CN113303872B - High-precision automatic thrombus lifting device - Google Patents
High-precision automatic thrombus lifting device Download PDFInfo
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- CN113303872B CN113303872B CN202010121484.0A CN202010121484A CN113303872B CN 113303872 B CN113303872 B CN 113303872B CN 202010121484 A CN202010121484 A CN 202010121484A CN 113303872 B CN113303872 B CN 113303872B
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- 208000007536 Thrombosis Diseases 0.000 title claims abstract description 115
- 238000005553 drilling Methods 0.000 claims abstract description 93
- 210000004204 blood vessel Anatomy 0.000 claims abstract description 36
- 238000002591 computed tomography Methods 0.000 claims abstract description 6
- 230000008602 contraction Effects 0.000 claims abstract description 4
- 238000000034 method Methods 0.000 claims description 18
- 230000008569 process Effects 0.000 claims description 16
- 239000000463 material Substances 0.000 claims description 9
- 229910001069 Ti alloy Inorganic materials 0.000 claims description 5
- 238000012384 transportation and delivery Methods 0.000 description 13
- 230000006378 damage Effects 0.000 description 10
- 239000002872 contrast media Substances 0.000 description 8
- 239000007788 liquid Substances 0.000 description 8
- 229940079593 drug Drugs 0.000 description 6
- 239000003814 drug Substances 0.000 description 6
- 238000000605 extraction Methods 0.000 description 6
- 210000004351 coronary vessel Anatomy 0.000 description 3
- 239000002904 solvent Substances 0.000 description 3
- 206010063385 Intellectualisation Diseases 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 2
- 239000000956 alloy Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000003527 fibrinolytic agent Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000010298 pulverizing process Methods 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 229960000103 thrombolytic agent Drugs 0.000 description 2
- 230000002537 thrombolytic effect Effects 0.000 description 2
- 230000002792 vascular Effects 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 206010057469 Vascular stenosis Diseases 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
- 238000002583 angiography Methods 0.000 description 1
- 210000001367 artery Anatomy 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 230000017531 blood circulation Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000010494 dissociation reaction Methods 0.000 description 1
- 230000005593 dissociations Effects 0.000 description 1
- 238000004090 dissolution Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- -1 for example Substances 0.000 description 1
- 238000013152 interventional procedure Methods 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 230000010412 perfusion Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 238000002626 targeted therapy Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 231100000216 vascular lesion Toxicity 0.000 description 1
- 230000024883 vasodilation Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/22—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for
- A61B17/22004—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for using mechanical vibrations, e.g. ultrasonic shock waves
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/22—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for
- A61B2017/22001—Angioplasty, e.g. PCTA
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/22—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for
- A61B2017/22079—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for with suction of debris
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- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Vascular Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Mechanical Engineering (AREA)
- Heart & Thoracic Surgery (AREA)
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- General Health & Medical Sciences (AREA)
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- Surgical Instruments (AREA)
Abstract
The invention discloses a high-precision automatic thrombus lifting device, which comprises a catheter, a guide wire, a tube sheath, a drilling device, a driving device and a control device, wherein the drilling device is arranged in the catheter and used for cutting and crushing thrombus; the catheter is provided with an expandable or contractible telescopic tube so as to convey the drilling device into a blood vessel, and the control device is connected with the telescopic tube so as to control the expansion or contraction of the telescopic tube; the control device is connected with the pressure device so as to receive the air pressure signal of the pressure device and control the pressure device to output thrombus; the control device is connected with the CT scanner so that the control device receives CT scan data. The device has high accuracy and can effectively extract thrombus.
Description
Technical Field
The invention relates to the technical field of intelligent medical treatment, in particular to a high-precision automatic thrombus lifting device.
Background
At present, when the fields of vascular stent delivery, targeted therapy, angiography, thrombus lifting, thrombolysis, vascular repair, vacuum absorption and the like are involved, coronary intervention operation, which is also called heart stent operation, is adopted, wherein a catheter is advanced in a blood vessel by puncturing the blood vessel to reach an opening of the coronary artery, the stent is delivered to a position to be placed by a special delivery system, and then the stent is placed and withdrawn to finish the operation. The post-operation vasodilation state is supported and maintained through the bracket, and meanwhile, the damage repair influence is reduced, so that the blood vessel can be prevented from being narrowed for a long time. The stent is generally made of special alloy and is made into cylinders with different structures, is implanted into a vascular stenosis through a catheter, and is used for clearing by a balloon to keep blood flow unobstructed and increase perfusion. The operation has the advantages of short treatment course, small wound, obvious curative effect and the like.
In the prior art, interventional procedures typically deliver stents or drugs, contrast agents, etc. into stenosed coronary arteries by simply inserting a catheter from the peripheral artery and then manually controlling the delivery of the catheter by the physician. However, during the delivery of catheters, stents or drugs, contrast agents, etc. are difficult to pass through the site of vascular lesions due to the accumulation of frictional forces, complex distribution of blood vessels, plaque clogging the blood vessels, etc. Moreover, the accuracy of manual operations is difficult to guarantee, so that there is a great risk of intervention.
The following is likely to occur during transport: when the catheter is pushed, pulled, rotated and the like, the catheter is easy to bend and block, and the catheter is broken or can not be pulled out; the front end of the catheter may damage the vessel wall, and the phenomena of coronary artery dissociation, perforation, rupture, damage and the like are easy to occur; the catheter may not be fully or can not be used for thrombus extraction. In addition, since the thrombolysis rate is low, if the thrombus is directly extracted by vacuum, the inner wall of the blood vessel is easily damaged due to the excessive pressure.
In summary, how to provide a device with high accuracy and capable of effectively extracting thrombus is a problem to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the present invention aims to provide a high-precision automatic thrombus lifting device, which has high precision, can effectively extract thrombus, and has wide application range and no limitation.
In order to achieve the above object, the present invention provides the following technical solutions:
The high-precision automatic thrombus lifting device comprises a catheter, a guide wire, a tube sheath, a drilling device, a driving device and a control device, wherein the drilling device is arranged in the catheter and used for cutting and crushing thrombus, the driving device is provided with a movable fixing part which is used for selectively locking or loosening at least one of the catheter, the guide wire and the drilling device, and the control device is connected with the driving device so as to control the movement of the fixing part and control the movement of the driving device;
An expandable or contractible telescopic tube is arranged on the catheter so as to convey the drilling device to the blood vessel for cutting and crushing the thrombus, and the control device is connected with the telescopic tube so as to control the expansion or contraction of the telescopic tube;
the control device is connected with the pressure device so that the control device receives the air pressure signal of the pressure device and controls the pressure device to output the crushed thrombus;
The control device is connected with the CT scanner so that the control device receives CT scanning data.
Preferably, the drilling device comprises a drilling catheter which is nested in the drilling catheter, a connecting rod which is arranged in the drilling catheter, a drill bit handle which is connected with one end of the connecting rod, a supporting disc which is connected with the other end of the connecting rod, a drill bit which is arranged at the center of the supporting disc, and barbs which are arranged on the drill bit and are used for cutting and crushing thrombus, wherein the drill bit handle is locked or loosened with the fixing part, so that the drilling device is in an operating state or a non-operating state, and the drilling catheter is used for accommodating the supporting disc in the non-operating state.
Preferably, the support disc is a circular support disc having a radius greater than the radius of rotation of the barbs to avoid damaging the blood vessel.
Preferably, the support disc is a flexible material support disc to avoid damaging the blood vessel.
Preferably, the height of the drill bit is less than four fifths of the radius of the support disc to avoid damaging the vessel at the top of the drill bit.
Preferably, the barbs are arranged in a step-like manner on the drill bit, and the included angle between every two adjacent barbs is 30-60 degrees, so that the cutting force of the barbs is improved.
Preferably, the barbs are disposed perpendicular to the drill bit to enhance the severing force of the barbs.
Preferably, the barbs are titanium alloy barbs provided with sharp corners to facilitate severing of the thrombus.
Preferably, the furthest distance of the barbs from the drill bit is less than three-quarters of the radius of the support disc to avoid damaging the vessel when the barbs are moved.
Preferably, the driving device comprises a servo motor for connecting with the control device, a rotating shaft for connecting with the servo motor, a connecting shaft for connecting with the rotating shaft, and a connecting valve for connecting with the connecting shaft, wherein the connecting valve is provided with the fixing part.
When the high-precision automatic thrombus lifting device provided by the invention is used, the control device can monitor the conditions in a human body in real time after receiving CT scanning data of the CT scanner, control the driving device to move, and simultaneously control the fixing part of the driving device to be selectively locked or unlocked with at least one of the catheter, the guide wire and the drilling device. Wherein the part locked with the fixing part will move with the driving means.
During interventional operation, the guide wire inside the catheter has the function of guiding and supporting the catheter, so that the fixing part is controlled to be locked with the guide wire via the control device, and the driving device drives the guide wire to move to make the guide wire enter the blood vessel to be treated selectively. The control device controls the fixing part to be locked with the catheter and the drilling device, so that the driving device drives the catheter and the drilling device to move, and the catheter and the drilling device also enter the blood vessel. Then, the fixing part is controlled by the control device to be locked with the guide wire, the guide pipe and the drilling device, so that the driving device drives the guide wire, the guide pipe and the drilling device to move at the same time, and the device can reach the designated position where thrombus needs to be extracted.
Then, the expansion of the telescopic tube is controlled by the control device, then the fixing part is controlled to be locked with the drilling device, and then the driving device is controlled to push the drilling device to pass through the expanded telescopic tube, so that the drilling device is conveyed into a blood vessel to contact thrombus. Then, the driving device is controlled by the control device to drive the drilling device to cut off the crushed thrombus. The control device can control and regulate the pressure through the real-time air pressure feedback signal of the pressure device, so that the phenomenon of damaging the vessel wall in the process can be effectively avoided. Finally, the control device controls the pressure device to output the crushed thrombus, thereby completing the thrombus extraction process.
Because the devices such as the guide wire and the guide pipe in the prior art are quite mature, the driving device, the control device and the drilling device of the high-precision automatic thrombus lifting device can be connected and matched with different guide pipes for use, and therefore the device has wide application range, is not limited, and can not waste the existing guide pipe resources.
In addition, when the device is used for interventional operation, the conditions in the human body, the air pressure of blood vessels and the like can be monitored in real time without manual operation, and the processes of movement of the catheter, cutting off and crushing thrombus and the like by the drilling device are controlled by the control device to operate, so that the high-precision automatic thrombus lifting device provided by the invention has the advantages of high precision, intellectualization and the like.
In summary, the high-precision automatic thrombus lifting device provided by the invention has the advantages of higher precision, capability of effectively extracting thrombus, wide application range and no limitation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a high-precision automated thrombus lifting device according to the present invention;
FIG. 2 is a schematic structural view of the drilling apparatus;
FIG. 3 is a schematic view of the structure of the drilling device in the working state;
FIG. 4 is a schematic view of the drilling apparatus in a semi-contracted state;
FIG. 5 is a schematic view of the drilling apparatus in a non-operating state;
Figure 6 is a side view of the support disc and barbs as they are arranged in a stepped fashion;
figure 7 is a front view of the support disc and barbs as they are arranged in a stepped fashion;
Fig. 8 is a front view of the drilling apparatus in an operative condition with barbs arranged in a stepped fashion;
fig. 9 is a front view of the drilling apparatus from another perspective in the operational state with barbs arranged in a stepped fashion.
In fig. 1-9:
The guide wire is 1, the guide tube is 2, the drilling device is3, the telescopic tube is 4, the conveying pipe is5, the pipe sheath is 6, the pressure sensor is 7, the liquid input device is 8, the vacuum pipe device is 9, the guide tube handle is 10, the guide wire handle is 11, the drill bit handle is 12, the connecting valve is 13, the connecting shaft is 14, the rotating shaft is 15, the shaft sleeve is 16, the ball is 17, the servo motor is 18, the control device is 19, the drill bit is 20, the barb is 21, the supporting disc is 22, the connecting shaft rod is 23, and the drilling guide tube is 24.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention has the core of providing a high-precision automatic thrombus lifting device which has higher precision, can effectively extract thrombus, has wide application range and is not limited.
Referring to fig. 1 to 9, fig. 1 is a schematic structural diagram of a high-precision automated thrombus lifting device according to the present invention; FIG. 2 is a schematic structural view of the drilling apparatus; FIG. 3 is a schematic view of the structure of the drilling device in the working state; FIG. 4 is a schematic view of the drilling apparatus in a semi-contracted state; FIG. 5 is a schematic view of the drilling apparatus in a non-operating state; figure 6 is a side view of the support disc and barbs as they are arranged in a stepped fashion; figure 7 is a front view of the support disc and barbs as they are arranged in a stepped fashion; fig. 8 is a front view of the drilling apparatus in an operative condition with barbs arranged in a stepped fashion; fig. 9 is a front view of the drilling apparatus from another perspective in the operational state with barbs arranged in a stepped fashion.
The invention provides a high-precision automatic thrombus lifting device, which comprises a catheter 2, a guide wire 1, a tube sheath 6, a drilling device 3 arranged in the catheter 2 and used for cutting and crushing thrombus, a driving device and a control device 19, wherein the driving device is provided with a movable fixing part which is used for selectively locking or loosening at least one of the catheter 2, the guide wire 1 and the drilling device 3, and the control device 19 is connected with the driving device so as to control the movement of the fixing part and control the movement of the driving device; the catheter 2 is provided with an expandable or contractible telescopic tube 4 so as to convey the drilling device 3 to the blood vessel for cutting the crushed thrombus, and the control device 19 is connected with the telescopic tube 4 so as to control the expansion or contraction of the telescopic tube 4; the pressure device for detecting the air pressure of the catheter 2 and outputting crushed thrombus is arranged in the sheath 6, and the control device 19 is connected with the pressure device so that the control device 19 receives the air pressure signal of the pressure device and controls the pressure device to output crushed thrombus; the control device 19 is connected to the CT scanner such that the control device 19 receives CT scan data.
The driving device is provided with a movable fixing part for locking or unlocking at least one of the catheter 2, the guide wire 1 and the drilling device 3, and the control device 19 can control the movement of the fixing part, that is, the fixing part can move so that the fixing part can lock or unlock at least one of the catheter 2, the guide wire 1 and the drilling device 3, and the component locked with the fixing part can move together with the driving device.
Namely: the control device 19 can selectively drive the catheter 2, the guide wire 1 and the drilling device 3 to move by controlling the movement of the fixing part and the movement of the driving device. However, the specific movement of the catheter 2, the guide wire 1 and the drilling device 3 is determined according to various signal data received by the control device 19, so that the device can complete interventional operation accurately and intelligently.
The pressure device for detecting the air pressure of the catheter 2 and outputting the crushed thrombus is provided in the sheath 6, so that the operation process is excessively strong to damage the vessel wall when the drill device 3 cuts off the crushed thrombus, and the crushed thrombus can be directly outputted to the outside of the body through the pressure device. Preferably, the pressure means may comprise a pressure sensor 7 for detecting the air pressure of the catheter 2 and feeding back an air pressure signal to the control means 19 in time, and may further comprise a vacuum tube means 9 for outputting an intravascular thrombus.
Furthermore, the pressure device may comprise a liquid inlet 8 for delivering liquid, wherein the liquid inlet 8 needs to communicate with a delivery tube 5 within the catheter 2, which is dedicated for delivering a drug or contrast agent, in order to achieve liquid delivery. The liquid delivered may include: contrast agent, targeted drugs, thrombus solvents, etc., and therefore, contrast agent may be first introduced into the fluid input 8 so that the contrast agent enters the vessel through the delivery tube 5 to better image the complex conditions within the vessel, which would facilitate subsequent control operations. Then, by inputting the thrombus solvent into the liquid input device 8, the thrombus solvent enters the blood vessel through the delivery tube 5, so that smaller thrombus is effectively dissolved and dispersed, and the dispersed thrombus is more easily directly output to the outside through the vacuum tube device 9. When larger thrombus is grasped, the fibers in the thrombus can be elongated, cut or crushed by the drilling device 3, so that the resistance of the vacuum tube device 9 to suck the thrombus is reduced, and the thrombus is more easily output to the outside of the body.
Thus, the vacuum tube device 9 can be communicated with the delivery tube 5 and connected with the control device 19, so that the air pressure among the catheter 2, the blood vessel and the delivery tube 5 can be balanced through the vacuum tube device 9, the input of targeted drugs, thrombolytic agents, contrast agents and the like can be better realized, and thrombus or plaque in the blood vessel can be output through the vacuum tube device 9. For example, after receiving the air pressure signal fed back by the pressure sensor 7, the control device 19 may control the vacuum tube device 9 to push the hydraulic pressure in the delivery tube 5 forward if the negative pressure appears in the delivery tube 5, so as to avoid the phenomenon of liquid back suction, thereby better inputting the targeted drug, the thrombolytic agent, the contrast agent and the like. And the control device 19 receives the air pressure signal fed back by the pressure sensor 7, if the positive pressure of the delivery tube 5 is displayed, the control device 19 can control the vacuum tube device 9 to suck out thrombus or plaque after dissolution or pulverization in the blood vessel.
In addition, the specific settings of the driving device, the control device 19, the drilling device 3, and the pressure device may be determined according to the actual situation and the actual requirement during the actual use, but it is necessary to ensure that the connection relationship and the specific functions described above can be achieved.
When the high-precision automatic thrombus lifting device provided by the invention is used, the control device 19 can monitor the conditions in a human body in real time after receiving CT scanning data of a CT scanner, control the driving device to move, and simultaneously control the fixing part of the driving device to be selectively locked or unlocked with the catheter 2, the guide wire 1 and the drilling device 3.
During interventional operation, since the guide wire 1 arranged in the catheter 2 has the function of guiding and supporting the catheter 2, the fixing part is controlled by the control device 19 to be locked with the guide wire 1, so that the driving device only drives the guide wire 1 to move, and the guide wire 1 selectively enters the blood vessel to be treated. The fixing part is then controlled by the control means 19 to lock only with the catheter 2 and the drilling device 3, so that the drive means move the catheter 2 and the drilling device 3, so that the catheter 2 and the drilling device 3 also enter the vessel. Then, the fixing part is controlled to be locked with the guide wire 1, the catheter 2 and the drilling device 3 through the control device 19, so that the driving device drives the guide wire 1, the catheter 2 and the drilling device 3 to move at the same time, and the fixed part can reach the designated position where thrombus needs to be extracted.
Subsequently, the expansion of the telescopic tube 4 is controlled by the control device 19, after which the fixation part is controlled to be locked only with the drilling device 3, and then the driving device is controlled to push the drilling device 3 through the expanded telescopic tube 4, so that the drilling device 3 is conveyed into the blood vessel to contact thrombus. Then, the driving means is controlled by the control means 19 to drive the drilling means 3 to cut the crushed thrombus. Since the control device 19 can control and regulate the pressure through the real-time air pressure feedback signal of the pressure device, the phenomenon of damaging the vessel wall in the process can be effectively avoided. Finally, the control device 19 controls the pressure device to output the crushed thrombus, so that the thrombus extraction process is completed.
When the thrombus extraction operation is finished, the control device 19 can control the fixing part to be locked with the drilling device 3, and then control the driving device to drive the drilling device 3 to retract into the catheter 2. Then, the telescopic tube 4 is controlled to shrink by the control device 19. Then, the fixing part is controlled to be locked with the guide wire 1, the catheter 2 and the drilling device 3, so that the driving device drives the guide wire 1, the catheter 2 and the drilling device 3 to withdraw from the blood vessel. Finally, the device is withdrawn from the body to terminate the surgical procedure.
Because the devices such as the guide wire 1, the guide tube 2 and the like in the prior art are quite mature, the driving device, the control device 19 and the drilling device 3 of the high-precision automatic thrombus lifting device can be connected and matched with different guide tubes 2 for use, the device has wide application range, is not limited, and can not waste the resources of the existing guide tube 2.
In addition, when the device is used for interventional operation, the condition in a human body, the air pressure of a blood vessel and the like can be monitored in real time without manual operation, and the processes of movement of the catheter 2, cutting off and crushing thrombus and the like by the drilling device 3 are controlled and operated by the control device 19, so the high-precision automatic thrombus lifting device provided by the invention has the advantages of high precision, intellectualization and the like.
In summary, the high-precision automatic thrombus lifting device provided by the invention has the advantages of higher precision, capability of effectively extracting thrombus, wide application range and no limitation.
On the basis of the above-described high-precision automated thrombus-pulling-up device, it is preferable that the drilling device 3 includes a drilling catheter 24 which is nested in the catheter 2, a connecting rod 23 which is provided in the drilling catheter 24, a bit handle 12 which is connected to one end of the connecting rod 23, a supporting disk 22 which is connected to the other end of the connecting rod 23, a bit 20 which is provided at the center of the supporting disk 22, a barb 21 which is provided on the bit 20 and is used for cutting out crushed thrombus, and the bit handle 12 is locked or released with a fixing portion so that the drilling device 3 is in an operating state or an inactive state, and the bit handle 12 is used for receiving the supporting disk 22 in the inactive state.
Thus, the control device 19 can control the locking or unlocking of the fixed part and the drill handle 12, when the drill handle 12 is locked with the fixed part, the drill handle 12 moves together with the driving device, so that the drilling device 3 can move forward, backward, forward and backward along with the driving device, and the operations of elongating thrombus by the drill bit 20, cutting crushed thrombus by the barbs 21 and the like can be realized.
After the driving device drives the guide wire 1, the catheter 2 and the drilling device 3 to reach the designated position where thrombus needs to be extracted, the telescopic tube 4 can be controlled to expand by the control device 19, then the fixing part is controlled to be locked with the drill handle 12, and then the driving device is controlled to push the drill handle 12 to advance, so that the support disc 22 at the other end of the connecting rod, the drill bit 20, the barbs 21 and the like on the support disc 22 are pushed out of the drilling catheter 24 and reach the inside of a blood vessel to contact with thrombus, and the larger thrombus can be elongated in the advancing process of the drill bit 20, so that the subsequent thrombus is cut and crushed. Then, the driving device is controlled by the control device 19 to drive the drill handle 12 to rotate, so that the connecting rod and the supporting disc 22, the drill 20, the barbs 21 and the like rotate, and at this time, the barbs 21 can cut off the crushed thrombus in the rotating process, so that the larger and longer thrombus can be effectively grabbed.
Because the control device 19 can control and regulate the pressure in the tube through the real-time air pressure feedback signal of the pressure device, the phenomenon of damaging the vessel wall in the process can be effectively avoided. Finally, the control device 19 controls the pressure device to output the crushed thrombus, so that the thrombus extraction process is completed.
When the thrombus extraction operation is finished, the driving device can be controlled by the control device 19 to drive the drill bit handle 12 to retract, so that the support disc 22 at the other end of the connecting rod, the drill bit 20, the barbs 21 and the like on the support disc 22 are retracted into the drilling catheter 24. Then, the telescopic tube 4 is controlled to shrink by the control device 19. Then, the fixing part is controlled to be locked with the guide wire 1, the catheter 2 and the drilling device 3, so that the driving device drives the guide wire 1, the catheter 2 and the drilling device 3 to withdraw from the blood vessel. Finally, the device is withdrawn from the body to terminate the surgical procedure.
On the basis of the above-described high-precision automated thrombus-lifting device, it is preferable that the support disc 22 is a circular support disc having a radius larger than the radius of rotation of the barb 21 so as to avoid damaging the blood vessel.
The support disc 22 is a circular support disc, and the diameter of the support disc 22 needs to be set according to the diameter of the blood vessel, and the radius of the circular support disc needs to be larger than the radius of rotation of the barb 21. This is because the support disc 22 needs to provide space for the movement of the drill bit 20 and the barbs 21, and the thrombus can be cut and crushed during the rotation of the barbs 21, so that the support disc 22 has a circular structure, and the radius of the circular support disc is larger than the rotation radius of the barbs 21, so that the barbs 21 can not directly touch the vessel wall during the rotation of the barbs 21, thereby avoiding damage to the vessel.
Thus, the shape, size, position, etc. of the support disc 22 can be determined during actual use to ensure that the drilling device 3 does not damage the vessel wall and that the barbs 21 are capable of performing an operation of severing the crushed thrombus.
Based on the high-precision automated thrombus lifting device described above, the support disc 22 is preferably a flexible material support disc to avoid damaging the blood vessel.
It should be noted that, when the support disc 22 is in the non-working state, that is, when the drill handle 12 is released from the fixing portion, the support disc 22 needs to be fully retracted in the drilling catheter 24, and when the drill handle 12 is locked with the fixing portion, the driving device may push the drill handle 12 forward, so that the support disc 22 may be pushed out of the drilling catheter 24, and the pushed support disc 22 may be expanded, so as to provide a space for movement of the drill bit 20 and the barb 21, and avoid damage to the vessel wall caused when the drill bit 20 and the barb 21 directly contact the vessel wall. The support disc 22 should therefore be provided as a flexible material so that it can undergo a constrictive transformation and also so that damage to the vessel wall when the support disc 22 is in contact with the vessel wall can be avoided.
Therefore, the material of the support plate 22 can be determined according to the actual situation and the actual requirement in the actual application process, and for example, the support plate 22 can be made of rubber or PET.
On the basis of the above-described high-precision automated thrombus-lifting device, it is preferable that the height of the drill bit 20 is less than four fifths of the radius of the support disc, so as to avoid damaging the blood vessel at the top of the drill bit 20.
The drill 20 is disposed perpendicular to the support plate 22 and is disposed at a center position of the support plate 22. While the height of drill bit 20 is less than four fifths of the radius of the support disk in order to avoid damaging the vessel at the top of drill bit 20. Because after the drill handle 12 is locked with the fixing portion, the driving device pushes the support disc 22, the drill 20, the barbs 21 and the like to separate from the drilling catheter 24, the support disc 22 can provide a movement space for the drill 20 and the barbs 21, if the height of the drill 20 is too large or even larger than the radius of the support disc, the space provided by the support disc 22 cannot meet the drill 20 when the support disc 22 and the drill 20 are pushed out of the drilling catheter 24, so that the top of the drill 20 can be in direct contact with the wall of a blood vessel, and the phenomenon that the top of the drill 20 hurts the blood vessel is easily caused.
Preferably, the drill 20 may be made of a flexible material, for example, rubber or PET, so as to avoid damaging the vessel wall when the drill 20 contacts the vessel. Therefore, the size of the drill bit 20 can be determined according to the actual situation and the actual requirement in the actual application process, so as to avoid the phenomenon that the drill bit 20 damages the vessel wall.
On the basis of the high-precision automatic thrombus-lifting device, preferably, the barbs 21 are arranged in a step-like manner on the drill bit 20, and the included angle between the adjacent barbs 21 is 30-60 degrees, so as to improve the cutting force of the barbs 21.
It should be noted that, the barbs 21 disposed on the drill bit 20 are arranged in a stepwise manner, and the included angle between adjacent barbs 21 is 30 ° to 60 °, so that the cutting force of the barbs 21 to thrombus in the rotation process can be effectively improved, so that the barbs 21 can cut off and crush thrombus rapidly and accurately. Of course, the specific arrangement positions, number, size, etc. of the barbs 21 may be determined according to the actual situation and actual requirements during the actual application process.
On the basis of the above-described high-precision automated thrombus-lifting device, it is preferable that the barbs 21 are arranged perpendicular to the drill bit 20 to enhance the cutting force of the barbs 21.
The barb 21 is provided perpendicular to the drill bit 20, so that the cutting force of the barb 21 for cutting and pulverizing thrombus is increased when the drill bit 20 and the barb 21 are rotated. Of course, the barbs 21 may be inclined to the drill bit 20, but the inclined barbs 21 may be less likely to disperse during rotation in the effort to cut the crushed thrombus. Therefore, the arrangement of the barbs 21 and the drill bit 20 can be determined according to the actual situation and the actual requirement in the actual application process.
On the basis of the high-precision automatic thrombus-lifting device, the barbs 21 are preferably titanium alloy barbs provided with sharp corners so as to cut off thrombus.
It should be noted that, the material of the barb 21 may be flexible or stainless steel, but preferably, the barb 21 may be a titanium alloy barb with a sharp corner, and the titanium alloy material has the advantages of high strength, good mechanical properties, good toughness and corrosion resistance, so as to avoid deformation of the barb 21 during use. And, be equipped with the closed angle at the tip of barb 21, will be favorable to barb 21 to cut off crushing thrombus in the rotation in-process.
On the basis of the high-precision automatic thrombus-lifting device, the furthest distance between the barbs 21 and the drill bit 20 is preferably less than three fourths of the radius of the support disc, so as to avoid damaging the blood vessel when the barbs 21 move.
It should be noted that, the furthest distance between the barb 21 and the drill bit 20 is less than three quarters of the radius of the support disc, which means the perpendicular distance between the sharp angle of the barb 21 and the drill bit 20, wherein the furthest distance is less than three quarters of the radius of the support disc, and of course, the furthest distance may be equal to three quarters of the radius of the support disc, so that the vessel wall is prevented from being damaged during the rotation of the barb 21, and the bleeding phenomenon is avoided. Therefore, the position, size, material, etc. of the barb 21 can be determined according to the actual situation, so that the barb 21 can effectively cut off the crushed thrombus, and the barb 21 does not damage the blood vessel.
In addition to the above-described high-precision automated thrombus lifting device, it is preferable that the driving device includes a servo motor 18 for connecting with the control device 19, a rotary shaft 15 for connecting with the servo motor 18, a connecting shaft 14 for connecting with the rotary shaft 15, and a connecting valve 13 for connecting with the connecting shaft 14, and the connecting valve 13 is provided with a fixing portion.
Thus, the control device 19 can perform the pushing, pulling back, twisting of the catheter 2, the guide wire 1, and the drilling device 3 by controlling the forward rotation and the reverse rotation of the servo motor 18, and the locking and releasing of the fixing portion.
Alternatively, the rotary shaft 15 is connected with the servo motor 18 through a belt or a gear so that the rotary shaft 15 can be rotated by the driving of the servo motor 18, the connecting shaft 14 is rotated synchronously with the rotary shaft 15, and the connecting valve 13 provided with a fixing portion is connected with the connecting shaft 14 to be rotated synchronously. The reason why the rotary shaft 15 is connected to the connection valve 13 via the connection shaft 14 is to avoid the phenomenon that the rotary shaft 15 is unstable in rotation and even the rotary shaft 15 is broken because the rotary shaft 15 needs to be excessively long when the rotary shaft 15 is directly connected to the connection valve 13. Therefore, the rotation shaft 15 is connected with the connecting valve 13 through the connecting shaft 14, which can avoid the occurrence of the above phenomenon, thereby improving the service life of the device.
In addition, the ball 17 and the shaft sleeve 16 can be arranged on the rotating shaft 15, so that lubrication and protection can be provided for the rotation of the rotating shaft 15, the abrasion phenomenon of the rotating shaft 15 can be avoided, the rotating shaft 15 can be well supported and positioned, and finally the service life and the rotation effect of the rotating shaft 15 can be improved.
It should be further noted that the connecting valve 13 connected to the connecting shaft 14 is provided with a fixing portion, and the control device 19 can control the movement of the fixing portion so that the connecting valve 13 can be selectively locked to or unlocked from the guide wire 1, the catheter 2, and the drilling device 3.
Preferably, the fixing portion may include: the first movable clamping element for clamping the catheter handle 10, the second movable clamping element for clamping the guide wire handle 11, and the third movable clamping element for clamping the drill handle 12 are all connected to the control device 19. Therefore, after the first clamping member or the second clamping member or the third clamping member receives the operation instruction of the control device 19, the catheter handle 10 or the guide wire handle 11 or the drill handle 12 can be selectively clamped, so that the catheter handle 10, the guide wire handle 11 and the drill handle 12 are selectively and fixedly connected with the connecting valve 13, and the driving device can selectively drive the catheter 2, the guide wire 1 and the drilling device 3 to move. Wherein the catheter handle 10 may be used to adjust the movement of the catheter 2, the guidewire handle 11 may be used to adjust the movement of the guidewire 1, and the drill handle 12 may be used to adjust the movement of the drilling device 3.
It should be noted that, the movable first clamping member herein means that the first clamping member corresponds to the position of the catheter handle 10, and the first clamping member may move relative to the catheter handle 10, so that the first clamping member may move to a position where it is clamped with the catheter handle 10, and then clamp the catheter handle 10. The movable second clamping piece is that the second clamping piece corresponds to the position of the guide wire handle 11, and the second clamping piece can move relative to the guide wire handle 11 so that the second clamping piece can move to the position clamped with the guide wire handle 11 and then clamp the guide wire handle 11. The movable third clamping member corresponds to the position of the drill bit 12, and can move relative to the drill bit 12, so that the third clamping member can move to a position clamped with the drill bit 12, and then clamp the drill bit 12.
Accordingly, the specific positions, shapes, and sizes of the first clamping member, the second clamping member, and the third clamping member need to be set according to the specific conditions of the catheter handle 10, the guidewire handle 11, and the drill handle 12. Also, since the first, second and third clamping members need to fasten the catheter handle 10, the guide wire handle 11 and the drill handle 12, the first, second and third clamping members should have a certain strength and wear resistance so that they can perform a clamping function better. Therefore, the positions, shapes, sizes, materials and the like of the first clamping piece, the second clamping piece and the third clamping piece can be determined according to actual conditions and actual demands in the actual application process.
Furthermore, the first clamping element, the second clamping element and the third clamping element mentioned here are provided only for distinguishing between the different positions and not for distinguishing in sequence.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. Any combination of all the embodiments provided in the present invention is within the protection scope of the present invention, and will not be described herein.
The high-precision automatic thrombus lifting device provided by the invention is described in detail above. The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present invention and its core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.
Claims (8)
1. The high-precision automatic thrombus lifting device comprises a catheter (2), a guide wire (1) and a tube sheath (6), and is characterized by comprising a drilling device (3) arranged in the catheter (2) and used for cutting and crushing thrombus, a driving device and a control device (19), wherein the driving device is provided with a movable fixing part used for selectively locking or loosening at least one of the catheter (2), the guide wire (1) and the drilling device (3), and the control device (19) is connected with the driving device so as to control the movement of the fixing part and the movement of the driving device; the drilling device (3) comprises a drilling catheter (24) which is nested in the catheter (2), a connecting rod (23) which is arranged in the drilling catheter (24), a drill bit handle (12) which is connected with one end of the connecting rod (23), a supporting disc (22) which is connected with the other end of the connecting rod (23), a drill bit (20) which is vertically arranged at the center of the supporting disc (22), and barbs (21) which are arranged on the drill bit (20) and are used for cutting and crushing thrombus, wherein the drill bit handle (12) is locked or unlocked with the fixing part so that the drilling device (3) is in an operating state or a non-operating state, and the drilling catheter (24) is used for accommodating the supporting disc (22) in the non-operating state; the support disc (22) is a circular support disc, and the radius of the circular support disc is larger than the rotation radius of the barbs (21) so as to avoid damaging blood vessels;
An expandable or contractible telescopic tube (4) is arranged on the catheter (2) so as to convey the drilling device (3) to the blood vessel for cutting and crushing the thrombus, and the control device (19) is connected with the telescopic tube (4) so as to control the expansion or contraction of the telescopic tube (4);
A pressure device for detecting the air pressure of the catheter (2) and outputting crushed thrombus is arranged in the sheath (6), and the control device (19) is connected with the pressure device so that the control device (19) receives the air pressure signal of the pressure device and controls the pressure device to output crushed thrombus;
The control device (19) is connected with the CT scanner so that the control device (19) receives CT scanning data; after the driving device drives the guide wire (1), the guide tube (2) and the drilling device (3) reach the appointed position where thrombus needs to be extracted, the telescopic tube (4) is controlled to expand through the control device (19), then the fixing part is controlled to be locked with the drill handle (12) only, then the driving device is controlled to push the drill handle (12) to advance, so that the supporting disc (22) at the other end of the connecting rod, the drill bit (20) and the barbs (21) on the supporting disc (22) are pushed out of the drilling guide tube (24) and reach the inside of the blood vessel to contact thrombus, the thrombus is elongated in the advancing process of the drill bit (20) so as to facilitate subsequent thrombus cutting and crushing, and then the driving device is controlled to drive the drill handle (12) to rotate through the control device (19) so that the connecting rod, the supporting disc (22) and the drill bit (20) and the barbs (21) synchronously rotate, and the barbs (21) are cut off and crushed in the rotating process.
2. The high precision automated thrombus lifting device of claim 1 wherein the support disc (22) is a flexible material support disc to avoid damaging the vessel.
3. The high precision automated thrombus lifting device of claim 2, wherein the height of the drill bit (20) is less than four fifths of the radius of the support disc to avoid damaging the vessel at the top of the drill bit (20).
4. A high precision automated thrombus lifting device according to claim 3, wherein the barbs (21) are arranged in a stepwise manner on the drill bit (20), the included angle between adjacent barbs (21) being 30 ° to 60 ° to increase the cutting force of the barbs (21).
5. The high-precision automated thrombus lifting device according to claim 4, wherein the barbs (21) are arranged perpendicular to the drill bit (20) to increase the cutting force of the barbs (21).
6. The high precision automated thrombus lifting device of claim 5 wherein the barbs (21) are titanium alloy barbs provided with sharp corners to facilitate severing of the thrombus.
7. The high precision automated thrombus lifting device of claim 6 wherein the furthest distance of the barb (21) from the drill bit (20) is less than three-quarters of the radius of the support disc to avoid damaging the vessel when the barb (21) is moved.
8. The high-precision automated thrombus lifting device according to any one of claims 1 to 7, wherein the drive means comprises a servomotor (18) for connection with the control means (19), a rotary shaft (15) for connection with the servomotor (18), a connecting shaft (14) for connection with the rotary shaft (15), a connecting valve (13) for connection with the connecting shaft (14), the connecting valve (13) being provided with the fixing portion.
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| US5713907A (en) * | 1995-07-20 | 1998-02-03 | Endotex Interventional Systems, Inc. | Apparatus and method for dilating a lumen and for inserting an intraluminal graft |
| US8128677B2 (en) * | 2007-12-12 | 2012-03-06 | Intact Vascular LLC | Device and method for tacking plaque to a blood vessel wall |
| CN103417261B (en) * | 2012-05-14 | 2016-03-30 | 微创神通医疗科技（上海）有限公司 | Intracranial vessel gets pin device |
| US20140277015A1 (en) * | 2013-03-14 | 2014-09-18 | Curtiss T. Stinis | Vascular plaque removal systems, devices, and methods |
| CN208876671U (en) * | 2017-12-06 | 2019-05-21 | 北京久事神康医疗科技有限公司 | Novel cerebral thrombosis withdrawing device |
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