CN111887979A - Radio frequency ablation catheter and sheath tube linkage control device - Google Patents

Abstract

The invention discloses a radio frequency ablation catheter and a sheath tube linkage control device. The invention further adds a sheath tube controller, a catheter controller and a tube sheath linkage driver on the basis of the existing mechanical arm. The arm is used to jointly control the movement of the catheter and the sheath, so that the catheter can reach the target position quickly and accurately. The existing robotic arm has the problem of low efficiency of positioning the catheter.

Description

A radiofrequency ablation catheter and sheath linkage control device

technical field

The invention relates to the technical field of medical devices, in particular to a linkage control device for a radiofrequency ablation catheter and a sheath.

Background technique

The use method of the existing radiofrequency ablation catheter manipulator is as follows: put the catheter tail into the working chamber of the manipulator, and fix the handle and the sliding handle of the catheter tail respectively on the control part of the manipulator, and the operator controls the handle through digital instructions. and sliding handle to control the advancement, retreat and rotation of the catheter, and at the same time cooperate with other imaging equipment to guide, monitor and adjust the manipulation of the catheter, and finally make the catheter reach the target position.

That is, the existing robotic arm can only manipulate the catheter alone to move the catheter to the target position, thus limiting the efficiency of catheter positioning.

SUMMARY OF THE INVENTION

The present invention provides a linkage control device for a radiofrequency ablation catheter and a sheath tube, so as to solve the problem of low efficiency of catheter positioning by separately manipulating the catheter in the prior art.

In a first aspect, the present invention provides a radiofrequency ablation catheter and a sheath linkage control device, the catheter moves under the control of a robotic arm controller, and the device includes: a sheath controller, a catheter controller, and a tube-sheath linkage controller and robotic arm controller;

The sheath tube controller is used to drive the sheath tube to perform rotational movement and advance and retreat movement;

The catheter controller is used to drive the catheter to perform rotational movement and advance and retreat movement;

The tube-sheath linkage is used to drive the catheter and the sheath to carry out integral forward and backward movement;

By coordinating and controlling the sheath controller, the catheter controller, the sheath linkage and the robotic arm controller, the movements of the catheter and the sheath are controlled to make the catheter reach a preset value target location.

Optionally, the tube-sheath linkage further comprises: a fixedly connected tube-sheath driver and a tube-sheath linkage support rod;

The sheath tube controller further comprises: a sheath tube rotation driver and a sheath tube advance and retreat driver;

The sheath tube rotation driver is arranged on the first end of the sheath tube, the first end is the end of the sheath tube on the side connected to the catheter, and the sheath tube rotation driver is used for Drive the sheath to perform rotational movement according to the received control signal;

The sheath tube advance and retreat driver is arranged on the tube-sheath linkage support rod, and the sheath tube advance and retreat driver is used to drive the sheath tube to advance and retreat along the tube-sheath linkage support rod direction according to the received control signal. ;

The catheter controller further includes: a catheter rotation driver and a catheter advance and retreat driver;

The catheter rotation driver is arranged on the catheter close to the first end, and the catheter rotation driver is used to drive the catheter to rotate according to the received control signal;

The catheter advancing and retreating driver is arranged on the tube-sheath linkage support rod, and the catheter advancing and retreating driver is used to drive the catheter to advance and retreat along the tube-sheath linkage supporting rod direction according to the received control signal.

Optionally, the tube-sheath linkage support rod is provided with a first track and a second track that are parallel to each other, and both the first track and the second track extend along the tube-sheath linkage support rod direction;

The sheath tube advancing and retreating driver and the catheter advancing and retreating driver are respectively slidably fixed on the first track;

The tube sheath driver is slidably fixed on the second rail.

Optionally, both the sheath advancing and retreating driver and the catheter advancing and retreating driver can be locked in position during the sliding process, and when in the locked position, the sheath advancing and retreating driver and the catheter advancing and retreating driver are not opposite to the first track. sports;

The sheath driver can be locked in a position during the sliding process, and in the locked position, the sheath driver and the second rail do not move relative to each other.

Optionally, the catheter rotation driver is arranged on the catheter at a preset distance from the first end, wherein the preset distance is 5-8 cm.

Optionally, the tube-sheath driver is used to drive the tube-sheath linkage support rod to move according to the received control signal, and drive the catheter and the sheath tube as a whole along the The tube sheath moves forward and backward in the direction of the linkage support rod.

Optionally, the robotic arm controller further includes: a robotic arm advancing and retreating driver, a sliding handle telescopic driver and a catheter handle rotation driver;

The robotic arm advancing and retreating driver is used to push the robotic arm to perform an advancing and retreating movement according to the received control signal, so as to push the advancing and retreating movement of the catheter;

The sliding handle telescopic driver is arranged in the mechanical arm and used to drive the telescopic sliding handle according to the received control signal, so as to control the head end of the catheter to bend to a preset curvature;

The catheter handle rotation driver is arranged in the mechanical arm and is used to control the rotation of the handle according to the received control signal, so as to control the catheter to rotate.

Optionally, the robotic arm controller further includes: a robotic arm moving support rod;

The robotic arm advance and retreat driver is slidably fixed on the third track of the robotic arm moving support rod, and the robotic arm advance and retreat driver can lock the position during the sliding process. the third track has no relative motion;

Both the mechanical arm moving support rod and the tube-sheath linkage support rod are fixed on a preset fixing rod.

Optionally, by controlling the catheter rotation driver and the catheter handle rotation driver at the same time, so that the catheter performs an integral rotational movement;

By simultaneously controlling the advancing and retreating driver of the catheter to move on the first track, and controlling the advancing and retreating driver of the robotic arm to operate on the third track, the catheter can move forward and backward as a whole;

By simultaneously controlling the manipulator arm advance and retreat driver to run on the third track and the tube sheath driver to run on the second track, the catheter and the sheath can move forward and backward as a whole.

Optionally, the device further includes: a control terminal; the control terminal is used to display the position of the catheter in real time, and to rotate the sheath tube, the sheath tube advancing and retreating driver, the catheter rotation driver, The catheter advancing and retreating driver, the tube sheath driver and the robotic arm controller send control signals to control the movement of the catheter and the sheath tube, so that the catheter reaches the preset target position.

The beneficial effects of the present invention are as follows:

In the present invention, a sheath tube controller is arranged at the end of the sheath tube to drive the sheath tube to perform rotary motion and advance and retreat movement, and a catheter tube controller is arranged on the catheter near the side of the sheath tube, and the catheter tube is driven to rotate through the catheter tube controller. and advancing and retreating movement, as well as driving the catheter and sheath for overall advancing and retreating movement by setting the sheath linkage, and finally controlling the catheter and sheath by coordinating the control of the sheath controller, catheter controller, sheath linkage and robotic arm controller The movement of the sheath tube enables the catheter to quickly reach the preset target position, that is to say, the present invention further increases the sheath tube controller, the catheter controller and the tube sheath linkage on the basis of the existing mechanical arm. The three cooperate with the robotic arm to jointly control the movement of the catheter and the sheath, so that the catheter can reach the target position quickly and accurately. The existing robotic arm has a problem of low positioning efficiency of the catheter.

The above description is only an overview of the technical solutions of the present invention, in order to be able to understand the technical means of the present invention more clearly, it can be implemented according to the content of the description, and in order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand , the following specific embodiments of the present invention are given.

Description of drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are for the purpose of illustrating preferred embodiments only and are not to be considered limiting of the invention. Also, the same components are denoted by the same reference numerals throughout the drawings. In the attached image:

1 is a schematic structural diagram of a radiofrequency ablation catheter and a sheath tube linkage control device provided by an embodiment of the present invention;

2 is a schematic structural diagram of another radio frequency ablation catheter and a sheath tube linkage control device provided by an embodiment of the present invention;

DESCRIPTION OF REFERENCE NUMERALS: 1 sheath controller, 2 catheter controller, 3 sheath linkage, 31 sheath driver, 4 robotic arm controller, 5 sheath linkage support rod, 6 robotic arm moving support rod, 7 preset Fixed rod, 8 sheath tube, 9 catheter, 11 sheath tube rotation driver, 12 sheath tube advance and retreat driver, 21 catheter rotation driver, 22 catheter advance and retreat driver, 41 mechanical arm advance and retreat driver, 42 sliding handle telescopic driver, 43 catheter handle rotation driver, 51 first guide rail, 52 second guide rail, 10 saline injection pipe, 13 conduit connection line, 14 mechanical arm support rod.

Detailed ways

Aiming at the problem that the existing radiofrequency ablation catheter manipulator can only manipulate the catheter alone for positioning, the embodiment of the present invention provides a radiofrequency ablation catheter and sheath linkage control device, that is, on the basis of the existing manipulator, the sheath control is added The movement of the catheter and the sheath can be controlled jointly by the sheath controller, the catheter controller and the sheath linkage, and the movement of the catheter and the sheath can be controlled jointly by the sheath controller, the catheter controller and the sheath linkage to complete the complex cases, special parts, abnormal structures and Accurate positioning of important targets, and with the effective cooperation of the sheath linkage, can significantly improve the accuracy of catheter positioning, the stability of catheter contact with the target, and the contact force of the catheter to the tissue, and can significantly shorten the time when the catheter is in place and the target. Positioning time, interventional treatment time, thereby significantly improving the safety, effectiveness and work efficiency of interventional surgery. The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to illustrate the present invention, but not to limit the present invention.

An embodiment of the present invention provides a radio frequency ablation catheter and a sheath linkage control device. Referring to FIG. 1 , the device includes: a sheath controller 1 , a catheter controller 2 and a sheath linkage 3 ;

The sheath tube controller 1 is used to drive the sheath tube 8 to perform rotational movement and advance and retreat movement;

The catheter controller 2 is used to drive the catheter 9 to perform rotational movement and advance and retreat movement;

The tube-sheath linkage 3 is used to drive the catheter 9 and the sheath tube 8 to perform an integral advance and retreat movement;

By coordinating and controlling the sheath controller 1, the catheter controller 2, the sheath linkage 3 and the robotic arm controller 4 to control the movements of the catheter 9 and the sheath 8, the The catheter 9 reaches the preset target position.

It should be noted that, in the embodiment of the present invention, the catheter 9 reaches the preset target position, specifically, the head end of the catheter 9 reaches the preset target position. As those skilled in the art can easily know, for the sake of simplicity, the embodiments of the present invention will only be described hereinafter in which the catheter 9 reaches the preset target position.

Generally speaking, in the embodiment of the present invention, the sheath tube controller 1 is provided at the tail of the sheath tube 8 to drive the sheath tube 8 to perform rotational movement and advance and retreat movement, and the catheter controller 2 is set on the catheter 9 near the sheath tube position side. , through the catheter controller 2, drive the catheter 9 to perform rotational movement and advance and retreat movement, and by setting the tube sheath linkage 3 to drive the catheter 9 and the sheath tube 8 to carry out the overall advance and retreat movement, and finally through the coordinated control sheath tube controller 1, the catheter The controller 2, the tube-sheath linkage 3 and the robot arm controller 4 are used to control the movement of the catheter 9 and the sheath tube 8, so that the catheter 9 can quickly reach the preset target position, that is to say, the present invention is based on the existing machinery. On the basis of the arm, the sheath tube controller 1, the catheter controller 2 and the tube sheath linkage 3 are further added, and the movements of the catheter 9 and the sheath tube 8 are simultaneously controlled by these three in conjunction with the robotic arm, so as to realize the rapid and efficient operation of the catheter 9. The target position is precisely reached, thereby effectively solving the problem of low positioning efficiency of the catheter 9 by the existing robotic arm.

That is, in the embodiment of the present invention, the movements of the catheter 9 and the sheath 8 are jointly controlled by controlling the sheath controller 1, the catheter controller 2, the sheath linkage 3, and the robotic arm controller 4, so as to complete the complex cases and special parts. , the precise positioning of abnormal structures and important targets, and practice has proved that with the effective cooperation of the sheath 8, the accuracy of the positioning of the catheter 9, the stability of the catheter 9 in contact with the target, and the contact force of the catheter 9 to the tissue can be significantly improved. , significantly shorten the time for the catheter 9 to be in place, the time for the positioning of the target point and the time for interventional treatment, thereby significantly improving the safety, effectiveness and work efficiency of the interventional operation.

Since the catheter 9 needs to enter the target cardiac cavity through the sheath tube 8, and the supporting and guiding functions of the sheath tube 8 are very important for the operator to operate the catheter 9 to move efficiently and accurately position it, based on this, the embodiment of the present invention implements the catheter in the robotic arm. At the same time of manipulation, the sheath tube 8 is jointly manipulated, thereby ensuring the safety, positioning effect and positioning efficiency of the interventional operation.

In other words, in addition to manipulating the catheter 9 in an actual interventional operation, in many cases, the sheath 8 needs to be manipulated alone or in combination to complete the treatment of complex cases. Therefore, the present invention realizes the linkage between the sheath 8 by setting. With the effective cooperation, the accuracy of the positioning of the catheter 9, the stability of the catheter 9 in contact with the target point, and the contact force of the catheter 9 on the tissue are improved, and the time for the catheter 9 to be in place, the time for locating the target point, and the time for interventional therapy are shortened.

As shown in FIG. 2 , during specific implementation, in the embodiment of the present invention, the tube-sheath linkage 3 further includes: a tube-sheath driver 31 and a tube-sheath linkage support rod 5 that are fixedly connected;

The sheath tube controller 1 further comprises: a sheath tube rotation driver 11 and a sheath tube advance and retreat driver 12; the sheath tube rotation driver 11 is arranged on the first end of the sheath tube 8, and the first end is The end of the sheath tube 8 connected with the catheter 9 is used to drive the sheath tube 8 to perform rotational movement according to the received control signal; 5, for driving the sheath tube 8 to move forward and backward along the direction of the tube-sheath linkage support rod 5 according to the received control signal;

The catheter controller 2 further comprises: a catheter rotation driver 21 and a catheter advance and retreat driver 22; the catheter rotation driver 21 is disposed on the catheter 9 near the first end, and is used to drive the catheter according to the received control signal. Described conduit 9 carries out rotational movement; Described conduit advance and retreat driver 22, is arranged on described tube sheath linkage support rod 5, is used to drive described conduit 9 to carry out along described tube sheath linkage support rod 5 direction according to the control signal received Forward and backward movement.

Specifically, the sheath tube rotation driver 11 in the embodiment of the present invention is fixedly connected to the sheath tube 8 . During specific implementation, those skilled in the art can use various fixing parts to connect the sheath tube rotation driver 11 to the sheath tube 8 . Fixed, so that the sheath tube rotation driver 11 drives the sheath tube 8 to rotate according to preset requirements. The sheath tube advancing and retracting driver 12 in the embodiment of the present invention may be various power devices such as a sheath tube advancing and retreating drive motor, and the sheath tube 8 is driven to advance and retreat by the sheath tube advancing and retracting driver 12 .

Similarly, the catheter rotation driver 21 in the embodiment of the present invention is also relatively fixed to the catheter 9 through the fixing member, and the catheter 9 is driven to rotate by the catheter rotation driver 21 . The catheter advancing and retreating driver 22 in the embodiment of the present invention may be various power devices such as a catheter advancing and retreating drive motor, and the catheter 9 is driven to advance and retreat by the catheter advancing and retreating driver 22 .

It should be noted that all the drivers and controllers in the embodiments of the present invention are devices that can perform corresponding actions according to the received control signals. During the specific implementation, those skilled in the art can arbitrarily set the This is not specifically limited.

In the specific implementation, in the embodiment of the present invention, the sheath tube rotation driver 11 is fixed to the sheath tube 8, so as to drive the rotation action of the sheath tube 8 through the sheath tube rotation driver 11, and the sheath tube advancing and retracting driver 12 is fixed to the sheath tube through the fixing member. On the tube rotation driver 11, when the sheath tube advance and retreat driver 12 operates, the sheath tube rotation driver 11 only realizes the function of a fixing member, that is to say, when the sheath tube advance and retreat driver 12 is working, the sheath tube rotation driver 11 is pushed. The sheath tube 8 is driven to move back and forth, so when the sheath tube advancing and retreating driver 12 operates, the sheath tube 8 needs to be driven by the sheath tube rotation driver 11 to move.

On the same principle, in the embodiment of the present invention, the catheter rotation driver 21 is fixed to the catheter 9, so as to drive the rotation of the catheter 9 through the catheter rotation driver 21, and the catheter advance and retreat driver 22 is fixed to the catheter rotation driver 21 through the fixing member, and the catheter advances and retreats. When the driver 22 is in operation, the catheter rotation driver 21 only realizes the function of a fixed part, that is to say, when the catheter advance and retreat driver 22 is working, the catheter 9 is driven to move forward and backward by pushing the catheter rotation driver 21. When 22 is operating, it is necessary to drive the catheter 9 to move through the catheter rotation driver 21 .

Of course, the above is only a specific implementation of the embodiment of the present invention. Those skilled in the art can fix the above-mentioned rotary driver and advance and retreat driver to the catheter 9 and the sheath 8 respectively by setting, so as to realize the guide 9 tube and sheath 8 controls.

In general, the embodiment of the present invention does not refer to the specific connection mode of the sheath tube rotation driver 11, the sheath tube advance and retreat driver 12 and the sheath tube 8, as well as the specific connection mode of the catheter rotation driver 21 and the catheter advance and retreat driver 22 and the catheter 9. A specific limitation is made as long as the rotation and advance and retreat control of the sheath tube 8 and the catheter 9 can be realized.

In addition, it should be noted that the catheter rotation driver 21 and the catheter advance and retreat driver 22 in the embodiment of the present invention can support the catheter 9 and prevent the catheter 8 from being at the tail of the sheath tube 8 on the basis of controlling the catheter 9 at the same time. bending effect.

During specific implementation, in the embodiment of the present invention, the catheter rotation driver 21 is disposed on the catheter 9 at a preset distance from the first end.

The preset distance is the inner diameter of the cardiac cavity of the operation object. During specific implementation, the embodiment of the present invention sets the preset distance to be 5-8 cm. Of course, during specific implementation, those skilled in the art can adjust the preset distance according to actual needs, which is not specifically limited in the present invention.

Further, in the embodiment of the present invention, the tube-sheath linkage includes: a tube-sheath driver 31 and a tube-sheath linkage support rod that are fixedly connected, and the tube-sheath driver 31 is arranged on the tube-sheath linkage support rod 5, so The sheath driver 31 drives the catheter 9 and the sheath tube 8 to move forward and backward as a whole in the direction of the sheath linkage support rod 5 according to the received control signal.

Specifically, in the embodiment of the present invention, the catheter 9 and the sheath 8 are simultaneously pushed by the sheath driver 31 to perform synchronous movement, so as to realize the rapid and precise positioning of the catheter 9 .

It should be noted that the tube-sheath linkage support rod 5 in the embodiment of the present invention is provided with a first track 51 and a second track 52, and the first track 51 and the second track 52 are parallel;

The sheath tube advancing and retreating driver 22 and the catheter advancing and retreating driver 12 are respectively slidably fixed on the first track 51;

The sheath driver 31 is slidably fixed on the second rail 52 .

The sheath driver 31 can be locked in position during the sliding process, and in the locked position, the sheath driver 31 and the second rail 52 do not move relative to each other.

That is to say, the sheath tube advancing and retracting driver 22, the catheter advancing and retracting driver 12, and the sheath driver 31 in the embodiment of the present invention are all slidably fixed through the slideway and the sheath linkage support rod 5, and can be slidably fixed. Implement position lock. Similarly, in the embodiment of the present invention, the forward and backward driver 41 of the robotic arm and the moving support rod 6 of the robotic arm are also slidably connected through the slideway.

Further, the robotic arm controller 4 according to the embodiment of the present invention further includes: a robotic arm advancing and retreating driver 41, a sliding handle telescopic driver 42, and a catheter handle rotation driver 43;

The robotic arm advancing and retreating driver 41 is used to push the robotic arm to perform an advancing and retreating movement according to the received control signal, so as to push the catheter 9 to perform an advancing and retreating movement;

The sliding handle telescopic driver 42 is arranged in the mechanical arm, and is used to drive the telescopic sliding handle according to the received control signal, so as to control the head end of the catheter 9 to bend to a preset curvature;

The catheter handle rotation driver 43 is arranged in the mechanical arm, and is used to control the rotation of the handle according to the received control signal, so as to control the catheter 9 to rotate.

The distal end of the catheter handle rotation driver 43 is connected with the saline injection tube 10 and the catheter connection line 13 .

The robotic arm controller 4 further includes: a robotic arm moving support rod 6; the robotic arm advance and retreat driver 41 is slidably fixed on the third track of the robotic arm moving support rod 6, and the robotic arm advance and retreat driver 41 During the sliding process, the position can be locked, and in the locked position, the forward and backward driver 41 of the mechanical arm does not move relative to the third track;

In the specific implementation, the embodiment of the present invention is to control the catheter rotation driver and the catheter handle rotation driver 43 at the same time, so that the catheter 9 can perform an integral rotational movement; Movement on the track 51, and controlling the manipulator arm advance and retreat driver 41 to run on the third track, so that the catheter 9 performs an overall advance and retreat movement; Running on the track, and controlling the tube sheath driver 31 to run on the second track 52 , the catheter 9 and the sheath tube 8 can move forward and backward as a whole.

Since the control method of the robotic arm controller 4 is a relatively mature technology, the present invention will not describe it in detail. The focus of the present invention is to coordinately control the robotic arm controller 4 , the sheath tube controller 1 , and the catheter controller 2 . The catheter 9 and the sheath tube 8 are coordinated and controlled with the sheath driver 31 , so as to realize the rapid and precise positioning of the catheter 9 to the target position.

In the specific implementation, the embodiment of the present invention is to control the catheter 9 to perform an integral rotational movement by controlling the catheter rotation driver 21 and the catheter handle rotation driver 43; and by controlling the catheter forward and backward driver 22 and the mechanical Arm advance and retreat driver 41 to control said catheter 9 to perform overall advance and retreat movement; and by controlling said robotic arm advance and retreat driver 41 and said sheath driver 31 to control said catheter 9 and said sheath 8 to perform integral movement Forward and backward movement.

It should be noted that, in the embodiment of the present invention, the manipulator advancing and retreating driver 41 is disposed on the manipulator moving support rod 6 , and the manipulator moving support rod 6 is fixed on the preset fixing rod 7 . In addition, the tube-sheath linkage support rod 5 according to the embodiment of the present invention is fixed on the preset fixing rod 7 . The preset fixation rod 7 may be a bedside fixation rod on an existing robotic arm, that is, a fixation rod carried by the angiography image through digital subtraction angiography (DSA).

In addition, in the specific implementation, the robotic arm moving support rod 6 in the embodiment of the present invention is fixed to the preset fixing rod 7 through the robotic arm support rod 14, that is, the robotic arm advance and retreat driver 41 is supported along the robotic arm movement The rod 6 moves forward and backward, and at the same time, the moving support rod 6 of the mechanical arm is fixed to the preset fixing rod 7 through the support rod 14 of the mechanical arm.

During specific implementation, the device described in the embodiment of the present invention is further provided with a control terminal, and the embodiment of the present invention uses the control terminal to control the target object to be positioned (that is, the object positioned by the catheter 9, most of the object is the human body, or it can also be The position of the head end of the catheter 9 in various animal bodies) is displayed in real time, that is, the position of the head end of the catheter 9 inside the target to be positioned is displayed in real time.

The control terminal can also determine a position control strategy for the catheter and the sheath 8 according to the current position of the head end of the catheter 9 and the preset target position, and the position control strategy is to control the catheter 9 and the sheath 8. The overall solution for adjusting the position of 8, in other words, the position regulation strategy of the embodiment of the present invention is how to move the position of the catheter 9 and the sheath 8 to realize the strategy of moving the tip of the catheter 9 to the target position. During specific implementation, the position control strategy can be continuously accumulated through a large number of specific experiments of moving different target positions, or it can be input by the operator into the control terminal according to the current situation.

After obtaining the regulation strategy, the control terminal respectively generates the rotation driver 11 for the sheath tube, the driver for advancing and retreating the sheath tube 12, the rotational driver for the catheter 21, the driver for advancing and retreating the catheter 22, and the sheath tube based on the position regulation strategy. The control signals of the driver 31 and the robotic arm controller 4, that is, the position adjustment strategy based on the catheter 9 and the sheath 8 needs to generate control signals for each driver, so as to coordinately control the sheath rotation driver through each control signal 11. The sheath tube advance and retreat driver 12, the catheter rotation driver 21, the catheter advance and retreat driver 22, the tube sheath driver 31 and the robotic arm controller 4 to control the catheter 9 and the sheath tube 8 to make the catheter 9 reach the preset target position. Specifically, in the embodiment of the present invention, the head end of the catheter 9 is controlled to reach the preset target position.

In general, in the embodiment of the present invention, based on the current position of the head end of the catheter 9 and the preset target position, the rotation driver 11 for the sheath, the driver 12 for advancing and retreating the sheath, the rotation driver 21 for the catheter, the The catheter advancing and retreating driver 22 , the sheath driver 31 and the control signals of the robotic arm controller 4 , through which the catheter 9 reaches the preset target position.

Specifically, the control terminal described in the embodiment of the present invention includes two functions, one is a display function, and the other is a function that an operator controls the catheter 9 and the sheath through the computing power of the control terminal.

In detail, the operator can coordinately control the sheath rotation driver 11 , the sheath advance and retreat driver 12 , the catheter rotation driver 21 , the catheter rotation driver 21 , and the catheter through the display interface of the control terminal by controlling the current position of the catheter 9 displayed on the terminal. The advancing and retreating driver 22 , the sheath driver 31 and the robotic arm controller 4 control the movement of the catheter 9 and the sheath 8 , and finally make the catheter 9 reach the preset target position.

Of course, those skilled in the art can also set the control terminal to automatically determine the position control strategy for the catheter 9 and the sheath according to the current position of the catheter 9 and the preset target position, and according to the position The regulation strategy sends control signals to the sheath tube rotation driver 11 , the sheath tube advance and retreat driver 12 , the catheter rotation driver 21 , the catheter advance and retreat driver 22 , the tube sheath driver 31 and the robotic arm controller 4 , by coordinating and controlling the sheath rotation driver 11, the sheath advance and retreat driver 12, the catheter rotation driver 21, the catheter advance and retreat driver 22, the sheath driver 31 and the robotic arm controller 4, to The movements of the catheter 9 and the sheath tube 8 are controlled to make the catheter 9 reach the preset target position.

That is, the control terminal in the embodiment of the present invention can automatically control the positioning of the catheter 9, and can also finally make the catheter 9 reach the target position according to the operator's manipulation.

It should be noted that the control signals sent by the control terminal in the embodiment of the present invention are respectively directed to the sheath tube rotation driver 11, the sheath tube advance and retreat driver 12, the catheter rotation driver 21, the catheter advance and retreat driver 22, The specific trigger signal of the sheath driver 31 and the robotic arm controller 4 can be arbitrarily set by those skilled in the art according to actual needs during specific implementation, which is not specifically limited in the present invention.

In addition, since the position of the control terminal may not be fixed, the present invention does not illustrate the control terminal in the figure. During specific implementation, those skilled in the art can set the position of the control terminal according to specific needs.

Each driving device in the embodiment of the present invention will be described in detail below:

The sheath rotation driver 11 of the embodiment of the present invention is installed on the catheter 9 and the sheath linkage, that is, on the sheath linkage support rod 5, and has a fixing part at the tail of the sheath 8. After the tail of the sheath 8 is securely fixed, it can The tail of the sheath tube 8 is independently rotated according to the command, thereby driving the sheath tube 8 to rotate. The functions of the sheath tube rotation driver 11 include: independently rotate the sheath tube 8 clockwise, independently rotate the sheath tube 8 counterclockwise, the rotation speed is divided into slow gear and fast gear, and can move the catheter 9 and the whole system at the same time, independently. Rotary sheath 8;

The sheath tube advancing and retracting driver 12 in the embodiment of the present invention is installed on the support rod of the catheter 9 and the sheath tube linkage device, that is, on the tube sheath linkage support rod 5, and can move back and forth through the bar gear on the support rod, thereby driving the sheath tube. 8 independent advance and retreat. The functions of the sheath tube advancing and retracting driver 12 include: independently advancing the sheath tube 8, independently retracting the sheath tube 8, the advancing and retreating speed is divided into slow speed and fast speed, and when the catheter 9 moves and the whole system moves, the sheath is independently advanced and retracted. 8.

The catheter rotation motor of the embodiment of the present invention is installed in parallel with the sheath rotation driver 11 on the support rod of the catheter and sheath linkage, and the initial working distance between the two can be freely adjusted. The catheter rotation driver 21 of the catheter 9 body is provided with the catheter 9 fixing part. After the catheter 9 body is securely fixed, the catheter 9 body can be rotated according to the command, thereby driving the catheter 9 head end to rotate. The functions of the catheter rotation motor include: independent Rotate the body of the catheter 9 clockwise, independently rotate the body of the catheter 9 counterclockwise, and the rotation speed is divided into slow speed and fast speed, and when the sheath tube 8 moves and the whole system moves, the catheter body is independently rotated. , the default setting is to receive the same command as the catheter handle rotation motor, and rotate the catheter 9 body and the catheter handle synchronously according to the same rotation speed. The catheter rotation driver and the catheter handle rotation driver 43 are linked to each other.

The catheter advancing and retreating driver 22 in the embodiment of the present invention is installed on the support rod of the catheter and sheath linkage device in parallel with the catheter rotation drive, and the initial working distance between the two can be freely adjusted. The catheter advancing and retreating motor can move back and forth through the bar gear on the support rod, thereby driving the catheter 9 to advance and retreat independently. The catheter advancing and retreating driver 22 can realize: the body of the catheter 9 is advanced independently, the body of the catheter 9 is retracted independently, the advancing and retreating speed is divided into slow speed and fast speed, and the sheath tube 8 moves and the whole system moves at the same time, independently advancing and retracting the catheter 9 body parts. And in actual work, the default setting is to accept the same command as the robotic arm advance and retreat driver 41, and to synchronously advance and retreat the catheter 9 body and the catheter handle in strict accordance with the same advance and retreat speed. Mutual linkage.

The sliding handle telescopic driver 42 of the embodiment of the present invention is installed in the mechanical arm and has a sliding handle fixing part. After the sliding handle is securely fixed, the sliding handle can be independently extended and retracted according to the command, thereby driving the pulling wire to realize the bending of the head end of the catheter 9 . The functions of the sliding handle telescopic driver 42 include an independent forward sliding handle, the head end of the curved guide tube 9, the independent retractable sliding handle, and the straight end of the guide tube 9. The telescopic speed is divided into slow speed and fast speed. While rotating and moving the whole system, the sliding handle is independently telescopic.

The handle rotation driver of the embodiment of the present invention is installed in the mechanical arm and has a handle fixing part. After the handle is securely fixed, the handle can be independently rotated according to the command, thereby driving the catheter 9 to rotate. The functions of the handle rotation driver include: Clockwise rotation of the handle, independent counterclockwise rotation of the handle, the rotation speed is divided into slow gear and fast gear, and the handle is independently rotated while the robotic arm moves and the entire system moves. In actual work, the default setting is to accept the same instruction as the catheter rotation driver 21, and rotate the handle of the catheter 9 and the body of the catheter 9 synchronously according to the same rotation speed. The catheter handle rotation driver 43 and the catheter rotation driver 21 are linked to each other.

The robotic arm advance and retreat driver 41 in the embodiment of the present invention is mounted on the robotic arm support rod, and can move forward and backward through the bar gear on the support rod, thereby driving the robotic arm to advance and retreat independently. The functions of the robotic arm advance and retreat driver 41 include: independent forwarding of the robotic arm, independent retraction of the robotic arm, the advance and retreat speed is divided into slow gear and fast gear, and when the sheath tube 8 moves and the whole system moves, independently or synchronously advance and retreat the mechanical arm. arm. In actual work, the default settings: accept the same instructions as the catheter advance and retreat driver, and synchronize the advance and retreat of the catheter 9 body and the robotic arm according to the same advance and retreat speed, and receive the same instructions as the catheter sheath linkage advance and retreat driver, strictly follow the same instructions The advance and retreat speed synchronizes the advance and retreat of the sheath linkage and the robotic arm. In the embodiment of the present invention, the manipulator advancing and retracting driver 41 and the catheter advancing and retracting driver are mutually linked parties, and the robotic arm advancing and retracting driver 41 and the sheath linkage device advancing and retracting driver 8 are mutually linked parties. The lethal mechanical arm advancing and retreating driver 41 of the present invention cannot move simultaneously with the advancing and retreating driver of the sheath linkage device and the advancing and retreating driver of the catheter.

The tube-sheath linkage device advancing and retreating driver of the embodiment of the present invention is installed on the support rod of the tube-sheath linkage device, and can move back and forth through the bar gear on the support rod, thereby driving the tube-sheath linkage device to advance and retreat independently. The advancing and retreating driver of the sheath linkage can independently advance the sheath linkage and retract the sheath linkage independently. The advancing and retreating speed is divided into slow gear and fast gear, and the sheath tube 8 rotates, the sheath tube 8 moves, and the catheter 9 rotates. When the catheter 9 moves and the whole system moves, the catheter sheath linkage device can be advanced and withdrawn independently or synchronously. In actual work, the default setting is to accept the same command as the advancing and retreating driver 41 of the tubular robotic arm, and synchronously advance and retreat the tubular sheath linkage device and the robotic arm according to the same advance and retreat speed. The forward and backward drivers 41 are linked parties to each other.

The driving method of each driver and the controller in the embodiment of the present invention will be described in detail below:

The device described in the embodiment of the present invention includes a three-level linkage scheme, which specifically includes:

The first level: refers to the independent movement of the driver with independent movement function, including: the sheath tube motion controller and the sliding handle telescopic driver 42 .

The sheath tube motion controller includes: a sheath tube rotation driver 11 and a sheath tube advance and retreat driver 12, wherein the sheath tube rotation driver 11 can independently rotate the sheath tube 8, and the sheath tube advance and retreat motor 2 can independently advance and retreat the sheath tube 8, and has a secondary linkage. Function: Rotate the sheath tube 8 while the catheter 9 rotates, and advance and retract the sheath tube 8 while the catheter 9 is advancing and retreating; at the same time, it has a three-level linkage function: rotate and advance and retract the sheath tube 8 while the whole system is advancing and retreating. The catheter 9 rotates and advances and retreats while rotating and advancing and retreating the sheath tube 8 .

The catheter handle rotation driver 43 can be independent of all functions. When the whole system performs all functions, it can independently extend and retract the handle to drive the pulling wire to bend in different degrees and directions at the head end of the catheter 9 .

Level 2: Refers to the level 2 linkage that must be used in pairs, including:

1. When the catheter 9 rotates, the catheter rotation driver 21 and the catheter handle rotation driver 43 are linked to each other, and the system defaults to a secondary linkage, referred to as the catheter 9 rotation linkage +/- (LCT+/-, linked catheter torque);

2. The catheter 9 advances and retreats. The catheter advance and retreat driver 22 and the robotic arm advance and retreat motor 7 are linked to each other. The default setting of the system is the secondary linkage, referred to as the catheter 9 advance and retreat linkage +/- (LAR+/-, linked advance and retreat).

3. The whole system advances and retreats. The tube-sheath linkage device advance and retreat motor 8 and the robotic arm advance and retreat motor 7 are mutually linked. The default setting of the system is secondary linkage, referred to as system advance and retreat +/- (SAR+/-, system advance and retreat).

The third level: refers to various combined movements of independent movement and secondary linkage, including: for example: the catheter 9 is rotated while advancing and retreating the catheter 9, the catheter 9 is advancing and retreating while rotating the sheath 8, the catheter 9 is rotating while bending the head end, the whole system Bend the tip while advancing and retreating, and so on.

The following will take the motor drive as an example, through several specific adjustment examples in different implementation scenarios, to explain and illustrate the method described in the embodiment of the present invention in detail:

The first implementation scenario of the embodiment of the present invention is to position and stabilize the head end of the catheter 9 located in the center of the left upper pulmonary vein vestibule at a predetermined target point in the middle of the anterior border of the pulmonary vein opening by advancing, bending, and rotating the lamp, and continue to perform the following steps :

First, drive the sheath tube rotation motor 1 to rotate the sheath tube 8, so that the head end of the sheath tube is bent in the direction of the predetermined target point; drive the sliding handle telescopic motor 5, and properly bend the head end of the catheter 9 through the slow gear until the head end of the catheter 9 is displayed on the three-dimensional image. The end is bent to a predetermined curvature, then drive the catheter rotation motor 3 and the handle rotation motor 6, and properly rotate the catheter 9 (LCT+/-) through the slow gear until the three-dimensional image shows that the bending of the catheter tip points to the direction of the predetermined target point, and drives the catheter to advance and retreat The motor 4 and the robotic arm advance and retreat the motor 7, and appropriately advance the catheter 9 (LAR+) through the slow gear until the three-dimensional image shows that the head end of the catheter 9 is close to the predetermined target point. Finally, through the slow forward (LAR+, slow drive catheter advance and retreat motor) 4 and robotic arm forward and backward motor 7), rotating catheter 9 (LCT+/-, slow drive catheter rotation motor 3 and handle rotation motor 6) and bending catheter 9 head end (slow drive slide handle telescopic motor 5), until accurate And stably stick to the predetermined target point.

The first implementation scenario of the embodiment of the present invention is to manipulate and move the catheter tip located in the middle of the right atrium to the right ventricular outflow tract, which specifically includes:

First, drive the sheath tube rotation motor 1 to rotate the sheath tube 8. Under the observation of the three-dimensional image, make the curvature of the sheath tube head end point to the middle of the tricuspid valve opening, and drive the sliding handle telescopic motor 5 to properly bend the head end of the catheter 9 through the slow gear. Until the 3D image shows that the tip of the catheter 9 is bent to a predetermined curvature, drive the catheter rotation motor 3 and the handle rotation motor 6, and properly rotate the catheter 9 (LCT+/-) through the slow gear until the 3D image shows that the bending of the catheter tip points to three. The middle of the cusp opening. Then, drive the catheter advancing and retreating motor 4 and the robotic arm advancing and retreating motor 7, and appropriately advance the catheter 9 (LAR+) through the slow gear until the 3D image shows that the end of the catheter head 9 reaches the middle of the right ventricular inflow tract. Finally, while rotating the catheter 9 clockwise (LCT+, drive the catheter rotation motor 3 and the handle rotation motor 6 at a slow speed), while bending the head end of the catheter 9 (drive the sliding handle telescopic motor 5 at a slow speed), forward the catheter 9 (LAR+ , Slowly drive the catheter advancing and retreating motor 4 and the robotic arm advancing and retreating motor 7) until the head end of the catheter 9 enters the right ventricular outflow tract.

The first implementation scenario of the embodiment of the present invention is to locate the head end of the catheter 9 located in the middle of the right atrium to the His bundle, which specifically includes:

First, drive the sheath tube rotation motor 1 to rotate the sheath tube 8. Under the observation of the three-dimensional image, make the bending of the sheath tube head end to the middle of the tricuspid valve opening, and drive the sliding handle telescopic motor 5 to properly bend the catheter head end through the slow gear until the The 3D image shows that the bending of the tip of the catheter 9 reaches a predetermined curvature, drive the catheter rotation motor 3 and the handle rotation motor 6, and properly rotate the catheter 9 (LCT+/-) through the slow gear until the 3D image shows the bending direction of the catheter 9 tip. The middle of the tricuspid valve opening. Then drive the catheter advancing and retreating motor 4 and the robotic arm advancing and retreating motor 7, and appropriately advance the catheter 9 (LAR+) through the slow gear until the three-dimensional image shows that the catheter tip enters the middle of the right ventricular inflow tract, and rotates the catheter 9 clockwise. At the same time as (LCT+), slowly withdraw catheter 9 (LAR-) until the tip of catheter 9 is located at about 1 o’clock in the tricuspid annulus, and at the same time, small A waves and Large V wave, at the end, while increasing or reducing the bending of the head end of the catheter 9, the catheter 9 is advanced or retracted (LAR+/-, slow drive when the body advance and retreat motor 4 and the robotic arm advance and retreat motor 7), and at the same time follow Rotate catheter 9 clockwise or counterclockwise (LCT+/-, slowly drive catheter rotation motor 3 and handle rotation motor 6) until a clear and stable H wave is recorded on the EEG at the tip of catheter 9.

In general, the core idea of the embodiment of the present invention is to design and layout a drive array that can jointly drive the catheter and the sheath 8, specifically a motor array, so as to drive the catheter 9 and the sheath 8 synchronously, and realistically simulate the operator's The synchronous control of the catheter 9 and the sheath 8, and the embodiment of the present invention focuses on the design and use of a three-level linkage of the drive array, which efficiently realizes the functions of the operator flexibly using the catheter 9 and the sheath 8 for free movement and precise positioning. At the same time, the embodiment of the present invention optimizes the three-level linkage control instructions and actions, realizes the purpose of safe, simple, practical and efficient use, thereby greatly improving the operator's experience.

Although the preferred embodiments of the present invention have been disclosed for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, and therefore, the scope of the present invention should not be limited to the above-described embodiments.

Claims (10)

1. a radiofrequency ablation catheter and sheath linkage control device, described catheter moves under the control of mechanical arm controller, it is characterized in that, described device comprises: sheath controller, catheter controller, tube sheath linkage and Robotic arm controller; The sheath tube controller is used to drive the sheath tube to perform rotational movement and advance and retreat movement; The catheter controller is used to drive the catheter to perform rotational movement and advance and retreat movement; The tube-sheath linkage is used to drive the catheter and the sheath to carry out integral forward and backward movement; By coordinating and controlling the sheath controller, the catheter controller, the sheath linkage and the robotic arm controller, the movements of the catheter and the sheath are controlled to make the catheter reach a preset value target location. 2. The device according to claim 1, characterized in that, The tube-sheath linkage further comprises: a fixedly connected tube-sheath driver and a tube-sheath linkage support rod; The sheath tube controller further comprises: a sheath tube rotation driver and a sheath tube advance and retreat driver; The sheath tube rotation driver is arranged on the first end of the sheath tube, the first end is the end of the sheath tube on the side connected to the catheter, and the sheath tube rotation driver is used for Drive the sheath to perform rotational movement according to the received control signal; The sheath tube advance and retreat driver is arranged on the tube-sheath linkage support rod, and the sheath tube advance and retreat driver is used to drive the sheath tube to advance and retreat along the tube-sheath linkage support rod direction according to the received control signal. ; The catheter controller further includes: a catheter rotation driver and a catheter advance and retreat driver; The catheter rotation driver is arranged on the catheter close to the first end, and the catheter rotation driver is used to drive the catheter to rotate according to the received control signal; The catheter advancing and retreating driver is arranged on the tube-sheath linkage support rod, and the catheter advancing and retreating driver is used to drive the catheter to advance and retreat along the tube-sheath linkage supporting rod direction according to the received control signal. 3. The device of claim 2, wherein The tube-sheath linkage support rod is provided with a first track and a second track that are parallel to each other, and both the first track and the second track extend along the tube-sheath linkage support rod direction; The sheath tube advancing and retreating driver and the catheter advancing and retreating driver are respectively slidably fixed on the first track; The tube sheath driver is slidably fixed on the second rail. 4. The device of claim 3, wherein Both the sheath tube advancing and retreating driver and the catheter advancing and retreating driver can be locked in position during the sliding process, and when in the locked position, the sheath tube advancing and retreating driver and the catheter advancing and retreating driver have no relative movement with the first track; The sheath driver can be locked in a position during the sliding process, and in the locked position, the sheath driver and the second rail do not move relative to each other. 5. The device of claim 2, wherein The catheter rotation driver is arranged on the catheter at a preset distance from the first end, wherein the preset distance is 5-8 cm. 6. The device of claim 2, wherein The tube-sheath driver is used to drive the tube-sheath linkage support rod to move according to the received control signal, and drive the catheter and the sheath as a whole to be linked and supported along the tube-sheath through the tube-sheath linkage support rod. The rod direction moves forward and backward. 7. The device according to claim 2, wherein the manipulator controller further comprises: a manipulator advancing and retreating driver, a sliding handle telescopic driver and a catheter handle rotation driver; The robotic arm advancing and retreating driver is used to push the robotic arm to perform an advancing and retreating movement according to the received control signal, so as to push the advancing and retreating movement of the catheter; The sliding handle telescopic driver is arranged in the mechanical arm and used to drive the telescopic sliding handle according to the received control signal, so as to control the head end of the catheter to bend to a preset curvature; The catheter handle rotation driver is arranged in the mechanical arm and is used to control the rotation of the handle according to the received control signal, so as to control the catheter to rotate. 8. The device of claim 7, wherein the robotic arm controller further comprises: a robotic arm moving support rod; The robotic arm advance and retreat driver is slidably fixed on the third track of the robotic arm moving support rod, and the robotic arm advance and retreat driver can lock the position during the sliding process. the third track has no relative motion; Both the mechanical arm moving support rod and the tube-sheath linkage support rod are fixed on a preset fixing rod. 9. The device of claim 8, wherein By simultaneously controlling the catheter rotation driver and the catheter handle rotation driver, the catheter performs an integral rotational movement; By simultaneously controlling the advancing and retreating driver of the catheter to move on the first track, and controlling the advancing and retreating driver of the robotic arm to operate on the third track, the catheter can move forward and backward as a whole; By simultaneously controlling the manipulator arm advance and retreat driver to run on the third track and the tube sheath driver to run on the second track, the catheter and the sheath can move forward and backward as a whole. 10. The apparatus according to claim 7, wherein the apparatus further comprises: a control terminal; The control terminal is used to display the position of the catheter in real time, and to the sheath rotation driver, the sheath advance and retreat driver, the catheter rotation driver, the catheter advance and retreat driver, the sheath driver and all The robotic arm controller sends a control signal to control the movement of the catheter and the sheath, so that the catheter reaches the preset target position.

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