CN208892634U - Insertion type medical instrument withdraws system - Google Patents
Insertion type medical instrument withdraws system Download PDFInfo
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- CN208892634U CN208892634U CN201820935198.6U CN201820935198U CN208892634U CN 208892634 U CN208892634 U CN 208892634U CN 201820935198 U CN201820935198 U CN 201820935198U CN 208892634 U CN208892634 U CN 208892634U
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- sensing module
- conduit
- medical instrument
- conveying device
- insertion type
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Abstract
System is withdrawn present disclose provides a kind of insertion type medical instrument, it is that there is conduit and the insertion type medical instrument for the flexible drive shaft that can be relatively moved with the conduit to withdraw system, it is characterized in that, it include: conveying device, itself and flexible driving axis connection, and control the conveying speed of the flexible drive shaft；Sensing module is set to the flexible drive shaft, and detects mechanics parameter of flexible drive shaft during withdrawing；And control device, the conveying device is controlled based on the relationship of the mechanics parameter and defined threshold, to change the conveying speed.The system that withdraws of the insertion type medical instrument of the disclosure can be avoided the biological tissues such as blood vessel and damage under the process that withdraws.
Description
Technical field
This disclosure relates to which insertion type field of medical technology more particularly to a kind of insertion type medical instrument withdraw system.
Background technique
Intravascular ultrasound (Intravascular Ultrasound, IVUS) system is using ultrasound functions to blood vessel pipe
A kind of ultrasonic image-forming system that chamber and tube wall are imaged.This system is by the conduit skill of non-invasive ultrasonic technique and minimal invasive
Art combines, in use, conduit trans-radial or femoral artery puncture are pushed to vascular lesion region, is then arranged in conduit
Mandrel during withdrawing can by be located at mandrel front end ultrasonic transducer vessel lumen and tube wall are imaged.
During IVUS system is withdrawn, usually exists and withdraw and automatic returning two types manually.When automatic returning, return
It is relatively stable to remove speed, by rotary motion, more accurately record blood vessel current location situation, in conjunction with ultrasonic measurement as a result,
Common to complete imaging, since position result is accurate, it is accurate that the imaging results of record can be used for the important clinicals parameter such as length of lesion
Measurement, guidance intervention doctor for example select the length and implanted region of bracket；Withdraw manually is more to be applied to quickly check
Some region of blood vessel checks that target area, the preoperative power of withdrawing perceive manually repeatedly, does not need the operation field of accurately image
Scape.In general, doctor directly uses the scene of automatic returning can be more in actual clinical application.
Current commercial IVUS system may be implemented the automatic returning of friction speed and withdraw manually, such as automatic time
The highest for removing mandrel under scene withdraws speed and has had arrived at 10mm/s.However, although the automatic returning of high speed is reducing imaging
There is important clinical value in terms of process patient's ischemic risk and surgical time, but also deposited in blood vessel relatively narrower region
Causing serious the conduit even risk of patient's blood vessel tearing.Although intervention doctor can perceive and drop by withdrawing manually
Low such risk, but since automatic returning process is obstructed, and catheter tip (Tip) is caused to tear, it is still that existing IVUS is produced
Product incident rate is relatively high, needs systematicness and solves the problems, such as.
Summary of the invention
The disclosure in view of the above-mentioned prior art situation and complete, its purpose is to provide one kind to withdraw
The insertion type medical instrument of conduit and blood vessel is effectively protected under journey withdraws system.
For this purpose, withdraw system present disclose provides a kind of insertion type medical instrument, be with conduit and can with it is described
The insertion type medical instrument of the flexible drive shaft of conduit relative movement withdraws system characterized by comprising conveying device,
Itself and flexible driving axis connection, and control the conveying speed of the flexible drive shaft；Sensing module is set to the flexibility
Transmission shaft, and detect mechanics parameter of flexible drive shaft during withdrawing；And control device, it is based on the power
The relationship for learning parameter and defined threshold controls the conveying device, to change the conveying speed.
In the disclosure, mechanics ginseng of sensing module detection flexible drive shaft during withdrawing at a high speed in system is withdrawn
Number, and the mechanics parameter is fed back into control device, control device is controlled according to the relationship of mechanics parameter and defined threshold and is conveyed
Device, thus, it is possible to change the conveying speed of conveying device, to effectively inhibit the conduit and blood vessel of insertion type medical instrument
It is damaged under the process that withdraws.
The insertion type medical instrument involved in the disclosure is withdrawn in system, the conveying device can have with it is described
The transmission parts of flexible driving axis connection, the conveying device are controlled described by controlling the rotation speed of the transmission parts
Conveying speed.Thereby, it is possible to efficiently control the conveying speed of conveying device by transmission parts, it is advantageously implemented and smoothly returns
It removes.
In addition, the insertion type medical instrument involved in the disclosure is withdrawn in system, the sensing module can be to have
Line or wireless communication mode feed back the mechanics parameter to the control device.Thereby, it is possible to monitor flexible drive shaft in time to exist
State during withdrawing.
In addition, the insertion type medical instrument involved in the disclosure is withdrawn in system, the conveying device can with motor,
Geared parts with the clutch of motor cooperation and with the clutch linkage.Thereby, it is possible to utilize geared parts etc.
It provides and transmits to insertion type medical instrument and withdraw power.
In addition, the insertion type medical instrument involved in the disclosure is withdrawn in system, the sensing module be can be set
On the clutch.Thereby, it is possible to detect the mechanics parameter of flexible drive shaft indirectly conveniently by clutch.
In addition, the insertion type medical instrument involved in the disclosure is withdrawn in system, the sensing module be can detecte
The torque of the clutch.Thereby, it is possible to withdraw speed according to detection moment of torsion control insertion type medical instrument.
In addition, the insertion type medical instrument involved in the disclosure is withdrawn in system, the conveying device be can have
Automatic returning mode and mode is withdrawn manually, when the mechanics parameter is greater than the defined threshold, the control device is controlled
The conveying device is so that the conveying device switches to and described withdraws mode manually.Thereby, it is possible to the changes according to mechanics parameter
Change, which efficiently controls, withdraws speed.
In addition, the insertion type medical instrument involved in the disclosure is withdrawn in system, the conduit can have distal end
Part and proximal part, the sensing module are positioned close to the distal portions of the conduit.Thereby, it is possible in conduit
Distal portions carry out the detection of mechanics parameter, so that adjusting conveying device in time withdraws speed.
In addition, the insertion type medical instrument involved in the disclosure is withdrawn in system, the conduit has distal portions
And the proximal part of the conduit is arranged in proximal part, the sensing module.Thereby, it is possible to the proximal parts in conduit
The detection of mechanics parameter is carried out, so that easily adjusting conveying device withdraws speed.
In addition, the insertion type medical instrument involved in the disclosure is withdrawn in system, the sensing module is that detection is answered
The mechanics sensor of power.Thereby, it is possible to control conveying device by easily detecting stress to withdraw speed.
In accordance with the invention it is possible to provide a kind of insertion type that can be effectively protected conduit and blood vessel under the process that withdraws
Medical instrument withdraws system.
Detailed description of the invention
Embodiment of the disclosure will be explained by reference to the example of attached drawing in further detail now, in which:
Fig. 1 is the schematic diagram of the conveying device for withdrawing system of insertion type medical instrument involved in the disclosure.
Fig. 2 is the structural schematic diagram of the control device for withdrawing system of insertion type medical instrument involved in the disclosure.
Fig. 3 is an example schematic diagram for withdrawing system for insertion type medical instrument involved in the disclosure.
Fig. 4 is the schematic diagram of the control device for withdrawing system of insertion type medical instrument involved in the disclosure.
Specific embodiment
Hereinafter, explaining the preferred embodiment of the disclosure in detail with reference to attached drawing.In the following description, for identical
Component assign identical symbol, the repetitive description thereof will be omitted.Scheme in addition, attached drawing is only schematical, the mutual ruler of component
Very little shape of ratio or component etc. can be with actual difference.
Fig. 1 is the structural schematic diagram for withdrawing system 1 of insertion type medical instrument involved in the disclosure.Fig. 2 is the disclosure
The structural schematic diagram of the control device for withdrawing system of related insertion type medical instrument.Fig. 3 is situated between involved in the disclosure
Enter an example schematic diagram for withdrawing system for formula medical instrument.
System 1 (below otherwise referred to as " withdrawing system 1 ") is withdrawn present disclose provides a kind of insertion type medical instrument.
In the disclosure, insertion type medical instrument may include conduit 2 and can with conduit 2 relatively move flexible drive shaft 3 (referring to
Fig. 3 being described later on).
In the disclosure, withdrawing system 1 may include conveying device 10, sensing module 20 and control device 30 (referring to figure
1).It withdraws in system 1 involved in the disclosure, conveying device 10 can convey insertion type medical instrument, sense mould
The physical parameter such as mechanics parameter that block 20 passes through during the insertion type medical instrument that will test is withdrawn sends control dress to
30 are set, control device 30 controls conveying device 10 based on obtained physical parameter, to change the conveying speed of conveying device 10
Degree is smoothly recalled with realizing.
In some instances, conveying device 10 can control the conveying speed of the flexible drive shaft 3 of insertion type medical instrument.
In some instances, conveying device 10 has the transmission parts (not shown) with flexible driving axis connection, and conveying device 10 passes through
The rotation speed of transmission parts is controlled to control conveying speed.
In some examples, conveying device 10 may include motor 11, the clutch 12 cooperated with motor 11, Yi Jiyu
The geared parts 13 that clutch 12 links (referring to Fig. 3).
In some instances, when the system that withdraws 1 needs to withdraw, motor 11 can provide the dynamic torque withdrawn.One
In a little examples, the torque of motor 11 can be transferred to geared parts 13 by clutch 12, to drive insertion type medical instrument
Flexible drive shaft 3 is withdrawn.
In some instances, geared parts 13 may include gear 13a and rack gear 13b.When clutch 12 and motor 11 are matched
When conjunction, the torque of motor 11 passes to geared parts 13 by clutch 12, and thus geared parts 13 transmit power to control
System 1 is withdrawn in conveying speed during withdrawing of insertion type medical instrument.Specifically, the torque of motor 11 is via clutch
Device 12 and the gear 13a for passing to geared parts 13, the torque of gear 13 pass to Jie via the rack gear cooperated with gear 13
Enter formula medical instrument.That is, in transmission device 20 power can be transmitted by the cooperation of gear 13a and rack gear 13b to control
System withdraws conveying speed of the system 1 during withdrawing.
In some instances, withdrawing system 1 can be used in during the withdrawing of IVUS (intravascular ultrasound) system.It is specific and
Speech can be by the first trans-radial of conduit 2 or femoral artery puncture when using the situation of IVUS systems inspection vessel lumen and inner wall
Blood vessel target area is pushed to, the flexible drive shaft 3 being then arranged in conduit 2 can pass through flexible drive shaft during withdrawing
Vessel lumen and tube wall is imaged in the ultrasonic transducer 3a (referring to figure) of 3 front ends.In such a case, it is possible to by withdrawing
Caused angiorrhoxis when for example being withdrawn at a high speed in the process to avoid withdrawing of system 1.
In some instances, when the conduit of insertion type medical instrument is from human body or other insertion type medical instrument effective objects
When (animal etc.) withdraws or withdraw from, conveying device 10 can control the conveying speed (withdrawing speed) of insertion type medical instrument.?
That is, the slave blood vessel target area that conveying device 10 can control the flexible drive shaft 3 in conduit 2 is transported to extravascular conveying
Speed.In the disclosure, conveying speed can refer to that flexible drive shaft withdraws speed from vascular lesion region to extravascular.
In some instances, conveying device 10 can have automatic returning mode and withdraw mode both of which manually.Tool
For body, conveying device 10 has automatic gear and manual gear, when conveying device 10 is in automatic gear, conveying device 10
Automatically conveying insertion type medical instrument for example makes insertion type medical instrument automatic returning；When conveying device 10 is in manual gear
When, withdrawing for insertion type medical instrument can be controlled manually by doctor etc..In addition, in some instances, insertion type medical treatment
Instrument such as IVUS system has two different speed stages when withdrawing, and withdraws gear, another kind one is High-Speed Automatic
It is to withdraw gear at a slow speed manually.
In actual clinical application, doctor etc. is generally by automatic gear (automatic returning gear) by the flexibility in conduit
Transmission shaft is withdrawn from blood vessel target area, and the ultrasonic transducer 3a of 3 end of flexible drive shaft is arranged in collocation during withdrawing
(referring to Fig. 3) rotary motion, so that more accurately vascular lesion region be imaged.
In the disclosure, if the speed of insertion type medical instrument such as IVUS system flexible drive shaft 3 in automatic returning
Excessive, so that being easy to the conduit and blood vessel of tearing package flexible drive shaft 3, then conveying device 10 can be in control device 30
It is switched under the control of (being described later on) from automatic returning mode (automatic gear) and withdraws mode manually.
In some instances, when mechanics parameter obtained is greater than defined threshold, control device 30 controls conveying device
10 withdraw mode so that conveying device 10 switches to manually.
In addition, in some instances, withdrawing system 1 may include sensing module 20.Sensing module 20 can be used for detecting
Mechanics parameter of insertion type medical instrument during withdrawing.For example, can be with real-time detection flexible drive shaft 3 during withdrawing
The pulling force born.The pulling force that flexible drive shaft 3 is born has defined threshold, when the pulling force that flexible drive shaft 3 is born is big
When the defined threshold, it is most likely that cause the tearing of conduit and blood vessel.
In some instances, sensing module 20 can detect the shape of flexible drive shaft caused by pulling force by foil gauge
Become.At this point, mechanics parameter can be deformation quantity.
In some instances, foil gauge (not shown) can be pasted on the inside of flexible drive shaft 3, then foil gauge can be with
The synchronous deformation together of flexible drive shaft 3.During withdrawing, the pulling force that geared parts 13 assign flexible drive shaft 3 can be to scratching
Certain deformation is caused inside property transmission shaft 3.By converting voltage value in real time for deformation quantity, such as mechanics of sensing module 20 is passed
Signal comprising the voltage value can be fed back to control device 30 in real time by sensor.
In some instances, a largest deformation amount can be determined according to the defined threshold of pulling force, and then according to the maximum
Deformation quantity is that above-mentioned voltage value sets a threshold value.When control device 30 judges that voltage value is greater than this threshold value, it can
Think that flexible drive shaft 3 bears pulling force and is greater than its defined threshold.In such a case, it is possible to control the motor 11 of conveying device 10
It stops operating, is torn during withdrawing with being effectively protected blood vessel and conduit.
In some instances, it is specified that threshold value can rule of thumb or experimental measurements are arranged.
In some instances, foil gauge can be made of metal foil, can also be made of semiconductor material.In some examples
In, foil gauge can stick the sensitive grid made of thin metal foil material (3-6 μm) in substrate, then cover thin film again
It is made into laminate structure and makes.Wherein, substrate can be plastic film, and the thickness of plastic film can be 15 μm of -16 μ
m.Foil gauge is more frivolous as a result, and is easy to be attached to target site monitoring deformation.
In addition, sensing module 20 is not limited to detect pulling force by foil gauge.Because what flexible drive shaft 3 was born
The final effect of pulling force is to make to produce stress deformation inside flexible drive shaft 3, therefore, all sensors that can detecte deformation
Or similar detection device all can serve as to sense under certain condition (such as suitable size, be suitable for installation etc.) with foil gauge
Module 20.
In some instances, conduit 2 can have distal portions and proximal part.In this case, sensing module 20
It can be set in the distal portions close to conduit 2.In other examples, conduit 2 can have distal portions and proximal part,
The proximal part in conduit can be set in sensing module 20.
In addition, in some instances, sensing module 20 can be set in 3 inside of flexible drive shaft.Sensing module 20 as a result,
It can be avoided and contacted with pipe inner wall and then influence diagnosis effect.Certainly, in other examples, if sensing module 20 is in conduit
In setting position have no effect on diagnosis effect, sensing module 20 can also be arranged to other, and 3 insides are different from flexible drive shaft
Position.
In some instances, when control device 30 detect flexible drive shaft 3 bear pulling force be greater than defined threshold when,
It can not have to switching to insertion type medical instrument such as IVUS system into manual mode, but change and withdraw speed (i.e. reduction speed)
Carry out automatic returning again afterwards.
In some instances, for the angle in protection patient safety, when control device 30 is detecting flexible drive shaft 3
When bearing pulling force greater than defined threshold, it is preferred to use IVUS system is automatically switched into manual mode.In addition, for example when motor 11
Output power is excessive suddenly and leads to withdraw excessive velocities, stops the operating of motor 11 in time, and then be changed to withdraw right and wrong manually
A kind of scheme of Chang Anquan.
In some instances, if there is enough adequately conditions can guarantee that flexible drive shaft 3 will not during withdrawing
The case where there is unexpected stress more than defined threshold, then it is contemplated that change withdraw speed after carry out the side of automatic returning again
Case, the i.e. exemplary scenario are easy to immediately arrive at from the disclosure.
In some instances, sensing module 20 is not limited to the mechanics sensor of detection pulling force, and corresponding mechanics parameter
It is also not limited to pulling force.For example, sensing module 20 can also be the sensor of measurement torque.At this point, corresponding mechanics parameter is
It is torque, the defined threshold of torque is the maximum speed and/or flexible drive shaft 3 according to the permission of the insertion type medical instrument
Pulling force threshold value is born to convert determining value.In addition, can returned according to the insertion type medical instrument that sensing module 20 specifically monitors
Different parts during removing determine the type of required sensor and mechanics parameter to be detected.
In some instances, sensing module 20 can be set on motor 11 and/or clutch 12.Specifically, sensing
Module 20 can be set up on motor 11, can also be set up on clutch 12, can also be arranged on motor and clutch simultaneously.
What needs to be explained here is that in the statement of " sensing module 20 is arranged on motor 11 and/or clutch 12 ", "upper" word and unawareness
Taste sensing module 20 the body outer surface of motor 11 or clutch 12 can only be set, it is thus understood that the sensing module 20 can root
Any part of motor 11 or clutch 12 is added according to its own type or shape, as long as the ginseng of mechanics required for capable of detecting
Number (torque etc.).
In some instances, sensing module 20 also can be set on motor 11, in this case, sensing module 20 with
Torque sensor is realized, and then the torque of real-time monitoring motor 11.To the torque of the motor 11 can also set one with scratch
Property transmission shaft 3 bear pulling force the corresponding defined threshold of defined threshold.The motor 11 during the work time, by adjusting electric current
Value, to adjust output torque, can be converted to corresponding current threshold for the defined threshold of torque according to 11 characteristic of motor used
Value.
In addition, current threshold can be preset in control device 30.When exporting electric current greater than current threshold, it is believed that
11 output torque of motor is greater than preset torque defined threshold at this time, that is, withdraws speed with risk.In this case, it controls
Device 30 can be such that control motor 11 automatically powers off, and switch to and withdraw mode manually.
In addition, above-mentioned sensing module 20 is not limited to torque to the mechanics parameter of the detection of motor 11.In other examples,
For motor 11, can also monitor its revolving speed or other motors is easy to detected parameter.
In some instances, sensing module 20 can be set on clutch 12.In this case, sensing module 20 can
To be a kind of torque sensor.Clutch 12 transmits torque by the actuation between rotor and stator.Since the suction-combining force is limited,
The torque value that clutch 12 transmits has the upper limit, and required electric current controls when this upper limit can be attracted by adjusting, so can be right
Clutch 12 sets a torque threshold corresponding with the receiving defined threshold of pulling force of flexible drive shaft 3, is that clutch 12 can
Transmit the upper limit of torque.
In some instances, insertion type medical instrument is when for example IVUS system is withdrawn, when driving flexible drive shaft 3 to withdraw institute
When the torque needed is greater than aforementioned torques threshold value, the rotor for controlling clutch 12 and stator are detached from by control device 13, clutch 12
It stops working, such automatic returning process stopping switchs to withdraw manually.
Fig. 4 is the schematic diagram of the control device for withdrawing system of insertion type medical instrument involved in the disclosure.
In some instances, control device 30 can be used for controlling conveying dress according to the relationship of mechanics parameter and defined threshold
10 are set, to change conveying speed.For example, conveying dress can be controlled when control device 30 detects that pulling force reaches defined threshold
It sets 10 motor 11 to stop operating, doctor or operator can withdraw at a slow speed manually, complete to insertion type Medical treatment device in this way
Automatic switchover of the tool such as IVUS system from automatic gear dynamic gear in one's hands.
In some instances, as shown in figure 4, control device 30 may include signal receiving unit 31, signal processing unit
32 and signal transmitter unit 33.In control device 30, signal receiving unit 31 can be used for receiving the feedback of sensing module 20
Signal with mechanics parameter detected, and the signal is sent to signal processing unit 32 and carries out signal processing.Show some
In example, if the mechanics parameter is greater than its defined threshold, signal processing unit 32 will generate the control for changing conduit and withdrawing speed
Signal is simultaneously sent to conveying device 12 by signal transmitter unit 33 to control motor 11 and change speed.
In some instances, sensing module 20 feeds back monitored power to control device 30 with wired or wireless communication modes
Learn parameter.Control device 30 being capable of state of real-time monitoring insertion type medical instrument during withdrawing as a result,.In some examples
In, control device 30 can detecte the pulling force that the flexible drive shaft 3 in conduit is born during automatic returning.
It in some instances, can be by wireless as shown in Figure 1, when sensing module 20 is arranged at 3 inside of flexible drive shaft
(bluetooth, the radio frequency identification and WIFI etc.) mode of communication flexible drive shaft 3 that it is monitored to control device 30 Real-time Feedback
Bear pulling force.As shown in figure 3, wire communication mode can be passed through when sensing module 20 is arranged on motor 11 or clutch 12
(circuit) etc. transmits signal to control device 30.Certainly, under the premise of not influencing communication quality, sensing module 20 is filled to control
Setting the modes of 30 feedback signals, there is no specifically limited.
In addition, control device 30 can be arranged in conveying device 10, and then entire insertion type medical instrument can be optimized
The size for withdrawing system 1.
In some instances, several can be set simultaneously in the different parts of the transportation system 1 of insertion type medical instrument
Sensing module 20.In this case, as long as one of sensing module detects that the mechanics parameter of its corresponding position is more than rule
Determine threshold value, then control device 13 can change the conveying speed of conveying device 10.
In some examples, the transportation system 1 for the insertion type medical instrument that disclosure example is related to, which is not limited to, to be used in
During the withdrawing of IVUS system, also there are other application scenarios.In general, insertion type medical instrument refers to through surgery hand
In section insertion human body or natural accent, treating or checking for short time is carried out, treats or checks to finish and take out.Such as insertion type
Medical instrument can be intravascular angiography catheter, sacculus dilating catheter, central venous catheter, arteriovenous pressure catheter, disposable
Intervention therapeutic instruments probe etc..In these application scenarios, all there is the process withdrawn, speed during withdrawing in conduit or probe
Meeting injury tissue tube wall is possible to when too fast can use insertion type medical instrument involved by the disclosure in this case
Withdraw system 1 to effectively inhibit the conduit of insertion type medical instrument and blood vessel and be damaged under the process that withdraws.
Although being illustrated in conjunction with the accompanying drawings and embodiments to the disclosure above, it will be appreciated that above description
The disclosure is not limited in any form.Those skilled in the art without departing from the true spirit and scope of the present invention may be used
To be deformed and be changed to the disclosure as needed, these deformations and variation are each fallen in the scope of the present disclosure.
Claims (10)
- It is the flexible biography that there is conduit and can be relatively moved with the conduit 1. a kind of insertion type medical instrument withdraws system The insertion type medical instrument of moving axis withdraws system, which is characterized in thatInclude:Conveying device, and flexible driving axis connection, and control the conveying speed of the flexible drive shaft；Sensing module is set to the flexible drive shaft, and detects mechanics of flexible drive shaft during withdrawing Parameter；AndControl device controls the conveying device based on the relationship of the mechanics parameter and defined threshold, thus described in changing Conveying speed.
- 2. withdrawing system as described in claim 1, it is characterised in that:The conveying device has the transmission parts with the flexible driving axis connection,The conveying device controls the conveying speed by controlling the rotation speed of the transmission parts.
- 3. withdrawing system as described in claim 1, it is characterised in that:The sensing module feeds back the mechanics parameter to the control device in a manner of wired or wireless communication.
- 4. withdrawing system as described in claim 1, it is characterised in that:The conveying device includes motor, the gear part with the clutch of motor cooperation and with the clutch linkage Part.
- 5. withdrawing system as claimed in claim 4, it is characterised in that:The sensing module is arranged on the clutch.
- 6. withdrawing system as claimed in claim 5, it is characterised in that:The sensing module detects the torque of the clutch.
- 7. as described in claim 1 or 4 withdraw system, it is characterised in that:The conveying device has automatic returning mode and withdraws mode manually,When the mechanics parameter is greater than the defined threshold, the control device controls the conveying device so that the conveying Device, which switches to, described withdraws mode manually.
- 8. withdrawing system as claimed in claim 7, it is characterised in that:The conduit has distal portions and proximal part,The sensing module is positioned close to the distal portions of the conduit.
- 9. withdrawing system as claimed in claim 7, it is characterised in that:The conduit has distal portions and proximal part,The proximal part of the conduit is arranged in the sensing module.
- 10. withdrawing system as claimed in claim 9, it is characterised in that:The sensing module is the mechanics sensor for detecting stress.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820935198.6U CN208892634U (en) | 2018-06-16 | 2018-06-16 | Insertion type medical instrument withdraws system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820935198.6U CN208892634U (en) | 2018-06-16 | 2018-06-16 | Insertion type medical instrument withdraws system |
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| CN208892634U true CN208892634U (en) | 2019-05-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820935198.6U Active CN208892634U (en) | 2018-06-16 | 2018-06-16 | Insertion type medical instrument withdraws system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108670306A (en) * | 2018-06-16 | 2018-10-19 | 深圳北芯生命科技有限公司 | Insertion type medical instrument withdraws system |
| CN110786987A (en) * | 2019-11-19 | 2020-02-14 | 深圳市华博讯创科技有限公司 | Ear system is drawn to wisdom |
| CN116421321A (en) * | 2023-03-06 | 2023-07-14 | 极限人工智能有限公司 | Vascular intervention robot capable of automatically withdrawing and returning intervention instrument |
-
2018
- 2018-06-16 CN CN201820935198.6U patent/CN208892634U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108670306A (en) * | 2018-06-16 | 2018-10-19 | 深圳北芯生命科技有限公司 | Insertion type medical instrument withdraws system |
| CN110786987A (en) * | 2019-11-19 | 2020-02-14 | 深圳市华博讯创科技有限公司 | Ear system is drawn to wisdom |
| CN116421321A (en) * | 2023-03-06 | 2023-07-14 | 极限人工智能有限公司 | Vascular intervention robot capable of automatically withdrawing and returning intervention instrument |
| CN116421321B (en) * | 2023-03-06 | 2024-01-09 | 极限人工智能有限公司 | Vascular intervention robot capable of automatically withdrawing and returning intervention instrument |
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Address after: Area E, 3 / F, building 3, Tingwei Industrial Park, No.6 Liufang Road, Xin'an street, Bao'an District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Beixin Life Technology Co.,Ltd. Address before: Area E, 3 / F, building 3, Tingwei Industrial Park, No.6 Liufang Road, Xin'an street, Bao'an District, Shenzhen City, Guangdong Province Patentee before: INSIGHT LIFETECH Co.,Ltd. (SHENZHEN ) |