Step S1. Before surgery, the doctor uses in vitro imaging equipment to model the patient's blood vessel position;

Step S2: When the doctor operates the movement of the catheter during the operation, he uses the magnetic field generator and the magnetic sensor in the catheter, combined with the preoperative modeling of the patient, to locate the distal position of the catheter; and determines the location of the catheter through intraoperative in vitro angiography analysis. The thickness, bifurcation, and bending of the blood vessels around the location; if the thickness of the blood vessels changes, an instruction is issued to the microprocessor to realize the telescopic transformation of the catheter by adjusting the shape memory alloy spring control circuit, allowing the inner tubular member of the catheter to enter Thinner blood vessels; if the catheter reaches the bifurcation or bend of the blood vessel, the doctor can adjust the shape memory alloy wire control circuit to change the shape of a specific section of the inner tubular component, and the catheter can continue to the lesion along the established route;

Step S3: When the catheter reaches the surgical position, the doctor can control the medical supplies loaded in the surgical function compartment to perform precise treatment on the patient.

Compared with the existing technology, the above invention has the following advantages or beneficial effects:

1. Embedded shape memory alloy wires and shape memory alloy springs are used as deformation drivers, which have the advantages of small size, simple structure, and easy control;

2. It allows the medical supplies loaded by the catheter to reach the end of blood vessels, capillaries and other lesions that are usually difficult to reach, which can effectively improve the surgical effect;

3. It can achieve deformation independently in segments, more effectively adapt to the curvature of human blood vessels, and improve the safety and accuracy of surgery.

Description of the drawings

The invention, its features, features and advantages will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings. The same reference numbers refer to the same parts throughout the drawings. The drawings are not necessarily to scale, emphasis being placed on illustrating the spirit of the invention.

Figure 1 is a schematic diagram of the overall structure of the catheter in one embodiment of the present invention;

Figure 2 is a schematic diagram of the deformation structure of the conduit in an embodiment of the present invention;

Figure 3 is an axial cross-sectional view of the interior of the outer tubular member in one embodiment of the present invention;

Figure 4 is a radial cross-sectional view along line A-A in Figure 3;

Figure 5 is a B-B radial cross-sectional view of Figure 3;

Among them, 1. Inner tubular component; 2. Outer tubular component; 3. Surgical function chamber; 4. Magnetic sensor; 11. Shape memory alloy wire; 12. Wire; 13. Fixed piece; 21. Shape memory alloy spring; 121. Heating wire; 122. Power cord; 123. Communication wire.

Detailed ways

The structure of the present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the present invention.

Example 1

Referring to Figure 1, a telescopic vascular interventional surgical catheter includes an inner and outer two nested coaxial tubular members; the tubular member has a proximal end, a distal end, and a passage extending between the proximal end and the distal end; The outer tubular member 1 is movably inserted inside the outer tubular member; the proximal end of the outer tubular member 2 is provided with a shape memory alloy spring 21, and the shape memory alloy spring 21 drives the inner tubular member 1 under the ambient temperature field. The inner tubular member 2 moves telescopically; the inner tubular member 1 is provided with a shape memory alloy wire 11 and a conductor 12 from the proximal end to the distal end (see Figure 3). The shape memory alloy wire 11 moves under the ambient temperature field of segmented temperature control. The inner tubular member 1 is driven to deform; the distal end of the inner tubular member 1 is provided with a surgical function warehouse 3, which loads medical supplies involved in the operation according to actual surgical needs; the inner tubular member is close to the operation A magnetic sensor 4 is provided at the far end of the functional compartment. Referring to Figure 2, the conduit can flexibly deform driven by the ambient temperature field.

The diameter of the inner tubular member 1 of the catheter can be 2.5~2.7mm, the diameter of the outer tubular member 2 can be 3.2~3.5mm, the diameter of the shape memory alloy spring 21 is 1.8~2mm, and the diameter of the shape memory alloy wire 11 is 0.7~0.9mm. As a preferred embodiment, the diameter of the outer tubular member 2 is 3.5mm, the diameter of the inner tubular member 1 can be 2.7mm, the diameter of the shape memory alloy wire 11 is 0.8mm, and the diameter of the shape memory alloy spring 21 is 1.9mm.

As a preferred embodiment, the outer wall of the two-layer tubular member is provided with a hydrogel coating. This feature helps the catheter glide within tight blood vessels without getting stuck.

Referring to Figure 3, the shape memory alloy wire 11 and the conductor 12 are arranged along the direction of the central axis; the inner tubular member is provided with a fixing piece 13 along the radial direction; the fixing piece 13 is externally connected to the inner wall of the inner tubular member 1, and is hollow in the middle, passing through The shape memory alloy wire 11 is used to constrain the position of the shape memory alloy wire 11; the fixing piece has a hole in the extension channel of the wire 12. The deformation generated by the shape memory alloy wire 11 pulling the inner tubular member 1 can be transmitted through the fixing piece 13 .

Referring to Figures 4 and 5, the wire 12 of this embodiment includes an electric heating wire 121, a power line 122 and a communication line 123; the cross-sections of the electric heating wire 121, the power line 122 and the communication line 123 are located on the same axis with a point on the central axis as the center of the circle. different positions around the circle. The fixed piece 13 is in the shape of a cross, and the electric heating wire 121, the power line 122 and the communication line 123 respectively pass through one of the gaps around the fixed piece 13 and the inner tubular member 1. The electric heating wire 121 is connected in sections, and the ambient temperature field of the electric heating wire 121 is changed by changing the access voltage of each section to achieve non-uniformity of the ambient temperature field; the shape memory alloy spring 21 and the shape memory alloy wire 11 are used when the ambient temperature changes due to the operation of the electric heating wire 121. Corresponding deformation occurs; the power cord 122 supplies power to the surgical function compartment 3; the communication line 123 is connected to the controller outside the catheter to receive and feedback the control signal of the surgical function compartment 3. The magnetic sensor 4 is arranged on the inner tubular member close to the distal end of the surgical function compartment, and is preferably fixed on the fixing piece 13 .

The shape memory alloy spring 21 and the shape memory alloy wire 11 are both made of Ni-Ti shape memory alloy; it is understandable that they can also be other shape memory alloy materials with temperature response characteristics. The number of surgical functional compartments 3 can be set according to medical needs, and the medical supplies loaded include one or more of micro endoscopes, micro guide wires, drugs to be delivered, micro surgical clamps, and micro balloons.

A telescopic vascular interventional surgery catheter system, including the above-mentioned telescopic vascular interventional surgery catheter, a medical magnetic field generator, a telescopic control module, and a shape control module; the telescopic control module includes a shape memory alloy spring temperature control circuit and a microcontroller; The shape control module includes a shape memory alloy wire temperature control circuit and a microcontroller; the expansion control module and the microcontroller of the shape control module may be integrated or discrete. As a preferred embodiment, the microcontrollers of the telescopic control module and the shape control module are integrated.

A method of using the above-mentioned telescopic vascular interventional surgery catheter system includes the following steps:

Step S1. Before surgery, the doctor uses in vitro imaging equipment to model the patient's blood vessel position;

Step S2: When the doctor operates the movement of the catheter during the operation, he uses the magnetic field generator and the magnetic sensor in the catheter, combined with the preoperative modeling of the patient, to locate the distal position of the catheter; and determines the location of the catheter through intraoperative in vitro angiography analysis. The thickness, bifurcation, and bending of the blood vessels around the location; if the thickness of the blood vessels changes, an instruction is issued to the microprocessor to realize the telescopic transformation of the catheter by adjusting the shape memory alloy spring control circuit, allowing the inner tubular member of the catheter to enter Thinner blood vessels; if the catheter reaches the bifurcation or bend of the blood vessel, the doctor can adjust the shape memory alloy wire control circuit to change the shape of a specific section of the inner tubular component, and the catheter can continue to the lesion along the established route;

Step S3: When the catheter reaches the surgical position, the doctor can control the medical supplies loaded in the surgical function compartment to perform precise treatment on the patient.

Example 2

A telescopic vascular interventional surgical catheter and its catheter system. Its structure and implementation method are similar to Embodiment 1. What is different from Embodiment 1 is that the diameter of the outer tubular member 2 is 3.2 mm, and the diameter of the inner tubular member 1 is 3.2 mm. It can be 2.5mm, the diameter of the shape memory alloy wire 11 is 0.7mm, and the diameter of the shape memory alloy spring 21 is 1.8mm. The microcontrollers of the telescopic control module and the shape control module are separate. The telescopic vascular interventional catheter system further includes a movable sealing mechanism at the connection portion of the inner tubular member and the outer tubular member.

Example 3

A telescopic vascular interventional surgical catheter and its catheter system. Its structure and implementation method are similar to Embodiment 1. What is different from Embodiment 1 is that the diameter of the outer tubular member 2 is 3.5 mm, and the diameter of the inner tubular member 1 is 3.5 mm. It can be 2.7mm, the diameter of the shape memory alloy wire 11 is 0.9mm, and the diameter of the shape memory alloy spring 21 is 2mm.

In summary, the present invention provides a telescopic vascular interventional surgical catheter, a catheter system and a method of use. The catheter includes two coaxial tubular members nested inside and outside; the proximal end of the outer tubular member is provided with a shape memory alloy spring, and the shape memory alloy spring drives the inner tubular member to telescopically move in the outer tubular member under the ambient temperature field. ; The inner tubular component is provided with shape memory alloy wires and wires from the proximal end to the distal end. The shape memory alloy wire drives the inner tubular component to deform under the ambient temperature field of segmented temperature control; the distal end of the inner tubular component A surgical function compartment is provided; a magnetic sensor is provided at the distal end of the inner tubular member close to the surgical function compartment. The catheter of the present invention has the characteristics of small size, simple structure, and easy control; the present invention allows medical supplies to reach the end of blood vessels, capillaries and other lesions that are usually difficult to reach; it can achieve deformation independently in segments, and more effectively fits the body's blood vessels Degree of curvature.

Those skilled in the art should understand that variations can be implemented by those skilled in the art in combination with the prior art and the above-mentioned embodiments, which will not be described again here. Such modifications do not affect the essential content of the present invention and will not be described again here.

The preferred embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above-mentioned specific embodiments, and the equipment and structures not described in detail should be understood to be implemented in ordinary ways in the art; any person familiar with the art will not deviate from the scope of the invention. Within the scope of the technical solution of the invention, the above-disclosed methods and technical contents can be used to make many possible changes and modifications to the technical solution of the invention, or be modified into equivalent embodiments with equivalent changes, which does not affect the essential content of the invention. . Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of protection of the technical solution of the present invention.

Claims (10)

1. A telescopic vascular interventional operation catheter, which comprises an inner coaxial tubular member and an outer coaxial tubular member which are nested; the tubular member has a proximal end, a distal end, and a passageway extending between the proximal end and the distal end; the inner tubular member is movably sleeved inside the outer tubular member; it is characterized in that the method comprises the steps of,

the proximal end of the outer tubular member is provided with a shape memory alloy spring which drives the inner tubular member to move telescopically in the outer tubular member under an ambient temperature field; a shape memory alloy wire and a lead wire are arranged in the inner layer tubular member from the proximal end to the distal end, and the shape memory alloy wire drives the inner layer tubular member to deform under the environment temperature field of sectional temperature control; the distal end of the inner tubular member is provided with a surgical functional cartridge which loads medical supplies involved in surgery according to actual surgical demands; the inner tubular member is provided with a magnetic sensor near the distal end of the surgical functional cartridge.

2. A telescopic vascular interventional catheter according to claim 1, wherein the diameter of the inner tubular member of the catheter is 2.5-2.7 mm, the diameter of the outer tubular member is 3.2-3.5 mm, the diameter of the shape memory alloy spring is 1.8-2 mm, and the diameter of the shape memory alloy wire is 0.7-0.9 mm.

3. A telescopic vascular interventional catheter according to claim 1, wherein the outer walls of both layers of the tubular members are provided with a hydrogel coating.

4. A telescopic vascular interventional procedure catheter according to claim 1, wherein the wires comprise an electrical heating wire, a power wire and a communication wire; the electric heating wires are connected in sections, and the non-uniformity of the ambient temperature field is realized by changing the access voltage of each section of electric heating wires; the shape memory alloy spring and the shape memory alloy wire are correspondingly deformed when the electric heating wire works to change the ambient temperature; the power line supplies power for the operation function cabin; the communication line is connected with a controller outside the catheter and receives and feeds back control signals of the operation function cabin.

5. A telescopic vascular interventional catheter according to claim 4, wherein the shape memory alloy wire and the guide wire are arranged along the central axis; the inner layer tubular member is internally provided with a fixing piece along the radial direction; the fixing piece is externally connected with the inner wall of the inner tubular member and restrains the positions of the shape memory alloy wires and the conducting wires.

6. A telescopic vascular interventional procedure catheter according to claim 5, wherein the cross sections of the electrical heating wire, the power wire and the communication wire are located at different positions on the same circumference centered at a point on the central axis.

7. A telescopic vascular interventional procedure catheter according to any one of claims 1 to 6, wherein the shape memory alloy spring and shape memory alloy wire are both of Ni-Ti shape memory alloy; the medical supplies loaded by the operation function bin comprise one or more of a miniature endoscope, a miniature guide wire, a medicine to be delivered, a miniature operation clamp and a miniature balloon.

8. A telescopic vascular interventional procedure catheter system, comprising a telescopic vascular interventional procedure catheter according to any one of claims 1 to 7, a medical magnetic field generator, a telescopic control module, a shape control module; the telescopic control module comprises a shape memory alloy spring temperature control circuit and a microcontroller; the shape control module comprises a shape memory alloy wire temperature control circuit and a microcontroller; the microcontrollers of the telescoping control module and the shape control module may be integrated or may be discrete.

9. The telescopic vascular interventional procedure catheter system of claim 8, further comprising a removable sealing mechanism at the junction of the inner tubular member and the outer tubular member.

10. A method of using the telescopic vascular interventional procedure catheter system of claim 8 or 9, comprising the steps of:

step S1, before operation, a doctor models the vascular position of a patient by using an in-vitro radiography device;

step S2, when a doctor operates the motion of the catheter in operation, the distal end position of the catheter is positioned by combining modeling of a patient before operation by utilizing a magnetic field generator and a magnetic sensor in the catheter; judging the thickness, bifurcation and bending conditions of the peripheral blood vessels at the position of the catheter through in-vitro radiography analysis in the operation; if the thickness of the blood vessel is changed, an instruction is sent to the microprocessor, and the telescopic transformation of the catheter is realized by adjusting the shape memory alloy spring control circuit, so that the inner tubular member of the catheter enters a finer blood vessel; if the catheter reaches the bifurcation and the bending position of the blood vessel, a doctor can change the shape of a specific section of the inner tubular member by adjusting the shape memory alloy wire control circuit, and the catheter can continuously go to the focus along a set route;

and step S3, when the catheter reaches the operation position, a doctor can accurately treat the patient by controlling medical supplies loaded in the operation function bin.