WO2023093578A1 - 医用管丝输送机构和管腔介入系统 - Google Patents

医用管丝输送机构和管腔介入系统 Download PDF

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Publication number
WO2023093578A1
WO2023093578A1 PCT/CN2022/132066 CN2022132066W WO2023093578A1 WO 2023093578 A1 WO2023093578 A1 WO 2023093578A1 CN 2022132066 W CN2022132066 W CN 2022132066W WO 2023093578 A1 WO2023093578 A1 WO 2023093578A1
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WO
WIPO (PCT)
Prior art keywords
wire
tubing
base
delivery mechanism
tube
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Application number
PCT/CN2022/132066
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English (en)
French (fr)
Inventor
周海燕
邵萌
赵磊
黄海云
Original Assignee
生一科技(北京)有限公司
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Application filed by 生一科技(北京)有限公司 filed Critical 生一科技(北京)有限公司
Priority to EP22897661.9A priority Critical patent/EP4424351A1/en
Publication of WO2023093578A1 publication Critical patent/WO2023093578A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0113—Mechanical advancing means, e.g. catheter dispensers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/09—Guide wires
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/09—Guide wires
    • A61M25/09041—Mechanisms for insertion of guide wires

Definitions

  • the present application belongs to the technical field of interventional therapy, and in particular relates to a medical tubing delivery mechanism and a lumen interventional system.
  • Intervention therapy is an emerging treatment method between surgery and internal medicine. It has the characteristics of less trauma, simplicity, safety, effectiveness, fewer complications and significantly shortened hospitalization time. It has attracted more and more attention from doctors and patients. Interventional therapy is to make a small channel with a diameter of a few millimeters on the blood vessel or skin without exposing the lesion by surgery, or through the original pipeline of the human body, in the imaging equipment (angiography machine, fluoroscopy machine, CT, MR, B-ultrasound) The minimally invasive treatment method that treats the lesion locally under the guidance of the patient.
  • the guide wire catheter In interventional therapy, it is necessary to drive the guide wire catheter to move to the lesion for treatment, so the guide wire and catheter have a certain length.
  • the guide wire catheter As the distal end of the guide wire catheter moves, the proximal end of the guide wire catheter Adaptive position adjustment is required at the end, which increases the difficulty of system manipulation.
  • the present application provides a medical tube wire delivery mechanism and a lumen interventional system, which are simple in structure, highly integrated and easy to operate.
  • a medical tubing delivery mechanism includes:
  • Tubing including the proximal end of the tubing and the distal end of the tubing;
  • the tube wire fixing seat is used to drive the proximal end of the tube wire to rotate and is fixedly installed on the base; and the tube wire driving wheel is used to drive the distal end of the tube wire to move and is fixedly installed on the base ;
  • the tube wire is configured to be in a loose state between the tube wire fixing seat and the tube wire driving wheel.
  • the medical tubing delivery mechanism further includes a guiding structure fixedly installed on the base, and the tubing protrudes from the tubing fixing seat and wraps around the plate surface of the guiding structure Extends to the tubing wire drive wheel.
  • the tubing wire fixing seat and the tubing wire driving wheel are located on the same side of the guiding structure.
  • the tube wire fixing seat is spaced apart from the tube wire driving wheel and arranged vertically, or, on the base, the tube wire fixing seat is connected to the tube wire driving wheel
  • the wire driving wheels are spaced apart and arranged in parallel.
  • the guide structure is in the shape of an opening and includes a bottom plate protruding from the base for supporting the tube wire and two limiting plates arranged at intervals on the bottom plate, the The limit plate is used to limit the moving range of the tube wire in the plate width direction of the bottom plate.
  • the top surface of the bottom plate is formed with a planar guide portion for coiling the tube filament; or, the top surface of the bottom plate is formed with a convex guide portion for coiling the tube filament.
  • the guide structure is a sleeve member and includes a guide housing and a limiting accommodating space defined around the guide housing for accommodating the tubing wire.
  • the tubing holder includes:
  • a rotary drive motor for driving the tubing to rotate and mounted on the base
  • a tube wire clip used for clamping and fixing the proximal end of the tube wire and rotatably mounted on the base;
  • the rotation driving motor is connected with the pipe wire clamp through transmission.
  • the tubing wire driving wheel includes a tubing wire driving wheel and an idler wheel for outputting rotational driving force, and the tubing wire is sandwiched between the tubing wire driving wheel and the idler wheel.
  • the present application also provides a lumen interventional system
  • the lumen interventional system includes the above-mentioned medical tubing delivery mechanism.
  • the medical tubing delivery mechanism adopts a matching structure of a tubing fixing seat, a tubing driving wheel and a guiding structure, and the tubing fixing seat and the tubing driving wheel are on the base
  • the seat is fixedly arranged at intervals, so that it can not only ensure the integration of each component, but also ensure that the tube wire always has a certain degree of slack, and there is no need to adjust the position of the proximal end of the tube wire according to the movement of the distal end of the tube wire, which improves the operation efficiency.
  • the tubing wire can be supported by the guiding structure to ensure that the tubing wire is always attached to the guiding structure, and the bending angle of the tubing wire is adjusted, so that the tubing wire maintains a certain radian to ensure the orderly movement of the tubing wire.
  • FIG. 1 is a schematic structural view of a medical tubing delivery mechanism according to a specific embodiment of the present application
  • Fig. 2 is another structural schematic diagram of a medical tubing delivery mechanism according to a specific embodiment of the present application
  • Fig. 3 is a structural diagram under different viewing angles of Fig. 2, showing the substrate and the guiding structure;
  • Fig. 4 is a partial structural schematic diagram of Fig. 2, showing the guide structure and the tubing;
  • Fig. 5 is a schematic diagram of the structure under different viewing angles in Fig. 4, showing the guiding structure and the tubing;
  • Fig. 6 is another structural schematic diagram of the guiding structure of the medical tubing delivery mechanism according to the specific embodiment of the present application.
  • orientation words such as “up, down, top, bottom” generally refers to the direction shown in the drawings or refers to the vertical, perpendicular or gravitational direction.
  • orientation words such as “up, down, top, bottom” generally refers to the direction shown in the drawings or refers to the vertical, perpendicular or gravitational direction.
  • a medical tubing delivery mechanism which includes: a base 110, a tubing 3, a tubing fixing seat 200, and a tubing driving wheel 300;
  • a base 110 a tubing 3
  • a tubing fixing seat 200 a tubing fixing seat 200
  • a tubing driving wheel 300 a tubing driving wheel 300
  • the base 110 in the medical tube wire delivery mechanism, the base 110 is used as the installation body for the installation and fixing of other components, so that other components in the medical tube wire delivery mechanism are integrated on the base 110 to improve the medical tube wire delivery mechanism. Integration of wire conveying mechanism;
  • the tube filament 3 includes a tube filament proximal end 31 and a tube filament distal end 32.
  • the tube filament proximal end 31 and the tube filament distal end 32 are respectively located at the two ends of the tube filament 3.
  • the tube filament distal end 32 can move to the lesion and treat the lesion appropriate treatment;
  • the tube wire fixing seat 200 is used to drive the proximal end 31 of the tube wire to rotate and is fixedly installed on the base 110.
  • the tube wire fixing seat 200 can drive the proximal end 31 of the tube wire to rotate to drive the distal end 32 of the tube wire to adjust the direction;
  • the tubing wire driving wheel 300 is used to drive the distal end 32 of the tubing wire to move and is fixedly installed on the base 110.
  • the tubing wire driving wheel 300 can drive the distal end 32 of the tubing wire to move to the lesion;
  • the tube wire 3 is configured to be in a relaxed state between the tube wire fixing seat 200 and the tube wire driving wheel 300. It should be noted that, for the relaxed state, it can be understood that the distance between the tube wire distal end 32 and the tube wire proximal end 31 There is no tight state between them, and the tube filament 3 is not subjected to pulling force along the length direction of the tube filament 3 .
  • the tube wire fixing seat 200 and the tube wire driving wheel 300 are fixedly arranged at intervals on the base 110.
  • the tube wire 3 can always have a certain degree of slack, and there is no need to adjust the tube wire
  • the movement of the distal end 32 adjusts the position of the proximal end 31 of the tube wire, which improves the convenience of operation.
  • the base 110 can be a flat structure, wherein each element of the medical tubing delivery mechanism can be installed on multiple surfaces of the base 110, and can be installed on one surface of the base 110, thus reducing
  • the processing and material cost of the base 110 reduces the weight of the medical tubing conveying mechanism and facilitates the operation of medical personnel.
  • the shape of the base 110 can be varied, and can be a rectangular plate for easy processing, an L-shaped plate for easy grasping or other irregular shapes, which are not specifically limited here.
  • the tube wire 3 is a conventional tube wire of the prior art in the art, wherein , the tube filament 3 may be one or more of the above tube filaments, which are not specifically limited here.
  • the tubing wire fixing seat 200 may include a driving element installed on the base 110 and a fixing element mounted on the driving element capable of fixing the tubing wire 3, so that when the driving element rotates, the fixing element drives The tube wire 3 rotates, thereby adjusting the direction of movement of the tube wire distal end 32 .
  • the tube wire fixing seat 200 is not limited thereto, as long as the proximal end 31 of the tube wire can be fixed and driven to rotate.
  • the tubing wire driving wheel 300 may include a driving element installed on the base 110 and a tubing wire pushing wheel set capable of pushing the tubing wire 3 to move.
  • the tube wire 3 can be sandwiched in the tube wire pushing wheel set, and when the driving element rotates, it can drive the tube wire pushing wheel set to rotate, and now the tube wire 3 at the junction with the tube wire pushing wheel set can push the wheel along the tube wire
  • the rotation direction of the group moves, and in this way, the adjustment of the position movement of the distal end 32 of the tube wire is realized.
  • the two can be arranged at intervals on the base 110, wherein the tubing wire fixing seat 200 and the tubing wire driving wheel 300 can be arranged in parallel, or Form a certain angle, like this, can ensure that the tube wire 3 passing through the tube wire fixing seat 200 and the tube wire driving wheel 300 forms a curved section structure, so as to ensure that the tube wire 3 remains in a loose state all the time.
  • the distal end 32 of the tubular wire can be driven to adjust the position without moving the proximal end 31 of the tubular filament, and the operation is simple and the integration degree is high.
  • the medical tubing wire delivery mechanism also includes a guide structure 400 fixedly installed on the base 110, and the tubing wire 3 protrudes from the tubing wire fixing seat 200 and wraps around The plate surface of the guiding structure 400 extends to the tubing wire driving wheel 300, as shown in FIGS. 1 and 2 .
  • the guiding structure 400 is located between the tube wire fixing seat 200 and the tube wire driving wheel 300, which can support the tube wire 3, ensure that the tube wire 3 is always attached to the guiding structure 400, and adjust the tube wire 3, so that the pipe wire 3 maintains a certain arc, that is, in a relaxed state, so as to ensure the orderly movement of the pipe wire 3.
  • the tubing wire fixing seat 200 and the tubing wire driving wheel 300 are located on the same side of the guiding structure 400 , as shown in FIG. 1 .
  • the guide structure 400 may include multiple surfaces, the pipe wire fixing seat 200, the pipe wire driving wheel 300 guide The same side of the structure 400, without being separated by the guide structure 400, so that the curved arrangement of the tube filament can be realized.
  • the guide structure 400 includes a left end face of the board, a right end face of the board, an upper end face of the board and a lower end face of the board. As shown in FIG.
  • the tubing wire fixing seat 200 and the tubing wire driving wheel 300 are spaced and vertically arranged, as shown in Fig. 2, in this way, the tube wire 3 is U-shaped with an outer opening at the end, so that the tube wire 3 is always attached to the guide structure 400 along the inner contour of the guide structure 400 .
  • the tubing wire fixing seat 200 and the tubing wire driving wheel 300 are spaced apart and arranged in parallel, as shown in FIG. 1 .
  • the tube wire is U-shaped, further improving the integration of the medical tube wire delivery mechanism, and ensuring that the tube wire 3 is always attached to the guide structure 400 .
  • the guide structure 400 is open and includes a bottom plate 41 protruding from the base 110 for supporting the tubing wire 3 and two spacers on the bottom plate 41.
  • the position plate 42 and the limit plate 42 are used to limit the moving range of the tube wire 3 in the plate width direction of the bottom plate 41 .
  • the tube wire 3 on the guide structure 400 includes two straight sections fitted with the limiting plate 42 and a natural arc connected between the two straight sections Shaped segment, the spacing between two straight segments can be adjusted and limited by the limiting plate 42, so that the integration of the tube filament 3 is improved to ensure the orderly movement of the tube filament 3.
  • the bottom plate 41 can be directly attached to the base 110, or can be installed on the base 110 through the mounting block, so that the bottom plate 41 can be adjusted by the mounting block.
  • the function of the height of the tube wire supporting surface can also adjust the deflection angle of the tube wire supporting surface relative to the base 110 .
  • the tubing wire supporting surface can be presented from the output end of the tubing wire fixing seat 200 to the tubing wire driving wheel 300 through the installation block. The input end gradually transitions to an inclined state, thus ensuring the natural transition of the tube wire 3 .
  • the surface of the bottom plate 41 for supporting the tube wire 3 is designed.
  • the top surface of the bottom plate 41 is formed with a planar guide portion for coiling the tube wire 3, as shown in FIG. 5 , it can be understood that That is, the bottom plate 41 includes a top surface for supporting the tubing wire 3 , and the top surface can be a flat surface, so that the tubing wire 3 can always move smoothly and ensure the orderly movement of the tubing wire 3 .
  • the top surface of the bottom plate 41 is formed with a convex guiding portion for coiling the tubing 3 , which is not shown in the figure. It can be understood that the top surface can be raised in the length direction, and when the length of the bottom plate 41 is constant, the area of the top surface can be increased, so that it is convenient to support longer tubing wires 3 and facilitate the delivery of medical tubing wires. integrated layout.
  • the guide structure 400 is a sleeve member and includes a guide housing and a limit accommodation space defined around the guide housing for accommodating the tubing, as shown in FIG. 6 Show.
  • the tube wire supporting surface of the guide structure 400 is concave, and the cap defines accommodating space which can well restrict the tube wire 3 and prevent the tube wire 3 from falling off from the guide housing.
  • the tubing wire fixing seat 200 includes: a rotation driving motor 210 for driving the tubing wire 3 to rotate and be installed on the base 110;
  • the wire clamp 220 is used for clamping and fixing the proximal end 31 of the tube wire and is rotatably mounted on the base 110 ; wherein, the rotation driving motor 210 is connected with the tube wire clamp 220 through transmission.
  • the base 110 may include a front and a back, wherein a rotary drive motor 210 may be mounted on the back of the base 110 and protrude from the front of the base 110, and the pipe clamp 220 is positioned on the base.
  • a support seat of a pipe wire clamp 220 can be installed on the base 110, the pipe wire clamp 220 can rotate on the support seat, and the pipe wire clamp 220 can be driven to rotate by the rotating drive motor 210, thereby driving the pipe wire 3 to rotate, Steering movement of the distal end 32 of the tubing is effected.
  • the rotary drive motor 210 may be a commercially available small or micro drive motor, which is not specifically limited here.
  • the tubing wire driving wheel 300 includes a tubing wire driving wheel 310 and an idler wheel 320 for outputting rotational driving force, and the tubing wire 3 is sandwiched between the tubing wire driving wheel 310 and the idler wheel 310. between 320 rounds.
  • the tubing driving wheel 310 of the tubing driving wheel 300 can actively rotate, and drives the tubing 3 to move and the idler 320 to rotate, so that the tubing 3 can be stably driven forward or backward.
  • the present application also provides a lumen interventional system, which includes the above-mentioned medical tubing wire delivery mechanism, wherein the proximal end 31 of the tubing wire 3 is fixed on the tubing wire clip 220, and the distal end 32 of the tubing wire It can be sandwiched between the tube wire driving wheel 310 and the idler wheel 320, the tube wire 3 is driven to move by the tube wire driving wheel 300, and the tube wire 3 is driven to rotate by the tube wire fixing seat 200 to adjust the deflection angle of the tube wire distal end 32 , so that the distal end 32 of the tube wire can reach the lesion for treatment.
  • a lumen interventional system which includes the above-mentioned medical tubing wire delivery mechanism, wherein the proximal end 31 of the tubing wire 3 is fixed on the tubing wire clip 220, and the distal end 32 of the tubing wire It can be sandwiched between the tube wire driving wheel 310 and the idler wheel 320, the tube wire 3 is driven to move by the tube wire driving wheel

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Abstract

一种医用管丝输送机构和管腔介入系统，医用管丝输送机构包括：基座(110)；管丝(3)，包括管丝近端(31)以及管丝远端(32)；管丝固定座(200)，用于驱动管丝近端(31)旋转并固定安装于基座(110)上；和管丝驱动轮(300)，用于驱动管丝远端(32)移动并固定安装于基座(110)上；管丝(3)配置为在管丝固定座(200)和管丝驱动轮(300)之间呈松弛状态。管丝固定座(200)与管丝驱动轮(300)在基座(110)上间隔固定布置，既能够保证各元件的集成度，又能够保证管丝(3)始终具有一定的松弛度，且无需根据管丝远端(32)的移动而调节管丝近端(31)的位置，提高操作的便利性。

Description

医用管丝输送机构和管腔介入系统
本申请要求于2021年11月23日提交中国专利局、申请号为202122888450.7、实用新型名称为“医用管丝输送机构和管腔介入系统”的中国专利申请的优先权，其全部内容通过引用结合在申请中。
技术领域
本申请属于介入治疗技术领域，具体地，涉及一种医用管丝输送机构和管腔介入系统。
背景技术
介入治疗是介于外科、内科治疗之间的新兴治疗方法，具有创伤小、简便、安全、有效、并发症少和明显缩短住院时间的特点，受到越来越多医生和患者的关注。介入治疗就是不开刀暴露病灶的情况下，在血管、皮肤上作直径几毫米的微小通道，或经人体原有的管道，在影像设备(血管造影机、透视机、CT、MR、B超)的引导下对病灶局部进行治疗的创伤最小的治疗方法。
介入治疗中需要驱动导丝导管移动至病灶处进行治疗，因此导丝和导管具有一定的长度，在导丝导管的驱动过程中，随着导丝导管的远端的移动，导丝导管的近端需要进行适配性位置调整，增加了系统操控的难度。
技术解决方案
针对现有技术的上述缺陷或不足，本申请提供了医用管丝输送机构和管腔介入系统，结构简单，集成度高且操作便利。
为实现上述目的，根据本申请的一个方面，提供了一种医用管丝输送机构，所述医用管丝输送机构包括：
基座；
管丝，包括管丝近端以及管丝远端；
管丝固定座，用于驱动所述管丝近端旋转并固定安装于所述基座上；和管丝驱动轮，用于驱动所述管丝远端移动并固定安装于所述基座上；
其中，所述管丝配置为在所述管丝固定座和所述管丝驱动轮之间呈松弛 状态。
在一些实施例中，所述医用管丝输送机构还包括固定安装于所述基座上的导向结构，所述管丝从所述管丝固定座上伸出并绕所述导向结构的板面延伸至所述管丝驱动轮。
在一些实施例中，在所述基座上，所述管丝固定座与所述管丝驱动轮位于所述导向结构的同一侧。
在一些实施例中，在所述基座上，所述管丝固定座与所述管丝驱动轮间隔且垂直布置，或，在所述基座上，所述管丝固定座与所述管丝驱动轮间隔且平行布置。
在一些实施例中，所述导向结构呈开口状并包括用于承托所述管丝的从所述基座上伸出的底板和间隔布置所述底板上的两个限位板，所述限位板用于限制所述管丝在所述底板的板宽方向的移动范围。
在一些实施例中，所述底板的顶面形成有用于盘绕所述管丝的平面导向部；或，所述底板的顶面形成有用于盘绕所述管丝的凸面导向部。
在一些实施例中，所述导向结构为套筒件并包括导向壳体以及所述导向壳体围绕限定的用于容置所述管丝的限位容置空间。
在一些实施例中，所述管丝固定座包括：
旋转驱动电机，用于驱动所述管丝旋转并安装于所述基座上；和
管丝夹，用于夹持固定所述管丝近端并可旋转地安装于所述基座上；
其中，所述旋转驱动电机与所述管丝夹传动相连。
在一些实施例中，所述管丝驱动轮包括用于输出旋转驱动力的管丝驱动轮和惰轮，所述管丝夹设于所述管丝驱动轮和所述惰轮之间。
此外，本申请还提供了一种管腔介入系统，所述管腔介入系统包括上述的医用管丝输送机构。
有益效果
在本申请的医用管丝输送机构和管腔介入系统，该医用管丝输送机构，采用管丝固定座、管丝驱动轮和导向结构的配合结构，管丝固定座与管丝驱动轮在基座上间隔固定布置，这样，既能够保证各元件的集成度，又能够保证管丝始终具有一定的松弛度，且无需根据管丝远端的移动而调节管丝近端的位置，提高操作的便利性。通过导向结构能够承托管丝，保证管丝始终贴 合在导向结构上，且调节管丝的弯转角度，这样，使得管丝保持一定的弧度，以保证管丝的有序移动。
附图说明
附图是用来提供对本申请的理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本申请，但并不构成对本申请的限制。在附图中：
图1为根据本申请的具体实施方式的医用管丝输送机构的一种结构示意图；
图2为根据本申请的具体实施方式的医用管丝输送机构的另一种结构示意图；
图3为图2的不同视角下的结构图，展示了基板和导向结构；
图4为图2的局部结构示意图，展示了导向结构和管丝；
图5为图4不同视角下的结构的示意图，展示了导向结构和管丝；以及
图6为根据本申请的具体实施方式的医用管丝输送机构的导向结构的另一种结构示意图。
附图标记说明
110 基座 3 管丝
31 管丝近端 32 管丝远端
200 管丝固定座 300 管丝驱动轮
400 导向结构    
41 底板 42 限位板
1 支撑块    
101 支撑块底面 102 支撑块顶面
210 旋转驱动电机 220 管丝夹
310 管丝主动轮 320 惰轮
具体实施方式
以下结合附图对本申请的具体实施方式进行详细说明。应当理解的是，此处所描述的具体实施方式仅用于说明和解释本申请，并不用于限制本申请。
需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。
在本申请中，在未作相反说明的情况下，使用的方位词如“上、下、顶、底”通常是针对附图所示的方向而言的或者是针对竖直、垂直或重力方向上而言的各部件相互位置关系描述用词。
介入治疗中需要驱动导丝导管移动至病灶处进行治疗，因此导丝和导管具有一定的长度，在导丝导管的驱动过程中，随着导丝导管的远端的移动，导丝导管的近端需要进行适配性位置调整，增加了系统操控的难度。因此，如何解决系统操作的便利性是值得研究的问题。以下将详细阐述该医用管丝输送机构和管腔介入系统的具体结构和功能。
参考图1至图6所示，本申请公开了一种医用管丝输送机构，医用管丝输送机构包括：基座110、管丝3、管丝固定座200和管丝驱动轮300；需要说明的是对于各种医用的导丝或导管，以下统称为管丝。
具体地，基座110，在医用管丝输送机构中，基座110作为安装主体，用于其他元件的安装固定，使得医用管丝输送机构中其他元件集成在基座110上，以提高医用管丝输送机构的集成度；
管丝3，包括管丝近端31以及管丝远端32，管丝近端31和管丝远端32分别位于管丝3的两端，管丝远端32能够移动至病灶部并对病灶部进行相应的治疗；
管丝固定座200，用于驱动管丝近端31旋转并固定安装于基座110上，通过管丝固定座200能够驱动管丝近端31旋转以带动管丝远端32进行方向调节；和
管丝驱动轮300，用于驱动管丝远端32移动并固定安装于基座110上，通过管丝驱动轮300能够驱动管丝远端32移动以运动至病灶部；
其中，管丝3配置为在管丝固定座200和管丝驱动轮300之间呈松弛状态，需要说明的是，对于松弛状态，可以理解为，管丝远端32与管丝近端31之间无紧绷状态，管丝3不受沿管丝3长度方向的拉扯力。该管丝固定座200与管丝驱动轮300在基座110上间隔固定布置，这样，既能够保证各元件的集成度，又能够保证管丝3始终具有一定的松弛度，且无需根据管丝远端32的移动而调节管丝近端31的位置，提高操作的便利性。
可选地，对于基座110，可以为平板状结构，其中医用管丝输送机构的各个元件可以安装在基座110的多个面上，可以安装在基座110的一个面上，这样，减少基座110加工及用料成本，减轻医用管丝输送机构的自重，方便医务人操作。该基座110的形状可以多种多样，可以为方便加工的矩形板、方便抓 握的L形板或者其他不规则形状，在此不做具体限定。
可选地，对于管丝3，在介入手术中可以用到导丝、导管、微导丝、微导管或球囊导管等等，管丝3均为本领域现有技术的常规管丝，其中，该管丝3可以为上述管丝中的一种或多种，在此不做具体限定。
可选地，对于管丝固定座200，可以包括安装在基座110上的驱动元件以及安装在驱动元件上的能够固定管丝3的固定元件，这样，当驱动元件转动时，通过固定元件带动管丝3旋转，由此调节管丝远端32的运动方向。当然对于管丝固定座200也不限于此，只要能够固定管丝近端31并带动起旋转即可。
可选地，对于管丝驱动轮300，可以包括安装在基座110上的驱动元件以及能够推动管丝3移动的管丝推动轮组。管丝3可以夹设在管丝推动轮组内，当驱动元件转动时，可以带动管丝推动轮组转动，此时与管丝推动轮组相接处的管丝3能够沿管丝推动轮组的旋转方向移动，这样，实现管丝远端32的位置移动调节。
可选地，对于管丝固定座200与管丝驱动轮300的安装位置，二者可以间隔布置于基座110上，其中，管丝固定座200与管丝驱动轮300可以平行设置，也可以形成一定的夹角，这样，能够保证途径管丝固定座200与管丝驱动轮300的管丝3形成一个弯曲段结构，以保证管丝3始终保持松弛状态。且无需移动管丝近端31即可驱动管丝远端32进行位置调节，操作简便，且集成度高。
对于医用管丝输送机构的具体结构，在一种实施例中，医用管丝输送机构还包括固定安装于基座110上的导向结构400，管丝3从管丝固定座200上伸出并绕导向结构400的板面延伸至管丝驱动轮300，如图1和图2所示。在管丝3的运动方向上，导向结构400位于管丝固定座200和管丝驱动轮300之间，能够承托管丝3，保证管丝3始终贴合在导向结构400上，且调节管丝3的弯转角度，这样，使得管丝3保持一定的弧度，即呈松弛状态，以保证管丝3的有序移动。
进一步地，在一种实施例中，在基座110上，管丝固定座200与管丝驱动轮300位于导向结构400的同一侧，如图1所示。可以理解为，管丝固定座200、管丝驱动轮300和导向结构400都是安装在基座110上，导向结构400可以包括多个面，管丝固定座200、管丝驱动轮300在导向结构400的同一侧，而没有被导向结构400分隔开，这样，能够实现管丝的弯曲布置。例如，导向结构400包括板左端面、板右端面、板上端面和板下端面，如图1所示，该管丝固定座200和管丝驱动轮300均位于板左端面的左侧。
进一步地，对于管丝固定座200与管丝驱动轮300的位置关系，在一种实施例中，在基座110上，管丝固定座200与管丝驱动轮300间隔且垂直布置，如图2所示，这样，使得管丝3呈端部外开口的U形状，保证管丝3始终沿导向结构400的内轮廓贴合导向结构400。
在另外一种实施例中，在基座110上，管丝固定座200与管丝驱动轮300间隔且平行布置，如图1所示。这样，使得管丝呈U形状，进一步提高医用管丝输送机构的集成度，且保证管丝3始终贴合导向结构400。
对于导向结构400的具体结构，在一种实施例中，导向结构400呈开口状并包括用于承托管丝3的从基座110上伸出的底板41和间隔布置底板41上的两个限位板42，限位板42用于限制管丝3在底板41的板宽方向的移动范围。如图3和图4所示，可以理解为，位于导向结构400上的管丝3包括与限位板42相贴合的两个平直段以及连接在两个平直段之间的自然弧形段，通过限位板42能够调节并限制两个平直段的间距，这样，提高管丝3的集成度，以保证管丝3的有序移动。
此外，对于导向结构与基座110的连接结构，该底板41可以直接贴合在基座110上，也可以通过安装块安装在基座110上，这样，通过安装块既可以起到调节底板41的管丝承托面的高度的作用，又可以调节管丝承托面相对于基座110的偏转角度。例如，在管丝固定座200的输出端与管丝驱动轮300输入端不在同一平面时，通过安装块可以使管丝承托面呈现自管丝固定座200的输出端向管丝驱动轮300输入端逐渐过渡的倾斜状态，这样，保证管丝3的自然过渡。
进一步地，对于底板41的用于承托管丝3的面进行设计，在一种实施例中，底板41的顶面形成有用于盘绕管丝3的平面导向部，如图5所示，可以理解为，底板41包括用于承托管丝3的顶面，该顶面可以为平整面，这样，可以使得管丝3始终平整移动，保证管丝3移动的有序性。
在另一种实施例中，该底板41的顶面形成有用于盘绕管丝3的凸面导向部，图中未显示。可以理解为，该顶面在长度方向上可以为隆起状，对于底板41其长度一定时，可以提高其顶面的面积，这样，方便承托更长的管丝3，便于医用管丝输送机构的集成布置。
此外，对于导向结构400，在一种实施例中，导向结构400为套筒件并包括导向壳体以及导向壳体围绕限定的用于容置管丝的限位容置空间，如图6所 示。此时，导向结构400的管丝承托面呈凹状，盖限定容置空间可以很好的限制管丝3，避免管丝3从导向壳体内脱落。
与此同时，对于医用管丝输送机构的其他部件，在一种实施例中，管丝固定座200包括：旋转驱动电机210，用于驱动管丝3旋转并安装于基座110上；和管丝夹220，用于夹持固定管丝近端31并可旋转地安装于基座110上；其中，旋转驱动电机210与管丝夹220传动相连。如图1和图3所示，该基座110可以包括正面和背面，其中，旋转驱动电机210可以安装在该基座110的背面并伸出基座110的正面，管丝夹220位于基座110的正面，这样，提高各元件安装的集成度，同时避免过多元件集中在基座110的正面，保证管丝3的有序移动。在基座110上可以安装有管丝夹220的支撑座，该管丝夹220能够在支撑座上进行自转，通过旋转驱动电机210可以带动管丝夹220旋转，由此带动管丝3旋转，实现管丝远端32的转向移动。需要说明的是对于旋转驱动电机210可以为市售的小型或微型驱动电机，在此不做具体限定。
对于管丝驱动轮300，在一种实施例中，管丝驱动轮300包括用于输出旋转驱动力的管丝主动轮310和惰轮320，管丝3夹设于管丝主动轮310和惰轮320之间。如图2所示，该管丝驱动轮300的管丝主动轮310能够主动旋转，并带动管丝3移动和惰轮320旋转，这样，能够稳定驱动管丝3前进或后退。
此外，本申请还提供了一种管腔介入系统，管腔介入系统包括上述的医用管丝输送机构，其中管丝3的管丝近端31固定在管丝夹220上，管丝远端32可以夹设在管丝主动轮310和惰轮320之间，通过管丝驱动轮300带动管丝3移动，并通过管丝固定座200带动管丝3转动以调节管丝远端32的偏转角度，使得管丝远端32能够到达病灶进行治疗。
需要特别说明的是，根据本申请实施例中的医用管丝输送机构和管腔介入系统的其它构成以及作用对于本领域的普通技术人员而言都是已知的，为了减少冗余，此处不做赘述。
以上结合附图详细描述了本申请的优选实施方式，但是，本申请并不限于上述实施方式中的具体细节，在本申请的技术构思范围内，可以对本申请的技术方案进行多种简单变型，例如对端板密封层的形状、厚度和材质变化，这些简单变型均属于本申请的保护范围。
另外需要说明的是，在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实 施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。在不矛盾的情况下，可以通过任何合适的方式进行组合，为了避免不必要的重复，本申请对各种可能的组合方式不再另行说明。
此外，本申请的各种不同的实施方式之间也可以进行任意组合，只要其不违背本申请的思想，其同样应当视为本申请所公开的内容。

Claims (18)

  1. 一种医用管丝输送机构，其中，所述医用管丝输送机构包括：
    基座(110)；
    管丝(3)，包括管丝近端(31)以及管丝远端(32)；
    管丝固定座(200)，用于驱动所述管丝近端(31)旋转并固定安装于所述基座(110)上；和
    管丝驱动轮(300)，用于驱动所述管丝远端(32)移动并固定安装于所述基座(110)上；
    其中，所述管丝(3)配置为在所述管丝固定座(200)和所述管丝驱动轮(300)之间呈松弛状态。
  2. 根据权利要求1所述的医用管丝输送机构，其中，所述医用管丝输送机构还包括固定安装于所述基座(110)上的导向结构(400)，所述管丝(3)从所述管丝固定座(200)上伸出并绕所述导向结构(400)的板面延伸至所述管丝驱动轮(300)。
  3. 根据权利要求2所述的医用管丝输送机构，其中，在所述基座(110)上，所述管丝固定座(200)与所述管丝驱动轮(300)位于所述导向结构(400)的同一侧。
  4. 根据权利要求3所述的医用管丝输送机构，其中，在所述基座(110)上，所述管丝固定座(200)与所述管丝驱动轮(300)间隔且垂直布置，或，在所述基座(110)上，所述管丝固定座(200)与所述管丝驱动轮(300)间隔且平行布置。
  5. 根据权利要求2所述的医用管丝输送机构，其中，所述导向结构(400)呈开口状并包括用于承托所述管丝(3)的从所述基座(110)上伸出的底板(41)和间隔布置于所述底板(41)上的两个限位板(42)，所述限位板(42)用于限制所述管丝(3)在所述底板(41)的板宽方向的移动范围。
  6. 根据权利要求5所述的医用管丝输送机构，其中，所述底板(41)的顶面形成有用于盘绕所述管丝(3)的平面导向部；或，所述底板(41)的顶面形成有用于盘绕所述管丝(3)的凸面导向部。
  7. 根据权利要求2所述的医用管丝输送机构，其中，所述导向结构(400)为套筒件并包括导向壳体以及所述导向壳体围绕限定的用于容置所述管丝的限位容置空间。
  8. 根据权利要求1所述的医用管丝输送机构，其中，所述管丝固定座(200)包括：
    旋转驱动电机(210)，用于驱动所述管丝(3)旋转并安装于所述基座(110)上；和
    管丝夹(220)，用于夹持固定所述管丝近端(31)并可旋转地安装于所述基座(110)上；
    其中，所述旋转驱动电机(210)与所述管丝夹(220)传动相连。
  9. 根据权利要求1所述的医用管丝输送机构，其中，所述管丝驱动轮(300)包括用于输出旋转驱动力的管丝驱动轮(310)和惰轮(320)，所述管丝(3)夹设于所述管丝驱动轮(310)和所述惰轮(320)之间。
  10. 一种管腔介入系统，其中，所述管腔介入系统包括医用管丝输送机构，所述医用管丝输送机构包括：
    基座(110)；
    管丝(3)，包括管丝近端(31)以及管丝远端(32)；
    管丝固定座(200)，用于驱动所述管丝近端(31)旋转并固定安装于所述基座(110)上；和
    管丝驱动轮(300)，用于驱动所述管丝远端(32)移动并固定安装于所述基座(110)上；
    其中，所述管丝(3)配置为在所述管丝固定座(200)和所述管丝驱动轮(300)之间呈松弛状态。
  11. 根据权利要求10所述的医用管丝输送机构，其中，所述医用管丝输送机构还包括固定安装于所述基座(110)上的导向结构(400)，所述管丝(3)从所述管丝固定座(200)上伸出并绕所述导向结构(400)的板面延伸至所述管丝驱动轮(300)。
  12. 根据权利要求11所述的医用管丝输送机构，其中，在所述基座(110)上，所述管丝固定座(200)与所述管丝驱动轮(300)位于所述导向结构(400)的同一侧。
  13. 根据权利要求12所述的医用管丝输送机构，其中，在所述基座(110)上，所述管丝固定座(200)与所述管丝驱动轮(300)间隔且垂直布置，或，在所述基座(110)上，所述管丝固定座(200)与所述管丝驱动轮(300)间隔且平行布置。
  14. 根据权利要求11所述的医用管丝输送机构，其中，所述导向结构(400)呈开口状并包括用于承托所述管丝(3)的从所述基座(110)上伸出的底板(41)和间隔布置于所述底板(41)上的两个限位板(42)，所述限位板(42)用于限制所述管丝(3)在所述底板(41)的板宽方向的移动范围。
  15. 根据权利要求14所述的医用管丝输送机构，其中，所述底板(41)的顶面形成有用于盘绕所述管丝(3)的平面导向部；或，所述底板(41)的顶面形成有用于盘绕所述管丝(3)的凸面导向部。
  16. 根据权利要求11所述的医用管丝输送机构，其中，所述导向结构(400)为套筒件并包括导向壳体以及所述导向壳体围绕限定的用于容置所述管丝的限位容置空间。
  17. 根据权利要求10所述的医用管丝输送机构，其中，所述管丝固定座(200)包括：
    旋转驱动电机(210)，用于驱动所述管丝(3)旋转并安装于所述基座(110)上；和
    管丝夹(220)，用于夹持固定所述管丝近端(31)并可旋转地安装于所述基座(110)上；
    其中，所述旋转驱动电机(210)与所述管丝夹(220)传动相连。
  18. 根据权利要求10所述的医用管丝输送机构，其中，所述管丝驱动轮(300)包括用于输出旋转驱动力的管丝驱动轮(310)和惰轮(320)，所述管丝(3)夹设于所述管丝驱动轮(310)和所述惰轮(320)之间。
PCT/CN2022/132066 2021-11-23 2022-11-15 医用管丝输送机构和管腔介入系统 WO2023093578A1 (zh)

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