WO2022213907A1 - 医疗植入体的输送系统 - Google Patents

医疗植入体的输送系统 Download PDF

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Publication number
WO2022213907A1
WO2022213907A1 PCT/CN2022/084934 CN2022084934W WO2022213907A1 WO 2022213907 A1 WO2022213907 A1 WO 2022213907A1 CN 2022084934 W CN2022084934 W CN 2022084934W WO 2022213907 A1 WO2022213907 A1 WO 2022213907A1
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WO
WIPO (PCT)
Prior art keywords
assembly
hydraulic
moving
tube
pipe
Prior art date
Application number
PCT/CN2022/084934
Other languages
English (en)
French (fr)
Inventor
梅杰
吴旭闻
桂宝珠
陈国明
Original Assignee
上海微创心通医疗科技有限公司
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Application filed by 上海微创心通医疗科技有限公司 filed Critical 上海微创心通医疗科技有限公司
Priority to ES202390149A priority Critical patent/ES2956229A2/es
Publication of WO2022213907A1 publication Critical patent/WO2022213907A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/24—Heart valves ; Vascular valves, e.g. venous valves; Heart implants, e.g. passive devices for improving the function of the native valve or the heart muscle; Transmyocardial revascularisation [TMR] devices; Valves implantable in the body
    • A61F2/2442—Annuloplasty rings or inserts for correcting the valve shape; Implants for improving the function of a native heart valve
    • A61F2/2466—Delivery devices therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/12—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/24—Heart valves ; Vascular valves, e.g. venous valves; Heart implants, e.g. passive devices for improving the function of the native valve or the heart muscle; Transmyocardial revascularisation [TMR] devices; Valves implantable in the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/24—Heart valves ; Vascular valves, e.g. venous valves; Heart implants, e.g. passive devices for improving the function of the native valve or the heart muscle; Transmyocardial revascularisation [TMR] devices; Valves implantable in the body
    • A61F2/2412—Heart valves ; Vascular valves, e.g. venous valves; Heart implants, e.g. passive devices for improving the function of the native valve or the heart muscle; Transmyocardial revascularisation [TMR] devices; Valves implantable in the body with soft flexible valve members, e.g. tissue valves shaped like natural valves
    • A61F2/2418—Scaffolds therefor, e.g. support stents
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/95—Instruments specially adapted for placement or removal of stents or stent-grafts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/12—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
    • A61B17/12022—Occluding by internal devices, e.g. balloons or releasable wires
    • A61B2017/1205—Introduction devices

Definitions

  • the invention relates to the technical field of medical devices, in particular to a delivery system for medical implants.
  • Transcatheter vascular stent implantation is a commonly used treatment plan for minimally invasive cardiovascular diseases in recent years. .
  • transcatheter vascular stent implantation avoids the huge trauma of cardiac arrest after thoracotomy after conventional surgical treatment.
  • This technology requires that the stent-valve prosthesis be operated by a doctor, and the stent-valve prosthesis can be released accurately and stably in a suitable position.
  • the commonly used delivery system is driven by a mechanical structure, so the operating handle has a large mass and volume, which cannot be operated as freely as commonly used surgical tools, and the doctor's control accuracy of the delivery system is also low.
  • the traditional mechanical structure The operation of the transmission system of the transmission is more complicated, which indirectly increases the operation time and directly affects the operation results.
  • the purpose of the present invention is to provide a delivery system for medical implants, which can simplify the operation steps and realize the stable and efficient operation of the delivery system, thereby reducing the operation time and improving the success rate of the operation. Effectively reduce costs.
  • the present invention provides a delivery system for a medical implant, comprising a connected delivery assembly and a drive assembly; the drive assembly includes a connected motor assembly and a hydraulic assembly;
  • the conveying assembly includes a conduit part and a pressure part;
  • the conduit part includes a fixed pipe and a moving pipe, and the fixed pipe and the moving pipe can move relative to each other;
  • the pressure part includes a hydraulic chamber and a moving part; the moving part is movably arranged in the hydraulic chamber; the moving pipe is connected with the moving part; the motor assembly is used to drive the hydraulic assembly to move toward the moving part;
  • the hydraulic chamber delivers a medium to drive the moving member and the moving tube to move relative to the stationary tube.
  • the moving member divides the hydraulic chamber into an axially arranged release chamber and a closed chamber
  • the catheter component includes an outer tube assembly and an inner tube assembly, and the outer tube assembly is disposed outside the inner tube assembly and is relatively movable;
  • One of the outer tube assembly and the inner tube assembly is configured as a fixed tube and the other is configured as a moving tube, or either of the outer tube assembly and the inner tube assembly can be Switch between fixed and mobile tubes.
  • the number of the hydraulic chambers is one, and one is the hydraulic chamber.
  • One of the moving parts is arranged in the chamber, and one of the moving parts is used to drive the outer tube assembly or the inner tube assembly to move;
  • the number of the hydraulic chambers is two, and one of the hydraulic chambers is provided in each of the hydraulic chambers.
  • one of the moving parts in the hydraulic chamber is used to drive the outer tube assembly to move, and the other moving part in the hydraulic chamber is used to drive the inner tube assembly to move.
  • the inner tube assembly includes a tapered head, a sheath tube and an inner tube; the tapered head is respectively fixedly connected to the sheath tube and the inner tube; the connected fixed head, the connecting pipe and the outer pipe; the moving part is fixedly connected with the inner pipe; the inner pipe can movably pass through the fixed head, the connecting pipe and the outer pipe in sequence; or,
  • the outer tube assembly includes a connected sheath tube and an outer delivery tube;
  • the inner tube assembly includes a conical head, a distal inner tube, a fixed head and a proximal inner tube; the proximal end of the conical head is connected to the The distal end of the distal inner tube is connected, the proximal end of the distal inner tube is connected with the fixing head, and the fixing head is fixedly arranged at the distal end of the proximal inner tube; Outer tube connection.
  • the delivery assembly further includes a handle member disposed at the proximal end of the catheter member;
  • the hydraulic chamber When the outer tube assembly is a moving tube, the hydraulic chamber includes a first hydraulic chamber for receiving a medium to drive the outer tube assembly to move, and the first hydraulic chamber
  • the chamber is connected with a pair of conduit joints, a pair of conduit joints are movably arranged on the handle part, and a guide groove is provided on the handle part, and a pair of the conduit joints is used to move in the guide groove .
  • the drive assembly further includes a control box, and the motor assembly and the hydraulic assembly are both arranged in the control box; a pair of conduit ports are provided on the control box, and the pair of conduit ports are connected to the control box. the hydraulic components are connected; the pair of conduit interfaces are also connected with the release cavity and the closed cavity of the hydraulic chamber through a medium delivery conduit;
  • the control box is also provided with a human-computer interaction interface; the human-computer interaction interface is used for inputting information, and the information includes at least one of the moving speed, the moving stroke and the medium pressure of the moving pipe.
  • the number of the moving tubes is one or more;
  • the number of the hydraulic chambers is also one, and one of the moving parts is arranged in one of the hydraulic chambers to drive one of the moving pipes to move;
  • each of the hydraulic chambers is provided with one moving member, and the moving member in each hydraulic chamber is used for driving A corresponding one of the moving tubes is moved, and the hydraulic assembly is used to selectively deliver a medium to one of the plurality of hydraulic chambers.
  • the number of the hydraulic chambers is multiple, and the number of the motor assembly and the hydraulic assembly is one;
  • the drive assembly further includes a reversing control module, the reversing control module is connected with the hydraulic assembly and the conveying assembly, respectively, the reversing control module is used to selectively connect the hydraulic assembly with a plurality of all One of the hydraulic chambers is connected so that the hydraulic assembly selectively delivers medium to one of the plurality of hydraulic chambers.
  • the reversing control module includes an electromagnetic reversing valve; the electromagnetic reversing valve includes a plurality of valve groups and two connection ports; the two connection ports are connected to the hydraulic components; a plurality of the valves
  • the conveying assemblies are connected in groups, and each valve group includes two valves; each valve group is used to control the connection between a corresponding hydraulic chamber and the hydraulic assembly; when the two connection ports are connected to multiple When one of the valve groups is connected, a corresponding hydraulic chamber is connected to the hydraulic assembly.
  • the number of the hydraulic chambers is two, which are the first hydraulic chamber and the second hydraulic chamber respectively;
  • the catheter component includes an outer tube assembly, a middle tube, and an inner tube assembly, the outer tube assembly being disposed outside the inner tube assembly and the middle tube; the outer tube assembly and the inner tube assembly can be relatively
  • the intermediate pipe is movable; the intermediate pipe is arranged in the outer pipe of the conveying section, and is located between the outer pipe and the inner pipe of the conveying section; one of the outer pipe assembly and the inner pipe assembly is optionally configured to move the tube;
  • the outer tube assembly includes a proximal sheath tube and a delivery section outer tube; the distal end of the delivery section outer tube is fixedly connected with the proximal end of the proximal sheath tube;
  • the inner tube assembly includes a tapered head, a distal sheath tube and an inner tube, the distal end of the inner tube is connected to the tapered head, and the distal end of the distal sheath tube is proximal to the tapered head. end fixed connection;
  • a second moving member is arranged in the second hydraulic chamber, and the second moving member is connected with the inner tube to drive the inner tube to move;
  • a first moving member is arranged in the first hydraulic chamber, the The first moving part is connected with the outer pipe of the conveying section to drive the outer pipe of the conveying section to move.
  • the proximal end and the distal end of the hydraulic chamber are respectively provided with sealing rings, and the moving parts are provided with sealing rings.
  • the conveying assembly further includes a bending control member, the bending control member includes a bending control chamber and a bending control mechanism, the bending control mechanism is used to control the bending of the catheter member, and the bending control chamber is used for bending.
  • the bending state of the conduit member is adjusted by hydraulically driving the bending control mechanism to move.
  • the conveying system further includes a control assembly connected in communication with the motor assembly; the motor assembly is used to drive the hydraulic assembly to convey the medium to the hydraulic chamber under the control of the control assembly;
  • the control assembly is arranged separately from the conveying assembly and the driving assembly, respectively.
  • control assembly includes a control button and a communication interface; the communication interface is used for wired or wireless communication with the motor assembly; the control button is used to generate a control signal; the motor assembly is used to The control signal drives the hydraulic assembly to selectively deliver medium to one of the release chamber and the closure chamber of the hydraulic chamber.
  • the drive assembly is arranged separately from the transport assembly.
  • the hydraulic chamber is provided in the catheter member and extends to the distal end along the axis of the catheter member, or the hydraulic chamber is provided in the handle member, the handle member is provided in the the proximal end of the catheter component.
  • the delivery system of the medical implant provided by the present invention realizes the loading and releasing of the medical implant due to the use of electric power and hydraulic pressure to drive the movement of the catheter components.
  • the same set of delivery systems can bear loads of different sizes, so that the same set of delivery systems can withstand loads of different sizes.
  • the delivery system can provide different sizes of pushing forces, so that different medical implants can be delivered, so that the same delivery system can be applied to different medical implants with good flexibility.
  • the delivery system of the medical implant provided by the present invention uses a combination of electric power and hydraulic pressure to drive the movement of the catheter component, which reduces the overall mass and volume of the actuator (ie, the catheter part), improves ease of use, and improves delivery.
  • the control accuracy of the operation, and the same set of driving components can be reused, and only the actuators need to be replaced to complete different operations, which can effectively reduce the operation cost.
  • the delivery system for medical implants preferably separates the drive assembly from the delivery assembly (that is, the drive assembly is not disposed on the delivery assembly), which further reduces the volume and mass of the catheter portion and improves the delivery of the medical implant.
  • the control precision avoids the problem that the operator's operation is affected by the excessive load on the conveying part, thereby improving the convenience of the operation and the success rate of the operation.
  • the drive assembly is set independently of the conveying assembly, the mutual interference between the two is small, so when the conveying assembly is modified, for example, when a new function is given to the conveying assembly, the restriction by the driving assembly is small, which reduces the difficulty of modifying the conveying assembly. It is beneficial to expand the function of the conveying system and improve the performance of the conveying system.
  • the delivery system for the medical implant provided by the present invention is simple to operate and convenient for doctors to operate, especially when the hydraulic chamber is arranged at the proximal end of the delivery component (ie, in the handle), compared with the hydraulic chamber arranged at the distal end of the delivery component (i.e. within the catheter component) is more secure.
  • the delivery system of the medical implant provided by the present invention can be configured with multiple hydraulic chambers, and the switching between the hydraulic chambers is realized through the reversing control module, so that only one driving component is used to realize the operation of all hydraulic chambers. Control, simplifies the structure of the driving part, and is more conducive to the promotion and use of the conveying system.
  • FIG. 1 is a schematic structural diagram of a conveying assembly in a conveying system in a preferred embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of wired communication between the drive assembly and the control assembly in the conveying system in the preferred embodiment of the present invention
  • FIG. 3 is a schematic structural diagram of a control box in a drive assembly in a preferred embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of a drive assembly in a preferred embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a control assembly in a preferred embodiment of the present invention.
  • 6a is an axial cross-sectional view of the conveying assembly in the first embodiment of the present invention when it is closed;
  • 6b is an axial cross-sectional view of the delivery assembly in the first embodiment of the present invention when it is released;
  • FIG. 7a is an axial cross-sectional view of the conveying assembly in the second embodiment of the present invention when it is closed;
  • 7b is an axial cross-sectional view of the delivery assembly in the second embodiment of the present invention when it is released;
  • FIG. 8a is an axial cross-sectional view of the delivery assembly in the third embodiment of the present invention when it is closed;
  • 8b is an axial cross-sectional view of the delivery assembly in the third embodiment of the present invention when it is released;
  • Figure 9a is a schematic structural diagram of the electromagnetic reversing valve in Embodiment 3 of the present invention being switched to make one of the hydraulic chambers communicated;
  • Figure 9b is a schematic structural diagram of the electromagnetic reversing valve in Embodiment 3 of the present invention being switched to make another hydraulic chamber communicated;
  • 10a is an axial cross-sectional view of the delivery assembly in the fourth embodiment of the present invention when it is closed;
  • 10b is an axial cross-sectional view of the delivery assembly in the fourth embodiment of the present invention when it is released;
  • Fig. 11a is a structural schematic diagram of the bending control component in the fifth embodiment of the present invention.
  • Fig. 11b is a schematic diagram of the bending control member controlling the bending of the distal end of the catheter member in the fifth embodiment of the present invention.
  • 2-drive assembly 21-duct interface; 22-emergency stop device; 23-man-machine interface; 24-signal input port; 25-control box bracket; 26-rotating motor; 27-transmission mechanism; 28-linear module ;29-connection block;30-hydraulic cylinder;310-first outlet;320-second outlet;330-piston;
  • 6-electromagnetic reversing valve 6-electromagnetic reversing valve; 61-shell; 62-first reversing valve; 63-second reversing valve; 64-third reversing valve; 65-fourth reversing valve; 66-first connecting port ;67-Second connection port;68-Push rod;69-Sealing ring;
  • 100-first delivery assembly 121-distal sealing ring; 122-fixed head; 123-connecting tube; 124-outer tube; 125-closing catheter connector; 126-release catheter connector; 127-proximal sealing ring; 111 -conical head; 112-sheath; 113-guide wire lumen; 114-moving piece; 115-inner tube; 116-closure lumen; 117-release lumen;
  • 200-second delivery assembly 221-sheath; 222-delivery outer tube; 223-release catheter connector; 224-close catheter connector; 225-moving piece; 226-housing; 227-cavity; 212-distal inner tube; 213-fixed head; 214-distal sealing ring; 215-proximal inner tube; 216-proximal sealing ring; 217-guide wire cavity; 218-release cavity; 219-closed cavity; ;
  • 31-inner tube assembly 311-conical head; 312-distal sheath; 313-inner tube; 314-second moving part;
  • 33-outer tube assembly 331-proximal sheath tube; 332-first distal sealing ring; 333-delivery section outer tube;
  • 400-fourth delivery assembly 41-inner tube assembly; 411-conical head; 412-distal inner tube; 413-fixed head; 414-proximal inner tube; 42-outer tube assembly; 421-sheath tube; 422-delivery outer tube; 43-pressure part; 433-hydraulic chamber; 423-moving part; 44-handle part; 431-distal seal; 432-proximal seal; 434-release catheter connector; conduit fittings;
  • distal and proximal are used for convenience of description; “distal” is the side away from the operator of the delivery system, that is, the end that enters the body first; “proximal” is close to the delivery The side of the system operator; “axial” refers to the direction along the axis of the delivery assembly.
  • the core idea of the present invention is to provide a delivery system for a medical implant, the delivery system includes a connected delivery assembly and a drive assembly; the drive assembly includes a connected motor assembly and a hydraulic assembly; the delivery assembly includes a catheter part and a pressure part; the conduit part includes a fixed pipe and a moving pipe; the fixed pipe and the moving pipe can move relative to each other; the pressure part includes a hydraulic chamber and a moving part; the moving part is movably arranged in In the hydraulic chamber; the moving pipe is connected with the moving part; the motor assembly is used to drive the hydraulic assembly to deliver medium to the hydraulic chamber, so as to drive the moving part and the moving pipe relative to The stationary tube moves.
  • the moving member divides the hydraulic chamber into an axially arranged release chamber and a closed chamber; when the hydraulic assembly delivers a medium to the release chamber, the moving member and the moving pipe are opposite to each other.
  • the fixed pipe moves in the first direction; when the hydraulic assembly delivers the medium to the closed cavity, the moving part and the moving pipe move in the second direction relative to the fixed pipe; so as to realize the For the relative movement of the fixed tube and the moving tube, the first direction is opposite to the second direction.
  • the delivery system provided by the present invention realizes the loading and releasing of medical implants due to the use of electric and hydraulic pressure to drive the movement of the catheter components, so that the same set of delivery systems can withstand loads of different sizes, so that the same set of delivery systems can provide different sizes of push. force, enabling the delivery of different medical implants.
  • different medical implants require different pushing forces, such as valve stents, which require larger pushing forces. Therefore, the same delivery system can be applied to different medical implants with good flexibility.
  • the combined use of electric and hydraulic drives is used to drive the movement of the catheter components, which reduces the overall mass and volume of the actuator (ie, the conveying part), and improves the ease of use and operation control accuracy. Therefore, the driving components can be reused only by replacing the actuator, and the operation cost can be effectively reduced by completing different operations.
  • the present invention preferably separates the driving component from the delivery component, that is, the driving component is not arranged on the delivery component, thereby reducing the volume and mass of the delivery portion, further improving the delivery control accuracy of the medical implant, and avoiding the need for delivery
  • the excessive load on the part affects the operation of the operator, thereby improving the convenience of the operation and improving the success rate of the operation.
  • the drive assembly since the drive assembly is set independently of the conveying assembly, the mutual interference between the two is small, so when the conveying assembly is modified, for example, when a new function is given to the conveying assembly, the restriction by the driving assembly is small, which reduces the difficulty of modifying the conveying assembly. It is beneficial to expand the function of the conveying system and improve the performance of the conveying system.
  • the hydraulic chamber is preferably arranged in the handle part, and the handle part is arranged at the proximal end of the catheter part, so that the hydraulic chamber is arranged at the proximal end of the delivery assembly, in this way, the safety of hydraulic delivery is higher.
  • the hydraulic chamber may also be provided in the conduit member and extend along the axis of the conduit member to the distal end of the conduit member.
  • the medical implant to which the delivery system of the present invention is applicable can be selected based on the location of the target delivery site, for example, the medical implant includes, but is not limited to, a valve stent (eg, a heart valve stent).
  • a valve stent eg, a heart valve stent
  • the delivery system disclosed in the present invention can also be used for other medical implants (such as vascular stents, aneurysm stents, balloon-expandable stents, ureteral stents, prostate stents, peripheral stents, etc.) in addition to valve stents.
  • Stents, tracheobronchial stents, etc. are placed in the corresponding positions of the body.
  • the medical implant may also be a graft, embolic device, occlusion device, or the like.
  • the present invention also does not limit the approach of the delivery system, and access to the treatment site can be provided by various techniques and methods, such as percutaneous transluminal angioplasty and the like.
  • the conveying system of the present invention may further include a control component connected in communication with the motor component, the control component is used to control the working state of the motor component, and the working state of the motor component mainly includes the rotation direction of the motor (forward rotation or reversing), optionally, the control assembly can also control the start, stop and rotation speed of the motor assembly.
  • the control assembly and the drive assembly are provided separately.
  • "separately disposed" means that the two components are not physically integrated in the same container or are not tightly connected. If the control assembly is neither disposed on the driving assembly nor the conveying assembly, the control assembly, the conveying assembly and the driving assembly are independent of each other.
  • the advantage of this is that it avoids increasing the volume of the drive assembly, thereby reducing the space occupied by the area around the operating bed, so as not to affect the surgical operation, and it is also convenient to sterilize the control assembly separately, reducing the difficulty of sterilization and ensuring surgery. safety.
  • the control assembly is preferably a portable device. On the one hand, it is convenient to sterilize the control assembly to ensure the safety of the operation.
  • an embodiment of the present invention provides a delivery system for a medical implant, which includes a delivery assembly 1 and a drive assembly 2 .
  • the delivery assembly 1 needs to include a conduit part and a pressure part, the conduit part includes a fixed pipe and a moving pipe, and the fixed pipe and the moving pipe can move relative to each other.
  • the inner tube assembly in the catheter component may be configured as a moving tube
  • the outer tube assembly in the catheter component may be configured as a fixed tube, in this case, the inner tube assembly is always the moving tube, and the outer tube assembly is always for the fixed tube.
  • the outer tube assembly in the catheter component may be configured as a moving tube, while the inner tube assembly in the catheter component may be configured as a fixed tube.
  • the outer tube assembly is always the moving tube and the inner tube assembly is always the fixed tube. Tube.
  • any one of the inner tube assembly and the outer tube assembly can be switched between the fixed tube and the moving tube, in other words, when the outer tube assembly is a moving tube, the inner tube assembly is a fixed tube, The outer tube assembly is moved relative to the inner tube assembly, and when the inner tube assembly is a moving tube, the outer tube assembly is a fixed tube, so that the inner tube assembly is moved relative to the outer tube assembly; at this time, the number of moving tubes is multiple, And each moving pipe is usually equipped with a hydraulic chamber.
  • the pressure part includes a hydraulic chamber and a moving part; the moving part is movably arranged in the hydraulic chamber, and divides the hydraulic chamber into an axially arranged release chamber and a closing chamber; the moving pipe connected to the moving part.
  • the number of moving pipes is one
  • the number of the hydraulic chambers is usually one, and one moving member is arranged in one of the hydraulic chambers to drive one moving pipe to move; when the number of moving pipes is large
  • the number of the hydraulic chambers is also multiple.
  • the number of hydraulic chambers is the same as the number of moving pipes.
  • Each hydraulic chamber is provided with a moving member, and the moving member in each hydraulic chamber is used for driving A corresponding one of the moving tubes is moved, and the hydraulic assembly can selectively deliver a medium to one of the plurality of hydraulic chambers.
  • the drive assembly 2 is preferably disposed separately from the conveying assembly 1, so that the drive assembly 2 and the conveying assembly 1 are spatially separated or separated, that is, the drive assembly 2 is not disposed on the conveying assembly 1, so that the conveying assembly 1
  • the drive assembly 2 is not physically integrated in the same container or is not tightly connected.
  • the drive assembly 2 is used for conveying the medium to the conveying assembly 1 (ie to the hydraulic chamber).
  • the driving assembly 2 conveys the medium to the conveying assembly 1 through the medium conveying conduit 3 (the medium conveying conduit 3 is respectively connected to the conveying assembly 1 and the driving assembly 2 ).
  • the medium delivery conduit 3 is a high-pressure-resistant conduit (ie, a high-pressure tube), so as to be suitable for the purpose of delivering different medical implants by the delivery system.
  • the number of the medium conveying conduits 3 is not limited, but can be configured according to the number of hydraulic chambers.
  • the drive assembly 2 uses hydraulic and electric solutions to deliver the medium to the conveying assembly 1 .
  • the drive assembly 2 includes a connected motor assembly and a hydraulic assembly, and the motor assembly provides a driving force to drive the hydraulic assembly to deliver the medium to the hydraulic chamber.
  • the drive assembly 2 further includes a control box (not marked), and the motor assembly and the hydraulic assembly are both arranged in the same control box. The control box is used to protect the motor assembly and the hydraulic assembly, and is beneficial to be arranged around the operating bed.
  • the conveying system further includes a control assembly 4 that communicates with the driving assembly 2 by wire or wirelessly.
  • the control component 4 is used to send a control signal to the driving component 2, so that the motor component works according to the control signal to drive the hydraulic component to deliver the medium to the hydraulic chamber, so as to realize the loading and releasing of the medical implant and the reset of the delivery component 1, etc. operate.
  • the control component 4 can communicate with the driving component 2 by wire through the signal control line 5 .
  • the control assembly 4 is not arranged on the conveying assembly 1, so that the conveying assembly 1 and the control assembly 4 are spatially separated or separated from each other, that is, the conveying assembly 1 and the control assembly 4 are not integrated in the same physical space. A container or not a tight connection. More preferably, the control assembly 4 is also not disposed on the drive assembly 2, so that the control assembly 4, the drive assembly 2 and the conveying assembly 1 are arranged independently of each other.
  • the motor assembly is connected in communication with the control assembly 4 to receive control signals from the control assembly 4 .
  • the control signal includes a release signal (first signal) and a closing signal (second signal).
  • first signal a release signal
  • second signal a closing signal
  • the motor assembly drives the hydraulic assembly to deliver the medium to the release chamber of the hydraulic chamber; on the contrary, when the control assembly 4 sends a closing signal to the motor assembly, all The motor assembly drives the hydraulic assembly to deliver the medium to the closed cavity of the hydraulic chamber.
  • the motor assembly includes a rotary motor and a motion conversion mechanism, the rotary motion of the rotary motor is converted into linear motion by the motion conversion mechanism, and the motion conversion mechanism drives the piston in the hydraulic assembly to move.
  • the motor assembly includes a linear motor, and the linear motion of the linear motor drives the piston in the hydraulic assembly to move.
  • the hydraulic assembly includes a hydraulic cylinder 30 and a piston 330 movably disposed within the hydraulic cylinder 30 , and the piston 330 divides the space within the hydraulic cylinder 30 into release A drive chamber and a closed drive chamber, wherein the release drive chamber has a first outlet 310 and the closed drive chamber has a second outlet 320 .
  • the relative positional relationship between the first outlet 310 and the second outlet 320 is not limited, as long as two outlets are provided on the hydraulic cylinder 30, one outlet is connected to the release drive chamber on one side of the piston 330, and the other outlet is connected to the other side of the piston 330
  • the closed drive chamber can be connected.
  • the drive assembly 2 includes a rotary motor 26 , a transmission mechanism 27 , a linear module 28 , a connection block 29 and a hydraulic assembly connected in sequence, and the transmission mechanism 27 may include a coupling A shaft and/or a reducer, the linear module 28 is a motion conversion mechanism.
  • the linear module is a lead screw or a timing belt.
  • the connecting block 29 is used to connect the output end of the linear module 28 and the piston rod in the hydraulic assembly.
  • the drive assembly 2 may further include a reducer, so as to adjust the output power of the motor through the reducer.
  • the two outlets on the hydraulic cylinder 30 are both connected to the medium conveying conduit 3.
  • a pair of conduit ports 21 are provided on the control box, and each outlet on the hydraulic cylinder 30 is connected to the corresponding conduit on the control box.
  • the interface 21 is connected.
  • the medium in the release drive chamber enters the release chamber of the hydraulic chamber through the first outlet 310, one of the conduit ports 21 and one of the medium delivery conduits 3 in sequence, so as to realize the release of the distal end of the delivery assembly; otherwise, the closed drive
  • the medium in the chamber enters the closed cavity of the hydraulic chamber through the second outlet 320, another conduit interface 21 and another medium conveying conduit 3 in turn, so as to realize the closure of the distal end of the conveying assembly.
  • At least one pair of conduit joints 101 and 102 can be provided on the conveying assembly 1 , the release cavity and the closing cavity of the hydraulic chamber are respectively connected with a corresponding conduit joint, and one end of the medium conveying conduit 3 is connected to the conduit The joint is connected, and the other end is connected with the conduit interface 21 .
  • the number of conduit ports 21 corresponds to the number of medium delivery conduits 3 .
  • the hydraulic chamber corresponds to two chambers, namely the release chamber and the closed chamber, and each chamber is connected to the hydraulic component through a conduit joint, a medium delivery conduit 3
  • the drive assembly 2 provides two conduit ports 21 , and each conduit port 21 is connected to a corresponding one of the medium delivery conduits 3 .
  • each hydraulic chamber needs to be provided with a pair of conduit joints, but only two conduit interfaces are sufficient.
  • the control assembly 4 is preferably a portable device, that is, a remote control that can be held by hand. Further, a control button 402 and a communication interface 401 are provided on the portable device. The communication interface 401 is used for wired or wireless communication with the motor assembly. The control button 402 is used to generate a control signal, and the motor assembly drives the hydraulic assembly to selectively deliver a medium to one of the release chamber and the closed chamber of the hydraulic chamber according to the control signal.
  • control button 402 has a first position and a second position; when the control button 402 is toggled to the first position, such as toggled to the left, at this time, the portable device sends a release signal; When the control button 402 is toggled to the second position, such as toggled to the right, at this time, the portable device sends a closing signal through the communication interface 401 . The release signal or the closing signal is then sent to the drive assembly 2 through the communication interface 401 .
  • the control button 402 is provided with indication marks, such as left and right arrows, to indicate the direction of the toggle.
  • control button 402 is provided with a convex point 403, so as to give the operator a tactile perception to indicate the toggle position, for example, a convex point 403 is provided on the side of the control button 402 that deviates from the middle, and the other side is deviated from the center.
  • the side is not set, when the operator's hand senses the existence of the bump 403, it is known that a release signal or a closing signal can be issued when the position is toggled. If the operator's hand does not sense the bump 403, it is known that Another control signal is issued when this position is toggled.
  • the drive assembly 2 preferably further includes an emergency stop device 22 for cutting off the power supply of the motor assembly in an emergency.
  • the emergency stop device 22 is provided on the control box.
  • the emergency stop device 22 includes an emergency stop button.
  • the drive assembly 2 further includes a human-machine interface 23, which is arranged on the control box. Some information can be input through the human-computer interface 23, and the information can include at least one of the moving speed of the moving tube, the moving stroke, the medium pressure, etc., and can also include the type of the medical implant, so that the driving assembly 2 can be input according to the input. information work.
  • the drive assembly 2 communicates with the control assembly 4 by wire.
  • a signal input port 24 can be provided on the control box, and one end of the signal control wire 5 can be detachably connected to the signal input port 24 For connection, the other end of the signal control line 5 is connected to the corresponding port on the control component 4 .
  • the driving component 2 communicates with the control component 4 wirelessly.
  • the signal input port 24 can be used as a signal receiving port for wireless communication.
  • the drive assembly 2 further includes a control box bracket 25 , the control box is mounted on the control box bracket 25 , so that the drive assembly 2 can be conveniently arranged near the operating bed through the control box bracket 25 .
  • the control box bracket 25 is preferably equipped with wheels, which is convenient to move on the ground to adjust the position.
  • the preferred working mode of the delivery system is as follows: before the operation, the type of the medical implant, the moving speed of the moving tube, the pressure of the medium and other information are set on the human-machine interface 23, and then the control button is toggled. 402, the control signal is transmitted to the drive assembly 2, and the rotary motor 26 in the drive assembly 2 performs a forward or reverse rotational motion after receiving the control signal, and transmits the rotating pair to the linear module 28 through the transmission mechanism 27, The linear module 28 converts the rotary pair into linear motion, and then drives the piston 330 to perform linear motion in the axis direction in the hydraulic cylinder block 30 through the connecting block 29 .
  • a release signal is sent to the motor assembly, so that the rotary motor 26 performs a positive rotational motion to drive the piston 330 to the left in FIG. 4 .
  • the medium in the release drive chamber of the hydraulic cylinder 30 is compressed and pushed, passes through the first outlet 310, flows through one of the conduit interfaces 21, and then passes through the medium delivery conduit 3 and one of the conduit joints 101 enters the release chamber of the delivery assembly 1; when the medium pressure in the release chamber exceeds the static friction in the axial direction between the moving part and the fixed pipe, the moving part pushes the moving pipe to move in the first direction relative to the fixed pipe (the first direction can be fixed proximal or distal direction of the tube).
  • the hydraulic cylinder 30 may store a medium in advance, for example, before the medium conveying conduit 3 is connected to the conveying assembly 1, the medium may be pumped into the hydraulic cylinder 30 through the medium conveying conduit 3 for storage, or other suitable
  • the medium is stored in the hydraulic cylinder block 30 in a manner.
  • the conduit interface 21 connected to the medium conveying conduit 3 on the control box is preferably a quick-release interface, which facilitates quick disassembly and assembly of the medium conveying conduit 3 .
  • the number of the control buttons 402 can be one or more, if it is one, multiple positions can be set, and if there are multiple, the corresponding positions can be controlled through different control buttons 402 .
  • the driving assembly 2 may further include a pressure sensor for detecting the pressure of the medium leading to the release chamber or the closing chamber, such as detecting the pressure of the medium in the hydraulic cylinder 30 or in the pipeline, and the monitored pressure information may be Displayed on the human-computer interface 23 . Further, the driving assembly 2 can adjust the currently delivered pressure according to the monitored pressure, so as to ensure the accuracy of the operation.
  • the medium is mainly an incompressible medium with good fluidity, such as pure water, physiological saline, oil, etc., preferably physiological saline.
  • the structure of the motor assembly includes but is not limited to the implementation manners listed above, and those skilled in the art should know that other structures can also be used to drive the piston to perform reciprocating linear motion.
  • the overall mass and volume of the actuator ie, the delivery part, that is, the catheter part
  • the ease of use and control accuracy of the delivery system can be improved, and the same set of driving parts can be reused
  • the same set of driving parts can be reused
  • the same set of driving parts can be reused
  • the stable and efficient release and closing operation of the conveying system can be realized, which is easy to use.
  • the first embodiment provides a first delivery assembly 100, which includes a catheter component and a pressure component, the catheter component includes an outer tube assembly and an inner tube assembly, and the outer tube assembly is configured to be fixed A tube, the inner tube assembly is configured to move the tube.
  • the outer tube assembly is sleeved outside the inner tube assembly, and the outer tube assembly and the inner tube assembly can move relative to each other.
  • the outer tube assembly includes a fixing head 122, a connecting tube 123 and an outer tube 124 axially connected in sequence from the distal end to the proximal end; the fixing head 122 is used to fix the medical implant; the inner tube assembly includes a distal end to the proximal end.
  • the tapered head 111, the sheath tube 112 and the inner tube 115 are axially distributed from the end to the proximal end in sequence, that is, the proximal end of the tapered head 111 is fixedly connected to the distal end of the sheath tube 112 and the distal end of the inner tube 115 respectively,
  • the tapered head 111 is preferably a non-invasive head, such as a non-invasive structure such as a cone, part of a sphere, a circle, etc., to prevent, inhibit or substantially prevent damage to the target tissue.
  • the proximal end of the sheath 112 can be closed with the distal end of the outer tube 124 for covering part or all of the medical implant.
  • the pressure part includes a hydraulic chamber and the moving part 114 , the hydraulic chamber is one and is provided in the conduit part, more specifically, between the outer pipe 124 and the inner pipe 115 .
  • the moving member 114 is movably disposed in the hydraulic chamber.
  • the moving part 114 divides the hydraulic chamber into a closed chamber 116 and a release chamber 117 arranged in the axial direction, and the two chambers are sealed with each other and are used for conveying the medium respectively.
  • the moving member 114 is fixedly connected with the inner tube 115 to drive the inner tube assembly to move relative to the outer tube assembly in the axial direction.
  • the inner tube 115 is provided with a guide wire lumen 113, and the guide wire lumen 113 is used to provide a passage for the guide wire.
  • the distal end of the hydraulic chamber is preferably provided with a distal sealing ring 121
  • the distal sealing ring 121 is provided on the fixed head 122
  • the proximal end of the hydraulic chamber is preferably provided with a proximal sealing ring 127, more preferably
  • the moving part 114 is also provided with a sealing ring (not marked).
  • the first delivery assembly 100 further includes a handle member disposed at the proximal end of the catheter member.
  • the handle part is fixedly connected with the outer tube assembly.
  • the handle assembly generally includes a housing 118 that fits over the proximal end of the outer tube assembly through which the inner tube assembly passes.
  • the handle part further includes a pair of conduit joints, which are fixedly arranged on the housing 118 .
  • the pair of conduit joints includes a closing conduit joint 125 and a releasing conduit joint 126; the closing conduit joint 125 is used for connecting with the closing cavity 116 and with one of the medium delivery conduits 3; the releasing conduit joint 126 is used for connecting with the releasing cavity 117 connected and connected with another medium delivery conduit 3.
  • the motor assembly drives the hydraulic assembly to deliver the medium to the closed cavity 116 of the hydraulic chamber, and the pressure of the medium drives the moving member 114 and the inner tube 115 to move to the proximal end (first direction) of the outer tube 124 until the sheath
  • the tube 112 wraps the fixed head 122 and the connecting tube 123 to obtain the closed state shown in FIG.
  • the distal end of the catheter component is closed, thereby completing the loading of the medical implant or the reset of the delivery assembly; on the contrary, the motor
  • the component drives the hydraulic component to deliver the medium to the release chamber 117 of the hydraulic chamber
  • the moving member 114 and the inner tube 115 are driven to move to the distal end of the outer tube 124 (the second direction), so that the sheath tube 112 is away from the fixed head 122, and finally the figure is obtained.
  • the release state shown in 6b at this time, the release of the medical implant can be achieved.
  • the hydraulic assembly when the control assembly 4 sends a closing signal to the motor assembly, the hydraulic assembly sends a medium to the closed cavity 116 of the hydraulic chamber; conversely, when the control assembly 4 sends a release signal to the motor assembly, the hydraulic assembly The hydraulic assembly delivers medium to the release chamber 117 of the hydraulic chamber.
  • the second embodiment provides a second type of delivery assembly 200, which includes a conduit part and a pressure part, the conduit part includes an outer tube assembly and an inner tube assembly, and the outer tube assembly is configured to move A tube, the inner tube assembly is configured to hold the tube.
  • the outer tube assembly is sleeved outside the inner tube assembly, and the outer tube assembly and the inner tube assembly can move relative to each other.
  • the outer tube assembly includes a sheath tube 221 and a delivery outer tube 222 axially connected in sequence from the distal end to the proximal end; the inner tube assembly includes a tapered head 211 and a distal end connected in sequence from the distal end to the proximal end.
  • the head 213 is fixedly disposed at the distal end of the proximal inner tube 215 .
  • the distal end of the sheath 221 can form a closure with the proximal end of the tapered head 211 for covering part or all of the medical implant. It should be noted that, in the second embodiment, only the parts different from the first embodiment are described, and the same parts as the first embodiment are not described in detail, and the same parts can refer to the first embodiment.
  • the pressure member of this embodiment includes a hydraulic chamber and a moving member 225, the hydraulic chamber is one and is provided in the catheter member, more specifically between the sheath tube 221 and the proximal inner tube 215, and is provided in the delivery Between the outer tube 222 and the proximal inner tube 215 .
  • the moving member 225 is movably disposed in the hydraulic chamber. Said moving member 225 divides the hydraulic chamber into an axially arranged release chamber 218 and a closed chamber 219, which are sealed against each other.
  • the moving member 225 is connected with the outer conveying tube 222 to drive the outer tube assembly to move relative to the inner tube assembly in the axial direction. Further, a guide wire cavity 217 is preferably provided in the inner tube assembly.
  • the distal end of the hydraulic chamber is preferably provided with a distal sealing ring 214
  • the distal sealing ring 214 is usually provided on the fixed head 213
  • the proximal end of the hydraulic chamber is preferably provided with a proximal sealing ring 216, more preferably
  • the moving part 225 is also provided with a sealing ring.
  • the second delivery assembly 200 further includes a handle member disposed at the proximal end of the catheter member.
  • the handle part is movably connected to the outer tube assembly, ie the proximal end of the outer tube assembly is reciprocating within the handle part.
  • the handle assembly generally includes a housing 226 having a cavity 227 within which the proximal end of the outer tube assembly is disposed and movable. Further, the handle part also includes a pair of conduit joints, which are movably arranged on the housing 226 . The pair of conduit fittings are used to move with the outer tube assembly.
  • the pair of conduit joints includes a release conduit joint 223 and a closed conduit joint 224; the release conduit joint 223 is connected to the release cavity 218 and is used to connect with one of the medium delivery conduits 3; the closed conduit joint 224 is connected to the closed cavity 219, and Connect with another medium delivery conduit 3 .
  • the motor assembly drives the hydraulic assembly to deliver the medium to the release chamber 218 of the hydraulic chamber, and the pressure of the medium drives the moving member 225 and the delivery outer tube 222 to move toward the proximal end (first direction) of the inner tube assembly, so that the The sheath tube 221 is far away from the conical head 211, and the release state shown in FIG. 7b is obtained.
  • the release of the medical implant can be realized; on the contrary, when the motor assembly drives the hydraulic assembly to deliver the medium to the closed cavity 219 of the hydraulic chamber
  • the moving member 225 and the delivery outer tube 222 are driven to move toward the distal end of the inner tube assembly (ie, the second direction)
  • the sheath tube 221 is brought close to the tapered head 211, and finally the closed state shown in FIG. 7a is obtained.
  • the catheter The distal end of the component is closed to complete loading of the medical implant or reduction of the delivery assembly.
  • the inner tube assembly moves to the proximal end of the outer tube assembly to realize the closure of the distal end of the catheter component, and the inner tube assembly moves to the distal end of the outer tube assembly to realize the distal end of the catheter component. freed.
  • the second embodiment is just the opposite of the first embodiment.
  • the outer tube assembly moves toward the proximal end of the inner tube assembly to achieve the release of the distal end of the catheter component, and the outer tube assembly moves toward the distal end of the inner tube assembly to achieve Closure of the distal end of the catheter component.
  • the release mode of the second embodiment is a forward release
  • the release mode of the first embodiment is a reverse release.
  • the third embodiment provides a third delivery assembly 300, which includes a conduit component and a pressure component.
  • the conduit component includes an inner tube assembly 31, a middle tube assembly 32, and an outer tube assembly 33.
  • the outer tube assembly 33 is sleeved outside the middle tube assembly 32 and the inner tube assembly 31. Both the outer tube assembly 33 and the inner tube assembly 31 can move relative to the middle tube assembly 32.
  • the outer tube assembly 33 can be a moving tube. It can also be a fixed tube, and the inner tube assembly 31 can also be a moving tube or a fixed tube. Therefore, in this embodiment, the number of moving tubes is two.
  • the outer tube assembly 33 includes a proximal sheath tube 331 and a delivery section outer tube 333;
  • the intermediate tube assembly 32 includes a fixed head 322, a connecting tube 323 and an intermediate tube 324;
  • the inner tube assembly 31 includes a tapered head 311, a distal end Sheath tube 312 and inner tube 313.
  • the proximal end of the proximal sheath tube 331 is fixedly connected with the distal end of the outer tube 333 of the delivery section, and the two can be integrally or separately formed.
  • the distal end of the connecting pipe 323 is fixedly connected with the fixing head 322 , and the proximal end of the connecting pipe 323 is fixedly connected with the distal end of the intermediate pipe 324 .
  • the distal end of the inner tube 313 is fixedly connected to the tapered head 311, and the distal end of the distal sheath tube 312 is fixedly connected to the proximal end of the tapered head 311; the middle tube 324 is arranged in the outer tube 333 of the delivery section, and the middle tube 324 is located in the delivery section. Between the outer tube 333 and the inner tube 313 , the middle tube assembly 32 is fixed, and both the outer tube assembly 33 and the inner tube assembly 31 can move relative to the middle tube 324 .
  • the inner tube assembly 31 can be fixed relative to the middle tube assembly 32; when the inner tube assembly 31 moves relative to the middle tube assembly 32, the outer tube assembly 33 can be relative to the middle tube assembly 32.
  • the intermediate tube assembly 32 is stationary.
  • the proximal sheath 331 can form a closure with the distal sheath 312 to accommodate the medical implant.
  • the pressure component of this embodiment includes two hydraulic chambers, namely a first hydraulic chamber and a second hydraulic chamber, the two hydraulic chambers are both arranged in the conduit component, and the first hydraulic chamber is arranged outside the conveying section Between the pipe 333 and the intermediate pipe 324 and extending to the distal end, the second hydraulic chamber is provided between the connecting pipe 323 and the inner pipe 313 and between the intermediate pipe 324 and the inner pipe 313 .
  • a moving member is respectively arranged in the two hydraulic chambers; a first moving member 325 is arranged in the first hydraulic chamber, and the first moving member 325 is connected with the outer pipe 333 of the conveying section to drive the outer pipe 333 of the conveying section to move axially; A second moving member 314 is arranged in the hydraulic chamber, and the second moving member 314 is connected with the inner tube 313 to drive the inner tube 313 to move axially.
  • the first hydraulic chamber is divided into a release chamber and a closed chamber (not marked) by the first moving member 325.
  • the distal end of the first hydraulic chamber is provided with a first distal sealing ring 332 (fixed on the outer tube assembly 33).
  • the proximal end of the first hydraulic chamber is provided with a first proximal sealing ring 336 (fixed on the outer tube assembly 33 ), and more preferably, the first moving member 325 is provided with a sealing ring (not marked).
  • the second hydraulic chamber is divided by the second moving member 314 to form a release chamber and a closed chamber (not marked); preferably, a second distal sealing ring 321 is provided at the distal end of the second hydraulic chamber, and the second distal sealing ring 321 can be On the fixed head 322 , a second proximal sealing ring 326 is provided at the proximal end of the second hydraulic chamber, and more preferably, a sealing ring (not marked) is provided on the second moving member 314 .
  • the third delivery assembly 300 also includes a handle member 34 disposed at the proximal end of the catheter member.
  • the handle member 34 generally includes a housing 342 having a cavity through which the inner tube assembly 31 and the outer tube assembly 33 pass. Further, the handle part 34 further includes two pairs of conduit joints, wherein one pair of conduit joints is movably arranged on the housing 342 , and the other pair of conduit joints is fixedly arranged on the housing 342 .
  • one pair of conduit joints includes a first release conduit joint 334 and a first closed conduit joint 335
  • the other pair of conduit joints includes a second closed conduit joint 327 and a second release conduit joint 328
  • the first release conduit joint 334 and first closing conduit fitting 335 communicate with release and closing chambers in the first hydraulic chamber, respectively, and the two conduit fittings are movable on housing 342
  • second closing conduit fitting 327 and second releasing conduit fitting 328 They communicate with the closing chamber and the releasing chamber in the second hydraulic chamber, respectively, and are fixed on the housing 342
  • the casing 342 is provided with a guide groove 341 to provide guidance for the movement of the first release conduit joint 334 and the first closed conduit joint 335, so that the movement precision is higher.
  • the conveying assembly of this embodiment is provided with two hydraulic chambers, two-way release can be realized, that is, the movement of the inner tube assembly relative to the middle tube assembly can be driven to realize the closing and release of the distal end of the conveying assembly. It can also drive the movement of the outer tube assembly relative to the middle tube assembly to achieve the closure and release of the distal end of the delivery assembly.
  • This structure is more flexible and convenient to use, especially suitable for mitral valve prosthesis or tricuspid valve valve. release.
  • Embodiment 1 and Embodiment 2 which will not be described in detail here.
  • the driving assembly 2 further includes a reversing control module for switching between different hydraulic chambers.
  • the reversing control module is respectively connected with the hydraulic assembly and the conveying assembly, and the reversing control module is used for selectively connecting the hydraulic assembly with one of the plurality of hydraulic chambers, so that the hydraulic assembly A medium is selectively delivered to one of the plurality of hydraulic chambers.
  • the multiple hydraulic chambers include but are not limited to two, there may be more hydraulic chambers, and only the same motor assembly and the same hydraulic chamber are configured for the multiple hydraulic chambers components.
  • the reversing control module includes an electromagnetic reversing valve 6 , and the electromagnetic reversing valve 6 is used for switching between different channel groups to realize switching between different hydraulic chambers.
  • the electromagnetic reversing valve 6 includes a plurality of valve groups and two connection ports; the two connection ports are connected to the hydraulic components, specifically the first outlet and the second outlet; a plurality of the valve groups are connected to the conveying components,
  • Each of the valve groups includes two valves; each of the valve groups is used to control the connection between a corresponding hydraulic chamber and the hydraulic assembly; when two of the connection ports are connected to a plurality of the valve groups When one is connected, a corresponding one of the hydraulic chambers is connected with the hydraulic assembly.
  • each pair of conduit joints is connected to the release cavity of a corresponding hydraulic chamber and the closed cavity, and a plurality of the valve groups are connected to the plurality of pairs of the conduits through a medium conveying conduit connector connection.
  • the reversing control module of the present invention includes, but is not limited to, the electromagnetic reversing valve 6 , and other switching methods are also possible, which is not limited thereto.
  • the electromagnetic reversing valve 6 includes a housing 61, and the housing 61 is provided with a first reversing valve 62, a second reversing valve 63, and a third reversing valve 63
  • the valve 64 and the fourth reversing valve 65, the casing 61 is also provided with a first connection port 66 and a second connection port 67; the first connection port 66 and the second connection port 67 are respectively used to connect the A pair of conduit ports 21; four reversing valves are respectively connected with the above four conduit joints one by one through the medium conveying conduit 3.
  • an electromagnetic reversing valve 6 is used to realize that the first hydraulic chamber and the second hydraulic chamber can be respectively connected with only a pair of conduit ports on the control box, which further simplifies the structure and facilitates control.
  • the push rod 68 is only driven by the electronic control module to adjust the reversing valve to the corresponding channel, wherein the push rod 68 is provided with a sealing ring 69 .
  • the first reversing valve 62, the third reversing valve 64, the fourth reversing valve 65 and the second reversing valve 63 are arranged in sequence;
  • the first hydraulic chamber is in a working state, as shown in FIG. 9a;
  • the first connecting port 66 is connected to the third reversing valve 64
  • the second connection port 67 is in communication with the fourth reversing valve 66, the second hydraulic chamber is in a working state, as shown in FIG. 9b.
  • the fourth embodiment provides a fourth delivery assembly 400 , which includes a catheter component and a pressure component 43 , and the catheter component includes an inner tube assembly 41 and an outer tube assembly 42 .
  • the outer tube assembly 42 is configured as a moving tube and the inner tube assembly 41 is configured as a stationary tube, or the outer tube assembly 42 is configured as a stationary tube and the inner tube assembly 41 is configured as a moving tube.
  • the outer tube assembly 42 is sleeved outside the inner tube assembly 41, and the outer tube assembly 42 and the inner tube assembly 41 can move relative to each other.
  • the inner tube assembly 41 includes a tapered head 411, a distal inner tube 412, a fixed head 413 and a proximal inner tube 414.
  • the proximal end of the tapered head 411 is fixedly connected to the distal end of the distal inner tube 412, and the distal end is The proximal end of the tube 412 is fixedly connected to the fixing head 413, and the proximal end of the fixing head 413 is fixedly connected to the proximal inner tube 414;
  • the tube 422 and the sheath tube 421 can cooperate with the tapered head 411 to form a closure for loading the medical implant, and the sheath tube 421 and the delivery outer tube 422 can be integrally or separately formed.
  • the pressure member 43 is provided at the proximal end of the delivery assembly and includes a hydraulic chamber 433 and a moving member 423 .
  • the fourth delivery assembly 400 further includes a handle part 44, which is disposed at the proximal end of the catheter part and includes a housing, the hydraulic chambers 433 are combined and arranged in the housing of the handle part 44, and the hydraulic chambers 433 are not. extends into the conduit component.
  • the moving member 423 is movably disposed in the hydraulic chamber 433 .
  • the moving member 423 divides the hydraulic chamber 433 into an axially arranged release chamber and a closed chamber, and the two chambers are sealed against each other.
  • the moving member 423 is fixedly connected with the conveying outer tube 422 to drive the outer tube assembly 42 to move relative to the inner tube assembly 41 in the axial direction.
  • the moving member 423 is fixedly connected with the proximal inner tube to drive the inner tube assembly 41 to move relative to the outer tube assembly 42 in the axial direction.
  • the distal end of the hydraulic chamber 433 is preferably provided with a distal sealing ring 431
  • the proximal end of the hydraulic chamber 433 is preferably provided with a proximal sealing ring 432
  • the moving member 423 is also provided with a sealing ring.
  • a pair of conduit joints are fixedly arranged on the handle part 44, which are a release conduit joint 434 and a closing conduit joint 435, respectively.
  • the release conduit joint 434 is connected to the release cavity of the hydraulic chamber 433, and the closing conduit joint 435 is connected to the hydraulic chamber 433. closed cavity connection.
  • the pressure part 43 is designed to further include another shell (not marked),
  • the other housing is provided in the housing of the handle part 44, the hydraulic chamber is provided in the other housing, and the material of the other housing is a metal material with good biocompatibility, so that the hydraulic chamber is 433 can withstand greater pressure, further improving the delivery capacity of the delivery system to adapt to deliver different implants.
  • the hydraulic chamber of this embodiment is arranged in the handle part, so that the position of the hydraulic chamber is at the proximal end of the delivery assembly, which avoids the provision of the hydraulic chamber on the conduit part of the delivery assembly. , thereby avoiding the safety problem caused by the leakage of the medium cavity when the distal end of the catheter is transported into the patient's body, so that the safety of the device is better.
  • the operation mode of the conveying assembly of this embodiment is similar to that of the above-mentioned embodiment, and therefore will not be described in detail.
  • Figure 10b shows the conveying assembly in a released state
  • Figure 10a shows the conveying assembly in a closed state.
  • one or more hydraulic chambers 433 in this embodiment may be provided, and the multiple hydraulic chambers include but are not limited to two, and the moving member in each hydraulic chamber drives a corresponding moving pipe to move
  • the moving tube can be an inner tube assembly and an outer tube assembly, and the two hydraulic chambers drive the inner tube assembly and the outer tube assembly to move respectively.
  • the number of hydraulic chambers is two or more, the working principle, conduit joint The settings are similar to those in the fourth embodiment, and will not be described in detail here.
  • another hydraulic chamber (not marked) for controlling bending can also be provided in the handle part, and the hydraulic chamber for controlling bending is also divided into a releasing chamber and a closing chamber by its moving parts.
  • the hydraulic chamber for bending control is defined as the bending control chamber.
  • the delivery assembly 1 further includes a bending control component for controlling the bending of the distal end of the delivery assembly 1 .
  • the bending control part includes a bending control mechanism and a bending control chamber, the bending control mechanism is used to control the bending of the catheter part, and the bending control chamber adjusts the bending state of the catheter part by hydraulically driving the bending control mechanism to move.
  • the motor assembly is used to drive the hydraulic assembly to deliver the medium to the bending control chamber. It should be understood that the hydraulic chamber for driving the moving pipe and the hydraulic chamber for driving the bending control mechanism can share a set of motor components and hydraulic components, which further simplifies the structure of the conveying system and simplifies the operation.
  • the operation is simpler and more convenient, the operation time is further reduced, the volume of the handle can also be reduced, and it is convenient to adapt to a larger force condition, and the adaptability is stronger.
  • the bending control mechanism includes a wire 51, a wire fixing member 52 and a wire rod 55.
  • the distal end of the wire 51 is fixed with the distal end of the catheter component, for example, with the inner tube assembly or the outer tube assembly, and the proximal end of the wire 51 is fixed.
  • the proximal end of the wire fixing member 52 is fixedly connected with the screw rod 55, the screw rod 55 runs through the bending control chamber (not marked), and the forward and backward movement of the screw rod 55 in the axial direction drives the wire 51 It moves back and forth, thereby realizing the bending control, that is, the bending control chamber controls the tightness of the wire 51, thereby realizing the control of the conveying assembly 1, and realizing the bending control of the distal end of the conveying assembly.
  • the distal end of the catheter component of the delivery assembly is bent under the pulling of the wire 51 .
  • the structure is simpler and the control is more convenient.
  • conduit joints 53 and 54 are also provided on the housing of the handle part, which are respectively used for connecting with the release cavity and the closing cavity of the bending control chamber.
  • conduit joints 53 and 54 are also provided on the housing of the handle part, which are respectively used for connecting with the release cavity and the closing cavity of the bending control chamber.
  • the distal end and the proximal end of the bending control chamber are provided with sealing rings, and more preferably, the moving parts in the bending control chamber are also provided with sealing rings.
  • the delivery system provided by the present invention can be adapted to a variety of medical implants, especially when multiple hydraulic chambers are provided in the delivery assembly, the switching between the hydraulic chambers is realized through the reversing control module, and the realization of
  • the structure of the driving part is simplified, which is more suitable for the promotion and application of the conveying system of the present invention.
  • the electromagnetic reversing valve is further used to realize the conversion of different channel groups and realize the switching between different hydraulic chambers.
  • the structure is more streamlined, which is more conducive to regulation and operation.
  • the conveying system provided by the present invention has stable structure, high transmission efficiency, strong ease of use, and can be adapted to conveying systems of various specifications, and realizes the purpose of reducing the cost of a single operation by replacing different actuators.
  • the preferred embodiments of the present invention are as described above, but are not limited to the scope disclosed by the above preferred embodiments.
  • the present invention does not specifically limit the implementation of the motor-driven piston movement, as long as the power output from the motor can be used to finally It is enough to realize the reciprocating movement of the piston.

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Abstract

一种医疗植入体的输送系统，包括相连接的输送组件（1）和驱动组件（2）；驱动组件（2）包括电机组件和液压组件；输送组件（1）包括导管部件和压力部件，导管部件包括固定管和移动管；压力部件包括液压腔室和移动件（314，325）；移动件（314，325）可移动地设置在液压腔室内；移动管与移动件（314，325）连接；电机组件用于驱动液压组件向液压腔室输送介质，以驱动移动件（314，325）和移动管相对于固定管移动。可以简化输送操作步骤，实现输送系统稳定且高效的操作，减少手术时长，提高手术的成功率。

Description

医疗植入体的输送系统 技术领域
本发明涉及医疗器械技术领域，特别涉及一种医疗植入体的输送系统。
背景技术
经导管血管支架植入术是近年来常用的一种微创伤的心血管疾病的治疗方案，其原理是将人工支架装入输送系统内，后经输送系统的导管将人工支架释放在合适位置。在心脏瓣膜类疾病中，经导管血管支架植入术避免了常规外科治疗开胸后心脏停跳对病人的巨大创伤。
这项技术需要将支架瓣膜假体通过医生操作，在合适的位置，准确稳定的释放支架瓣膜假体。通常使用的输送系统因采用机械结构传动，故普遍存在操作手柄质量大，体积大，无法像常用的外科手术工具那样操作自如，而且医生对输送系统的控制精准度也低，同时，传统机械结构传动的输送系统操作较为复杂，间接增加了手术时长，直接影响了手术结果。
发明内容
本发明的目的在于提供一种医疗植入体的输送系统，可以简化操作步骤，实现输送系统稳定且高效的操作，从而减少手术时长，提高手术的成功率，而且不同手术仅需替换执行元件，有效降低成本。
为实现上述目的，本发明提供的一种医疗植入体的输送系统，包括相连接的输送组件和驱动组件；所述驱动组件包括相连接的电机组件和液压组件；
所述输送组件包括导管部件和压力部件；所述导管部件包括固定管和移动管，所述固定管和所述移动管能够相对活动；
所述压力部件包括液压腔室和移动件；所述移动件可移动地设置在所述液压腔室内；所述移动管与所述移动件连接；所述电机组件用于驱动所述液压组件向所述液压腔室输送介质，以驱动所述移动件和所述移动管相对于所述固定管移动。
可选地，所述移动件将所述液压腔室分隔成轴向排布的释放腔和闭合腔；
当所述液压组件向所述释放腔输送介质时，所述移动件和所述移动管相对于所述固定管向第一方向移动；
当所述液压组件向所述闭合腔输送介质时，所述移动件和所述移动管相对于所述固定管向第二方向移动。
可选地，所述导管部件包括外管组件和内管组件，所述外管组件设置在所述内管组件的外部，并能够相对活动；
所述外管组件和所述内管组件中的一者被配置为固定管，另一者被配置 为移动管，或者，所述外管组件和所述内管组件中的任一者能够在固定管和移动管之间切换。
可选地，当所述外管组件和所述内管组件中的一者被配置为固定管，另一者被配置为移动管时，所述液压腔室的数量为一个，一个所述液压腔室内设置一个所述移动件，一个所述移动件用于驱使所述外管组件或所述内管组件移动；
当所述外管组件和所述内管组件中的任一者能够在固定管和移动管之间切换时，所述液压腔室的数量为两个，每个所述液压腔室内设置一个所述移动件，其中一个所述液压腔室中的移动件用于驱使所述外管组件移动，另一个所述液压腔室中的移动件用于驱使所述内管组件移动。
可选地，当所述液压腔室的数量为一个以及所述内管组件为移动管时：
所述内管组件包括锥形头、鞘管和内管；所述锥形头分别与所述鞘管和所述内管固定连接；所述外管组件包括从远端至近端轴向依次连接的固定头、连接管和外管；所述移动件与所述内管固定连接；所述内管可活动地依次穿过所述固定头、所述连接管和所述外管；或者，
当所述液压腔室的数量为一个以及所述外管组件被配置为移动管时：
所述外管组件包括相连接的鞘管和输送外管；所述内管组件包括锥形头、远端内管、固定头和近端内管；所述锥形头的近端与所述远端内管的远端连接，所述远端内管的近端与所述固定头连接，所述固定头固定设置在所述近端内管的远端；所述移动件与所述输送外管连接。
可选地，所述输送组件还包括手柄部件，所述手柄部件设置在所述导管部件的近端；
当所述外管组件为移动管时，所述液压腔室包括第一液压腔室，所述第一液压腔室用于接收介质以驱使所述外管组件移动，且所述第一液压腔室连接一对导管接头，一对所述导管接头可活动地设置在所述手柄部件上，且所述手柄部件上设置有导向槽，一对所述导管接头用于在所述导向槽内移动。
可选地，所述驱动组件还包括控制箱，所述电机组件和所述液压组件均设置在所述控制箱内；所述控制箱上设置有一对导管接口，所述一对导管接口与所述液压组件连接；所述一对导管接口还通过介质输送导管与所述液压腔室的释放腔和闭合腔连接；
所述控制箱上还设置人机交互界面；所述人机交互界面用于输入信息，所述信息包括所述移动管的移动速度、移动行程和介质压力中的至少一种。
可选地，所述移动管的数量为一个或多个；
当所述移动管的数量为一个时，所述液压腔室的数量也为一个，一个所述液压腔室内设置一个所述移动件，以驱使一个所述移动管移动；
当所述移动管的数量为多个时，所述液压腔室的数量也为多个，每个所 述液压腔室内设置一个所述移动件，每个液压腔室中的移动件用于驱动对应的一个移动管移动，且所述液压组件用于选择性地向多个所述液压腔室中的一个输送介质。
可选地，，所述液压腔室的数量为多个，所述电机组件和所述液压组件的数量均为一个；
所述驱动组件还包括换向控制模块，所述换向控制模块分别与所述液压组件和所述输送组件连接，所述换向控制模块用于使所述液压组件选择性地与多个所述液压腔室中的一个连接，以使所述液压组件选择性地向多个所述液压腔室中的一个输送介质。
可选地，所述换向控制模块包括电磁换向阀；所述电磁换向阀包括多个阀门组和两个连接口；两个所述连接口连接所述液压组件；多个所述阀门组连接所述输送组件，每个所述阀门组包括两个阀门；每个所述阀门组用于控制对应的一个液压腔室与所述液压组件的连接；当两个所述连接口与多个所述阀门组中的一个连通时，对应的一个液压腔室与所述液压组件连接。
可选地，所述液压腔室的数量为两个，分别为第一液压腔室和第二液压腔室；
所述导管部件包括外管组件、中间管和内管组件，所述外管组件设置在所述内管组件和所述中间管的外部；所述外管组件和所述内管组件能够相对于所述中间管活动；所述中间管设置在所述输送段外管内，并位于所述输送段外管和所述内管之间；所述外管组件和所述内管组件中的一个被选择地配置为移动管；
所述外管组件包括近端鞘管和输送段外管；所述输送段外管的远端与所述近端鞘管的近端固定连接；
所述内管组件包括锥形头、远端鞘管和内管，所述内管的远端与所述锥形头连接，所述远端鞘管的远端与所述锥形头的近端固定连接；
其中所述第二液压腔室内设置第二移动件，所述第二移动件与所述内管连接，以驱使所述内管移动；所述第一液压腔室内设置第一移动件，所述第一移动件与所述输送段外管连接，以驱使所述输送段外管移动。
可选地，所述液压腔室的近端和远端分别设有密封圈，所述移动件上设有密封圈。
可选地，所述输送组件还包括控弯部件，所述控弯部件包括控弯腔室和控弯机构，所述控弯机构用于控制所述导管部件弯曲，所述控弯腔室用于通过液压驱动所述控弯机构运动调节所述导管部件的弯曲状态。
可选地，所述输送系统还包括与所述电机组件通信连接的控制组件；所述电机组件用于在所述控制组件的控制下驱动所述液压组件向所述液压腔室输送介质；所述控制组件分别与所述输送组件以及所述驱动组件分开布置。
可选地，所述控制组件包括控制按钮和通信接口；所述通信接口用于与所述电机组件有线或无线通信；所述控制按钮用于产生控制信号；所述电机组件用于根据所述控制信号驱动所述液压组件选择性地向所述液压腔室的释放腔和闭合腔中的一个输送介质。
可选地，所述驱动组件与所述输送组件分开布置。
可选地，所述液压腔室设置在所述导管部件内并沿着所述导管部件的轴线延伸至远端，或者，所述液压腔室设置在手柄部件内，所述手柄部件设置在所述导管部件的近端。
本发明提供的医疗植入体的输送系统由于采用电动和液压来驱动导管部件移动而实现医疗植入体的装载与释放，这样做，使得同一套输送系统能够承受不同大小的负载，使得同一套输送系统可以提供不同大小的推送力，从而能够输送不同的医疗植入体，如此一来，使同一套输送系统能够适用于不同医疗植入体，灵活性好。此外，本发明提供的医疗植入体的输送系统将电动与液压联合使用来驱动导管部件移动，减少了执行元件(即导管部分)的整体质量和体积，提高了易用性，也提高了输送操作的控制精度，同时可重复利用同一套驱动组件，完成不同手术仅需要替换执行元件，可有效降低手术成本。
本发明提供的医疗植入体的输送系统优选将驱动组件与输送组件相分离(即驱动组件不设置在输送组件上)，进一步减轻了导管部分的体积和质量，提高了医疗植入体的输送控制精度，避免了因输送部分上过多的负荷影响操作者的操作的问题，从而提高操作的便捷性，提高了手术的成功率。另外，由于驱动组件独立于输送组件设置，两者相互干扰小，故在对输送组件进行改造时，例如赋予输送组件新的功能时，受驱动组件的限制小，降低了改造输送组件的难度，有利于扩展输送系统的功能，提高输送系统的使用性能。
本发明提供的医疗植入体的输送系统操作简单，方便医生操作，特别当液压腔室设置在输送组件的近端(即手柄内)时，相较于液压腔室设置在输送组件的远端(即导管部件内)的安全性更高。
本发明提供的医疗植入体的输送系统可配置多个液压腔室，而且通过换向控制模块实现了液压腔室之间的切换，实现了仅用一个驱动组件实现了对所有液压腔室的控制，精简了驱动部分的结构，更有利于输送系统的推广和使用。
附图说明
本领域的普通技术人员将会理解，提供的附图用于更好地理解本发明，而不对本发明的范围构成任何限定。附图中：
图1是本发明优选实施例中的输送系统中的输送组件的结构示意图；
图2是本发明优选实施例中的输送系统中的驱动组件和控制组件有线通信的结构示意图；
图3是本发明优选实施例中的驱动组件中的控制箱的结构示意图；
图4是本发明优选实施例中的驱动组件的结构示意图；
图5是本发明优选实施例中的控制组件的结构示意图；
图6a是本发明实施例一中的输送组件于闭合时的轴向剖面图；
图6b是本发明实施例一中的输送组件于释放时的轴向剖面图；
图7a是本发明实施例二中的输送组件于闭合时的轴向剖面图；
图7b是本发明实施例二中的输送组件于释放时的轴向剖面图；
图8a是本发明实施例三中的输送组件于闭合时的轴向剖面图；
图8b是本发明实施例三中的输送组件于释放时的轴向剖面图；
图9a是本发明实施例三中的电磁换向阀切换至使其中一个液压腔室被连通的结构原理图；
图9b是本发明实施例三中的电磁换向阀切换至使另一个液压腔室被连通的结构原理图；
图10a是本发明实施例四中的输送组件于闭合时的轴向剖面图；
图10b是本发明实施例四中的输送组件于释放时的轴向剖面图；
图11a是本发明实施例五中的控弯部件的结构原理图；
图11b是本发明实施例五中的控弯部件控制导管部件远端弯曲的示意图。
附图标记说明如下：
1-输送组件；101、102-导管接头；
2-驱动组件；21-导管接口；22-急停装置；23-人机交互界面；24-信号输入端口；25-控制箱支架；26-旋转电机；27-传动机构；28-直线模组；29-连接块；30-液压缸体；310-第一出口；320-第二出口；330-活塞；
3-介质输送导管；
4-控制组件；
401-通信接口；402-控制按钮；403-凸点；
5-信号控制线；
6-电磁换向阀；61-壳体；62-第一换向阀门；63-第二换向阀门；64-第三换向阀门；65-第四换向阀门；66-第一连接口；67-第二连接口；68-推杆；69-密封圈；
100-第一种输送组件；121-远端密封圈；122-固定头；123-连接管；124-外管；125-闭合导管接头；126-释放导管接头；127-近端密封圈；111-锥形头；112-鞘管；113-导丝腔；114-移动件；115-内管；116-闭合腔；117-释放腔；118-外壳；
200-第二种输送组件；221-鞘管；222-输送外管；223-释放导管接头；224- 闭合导管接头；225-移动件；226-外壳；227-空腔；211-锥形头；212-远端内管；213-固定头；214-远端密封圈；215-近端内管；216-近端密封圈；217-导丝腔；218-释放腔；219-闭合腔；；
300-第三种输送组件；
31-内管组件；311-锥形头；312-远端鞘管；313-内管；314-第二移动件；
32-中间管组件；321-第二远端密封圈；322-固定头；323-连接管；324-中间管；325-第一移动件；
33-外管组件；331-近端鞘管；332-第一远端密封圈；333-输送段外管；
325-第一移动件；332-第一远端密封圈；336-第一近端密封圈；314-第二移动件；321-第二远端密封圈；326-第二近端密封圈；
34-手柄部件；341-导向槽；342-外壳；334-第一释放导管接头；335-第一闭合导管接头；327-第二闭合导管接头；328-第二释放导管接头；
400-第四种输送组件；41-内管组件；411-锥形头；412-远端内管；413-固定头；414-近端内管；42-外管组件；421-鞘管；422-输送外管；43-压力部件；433-液压腔室；423-移动件；44-手柄部件；431-远端密封圈；432-近端密封圈；434-释放导管接头；435-闭合导管接头；
51-丝线；52-丝线固定件；55-丝杆；53、54-导管接头。
具体实施方式
为使本发明的目的、优点和特征更加清楚，以下结合附图对本发明作进一步详细说明。需说明的是，附图均采用简化的形式且未按比例绘制，仅用以方便、明晰地辅助说明本发明实施例的目的。如在本说明书中所使用的，单数形式“一”、“一个”以及“该”包括复数对象，除非内容另外明确指出外。如在本说明书中所使用的，术语“或”通常是以包括“和/或”的含义而进行使用的，除非内容另外明确指出外。术语“第一”、“第二”、“第三”、“第四”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”、“第三”、“第四”的特征可以明示或者隐含地包括一个或者更多个该特征。在本发明的描述中，除非另有说明，“多个”的含义是两个或两个以上。
在以下说明中，为了便于描述，使用了“远端”和“近端”；“远端”是远离输送系统操作者的一侧，也即首先进入体内的一端；“近端”是接近输送系统操作者的一侧；“轴向”参照的是沿着输送组件的轴线方向。另外，在下文的描述中，给出了大量具体的细节以便提供对本发明更为彻底的理解。然而，对于本领域技术人员而言显而易见的是，本发明可以无需一个或多个这些细节而得以实施。在其他的例子中，为了避免与本发明发生混淆，对于本领域公知的一些技术特征未进行描述。
本发明的核心思想在于提供一种医疗植入体的输送系统，该输送系统包括相连接的输送组件和驱动组件；所述驱动组件包括相连接的电机组件和液压组件；所述输送组件包括导管部件和压力部件；所述导管部件包括固定管和移动管；所述固定管和所述移动管能够相对活动；所述压力部件包括液压腔室和移动件；所述移动件可移动地设置在所述液压腔室内；所述移动管与所述移动件连接；所述电机组件用于驱动所述液压组件向所述液压腔室输送介质，以驱动所述移动件和所述移动管相对于所述固定管移动。进一步的，所述移动件将所述液压腔室分隔成轴向排布的释放腔和闭合腔；当所述液压组件向所述释放腔输送介质时，所述移动件和所述移动管相对于所述固定管向第一方向移动；当所述液压组件向所述闭合腔输送介质时，所述移动件和所述移动管相对于所述固定管向第二方向移动；从而实现所述固定管和所述移动管的相对移动，所述第一方向与所述第二方向相反。
本发明提供的输送系统由于采用电动和液压来驱动导管部件移动而实现医疗植入体的装载与释放，使得同一套输送系统能够承受不同大小的负载，使得同一套输送系统可以提供不同大小的推送力，从而能够输送不同的医疗植入体。应理解，不同医疗植入体所需的推送力会不同，如瓣膜支架，需要较大的推送力。因此，同一套输送系统能够适用于不同医疗植入体，灵活性好。而且采用电动与液压联合使用来驱动导管部件移动，减少了执行元件(即输送部分)的整体质量和体积，提高了易用性和操作控制精度；同时，因驱动组件与执行元件可拆卸连接，故仅需替换执行元件，即可实现驱动组件的重复利用，完成不同手术可有效降低手术成本。
此外，本发明优选将驱动组件与输送组件相分离，即驱动组件不设置在输送组件上，从而减轻了输送部分的体积和质量，进一步提高了医疗植入体的输送控制精度，避免了因输送部分上过多的负荷影响操作者的操作的问题，从而提高操作的便捷性，提高了手术的成功率。另外，由于驱动组件独立于输送组件设置，两者相互干扰小，故在对输送组件进行改造时，例如赋予输送组件新的功能时，受驱动组件的限制小，降低了改造输送组件的难度，有利于扩展输送系统的功能，提高输送系统的使用性能。进一步的，所述液压腔室优选设置在手柄部件内，手柄部件设置在导管部件的近端，以使得液压腔室设置在输送组件的近端，这样做，液压输送的安全性更高。当然在其他实施例中，所述液压腔室也可设置在导管部件内并沿着导管部件的轴线延伸至导管部件的远端。
本发明的输送系统所适用的医疗植入体可基于目标输送部位的位置进行选择，例如所述医疗植入体包括但不限于为瓣膜支架(如心脏瓣膜支架)。本领域技术人员可以理解的是，本发明公开的输送系统除瓣膜支架外还可以用于将其它医疗植入体(如血管支架、动脉瘤支架、球囊扩张支架、输尿管支 架、前列腺支架、末梢支架、气管支气管支架等)置入到身体的相应位置。所述医疗植入体还可以是移植物、栓塞装置、封堵装置等。本发明对输送系统的入路方式也不作限定，进入治疗部位可以通过各种技术和方法来提供，例如，经皮腔血管成形术等。
本发明的输送系统还可进一步包括与所述电机组件通信连接的控制组件，所述控制组件用于控制所述电机组件的工作状态，电机组件的工作状态主要包括电机的转动方向(正转或反转)，可选的，控制组件还可控制电机组件的启动停止以及转动速度。优选的，所述控制组件和所述驱动组件分开设置。本文中，“分开设置”是指两个组件在物理空间上不集成在同一个容器内或不是紧密的连接。如控制组件既不设置在驱动组件上，又不设置在输送组件上，使控制组件、输送组件和驱动组件相互独立。这样做的优点是，避免增大驱动组件的体积，从而减小手术床周围区域占据的空间，以避免影响手术操作，而且也便于单独对控制组件做灭菌处理，降低灭菌难度，确保手术安全性。所述控制组件优选地为便携式装置，一方面方便对控制组件做灭菌处理，确保手术的安全性，另一方面存在小巧、轻便的优点，方便医生操作。
下面结合附图和优选实施例对本发明的输送系统作更进一步的详细说明。
参考图1～图2，本发明实施例提供一种医疗植入体的输送系统，其包括输送组件1和驱动组件2。所述输送组件1需包括导管部件和压力部件，所述导管部件包括固定管和移动管，所述固定管和所述移动管能够相对活动。应理解，在一些实施例中，可以将导管部件中的内管组件配置为移动管，同时导管部件的外管组件配置为固定管，此时，内管组件始终为移动管，外管组件始终为固定管。在一些实施例中，可以将导管部件中的外管组件配置为移动管，而同时导管部件的内管组件配置为固定管，此时，外管组件始终为移动管，内管组件始终为固定管。在另一些实施例中，内管组件和外管组件中的任意一个能够在固定管和移动管之间切换，换而言之，当外管组件为移动管时，内管组件为固定管，使外管组件相对于内管组件运动，而当内管组件为移动管时，外管组件为固定管，使内管组件相对于外管组件运动；此时，移动管的数量为多个，且每个移动管通常配置一个液压腔室。
所述压力部件包括液压腔室和移动件；所述移动件可移动地设置在所述液压腔室内，并将所述液压腔室分成轴向排布的释放腔和闭合腔；所述移动管与所述移动件连接。当移动管的数量为一个时，所述液压腔室的数量通常也为一个，一个所述液压腔室内设置一个所述移动件，以驱使一个所述移动管移动；当移动管的数量为多个时，所述液压腔室的数量也为多个，优选液压腔室的数量与移动管的数量相同，每个液压腔室内设置一个移动件，每个液压腔室中的移动件用于驱动对应的一个移动管移动，而且液压组件可以选 择性地向多个液压腔室中的一个输送介质。
其中：所述驱动组件2优选与输送组件1分开设置，使驱动组件2与输送组件1在空间上相分离或相分开，也即，驱动组件2不设置在输送组件1上，使得输送组件1同驱动组件2在物理空间上不集成在同一个容器内或不是紧密的连接。所述驱动组件2用于向输送组件1(即向液压腔室)输送介质。更详细地，如图2所示，所述驱动组件2通过介质输送导管3向输送组件1输送介质(介质输送导管3分别连接输送组件1和驱动组件2)。优选的，所述介质输送导管3为耐高压的导管(即高压管)，以适应于输送系统输送不同医疗植入体的目的。所述介质输送导管3的数量不加限定，而是根据液压腔室的数量配置即可。此外，所述驱动组件2采用液压和电动的方案向输送组件1输送介质。具体地，所述驱动组件2包括相连接的电机组件和液压组件，所述电机组件提供驱动力来驱动液压组件向液压腔室输送介质。优选的，所述驱动组件2还包括控制箱(未标注)，所述电机组件和所述液压组件均设置在同一个控制箱内。所述控制箱用于对电机组件和液压组件进行保护，有利于在手术床周围布置。
优选的，所述输送系统还包括控制组件4，所述控制组件4与驱动组件2有线或无线通信。所述控制组件4用于向驱动组件2发送控制信号，使电机组件根据控制信号工作而驱动液压组件向液压腔室输送介质，从而实现医疗植入体的装载、释放以及输送组件1的复位等操作。本实施例中，所述控制组件4可通过信号控制线5与驱动组件2有线通信。进一步的，所述控制组件4亦不设置在输送组件1上，使输送组件1同控制组件4在空间上相分离或相分开，即输送组件1同控制组件4在物理空间上不集成在同一个容器内或不是紧密的连接。更优选的，所述控制组件4也不设置在驱动组件2上，使控制组件4、驱动组件2和输送组件1相互独立地布置。
进一步的，所述电机组件与控制组件4通信连接，以接收控制组件4的控制信号。如所述控制信号包括释放信号(第一信号)和闭合信号(第二信号)。当所述控制组件4向电机组件发送释放信号时，所述电机组件驱动所述液压组件向液压腔室的释放腔输送介质；反之，当所述控制组件4向电机组件发送闭合信号时，所述电机组件驱动所述液压组件向液压腔室的闭合腔输送介质。
在一实施例中，所述电机组件包括旋转电机和运动转换机构，所述旋转电机的旋转运动通过运动转换机构转换为直线运动，再由运动转换机构驱动液压组件中的活塞移动。在另一实施例中，所述电机组件包括直线电机，通过直线电机的直线运动驱动液压组件中的活塞移动。
更详细地，参考图4，所述液压组件包括液压缸体30和活塞330，所述活塞330可移动地设置在液压缸体30内，所述活塞330将液压缸体30内的 空间分成释放驱动室和闭合驱动室，其中，所述释放驱动室具有第一出口310，所述闭合驱动室具有第二出口320。第一出口310和第二出口320的相对位置关系不作限定，只要在液压缸体30上设置两个出口，一个出口与活塞330一侧的释放驱动室连通，另一个出口与活塞330另一侧的闭合驱动室连通即可。
在一示范性实施例中，继续参考图4，所述驱动组件2包括依次连接的旋转电机26、传动机构27、直线模组28、连接块29和液压组件，所述传动机构27可包括联轴器和/或减速器，所述直线模组28即为运动转换机构。可选的，所述直线模组为丝杠或同步带。所述连接块29用于连接直线模组28的输出端和液压组件中的活塞杆。由此，所述旋转电机26的旋转运动通过传动机构27传递至直线模组28，再由直线模组28将旋转运动转化为直线运动，从而带动液压组件中的活塞330运动。应知晓，当电机为直线电机时，直线电机的活动平面通过连接块29与液压组件中的活塞杆连接。进一步的，所述驱动组件2还可包括减速器，以通过减速器来调节电机的输出功率。
此外，液压缸体30上的两个出口均与介质输送导管3连接，可选的，在控制箱上设置有一对导管接口21，液压缸体30上的每个出口与控制箱上对应的导管接口21连接。所述释放驱动室内的介质则依次通过第一出口310、其中一个导管接口21和其中一根介质输送导管3进入液压腔室的释放腔，实现输送组件远端的释放；反之，所述闭合驱动室内的介质依次通过第二出口320、另一个导管接口21和另一根介质输送导管3进入液压腔室的闭合腔，实现输送组件远端的闭合。
如图1所示，所述输送组件1上可设置至少一对导管接头101、102，液压腔室的释放腔和闭合腔分别与对应的一个导管接头连接，而介质输送导管3的一端与导管接头连接，另一端与导管接口21连接。导管接口21的数量与介质输送导管3的数量一致。例如输送组件1上仅设置一个液压腔室时，该液压腔室对应有两个腔体，分别为释放腔和闭合腔，每个腔体通过一个导管接头、一根介质输送导管3与液压组件连接，此时，驱动组件2提供两个导管接口21，每个导管接口21与对应的一根介质输送导管3连接。在其他的实施例中，液压腔室为多个时，例如为两个液压腔室时，需要为每个液压腔室配置一对导管接头，但导管接口仅为两个即可。
继续参阅图2～图5，所述控制组件4优选为便携式装置，即可以手持的遥控器。进一步地，所述便携式装置上设置控制按钮402和通信接口401。所述通信接口401用于与电机组件有线或无线通信。所述控制按钮402用于产生控制信号，所述电机组件根据所述控制信号驱动所述液压组件选择性地向所述液压腔室的释放腔和所述闭合腔中的一个输送介质。进一步地，所述控制按钮402具有第一位置和第二位置；当所述控制按钮402被拨动至第一位置时，如向左拨动，此时，便携式装置发出释放信号；当所述控制按钮402 被拨动至第二位置时，如向右拨动，此时，便携式装置通过通信接口401发出闭合信号。所述释放信号或闭合信号再通过通信接口401向驱动组件2发送。优选地，所述控制按钮402上设置有指示标志，如向左和向右的箭头指示，以指示拨动的方向。更优选地，所述控制按钮402上设置有凸点403，以便给操作者在触觉上的感知来指示拨动的位置，例如在控制按钮402的偏离中部的一侧设置凸点403，另一侧不设置，当操作者的手部感知到凸点403的存在时，即知晓拨动该位置时可发出释放信号或闭合信号，如果操作者的手部没有感知到凸点403时，即知晓拨动该位置时可发出另一种控制信号。
在一实施例中，所述驱动组件2优选还包括急停装置22，用于在紧急情况下切断电机组件的电源，进一步的，所述急停装置22设置在控制箱上。所述急停装置22包括急停按钮。进一步地，所述驱动组件2还包括人机交互界面23，设置在控制箱上。可通过人机交互界面23输入一些信息，所述信息可包括移动管的移动速度、移动行程、介质压力等中的至少一种，还可包括医疗植入体的种类，使驱动组件2按照输入的信息工作。在示出的实施例中，所述驱动组件2与控制组件4有线通信，此时，可在控制箱上设置信号输入端口24，并将信号控制线5的一端与信号输入端口24可拆卸地连接，信号控制线5的另一端与控制组件4上对应的端口连接。在其他实施例中，所述驱动组件2与控制组件4无线通信，此时，可将信号输入端口24作为无线通信的信号接收端口使用。进一步的，所述驱动组件2还包括控制箱支架25，所述控制箱安装在控制箱支架25上，以方便通过控制箱支架25将驱动组件2布置在手术床附近。所述控制箱支架25优选配置有轮子，方便在地面上移动来调整位置。
本实施例提供的输送系统的优选工作方式为：在手术之前，先在人机交互界面23上设置医疗植入体的种类以及移动管的移动速度、介质压力等信息，然后，拨动控制按钮402，将控制信号传输到驱动组件2，驱动组件2中的旋转电机26在接收控制信号后进行正向或反向的旋转运动，经过传动机构27，将旋转副传递到直线模组28上，直线模组28将旋转副转化为直线运动，再通过连接块29带动活塞330在液压缸体30中做轴线方向的直线运动。更进一步地，当控制按钮402被向左拨动至第一位置时，将释放信号发送给电机组件，使旋转电机26做正向的旋转运动，以带动活塞330向图4中的向左方向(第三方向)运动，此时在液压缸体30中的释放驱动室内的介质被压缩推送，经过第一出口310，流经其中一个导管接口21，再通过介质输送导管3和其中一个导管接头101进入输送组件1的释放腔；当释放腔中的介质压力超过移动件与固定管间轴向的静摩擦时，移动件推动移动管相对于固定管向第一方向移动(第一方向可以是固定管的近端方向或远端方向)。相反的，当控制按钮402被向右拨动至第二位置时，将闭合信号发送给电机组件，使旋 转电机26做反向的旋转运动，以带动活塞330向图4中的向右方向(第四方向)移动，此时所述闭合驱动室内的介质被压缩推送，经过第二出口320，流经另一个导管接口21，再通过另一个介质输送导管3和另一个导管接头102进入闭合腔，且当闭合腔中的介质压力超过移动件与固定管间轴向的静摩擦时，移动件推动移动管相对于固定管向第二方向移动；第二方向与第一方向相反。
应理解，所述液压缸体30中可事先存储有介质，例如介质输送导管3在接入输送组件1之前，可通过介质输送导管3抽吸介质到液压缸体30中进行存储，或者其他合适的方式将介质存储到液压缸体30中。此外，所述控制箱上与介质输送导管3连接的导管接口21优选为快拆接口，方便快速拆装介质输送导管3。此外，所述控制按钮402的数量可为一个或多个，如果为一个，可设定多个位置，如果为多个，可通过不同的控制按钮402来控制对应的位置。另外，所述驱动组件2还可包括压力传感器，用于检测通向释放腔或闭合腔的介质的压力，如检测液压缸体30中或管路中的介质压力，所监测到的压力信息可在人机交互界面23上显示。进一步的，所述驱动组件2可根据监测到的压力调整当前输送的压力，确保手术精度。还应理解，所述介质主要是不可压缩且流动性好的介质，如纯水、生理盐水、油液等，优选生理盐水。此外，需说明的是，电机组件的结构包括但不限于上述所列举的实现方式，本领域技术人员应当知晓还可采用其他结构来驱动活塞做往复直线运动。
通过应用本实施例提供的输送系统后，可以减少执行元件(即输送部分，也即导管部分)的整体质量和体积，提高输送系统的易用性和控制精度，同时可重复利用同一套驱动部分来完成不同手术而仅需替换执行元件，可有效降低成本。此外，根据输送系统不同的负载情况，只要选用合适输出功率的电机，同时调整液压缸体的耐压强度，即可实现输送系统稳定高效的释放和闭合操作，使用方便。
接下去结合若干优选实施例，对输送组件1的优选实施方式作进一步的说明，需理解的是，本发明对输送组件1的结构没有特别的限定，包括但不限于下面优选实施例所举例的实现方式。
实施例一
请参考图6a～图6b，本实施例一提供第一种输送组件100，其包括导管部件和压力部件，所述导管部件包括外管组件和内管组件，所述外管组件被配置为固定管，所述内管组件被配置为移动管。所述外管组件套设在内管组件外，所述外管组件和内管组件可相对活动。
所述外管组件包括从远端至近端轴向依次连接的固定头122、连接管123和外管124；所述固定头122用于固定医疗植入体；所述内管组件包括从远端至近端轴向依次分布的锥形头111、鞘管112和内管115，即所述锥形头111 的近端分别与鞘管112的远端以及内管115的远端固定连接，所述锥形头111优选为无创头部，如锥形、部分球形、圆形等无创结构，以预防、抑制或基本防止损伤目标组织。所述鞘管112的近端可与外管124的远端闭合，用于包覆医疗植入体的部分或全部。
所述压力部件包括液压腔室和移动件114，所述液压腔室为一个并设置在导管部件内，更具体设置在外管124和内管115之间。所述移动件114可移动地设置在液压腔室内。所述移动件114将液压腔室分割为轴向排布的闭合腔116和释放腔117，该两个腔室相互之间密封，分别用于输送介质。其中移动件114与内管115固定连接，以带动内管组件相对于外管组件在轴向上移动。进一步地，内管115内设有导丝腔113，导丝腔113用于为导丝提供通路。进一步地，所述液压腔室的远端优选设有远端密封圈121，远端密封圈121设置在固定头122上，液压腔室的近端优选设有近端密封圈127，更优选的，移动件114上也设有密封圈(未标注)。
所述第一种输送组件100还包括手柄部件，设置在导管部件的近端。所述手柄部件与外管组件固定连接。所述手柄部件通常包括外壳118，所述外壳118套设在外管组件的近端，所述内管组件穿过外壳118。进一步地，所述手柄部件还包括一对导管接头，固定设置在外壳118上。所述一对导管接头包括闭合导管接头125和释放导管接头126；闭合导管接头125用于与闭合腔116连接，并与其中一根介质输送导管3连接；释放导管接头126用于与释放腔117连接，并与另一根介质输送导管3连接。
实际使用时，所述电机组件驱动液压组件向液压腔室的闭合腔116输送介质，通过介质的压力驱动移动件114和内管115向外管124的近端(第一方向)移动，直至鞘管112包覆固定头122和连接管123，得到图6a所示的闭合状态，此时，导管部件的远端闭合，从而完成医疗植入体的装载或输送组件的复位；反之，所述电机组件驱动液压组件向液压腔室的释放腔117输送介质时，驱动移动件114和内管115向外管124的远端移动(第二方向)，使鞘管112远离固定头122，最终得到图6b所示的释放状态，此时，可实现医疗植入体的释放。优选的，当所述控制组件4向电机组件发送闭合信号时，所述液压组件向液压腔室的闭合腔116输送介质；反之，当所述控制组件4向电机组件发送释放信号时，所述液压组件向液压腔室的释放腔117输送介质。
实施例二
请参考图7a～图7b，本实施例二提供第二种输送组件200，其包括导管部件和压力部件，所述导管部件包括外管组件和内管组件，所述外管组件被配置为移动管，所述内管组件被配置为固定管。所述外管组件套设在内管组件外，所述外管组件和内管组件可相对活动。
所述外管组件包括从远端至近端轴向依次连接的鞘管221和输送外管222；所述内管组件包括从远端至近端轴向依次连接的锥形头211、远端内管212、固定头213和近端内管215，即锥形头211的近端与远端内管212的远端固定连接，远端内管212的近端与固定头213固定连接，固定头213固定设置在近端内管215的远端。所述鞘管221的远端可与锥形头211的近端形成闭合，用于包覆医疗植入体的部分或全部。需说明的是，本实施例二中仅针对与实施例一不同的部分进行说明，与实施例一相同的部分不再详细叙述，相同部分可参阅实施例一。
本实施例的压力部件包括液压腔室和移动件225，所述液压腔室为一个并设置在导管部件内，更具体地设置在鞘管221和近端内管215之间，以及设置在输送外管222和近端内管215之间。所述移动件225可移动地设置液压腔室内。所述移动件225将液压腔室分割为轴向排布的释放腔218和闭合腔219，该两个腔室相互之间密封。其中移动件225与输送外管222连接，以带动外管组件相对于内管组件在轴向上移动。进一步的，所述内管组件内优选设有导丝腔217。进一步地，所述液压腔室的远端优选设有远端密封圈214，远端密封圈214通常设置在固定头213上，液压腔室的近端优选设有近端密封圈216，更优选移动件225上也设有密封圈。
所述第二种输送组件200还包括手柄部件，设置在导管部件的近端。所述手柄部件与外管组件可活动地连接，即外管组件的近端在手柄部件内可往复移动。所述手柄部件通常包括外壳226，所述外壳226具有空腔227，所述外管组件的近端设置在空腔227内并可活动。进一步地，所述手柄部件还包括一对导管接头，可活动地设置在外壳226上。所述一对导管接头用于随外管组件一起移动。所述一对导管接头包括释放导管接头223和闭合导管接头224；释放导管接头223与释放腔218连接，并用于与其中一根介质输送导管3连接；闭合导管接头224与闭合腔219连接，并与另一根介质输送导管3连接。
实际使用时，所述电机组件驱动液压组件向液压腔室的释放腔218输送介质，通过介质的压力驱动移动件225和输送外管222向内管组件的近端(第一方向)移动，使鞘管221远离锥形头211，得到图7b所示的释放状态，此时，可实现医疗植入体的释放；反之，当所述电机组件驱动液压组件向液压腔室的闭合腔219输送介质时，驱动移动件225和输送外管222向内管组件的远端移动(即第二方向)，使鞘管221靠近锥形头211，最终得到图7a所示的闭合状态，此时，导管部件的远端闭合，可完成医疗植入体的装载或输送组件的复位。
所应理解，在实施例一中，内管组件向外管组件的近端移动，实现导管部件的远端的闭合，内管组件向外管组件的远端移动，实现导管部件的远端 的释放。实施例二与实施例一正好相反，在实施例二中，外管组件向内管组件的近端移动，实现导管部件的远端的释放，外管组件向内管组件的远端移动，实现导管部件的远端的闭合。通常的，实施例二的释放方式为正向释放，实施例一的释放方式为反向释放。
实施例三
请参考图8a～图8b，本实施三提供第三种输送组件300，其包括导管部件和压力部件，所述导管部件包括内管组件31、中间管组件32、和外管组件33，所述外管组件33套设在中间管组件32和内管组件31外，所述外管组件33和内管组件31均可相对中间管组件32活动，此外，外管组件33既可以是移动管，也可以是固定管，所述内管组件31也可以是移动管，还可以是固定管。因此，本实施例中，移动管的数量为两个。
其中：所述外管组件33包括近端鞘管331和输送段外管333；中间管组件32包括固定头322、连接管323和中间管324；内管组件31包括锥形头311、远端鞘管312和内管313。近端鞘管331的近端与输送段外管333的远端固定连接，两者可一体或分体成型。连接管323的远端与固定头322固定连接，连接管323的近端与中间管324的远端固定连接。内管313的远端与锥形头311固定连接，远端鞘管312的远端与锥形头311的近端固定连接；中间管324设置在输送段外管333内，中间管324位于输送段外管333和内管313之间，中间管组件32固定不动，外管组件33和内管组件31均可相对中间管324活动。当外管组件33相对于中间管组件32活动时，内管组件31可相对于中间管组件32固定不动；当内管组件31相对于中间管组件32活动时，外管组件33可相对于中间管组件32固定不动。所述近端鞘管331可与远端鞘管312形成闭合来装置医疗植入体。需说明的是，以下描述中仅针对与实施例一或实施例二不同的部分，与实施例一或二相同的部分不再详细叙述，相同部分可参阅实施例一或实施例二。
本实施例的压力部件包括两个液压腔室，分别为第一液压腔室和第二液压腔室，该两个液压腔室均设置在导管部件内，第一液压腔室设置在输送段外管333和中间管324之间并延伸至远端，第二液压腔室设置在连接管323和内管313之间及中间管324和内管313之间。两个液压腔室内分别设置一个移动件；其中第一液压腔室内设置第一移动件325，第一移动件325与输送段外管333连接，以驱动输送段外管333轴向移动；第二液压腔室内设置第二移动件314，第二移动件314与内管313连接，以驱动内管313轴向移动。其中第一液压腔室被第一移动件325分割为释放腔和闭合腔(未标注)，优选第一液压腔室的远端设有第一远端密封圈332(固定在外管组件33上)，第一液压腔室的近端设有第一近端密封圈336(固定在外管组件33上)，更优选第一移动件325上设有密封圈(未标注)。第二液压腔室被第二移动件314分割 形成释放腔和闭合腔(未标注)；优选第二液压腔室的远端设有第二远端密封圈321，第二远端密封圈321可设置在固定头322上，第二液压腔室的近端设有第二近端密封圈326，更优选第二移动件314上设有密封圈(未标注)。
所述第三种输送组件300还包括手柄部件34，设置在导管部件的近端。所述手柄部件34通常包括外壳342，该外壳342具有供内管组件31和外管组件33穿设的空腔。进一步地，所述手柄部件34还包括两对导管接头，其中一对导管接头可活动地设置在外壳342上，另一对导管接头固定设置在外壳342上。本实施例中，其中一对导管接头包括第一释放导管接头334和第一闭合导管接头335，另一对导管接头包括第二闭合导管接头327和第二释放导管接头328；第一释放导管接头334和第一闭合导管接头335分别与第一液压腔室中的释放腔和闭合腔连通，且该两个导管接头可在外壳342上移动；第二闭合导管接头327和第二释放导管接头328分别与第二液压腔室中的闭合腔和释放腔连通，并在外壳342上固定。优选的，所述外壳342上设有导向槽341，为第一释放导管接头334和第一闭合导管接头335的移动提供导向，使运动精度更高。这些导管接头均与介质输送导管3相连。
实际使用时，本实施例的输送组件由于设置有两个液压腔室，因此可实现双向释放，即既可以驱动内管组件相对于中间管组件的移动来实现输送组件的远端的闭合和释放，也可以驱动外管组件相对于中间管组件的移动来实现输送组件的远端的闭合和释放，如此构造，使用更为灵活和方便，尤其适用于二尖瓣瓣膜假体或三尖瓣瓣膜的释放。具体的操作方式可参考上述实施例一和实施例二，此处不再详细描述。
进一步为了实现不同液压腔室的切换，所述驱动组件2还包括换向控制模块，用于进行不同液压腔室的切换。所述换向控制模块分别与液压组件和输送组件连接，所述换向控制模块用于使所述液压组件选择性地与多个所述液压腔室中的一个连接，以使所述液压组件选择性地向多个所述液压腔室中的一个输送介质。优选的，当液压腔室为多个时，多个液压腔室包括但不限于两个，还可以更多个液压腔室，且为多个液压腔室仅配置同一个电机组件和同一个液压组件。
优选的，所述换向控制模块包括电磁换向阀6，通过电磁换向阀6进行不同通道组的转换，实现不同液压腔室之间的切换。电磁换向阀6包括多个阀门组和两个连接口；两个所述连接口连接所述液压组件，具体连接第一出口和第二出口；多个所述阀门组连接所述输送组件，每个所述阀门组包括两个阀门；每个所述阀门组用于控制对应的一个液压腔室与所述液压组件的连接；当两个所述连接口与多个所述阀门组中的一个连通时，对应的一个液压腔室即与所述液压组件连接。此外，手柄部件上设置有多对导管接头，每对导管接头与对应的一个液压腔室的释放腔和所述闭合腔连接，且多个所述阀门组 通过介质输送导管与多对所述导管接头连接。
应知晓，本发明的换向控制模块包括但不限于电磁换向阀6，也可以是其他切换方式，对此不作限定。
请参考图9a～图9b，在一实施例中，所述电磁换向阀6包括壳体61，壳体61上设置有第一换向阀门62、第二换向阀门63、第三换向阀门64和第四换向阀门65，所述壳体61上还设置有第一连接口66和第二连接口67；第一连接口66和第二连接口67分别用于连接控制箱上的一对导管接口21；四个换向阀门分别通过介质输送导管3与上述四个导管接头一一连接。进而利用一个电磁换向阀6实现了仅在控制箱上设有一对导管接口就可以分别连通第一液压腔室和第二液压腔室，进一步精简了结构，控制也方便。当需要切换液压腔室时，仅通过电控模块驱动推动杆68，调节换向阀门至对应通道即可，其中推杆68上设有密封圈69。本实施例中，从左到右，依次设置第一换向阀门62、第三换向阀门64、第四换向阀门65和第二换向阀门63；当第一连接口66与第一换向阀门62连通，以及第二连接口67与第二换向阀门63连通时，使第一液压腔室处于工作状态，即图9a所示；当第一连接口66与第三换向阀门64连通，以及第二连接口67与第四换向阀门66连通时，使第二液压腔室处于工作状态，即图9b所示。
实施例四
请参考图10a～图10b，本实施例四提供第四种输送组件400，其包括导管部件和压力部件43，所述导管部件包括内管组件41和外管组件42。所述外管组件42被配置为移动管，所述内管组件41被配置为固定管，或者所述外管组件42被配置为固定管，所述内管组件41被配置为移动管。所述外管组件42套设在内管组件41外，所述外管组件42和内管组件41可相对活动。
所述内管组件41包括锥形头411、远端内管412、固定头413和近端内管414，锥形头411的近端与远端内管412的远端固定连接，远端内管412的近端固定连接固定头413，固定头413的近端与近端内管414固定连接；所述外管组件42包括从远端至近端轴向依次连接的鞘管421和输送外管422，鞘管421可与锥形头411配合形成闭合来装载医疗植入体，鞘管421与输送外管422可一体或分体成型。
所述压力部件43设置在输送组件的近端并包括液压腔室433和移动件423。所述第四种输送组件400还包括手柄部件44，设置在导管部件的近端并包括外壳，所述液压腔室433为并一个并设置在手柄部件44的外壳内，液压腔室433并未延伸至导管部件内。所述移动件423可移动地设置在液压腔室433内。所述移动件423将液压腔室433分割为轴向排布的释放腔和闭合腔，该两个腔室相互之间密封。且移动件423与输送外管422固定连接，以带动外管组件42相对于内管组件41在轴向上移动。在另外的实施例中，移动件 423与近端内管固定连接，以带动内管组件41相对于外管组件42在轴向上移动。优选的，液压腔室433的远端优选设有远端密封圈431，液压腔室433的近端优选设有近端密封圈432，更优选移动件423上也设有密封圈。
同样的，在手柄部件44上固定设置有一对导管接头，分别为释放导管接头434和闭合导管接头435，释放导管接头434与液压腔室433的释放腔连接，闭合导管接头435与液压腔室433的闭合腔连接。
进一步地，考虑到手柄部件44的外壳通常由高分子材料制成，所承受的压力较容易受到限制，为了克服此问题，所述压力部件43被设计为还包括另一个外壳(未标注)，所述另一个外壳设置在手柄部件44的外壳内，所述液压腔室设置在所述另一个外壳内，且所述另一个外壳的材料为生物相容性好的金属材料，使得液压腔室433能够承受较大的压力，进一步提高输送系统的输送能力，以适应输送不同的植入体。
与上述实施例的区别在于，本实施例的液压腔室设置在手柄部件内，从而令液压腔室的位置在输送组件的近端，这样做避免了在输送组件的导管部分上设置液压腔室，从而避免了导管远端被输送到患者体内时因介质腔发生泄漏而引起的安全问题，使器械的安全性更好。本实施例的输送组件的操作方式与上述实施例类似，因此不作详细的描述。其中图10b为输送组件处于释放状态，图10a为输送组件处于闭合状态。
此外，还应理解，本实施例中的液压腔室433可以设置一个或多个，多个液压腔室包括但不限于两个，每个液压腔室中的移动件驱动对应的一个移动管移动，例如移动管可以为内管组件和外管组件，两个液压腔室分别驱动内管组件和外管组件移动，当液压腔室的数量为两个或更多个时，工作原理、导管接头的设置与实施例四类似，此处不再详细叙述。
实施例五
在上述任一实施例中，还可在手柄部件内再设置一个用于控弯的液压腔(未标注)，用于控弯的液压腔也被其移动件分割为释放腔和闭合腔。本文中，为了区别于驱动移动管的液压腔室，将用于控弯的液压腔定义为控弯腔室。
请参考图11a并结合图1，所述输送组件1还包括控弯部件，用于控制输送组件1的远端的弯曲。所述控弯部件包括控弯机构和控弯腔室，所述控弯机构用于控制导管部件弯曲，所述控弯腔室通过液压驱动控弯机构运动来调节导管部件的弯曲状态。具体地，所述电机组件用于驱动所述液压组件向所述控弯腔室输送介质。应理解，驱动移动管的液压腔室和驱动控弯机构的液压腔室可以共用一套电机组件和液压组件，进一步简化输送系统结构，简化操作。此外，相比于电动或手动控制导管部件的弯曲，操作更为简单和方便，进一步减少手术时间，而且还可减小手柄体积，并便于适应更大的受力工况，适应性更强。
进一步的，所述控弯机构包括丝线51、丝线固定件52和丝杆55，丝线51的远端与导管部件的远端固定，例如与内管组件或外管组件固定，丝线51的近端与丝线固定件52远端相连，丝线固定件52的近端与丝杆55固定连接，丝杆55贯穿控弯腔室(未标注)，丝杆55在轴向上的前后移动带动了丝线51的前后移动，进而实现了控弯，也即控弯腔室控制丝线51的松紧，进而实现对输送组件1的控制，实现输送组件的远端的控弯。请参考图11b，输送组件的导管部件的远端在丝线51的拉动下弯曲，如此设置，相比于其他控弯方式，结构更为简单，控制更为方便。
同理，在手柄部件的外壳上还设置一对导管接头，如导管接头53和54，分别用于与控弯腔室的释放腔和闭合腔相连接。优选地，控弯腔室的远端和近端设有密封圈，且更优选控弯腔室中的移动件上也设有密封圈。
综上，本发明提供的输送系统可适配多种医疗植入体，尤其是当输送组件中设置有多个液压腔室时，通过换向控制模块实现了液压腔室之间的切换，实现了仅用一个驱动组件实现了对所有液压腔室的控制，精简了驱动部分的结构，更适于本发明输送系统的推广与应用。而且针对多个液压腔室的输送系统，进一步利用电磁换向阀实现不同通道组的转化，实现不同液压腔室之间的切换，结构更加精简，更有利于调控，操作更方便。总体上，本发明提供的输送系统的结构稳定，传动效率高，易用性强，而且可适配多种规格的输送系统，通过替换不同的执行元件实现降低单台手术成本的目的。
另应知晓，本发明优选实施例如上所述，但不限于上述优选实施例所公开的范围，例如本发明对于电机驱动活塞移动的实施方式不作特别的限定，只要能够通过电机输出的动力来最终实现活塞的往复移动即可。
本说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。上述描述仅是对本发明较佳实施例的描述，并非对本发明范围的任何限定，本发明领域的普通技术人员根据上述揭示内容做的任何变更、修饰，均属于本发明的保护范围。

Claims (17)

  1. 一种医疗植入体的输送系统，其特征在于，包括相连接的输送组件和驱动组件；所述驱动组件包括相连接的电机组件和液压组件；
    所述输送组件包括导管部件和压力部件；所述导管部件包括固定管和移动管；所述固定管和所述移动管能够相对活动；
    所述压力部件包括液压腔室和移动件；所述移动件可移动地设置在所述液压腔室内；所述移动管与所述移动件连接；所述电机组件用于驱动所述液压组件向所述液压腔室输送介质，以驱动所述移动件和所述移动管相对于所述固定管移动。
  2. 根据权利要求1所述的医疗植入体的输送系统，其特征在于，所述移动件将所述液压腔室分隔成轴向排布的释放腔和闭合腔；
    当所述液压组件向所述释放腔输送介质时，所述移动件和所述移动管相对于所述固定管向第一方向移动；
    当所述液压组件向所述闭合腔输送介质时，所述移动件和所述移动管相对于所述固定管向第二方向移动，所述第一方向与所述第二方向相反。
  3. 根据权利要求1或2所述的医疗植入体的输送系统，其特征在于，所述导管部件包括外管组件和内管组件，所述外管组件设置在所述内管组件的外部，并能够相对活动；
    所述外管组件和所述内管组件中的一者被配置为固定管，另一者被配置为移动管，或者，所述外管组件和所述内管组件中的任一者能够在固定管和移动管之间切换。
  4. 根据权利要求3所述的医疗植入体的输送系统，其特征在于，当所述外管组件和所述内管组件中的一者被配置为固定管，另一者被配置为移动管时，所述液压腔室的数量为一个，一个所述液压腔室内设置一个所述移动件，一个所述移动件用于驱使所述外管组件或所述内管组件移动；
    当所述外管组件和所述内管组件中的任一者能够在固定管和移动管之间切换时，所述液压腔室的数量为两个，每个所述液压腔室内设置一个所述移动件，其中一个所述液压腔室中的移动件用于驱使所述外管组件移动，另一个所述液压腔室中的移动件用于驱使所述内管组件移动。
  5. 根据权利要求4所述的医疗植入体的输送系统，其特征在于，当所述液压腔室的数量为一个以及所述内管组件被配置为移动管时：
    所述内管组件包括锥形头、鞘管和内管；所述锥形头分别与所述鞘管和所述内管固定连接；所述外管组件包括从远端至近端轴向依次连接的固定头、连接管和外管；所述移动件与所述内管固定连接；所述内管可活动地依次穿 过所述固定头、所述连接管和所述外管；或者，
    当所述液压腔室的数量为一个以及所述外管组件被配置为移动管时：
    所述外管组件包括相连接的鞘管和输送外管；所述内管组件包括锥形头、远端内管、固定头和近端内管；所述锥形头的近端与所述远端内管的远端连接，所述远端内管的近端与所述固定头连接，所述固定头固定设置在所述近端内管的远端；所述移动件与所述输送外管连接。
  6. 根据权利要求3所述的医疗植入体的输送系统，其特征在于，所述输送组件还包括手柄部件，所述手柄部件设置在所述导管部件的近端；
    当所述外管组件被配置为移动管时，所述液压腔室包括第一液压腔室，所述第一液压腔室用于接收介质以驱使所述外管组件移动，且所述第一液压腔室连接一对导管接头，一对所述导管接头可活动地设置在所述手柄部件上，且所述手柄部件上设置有导向槽，一对所述导管接头用于在所述导向槽内移动。
  7. 根据权利要求1或2所述的医疗植入体的输送系统，其特征在于，所述驱动组件还包括控制箱，所述电机组件和所述液压组件均设置在所述控制箱内；所述控制箱上设置有一对导管接口，所述一对导管接口与所述液压组件连接；所述一对导管接口还通过介质输送导管与所述液压腔室连接；
    所述控制箱上还设置人机交互界面；所述人机交互界面用于输入信息，所述信息包括所述移动管的移动速度、移动行程和介质压力中的至少一种。
  8. 根据权利要求1或2所述的医疗植入体的输送系统，其特征在于，所述移动管的数量为一个或多个；
    当所述移动管的数量为一个时，所述液压腔室的数量也为一个，一个所述液压腔室内设置一个所述移动件，以驱使一个所述移动管移动；
    当所述移动管的数量为多个时，所述液压腔室的数量也为多个，每个所述液压腔室内设置一个所述移动件，每个液压腔室中的移动件用于驱动对应的一个移动管移动，且所述液压组件用于选择性地向多个所述液压腔室中的一个输送介质。
  9. 根据权利要求1或2所述的医疗植入体的输送系统，其特征在于，所述液压腔室的数量为多个，所述电机组件和所述液压组件的数量均为一个；
    所述驱动组件还包括换向控制模块，所述换向控制模块分别与所述液压组件和所述输送组件连接，所述换向控制模块用于使所述液压组件选择性地与多个所述液压腔室中的一个连接，以使所述液压组件选择性地向多个所述液压腔室中的一个输送介质。
  10. 根据权利要求9所述的医疗植入体的输送系统，其特征在于，所述换向控制模块包括电磁换向阀；所述电磁换向阀包括多个阀门组和两个连接 口；两个所述连接口连接所述液压组件；多个所述阀门组连接所述输送组件，每个所述阀门组包括两个阀门；每个所述阀门组用于控制对应的一个液压腔室与所述液压组件的连接；当两个所述连接口与多个所述阀门组中的一个连通时，对应的一个液压腔室与所述液压组件连接。
  11. 根据权利要求9所述的医疗植入体的输送系统，其特征在于，所述液压腔室的数量为两个，分别为第一液压腔室和第二液压腔室；
    所述导管部件包括外管组件、中间管和内管组件，所述外管组件设置在所述内管组件和所述中间管的外部；所述外管组件和所述内管组件能够相对于所述中间管活动；所述中间管设置在所述输送段外管内，并位于所述输送段外管和所述内管之间；所述外管组件和所述内管组件中的一个被选择地配置为移动管；
    所述外管组件包括近端鞘管和输送段外管；所述输送段外管的远端与所述近端鞘管的近端固定连接；
    所述内管组件包括锥形头、远端鞘管和内管，所述内管的远端与所述锥形头连接，所述远端鞘管的远端与所述锥形头的近端固定连接；
    其中所述第二液压腔室内设置第二移动件，所述第二移动件与所述内管连接，以驱使所述内管移动；所述第一液压腔室内设置第一移动件，所述第一移动件与所述输送段外管连接，以驱使所述输送段外管移动。
  12. 根据权利要求1或2所述的医疗植入体的输送系统，其特征在于，所述液压腔室的近端设有第一密封圈，所述液压腔室的远端设有第二密封圈，所述移动件上设有第三密封圈。
  13. 根据权利要求1和2所述的医疗植入体的输送系统，其特征在于，所述输送组件还包括控弯部件，所述控弯部件包括控弯腔室和控弯机构，所述控弯机构用于控制所述导管部件弯曲，所述控弯腔室用于通过液压驱动所述控弯机构运动以调节所述导管部件的弯曲状态。
  14. 根据权利要求1或2所述的医疗植入体的输送系统，其特征在于，所述输送系统还包括与所述电机组件通信连接的控制组件；所述电机组件用于在所述控制组件的控制下驱动所述液压组件向所述液压腔室输送介质；所述控制组件分别与所述输送组件以及所述驱动组件分开布置。
  15. 根据权利要求14所述的医疗植入体的输送系统，其特征在于，所述控制组件包括控制按钮和通信接口；所述通信接口用于与所述电机组件有线或无线通信；所述控制按钮用于产生控制信号；所述电机组件用于根据所述控制信号驱动所述液压组件选择性地向所述液压腔室的释放腔和闭合腔中的一个输送介质。
  16. 根据权利要求1或2所述的医疗植入体的输送系统，其特征在于， 所述驱动组件与所述输送组件分开布置。
  17. 根据权利要求1或2所述的医疗植入体的输送系统，其特征在于，所述液压腔室设置在所述导管部件内并沿着所述导管部件的轴线延伸至远端，或者，所述液压腔室设置在手柄部件内，所述手柄部件设置在所述导管部件的近端。
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