CN1255080C - Automatic compartment operation system for catheter inserted into vessel in clinical practice - Google Patents

Automatic compartment operation system for catheter inserted into vessel in clinical practice Download PDF

Info

Publication number
CN1255080C
CN1255080C CN 200410025843 CN200410025843A CN1255080C CN 1255080 C CN1255080 C CN 1255080C CN 200410025843 CN200410025843 CN 200410025843 CN 200410025843 A CN200410025843 A CN 200410025843A CN 1255080 C CN1255080 C CN 1255080C
Authority
CN
China
Prior art keywords
catheter
operating system
operation
speed
conduit
Prior art date
Application number
CN 200410025843
Other languages
Chinese (zh)
Other versions
CN1559347A (en
Inventor
李维新
高国栋
赵振伟
Original Assignee
中国人民解放军第四军医大学
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 中国人民解放军第四军医大学 filed Critical 中国人民解放军第四军医大学
Priority to CN 200410025843 priority Critical patent/CN1255080C/en
Publication of CN1559347A publication Critical patent/CN1559347A/en
Application granted granted Critical
Publication of CN1255080C publication Critical patent/CN1255080C/en

Links

Abstract

本发明公开了一种用于临床医学中血管内介入的导管隔室自动操作系统及其操作方法,系统包括,导管操作系统工作部,导管动作控制台及自动注射器数电转换部分,操作系统姿态监视器,和三路电流、电压无级可调式直流电源;导管操作系统工作部由两个操纵导手柄控制,一个控制导管的进退,一个控制导管的旋转,并且可以通过手柄直接调整电机转动的方向和速度;和一个用来观察导管室内情况的监视器,用于监控操作室内的患者和导管操作系统工作部运行状态;通过本系统可以直接精确控制介入导管各种动作的方向和速度,并且在导管到达目标部位后自动进行造影剂或药物的定量注射。 The present invention discloses a method for interventional intravascular catheter in clinical medicine compartment automated system and method of operation, the system comprising, an operating system working catheter portion, the catheter console operation and automatic injector electrical conversion part number, operating system posture monitor, and the three-way current, voltage DC power stepless; operating system catheter portion is controlled by two steering guide handle, a control catheter advance and retreat, a rotation control conduit, and can adjust the rotation of the motor by the handle direction and speed; and a chamber conduit for viewing a monitor the situation for the patient and the catheter portion operating system health monitoring operation chamber; direct various operations of the interventional catheter accurately controlled by the direction and speed of the system, and quantitative injection of the contrast agent or drug automatically after the catheter reaches the target site. 使进行射线下介入操作的医生实现隔室操作,能够真正实现射线完全防护。 So that the doctor who interventional procedures implemented under the compartments ray operation, it is possible to realize full radiation protection.

Description

用于临床血管内介入的导管隔室自动操作系统 Catheter compartment for clinical vascular interventional automatic operation system

技术领域 FIELD

本发明属于医疗设备,涉及医学领域的血管内介入治疗中X-线的防护和导管自动操作设备,特别涉及一种用于临床医学中血管内介入的导管隔室自动操作系统及其操作方法,通过本发明的系统和方法可以实现介入治疗的隔室操作,从而达到治疗过程中对医护人员完全的射线防护。 The present invention belongs to medical equipment, line X- interventional therapy involving intravascular catheters and medical arts protective automatic operation device, and particularly relates to a catheter compartment automatic operating system and operating method thereof involved in clinical medicine for a blood vessel, intervention can be achieved by a system and method of the present invention operating compartment, so as to achieve a complete course of treatment for medical radiation protection. 本发明的系统和方法可广泛地应用于心血管、脑血管、肺血管、肝脏血管、肾血管以及躯干四肢血管等部位的检查及疾病治疗领域的介入诊治过程。 The system and method of the present invention can be widely applied to the diagnosis and treatment of cardiovascular interventional, and therapeutic areas examination of cerebral blood vessels, pulmonary blood vessels, hepatic blood vessels, renal vessels and blood vessels and other parts of the trunk and limbs.

背景技术 Background technique

在血管内介入治疗过程中,介入导管要由手术医生手动进行操作,医生与患者同样暴露在射线下,患者只是在自己接受治疗的情况下才会接受射线照射,而从事介入治疗的医生却要在每次手术中都要受到照射。 Intravascular interventional treatment, the interventional catheter to be manually operated by the surgeon, the same physician and patient radiation exposure, but will accept the patient-ray irradiation in the case of their being treated, the physician has to engage intervention in every surgery will be subject to irradiation. 长期连续或间断超大容许当量全身照射必然会引起不同程度的放射性损伤,如造血功能障碍、骨髓增生或异常、生殖内分泌系统和物质代谢变化等。 Allowed long-term continuous or intermittent large body irradiation equivalents will inevitably lead to varying degrees of radiation damage, such as hematopoietic disorders, or abnormal proliferation of bone marrow, reproductive and endocrine metabolism changes. 一般在出现上述情况后会考虑将该医生调离射线工作。 We will consider the general situation in the event of the above-ray doctors removed from work.

在介入放射学的发展中,传统的X-线防护措施主要为增加操作人员与X-线球管之间的距离,采用各种个人佩带的防护材料,如:铅板、铅衣、铅手套、铅眼镜、铅屏风等等。 In the development of interventional radiology, the traditional X- main line protective measures to increase the distance between the operator and the X- ray tube, using a variety of personal wearing protective materials, such as: lead, lead clothing, lead gloves , lead glasses, lead screens and so on. 这些材料不仅非常笨重,使用不方便,更重要的是使用这些材料并不能完全防止X-线对操作人员的照射。 These materials are not only very bulky, inconvenient to use, more importantly, the use of these materials can not completely prevent the irradiation X- line to the operator.

在实际的介入操作中,很多医护人员并不能戴齐全部的防护材料,因为如果将个人的防护材料全部穿戴齐全几乎不能进行任何长时间的介入操作。 In the actual interventional procedure, many health care workers do not wear protective materials all together, because if the person wearing full protective material all the time hardly any intervention operation.

另外,有人尝试在X-线球管的周围加上铅制防护裙,但是实际测试结果证实这种方法收效不大。 In addition, someone tries around the X- ray tube plus protective skirt made of lead, but the actual test results confirm that this method is ineffective.

介入设备要追求更清晰的图像效果,势必要加大球管的电压,增加射线剂量;医生要获得最佳的治疗效果,操作必须耐心细致,操作时间也相应延长,这些都给射线的防护带来了更大的问题,这一矛盾始终困扰着临床介入医生。 Interventional device you want to pursue a more clear image effect is bound to increase the voltage of the tube, increasing the radiation dose; the doctor to get the best treatment, the operation must be patient and meticulous, the operating time is extended accordingly, which gave the band radiation protection to a bigger problem, this contradiction has plagued clinical interventional cardiologists.

可见,采用目前的技术方法,均不能实现完全的射线防护,医护人员在为患者进行血管内介入治疗的同时不可避免的要受到照射。 Visible, using the current art methods can not achieve complete radiation protection, while endovascular medical intervention for patients inevitably be irradiated.

发明内容 SUMMARY

本发明的内容是实现介入导管的自动操作,完成自动操作后就可以进行介入手术的隔室操作。 The present invention is to achieve an automatic operation of the interventional catheter, the automatic operation can be performed after the completion of operation of the compartment interventional procedures. 针对上述的介入操作中医护人员受到射线照射的问题,本发明的主要目的是提供一套可以实现导管自动操作的机械电子装置,在介入治疗的过程中通过该装置来对导管的各种动作进行控制,并能完成造影剂和药物的自动定量注射,从而实现介入治疗的隔室操作,使医护人员完全摆脱被动接受射线照射造成的损害。 For the above-mentioned problems involved in the operation by medical personnel radiation exposure, the main object of the present invention is to provide a catheter of the electronic device can be realized mechanical automatic operation, to perform various operations during the interventional catheters through which the treatment means control, and to automatically complete quantitative injection of contrast agents and drugs, to achieve operation of interventional treatment compartment, so completely free medical ray irradiation damage caused passively.

为了实现上述目的,本发明采取的技术方案是,用于临床医学中血管内介入的导管隔室自动操作系统,该系统包括:导管操作系统工作部,导管动作控制台及自动注射器数电转换部分,操作系统姿态监视器,和三路电流、电压无级可调式直流电源;导管动作控制台及自动注射器数电转换部分与三路电流、电压无级可调式直流电源连接,并通过X-线防护墙控制导管操作系统工作部;导管操作系统工作部由两个操纵导手柄控制,一个控制导管的进退,一个控制导管的旋转,并且可以通过手柄直接调整电机转动的方向和速度;和一个用来观察导管室内情况的监视器,用于监控操作室内的患者和导管操作系统工作部运行状态;该导管操作系统工作部由转动装置、护罩、接筒、锥形护罩,通过机械方式连接构成;导管操作系统工作部由调速电机控制,调速电 To achieve the above object, the present invention takes technical solution, a conduit compartment automated system intravascular interventional clinical medicine, the system comprising: an operating system working catheter portion, the catheter and the console operation several electrical conversion part autoinjector , the operating system monitors the attitude, and the three-way current, voltage stepless adjustable DC power supply; automatic injector conduit and an operation console electrical conversion part and the number of three-way current, voltage stepless DC power connections, and through line X- protective wall portion control conduit operating system; operating system catheter steering guide unit consists of two joystick controls, a control of advancing and retracting the catheter, a rotary control conduit, and can adjust the rotation direction and speed of the motor directly by the handle; and with a to observe the interior condition monitor catheter, and a patient catheter operating system health monitoring portion of the operation chamber; operating system portion of the conduit means by a rotating shroud, crimp barrel, a conical shroud connected by mechanical means configuration; working catheter portion is controlled by the operating system speed motor, the electrical governor 的主动齿轮部分固定在导管转动装置内,通过一组齿轮减速,与转动装置外支架的固定齿圈相互捏合,通过两个自镶轴承固定在外支架上,电机工作时,转动装置可以在外支架上做自由的旋转动作,旋转的速度和方向可以调整;在转动装置上固定有导电滑环和固定在外支架上的电刷相连,通过电刷环将导管动作控制台的操作指令传至导管操作系统工作部;在锥形护罩内有一个由调节电流强度进行调速的微型调速电机,它通过一套蜗轮蜗杆减速,通过一付弹簧压带轮带动导管的前进、后退,压带轮的压力可以进行调整以控制导管进退的力量;在转动装置内设置有一个由数电转换模板进行定量控制的步进电机,通过一套减速齿轮进行减速,通过一付螺栓套筒推动接筒内设置的注射器进行定量自动注射,注射的速度与总量可以进行预设定;在锥形护罩内 The drive gear portion rotating means is fixed within the catheter, through a set of reduction gears, a ring gear fixed to the outer holder rotating device kneaded with each other by the two fixed bearing insert from the outer frame, the work of the motor, the rotation means may outrigger freedom for rotational motion, the rotational speed and direction can be adjusted; in the rotating means is fixed to the brush is connected to the slip ring and fixed to the outer bracket, the brush ring by the catheter operation console an operation instruction transmitted catheter OS work portion; a micro-speed motor speed by adjusting the current intensity in the conical shroud, through which a worm gear, driven by advancing the catheter through a pair of pinch roller spring, backward, the platen pressure can be adjusted to control the power of the catheter to advance and retreat; disposed in the rotation means has a stepping motor controlled by a number of quantitative conversion template, reduced by the reduction gear set, then push cylinder sleeve is provided by a pair of bolts automatic injection syringe was quantified, and the total amount of the injection speed can be preset; tapered inner shroud 设置有用于导管导向作用的定向管,用于导管在输送的过程中不会打折。 A catheter tube is provided with a directional guide action for the catheter during transportation not be discounted.

上述系统的血管内介入治疗中导管隔室自动操作的方法,包括以下步骤:1)将介入导管放置在导管操作系统工作部中,在用于盘绕导管的仓室中将导管按一定的方式盘绕后把导管压入压轮中,并使导管的头端从导向管中穿出;2)导管后端的接口与装有造影剂或药物的注射器相连,或通过“Y”形阀分别与注射器和加压输液袋相连;3)装有造影剂或药物的注射器固定在导管自动操作装置的自动注射架上;4)导管和注射器安装完毕后,开动自动注射器将注射器内的空气排空,盖上用于盘绕导管的仓室的护罩;5)采用赛丁格法穿刺血管成功后,将导管鞘固定于周围皮肤上,并将导管自动操作装置与治疗床相对固定; A method of treating the catheter compartment endovascular automatic operation of the system, comprising the following steps: 1) The catheter interventional catheter placed in the operating system of the work unit, coiled in a certain way for the coiled conduit of the catheter chamber after the pressure wheel is pressed into the catheter, the catheter tip and out through the guide tube; 2) a syringe containing the contrast agent interface or drug delivery catheter is connected to a rear end, or by a "Y" valve and the syringe, respectively pressurized infusion bag is connected; 3) a syringe containing the contrast agent or drug is fixed to the conduit automatic operation of the automatic injection frame; 4) installed catheter and syringe, the syringe will automatically start the air in the syringe emptied, lid shield chamber for the coiled conduit; 5) using the method of puncturing a blood vessel after Saiding Ge successful, the introducer sheath is fixed to the surrounding skin, the catheter and the automatic operation of the treatment device relative to the fixed bed;

6)开动导管推进开关将导管送出约3-5CM,把送出的导管置入已插入动脉并且固定好的动脉鞘中;7)检查无误后将监视器镜头分别对准动脉穿刺部位和患者全身,操作人员离开导管室进入隔壁的操作间,通过铅玻璃和监视器观察导管室内的情况;8)通过数字减影显示器观察导管在患者血管内的状况,通过进退手柄控制导管的进退,通过旋转手柄控制整个装置的旋转,从而实现导管在血管中的进退与旋转;9)导管到位后设定自动注射器的推进速度及推进量进行造影剂或药物的自动注射。 6) actuated switch catheter is advanced out of the catheter about 3-5CM, out of the catheter into the artery has been inserted and secured in good arterial sheath; 7) after the check, the monitor camera on systemic arterial puncture site and the patient, respectively, the operator enters the chamber exits the catheter between the partition walls operation, to observe the interior of the catheter through the lead glass and the monitor; 8) in the patient's blood vessel catheter situation was observed by digital subtraction display, by advancing and retracting the catheter control handle back and forth, by rotating the handle controlling the rotation of the entire apparatus, thereby achieving the forward and backward rotation of the catheter in a blood vessel; 9) is set to promote the advancing speed and the amount of the automatic injector is a contrast agent or drug after automatic injection catheter in place.

本系统的其它特点是,所述的弹簧压带轮的弹簧压力可以在一定范围内进行调整,保证对导管的推拉力量在安全范围内。 Other features of this system is, the pinch roller spring pressure of the spring may be adjusted within a certain range to ensure the strength of the catheter sliding within a safe range.

所述的旋转装置的主动部分安装在操作器上,固定齿圈安装在外支架上,使整个系统的结构更加紧凑,机械部分的密封性更强。 The active part of the rotary device is mounted on a manipulator, a ring gear fixed to the outer mounting bracket so that the whole system more compact structure, the mechanical seal portion greater.

所述的负责导管进退和旋转的两组伺服电机分别由两枚手柄控制,通过手柄的推拉幅度来控制电机的速度,从而使操作更加直观。 Responsible for advancing and retracting the catheter and the rotary servo motor respectively, by two sets of two control handle to control the speed of the motor by a push-pull amplitude of the handle, so that more intuitive operation.

本发明的用于临床介入医学中实现介入导管自动操作的装置,使用3部调速伺服电机分别负责导管的进退、旋转和造影剂及药物的自动注射。 Medical interventional catheter apparatus to achieve automatic operation of the present invention for clinical intervention, using the three speed servo motor respectively responsible for advancing and retracting the catheter, rotation and automatic injection of contrast agents and drugs. 通过手术室外的控制面板操纵连入手术室内的电路系统,直接精确控制介入导管各种动作的方向和速度,并且在导管到位后自动进行造影剂或药物的定量注射。 Circuitry connected to the manipulation of the operating room through the control panel outside the operating room, interventional catheter directly precisely control the direction and speed of the various operations, and quantified injection of the contrast agent or drug in place automatically after the catheter. 这样就可以使进行介入操作的医生实现隔室操作,从而完全避免了手术过程中被动接受X-线的照射,不用再穿戴沉重的防护服,并且能够真正实现射线完全防护。 This enables the physician perform interventional procedures implemented operations compartment, thereby completely avoided during surgery irradiated X- passive line, no longer heavy protective clothing worn, and can realize full radiation protection.

附图说明 BRIEF DESCRIPTION

图1是本发明的介入导管自动操作系统的整体结构示意图;图中符号为:1-导管操作系统工作部,2-操作系统姿态控制台及自动注射器数电转换部分,3-操作系统姿态监视器,4-三路电流、电压无级可调式直流电源,5-X-线球管,6-患者,7-治疗床,8-数字减影“C”形臂,9-X-线防护墙,10-数字减影监视器;图2是本发明的导管操作系统工作部结构示意图;图中的各符号分别为:1001-转动装置,1002-护罩,1003-后轴承座,1004-传动齿轮,1005-前轴承座,1006-轴承,1007-传动丝杆,1008-滑动支架,1009-前支架,1010-注射器,1011-接筒,1012-锥形护罩,1013-内齿圈,1014-后支架,1015-固定套,1016-行程开关支架,1017-主动齿轮,1018电动机,1019-固定板,1020-筒体,1021-导电滑环,1022-紧固装置,1023-装置,1024-钢珠;图3是高压注射动力装置及系统自身旋转装置;图中符号为:100 FIG 1 is an overall schematic view of an automatic operating system of the interventional catheter according to the invention; FIG symbol: 1- working catheter section operating system, the operating system posture 2- automatic injector consoles and electrical conversion part number, operating system posture monitoring 3- , a three-way 4- current, stepless voltage DC power supply, 5-X- ray tube, 6- patient couch 7-, 8- DSA "C" shaped arm, 9-X- line protection wall, 10 digital subtraction monitor; FIG. 2 is a schematic view of the catheter operating system structure of the present invention; FIG each symbol are: rotation means 1001, the shroud 1002, the bearing seat 1003-, 1004- transmission gear, the front bearing block 1005, the bearing 1006, the drive screw 1007, 1008- sliding bracket, the front bracket 1009-, 1010- syringe crimp barrel 1011-, 1012- conical shroud, the inner ring 1013- , 1014- rear bracket, a fixed sleeve 1015, 1016- limit switch holder, 1017- drive gear, the motor 1018, 1019- fixing plate, cylinder 1020-, 1021- slip ring, 1022- fastening means, means 1023 , ball 1024; FIG. 3 is a high pressure injection system itself and the power plant rotating device; FIG symbol: 100 1-转动装置,1002-护罩,1003-后轴承座,1004-传动齿轮,1005-前轴承座,1006-轴承,1007-传动丝杆,1008-滑动支架,1017-主动齿轮,1018电动机,1019-固定板;图4是机身部分结构图;图中符号为:1013-内齿圈,1014-后支架,1015-固定套,1016-行程开关支架,1020-筒体,1021-导电滑环;图5是注射器及用于盘绕导管的仓室部分结构图;1009-前支架,1010-注射器,1011-接筒,1012-锥形护罩;图6(a)是导管进退装置的导轮和压带轮的结构图;图中符号为:1025-导轮,1026-压带轮;图6(b)是导管进退装置的蜗轮、蜗杆结构图;1027-蜗轮,1028-蜗杆,029-电动机;图7(a)、(b)是导管蜗轮、蜗杆安装示意图;图7(b)是(a)的俯视图;图中符号为:1027-蜗轮,1028-蜗杆,1029-电动机,1030-导向管,1031-轴承,1032-轴承;图8是操作系统的工作示意图;图中符号为:1-导管操作系统工作部,2-操作系统 1- rotation means, the shroud 1002, the bearing seat 1003-, 1004- transmission gear, the front bearing block 1005, the bearing 1006, the drive screw 1007, 1008- sliding bracket, 1017- drive gear, the motor 1018, 1019- fixed plate; FIG. 4 is a configuration diagram of a fuselage section; FIG symbol: 1013- inner ring, the holder 1014-, 1015- fixing sleeve, limit switch bracket 1016-, 1020- cylinder, 1021- slip ring; FIG. 5 is a partial structural view of the syringe chamber, and a coiled conduit; front bracket 1009-, 1010- syringe crimp barrel 1011-, 1012- conical shroud; FIG. 6 (a) is a catheter guide means forward and backward a configuration diagram of the wheel and pinch roller; FIG symbol: 1025- guide wheel, 1026- pinch roller; FIG. 6 (b) is a worm, the worm configuration diagram of a catheter apparatus forward and backward; 1027- worm, a worm 1028, 029 - a motor; FIG. 7 (a), (b) is a catheter worm, the worm installation diagram; FIG. 7 (b) is (a) a plan view; FIG symbol: 1027- worm, worm 1028-, 1029- motors, 1030 - the guide tube, bearings 1031-, 1032- bearing; FIG. 8 is a schematic view of the work of the operating system; FIG symbol: 1- working catheter section operating system, OS 2- 姿态控制台及自动注射器数电转换部分,3-操作系统姿态监视器,4-三路电流、电压无级可调式直流电源。 Attitude and automatic injector console electrical conversion part number, operating system posture monitor 3-, 4- three-way current, stepless voltage DC power supply.

具体实施方式 Detailed ways

以下结合附图和发明人依本发明的技术方案所完成的具体实施例对本发明作进一步的详细描述。 In conjunction with the accompanying drawings and the following specific examples inventors under this aspect of the invention is accomplished by the present invention will be further described in detail.

参见图1~8,图1~8是本发明的一个具体实施例,但本发明不限于该按本发明的技术方案,用于临床医学中血管内介入的导管隔室自动操作系统包括,一导管操作系统工作部1,一导管动作控制台及自动注射器数电转换部分2,操作系统姿态监视器3,和三路电流、电压无级可调式直流电源4;导管操作系统工作部1由一转动装置1001、护罩1002、接筒1011、锥形护罩1012通过机械方式连接构成;导管操作系统工作部1由调速电机控制,调速电机的主动齿轮1017部分固定在导管转动装置1001内,通过一组齿轮减速,与转动装置1001外支架的固定齿圈1013相互捏合,通过两个自镶轴承1003、1005固定在外支架上,电机工作时,转动装置1001可以在外支架1014上做自由的旋转动作,旋转的速度和方向可以调整;在转动装置1001上固定有导电滑环1021和固定在外支架上的电刷相连,通 Referring to FIGS. 1-8, FIG. 1-8 is a particular embodiment of the present invention, but the present invention is not limited to this aspect of the present invention by, for interventional intravascular catheter in clinical medicine compartment comprises automatically operating system, a OS working catheter section 1, the operation console and an automatic injector conduit electrical conversion part number 2, 3 monitors the operating system attitude, and three-way current, voltage DC power stepless 4; operating system portion of the catheter 1 by a rotation means 1001, the shroud 1002, then the cylinder 1011, the shield 1012 connected to form a tapered by mechanical means; operating system catheter portion 1 by the motor speed control, the motor speed drive gear portion 1017 of the conduit 1001 is fixed within the rotating means , through a set of reduction gears, the rotation means holding the outer ring 1001 of stent 1013 kneaded with each other, since the insert by two bearings 1003, 1005 fixed to the outer frame, the work of the motor, the rotational device 1001 may be made freely on the outer stent 1014 rotation operation, the rotational speed and direction can be adjusted; in the rotational device 1001 is fixed to the brush is connected to the slip ring 1021 and the outer fixed frame, on 电刷环将导管动作控制台2的操作指令传至导管操作系统工作部1;在锥形护罩1012内有一个由调节电流强度进行调速的微型调速电机1029,它通过一套蜗轮1027蜗杆1028减速,通过一付弹簧压带轮1026带动导管的前进、后退,压带轮的压力可以进行调整以控制导管进退的力量;在转动装置1001内设置有一个由数电转换模板进行定量控制的步进电机1018,通过一套减速齿轮进行减速,通过一付螺栓套筒1007推动接筒1011内设置的注射器1010进行定量自动注射,注射的速度与总量可以进行预设定; The operation console catheter brush ring 2 is transmitted to the operation instruction catheter Operating System unit 1; a speed governor motor 1029 by a micro-speed adjust the current intensity tapered inner shroud 1012, which through a worm gear 1027 1028 worm reducer, by a pair of pinch roller 1026 driven by the spring to advance the catheter, back, platen pressure can be adjusted to control the strength of the advance and retreat of the catheter; 1001 in the rotating means is provided with a number of electrically controlled by the quantitative conversion template the stepping motor 1018, through a reduction gear, push the syringe 1007 1010 1011 provided in the contact tube were quantified by a pair of bolt automatic injection sleeve, the injection speed and the total amount can be preset;

在锥形护罩1012内设置有用于导管导向作用的定向管1030,用于导管在输送的过程中不会打折。 Provided with an orientation guide for a catheter tube 1030 in the role of the tapered shroud 1012 to the catheter during transportation not be discounted.

一个用于盘绕导管的舱室以及便于开启和观察的透明护盖。 A chamber for the coiled conduit and to facilitate observation of the transparent window and opening.

实现血管内介入治疗中导管隔室自动操作的方法,该方法包括下列步骤:1)将介入导管放置在导管操作系统工作部1中,在用于盘绕导管的仓室中将导管按一定的方式盘绕后把导管压入压轮1026中,并使导管的头端从导向管1030中穿出;2)导管后端的接口与装有造影剂或药物的注射器1010相连,或通过“Y”形阀分别与注射器和加压输液袋相连;3)装有造影剂或药物的注射器1010固定在导管自动操作装置的自动注射架1008上;4)导管和注射器安装完毕后,开动自动注射器将注射器内的空气排空,盖上用于盘绕导管的仓室的护罩1002;5)采用赛丁格法穿刺血管成功后,将导管鞘固定于周围皮肤上,并将导管自动操作装置1与治疗床7相对固定;6)开动导管推进开关将导管送出约3-5CM,把送出的导管置入已插入动脉并且固定好的动脉鞘中;7)检查无误后将监视器镜头分别 Implement a method of treating the catheter compartment endovascular automatic operation, the method comprising the steps of: 1) placement of the interventional catheter system operates in the operation of the catheter portion 1, in a certain way for the coiled conduit of the catheter chamber the coiled pipe is pressed into the press roller 1026, and the piercing tip of the catheter from the guide pipe 1030; 2) a syringe containing the contrast medium or the interface with the drug delivery catheter is connected to a rear end 1010, or by a "Y" valve are connected to syringe and pressurized infusion bag; 3) a syringe containing the contrast agent or drug 1010 is fixed to the automatic operation of the automatic injection apparatus frame catheter 1008; 4) installed catheter and syringe, the syringe will automatically actuated injector air evacuation, the coiled conduit of the shroud cover for the chamber 1002; 5) using the method of percutaneous vascular Saiding Ge is successful, the introducer sheath is fixed to the surrounding skin, and the automatic operation of the catheter apparatus 1 and the couch 7 relatively fixed; 6) actuated switch catheter is advanced out of the catheter about 3-5CM, the delivery catheter has been inserted into the artery and fixed good arterial sheath; 7) after the check, the monitor camera, respectively 准动脉穿刺部位和患者全身,操作人员离开导管室进入隔壁的操作间,通过铅玻璃和监视器3观察导管室内的情况;8)通过数字减影显示器观察10导管在患者血管内的状况,通过进退手柄控制导管的进退,通过旋转手柄控制整个装置的旋转,从而实现导管在血管中的进退与旋转;9)导管到位后设定自动注射器的推进速度及推进量进行造影剂或药物的自动注射。 Quasi and patients with systemic arterial puncture site, leaving the operating room personnel operating the catheter into the chamber wall, chamber 3 to observe the catheter through the lead glass and the monitor; 8) was observed by digital subtraction of the catheter 10 within the patient's vessel in a display condition by retreat retreat catheter control handle, controls the rotation of the entire apparatus by rotating the handle, thereby achieving the forward and backward rotation of the catheter in a blood vessel; 9) is set to promote the advancing speed and the amount of the automatic injector is a contrast agent or drug in place after automatic injection catheter .

本发明使用3部无级调速伺服电机装置分别负责导管的进退、旋转和造影剂及药物的自动注射。 The present invention uses variable speed servo motor means 3 are responsible for advancing and retracting the catheter, rotation and automatic injection of contrast agents and drugs. 采用本发明可以通过手术室外的控制面板操纵连入手术室内的电路系统,直接精确控制介入导管各种动作的方向和速度,并且在导管到位后自动进行造影剂或药物的定量注射。 The present invention may be manipulated using the circuitry connected to the operating room through the control panel outside the operating room, interventional catheter directly precisely control the direction and speed of the various operations, and quantified injection of the contrast agent or drug in place automatically after the catheter. 这样就可以使进行介入操作的医生实现隔室操作,从而完全避免了手术过程中被动接受X-线的照射,不用再穿戴沉重的防护服,并且能够真正实现完全防护。 This enables the physician perform interventional procedures implemented operations compartment, thereby completely avoided during surgery irradiated X- passive line, no longer worn heavy protective clothing, and to realize complete protection.

Claims (1)

1.一种用于临床医学中血管内介入的导管隔室自动操作系统,其特征在于,该系统包括:导管操作系统工作部(1),导管动作控制台及自动注射器数电转换部分(2),操作系统姿态监视器(3),和三路电流、电压无级可调式直流电源(4);导管动作控制台及自动注射器数电转换部分(2)与三路电流、电压无级可调式直流电源(4)连接,并通过X-线防护墙(9)控制导管操作系统工作部(1);导管操作系统工作部(1)由两个操纵导手柄控制,一个控制导管的进退,一个控制导管的旋转,并且可以通过手柄直接调整电机转动的方向和速度;和一个用来观察导管室内情况的监视器(10),用于监控操作室内的患者和导管操作系统工作部(1)运行状态;该导管操作系统工作部(1)由一转动装置(1001)、护罩(1002)、接筒(1011)、锥形护罩(1012)通过机械方式连接构成;导管操作系统工作部(1)由调 1. A catheter compartment automated clinical system for interventional intravascular, characterized in that the system comprising: a catheter portion Operating System (1), and automatic injector catheter operation console electrical conversion part number (2 ), operating system posture monitor (3), and a three-way current, stepless voltage DC power supply (4); automatic injector conduit and the number of the operation console electrical conversion part (2) and the three-way current, voltage stepless adjusting DC power supply (4) is connected, and a control section catheter operating system (1) by line X- protective wall (9); operating system conduit section (1) is controlled by two actuating handles guiding, advancing and retracting a control conduit, a rotating conduit control and adjust the speed and direction of rotation of the motor directly by the handle; and a monitor to observe the interior condition of the catheter (10), and a patient catheter operating system monitoring operation of the indoor unit (1) operating condition; section of the catheter operating system (1) by a rotating means (1001), the shroud (1002), then the cartridge (1011), a tapered hood (1012) formed by mechanically connecting; catheter section operating system (1) a transfer 电机控制,调速电机的主动齿轮(1017)部分固定在导管转动装置(1001)内,通过一组齿轮减速,与转动装置(1001)外支架的固定齿圈(1013)相互捏合,通过两个自镶轴承(1003)、(1005)固定在外支架上,电机工作时,转动装置(1001)可以在外支架(1014)上做自由的旋转动作,旋转的速度和方向可以调整;在转动装置(1001)上固定有导电滑环(1021)和固定在外支架上的电刷相连,通过电刷环将导管动作控制台(2)的操作指令传至导管操作系统工作部(1);在锥形护罩(1012)内有一个由调节电流强度进行调速的微型调速电机(1029),它通过一套蜗轮(1027)蜗杆(1028)减速,通过一付弹簧压带轮(1026)带动导管的前进、后退,压带轮的压力可以进行调整以控制导管进退的力量;在转动装置(1001)内设置有一个由数电转换模板进行定量控制的步进电机(1018),通过一套减速齿轮进行减速,通过一付 Motor control, the motor speed of the drive gear (1017) fixed to the conduit portion within the rotating means (1001), through a set of reduction gears, and the rotation means (1001) fixed to an outer ring gear bracket (1013) each kneaded by two since the insert bearing (1003), (1005) on the fixed outer holder, when the motor operates, the rotation means (1001) may be an outer holder (1014) on for rotational operation of the free, rotational speed and direction can be adjusted; rotating means (1001 fixed conductive slip ring (1021) and the brush is fixed on the outer housing and is coupled on), by operation of the console of the catheter brush ring (2) is an operation instruction transmitted operating system conduit section (1); retaining conical a micro-speed motor (1029) for speed by adjusting the current intensity of the inner cover (1012), which (1027) of the worm (1028) decelerated by a worm gear, driven by a pair of conduits pinch roller spring (1026) in forward, backward, platen pressure can be adjusted to control the strength of the catheter is advance and retreat; in the rotating means (1001) is provided with a stepping motor (1018) from the quantitative control template number conversion, through a reduction gear set deceleration, through a pair of 螺栓套筒(1007)推动接筒(1011)内设置的注射器(1010)进行定量自动注射,注射的速度与总量可以进行预设定;在锥形护罩(1012)内设置有用于导管导向作用的定向管(1030),用于导管在输送的过程中不会打折。 Bolt sleeve (1007) pushing the syringe (1010) provided an automatic injection quantified crimp barrel (1011), the injection speed and the total amount can be preset; disposed tapered inner shroud (1012) for a guide catheter action directional tube (1030) for the catheter during transportation is not discounted.
CN 200410025843 2004-02-06 2004-02-06 Automatic compartment operation system for catheter inserted into vessel in clinical practice CN1255080C (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 200410025843 CN1255080C (en) 2004-02-06 2004-02-06 Automatic compartment operation system for catheter inserted into vessel in clinical practice

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 200410025843 CN1255080C (en) 2004-02-06 2004-02-06 Automatic compartment operation system for catheter inserted into vessel in clinical practice

Publications (2)

Publication Number Publication Date
CN1559347A CN1559347A (en) 2005-01-05
CN1255080C true CN1255080C (en) 2006-05-10

Family

ID=34441156

Family Applications (1)

Application Number Title Priority Date Filing Date
CN 200410025843 CN1255080C (en) 2004-02-06 2004-02-06 Automatic compartment operation system for catheter inserted into vessel in clinical practice

Country Status (1)

Country Link
CN (1) CN1255080C (en)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100506302C (en) 2007-04-23 2009-07-01 四川交通职业技术学院 Automatic injecting instrument for brain angiography
CN103750858B (en) * 2007-11-26 2017-04-12 C·R·巴德股份有限公司 Integrated system for intravascular placement of a catheter
CN101612436B (en) 2009-07-23 2011-09-28 北京航空航天大学 Robot propulsion mechanism for blood vessel intervention operation
CN101879346B (en) * 2010-07-03 2013-12-18 燕山大学 Catheter screw device for minimally invasive vascular interventional surgical robot
CN103083784B (en) * 2013-02-25 2014-09-17 中国科学院自动化研究所 Catheter or guide wire operating device for vessel interventional operation

Also Published As

Publication number Publication date
CN1559347A (en) 2005-01-05

Similar Documents

Publication Publication Date Title
EP0693954B1 (en) Therapeutic appliance for the treatment of conditions of the heart and of blood vessels in the vicinity of the heart
EP2231253B1 (en) Remotely controlled catheter insertion system
US6058323A (en) System and method for treating select tissue in a living being
JP5721169B2 (en) Method and apparatus for minimally invasive extraocular radiation delivery to the back of the eye
US8002733B2 (en) Device and method for rapid aspiration and collection of body tissue from within an enclosed body space
AU2006268156B2 (en) Remotely controlled catheter insertion system
US6286514B1 (en) System and method for treating select tissue in a living being
US8182444B2 (en) Delivery of agents such as cells to tissue
JP4812045B2 (en) Mobile X-ray equipment
US7112205B2 (en) Apparatus and methods for delivering compounds into vertebrae for vertebroplasty
US7220225B2 (en) Intraocular radiotherapy treatment
EP0225104A1 (en) Ultrasound gallstone location and therapy method and apparatus
US20020188278A1 (en) Method and apparatus for an adjustable shape guide catheter
US5997462A (en) Method and apparatus for treating a blood vessel lesion
AT11291U1 (en) Device for administering ablative laser energy and determining the volume of destroyed tumor mass
CN101175451B (en) Light coupling adapter device for photodynamic or photothermal therapy or photodynamic diagnosis, corresponding system and method
JP5086240B2 (en) Dual needle feeding system
US6702805B1 (en) Manipulator
US9005166B2 (en) Fluid delivery systems, devices and methods for delivery of hazardous fluids
EP1061990B1 (en) Remote control catheterization
EP1442720A1 (en) Apparatus for the maneuvering of flexible catheters in the human cardiovascular system
EP2084713B1 (en) Fluoroscopy operator protection device
Fichtinger et al. Robotically assisted prostate brachytherapy with transrectal ultrasound guidance—Phantom experiments
DE4202302C2 (en) Computer tomograph
JP2004516859A (en) Device for injecting a preparation of a medical under Ct or mrt Control

Legal Events

Date Code Title Description
C06 Publication
C10 Request of examination as to substance
C14 Granted
C17 Cessation of patent right