CN218652701U

CN218652701U - Detection device for measuring catheter/guide wire movement

Info

Publication number: CN218652701U
Application number: CN202221575449.7U
Authority: CN
Inventors: 王亮; 陈艾骎; 白润洋
Original assignee: Suzhou Rainmed Medical Technology Co Ltd
Current assignee: Suzhou Shengke Intelligent Technology Co.,Ltd.
Priority date: 2022-06-23
Filing date: 2022-06-23
Publication date: 2023-03-21
Anticipated expiration: 2032-06-23

Abstract

The present specification discloses a detection device for measuring catheter/guide wire movement, the device comprising: optical detection module, includes: the optical sensor module is used for detecting the surface characteristics of the catheter/guide wire and acquiring the motion amount of the catheter/guide wire; a light source for emitting light to visualize the catheter/guidewire; a lens positioned between the optical sensor module and the catheter/guidewire surface such that catheter/guidewire surface characteristics are transferred through the lens to the optical sensor module; the distance adjusting mechanism is used for adjusting the distance between the optical detection module and the surface; an input device for providing a model parameter indicative of a catheter/guidewire model; and the controller is in communication connection with the optical detection module, the input equipment and the distance adjusting mechanism. The detection device for measuring the guide wire movement can be suitable for detection of guide wires/catheters of different types, and is high in detection precision.

Description

Detection device for measuring catheter/guide wire movement

Technical Field

The application relates to the technical field of medical equipment, in particular to a detection device for measuring movement of a catheter/guide wire.

Background

Catheters and guidewires are useful in many minimally invasive medical procedures for the diagnosis and treatment of various vascular diseases, including neurovascular intervention (NVI), percutaneous Coronary Intervention (PCI), and Peripheral Vascular Intervention (PVI). These procedures all involve passing a guidewire through the vasculature and advancing a working catheter over the guidewire to deliver a therapeutic device. Catheterization begins with gaining access to the blood vessel using standard percutaneous techniques, with a sheath or guide catheter. A sheath or guide catheter is then advanced over the guidewire to a primary location, such as the internal carotid artery for NVI, the coronary ostia for PCI, or the superficial femoral artery for PVI. In turn, a guidewire and/or microcatheter suitable for use in the vasculature is delivered through a sheath or guide catheter to a target location in the vasculature.

In the prior art, a surgical robot controls a driver to generate an actuating force through a control system, the driver is connected with a catheter/guide wire through a transmission assembly, and the driver applies the actuating force to the catheter/guide wire through the transmission assembly, so that the catheter/guide wire is advanced and retracted in a human body vessel. In this process, the control system expects a displacement distance of the catheter/guidewire.

At present, the catheter/guide wire displacement detection mode mainly comprises the following steps: encoder, optical mouse sensor, and photographing technique. The encoder belongs to contact type detection, and the catheter/guide wire is easy to slip in the contact process with the encoder, so that the detection precision is low; the optical mouse sensor has certain limitation in the actual use process due to the short detection distance; the photographing technology needs to mark on the catheter/guide wire, and the catheter/guide wire which meets the requirement is not available in the market, so that the universality is poor.

SUMMERY OF THE UTILITY MODEL

In order to solve at least one technical problem existing in the prior art, the application provides a detection device for measuring guide wire movement, which can be adapted to the detection of different types of guide wires/catheters and has high detection precision.

In order to achieve the above purpose, the technical solution provided by the present application is as follows:

a detection device for measuring catheter/guidewire movement, the device comprising:

optical detection module includes: the optical sensor module is used for detecting the surface characteristics of the catheter/guide wire and acquiring the motion amount of the catheter/guide wire; a light source for emitting light to visualize the catheter/guidewire; a lens positioned between the optical sensor module and the catheter/guidewire surface such that the catheter/guidewire surface characteristics are communicated to the optical sensor module through the lens;

the distance adjusting mechanism is used for adjusting the distance between the optical detection module and the surface;

an input device for providing a model parameter indicative of a catheter/guidewire model;

a controller communicatively coupled to the optical detection module, the input device, and the distance adjustment mechanism, the controller configured to: the distance adjustment mechanism can be controlled based on the model parameter to position the catheter or guidewire within a focal length of the lens.

As a preferred embodiment, the optical sensor module includes: a processing unit and a sensing unit, the sensing unit for receiving catheter/guidewire surface characteristics, the processing unit for analyzing data from the sensing unit to determine an amount of movement of the catheter/guidewire;

the optical detection module comprises: the lens support is provided with a first opening used for installing the lens, and the orthographic projection of the first opening falling on the optical sensor module at least covers the sensing unit.

As a preferred embodiment, the optical detection module further comprises: a housing having a receiving chamber in which the light source, the optical sensor module, and the lens holder are all disposed, the housing being provided with a second opening corresponding to the first opening and a projecting portion corresponding to the light source.

In a preferred embodiment, the processing unit, the sensing unit and the light source are integrated on a chip, an orthogonal projection of the first opening onto the chip can cover the sensing unit and the light source, and the projection part is the second opening.

As a preferred embodiment, the apparatus comprises: a circuit board on which the light source and the optical sensor module are disposed.

As a preferred embodiment, the lens holder includes: the chip comprises a main body and a side wall, wherein the first opening is formed in the main body, and the side wall is connected to the peripheral surface of the chip so as to enable the main body to be erected above the chip.

As a preferred embodiment, the sensing unit is an image sensor, the processing unit is configured to receive a first image acquired by the image sensor at a first time and a second image acquired by the image sensor at a second time, and the amount of movement of the catheter/guidewire is obtained by comparing the first image and the second image.

As a preferred embodiment, the distance adjustment mechanism includes: a motor; the guide wire/guide wire is arranged in the guide groove, the guide groove/guide wire is arranged in the guide groove/guide wire, the guide groove/guide wire is in transmission connection with the guide wire, the guide wire extends in the direction perpendicular to the axial direction of the guide pipe/guide wire, and the shell is provided with a matching part connected with the guide wire and a through hole used for allowing the guide wire to pass through.

As a preferred embodiment, the distance adjustment mechanism further includes: the sliding rail and the sliding block are arranged on the sliding rail, the extending direction of the sliding rail is the same as that of the screw rod, and the sliding block is connected with the shell.

As a preferred embodiment, the input device includes: and the controller can adjust the distance adjusting mechanism based on model parameters acquired by user triggering or input operation.

As a preferred embodiment, the input device includes: the identification module is arranged on the catheter or the guide wire, the label module is loaded with readable identification data, and the identification module is used for reading the readable identification data in the label module to acquire model parameters; the controller adjusts the distance adjustment mechanism based on the model parameter acquired by the identification module.

optical detection module, includes: the optical sensor module is used for detecting the surface characteristics of the catheter/guide wire and acquiring the motion amount of the catheter/guide wire; a lens positioned between the optical sensor module and the catheter/guidewire surface such that the catheter/guidewire surface characteristics are communicated to the optical sensor module through the lens;

a light source for emitting light to visualize the catheter/guidewire;

a controller communicatively coupled to the optical detection module, the light source, the input device, and the distance adjustment mechanism, the controller configured to: the distance adjustment mechanism can be controlled based on the model parameter to position the catheter or guidewire within a focal length of the lens.

Has the beneficial effects that:

the detection device for measuring the movement of the catheter/guide wire provided by the embodiment of the application detects the surface characteristics of the catheter/guide wire by using the optical sensor module, can realize the detection of various movement conditions of the catheter/guide wire, and can avoid direct contact with the catheter/guide wire. Second, the use of a lens can magnify the image of the catheter/guidewire surface, allowing the optical sensor module to detect catheter/guidewire motion remotely. In addition, the detection device can automatically adjust the height of the lens according to model parameters, so that the optical sensor module can be suitable for detection of different types of catheters/guide wires.

Specific embodiments of the present application are disclosed in detail with reference to the following description and drawings, indicating the manner in which the principles of the application may be employed. It should be understood that the embodiments of the present application are not so limited in scope.

Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments, in combination with or instead of the features of the other embodiments.

It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps or components.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without inventive labor.

Fig. 1 is a schematic structural diagram of a detection device for measuring catheter/guide wire movement according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram illustrating an external configuration of an optical inspection module according to an embodiment of the present disclosure;

FIG. 3 is a schematic diagram illustrating an internal structure of an optical inspection module according to an embodiment of the present disclosure;

FIG. 4 is a schematic block diagram of a control circuit of a detection device provided in one embodiment of the present disclosure;

fig. 5 is a schematic block diagram of a control circuit of a detection device according to another embodiment of the present disclosure.

Description of reference numerals:

1. an optical detection module; 11. an optical sensor module; 12. a light source; 13. a lens holder; 131. a first opening; 14. a housing; 141. a second opening; 142. a fitting portion; 143. a through hole; 2. a controller; 3. catheter/guidewire; 4. a distance adjusting mechanism; 40. a motor; 41. a screw rod; 42. a slide rail; 43. a slider; 44. a cross beam; 6. a user interface; 7. an identification module; 8. a label module; 9. a roller; 10. a propulsion mechanism.

Detailed Description

The technical solution of the present invention will be described in detail with reference to the accompanying drawings and specific embodiments, it should be understood that these embodiments are only for illustrating the present invention and are not intended to limit the scope, and after reading the present invention, the modifications of the various equivalent forms of the present invention by those skilled in the art will fall within the scope defined by the present application.

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

The detection device for measuring the movement of the guide wire according to the embodiment of the present disclosure will be explained and explained with reference to fig. 1 to 5. It should be noted that, in the embodiment of the present invention, the same reference numerals denote the same components. And for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments, and the descriptions of the same components may be mutually referred to and cited.

The present specification provides a detection device for measuring catheter/guide wire movement, as shown in figures 1 to 5, the device comprising: optical detection module 1 includes: the optical sensor module 11 is used for detecting the surface characteristics of the catheter/guide wire 3 and acquiring the motion amount of the catheter/guide wire 3; a light source 12 for emitting light to visualize the catheter/guidewire 3; a lens positioned between the optical sensor module 11 and the catheter/guidewire 3 surface such that the catheter/guidewire 3 surface characteristics are transferred through the lens to the optical sensor module 11; the distance adjusting mechanism 4 is used for adjusting the distance between the optical detection module 1 and the surface; an input device for providing a model parameter indicative of a catheter/guidewire 3 model; a controller 2 communicatively coupled to the optical detection module 1, the input device, and the distance adjustment mechanism 4, the controller 2 configured to: the distance adjustment mechanism 4 can be controlled based on the model parameters to position the catheter or guidewire within the focal length of the lens.

Specifically, the optical detection module 1 includes: an optical sensor module 11, a light source 12 and a lens positioned between the optical sensor module 11 and the catheter/guidewire 3. Taking the orientation shown in fig. 1 as an example, the optical detection module 1 may be located below the catheter/guide wire 3, when the catheter/guide wire 3 is running, the optical detection module 1 located below activates the light source 12 and the optical sensor module 11 under the control of the controller 2, and the optical sensor module 11 detects the surface characteristics of the catheter/guide wire 3 above and sends data to the controller 2. Alternatively, the optical detection module 1 may be located above the catheter/guide wire 3, with the optical sensor module 11 facing the surface of the catheter/guide wire 3; alternatively, the optical detection module 1 may be located on one side of the catheter/guide wire 3, with the optical sensor module 11 facing the surface of the catheter/guide wire 3. The positional relationship between the optical detection module 1 and the catheter/guide wire 3 is not particularly limited in the present application as long as the optical sensor module 11 faces the surface of the catheter/guide wire 3.

Further, the optical sensor module 11 includes: a processing unit for receiving surface characteristics of the catheter/guidewire 3 and a sensing unit for analyzing data from the sensing unit to determine an amount of movement of the catheter/guidewire 3. The sensing unit may be an image sensor or a photoelectric sensor.

When the sensing unit is an image sensor, the surface characteristics of the catheter/guide wire 3 acquired by the sensing unit are the texture characteristics of the catheter/guide wire 3, and the processing unit determines the movement amount of the catheter/guide wire 3 according to the change of the texture characteristics. Specifically, the processing unit is configured to receive a first image acquired by the image sensor at a first time, receive a second image acquired by the image sensor at a second time, and obtain an amount of movement of the catheter/guidewire by comparing the first image and the second image. In this embodiment, the processing unit compares the images at two different times by using a block comparison algorithm to determine the moving direction, and then transmits the displacement information through the communication cable.

The optical sensor module 11 can detect the distance the catheter/guide wire 3 travels in its axial direction, the amount of movement of the catheter/guide wire 3 in its axial rotation, and the amount of composite movement of the catheter/guide wire 3 in its axial direction and in its axial rotation. Specifically, when the light source 12 illuminates the surface of the catheter/guide wire 3, the processing unit detects a micro-area image of the surface of the catheter/guide wire 3 and outputs the detected displacement of the surface in the X-Y direction, wherein the Y direction can move forward (or backward) in a non-translational manner, the X direction can move counterclockwise or clockwise in a non-translational manner, and when the catheter/guide wire 3 travels along the axial direction and rotates around the axial line, the information fed back by the optical sensor module 11 includes the movement amounts in the X direction and the Y direction.

In addition, when the sensing unit is a photosensor, the processing unit may be adapted to execute specific instructions to analyze the changes of the light collected by the photosensor reflected from the surface of the catheter/guide wire 3 to measure the distance traveled as the catheter/guide wire 3 moves relative to the photosensor.

The light source 12 may be a Light Emitting Diode (LED), a laser diode, or an infrared light source, and light emitted from the light source 12 illuminates the catheter/guide wire 3, and then the light reflected by the surface of the catheter/guide wire 3 can be incident on the sensing unit of the optical sensor module 11. The light source 12 has one or several and is disposed adjacent to the optical sensor module 11. When the light source 12 is provided in a plurality of numbers, the plurality of light sources 12 may be symmetrically disposed with the sensing unit as a center, and of course, the relative position between the light source 12 and the sensing unit is not limited. By providing a plurality of light sources 12, superposition of light can be achieved, thereby further improving the intensity of the incident light. The number of the light sources 12 is not specifically limited in this application, and the number of the light sources 12 may be adjusted according to actual needs.

The lens is arranged between the optical sensor module 11 and the surface of the catheter/guide wire 3, so that the surface characteristics of the catheter/guide wire 3 are transmitted to the sensing unit through the lens, and the lens can comprise a single-chip lens or a lens group. Generally, the diameter of the round shaft-shaped part which can be detected by the optical tracking detection technology is 1mm, and the detection precision is low, so that the detection requirement of the catheter/guide wire 3 in clinic is not met. The lens may magnify the texture features in the micro-cells on the catheter/guidewire 3, facilitating monitoring of the movement of the catheter/guidewire 3 by enhancing the texture features in the micro-cells inherent on the surface of the catheter/guidewire 3.

In this specification, the optical detection module 1 includes: a lens support 13, wherein the lens support 13 is provided with a first hole 131 for mounting the lens, and the orthographic projection of the first hole 131 falling on the optical sensor module 11 at least covers the sensing unit. The inner wall of the lens support 13 may be provided with an internal thread, the outer wall of the lens barrel of the lens may be provided with an external thread, and the lens support 13 may be connected in a thread manner. Alternatively, the lens may be fixed in the lens holder 13 by glue.

In this embodiment, the lens is positioned directly in front of the sensing unit by a lens holder 13. Of course, in other possible embodiments, the lens may be disposed at an angle to the sensing unit, so long as it is ensured that the amplification is performed before the reflected light is incident on the sensing unit.

In addition, the optical sensor module 11 is disposed adjacent to the light source 12, and the projection coverage area of the first opening 131 can cover the light source 12, so that light emitted from the light source 12 can enter the surface of the catheter/guide wire 3 through the first opening 131, and no additional light-transmitting hole is required to be disposed on the lens support 13, and meanwhile, the light source 12 can converge light through the lens in the first opening 131, thereby enhancing the illumination intensity. Alternatively, the projection coverage area of the first opening 131 does not cover the light source 12, but the projection coverage area of the lens holder 13 covers the light source 12, so that a separate hole needs to be formed on the lens holder 13 to transmit the light source 12. Alternatively, the light source 12 is located outside the lens holder 13.

As shown in fig. 1 and 2, the optical detection module 1 further includes: a housing 14 having a receiving chamber in which the light source 12, the optical sensor module 11, and the lens holder 13 are disposed, the housing 14 being provided with a second hole 141 corresponding to the first hole 131 and a projection corresponding to the light source 12.

In the present embodiment, by providing the housing 14, the light source 12, the optical sensor module 11, and the lens can be integrated into one body. The projecting part allows light emitted by the light source 12 to pass through, and the light reflected by the surface of the catheter/guide wire 3 sequentially passes through the second opening 141 and the first opening 131 and enters the sensing unit.

In one embodiment, as shown in fig. 3, the processing unit, the sensing unit and the light source 12 may be integrated on a chip, and by integrating the sensing unit, the processing unit and the light source 12 on the chip, the integration of the optical sensor module 11 and the light source 12 can be realized, the volume of the optical detection module 1 can be miniaturized, more space can be provided for other module parts, and the integrity of functions can be guaranteed. The integration manner of the optical sensor module 11 and the light source 12 is not particularly limited.

Specifically, the lens holder 13 includes: a main body and a sidewall, the first opening 131 is opened on the main body, the sidewall is connected to the circumferential surface of the chip, so as to erect the main body above the chip. Wherein the side walls may be attached to the periphery of the chip by glue, thereby forming the lens holder 13 with the chip as an integral module. Further, the orthographic projection of the first opening 131 falling on the chip can cover the sensing unit and the light source 12, and the projection part is the second opening 141.

In another embodiment, the apparatus comprises: a circuit board (not shown) on which the light source 12 and the optical sensor module 11 are disposed. Wherein, the light source 12 is arranged adjacent to the optical sensor module 11, which can save space. In some embodiments, the orthographic projection of the first opening 131 falling on the circuit board can cover the sensing unit and the light source 12, and the projection part is the second opening 141. Alternatively, in some embodiments, the orthographic projection of the first opening 131 onto the circuit board only covers the sensing unit, and the projection portion is an opening or a light-transmitting portion for the light-transmitting light source 12.

Because a doctor may change catheters and guide wires with different specifications or change different types of instruments during a surgical procedure, the current detection technology has no way of realizing compatible detection for various types and specifications of instruments. Generally speaking, the guide wire or catheter is held and advanced by the advancing mechanism 10, and since the position of the advancing mechanism 10 is often fixed, when changing different sizes and even different types of instruments, the distance from the surface of the instrument to the optical center of the lens changes, which results in that some instruments cannot fall within the focal range of the lens when changing, and thus the detection is not accurate.

In this specification, the guide wire or the catheter can be adjusted to be within the focal length range of the lens by adjusting the position of the optical detection module 1 by providing the distance adjustment mechanism 4. Therefore, when a catheter and a guide wire with different specifications are replaced or different types of instruments are replaced, the controller 2 controls the distance adjusting mechanism 4 to adjust the optical detection module 1 to a proper position.

In one embodiment, as shown in fig. 2 and 3, the distance adjustment mechanism 4 includes: a motor 40; a screw rod 41 in transmission connection with the motor 40, the screw rod 41 extending along a direction perpendicular to the axial direction of the catheter/guide wire 3, the housing 14 being provided with a fitting portion 142 connected to the screw rod 41 and a through hole 143 for passing through the screw rod 41.

The matching part 142 may be a fixed block disposed in the accommodating chamber, a thread matching with the screw rod 41 is disposed in the fixed block, and a through hole 143 for passing through the screw rod 41 is further disposed on the housing 14.

Further, the distance adjusting mechanism 4 may further include: a slide rail 42 and a slide block 43 disposed on the slide rail 42, wherein the extension direction of the slide rail 42 is the same as the extension direction of the screw rod 41, and the slide block 43 is connected to the housing 14. Therefore, when the starting motor 40 drives the screw rod 41 to rotate, the position of the optical detection module 1 on the screw rod 41 can be adjusted, and the sliding rail 42 and the sliding block 43 are arranged to assist in matching with the movement of the optical detection module 1.

The slide rail 42 is disposed on the support base plate, and a cross beam 44 is disposed between the screw rod 41 and the slide rail 42, so as to fix the position of the screw rod 41 on the support base plate. The support base plate is provided with a mounting hole for mounting the screw rod 41 to allow the screw rod 41 to rotate.

In this specification, the model parameter of the catheter/guide wire 3 provided by the input device is received by the controller 2, and the distance adjusting mechanism 4 is controlled according to the model parameter to adjust the optical sensor module 11 and the lens to a proper position, thereby positioning the catheter/guide wire 3 within the focal length of the lens. It should be noted that the model parameters include the type and gauge of the catheter or guidewire.

In one embodiment, as shown in fig. 4, the input device includes: and the controller 2 can adjust the distance adjusting mechanism 4 based on model parameters acquired by user triggering or input operation through the user interface 6 for user triggering or input operation.

The user interface 6 may be a display device such as a display screen or a touch screen, and options of multiple instrument types (for example, catheters and guide wires of different types) and specification options corresponding to each instrument may be set on the display screen or the touch screen, and a user may transmit model parameters representing the instrument types and specifications to the controller 2 by triggering the options, and control the distance adjusting mechanism 4 to adjust the optical detection module 1 to a proper position. Alternatively, the user may input the model parameters of the type and specification of the instrument to the user interface 6, and the controller 2 controls the distance adjusting mechanism 4 to adjust the optical detection module 1 to a proper position according to the input information of the user.

For example, the controller 2 may store the focal length parameters of the lens and the related formula, so that the information required to be adjusted can be calculated according to the related formula. The controller 2 controls the motor 40 of the distance adjusting mechanism 4 to rotate forward or backward to achieve the above purpose, and the specific control principle is the prior art and will not be described in detail in this application.

In one embodiment, as shown in fig. 5, the input device includes: the identification module 7 and the label module 8, the label module 8 is arranged on the catheter or the guide wire, the label module 8 is loaded with readable identification data, and the identification module 7 is used for reading the readable identification data in the label module 8 to obtain model parameters; the controller 2 adjusts the distance adjustment mechanism 4 based on the model parameter acquired by the identification module 7.

In this embodiment, the tag module 8 is an RFID tag or a near field communication tag. The identification module 7 is provided with a corresponding reading unit for reading the model parameters contained in the RFID tag or near field communication tag. Thus, when instruments are engaged on the propulsion mechanism 10, the identification module 7 reads the model parameters from the tag modules 8 on those instruments, and the controller 2 can automatically identify the model parameters and then control the distance adjustment mechanism 4.

The present specification provides a detection device for measuring catheter/guidewire movement, the device comprising: optical detection module 1 includes: the optical sensor module 11 is used for detecting the surface characteristics of the catheter/guide wire 3 and acquiring the motion amount of the catheter/guide wire 3; a lens positioned between the optical sensor module 11 and the catheter/guidewire 3 surface such that the catheter/guidewire 3 surface characteristics are transferred through the lens to the optical sensor module 11; a light source 12 for emitting light to visualize the catheter/guidewire 3; the distance adjusting mechanism 4 is used for adjusting the distance between the optical detection module 1 and the surface; an input device for providing a model parameter indicative of a catheter/guidewire 3 model; a controller 2 communicatively connected to the optical detection module 1, the light source 12, the input device, and the distance adjustment mechanism 4, the controller 2 configured to: the distance adjustment mechanism 4 can be controlled based on the model parameters to position the catheter or guidewire within the focal length of the lens.

The optical detection module 1 further includes: a housing 14 having a receiving chamber in which the optical sensor module 11 and the lens holder 13 are both disposed, the housing 14 being provided with a second aperture 141 corresponding to the first aperture 131.

In the detection apparatus provided in the present embodiment, unlike the above-described embodiments, the light source 12 is located outside the housing 14, and may be separately provided on the surgical robot without following the lens and the optical sensor module 11.

The present specification also provides a surgical robot comprising: a pushing mechanism 10 for driving the catheter/guide wire 3 to move along the axial direction thereof, and any one of the detection devices.

The propulsion mechanism 10 may include: a pair of rollers 9 cooperating with each other and a pushing motor for controlling the rotation of the rollers 9, the catheter or the guide wire generates a rotational friction force by the driving of the pair of rollers 9, thereby being capable of advancing and retreating along the axial direction thereof. Further, the advancing mechanism 10 may further comprise a pair of fixed rollers, which function to fix the catheter or guide wire so that the catheter or guide wire does not vibrate when moving.

The controller 2 may be located at a workstation, such as a computer, remote from the patient. Controller 2 is communicatively coupled to light source 12, optical sensor module 11, motor 40, propulsion mechanism 10, and an input device. When the controller 2 controls the propulsion mechanism 10 to start, the light source 12 and the optical sensor module 11 may be controlled to be turned on, and the model parameters of the catheter/guide wire 3 may be obtained through an input device. The controller 2 may take the form of, for example, a microprocessor or processor and a computer-readable medium that stores computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an APPLICATION SPECIFIC INTEGRATED CIRCUIT (ASIC), a programmable logic controller, and an embedded microcontroller.

The above embodiments are merely illustrative of the technical concepts and features of the present application, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present application and implement the present application, and not to limit the protection scope of the present application. All equivalent changes and modifications made according to the spirit of the present application should be covered in the protection scope of the present application.

It is to be understood that the above description is intended to be illustrative, and not restrictive. Many embodiments and many applications other than the examples provided will be apparent to those of skill in the art upon reading the above description. The disclosures of all articles and references, including patent applications and publications, are hereby incorporated by reference for all purposes.

Claims

1. A detection device for measuring catheter/guidewire movement, the device comprising:

optical detection module, includes: the optical sensor module is used for detecting the surface characteristics of the catheter/guide wire and acquiring the motion amount of the catheter/guide wire; a light source for emitting light to visualize the catheter/guidewire; a lens positioned between the optical sensor module and the catheter/guidewire surface such that the catheter/guidewire surface characteristics are communicated to the optical sensor module through the lens;

2. A detection device for measuring catheter/guidewire movement according to claim 1, wherein the optical sensor module comprises: a processing unit and a sensing unit, the sensing unit for receiving catheter/guidewire surface characteristics, the processing unit for analyzing data from the sensing unit to determine an amount of movement of the catheter/guidewire;

3. A sensing device for measuring catheter/guidewire movement according to claim 2, wherein the optical sensing module further comprises: a housing having a receiving chamber in which the light source, the optical sensor module, and the lens holder are all disposed, the housing being provided with a second opening corresponding to the first opening and a projecting portion corresponding to the light source.

4. A sensing device for measuring catheter/guidewire movement according to claim 3, wherein the processing unit, the sensing unit and the light source are integrated on a chip, wherein an orthographic projection of the first opening onto the chip covers the sensing unit and the light source, and wherein the projection is the second opening.

5. A sensing device for measuring catheter/guidewire movement according to claim 1, wherein the device comprises: a circuit board on which the light source and the optical sensor module are disposed.

6. A sensing device for measuring catheter/guidewire movement according to claim 4, wherein the lens holder comprises: the chip comprises a main body and a side wall, wherein the first opening is formed in the main body, and the side wall is connected to the peripheral surface of the chip so as to enable the main body to be erected above the chip.

7. The device as claimed in claim 2, wherein the sensing unit is an image sensor, and the processing unit is configured to receive a first image captured by the image sensor at a first time and a second image captured by the image sensor at a second time, and to compare the first image and the second image to obtain an amount of movement of the catheter/guidewire.

8. A sensing device for measuring catheter/guidewire movement according to claim 3, wherein the distance adjustment mechanism comprises: a motor; the guide wire/guide wire is arranged in the guide groove, the guide groove/guide wire is arranged in the guide groove/guide wire, the guide groove/guide wire is in transmission connection with the guide wire, the guide wire extends in the direction perpendicular to the axial direction of the guide pipe/guide wire, and the shell is provided with a matching part connected with the guide wire and a through hole used for allowing the guide wire to pass through.

9. The sensing device for measuring catheter/guidewire movement according to claim 8, wherein the distance adjustment mechanism further comprises: the sliding rail and the sliding block are arranged on the sliding rail, the extending direction of the sliding rail is the same as that of the screw rod, and the sliding block is connected with the shell.

10. A sensing apparatus for measuring catheter/guidewire movement according to claim 1, wherein the input device comprises: and the controller can adjust the distance adjusting mechanism based on model parameters acquired by user triggering or input operation.

11. A sensing apparatus for measuring catheter/guidewire movement according to claim 1, wherein the input device comprises: the identification module is arranged on the catheter or the guide wire, the label module is loaded with readable identification data, and the identification module is used for reading the readable identification data in the label module to acquire model parameters; the controller adjusts the distance adjustment mechanism based on the model parameter acquired by the identification module.

12. A detection device for measuring catheter/guidewire movement, the device comprising:

a light source for emitting light to visualize the catheter/guidewire;