CN212234670U - Radio frequency ablation catheter and sheath tube linkage control device - Google Patents
Radio frequency ablation catheter and sheath tube linkage control device Download PDFInfo
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- CN212234670U CN212234670U CN202021778342.3U CN202021778342U CN212234670U CN 212234670 U CN212234670 U CN 212234670U CN 202021778342 U CN202021778342 U CN 202021778342U CN 212234670 U CN212234670 U CN 212234670U
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Abstract
The utility model discloses a radio frequency melts pipe and sheath pipe linkage control device, the utility model discloses an on current arm basis, further increased sheath pipe controller, pipe controller and tube sheath linkage driver, cooperate the arm to come the motion of joint control pipe and sheath pipe through this three to realize the quick and accurate target position that reachs of pipe, the problem that current arm is low to the location efficiency of pipe.
Description
Technical Field
The utility model relates to the technical field of medical equipment, especially relate to a radio frequency melts pipe and sheath pipe linkage control device.
Background
The use method of the existing radio frequency ablation catheter mechanical arm comprises the following steps: the tail part of the catheter is placed in a working bin of the mechanical arm, a handle and a sliding handle at the tail part of the catheter are respectively fixed on an operation part of the mechanical arm, an operator controls the handle and the sliding handle through a digital instruction to control the catheter to advance, retreat and rotate, and the operation and control actions of the catheter are guided, monitored and adjusted by matching with other imaging equipment, so that the catheter finally reaches a target position.
That is, existing robotic arms can only manipulate the catheter alone to effect movement of the catheter to the target location, thereby limiting the efficiency of catheter positioning.
Disclosure of Invention
The utility model provides a radio frequency ablation catheter and sheath pipe linkage control device to solve because the problem of the inefficiency that the catheter location was carried out through controlling the catheter alone to the current.
In a first aspect, the utility model provides a radio frequency ablation catheter and sheath pipe linkage control device, the catheter moves under the control of mechanical arm controller, the device includes: the device comprises a sheath tube controller, a catheter controller, a tube sheath linkage device and a mechanical arm controller;
the sheath tube controller is used for driving the sheath tube to perform rotary motion and advancing and retreating motion;
the catheter controller is used for driving the catheter to perform rotary motion and advancing and retreating motion;
the sheath linkage device is used for driving the catheter and the sheath to perform integral forward and backward movement;
the sheath controller, the catheter controller, the sheath linkage device and the mechanical arm controller are coordinately controlled to control the catheter and the sheath to move, so that the catheter reaches a preset target position.
Optionally, the sheath linkage further comprises: the tube sheath driver and the tube sheath are fixedly connected with the supporting rod in a linkage way;
the sheath controller further comprises: a sheath tube rotating driver and a sheath tube advancing and retreating driver;
the sheath tube rotating driver is arranged at the first end part of the sheath tube, the first end part is the end part of one side of the sheath tube connected with the catheter, and the sheath tube rotating driver is used for driving the sheath tube to rotate according to the received control signal;
the sheath tube advancing and retreating driver is arranged on the sheath linkage supporting rod and is used for driving the sheath tube to advance and retreat along the direction of the sheath linkage supporting rod according to a received control signal;
the catheter controller further comprises: a catheter rotation driver and a catheter advance and retreat driver;
the catheter rotating driver is arranged on the catheter close to the first end part and used for driving the catheter to rotate according to the received control signal;
the catheter advancing and retreating driver is arranged on the sheath linkage support rod and used for driving the catheter to advance and retreat along the sheath linkage support rod according to the received control signal.
Optionally, a first rail and a second rail which are parallel to each other are arranged on the sheath linkage supporting rod, and both the first rail and the second rail extend along the sheath linkage supporting rod;
the sheath advancing and retreating driver and the catheter advancing and retreating driver are respectively fixed on the first track in a sliding manner;
the sheath driver is slidably secured to the second rail.
Optionally, the sheath advancing-retracting driver and the catheter advancing-retracting driver can be locked in positions during sliding, and in the locked positions, the sheath advancing-retracting driver and the catheter advancing-retracting driver do not move relative to the first track;
the sheath driver can be locked in position during sliding, and in the locked position, the sheath driver and the second track do not move relatively.
Optionally, the catheter rotation drive is disposed on the catheter at a predetermined distance from the first end, wherein the predetermined distance is 5-8 centimeters.
Optionally, the sheath driver is configured to drive the sheath linkage support rod to move according to the received control signal, and drive the catheter and the sheath to move back and forth integrally along the sheath linkage support rod through the sheath linkage support rod.
Optionally, the arm controller further comprises: a mechanical arm advancing and retreating driver, a sliding handle telescopic driver and a catheter handle rotating driver;
the mechanical arm advancing and retreating driver is used for pushing the mechanical arm to advance and retreat according to the received control signal so as to push the catheter to advance and retreat;
the sliding handle telescopic driver is arranged in the mechanical arm and used for driving the telescopic sliding handle according to the received control signal so as to control the head end of the catheter to be bent to a preset curvature;
the catheter handle rotation driver is arranged in the mechanical arm and used for controlling the handle to rotate according to the received control signal so as to control the catheter to rotate.
Optionally, the arm controller further comprises: the mechanical arm moves the supporting rod;
the mechanical arm advancing and retreating driver is slidably fixed on a third rail of the mechanical arm moving support rod, the mechanical arm advancing and retreating driver can lock the position in the sliding process, and the mechanical arm advancing and retreating driver and the third rail do not move relatively when the mechanical arm advancing and retreating driver is locked;
the mechanical arm moving support rod and the tube sheath linkage support rod are fixed on a preset fixing rod.
Optionally, the catheter is subjected to an overall rotational movement by simultaneously controlling the catheter rotation driver and the catheter handle rotation driver;
the catheter is integrally moved forward and backward by simultaneously controlling the catheter forward and backward actuator to move on the first track and controlling the mechanical arm forward and backward actuator to move on the third track;
and simultaneously controlling the mechanical arm advancing and retreating driver to run on the third track and controlling the sheath driver to run on the second track so as to enable the catheter and the sheath to integrally advance and retreat.
Optionally, the apparatus further comprises: a control terminal; the control terminal is used for displaying the position of the catheter in real time and sending control signals to the sheath tube rotating driver, the sheath tube advancing and retreating driver, the catheter rotating driver, the catheter advancing and retreating driver, the sheath tube driver and the mechanical arm controller so as to control the motion of the catheter and the sheath tube and enable the catheter to reach the preset target position.
The utility model discloses beneficial effect as follows:
the utility model is characterized in that a sheath controller is arranged at the tail part of the sheath tube to drive the sheath tube to perform rotary motion and forward and backward motion, a catheter controller is arranged on the catheter close to the position side of the sheath tube, the catheter is driven to perform rotary motion and forward and backward motion by the catheter controller, and a sheath linkage device is arranged to drive the catheter and the sheath tube to perform integral forward and backward motion, finally the sheath controller, the catheter controller, the sheath linkage device and a mechanical arm controller are coordinately controlled to control the motion of the catheter and the sheath tube, so that the catheter can quickly reach a preset target position, namely, the sheath controller, the catheter controller and the sheath linkage device are further added on the basis of the existing mechanical arm, and the mechanical arm is matched with the sheath controller, the catheter and the sheath tube to jointly control the motion, so as to realize the quick and accurate arrival of the catheter at the target position, the problem of low positioning efficiency of the existing mechanical arm to the catheter.
The above description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented according to the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more obvious and understandable, the following detailed description of the present invention is given.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a schematic structural view of a radio frequency ablation catheter and sheath tube linkage control device according to an embodiment of the present invention;
fig. 2 is a schematic structural view of another rf ablation catheter and sheath linkage control device provided in the embodiment of the present invention;
description of reference numerals: 1 sheath controller, 2 catheter controller, 3 sheath clutch, 31 sheath driver, 4 mechanical arm controller, 5 sheath linkage support rod, 6 mechanical arm mobile support rod, 7 preset fixed rod, 8 sheath, 9 catheter, 11 sheath rotary driver, 12 sheath advancing and retreating driver, 21 catheter rotary driver, 22 catheter advancing and retreating driver, 41 mechanical arm advancing and retreating driver, 42 sliding handle telescopic driver, 43 catheter handle rotary driver, 51 first guide rail, 52 second guide rail, 10 saline injection pipe, 13 catheter connecting wire, 14 mechanical arm support rod.
Detailed Description
Aiming at the problem that the prior mechanical arm of the radio frequency ablation catheter can only independently control the catheter to position, the embodiment of the utility model provides a linkage control device of the radio frequency ablation catheter and a sheath tube, namely, a sheath controller, a catheter controller and a sheath linkage device are added on the basis of the existing mechanical arm, the sheath controller, the catheter controller and the sheath linkage device are matched with the mechanical arm to jointly control the motion of the catheter and the sheath, so as to finish the accurate positioning of complex cases, special parts, abnormal structures and important targets, and under the effective cooperation of the linkage of the sheath, the accuracy of the positioning of the catheter, the stability of the contact target point of the catheter and the contact force of the catheter to the tissue can be obviously improved, meanwhile, the catheter in-place time, the target point positioning time and the interventional treatment time can be obviously shortened, so that the safety, the effectiveness and the working efficiency of the interventional operation are obviously improved. The present invention will be described in further detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
An embodiment of the utility model provides a radio frequency ablation catheter and sheath pipe linkage controlling device, see fig. 1, the device includes: a sheath controller 1, a catheter controller 2 and a sheath linkage device 3;
the sheath tube controller 1 is used for driving the sheath tube 8 to perform rotary motion and advancing and retreating motion;
the catheter controller 2 is used for driving the catheter 9 to perform rotary motion and advancing and retreating motion;
the sheath linkage device 3 is used for driving the catheter 9 and the sheath 8 to carry out integral forward and backward movement;
the sheath controller 1, the catheter controller 2, the sheath linkage 3 and the mechanical arm controller 4 are coordinately controlled to control the movement of the catheter 9 and the sheath 8, so that the catheter 9 reaches a preset target position.
It should be noted that, in the embodiment of the present invention, the guide tube 9 reaches the preset target position, specifically, the head end of the guide tube 9 reaches the preset target position. As can be readily appreciated by those skilled in the art, for simplicity, embodiments of the present invention will be described subsequently with only the catheter 9 reaching the predetermined target location.
Generally speaking, the embodiment of the present invention is to arrange a sheath controller 1 at the tail of a sheath 8 to drive the sheath 8 to perform a rotation motion and a forward and backward motion, and arrange a catheter controller 2 on a catheter 9 near the side of the sheath position, drive the catheter 9 to perform a rotation motion and a forward and backward motion through the catheter controller 2, and drive the catheter 9 and the sheath 8 to perform an integral forward and backward motion through the sheath linkage 3, and finally control the movement of the catheter 9 and the sheath 8 through the sheath controller 1, the catheter controller 2, the sheath linkage 3 and the mechanical arm controller 4 in a coordinated manner, so that the catheter 9 can rapidly reach a preset target position, that is, the present invention further adds the sheath controller 1, the catheter controller 2 and the sheath linkage 3 on the basis of the existing mechanical arm, and controls the movement of the catheter 9 and the sheath 8 through the mechanical arms matched with the three components, the guide pipe 9 can quickly and accurately reach the target position, and therefore the problem that the existing mechanical arm is low in positioning efficiency of the guide pipe 9 is effectively solved.
Namely, the embodiment of the utility model provides a through control sheath pipe controller 1, catheter controller 2, the motion of joint control pipe 9 and sheath pipe 8 is come to sheath clutch 3 and robotic arm controller 4, accomplish to complicated case, the special part, the accurate location of abnormal structure and important target, and practice proves, under the effective cooperation of sheath pipe 8 linkage, can obviously improve the accuracy of pipe 9 location, the stability of pipe 9 contact target point, pipe 9 is to the contact force of tissue, obviously shorten pipe 9 time in place, target point positioning time and intervene the treatment time, thereby obviously improve the security of interveneeing the operation, validity and work efficiency.
Because pipe 9 gets into target heart chamber and need realize through sheath pipe 8, simultaneously sheath pipe 8's support and direction function are crucial to operator operation pipe 9 high efficiency removal and accurate location, based on this, the embodiment of the utility model provides a when the arm realizes that pipe 9 controls, through jointly controlling sheath pipe 8 to guarantee safety, location effect and the location efficiency of intervene operation.
In other words, outside the operation is intervene through controlling catheter 9 in reality, need also alone or jointly to control sheath pipe 8 under many circumstances, just can accomplish the processing to complicated case, so the utility model discloses a setting is in order to realize under the effective cooperation of sheath pipe 8 linkage, improves the accuracy of catheter 9 location, the stability of catheter 9 contact target point, catheter 9 is to the contact force of tissue, shortens catheter 9 time in place, target point positioning time and intervenes the treatment time.
As shown in fig. 2, in a specific implementation, in the embodiment of the present invention, the sheath linkage 3 further includes: the fixedly connected tube sheath driver 31 and the tube sheath linkage support rod 5;
the sheath controller 1 further includes: a sheath rotation driver 11 and a sheath advancing-retreating driver 12; the sheath tube rotating driver 11 is arranged at a first end of the sheath tube 8, the first end is the end of the side where the sheath tube 8 is connected with the catheter 9, and is used for driving the sheath tube 8 to rotate according to the received control signal; the sheath advancing and retreating driver 12 is arranged on the sheath linkage support rod 5 and used for driving the sheath 8 to advance and retreat along the direction of the sheath linkage support rod 5 according to the received control signal;
the catheter controller 2 further includes: a catheter rotation driver 21 and a catheter advancing-retreating driver 22; the catheter rotating driver 21 is arranged on the catheter 9 close to the first end part and used for driving the catheter 9 to rotate according to the received control signal; the catheter advancing and retreating driver 22 is arranged on the sheath linkage support rod 5 and is used for driving the catheter 9 to advance and retreat along the direction of the sheath linkage support rod 5 according to the received control signal.
Particularly, the utility model discloses sheath pipe rotary actuator 11 is with sheath pipe 8 looks fixed connection, and when the concrete implementation, the technical staff in the art can fix sheath pipe rotary actuator 11 and sheath pipe 8 through various mounting to make sheath pipe rotary actuator 11 drive sheath pipe 8 carry out rotary motion according to predetermineeing the requirement, for example, drive sheath pipe 8 through various power equipment such as sheath pipe rotary driving motor and carry out rotary motion. The embodiment of the utility model provides an in sheath pipe advance and retreat driver 12 can be various power equipment such as sheath pipe advance and retreat driving motor, advances and retreats driver 12 through this sheath pipe and drives sheath pipe 8 and carry out the advance and retreat motion.
In a similar way, the catheter rotation driver 21 according to the embodiment of the present invention also realizes relative fixation with the catheter 9 through the fixing member, and drives the catheter 9 to perform a rotation motion through the catheter rotation driver 21. The embodiment of the present invention provides a catheter advancing/retreating driver 22, which can be a catheter advancing/retreating driving motor or other various power equipment, and drives the catheter 9 to advance and retreat through the catheter advancing/retreating driver 22.
It should be noted that, in the embodiments of the present invention, all the drivers and the controllers are devices capable of executing corresponding actions according to received control signals, and in the specific implementation, those skilled in the art can arbitrarily set according to actual needs, and the present invention is not limited to this.
In particular implementation, the embodiment of the present invention provides a sheath tube rotary driver 11 is fixed to the sheath tube 8, so as to drive the rotating motion of the sheath tube 8 through the sheath tube rotary driver 11, and fix the sheath tube advancing and retreating driver 12 to the sheath tube rotary driver 11 through the fixing member, when the sheath tube advancing and retreating driver 12 operates, the sheath tube rotary driver 11 only realizes the function of one fixing member, that is, when the sheath tube advancing and retreating driver 12 operates, the sheath tube 8 is driven to move back and forth through pushing the sheath tube rotary driver 11, so when the sheath tube advancing and retreating driver 12 operates, the sheath tube 8 needs to be driven to move through the sheath tube rotary driver 11.
In the same principle, the embodiment of the present invention fixes the catheter rotation driver 21 to the catheter 9 to drive the rotation of the catheter 9 through the catheter rotation driver 21, and fixes the catheter advancement and retraction driver 22 to the catheter rotation driver 21 through a fixing member, when the catheter advancement and retraction driver 22 operates, the catheter rotation driver 21 only realizes the function of a fixing member, that is, when the catheter advancement and retraction driver 22 operates, the catheter 9 is driven to move back and forth by pushing the catheter rotation driver 21, so when the catheter advancement and retraction driver 22 operates, the catheter 9 needs to be driven to move through the catheter rotation driver 21.
Of course, the above is only a specific implementation manner of the embodiment of the present invention, and those skilled in the art can fix the above-mentioned rotation driver and the advance and retreat driver to the catheter 9 and the sheath 8 respectively by setting so as to realize the control of the catheter 9 and the sheath 8.
Generally speaking, the embodiment of the present invention does not specifically limit the specific connection modes of the sheath rotation driver 11, the sheath advancing and retreating driver 12 and the sheath 8, and the specific connection modes of the catheter rotation driver 21 and the catheter advancing and retreating driver 22 and the catheter 9, as long as the rotation and advancing and retreating control of the sheath 8 and the catheter 9 can be realized.
In addition, it should be noted that the catheter rotation driver 21 and the catheter advancing/retreating driver 22 in the embodiment of the present invention can also support the catheter 9 and prevent the catheter 8 from bending at the tail of the sheath 8 on the basis of completing the control of the catheter 9.
In particular, in the embodiment of the present invention, the conduit rotary driver 21 is disposed on the conduit 9 at a predetermined distance from the first end.
The preset distance is the inner diameter of the heart cavity of the operation object, and when the operation object is specifically implemented, the embodiment of the utility model provides a preset distance is 5-8 centimeters. Of course, in the specific implementation, the preset distance may be adjusted by those skilled in the art according to actual needs, and the present invention is not limited to this.
Further, in the embodiment of the present invention, the sheath linkage device includes: the sheath driver 31 is arranged on the sheath linkage support rod 5, and the sheath driver 31 drives the catheter 9 and the sheath 8 to move forwards and backwards integrally along the sheath linkage support rod 5 according to the received control signal.
Particularly, the embodiment of the present invention is to push the catheter 9 and the sheath tube 8 simultaneously to perform a synchronous motion by the sheath driver 31, so as to realize a fast and accurate positioning of the catheter 9.
It should be noted that, in the embodiment of the present invention, the sheath linkage supporting rod 5 is provided with a first rail 51 and a second rail 52, and the first rail 51 is parallel to the second rail 52;
the sheath advancing and retreating driver 22 and the catheter advancing and retreating driver 12 are respectively fixed on the first rail 51 in a sliding manner;
the sheath driver 31 is slidably secured to the second rail 52.
The sheath driver 31 can be locked in position during sliding, and in the locked position, the sheath driver 31 and the second rail 52 do not move relatively.
That is to say, the sheath advancing and retreating driver 22, the catheter advancing and retreating driver 12, and the sheath driver 31 according to the embodiment of the present invention are slidably fixed to the sheath linkage support rod 5 via the slide rails, respectively, and both can achieve position locking. In a similar way, the mechanical arm advancing and retreating driver 41 and the mechanical arm moving support rod 6 in the embodiment of the present invention are also slidably connected through the slide.
Further, the embodiment of the present invention provides the arm controller 4 further includes: a mechanical arm advancing and retreating driver 41, a sliding handle telescopic driver 42, and a catheter handle rotation driver 43;
the mechanical arm advancing and retreating driver 41 is used for pushing the mechanical arm to advance and retreat according to the received control signal so as to push the guide pipe 9 to advance and retreat;
the sliding handle telescopic driver 42 is arranged in the mechanical arm and used for driving the telescopic sliding handle according to the received control signal so as to control the head end of the catheter 9 to be bent to a preset bending degree;
and the catheter handle rotating driver 43 is arranged in the mechanical arm and is used for controlling the handle to rotate according to the received control signal so as to control the catheter 9 to rotate.
Wherein the distal end of the catheter handle rotation driver 43 is connected to the saline injection tube 10 and the catheter connection line 13.
The arm controller 4 further includes: the mechanical arm moves the support rod 6; the mechanical arm advancing and retreating driver 41 is slidably fixed on the third rail of the mechanical arm moving support rod 6, the mechanical arm advancing and retreating driver 41 can lock the position in the sliding process, and when the mechanical arm advancing and retreating driver 41 is in the locking position, the mechanical arm advancing and retreating driver 41 and the third rail do not move relatively;
in specific implementation, the embodiment of the present invention controls the catheter rotation driver and the catheter handle rotation driver 43 21 simultaneously, so as to make the catheter 9 perform an integral rotation motion; the catheter 9 is integrally advanced and retreated by simultaneously controlling the movement of the catheter advance and retreat actuator 22 on the first track 51 and the movement of the robot arm advance and retreat actuator 41 on the third track; the catheter 9 and the sheath 8 are integrally advanced and retreated by simultaneously controlling the robot arm advancing and retreating driver 41 to travel on the third rail and the sheath driver 31 to travel on the second rail 52.
Because the control method of manipulator controller 4 is current more mature technique, so the utility model discloses do not explain in detail to this, the utility model discloses a key point is through coordinated control manipulator controller 4, sheath pipe controller 1, pipe controller 2 and tube sheath driver 31 come coordinated control pipe 9 and sheath pipe 8 to the realization is to the quick and accurate location of pipe 9 to the target position.
In specific implementation, the embodiment of the present invention controls the catheter rotation driver 21 and the catheter handle rotation driver 43 to control the catheter 9 to perform the overall rotation movement; and controls the catheter 9 to perform the overall forward and backward movement by controlling the catheter forward and backward actuator 22 and the robot arm forward and backward actuator 41; and controlling the mechanical arm advancing and retreating driver 41 and the sheath driver 31 to control the catheter 9 and the sheath 8 to perform the overall advancing and retreating movement.
It should be noted that, the embodiment of the present invention provides the mechanical arm advancing and retreating driver 41 disposed on the mechanical arm moving support rod 6, and the mechanical arm moving support rod 6 is fixed on the preset fixing rod 7. Additionally, the embodiment of the utility model provides a tube sheath linkage bracing piece 5 is fixed on predetermineeing dead lever 7. The preset fixing rod 7 may be a bedside fixing rod on an existing mechanical arm, that is, a fixing rod carried by an angiographic image through Digital radiography (DSA).
In addition, when specifically implementing, the utility model discloses arm movable support pole 6 is fixed to presetting on the dead lever 7 through arm bracing piece 14, promptly, arm advance and retreat driver 41 carries out the advance and retreat motion along arm movable support pole 6, and arm movable support pole 6 is fixed to presetting on the dead lever 7 through arm bracing piece 14 again simultaneously.
When the concrete implementation, the utility model provides a device still be equipped with control terminal, the embodiment of the utility model provides a come to the head end position of the pipe 9 in the target body (the object of pipe 9 location promptly, this object major part is the human body, perhaps also can be various animals bodies) of being fixed a position through this control terminal and show in real time, promptly, will be fixed a position the head end position of the inboard pipe 9 of target and show in real time.
This control terminal still can be according to the current position of the head end of pipe 9 and preset the target location, confirm to the pipe and the position regulation and control strategy of sheath pipe 8, this position regulation and control strategy is exactly to the whole scheme of the position removal adjustment of pipe 9 and sheath pipe 8, in other words, the utility model discloses a position regulation and control strategy is exactly how to move the position of pipe 9 and sheath pipe 8 to the realization is with the strategy of moving the head end of pipe 9 to the target location. In specific implementation, the position control strategy can be obtained by continuously accumulating a large number of specific experiments of different target position movements, or can be input into the control terminal by an operator according to the current situation.
After obtaining the regulation strategy, the control terminal generates control signals for the sheath rotation driver 11, the sheath advancing and retreating driver 12, the catheter rotation driver 21, the catheter advancing and retreating driver 22, the sheath driver 31 and the manipulator controller 4 based on the position regulation strategy, i.e. the strategy of adjusting the position based on the catheter 9 and the sheath 8 requires the generation of control signals for the respective drivers, so as to coordinate and control the sheath rotation driver 11, the sheath advancing/retreating driver 12, the catheter rotation driver 21, the catheter advancing/retreating driver 22, the sheath driver 31, and the robot arm controller 4 by means of respective control signals, in order to control pipe 9 with the motion of sheath pipe 8 makes pipe 9 reaches predetermine the target location, particularly, the embodiment of the utility model provides a make the head end of pipe 9 reach through control predetermine the target location.
In general, the embodiment of the present invention generates control signals for the sheath rotation driver 11, the sheath advancing/retreating driver 12, the catheter rotation driver 21, the catheter advancing/retreating driver 22, the sheath driver 31, and the arm controller 4 based on the current position of the tip end of the catheter 9 and a preset target position, and the catheter 9 is brought to the preset target position by the control signals.
Particularly, the embodiment of the present invention provides a control terminal including two functions, one is a display function, and the other is a function for controlling the catheter 9 and the sheath by the operator through the computing power of the control terminal.
In detail, an operator can coordinate and control the sheath rotation driver 11, the sheath advancing and retreating driver 12, the catheter rotation driver 21, the catheter advancing and retreating driver 22, the sheath driver 31 and the manipulator controller 4 through a display interface of the control terminal by the current position of the catheter 9 displayed by the control terminal, so as to control the movement of the catheter 9 and the sheath 8, and finally, the catheter 9 reaches the preset target position.
Of course, those skilled in the art may also set the position control strategy for the catheter 9 and the sheath according to the current position of the catheter 9 and the preset target position automatically by the control terminal, and sends control signals to the sheath rotating driver 11, the sheath advancing and retreating driver 12, the catheter rotating driver 21, the catheter advancing and retreating driver 22, the sheath driver 31 and the mechanical arm controller 4 according to the position regulation strategy, by coordinately controlling the sheath rotation driver 11, the sheath advancing/retreating driver 12, the catheter rotation driver 21, the catheter advancing/retreating driver 22, the sheath driver 31, and the robot arm controller 4, to control the movement of the catheter 9 and the sheath 8 to make the catheter 9 reach the preset target position.
That is, the embodiment of the present invention provides a control terminal which can automatically complete the control of the positioning of the catheter 9, and can finally make the catheter 9 reach the target position according to the control of the operator.
It should be noted that the control signal sent by the control terminal according to the embodiment of the present invention is a specific trigger signal respectively for the sheath rotation driver 11, the sheath advancing and retreating driver 12, the catheter rotation driver 21, the catheter advancing and retreating driver 22, the sheath driver 31, and the manipulator controller 4, and when the control signal is specifically implemented, a person skilled in the art can arbitrarily set the control signal according to actual needs, which is not specifically limited by the present invention.
In addition, because the position of control terminal can not be fixed, so the utility model discloses do not show control terminal in the figure, when concrete implementation, this control terminal's position can be set for according to concrete needs to the skilled person in the art.
Each driving device in the embodiment of the present invention will be described in detail below:
the utility model discloses sheath pipe rotary actuator 11 installs on pipe 9 and sheath pipe aggregate unit, on sheath linkage bracing piece 5 promptly, has 8 afterbody fixed parts of sheath pipe, behind 8 afterbody of the fixed sheath pipe of soundness, can be according to the 8 afterbody of the independent rotatory sheath pipe of instruction to it is rotatory to drive sheath pipe 8. The sheath rotation driver 11 functions include: the sheath 8 is independently rotated clockwise, the sheath 8 is independently rotated anticlockwise, the rotating speed is divided into a slow gear and a fast gear, and the sheath 8 can be independently rotated while the catheter 9 moves and the whole system moves;
the utility model discloses sheath pipe advance and retreat driver 12 installs on pipe 9 and sheath pipe aggregate unit's bracing piece, on sheath linkage bracing piece 5 promptly, can be through the bar gear back-and-forth movement on the bracing piece to drive 8 independent advances and retreats of sheath pipe. The sheath advancing and retracting driver 12 functions include: the independent forward feeding sheath 8, the independent retracting sheath 8 and the advancing and retreating speed are divided into a slow gear and a fast gear, and the sheath 8 can be advanced and retreated independently when the catheter 9 moves and the whole system moves.
The utility model discloses pipe rotary motor installs on pipe and sheath pipe aggregate unit's bracing piece with 11 side by side of sheath pipe rotary actuator, and initial working distance between the two can freely adjust. The catheter rotation driver 21 of the catheter 9 body part is provided with a catheter 9 fixing part, and after the catheter 9 body part is firmly fixed, the catheter 9 body part can be rotated according to an instruction, so that the head end of the catheter 9 is driven to rotate, and the functions of the catheter rotation motor comprise: the catheter body part is independently rotated clockwise, the catheter body part is independently rotated anticlockwise, the rotating speed is divided into a slow gear and a fast gear, the catheter body part is independently rotated while the sheath 8 moves and the whole system moves, in actual work, the default setting is that the catheter body part and the catheter handle rotate by the same instruction received by the catheter handle rotating motor, and the catheter body part and the catheter handle rotate synchronously strictly according to the same rotating speed. The catheter rotation drive and the catheter handle rotation drive 43 are in linkage with each other.
The utility model discloses catheter advance and retreat driver 22, with pipe rotary drive side by side install on the bracing piece of pipe and sheath pipe linkage, initial working distance between the two can freely be adjusted. The catheter advancing and retreating motor can move back and forth through the bar gear on the support rod, so as to drive the catheter 9 to advance and retreat independently. The catheter advancement and retraction driver 22 can effect: the body of the independent forward catheter 9, the body of the independent back catheter 9, the advancing and retreating speed are divided into a slow gear and a fast gear, and the body of the independent forward catheter 9 and the body of the independent back catheter 9 move when the sheath 8 moves and the whole system moves. And in the actual work, the default setting is to receive the same instruction with the mechanical arm advance and retreat driver 41, advance and retreat the pipe 9 body and the pipe handle in step strictly according to the same advance and retreat speed, the pipe advance and retreat driver and the mechanical arm advance and retreat driver 41 of the embodiment of the utility model are the mutual linkage side.
The utility model discloses flexible driver 42 of sliding handle installs in the arm, has the fixed part of sliding handle, after the sliding handle is surely fixed, can be according to the independent flexible sliding handle of instruction to drive the bending that the pipe 9 head end was realized to the tractive steel wire. The sliding handle telescopic driver 42 has the functions of independently extending the sliding handle forwards, bending the head end of the catheter 9, independently retracting the sliding handle, straightening the head end of the catheter 9, dividing the telescopic speed into a slow gear and a fast gear, and independently extending and retracting the sliding handle when the mechanical arm moves, the handle rotates and the whole system moves.
The utility model discloses handle rotary actuator installs in the arm, has the fixed part of handle, after the safe fixed handle, can be according to the independent twist grip of instruction to it is rotatory to drive pipe 9, handle rotary actuator's function is including: the handle is independently rotated clockwise, the handle is independently rotated anticlockwise, the rotating speed is divided into a slow gear and a fast gear, and the handle is independently rotated when the mechanical arm moves and the whole system moves. In practice, the default setting is to rotate the catheter 9 handle and catheter 9 body synchronously at exactly the same rotational speed as the catheter rotation driver 21 receives the same command. Catheter handle rotation drive 43 and catheter rotation drive 21 are in interlocking relation to one another.
The embodiment of the utility model provides an in arm advance and retreat driver 41 installs on the arm bracing piece, can pass through the bar gear back-and-forth movement on the bracing piece to drive the independent advance and retreat of arm. The functions of the robot arm advancing-retreating driver 41 include: the independent forward mechanical arm, the independent retraction mechanical arm and the advance and retreat speed are divided into a slow gear and a fast gear, and the sheath tube 8 moves and the whole system moves while independently or synchronously advancing and retreating the mechanical arm. In actual operation, default settings are: the body of the catheter 9 and the robot arm are synchronously advanced and retreated at exactly the same advance and retreat speed as the catheter advance and retreat driver receives the same command as the catheter advance and retreat driver, and the sheath interlocking device and the robot arm are synchronously advanced and retreated at exactly the same advance and retreat speed as the sheath interlocking device advance and retreat driver receives the same command. The utility model discloses arm advance and retreat driver 41 and pipe advance and retreat driver are the mutual linkage side, and arm advance and retreat driver 41 and pipe sheath aggregate unit advance and retreat driver 8 are the mutual linkage side. The utility model discloses the mechanical arm advance and retreat driver 41 of lethality can not move simultaneously with tube sheath aggregate unit advance and retreat driver and pipe advance and retreat driver.
The utility model discloses sheath aggregate unit advances and moves back the driver, installs on the sheath aggregate unit bracing piece, can pass through the bar gear back-and-forth movement on the bracing piece to it independently advances and moves back to drive the sheath aggregate unit. The sheath driving and reversing driver can independently advance the sheath driving and reversing device and independently withdraw the sheath driving and reversing device, the driving and reversing speed is divided into a slow gear and a fast gear, and the sheath driving and reversing device can independently or synchronously advance and retreat the sheath driving and reversing device while the sheath 8 rotates, the sheath 8 moves, the catheter 9 rotates, the catheter 9 moves and the whole system moves. In actual work, the default setting is to accept the same instruction with the pipe arm advance and retreat driver 41, and advance and retreat tube sheath aggregate unit and arm are advanced and retreated in step strictly according to the same advance and retreat speed, the utility model discloses a tube sheath aggregate unit advance and retreat driver and arm advance and retreat driver 41 are each other for the linkage side.
The driving method of each driver and controller in the embodiment of the present invention will be described in detail below:
the embodiment of the utility model provides a device include tertiary linkage scheme, specifically include:
a first stage: refers to the independent movement of the driver with independent movement function, comprising: sheath motion control and sliding handle telescoping drive 42.
The sheath tube motion controller includes: sheath pipe rotary actuator 11 and sheath pipe advance and retreat driver 12, wherein, sheath pipe rotary actuator 11 can independently rotate sheath pipe 8, and sheath pipe advance and retreat motor 2 can independently advance and retreat sheath pipe 8, possesses the second grade linkage function simultaneously: rotating the sheath 8 while the catheter 9 is rotating, and advancing and retreating the sheath 8 while the catheter 9 is advancing and retreating; possess tertiary linkage function simultaneously: the sheath 8 is rotated and advanced and retreated while the entire system advances and retreats, and the sheath 8 is rotated and advanced and retreated while the entire system advances and retreats and the catheter 9 is rotated and advanced and retreated.
The catheter handle rotation actuator 43 is independent of all functions, and when the whole system performs all functions, the handle can be independently extended and retracted, and the traction steel wire is driven to form bending in different degrees and directions at the head end of the catheter 9.
And a second stage: the two-stage linkage that must carry out pairwise use specifically includes:
1. the catheter 9 rotates, the catheter rotation driver 21 and the catheter handle rotation driver 43 are in linkage, and the default of the system is set to be two-stage linkage, which is called catheter 9 rotation linkage +/- (LCT +/-, linked catheter torque for short);
2. the catheter 9 advances and retreats, the catheter advancing and retreating driver 22 and the mechanical arm advancing and retreating motor 7 are mutually linked, and the system is set to be in a two-stage linkage by default, which is called forward and backward linkage +/- (LAR +/-, linked advance and retry of the catheter 9 for short.
3. The whole system advances and retreats, the advancing and retreating motor 8 of the tube sheath linkage device and the mechanical arm advancing and retreating motor 7 are mutually linked, and the default of the system is set to be two-stage linkage, namely system advancing and retreating linkage +/- (SAR +/-, system advance and retry).
And a third stage: various combined motions that refer to independent motion and two-stage linkage include: for example: the catheter 9 advances and retreats while rotating, the sheath 8 rotates while advancing and retreating the catheter 9, the tip is bent while rotating the catheter 9, the tip is bent while advancing and retreating the whole system, and the like.
The method according to an embodiment of the invention will be explained and illustrated in detail below with reference to a motor drive as an example, with several examples of specific adjustments in different implementation scenarios:
the utility model discloses a first implementation scene is for being located the 9 head ends of pipe in the central authorities of the upper left pulmonary vein vestibule, moves the predetermined target point of location and stabilizing in pulmonary vein opening leading edge middle section through advancing, crooked, revolving light to continue to carry out following step:
firstly, driving a sheath tube rotating motor 1 to rotate a sheath tube 8, so that the head end of the sheath tube bends to point to the direction of a preset target point; driving a sliding handle telescoping motor 5 to properly bend the tip of the catheter 9 through a slow gear until the tip of the catheter 9 is bent to a predetermined degree on the three-dimensional image, then driving a catheter rotating motor 3 and a handle rotating motor 6 to properly rotate the catheter 9(LCT +/-) through a slow gear until the bend of the tip of the catheter is directed to a predetermined target point direction on the three-dimensional image, and driving a catheter advancing and retreating motor 4 and a robot arm advancing and retreating motor 7 to properly advance the catheter 9(LAR +) through a slow gear until the tip of the catheter 9 displayed on the three-dimensional image approaches the predetermined target point, and finally driving the catheter advancing and retreating motor 4 and the robot arm advancing and retreating motor 7 slowly through a slow forwarding (LAR +, slowly driving the catheter advancing and retreating motor 7), rotating the catheter 9(LCT +/-, slowly driving the catheter rotating motor 3 and the handle rotating motor 6), and the tip of the bent catheter 9 (slowly driving the sliding handle telescoping motor, until it reaches and stabilizes precisely against the predetermined target point.
The utility model discloses a first implementation scene is for controlling the pipe head end that is located the right side room middle part and removes right side room outflow track, specifically includes:
firstly, a sheath tube rotating motor 1 is driven to rotate a sheath tube 8, under the observation of a three-dimensional image, the bending of the head end of the sheath tube is enabled to point to the middle part of the opening of the tricuspid valve, a sliding handle telescopic motor 5 is driven to properly bend the head end of a catheter 9 through a slow gear until the head end of the catheter 9 is displayed on the three-dimensional image to be bent to a preset bending degree, a catheter rotating motor 3 and a handle rotating motor 6 are driven to properly rotate the catheter 9(LCT +/-) through the slow gear until the bending of the head end of the catheter is displayed on the three-dimensional image to point to the middle part of the opening of. Then, the catheter advancing-retreating motor 4 and the robot arm advancing-retreating motor 7 are driven to move the catheter 9(LAR +) through a slow gear until the end of the catheter head 9 reaches the middle of the right ventricular inflow channel as shown in the three-dimensional image. Finally, while rotating the catheter 9 clockwise (LCT +, slowly driving the catheter rotation motor 3 and the handle rotation motor 6), the tip of the catheter 9 is bent (slowly driving the sliding-handle extension motor 5) and the catheter 9 is advanced (LAR +, slowly driving the catheter advancing-retracting motor 4 and the mechanical-arm advancing-retracting motor 7) until the tip of the catheter 9 enters the right ventricular outflow tract.
The utility model discloses a first implementation scene specifically includes for the 9 head ends of pipe that will be located the right side room middle part are fixed a position the xi shi bundle:
firstly, a sheath tube rotating motor 1 is driven to rotate a sheath tube 8, under the observation of a three-dimensional image, the bending of the head end of the sheath tube is enabled to point to the middle part of the opening of the tricuspid valve, a sliding handle telescopic motor 5 is driven to properly bend the head end of the catheter through a slow gear until the bending of the head end of the catheter 9 displayed on the three-dimensional image reaches a preset bending degree, a catheter rotating motor 3 and a handle rotating motor 6 are driven, and the catheter 9(LCT +/-) is properly rotated through a slow gear until the bending of the head end of the catheter 9 displayed on the three-dimensional image points to the middle part of the opening of the tricusp. Then drives the catheter advancing and retreating motor 4 and the mechanical arm advancing and retreating motor 7 to adapt to the current catheter 9(LAR +) through a slow gear until the head end of the catheter enters the middle part of the right ventricular inflow canal displayed on a three-dimensional image, and slowly withdrawing the catheter 9(LAR-) while rotating the catheter 9(LCT +) clockwise until the tip of the catheter 9 is located at a position around 1 o' clock of the tricuspid ring, meanwhile, a small A wave and a large V wave are recorded on the endocardial electrogram at the head end of the catheter 9, finally, the catheter 9 is sent or withdrawn (LAR +/-, a body part driving and reversing motor 4 and a mechanical arm driving and reversing motor 7 are driven at a slow speed while the bending of the head end of the catheter 9 is increased or reduced), the catheter 9 is simultaneously rotated clockwise or counterclockwise (LCT +/-, slowly driving the catheter rotation motor 3 and the handle rotation motor 6) until a clear and stable H-wave is recorded on the endocardial electrogram at the tip of the catheter 9.
Overall, the utility model discloses the core thought of embodiment is that design and overall arrangement can jointly drive pipe and sheath pipe 8's drive array, specifically is motor array (motor array) to synchronous drive pipe 9 and sheath pipe 8, real simulation operator is controlled pipe 9 and sheath pipe 8's synchronization, and the embodiment of the utility model provides an emphasis is the tertiary linkage that designs and used the drive array, and the high efficiency realizes that the flexible pipe 9 of using of operator and sheath pipe 8 carry out the function of freely removing and accurate location. And simultaneously, the embodiment of the utility model provides an optimize tertiary linkage and controlled instruction and action, realized safe, simple, practical, efficient use purpose to operator experience has been promoted greatly.
Although the preferred embodiments of the present invention have been disclosed for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, and that the scope of the present invention is not limited to the embodiments disclosed.
Claims (10)
1. A radio frequency ablation catheter and sheath tube linkage control device, wherein the catheter moves under the control of a mechanical arm controller, and the device is characterized by comprising: the device comprises a sheath tube controller, a catheter controller, a tube sheath linkage device and a mechanical arm controller;
the sheath tube controller is used for driving the sheath tube to perform rotary motion and advancing and retreating motion;
the catheter controller is used for driving the catheter to perform rotary motion and advancing and retreating motion;
the sheath linkage device is used for driving the catheter and the sheath to perform integral forward and backward movement;
the sheath controller, the catheter controller, the sheath linkage device and the mechanical arm controller are coordinately controlled to control the catheter and the sheath to move, so that the catheter reaches a preset target position.
2. The apparatus of claim 1,
the sheath linkage further comprises: the tube sheath driver and the tube sheath are fixedly connected with the supporting rod in a linkage way;
the sheath controller further comprises: a sheath tube rotating driver and a sheath tube advancing and retreating driver;
the sheath tube rotating driver is arranged at the first end part of the sheath tube, the first end part is the end part of one side of the sheath tube connected with the catheter, and the sheath tube rotating driver is used for driving the sheath tube to rotate according to the received control signal;
the sheath tube advancing and retreating driver is arranged on the sheath linkage supporting rod and is used for driving the sheath tube to advance and retreat along the direction of the sheath linkage supporting rod according to a received control signal;
the catheter controller further comprises: a catheter rotation driver and a catheter advance and retreat driver;
the catheter rotating driver is arranged on the catheter close to the first end part and used for driving the catheter to rotate according to the received control signal;
the catheter advancing and retreating driver is arranged on the sheath linkage support rod and used for driving the catheter to advance and retreat along the sheath linkage support rod according to the received control signal.
3. The apparatus of claim 2,
the tube sheath linkage supporting rod is provided with a first track and a second track which are parallel to each other, and the first track and the second track extend along the direction of the tube sheath linkage supporting rod;
the sheath advancing and retreating driver and the catheter advancing and retreating driver are respectively fixed on the first track in a sliding manner;
the sheath driver is slidably secured to the second rail.
4. The apparatus of claim 3,
the sheath advancing and retreating driver and the catheter advancing and retreating driver can be locked in the sliding process, and do not move relative to the first track when being locked;
the sheath driver can be locked in position during sliding, and in the locked position, the sheath driver and the second track do not move relatively.
5. The apparatus of claim 2,
the catheter rotation drive is disposed on the catheter at a predetermined distance from the first end, wherein the predetermined distance is 5-8 centimeters.
6. The apparatus of claim 2,
the sheath driver is used for driving the sheath linkage support rod to move according to the received control signal, and driving the catheter and the sheath to move forwards and backwards integrally along the direction of the sheath linkage support rod through the sheath linkage support rod.
7. The apparatus of claim 2, wherein the robotic arm controller further comprises: a mechanical arm advancing and retreating driver, a sliding handle telescopic driver and a catheter handle rotating driver;
the mechanical arm advancing and retreating driver is used for pushing the mechanical arm to advance and retreat according to the received control signal so as to push the catheter to advance and retreat;
the sliding handle telescopic driver is arranged in the mechanical arm and used for driving the telescopic sliding handle according to the received control signal so as to control the head end of the catheter to be bent to a preset curvature;
the catheter handle rotation driver is arranged in the mechanical arm and used for controlling the handle to rotate according to the received control signal so as to control the catheter to rotate.
8. The apparatus of claim 7, wherein the robotic arm controller further comprises: the mechanical arm moves the supporting rod;
the mechanical arm advancing and retreating driver is slidably fixed on a third rail of the mechanical arm moving support rod, the mechanical arm advancing and retreating driver can lock the position in the sliding process, and the mechanical arm advancing and retreating driver and the third rail do not move relatively when the mechanical arm advancing and retreating driver is locked;
the mechanical arm moving support rod and the tube sheath linkage support rod are fixed on a preset fixing rod.
9. The apparatus of claim 8,
performing a general rotational motion of the catheter by simultaneously controlling the catheter rotation driver and the catheter handle rotation driver;
the catheter is integrally moved forward and backward by simultaneously controlling the catheter forward and backward actuator to move on the first track and controlling the mechanical arm forward and backward actuator to move on the third track;
and simultaneously controlling the mechanical arm advancing and retreating driver to run on the third track and controlling the sheath driver to run on the second track so as to enable the catheter and the sheath to integrally advance and retreat.
10. The apparatus of claim 7, further comprising: a control terminal;
the control terminal is used for displaying the position of the catheter in real time and sending control signals to the sheath tube rotating driver, the sheath tube advancing and retreating driver, the catheter rotating driver, the catheter advancing and retreating driver, the sheath tube driver and the mechanical arm controller so as to control the motion of the catheter and the sheath tube and enable the catheter to reach the preset target position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021778342.3U CN212234670U (en) | 2020-08-24 | 2020-08-24 | Radio frequency ablation catheter and sheath tube linkage control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021778342.3U CN212234670U (en) | 2020-08-24 | 2020-08-24 | Radio frequency ablation catheter and sheath tube linkage control device |
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| Publication Number | Publication Date |
|---|---|
| CN212234670U true CN212234670U (en) | 2020-12-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021778342.3U Active CN212234670U (en) | 2020-08-24 | 2020-08-24 | Radio frequency ablation catheter and sheath tube linkage control device |
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| Country | Link |
|---|---|
| CN (1) | CN212234670U (en) |
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2020
- 2020-08-24 CN CN202021778342.3U patent/CN212234670U/en active Active
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