CN204765900U - Melt conduit system with accurate positioning target spot function - Google Patents
Melt conduit system with accurate positioning target spot function Download PDFInfo
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- CN204765900U CN204765900U CN201520332576.8U CN201520332576U CN204765900U CN 204765900 U CN204765900 U CN 204765900U CN 201520332576 U CN201520332576 U CN 201520332576U CN 204765900 U CN204765900 U CN 204765900U
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- ablation catheter
- step motor
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- melt
- ablation
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Abstract
The utility model discloses a melt conduit system with accurate positioning target spot function, including melting the pipe, still including setting up ging forward or retreating button, single chip circuit, micro step motor, driver chip and power supply circuit on melting the pipe, wherein melt the pipe set up in melt the front end of conduit system, melt and be provided with one on the pipe and melt the electrode, the rotor that melts pipe and micro step motor is linked together, micro step motor is connected with driver chip, and driver chip then switches on with the single chip circuit mutually, the single chip circuit is connected with ging forward or retreat the button, when press go forward or retreat the button after, the single chip circuit produces square wave pulse signal, and will square wave pulse signal transmits for driver chip, and driver chip drive micro step motor's rotor is rotatory according to square wave pulse signal's number, and drives melt the catheter electrode accuracy focus tissue that moves, realize melting. The utility model discloses the messenger melt the pipe at a slow speed the accurate positioning melt to near focus tissue, reduce operation time.
Description
Technical field
This utility model belongs to ablation catheter technical field, is specially a kind of ablation catheter system with accurately location target spot function.
Background technology
Catheter ablation is used for the treatment of all kinds of arrhythmia, tumor.Ablation catheter plays a part energy conduction, target spot lesion tissue location in operation, is the instrument that ablation is implemented.At present, ablation catheter to the location of target spot lesion tissue be substantially by medical personnel's manual operation modular catheter implement, comprise advances, retrogressing, rotation, bend etc. action.Manually operated subjectivity may cause tip electrode can not accurately, quick position to lesion tissue, there is offset deviation.In this case, will increase the ablative surgery time makes up the impact that offset deviation brings.And the increase of melting the time will inevitably increase medical personnel's surgical work amount, X-ray use amount etc.Mainly concentrate in the research improving catheter ablation effectiveness both at home and abroad and improve tip electrode design, increase in ablating electrode, catheter surface modification etc., and for providing a kind of pinpoint conduit system that can automatically control because its demand performance accuracy is high, control the realistic problems such as difficulty, there is no at present and studying report in this respect.This research proposes solution for this problem, propose a set of ablation catheter system with accurately location target spot function of meter, after tip electrode moves near lesion tissue by medical personnel, tip electrode is advanced with the speed of 0.5mm/s around lesion tissue, retreats, rotary motion, tip electrode is accurately navigated to target spot lesion tissue.Meanwhile, the accurately development of the ablation catheter control system of location target spot lesion tissue, explores for carrying out intervention operation robot research further.
Summary of the invention
In existing catheter ablation, there is the defect that subjective initiative is large, positioning time is longer in basic dependence medical personnel manual operation catheter positioning target spot lesion tissue, reality is exactly utilize the proficiency level of medical personnel to make up the inaccurate problem in tip electrode location.For the defect of prior art, this utility model devises a kind of ablation catheter system with accurately location target spot function.The technical solution of the utility model is as follows: a kind of ablation catheter system with accurately location target spot function, comprise ablation catheter, it also comprises and is arranged at advance on ablation catheter or Reverse keys, single chip circuit, micro-step motor, driving chip and power circuit; Described power circuit is connected with single chip circuit, micro-step motor, driving chip respectively and powers; Wherein said ablation catheter is arranged at the front end of described ablation catheter system, described ablation catheter (1) is provided with an ablating electrode; Described ablation catheter is connected with the rotor of micro-step motor, and described micro-step motor is connected with driving chip, and driving chip is then conducted with single chip circuit, and described single chip circuit is connected with advance or Reverse keys; After pressing advance or Reverse keys, described single chip circuit produces square-wave pulse signal, and described square-wave pulse signal is transferred to driving chip, driving chip drives the rotor of micro-step motor to rotate according to the number of square-wave pulse signal, and drive described ablation catheter electrode precise motion to lesion tissue, realize melting.
Further, the ablating electrode of described ablation catheter is selected from radio-frequency ablation electrode head, resistance heated melts head, liquid cooling perfusion radio frequency electrical cartridge, cryoablation head, supersonic melting probe, focused ultrasound ablation probe, laser ablation head, laser focusing melt head, optical dynamic therapy melts head or microwave ablation head.
Further, described ablation catheter comprises the section of melting and catheter body section, described in the mobilizable front end being arranged at ablation catheter of the section of melting, the outline of the section of melting cross section is close to the outline of catheter body section cross section.
Further, described micro-step motor employing daily output 2X23 motor (, described single chip circuit adopts STC12C2052AD single-chip microcomputer, and described driving chip adopts L293DD driving chip.
Further, described micro-step motor diameter is less than 8mm, and length is greater than 4mm and is less than 10mm, and driving voltage is lower than 5V, and described micro-step motor is 2 phase 4 line micro-step motors.
Further, described micro-step motor control ablation catheter running precision reaches 0.5mm/s.
Further, VCC and the GND terminal of described single chip circuit connects the outfan of power circuit, advance terminal, retreat terminal and connect advance on ablation catheter or Reverse keys respectively, it controls motor respectively and rotates forward and reversely rotate, be connected by pulse signal between single-chip microcomputer with driving chip, between driving chip with motor, the interface of described 2 phase 4 line micro-step motors is respectively A+, B+, B-, A-.
Advantage of the present utility model and beneficial effect as follows:
The ablation catheter of this utility model head comprises the section of melting and catheter body section, and the outline of the section of melting cross section is close to the outline of catheter body section cross section, and such structure can make ablation catheter enter in the process of target spot lesion tissue secondary injury not to occur.And in this utility model, adopt single chip circuit to produce square-wave pulse signal, produce a square-wave pulse signal, driving chip just drives rotor turns angle of micro-step motor, with the control being reached through rotor, ablation catheter is carried out to the object accurately controlled.
Accompanying drawing explanation
Fig. 1 is the ablation catheter system structure schematic diagram that this utility model preferred embodiment has accurately location target spot function;
Fig. 2 is the ablation catheter system structure side schematic view of this utility model preferred embodiment;
Fig. 3 is single-chip microcomputer, driving chip and motor connection diagram;
Fig. 4 is Single Chip Microcomputer (SCM) program schematic flow sheet.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described in further detail:
With reference to Figure 1 shows that a kind of ablation catheter system with accurately location target spot function, comprise ablation catheter 1, it also comprises and is arranged at advance on ablation catheter 1 or Reverse keys 2, single chip circuit 3, micro-step motor 4, driving chip and power circuit; Described power circuit is connected with single chip circuit 3, micro-step motor 4, driving chip and powers respectively; Wherein said ablation catheter 1 is arranged at the front end of described ablation catheter system, described ablation catheter 1 is provided with an ablating electrode; Described ablation catheter 1 is connected with the rotor of micro-step motor 4, and described micro-step motor 4 is connected with driving chip, and driving chip is then conducted with single chip circuit 3, and described single chip circuit 3 is connected with advance or Reverse keys 2; After pressing advance or Reverse keys 2, described single chip circuit 3 produces square-wave pulse signal, and described square-wave pulse signal is transferred to driving chip, driving chip drives the rotor of micro-step motor 4 to rotate according to the number of square-wave pulse signal, and drives described ablation catheter 1 to rotate realization to melt.
Preferably, the ablating electrode of described ablation catheter 1 is selected from radio-frequency ablation electrode head, resistance heated melts head, liquid cooling perfusion radio frequency electrical cartridge, cryoablation head, supersonic melting probe, focused ultrasound ablation probe, laser ablation head, laser focusing melt head, optical dynamic therapy melts head or microwave ablation head.
Preferably, described ablation catheter 1 comprises the section of melting and catheter body section, described in the mobilizable front end being arranged at ablation catheter 1 of the section of melting, the outline of the section of melting cross section is close to the outline of catheter body section cross section.
Preferably, described micro-step motor 4 adopts daily output 2X23 motor, and described single chip circuit 3 adopts STC12C2052AD single-chip microcomputer, and described driving chip adopts L293DD driving chip.
Preferably, described micro-step motor 4 diameter is less than 8mm, and length is greater than 4mm and is less than 10mm, and driving voltage is lower than 5V, and described micro-step motor 4 is 2 phase 4 line micro-step motors.
Preferably, described micro-step motor 4 controls ablation catheter running precision and reaches 0.5mm/s.
Preferably, VCC and the GND terminal of described single chip circuit 3 connects the outfan of power circuit, advance terminal, retreat terminal and connect advance on ablation catheter or Reverse keys 2 respectively, it controls motor respectively and rotates forward and reversely rotate, be connected by pulse signal between single-chip microcomputer with driving chip, between driving chip with motor, the interface of described 2 phase 4 line micro-step motors is respectively A+, B+, B-, A-.
(1) ablation catheter structural design
According to the construction features of present ablation catheter, design the conduit population structure accurately locating target spot lesion tissue based on micro-step motor control system.In structural design, take into full account the volume of micro-step motor, single chip circuit, make micro-step motor control system can with conduit good combination.
(2) single chip circuit is designed
The action such as rotating forward, reversion, stopping of micro-step motor is controlled by single-chip microcomputer, driving chip.Single chip circuit generation has the control signal of square wave as motor of sequential, and control signal sends stepper motor driver chip to again, and driving chip sends control signal to motor again, and motor rotates under driving chip and control signal effect.
Single-chip microcomputer is the maincenter controlling whole micro-step motor system, its contents of program be followed successively by clock initialization, port initialization, intervalometer initialize, by key definition; Scanning push button signalling, sends pulse signal, stops sending pulse signal; Continue scanning push button signalling etc.
Hardware circuit, micro-step motor and ablation catheter are assembled together after entering single-chip microcomputer by hardware circuit, software programming burning, make electric system effectively can control the advance of conduit, retrogressing and rotation.The ablation catheter system assembled first is carried out exercise testing, and whether the test conduit speed of service reaches the requirement of 0.5mm/s.Then carry out zoopery, inserted by conduit in animal blood vessels, can detected catheter realize the accurate location of tip electrode in actual use.
This research controls the pole low-speed motion of conduit by incorporating micro-step motor control system in modular catheter, tip electrode is made can accurately to navigate to target spot lesion tissue, belong to the field utilizing external impetus to control conduit precise motion, use to realizing reducing operating time and reducing X-ray, domestic there is no studies report in this respect.
This research belongs to the crossing domain of medical science, engineering, Automated condtrol, and the thought of plan engineering advances the development of therapeutic treatment instrument.The problem related generally in development is exactly the microminiaturization, the precision that realize micro-step motor control system, meets therapeutic treatment instrument and uses object that is simple, practical, easy to operate, that increase work efficiency.
1. system structure design
This research final goal develops a set of ablation catheter control system accurately locating target spot lesion tissue, and focus develops micro-step motor control system exactly, and its structural representation as shown in Figure 1.Note: 1 is handle interface; 2 is advance, Reverse keys; 3 is single chip circuit; 4 is micro-step motor; 5 is ablation catheter.
Micro-step motor is digital control motor, and shift pulse signal is become angular displacement by it, namely gives a pulse signal, and motor just rotates an angle.Therefore, as long as the pulse signal of a transmission fixed frequency is to motor, motor will rotate according to fixed speed, thus reaches the object of speed governing.Meanwhile, motor has reliable start-stop and reversion response, and therefore this research realizes accurately controlling conduit with the target of the pole low-speed motion of 0.5mm/s by Single-chip Controlling pulse frequency.
At present, market is less than 8mm for the micro-step motor diameter of the small household appliances digital products such as digital camera, length is less than 10mm, and the shortest 4mm that reaches, driving voltage is lower than 5V.Due to ablation catheter finite volume, and inner own containing circuit and wire, therefore this development will select the 2 phase 4 line micro-step motors that volume is little, running voltage is low, required peripheral circuit is few.
2. design single chip circuit
Single chip circuit object is the control signal of square wave as motor that generation has sequential, control signal sends stepper motor driver chip to again, driving chip sends control signal to motor again, and motor rotates under driving chip and control signal effect.Figure 3 shows that single-chip microcomputer, driving chip and micro-step motor connection diagram, described driving chip is also the commercially available prod adopted; its drive control part neither utility model of the present utility model innovation and the place for protection; commercially available STC12C2052AD single-chip microcomputer is adopted in this utility model preferred embodiment, and commercially available L293DD driving chip.In Fig. 3, single-chip microcomputer " VCC " and " GND " connect front end power circuit, " advance ", " retrogressing " connect the button on ablation catheter, and its function is respectively motor and rotates forward and reversely rotate, and is connected between single-chip microcomputer with driving chip, between driving chip with motor by pulse signal.The interface of 2 phase 4 line micro-step motors is respectively A+, B+, B-, A-.
3. programming
Single-chip microcomputer is the maincenter controlling whole micro-step motor system, as shown in Figure 4, its contents of program be followed successively by clock initialization, port initialization, intervalometer initialize, by key definition; Scanning push button signalling, sends pulse signal, stops sending pulse signal; Continue scanning push button signalling etc., in this utility model, the program of single-chip microcomputer is the technology of existing comparative maturity, rotates forward, the program controls portions of reversion is not innovative part of the present utility model about electrode, neither this utility model for the content of request protection.
4. conduit assembling, experiment
Hardware circuit, micro-step motor and ablation catheter are assembled together after entering single-chip microcomputer by hardware circuit, software programming burning, make electric system effectively can control advance, the retrogressing of conduit.The ablation catheter system assembled first is carried out exercise testing, and whether test conduit running precision reaches the target of 0.5mm/s.Then carry out zoopery, inserted by conduit in animal blood vessels, can detected catheter realize the accurate location of tip electrode in actual use.Experiment proves, this utility model can accurately control to melt the target that test conduit running precision reaches about 0.5mm/s, decreases the operating time of operation, improves work efficiency.
These embodiments are interpreted as only being not used in restriction protection domain of the present utility model for illustration of this utility model above.After the content of reading record of the present utility model, technical staff can make various changes or modifications this utility model, and these equivalence changes and modification fall into this utility model claim limited range equally.
Claims (7)
1. one kind has the ablation catheter system of accurately location target spot function, comprise ablation catheter (1), it is characterized in that, also comprise and be arranged at advance on ablation catheter (1) or Reverse keys (2), single chip circuit (3), micro-step motor (4), driving chip and power circuit; Described power circuit is connected with single chip circuit (3), micro-step motor (4), driving chip and powers respectively; Wherein said ablation catheter (1) is arranged at the front end of described ablation catheter system, described ablation catheter (1) is provided with an ablating electrode; Described ablation catheter (1) is connected with the rotor of micro-step motor (4), described micro-step motor (4) is connected with driving chip, driving chip is then conducted with single chip circuit (3), and described single chip circuit (3) is connected with advance or Reverse keys (2); After pressing advance or Reverse keys (2), described single chip circuit (3) produces square-wave pulse signal, and described square-wave pulse signal is transferred to driving chip, driving chip drives the rotor of micro-step motor (4) to rotate according to the number of square-wave pulse signal, and drives described ablation catheter (1) rotation realization to melt.
2. the ablation catheter system with accurately location target spot function according to claim 1, is characterized in that: the ablating electrode of described ablation catheter (1) is selected from radio-frequency ablation electrode head, resistance heated melts head, liquid cooling perfusion radio frequency electrical cartridge, cryoablation head, supersonic melting probe, focused ultrasound ablation probe, laser ablation head, laser focusing melt head, optical dynamic therapy melts head or microwave ablation head.
3. the ablation catheter system with accurately location target spot function according to claim 1, it is characterized in that: described ablation catheter (1) comprises the section of melting and catheter body section, the mobilizable front end being arranged at ablation catheter (1) of the described section of melting, the outline of the section of melting cross section is close to the outline of catheter body section cross section.
4. the ablation catheter system with accurately location target spot function according to claim 1, it is characterized in that: described micro-step motor (4) employing daily output 2X23 motor (, described single chip circuit (3) adopts STC12C2052AD single-chip microcomputer, and described driving chip adopts L293DD driving chip.
5. the ablation catheter system with accurately location target spot function according to claim 1, it is characterized in that: described micro-step motor (4) diameter is less than 8mm, length is greater than 4mm and is less than 10mm, driving voltage is lower than 5V, and described micro-step motor (4) is 2 phase 4 line micro-step motors.
6. the ablation catheter system with accurately location target spot function according to claim 1, is characterized in that: described micro-step motor (4) controls ablation catheter running precision and reaches 0.5mm/s.
7. the ablation catheter system with accurately location target spot function according to claim 4, it is characterized in that: VCC and the GND terminal of described single chip circuit (3) connects the outfan of power circuit, advance terminal, retreat terminal and connect advance on ablation catheter or Reverse keys (2) respectively, it controls motor respectively and rotates forward and reversely rotate, be connected by pulse signal between single-chip microcomputer with driving chip, between driving chip with motor, the interface of described micro-step motor (4) is respectively A+, B+, B-, A-.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520332576.8U CN204765900U (en) | 2015-05-21 | 2015-05-21 | Melt conduit system with accurate positioning target spot function |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520332576.8U CN204765900U (en) | 2015-05-21 | 2015-05-21 | Melt conduit system with accurate positioning target spot function |
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| CN204765900U true CN204765900U (en) | 2015-11-18 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104840248A (en) * | 2015-05-21 | 2015-08-19 | 中国人民解放军第三军医大学第一附属医院 | Ablation catheter system with precision target-positioning function |
| CN108882918A (en) * | 2016-03-31 | 2018-11-23 | 皇家飞利浦有限公司 | Wireless position determines |
| CN110087728A (en) * | 2016-12-16 | 2019-08-02 | 皇家飞利浦有限公司 | Location aid device for focused radiation treatment |
| CN113633372A (en) * | 2021-10-18 | 2021-11-12 | 北京智愈医疗科技有限公司 | Ablation tool array device for tissue ablation and control method thereof |
-
2015
- 2015-05-21 CN CN201520332576.8U patent/CN204765900U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104840248A (en) * | 2015-05-21 | 2015-08-19 | 中国人民解放军第三军医大学第一附属医院 | Ablation catheter system with precision target-positioning function |
| CN108882918A (en) * | 2016-03-31 | 2018-11-23 | 皇家飞利浦有限公司 | Wireless position determines |
| CN108882918B (en) * | 2016-03-31 | 2022-03-29 | 皇家飞利浦有限公司 | Wireless position determination |
| CN110087728A (en) * | 2016-12-16 | 2019-08-02 | 皇家飞利浦有限公司 | Location aid device for focused radiation treatment |
| CN113633372A (en) * | 2021-10-18 | 2021-11-12 | 北京智愈医疗科技有限公司 | Ablation tool array device for tissue ablation and control method thereof |
| CN113633372B (en) * | 2021-10-18 | 2022-03-01 | 北京智愈医疗科技有限公司 | Ablation tool array device for tissue ablation and control method thereof |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151118 Termination date: 20180521 |