CN102671280B - Airbag clamping device with function of feeding back intervention operation resistance - Google Patents

Abstract

The invention provides an airbag clamping device with a function of feeding back intervention operation resistance. The airbag clamping device comprises an airbag, an airbag casing pipe, an air pump, a pressure measuring chamber, an air pipe and an air pressure sensor, wherein the airbag and the an airbag casing pipe are connected without circular relative rotation; the two sides of one end of the airbag casing pipe are respectively provided with a baffle plate; the air pump is connected with the pressure measuring chamber, the air pipe and the airbag successively; and the air pressure sensor is arranged in the air pressure measuring chamber. According to the airbag clamping device, the clamping function of a conduit is realized by aerating the airbag; the airbag is in tight contact with the conduit at the peripheral direction of the conduit; the appearance of the conduit is kept; and the conduit is prevented from being damaged. The aerating pressure is detected by using the air pressure sensor so as to modulate the aeration quantity, control the size of an inner chamber of the airbag and adapt to the clamping function of the conduits in different diameters. A foil gauge is arranged on an elastic spoke plate between the airbag casing pipe and an outer casing pipe, so that the measurement of a pushing force and a twisting force is realized by using the deformation of the foil gauge. The airbag clamping device is capable of not only realizing both the measurements of two orthogonal direction feedback forces, but also ensuring the measurement result to be accurate due to a smaller inertia.

Description

An airbag clamping device that can feedback interventional operation resistance

technical field

The invention relates to an air bag clamping device capable of feeding back interventional operation resistance, in particular to a clamping device used for conveying catheters in minimally invasive interventional operations and capable of directly feeding back push-pull and twisting operation resistance functions.

Background technique

Endovascular minimally invasive interventional surgery has many advantages and has been widely used at home and abroad. As the main tool, the contact force information between the catheter and the vessel wall during the procedure determines the safety of the interventional operation to a large extent. With the development of medical assistant robot technology, the idea of master-slave intervention has been introduced into the field of minimally invasive vascular intervention. This mode of operation not only enables the doctor to leave the operation site, thereby avoiding radiation damage, but also greatly simplifies the operation of the doctor, and makes the delivery process more accurate and stable. It is worth noting that in traditional interventional operations, doctors can sense the resistance of the interventional process with their hands and adjust accordingly. Although this manual operation method cannot accurately know the resistance, it can avoid danger to a certain extent. The change in the operation mode of the master-slave operation has brought about the lack of force feedback information, which is very important and needs to be solved urgently. Without force feedback, the safety of catheter intervention using dedicated devices cannot be guaranteed.

At present, the catheter delivery devices that have been developed generally use a friction wheel pair as a holder for the catheter and complete the delivery function. Very few of them have both force feedback functions of push-pull and twisting operations. Most of the force feedback is realized by testing the torque of the motor. Since the clamping function of the catheter is set at the end of the delivery device, it is in direct contact with the catheter, and the resistance information needs to be After passing through multiple transmission mechanisms, it is bound to be seriously disturbed. Moreover, since the advance, retreat and rotation of the catheter are movements in orthogonal directions, it is difficult to directly test the forces in two directions under the premise of avoiding the interference caused by the transmission mechanism. In addition, since the force feedback test is a dynamic process, the inertia reflected by the mass between the end effector and the sensor test position also needs to be reduced as much as possible. Mechanical contact usually cannot fully surround the catheter in its circumferential direction, causing the catheter to be squeezed and deformed, or even destroyed, increasing the risk of surgery. Current catheter devices do not consider that the end gripper should meet the requirement of one-time use and be easy to replace. If the above problems are not solved, the operator will not be able to accurately know the stress on the catheter, resulting in perforation of the vessel wall or various complications.

Contents of the invention

In order to overcome the problems that the existing catheter delivery device cannot accurately obtain the force feedback information of the push-pull and twisting operations, has a large inertia, is difficult to meet the requirements for clamping catheters with various diameters, and adopts mechanical clamping methods to cause deformation of the catheter, the present invention proposes a An air bag clamping device capable of feedbacking intervention operation resistance, the device clamps the catheter by the air bag, and realizes the feedback of the operation resistance by the strain gauges placed axially and radially on the elastic web, and is suitable for the delivery of catheters of different sizes.

The technical scheme that the present invention adopts is as follows:

The invention comprises an airbag, an airbag sleeve, an air pump, a pressure measuring chamber, a trachea and an air pressure sensor. The airbag is connected to the airbag sleeve without relative rotation in the circumferential direction, and baffles are respectively arranged on both sides of one end of the airbag sleeve. , the air pump is sequentially connected with the pressure measuring chamber, the trachea and the air bag, and an air pressure sensor is arranged in the pressure measuring chamber.

The present invention also includes a force feedback device, the force feedback device includes at least one elastic web, two strain gauges and an outer sleeve, the outer sleeve is arranged outside the airbag sleeve, and is arranged between the airbag sleeve and the outer sleeve There are elastic webs, and strain gauges are arranged on one of the elastic webs both axially and radially. There are at least two protrusions on the outer periphery of the air bag, and the inner cavity of the air bag sleeve has a groove matching with the protrusions of the air bag. The airbag is an airbag with a circular elastic inner cavity. the

Beneficial effects of the present invention:

1. The clamping operation of the catheter in the present invention can be realized simply and conveniently. The air pressure inside the pressure chamber is measured by the air pressure sensor to limit the amount of inflation inside the airbag, and sufficient friction is provided by changing the pressure in the airbag to reduce slippage And the applicability to catheters with different outer diameters, after the balloon is inflated, the surface of the inner cavity of the balloon is in close contact with the catheter, thereby clamping the catheter. By monitoring the pressure value of the air pressure sensor, the cross-sectional shape of the catheter is maintained, and the catheter is not damaged. After the clamping operation is completed, the parts can be easily replaced, and the air bag is convenient to be disassembled from the air bag sleeve, meeting the requirement of one-time use. And the operation can be adjusted according to the force feedback information, so as to ensure the safety and effectiveness of the catheter intervention process and improve the efficiency of catheter delivery.

2. The present invention arranges strain gauges in the axial and radial directions of the elastic web between the airbag casing and the outer casing, and uses its deformation to realize the measurement of push-pull force and torsional force, which not only can take into account the feedback force of two orthogonal directions Measurement, but also because it has a small inertia to ensure accurate test results.

Description of drawings

Fig. 1 is the structural representation of the present invention.

FIG. 2 is a half-sectional diagram of the left side view of FIG. 1 .

Fig. 3 is a partial schematic diagram of the connection between the balloon and the balloon catheter.

Fig. 4 is a schematic diagram of inflation of the airbag of the present invention.

In the figure: 1. Outer casing, 2. Baffle plate, 3. Pin, 4. Elastic web, 5. Airbag sleeve, 6. Airbag, 7. First strain gauge, 8. Second strain gauge, 9. Concave Groove, 10. protrusion; 20. air pump, 21. air pressure sensor, 22. pressure measuring chamber, 23. trachea, 24. catheter, 25. output signal line.

Detailed ways

Below in conjunction with accompanying drawing and embodiment the present invention is described in detail:

Embodiment 1: as shown in Figure 1 and Figure 2, the present invention comprises air bag 6, air bag sleeve pipe 5, air pump 20, pressure measuring chamber 22, trachea 23 and air pressure sensor 21, and described air bag 6 is connected with air bag sleeve pipe 5 and There is no relative movement, and baffles 2 are respectively arranged on both sides of one end of the air bag casing 5, the air pump 20 is connected with the pressure measuring chamber 22, the air pipe 23 and the air bag 6 in sequence, and the air pressure sensor 21 is set in the pressure measuring chamber 22, and the air pressure sensor The output signal line 25 of 21 is connected with the external pneumatic control panel, and is monitored by the air pressure sensor 21 to change the pressure in the air bag 6 to adapt to catheters 24 of different diameters. In this example, the baffle plate 2 is connected by a pin 3 so that the baffle plate 2 can rotate around the pin 3 . The airbag 6 is an airbag with a circular elastic inner cavity.

The outer periphery of the airbag 6 has at least two protrusions 10 (four protrusions 10 in this example), and the inner cavity of the airbag sleeve 5 has a groove 9 matching the protrusions of the airbag 6 .

The clamping function of this example is realized by the cooperation of the air bag 6 , the air bag sleeve 5 , the air pump 20 , the pressure measuring chamber 22 and the trachea 23 . When the catheter 24 is sent into the inner cavity of the airbag 6 and needs to be clamped, the air pump 20 inflates the airbag 6 through the pressure measuring cavity 22 and the trachea 23 . Under the effect of air pressure, the airbag 6 begins to expand. Since the airbag sleeve 5 is relatively rigid and the inner cavity of the airbag 6 is in a free state, the inner cavity of the airbag 6 shrinks, thereby clamping the catheter 30 . During the inflation process, the pressure inside the pressure measuring chamber 22 is measured by the air pressure sensor 21 . After the air pressure reaches the value required to clamp the conduit 24, the air pump is turned off to maintain the existing pressure, so that the conduit 24 is in a clamped state. The catheter 24 described therein can also be a guide wire.

Embodiment 2: As shown in Fig. 1 and Fig. 2, this example adds a force feedback device on the basis of embodiment 1, and the force feedback device includes at least one elastic web 4, first and second strain gauges 7, 8 and an outer sleeve 1. The outer sleeve 1 is arranged outside the airbag sleeve 5, an elastic web 4 is arranged between the airbag sleeve 5 and the outer sleeve 1, and one of the elastic webs 4 is respectively provided with axial and radial First and second strain gauges 7 and 8 .

There are four elastic webs 4 described in this example, and the push-pull force feedback in this example is composed of the first strain gauge 8, the airbag sleeve 5, the outer sleeve 1 and four elastic webs evenly arranged along the circumference of the airbag sleeve 5 4 Cooperate to realize. On the premise that the balloon 6 clamps the catheter 24 , an axial force is applied to the overtube 1 . This force is transmitted to the airbag sleeve 5 via the four elastic webs 4 , and then to the catheter 24 via the airbag 6 . During this process, due to the combined action of the outer sleeve 1 and the airbag sleeve 5, the four elastic webs 7 will be deformed, so that the first strain gauge 8 will be deformed. This deformation reflects the magnitude of the push-pull force, which can be calculated from the elastic modulus of the elastic body or obtained through a load test.

As shown in FIG. 3 , there are four protrusions 10 on the outer periphery of the airbag 6 in this example, and there are also four grooves 9 matched therewith.

In this example, the torsional force feedback is realized by cooperation of the second strain gauge 13 , the airbag sleeve 5 , the outer sleeve 1 and four elastic webs 4 . On the premise that the balloon 6 pinches the catheter 24 , a torque is applied to the overtube 1 . This torque is transmitted to the airbag casing 5 through the four elastic webs 4 , and then to the catheter 24 through the airbag 6 . During this process, due to the combined effect of the outer sleeve 1 and the airbag sleeve 5, the four elastic webs 7 will be deformed, so that the second strain gauge 13 will be deformed. This deformation reflects the magnitude of the torque, which can be calculated from the elastic modulus of the elastic body, or obtained through a load test.

Embodiment 3: The overall structure of this embodiment is the same as that of Embodiment 2, the difference is that in this embodiment, there are three protrusions 10 on the outer periphery of the airbag 6, and there are also three grooves 9 matching it. There is one elastic spoke plate 4 .

Embodiment 4: The overall structure of this embodiment is the same as that of Embodiment 2, the difference is that in this embodiment, the outer periphery of the airbag 6 has two protrusions 10, and there are also two grooves 9 matched therewith. There are three elastic webs 4 .

Working principle of the present invention:

As shown in Figure 4, the replacement process of the air bag 6 in the present invention involves an air pump 20, an air pressure sensor 21, a pressure measuring chamber 22, a trachea 23, an air bag 6, two baffle plates 2 and a pin 3,. First, the gas in the airbag 6 is drawn out by the air pump 20, and when the pressure in the pressure measuring chamber 22 fed back by the air pressure sensor 21 is so small that the airbag 6 releases the catheter 24, the catheter 24 is withdrawn. Turn the baffle plate 2 clockwise around the pin 3 to a vertical state, and pull out the air tube 23 together with the air bag 6 from the air bag sleeve 5 . Then the trachea 23 is separated from the air bag 6 and gets final product. The installation process is the reverse of the removal process. The manufacturing cost of the airbag 6 is low and meets the requirement of one-time use.

The adaptability of the present invention to catheters 24 of different diameters is accomplished by the cooperation of the air bag 6 , the air pump 20 , the air pressure sensor 21 , the pressure measuring chamber 22 and the trachea 23 . The airbag 6 expands under the action of air pressure, its radial dimension will change, and the inner cavity will become smaller. It shows good adaptability to conduits 24 of different diameters. When the air pump 20 inflates and pressurizes, and transmits it to the airbag 6 through the pressure measuring chamber 22 and the trachea 23, the air pressure sensor 21 monitors the air pressure, and when it reaches the pressure corresponding to the catheter 24 of a specific size, the pressure remains constant.

After the present invention is inflated, the inner surface of the airbag 6 is subjected to uniform pressure, so that the inner surface of the airbag 6 is in close contact with the catheter 24 in the circumferential direction, and the inflation process of the air pump 20 is controlled by the pressure fed back by the air pressure sensor 21, which can not affect the maintenance. The conduit 24 has a circular cross section.

In the present invention, the pressure inside the pressure measuring cavity is measured by the air pressure sensor to limit the amount of inflation inside the air bag, thereby clamping the catheter. When the balloon clamps the catheter and exerts a push-pull force on the outer tube, the strain gauge will be deformed, thereby realizing the measurement of the push-pull force. When the balloon clamps the catheter and applies torque to the outer sleeve, the strain gauge will deform, thereby realizing the measurement of the torque.

Claims (3)

1. but the airbag clamping device of a feeding back intervened operation resistance, it is characterized in that: comprise air bag, airbag casing pipe, air pump, pressure measuring cavity, trachea and baroceptor, described air bag be connected with airbag casing pipe and at hoop without relatively rotating, both sides at an end of airbag casing pipe are respectively arranged with baffle plate, air pump sequentially links to each other with pressure measuring cavity, trachea and air bag, and baroceptor is set in pressure measuring cavity; Also include device for force feedback, described device for force feedback comprises at least one elasticity disc, two foil gauges and a trocar sheath, described trocar sheath is arranged at outside the airbag casing pipe, between airbag casing pipe and trocar sheath, be provided with the elasticity disc, axially and radially be provided with foil gauge on an elasticity disc therein, feedback by axially realize the operation resistance on the elasticity disc with the foil gauge that radially arranges is realized the clamping of conduit by air bag.

2. but the airbag clamping device of described feeding back intervened operation resistance according to claim 1, it is characterized in that: described air bag periphery is with at least two projections, and the airbag casing pipe inner chamber is with the groove that matches with the air bag projection.

3. but the airbag clamping device of described feeding back intervened operation resistance according to claim 1, it is characterized in that: described air bag is the air bag with round and elastic inner chamber.

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