WO2023093579A1 - 管腔介入系统 - Google Patents

管腔介入系统 Download PDF

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Publication number
WO2023093579A1
WO2023093579A1 PCT/CN2022/132067 CN2022132067W WO2023093579A1 WO 2023093579 A1 WO2023093579 A1 WO 2023093579A1 CN 2022132067 W CN2022132067 W CN 2022132067W WO 2023093579 A1 WO2023093579 A1 WO 2023093579A1
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WO
WIPO (PCT)
Prior art keywords
driving
wire
seat
base
medical tubing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2022/132067
Other languages
English (en)
French (fr)
Inventor
周海燕
邵萌
赵磊
黄海云
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ctc Medical Technology Beijing Co Ltd
Original Assignee
Ctc Medical Technology Beijing Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ctc Medical Technology Beijing Co Ltd filed Critical Ctc Medical Technology Beijing Co Ltd
Priority to EP22897662.7A priority Critical patent/EP4424349A4/en
Publication of WO2023093579A1 publication Critical patent/WO2023093579A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0113—Mechanical advancing means, e.g. catheter dispensers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0116—Steering means as part of the catheter or advancing means; Markers for positioning self-propelled, e.g. autonomous robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0169—Exchanging a catheter while keeping the guidewire in place
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0172—Exchanging a guidewire while keeping the catheter in place
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/09—Guide wires
    • A61M25/09041—Mechanisms for insertion of guide wires
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes

Definitions

  • the present application belongs to the technical field of interventional therapy, and in particular relates to a lumen interventional system.
  • Organ lesions can be treated with a variety of treatment methods, such as surgical resection of diseased tissue or interventional therapy, in which interventional therapy is a minimally invasive treatment using modern high-tech means, that is, under the guidance of medical imaging equipment, using a catheter delivery system to Special catheters, guide wires and other precision instruments are introduced into the human body to diagnose and locally treat diseases in the body. Less invasive than surgery.
  • a catheter delivery system is used to guide a catheter into the patient's femoral artery and positioned near the arterial ostium of the patient's liver.
  • a guidewire is typically inserted into the guide catheter through a hemostatic valve and maneuvered through the patient's arterial system until the guidewire reaches the lesion.
  • the percutaneous device is moved along the guide wire until it reaches the tissue to be intervened.
  • the guide wire is pulled out, and chemotherapy drugs or embolic agents are injected into the blood vessel through the microcatheter to block the blood vessel to reduce the blood supply of the tumor and thereby inhibit the tumor. purpose of growth.
  • the catheter for interventional therapy usually has a fixed length, wherein the proximal end of the catheter is used as the fixed end, and the distal end of the catheter is used as the moving end.
  • the proximal end of the tubing which is the fixed end, needs to be adjusted in conjunction with the movement of the distal end of the tubing to prevent the tubing from being broken or strained, making the operation cumbersome during the delivery of the tubing and the structure Integration is difficult.
  • the present application provides a lumen interventional system, which has a simple structure, a compact layout, a high degree of integration, simple operation, and high delivery efficiency.
  • a lumen interventional system including a plurality of medical tubing wires and a medical tubing wire driver for driving a plurality of the medical tubing wires
  • the medical tubing wire driver includes :
  • the regulation mechanism is fixedly installed on the base and includes a first regulation component and a second regulation component arranged at intervals for driving the rotation and movement of the medical tubing;
  • the first regulating assembly includes a first driving seat and a second driving seat for driving the movement of the medical tubing, and a first tubing clamp for fixing and driving the medical tubing to rotate.
  • the second control assembly includes a second tube wire clamp for fixing and driving the rotation of the medical tube wire and a third drive seat for driving the movement of the medical tube wire.
  • the medical tubing wire is configured in a curved shape.
  • the base includes a base plate, and the regulating mechanism is inserted and fixed on the base plate, so that a plurality of the medical tubing wires are arranged at intervals on the base plate. same side.
  • the first tubing clamp, the second drive base, the first drive base, the third drive base, and the second tube clamp are along the plate of the base plate Arranged at intervals in the long direction.
  • the base plate is provided with a plurality of guide structures for adjusting the turning direction of the medical tubing, and the plurality of guide structures are arranged at intervals along the length direction of the base plate.
  • the guiding structure includes a first guiding structure for adjusting the medical tubing between the first tubing clamp and the second driving base, and a first guiding structure for adjusting the second driving seat.
  • the structure of the first guiding structure, the second guiding structure and the third guiding structure are the same and include:
  • Two limiting plates are used to limit the moving range of the medical tubing and are arranged at intervals on the bottom plate.
  • a cover plate is disposed between the two limit plates, and a limited accommodation space is formed between the cover plate and the bottom plate.
  • the first tubing clamp has the same structure as the second tubing clamp and includes a fixed seat bracket protruding from the base plate and rotatably mounted on the fixed seat bracket pipe clamps.
  • the base plate is provided with a pipe wire clip driving unit for driving the pipe wire clip to rotate
  • the pipe wire clip driving unit includes:
  • the pipe wire clip transmission part is connected in transmission between the rotary drive motor and the pipe wire clip.
  • the pipe clamp transmission part is a bevel gear transmission part and includes a main driving gear protruding from the rotary drive motor and a driven gear protruding from the pipe clamp .
  • the first drive base, the second drive base and the third drive base have the same structure and include a wheel drive motor mounted on the base plate and extending from the base plate.
  • the tube wire driving wheel and the tube wire idler, the medical tubing is sandwiched between the tube wire driving wheel and the tube wire idler.
  • the axis of the tubing driving wheel and the axis of the tubing idler are both perpendicular to the base plate; and/or, the wheel driving motor and the medical tubing are separately arranged on both sides of the base plate.
  • the driving direction of the first driving seat is opposite to the driving direction of the second driving seat; and/or, the driving direction of the third driving seat is opposite to the driving direction of the first driving seat same.
  • the medical tubing driver includes a fixing base and the base that is slidably mounted on the fixing base and can slide along the length direction of the fixing base.
  • the regulation mechanism further includes a third regulation component for driving the medical tubing to rotate and move, and the third regulation component includes:
  • the fourth driving seat is used to drive the medical tubing wire to move and be fixedly installed on the fixed seat;
  • the rotating driving seat is fixedly installed on the base plate and used for fixing and driving the medical tubing wire to rotate.
  • the fixing seat includes an L-shaped plate, the L-shaped plate includes a first direction plate part and a second direction plate part connected in sequence, a sliding part is arranged on the surface of the base plate, A slide rail for sliding the sliding member is arranged on the surface of the first direction plate portion.
  • a combination of the base and the regulating mechanism is adopted, and the regulating mechanism and the medical tubing are integrated on the base, which has a compact structure and a high degree of integration.
  • the rotation and movement of the medical tubing is driven by a position-fixed control mechanism, so that it is not necessary to adjust the proximal end of the medical tubing according to the suitability of the distal end of the medical tubing, and the medical tubing can be superimposed on the force of rotation and movement, so that it can perform
  • the spiral movement method can accurately copy the movements of medical staff. Simple structure, compact layout, high integration, easy operation and high efficiency of pipe wire transportation.
  • FIG. 1 is a schematic diagram of a three-dimensional structure of a lumen interventional system according to a specific embodiment of the present application
  • Fig. 2 is a schematic structural diagram of Fig. 1 under different viewing angles
  • Fig. 3 is a schematic diagram of the three-dimensional structure under different viewing angles in Fig. 1, showing the guiding structure, the base and the fixing seat;
  • Fig. 4 is a schematic diagram of a partial three-dimensional structure under different viewing angles in Fig. 1, showing the first pipe clamp;
  • Fig. 5 is a schematic diagram of a partial three-dimensional structure under different viewing angles in Fig. 1, showing the first driving seat;
  • Fig. 6 is a schematic structural view of a guiding structure in a lumen interventional system according to a specific embodiment of the present application
  • Fig. 7 is a schematic structural diagram of a use state of the lumen interventional system according to a specific embodiment of the present application.
  • orientation words such as “up, down, top, bottom” generally refers to the direction shown in the drawings or refers to the vertical, perpendicular or gravitational direction.
  • orientation words such as “up, down, top, bottom” generally refers to the direction shown in the drawings or refers to the vertical, perpendicular or gravitational direction.
  • This application aims to solve the problem of the operation convenience and integration of the catheter wire delivery system.
  • the interventional treatment it is necessary to deliver the catheter wire to the tissue to be intervened in the patient, and inject drugs into the tissue through the catheter wire to play a therapeutic role.
  • the proximal end of the tubing wire as the fixed end needs to be adjusted in conjunction with the movement of the distal end of the tubing wire, which makes the operation of the tubing wire delivery process cumbersome, and it is easy to cause the medical tubing wire to be unable to accurately replicate the operation of medical personnel.
  • the integration of the structure is difficult. Therefore, how to improve the accuracy and convenience of the operation and the integration of the structure is a problem worthy of attention.
  • the specific structure and function of the tubing delivery system will be described in detail below.
  • the present application discloses a lumen interventional system, which includes a plurality of medical tubing wires and a medical tubing wire driver for driving a plurality of medical tubing wires.
  • the medical tubing wire driver includes: a base 110 and regulatory agencies;
  • the base 110 is used to install the medical tubing, wherein the medical tubing may include guide wires, catheters, micro guide wires, microcatheters, total exchange balloon catheters or rapid exchange balloon catheters, etc., through the base 110 to make
  • the medical tubing is integrated on the base 110, with a compact structure and high integration;
  • the regulating mechanism is fixedly installed on the base 110 and includes a first regulating assembly 200 and a second regulating assembly 300 arranged at intervals for driving the rotation and movement of the medical tubing, wherein the first regulating assembly 200 and the second regulating assembly 300 It can be used to drive different medical tubing wires and enable the corresponding medical tubing wires to rotate to adjust the deflection angle.
  • the medical tubing wires can perform spiral walking under the superposition of rotation and moving force , so as to be able to accurately copy the movements of medical personnel, so that different medical tubings can move to the lesion in cooperation with each other, and treat the lesion to complete the interventional treatment;
  • the first regulating assembly 200 includes a first driving seat 210 and a second driving seat 220 for driving the medical tubing to move, and a first tubing clamp 230 for fixing and driving the medical tubing to rotate
  • the second regulating assembly 300 It includes a second tube wire clamp 310 for fixing and driving the rotation of the medical tube wire and a third drive base 320 for driving the medical tube wire to move, through the fixed first drive base 210, the second drive base 220 and the first
  • the tube wire clamp 230 can enable at least one medical tube wire to be position-adjustable, and the position-fixed second tube wire clamp 310 and the third driving seat 320 can enable a medical tube wire to be position-adjusted, so that different medical tube wires can interact with each other.
  • the medical tubing is configured in a curved shape. It can be understood that the position of the first regulating assembly 200 and the second regulating assembly 300 is fixed, and different medical tubing wires can be arranged in a curved shape through the two, so that there is no need to adaptively adjust the medical tubing when moving the distal end of the corresponding medical tubing.
  • the position of the proximal end of the tubing wire can limit the movement path of the medical tubing wire, so that the medical tubing wire can move in an orderly manner and ensure the smooth progress of the operation.
  • the cavity interventional system can be used to perform a full exchange system or a rapid exchange system.
  • Each system may include corresponding medical tubes or medical wires, which are known to those skilled in the art, and will not be described here in order to reduce redundancy.
  • the medical tube and the medical wire can include two ends and are respectively the proximal end of the medical tubing wire and the distal end of the medical tubing wire. to one end of the body.
  • the shape of the base 110 can be varied, and can be a rectangular plate that is easy to process, an L-shaped plate that is easy to grasp, or other irregular shapes.
  • the base 110 can be a plate-like structure, a box-like structure or a frame-like structure that can meet the requirements of installing the regulating mechanism, as long as it can be used for installing the guide structure group and the conveying component, taking the frame-like structure as an example.
  • the frame-like structure can be a sheet-like structure with a hollow part, wherein the control mechanism can be embedded in the hollow part, so that each control mechanism can be inherited on the base 110, the structure is compact, and external interference can be effectively reduced.
  • the structures of the first driving seat 210 , the second driving seat 220 and the third driving seat 320 may be the same or different, and they need to be able to drive the corresponding medical tubing to move.
  • the driving seat may include a driving element fixedly installed on the base 110 capable of providing a driving force, and a contact element connected with a medical tubing wire capable of outputting a driving force of the driving element. Wherein the contact element can generate frictional force with the medical tubing wire to move with the medical tubing wire.
  • the three can be located on the same surface of the base 110, or can be installed on different surfaces of the base 110. In this way, they can be installed flexibly according to needs, and the installation efficiency can be improved.
  • the structures of the first tubing clamp 230 and the second tubing clamp 310 may be the same or different, and they need to be able to drive the corresponding medical tubing to rotate.
  • the first tubing clamp 230 may include a driving element mounted on the base 110 and a fixing element mounted on the driving element capable of fixing the medical tubing, so that when the driving element rotates, the fixing element drives The rotation of the medical tubing wires drives the corresponding medical tubing wires to rotate, thereby adjusting the deflection direction of the distal end of the medical tubing wires.
  • the first tubing clamp 230 is not limited thereto, as long as it can clamp the medical tubing and drive it to rotate.
  • the base 110 includes a base plate, and the regulating mechanism is plugged and fixed on the base plate, so that a plurality of medical tubing wires are arranged at intervals on the same side of the base plate. side, as shown in Figure 1 and Figure 2.
  • the base 110 is a plate-shaped structure, and the control mechanism can be installed through the base plate, and the control mechanism adopts a plug-in method, which not only ensures the firmness of the installation of the control mechanism, but also makes its structure compact and highly integrated. high.
  • the base plate may include a first base surface and a second base surface arranged oppositely and a surrounding wall surface defining the shape of the base plate, and a plurality of medical tubings may be installed on the first base surface Or on one of the second base surfaces, so as to facilitate mutual cooperation and switching between multiple medical tubing wires, and at the same time further improve the integration of the organ cavity interventional system.
  • multiple medical tubing wires are spaced apart from each other, which ensures the independent controllability of each medical tubing wire, prevents them from interfering with each other, and ensures that the system can accurately reproduce the surgical steps of medical personnel.
  • the first base surface can be rectangular, in one embodiment, the first tubing clamp 230, the second drive seat 220 , the first driving seat 210 , the third driving seat 320 and the second tubing clamp 310 are sequentially arranged at intervals along the plate length direction L of the base plate.
  • the first base surface can be rectangular, in one embodiment, the first tubing clamp 230, the second drive seat 220 , the first driving seat 210 , the third driving seat 320 and the second tubing clamp 310 are sequentially arranged at intervals along the plate length direction L of the base plate.
  • Figure 1 and Figure 2 it can be understood that on the premise that there is no mutual interference between the various control elements, they can be arranged at intervals along the length direction L of the board. In this way, it is not only convenient for installation and operation, but also can make full use of the base
  • the structure of the board is installed, the structure is compact, and the system integration degree is improved.
  • the system may include two or three or more medical tubing wires, wherein the first tubing wire clamp 230 and the second driving base 220 may be an assembly and used to drive the same medical tubing wire, the first The driving base 210 can be used to drive another medical tube, and the third driving base 320 and the second tube clamp 310 can be used as another assembly to drive another same medical tube.
  • the tube wire proximal end of the medical tube wire can be fixed on the first tube wire clamp 230, so that the tube wire proximal end can rotate, and the medical tube wire
  • the distal end of the tubing wire can pass through the second driving seat 220, and at this time, the tube section of the medical tubing wire can be clamped on the second driving seat 220, so that the medical tubing wire can move linearly, so that the proximal end of the tubing wire
  • the rotation can be transmitted to the distal end of the tube wire so that the distal end of the tube wire can be deflected at an angle. In this way, it is superimposed with the linear movement of the distal end of the tube wire. In this way, the spiral walking method can be carried out, and the movements of the medical staff can be accurately copied. Complete surgical treatment efficiently and accurately.
  • the base plate is provided with multiple guide structures 400 for adjusting the turning direction of the medical tubing, and the multiple guide structures 400 are arranged at intervals along the board length direction L of the base plate.
  • the position of the medical tubing is limited, and a plurality of guide structures 400 are arranged at intervals, so that each medical tubing does not interfere with each other and runs smoothly.
  • the medical tubing can be steered through the guiding structure, so that the medical tubing can be arranged in a curved shape to limit the movement path of the medical tubing, so that the medical tubing can move in an orderly manner to ensure smooth operation.
  • the guiding structure 400 includes a first guiding structure 410 for adjusting the medical tubing between the first tubing clamp 230 and the second driving seat 220, and a first guiding structure 410 for adjusting the second driving seat 220.
  • a medical tubing can be arranged between the first tubing clamp 230 and the second driving seat 220
  • the first guiding structure 410 can be located between the first tubing clamp 230 and the second driving seat 220 .
  • One side of the second driving seat 220 is open to the first tubing clamp 230 and the second driving seat 220 .
  • the medical tubing protruding from the first tubing clamp 230 can turn around along the first guiding structure 410 and then protrude out of the second driving base 220 . Therefore, the first guiding structure 410 ensures the curvature and order of the medical tubing.
  • the first guide structure 410, the second guide structure 420 and the third guide structure 430 have the same structure and include: a bottom plate 41 fixedly installed on the base plate;
  • the plate 42 is used to limit the moving range of the medical tubing and is arranged on the bottom plate 41 at intervals.
  • the bottom plate 41 includes a top surface for supporting the medical tubing, and the top surface of the bottom plate 41 is formed with a planar guide portion for coiling the medical tubing.
  • the top surface can be a flat surface, so that the medical tubing can always move smoothly and ensure the orderly movement of the medical tubing.
  • the medical tubing on the guide structure 400 includes two straight sections fitted with the limiting plate 42 and a natural arc section connected between the two straight sections, the limiting plate 42 can be adjusted and limited The spacing between two straight segments.
  • a cover plate 43 is disposed between the two limit plates 42 , and a limited accommodation space is formed between the cover plate 43 and the bottom plate 41 .
  • a cover plate 43 can be provided on the top of the two limit plates 42 to effectively prevent the medical tubing
  • the height direction of the limiting plate 42 falls off to ensure the orderly operation of the medical tubing.
  • the cover plate 43 can be an upwardly raised arc-shaped cover plate 43, which can increase the limit accommodation space and ensure the orderly operation of the medical tubing, or can be a straight plate, which is easy to process and low in production cost.
  • the first tubing clamp 230 has the same structure as the second tubing clamp 310 and includes a fixed seat bracket 1 protruding from the base plate and a rotatably mounted on the fixed seat bracket 1 .
  • the fixing seat bracket 1 can be provided with a mounting sleeve, wherein one end of the pipe wire clamp 2 can be provided with a shaft, and the shaft can pass through the mounting sleeve, so that the pipe wire clamp 2 can be closer to the base plate, improving The degree of integration of the structure.
  • the base plate is provided with a tube wire clamp drive unit for driving the tube wire clamp 2 to rotate
  • the tube wire clamp drive unit includes: a rotary drive motor 3 embedded on the base plate;
  • the wire clamp transmission part 4 is connected between the rotary drive motor 3 and the pipe wire clamp 2 through transmission.
  • the rotating drive motor 3 is embedded on the base plate to improve the structural integration
  • the tube wire clamp transmission part 4 can be a rotating shaft, and another mounting sleeve can be provided on the seat bracket 1,
  • the rotating shaft can be directly connected with the rotating drive motor 3, and output the power to the shaft through the mounting sleeve, so that the orderly rotation of the pipe clamp 2 can be realized.
  • the tube wire clamp transmission part 4 is a bevel gear transmission part and includes a main drive gear protruding from the rotary drive motor 3 and a secondary drive gear protruding from the tube wire clamp 2 moving gears.
  • the driven gear transmission can be directly connected with the shaft, so that the medical tubing and the driven gear rotate synchronously.
  • the main drive gear is directly connected to the tube wire clamp transmission part 4, the driven gear is meshed with the drive gear, and the rotating drive motor 3 drives the rotating shaft, the main drive gear, the driven gear, the shaft rod and the tube wire clamp 2 to rotate in turn, thereby Realize the driving of medical tubing wire.
  • the tube wire clip 2 may be a guide wire fixing clip capable of opening and closing, and the specific structure is not specifically limited here. In addition, it can also be a spur gear transmission part, or a helical gear transmission part or a friction wheel transmission part.
  • the first driving seat 210, the second driving seat 220 and the third driving seat 320 have the same structure and include a wheel drive motor 5 mounted on the base plate and a wheel drive motor 5 protruding from the base plate.
  • the tube wire drive wheel 6 can be driven to rotate by the wheel drive motor 5, because the medical tube wire is sandwiched between the tube wire drive wheel 6 and the tube wire idler 7. In this way, a frictional force is formed between the tubing wire driving wheel 6 and the medical tubing wire.
  • the tubing wire driving wheel 6 rotates, its rotational force enables the medical tubing wire to move linearly through the friction force, so that the medical tubing wire can be driven accurately and quickly Medical tubing.
  • the axis of the tube wire driving wheel 6 and the axis of the tube wire idler 7 are perpendicular to the base plate, as shown in Figure 1, so that the tube wire driving wheel 6 and the tube wire
  • the space between the idler 7 and the base plate can be smaller, and can generate a driving force parallel to the direction of the base plate for the medical tubing, with a more compact structure and a high degree of integration; and/or, in another implementation
  • the wheel drive motor 5 and the medical tubing are respectively arranged on both sides of the base plate, as shown in Fig. 1 and Fig. 3 .
  • the plurality of wheel drive motors 5 can all be located on the second base surface, while the medical tubing wires can all be located on the first base surface. In this way, the compactness of the structure can be improved, and the wheel drive motors can be avoided. 5 Interfering with the medical tubing to ensure the stable operation of the medical tubing.
  • the driving direction of the first driving seat 210 is opposite to that of the second driving seat 220 .
  • the distal end of the medical tubing stretched out from the first tubing clamp 230 needs to pass through the second driving seat 220 and the first driving seat 210, like this, through the second driving seat 220 and the first driving seat 210
  • the reversibility of the driving direction of the driving seat 210 can ensure the smooth movement of the medical tubing wire. and / or,
  • the driving direction of the third driving base 320 is the same as that of the first driving base 210 .
  • the first driving seat 210 and the third driving seat 320 are used to drive different medical tubing wires, and through the consistency of the driving directions of the two, the distal ends of different medical tubing wires can all move toward the direction of the patient's lesion , to ensure the rapidity and precision of the operation.
  • the medical tubing driver includes a fixing base 120 and a base 110 slidably mounted on the fixing base 120 and capable of sliding along the length direction of the fixing base 120 .
  • the frame body of the system is composed of a fixed seat 120 and a base 110, wherein the positional relationship between the fixed seat 120 and the patient can be relatively fixed, and the base 110 can slide along the fixed seat 120, thereby adjusting the relationship between the base 110 and the patient.
  • the base 110 can be adaptively adjusted according to the length of the medical tubing wire entering the human body.
  • the regulating mechanism further includes a third regulating assembly for driving the rotation and movement of the medical tubing
  • the third regulating assembly includes: a fourth driving seat 8, used for driving the medical tubing to move and fix Installed on the fixed base 120; and the rotating drive base 9, fixedly installed on the base plate and used to fix and drive the medical tubing to rotate, as shown in Fig. 2 and Fig. 3 .
  • the medical tubing may include a catheter, which has a relatively large diameter and can accommodate the entry of a certain guide wire or balloon catheter. Therefore, the bendability of the catheter is worse than that of the guide wire.
  • the catheter can include a proximal end of the catheter and a distal end of the catheter, wherein the proximal end of the catheter can be mounted on a rotating drive seat 9, the distal end of the catheter can pass through the fourth driving seat 8, and the deflection of the distal end of the catheter can be adjusted by rotating the driving seat 9 angle, the distal end of the catheter can be driven to move linearly through the fourth driving seat 8 .
  • the rotation and linear movement are superimposed, which can accurately copy the doctor's operation technique and ensure the smooth progress of the operation.
  • the structure of the fourth driving base 8 may be the same as that of the first driving base 210 . No specific details are given here.
  • the fixing seat 120 includes an L-shaped plate, the L-shaped plate includes a first direction plate part and a second direction plate part connected in sequence, a sliding part is arranged on the surface of the base plate, and the second direction plate part A slide rail for sliding of the slider is arranged on the board surface of one direction board.
  • the adjustment of the distance between the second seat board and the base 110 is realized by the slide rail and the sliding member.
  • the fourth driving seat 8 can be located on the second direction board part. In this way, when the distal end of the catheter moves linearly, in order to avoid pulling The catheter can adaptively adjust the distance between the second direction plate part and the base 110 to ensure the safety and effectiveness of the catheter.
  • the guide wire that can go deep into the catheter on the second tube wire clamp 310 and the third driving seat 320 is installed in turn on the first tube wire clamp 230, the second driving seat 220 and the first driving seat 210 and can go deep into the guide wire in the catheter.
  • the microguide wire is inserted into the microcatheter along the three-way valve 10 and can pass through the microcatheter.
  • the specific steps include: first, the guide wire distal end of the guide wire can pass through the catheter and move to the first designated position, such as a large blood vessel of the tissue to be treated; second, move the guide wire distal end of the catheter to the first designated position; Designate the position and pull out the guide wire; thirdly, move the distal end of the micro guide wire to the second designated position, such as the small blood vessel of the tissue to be treated; finally, move the microcatheter along the micro guide wire to the second designated position, Drugs are injected into the microcatheter through the three-way valve 10, so that the tissue to be treated can be treated with drugs through the microcatheter, and the interventional operation can be completed.
  • the proximal end of the micro guide wire can be fixed on the first tube wire clamp 230, and the distal end of the micro guide wire can bypass the first guiding structure 410 and then pass through the second guide wire.
  • the second driving seat 220 and the first driving seat 210, the curved micro guide wire can be rotated when the first tube wire clamp 230 is activated, and the rotational force is transmitted to the distal end of the micro guide wire so that it can be deflected at a certain angle,
  • the driving force for linear movement can be provided to the micro-guide wire through the second driving seat 220, so that the distal end of the micro-guide wire can be driven to move linearly, and the rotational driving force and linear movement force are superimposed on the medical tube.
  • the distal end of the wire in this way, enables the micro-guide wire to move in a spiral manner, accurately replicating the operation of medical staff, and ensuring the stable progress of interventional surgery.
  • the micro guide wire can form a U-shaped motion trajectory on the first guide structure 410, so that the movement of the micro guide wire can be realized without adjusting the distance between the first tube wire clamp 230 and the second driving seat 220, and the micro guide wire can be improved. wire transport efficiency.
  • the direction of the micro-guide wire is regular and the operation is convenient, which can avoid the bending of the micro-guide wire during transportation and ensure the smoothness of the micro-guide wire pipeline.

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Abstract

一种管腔介入系统，包括医用管丝以及用于驱动医用管丝的医用管丝驱动器。医用管丝驱动器包括：基座（110）；和调控机构，固定安装于基座（110）上并包括间隔布置的用于驱动医用管丝旋转和移动的第一调控组件（200）和第二调控组件（300）；基座（110）和调控机构组合，调控机构和医用管丝集成在基座（110）上，其结构紧凑集成度高。位置固定的调控机构驱动医用管丝旋转和移动，既无需根据医用管丝远端适配性地调节医用近端，又能够使医用管丝叠加旋转和移动作用力，使得其能够进行螺旋式的走位方式，以精准复制医务人员的动作。该官腔介入系统结构简单，布局紧凑具有较高的集成度，操作简单，管丝输送效率较高。

Description

管腔介入系统
本申请要求于2021年11月23日提交中国专利局、申请号为202111393803.4、发明名称为“管腔介入系统”的中国专利申请的优先权，其全部内容通过引用结合在申请中。
技术领域
本申请属于介入治疗技术领域，具体地，涉及一种管腔介入系统。
背景技术
器官病变可以采用多种治疗手段，例如手术切除病变组织或介入治疗，其中介入治疗是利用现代高科技手段进行的一种微创性治疗，即在医学影像设备的引导下，使用导管输送系统将特制的导管，导丝等精密器械，引入人体，对体内病态进行诊断和局部治疗。相比于手术治疗具有更小的侵入性。
例如，肝脏介入手术，使用导管输送系统引导导管插入患者的股动脉中，并且定位在患者肝脏的动脉口附近。通常将导丝通过止血阀插入引导导管中，并且通过患者的动脉系统进行操纵，直到导丝到达病变部位。然后使经皮设备沿着导丝移动，直到到达预备进行干预的组织，此时将导丝抽出，并通过微导管向血管内注入化疗药或者栓塞剂将血管堵塞达到减少肿瘤血供从而抑制肿瘤生长的目的。
介入治疗管丝通常具有固定长度，其中管丝近端作为固定端，管丝远端作为移动端。在管丝远端移动过程中，作为固定端的管丝近端需要配合管丝远端的移动而进行位置调节，以免管丝被拉断或拉伤，使得管丝输送过程中操作繁琐，结构的集成难度较大。
技术解决方案
针对现有技术的上述缺陷或不足，本申请提供了管腔介入系统，该管腔介入系统，结构简单，布局紧凑具有较高的集成度，操作简单管丝输送效率高。
为实现上述目的，根据本申请的一个方面，提供一种管腔介入系统，包 括多个医用管丝以及用于驱动多个所述医用管丝的医用管丝驱动器，所述医用管丝驱动器包括：
基座；和
调控机构，固定安装于所述基座上并包括间隔布置的用于驱动所述医用管丝旋转和移动的第一调控组件和第二调控组件；
其中，所述第一调控组件包括用于驱动所述医用管丝移动的第一驱动座和第二驱动座以及用于固定并驱动所述医用管丝旋转的第一管丝夹具，所述第二调控组件包括用于固定并驱动所述医用管丝旋转的第二管丝夹具以及用于驱动所述医用管丝移动的第三驱动座，在所述第一调控组件和所述第二调控组件内，所述医用管丝配置为呈弯曲状。
在一些实施例中，所述基座包括基座板，所述调控机构插装固定于所述基座板上，使得多个的所述医用管丝均间隔地布置于所述基座板的同一侧。
在一些实施例中，所述第一管丝夹具、所述第二驱动座、所述第一驱动座、所述第三驱动座以及所述第二管丝夹具沿所述基座板的板长方向依次间隔布置。
在一些实施例中，所述基座板上设置有用于调节所述医用管丝转向的多个导向结构，多个所述导向结构沿所述基座板的板长方向间隔布置。
在一些实施例中，所述导向结构包括用于调节所述第一管丝夹具与所述第二驱动座之间的所述医用管丝的第一导向结构、用于调节所述第二驱动座与所述第一驱动座之间的所述医用管丝的第二导向结构以及用于调节所述第三驱动座与所述第二管丝夹具之间的所述医用管丝的第三导向结构。
在一些实施例中，所述第一导向结构、所述第二导向结构以及所述第三导向结构的结构相同并包括：
底板，固定安装于所述基座板上；和
两个限位板，用于限制所述医用管丝的移动范围并间隔布置于所述底板上。
在一些实施例中，两个所述限位板之间设置有盖板，所述盖板与所述底板之间形成有限位容置空间。
在一些实施例中，所述第一管丝夹具与所述第二管丝夹具结构相同并包括从所述基座板上伸出的固定座支架和可旋转地安装于所述固定座支架上的管丝夹。
在一些实施例中，所述基座板设置有用于驱动所述管丝夹转动的管丝夹驱动单元，所述管丝夹驱动单元包括：
旋转驱动电机，嵌装于所述基座板上；和
管丝夹传动件，传动连接于所述旋转驱动电机与所述管丝夹之间。
在一些实施例中，所述管丝夹传动件为伞齿轮传动件并包括相啮合的从所述旋转驱动电机上伸出的主驱动齿轮和从所述管丝夹上伸出的从动齿轮。
在一些实施例中，所述第一驱动座、所述第二驱动座和所述第三驱动座结构相同并包括安装于所述基座板上的轮驱动电机以及从所述基座板伸出的管丝驱动轮和管丝惰轮，所述医用管丝夹设于所述管丝驱动轮和所述管丝惰轮之间。
在一些实施例中，所述管丝驱动轮的轴线与所述管丝惰轮的轴线均与所述基座板相垂直；和/或，所述轮驱动电机与所述医用管丝分设于所述基座板的两侧。
在一些实施例中，所述第一驱动座的驱动方向与所述第二驱动座的驱动方向相反；和/或，所述第三驱动座的驱动方向与所述第一驱动座的驱动方向相同。
在一些实施例中，所述医用管丝驱动器包括固定座以及滑动安装于所述固定座上且能够沿所述固定座的长度方向滑动的所述基座。
在一些实施例中，所述调控机构还包括用于驱动所述医用管丝旋转和移动的第三调控组件，所述第三调控组件包括：
第四驱动座，用于驱动所述医用管丝移动并固定安装于所述固定座上；和
旋转驱动座，固定安装于所述基座板上并用于固定并驱动所述医用管丝旋转。
在一些实施例中，所述固定座包括L形板，所述L形板包括依次相连的第一方向板部和第二方向板部，所述基座板的板面上设置有滑动件，所述第一方向板部板面上设置有用于所述滑动件滑动的滑轨。
有益效果
在本申请的管腔介入系统，采用基座和调控机构的组合方式，调控机构和医用管丝集成在基座上，结构紧凑集成度高。通过位置固定的调控机构驱 动医用管丝旋转和移动，这样，既无需根据医用管丝远端适配性地调节医用近端，又能够使医用管丝叠加旋转和移动作用力，使得其能够进行螺旋式的走位方式，以能够精准复制医务人员的动作。结构简单，布局紧凑具有较高的集成度，操作简单管丝输送效率高。
附图说明
附图是用来提供对本申请的理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本申请，但并不构成对本申请的限制。在附图中：
图1为根据本申请的具体实施方式的管腔介入系统的立体结构示意图；
图2为图1不同视角下的结构示意图；
图3为图1不同视角下的立体结构示意图，展示了导向结构、基座和固定座；
图4为图1不同视角下的局部立体结构示意图，展示了第一管丝夹具；
图5为图1不同视角下的局部立体结构示意图，展示了第一驱动座；以及
图6为根据本申请的具体实施方式的管腔介入系统中导向结构的一种结构示意图；
图7为根据本申请的具体实施方式的管腔介入系统的一种使用状态下的结构示意图。
附图标记说明
110 基座 120 固定座
200 第一调控组件    
210 第一驱动座 220 第二驱动座
230 第一管丝夹具    
300 第二调控组件    
310 第二管丝夹具 320 第三驱动座
400 导向结构    
410 第一导向结构 420 第二导向结构
430 第三导向结构    
41 底板 42 限位板
43 盖板    
1 固定座支架 2 管丝夹
3 旋转驱动电机 4 管丝夹传动件
5 轮驱动电机 6 管丝驱动轮
7 管丝惰轮 8 第四驱动座
9 旋转驱动座 10 三通阀
L 板长方向    
具体实施方式
以下结合附图对本申请的具体实施方式进行详细说明。应当理解的是，此处所描述的具体实施方式仅用于说明和解释本申请，并不用于限制本申请。
需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。
在本申请中，在未作相反说明的情况下，使用的方位词如“上、下、顶、底”通常是针对附图所示的方向而言的或者是针对竖直、垂直或重力方向上而言的各部件相互位置关系描述用词。
本申请旨在解决管丝输送系统的操作便利性和集成度的问题，在介入治疗过程中，需要将管丝输送至患者的待干预的组织处，并通过管丝向该组织处注射药物以起到治疗作用。而现有管丝输送过程中，作为固定端的管丝近端需要配合管丝远端的移动而进行位置调节，使得管丝输送过程中操作繁琐，容易导致医用管丝无法精准复制医务人员的操作，且结构的集成难度较大。因此，如何提高操作的精准性、便利性以及结构的集成度是值得关注的问题。以下将详细阐述该管丝输送系统的具体结构和功能。
参考图1至图7所示，本申请公开了一种管腔介入系统，包括多个医用管丝以及用于驱动多个医用管丝的医用管丝驱动器，医用管丝驱动器包括：基座110和调控机构；
具体地，基座110，用于安装医用管丝，其中医用管丝可以包括导丝、导管、微导丝、微导管、全交换球囊导管或快速交换球囊导管等，通过基座110使得医用管丝集成在基座110上，结构紧凑集成度高；和
调控机构，固定安装于基座110上并包括间隔布置的用于驱动医用管丝旋转和移动的第一调控组件200和第二调控组件300，其中，第一调控组件200和第二调控组件300可以用于驱动不同的医用管丝，并使得相应的医用管丝能够进行旋转以调节偏转角度，这样，医用管丝能够在旋转和移动作用力叠加下， 使得其能够进行螺旋式的走位方式，以能够精准复制医务人员的动作，使得不同的医用管丝相互配合移动至病灶处，并对病灶处进行治疗，以完成介入治疗；
其中，第一调控组件200包括用于驱动医用管丝移动的第一驱动座210和第二驱动座220以及用于固定并驱动医用管丝旋转的第一管丝夹具230，第二调控组件300包括用于固定并驱动医用管丝旋转的第二管丝夹具310以及用于驱动医用管丝移动的第三驱动座320，通过位置固定的第一驱动座210、第二驱动座220和第一管丝夹具230可以使至少一个医用管丝能够进行位置调节，通过位置固定的第二管丝夹具310和第三驱动座320可以使一个医用管丝进行位置调节，这样，不同的医用管丝相互配合，且互不干涉，结构简单且操作便利。进一步地，在第一调控组件200和第二调控组件300内，医用管丝配置为呈弯曲状。可以理解为，第一调控组件200和第二调控组件300位置固定，通过二者可以使得不同的医用管丝呈弯曲状布置，这样，移动相应医用管丝远端时无需适配性地调节医用管丝近端的位置，并能够限定医用管丝的运动路径，使得医用管丝有序移动，保证手术的顺利进行。
需要说明的是，该官腔介入系统可以用于进行全交换系统、快速交换系统。其中各系统中可以包括相应的医用管或者医用丝，这对于本领域的普通技术人员而言都是已知的，为了减少冗余，此处不做赘述。医用管和医用丝可以包括两端并分别为医用管丝近端和医用管丝远端，医用管丝近端可以定义为位于基座110上的一端，医用管丝远端可以定义为能够深入至人体内的一端。
可选地，对于基座110的形状可以多种多样，可以为方便加工的矩形板、方便抓握的L形板或者其他不规则形状。基座110可以为能够满足安装调控机构的需求的板状结构、箱状结构或者架状结构等，只要能够用于安装导向结构组和输送组件即可，以架状结构为例。该架状结构可以为具有镂空部的片状结构，其中调控机构可以嵌装于该镂空部内，这样，使得各调控机构能够继承在基座110上，结构紧凑，且有效减少外界干扰。
可选地，对于调控机构，第一驱动座210、第二驱动座220和第三驱动座320的结构可以相同也可以不同，需要能够驱动相应医用管丝移动。该驱动座可以包括能够提供驱动力的固定安装在基座110上的驱动元件以及能够输出驱动元件驱动力的与医用管丝相接处的接触元件。其中接触元件能够与医用 管丝产生摩擦力以带医用管丝移动。此外，三者可以位于该基座110的同一面，也可以安装在基座110的不同面上，这样，可以根据需要灵活安装，提高安装效率。
可选地，第一管丝夹具230和第二管丝夹具310的结构可以相同也可以不同，需要能够驱动相应医用管丝旋转。以第一管丝夹具230为例，其可以包括安装在基座110上的驱动元件以及安装在驱动元件上的能够固定医用管丝的固定元件，这样，当驱动元件转动时，通过固定元件带动医用管丝旋转，即带动相应的医用管丝自转，由此，调节医用管丝的远端的偏转方向。当然，对于第一管丝夹具230也不限于此，只要能够夹固医用管丝并带动起旋转即可。
对于管腔介入系统的具体结构，在一些实施例中，基座110包括基座板，调控机构插装固定于基座板上，使得多个医用管丝均间隔地布置于基座板的同一侧，如图1和图2所示。可以理解为，该基座110为板状结构，通过基座板可以用于安装调控机构，且调控机构采用插装的方式，既保证调控机构安装的牢固性，又使得其结构紧凑，集成度高。
进一步地，该基座板可以包括相对布置的第一基座面和第二基座面以及围绕限定出基座板形状的基座周壁面，多个医用管丝可以安装在第一基座面或第二基座面中的一者上，这样，方便多个医用管丝之间的相互配合和切换，同时进一步提高该官腔介入系统的集成度。此外，多个医用管丝均相互间隔，这样保证各医用管丝的独立操控性，防止其相互干涉，保证系统能够精准复刻医务人员的手术步骤。
具体地，对于调控机构的位置，以调控机构安装于第一基座面为例，该第一基座面可以成矩形，在一种实施例中，第一管丝夹具230、第二驱动座220、第一驱动座210、第三驱动座320以及第二管丝夹具310沿基座板的板长方向L依次间隔布置。如图1和图2所示，可以理解为，在各调控元件之间不产生相互干涉的前提下，其可以沿板长方向L间隔布置，这样，既方便安装操作，又能够充分利用基座板的结构进行安装，结构紧凑，提高系统集成度。
进一步地，在该系统中可以包括两个或三个或多个医用管丝，其中，第一管丝夹具230和第二驱动座220可以为组合件并用于驱动同一个医用管丝，第一驱动座210可以用于驱动另一医用管丝，第三驱动座320以及第二管丝夹具310可以作为另一个组合件以驱动其他的同一个医用管丝。以第一管丝夹具230和第二驱动座220为例，该医用管丝的管丝近端可以固定在该第一管丝夹 具230上，以使得该管丝近端能够旋转，医用管丝的管丝远端可以穿过第二驱动座220，此时该医用管丝的管段可以夹设在第二驱动座220上，以使得该医用管丝能够线性移动，这样，管丝近端的旋转能够传递至管丝远端以使得管丝远端能够进行角度偏转，这样，与管丝远端的线性移动相叠加，这样，能够进行螺旋式的走位方式，精准复制医务人员的动作，高效准确地完成手术治疗。
为了在一些实施例中，基座板上设置有用于调节医用管丝转向的多个导向结构400，多个导向结构400沿基座板的板长方向L间隔布置，通过导向结构400可以对相应的医用管丝进行限位，且多个导向结构400间隔布置，这样，使得各医用管丝之间互不干涉，其顺畅运行。更重要的是，通过导向结构能够使得医用管丝转向，这样，使得医用管丝能够呈弯曲状布置，以限定医用管丝的运动路径，使得医用管丝有序移动，保证手术的顺利进行。
进一步地，在一种实施例中，导向结构400包括用于调节第一管丝夹具230与第二驱动座220之间的医用管丝的第一导向结构410、用于调节第二驱动座220与第一驱动座210之间的医用管丝的第二导向结构420以及用于调节第三驱动座320与第二管丝夹具310之间的医用管丝的第三导向结构430。如图1和图3所示，可以理解为，在第一管丝夹具230与第二驱动座220之间可以设置一个医用管丝，第一导向结构410可以位于第一管丝夹具230与第二驱动座220的一侧且开口朝向第一管丝夹具230与第二驱动座220。从第一管丝夹具230伸出的医用管丝能够沿第一导向结构410转向后，伸出第二驱动座220。因此，通过第一导向结构410保证该医用管丝的弯曲度和有序性。
更进一步地，在一种实施例中，第一导向结构410、第二导向结构420以及第三导向结构430的结构相同并包括：底板41，固定安装于基座板上；和两个限位板42，用于限制医用管丝的移动范围并间隔布置于底板41上。如图1和图2所示，可以理解为，底板41包括用于承托医用管丝的顶面，底板41的顶面形成有用于盘绕医用管丝的平面导向部。该顶面可以为平整面，这样，可以使得医用管丝始终平整移动，保证医用管丝移动的有序性。且位于导向结构400上的医用管丝包括与限位板42相贴合的两个平直段以及连接在两个平直段之间的自然弧形段，通过限位板42能够调节并限制两个平直段的间距。
在一些实施例中，两个限位板42之间设置有盖板43，盖板43与底板41之间形成有限位容置空间。如图6所示。此时，在第一导向结构410、第二导向 结构420以及第三导向结构430的一者或多者中，在两个限位板42的顶部可以设置盖板43，有效防止医用管丝沿限位板42的高度方向脱落，保证医用管丝的有序运行。对于该盖板43，可以为向上隆起的弧形盖板43，这样能够增大限位容置空间，保证医用管丝的有序运行，也可以为平直板，这样易于加工，生产成本低。
一方面，在一些实施例中，第一管丝夹具230与第二管丝夹具310结构相同并包括从基座板上伸出的固定座支架1和可旋转地安装于固定座支架1上的管丝夹2，如图3和图4所示。可以理解为，该基座板上可以形成有贯穿口，固定座支架1可以贯穿该贯穿口，即该固定座支架1的一部分位于基座板的一面，另一部分位于该基座板的另一面，该固定座支架1上可以设置有安装套，其中管丝夹2的一端可以设置有轴杆，该轴杆可以贯穿该安装套，这样，使得管丝夹2能够更加贴近基座板，提高结构的集成度。
进一步地，在一些实施例中，基座板设置有用于驱动管丝夹2转动的管丝夹驱动单元，管丝夹驱动单元包括：旋转驱动电机3，嵌装于基座板上；和管丝夹传动件4，传动连接于旋转驱动电机3与管丝夹2之间。如图3和图4所示，通过旋转驱动电机3嵌装于基座板上，提高结构集成度，管丝夹传动件4可以为旋转轴，座支架1上可以设置有另一安装套，该旋转轴可以与旋转驱动电机3直接相连，并贯穿这一安装套将动力输出至轴杆，这样，实现管丝夹2的有序旋转。
更进一步地，在一种实施例中，管丝夹传动件4为伞齿轮传动件并包括相啮合的从旋转驱动电机3上伸出的主驱动齿轮和从管丝夹2上伸出的从动齿轮。如图4所示，从动齿轮传动可以与轴杆直接相连，使得医用管丝与从动齿轮同步旋转。主驱动齿轮与管丝夹传动件4直接相连，从动齿轮与主动齿轮相啮合，旋转驱动电机3依次带动旋转轴、主驱动齿轮、从动齿轮、轴杆和和管丝夹2转动，从而实现医用管丝的驱动。对于管丝夹2可以为能够开合的导丝固定夹，具体结构在此不做具体限定。此外，也可以为直齿轮传动件，也可以为斜齿轮传动件或磨擦轮传动件。
另一方面，在一种实施例中，第一驱动座210、第二驱动座220和第三驱动座320结构相同并包括安装于基座板上的轮驱动电机5以及从基座板伸出的管丝驱动轮6和管丝惰轮7，如图2、图3和图5所示。通过轮驱动电机5可以带动管丝驱动轮6转动，由于医用管丝夹设于管丝驱动轮6和管丝惰轮7之间。这 样，使得管丝驱动轮6与医用管丝之间形成有摩擦力，当管丝驱动轮6旋转时，其旋转力通过摩擦力使得医用管丝能够线性移动，这样，能够精准且快速地驱动医用管丝。
进一步地，在一种实施例中，管丝驱动轮6的轴线与管丝惰轮7的轴线均与基座板相垂直，如图1所示，这样，使得管丝驱动轮6与管丝惰轮7能够与基座板之间的间距更小，且能够对医用管丝产生平行于基座板的方向的驱动力，结构更加紧凑，集成度高；和/或，在另一种实施例中，轮驱动电机5与医用管丝分设于基座板的两侧，如图1和图3所示。可以理解为，多个轮驱动电机5可以均位于第二基座面上，而医用管丝可以均位于第一基座面上，这样，既可以提高结构的紧凑度，又可以避免轮驱动电机5对医用管丝产生干涉，保证医用管丝的稳定运行。
在一些实施例中，第一驱动座210的驱动方向与第二驱动座220的驱动方向相反。如图1和图2所示，由于自第一管丝夹具230伸出的医用管丝的远端需要经过第二驱动座220和第一驱动座210，这样，通过第二驱动座220和第一驱动座210驱动方向的反向性，能够保证该医用管丝顺畅移动。和/或，
在一种实施例中，第三驱动座320的驱动方向与第一驱动座210的驱动方向相同。如图2所示，第一驱动座210和第三驱动座320用于驱动不同的医用管丝，通过二者驱动方向的一致性，使得不同医用管丝的远端均能够朝向患者病灶方向运动，保证手术操作的快速和精准性。
在一种实施例中，医用管丝驱动器包括固定座120以及滑动安装于固定座120上且能够沿固定座120的长度方向滑动的基座110。如图1所示。可以理解为，该系统的架体有固定座120和基座110组成，其中固定座120与患者的位置关系可以相对固定，而基座110可以沿固定座120滑动，由此调节基座110与患者的响度位置，这样，能够根据医用管丝进入人体的长度对基座110进行适配性调节。
具体地，在一种实施例中，调控机构还包括用于驱动医用管丝旋转和移动的第三调控组件，第三调控组件包括：第四驱动座8，用于驱动医用管丝移动并固定安装于固定座120上，；和旋转驱动座9，固定安装于基座板上并用于固定并驱动医用管丝旋转，如图2和图3所示。可以理解为，医用管丝中可以包括导管，该导管直径相对较大，能够容纳一定的导丝或者球囊导管等的进入，因此该导管的可弯曲性能相对导丝差一些。导管可以包括导管近端和导 管远端，其中，导管近端可以安装在旋转驱动座9上，导管远端可以穿过第四驱动座8，通过旋转驱动座9可以调节该导管远端的偏转角度，通过第四驱动座8可以带动导管远端线性移动。这样，旋转和线性移动相叠加，能够精准复制医生的操作手法，保证手术的顺利进行。需要说明的是，第四驱动座8的结构可以与第一驱动座210的结构相同。在此不做具体赘述。
进一步地，在一种实施例中，固定座120包括L形板，L形板包括依次相连的第一方向板部和第二方向板部，基座板的板面上设置有滑动件，第一方向板部板面上设置有用于滑动件滑动的滑轨。通过滑轨和滑动件实现第二座板与基座110间距的调节，可以理解为，第四驱动座8可以位于第二方向板部上，这样，当导管远端线性移动时，为了避免拉扯导管，可以适配性地调节第二方向板部与基座110的间距，以保证导管的安全性和有效性。
以下将列举一种该管腔介入系统的一种使用方法，具体地，如图7所示，医用管丝可以包括安装在第四驱动座8和旋转驱动座9上的导管，依次安装在第二管丝夹具310和第三驱动座320上的能够深入导管的导丝，依次安装在第一管丝夹具230、第二驱动座220和第一驱动座210上的并能够深入导管内的微导丝，以及套设在微导丝上的微导管，其中在基座110且位于第二驱动座220与第二导向结构420之间可以设置有三通阀10，微导管的近端可以安装于该三通阀10上，微导管的远端可以夹设在第一驱动座210上。微导丝沿该三通阀10插入微导管并能够贯穿微导管。具体步骤包括：第一，导丝的导丝远端能够贯穿导管并移动至第一指定位置，例如待治疗组织的大血管处；第二，将导管的导管远端沿导丝移动至第一指定位置并拔出导丝；第三，将微导丝的远端移动至第二指定位置，例如待治疗组织的小血管处；最后，将微导管沿微导丝移动至第二指定位置，并通过三通阀10向微导管内注入药物，以通过微导管对待治疗组织进行药物治疗，即可完成介入手术治疗。
进一步地，其更为具体的步骤，以微导丝为例，微导丝近端可以固定在第一管丝夹具230上，微导丝远端可以绕过第一导向结构410后穿过第二驱动座220和第一驱动座210，弯曲布置的微导丝在第一管丝夹具230启动时，能够进行旋转，该旋转力传递至微导丝远端使其能够发生一定的角度偏转，与此同时，可以通过第二驱动座220向微导丝提供线性移动的驱动力，这样，传递至远端能够带动微导丝远端线性移动，旋转驱动力和线性移动力叠加至该医用管丝的远端，这样，使得微导丝能够呈螺旋式的走位方式，精准复制医务 人员的操作，保证介入手术的稳定进行。此外，微导丝在第一导向结构410上能够形成U形运动轨迹，这样，无需调节第一管丝夹具230与第二驱动座220的间距，即可实现微导丝的移动，提高微导丝的输送效率。微导丝走向规则且操作便利，可以避免微导丝输送过程中发生弯折，保证微导丝管路通畅。
需要特别说明的是，根据本申请实施例中的管腔介入系统的其它构成以及作用对于本领域的普通技术人员而言都是已知的，为了减少冗余，此处不做赘述。
以上结合附图详细描述了本申请的优选实施方式，但是，本申请并不限于上述实施方式中的具体细节，在本申请的技术构思范围内，可以对本申请的技术方案进行多种简单变型，例如对端板密封层的形状、厚度和材质变化，这些简单变型均属于本申请的保护范围。
另外需要说明的是，在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。在不矛盾的情况下，可以通过任何合适的方式进行组合，为了避免不必要的重复，本申请对各种可能的组合方式不再另行说明。
此外，本申请的各种不同的实施方式之间也可以进行任意组合，只要其不违背本申请的思想，其同样应当视为本申请所公开的内容。

Claims (16)

  1. 一种管腔介入系统，包括多个医用管丝以及用于驱动多个所述医用管丝的医用管丝驱动器，其中，所述医用管丝驱动器包括：
    基座(110)；和
    调控机构，固定安装于所述基座(110)上并包括间隔布置的用于驱动所述医用管丝旋转和移动的第一调控组件(200)和第二调控组件(300)；
    其中，所述第一调控组件(200)包括用于驱动所述医用管丝移动的第一驱动座(210)和第二驱动座(220)以及用于固定并驱动所述医用管丝旋转的第一管丝夹具(230)，所述第二调控组件(300)包括用于固定并驱动所述医用管丝旋转的第二管丝夹具(310)以及用于驱动所述医用管丝移动的第三驱动座(320)，在所述第一调控组件(200)和所述第二调控组件(300)内，所述医用管丝配置为呈弯曲状。
  2. 根据权利要求1所述的管腔介入系统，其中，所述基座(110)包括基座板，所述调控机构插装固定于所述基座板上，使得多个所述医用管丝均间隔地布置于所述基座板的同一侧。
  3. 根据权利要求2所述的管腔介入系统，其中，所述第一管丝夹具(230)、所述第二驱动座(220)、所述第一驱动座(210)、所述第三驱动座(320)以及所述第二管丝夹具(310)沿所述基座板的板长方向(L)依次间隔布置。
  4. 根据权利要求3所述的管腔介入系统，其中，所述基座板上设置有用于调节所述医用管丝转向的多个导向结构(400)，多个所述导向结构(400)沿所述基座板的板长方向(L)间隔布置。
  5. 根据权利要求4所述的管腔介入系统，其中，所述导向结构(400)包括用于调节所述第一管丝夹具(230)与所述第二驱动座(220)之间的所述医用管丝的第一导向结构(410)、用于调节所述第二驱动座(220)与所述第一驱动座(210)之间的所述医用管丝的第二导向结构(420)以及用于调节所述第三驱动座(320)与所述第二管丝夹具(310)之间的所述医用管丝的第三导向结构(430)。
  6. 根据权利要求5所述的管腔介入系统，其中，所述第一导向结构(410)、所述第二导向结构(420)以及所述第三导向结构(430)的结构相同并包括：
    底板(41)，固定安装于所述基座板上；和
    两个限位板(42)，用于限制所述医用管丝的移动范围并间隔布置于所述 底板(41)上。
  7. 根据权利要求6所述的管腔介入系统，其中，两个所述限位板(42)之间设置有盖板(43)，所述盖板(43)与所述底板(41)之间形成有限位容置空间。
  8. 根据权利要求3所述的管腔介入系统，其中，所述第一管丝夹具(230)与所述第二管丝夹具(310)结构相同并包括从所述基座板上伸出的固定座支架(1)和可旋转地安装于所述固定座支架(1)上的管丝夹(2)。
  9. 根据权利要求8所述的管腔介入系统，其中，所述基座板上设置有用于驱动所述管丝夹(2)转动的管丝夹驱动单元，所述管丝夹驱动单元包括：
    旋转驱动电机(3)，嵌装于所述基座板上；和
    管丝夹传动件(4)，传动连接于所述旋转驱动电机(3)与所述管丝夹(2)之间。
  10. 根据权利要求9所述的管腔介入系统，其中，所述管丝夹传动件(4)为伞齿轮传动件并包括相啮合的从所述旋转驱动电机(3)上伸出的主驱动齿轮和从所述管丝夹(2)上伸出的从动齿轮。
  11. 根据权利要求3所述的管腔介入系统，其中，所述第一驱动座(210)、所述第二驱动座(220)和所述第三驱动座(320)结构相同并包括安装于所述基座板上的轮驱动电机(5)以及从所述基座板伸出的管丝驱动轮(6)和管丝惰轮(7)，所述医用管丝夹设于所述管丝驱动轮(6)和所述管丝惰轮(7)之间。
  12. 根据权利要求11所述的管腔介入系统，其中，所述管丝驱动轮(6)的轴线与所述管丝惰轮(7)的轴线均与所述基座板相垂直；和/或，所述轮驱动电机(5)与所述医用管丝分设于所述基座板的两侧。
  13. 根据权利要求3所述的管腔介入系统，其中，所述第一驱动座(210)的驱动方向与所述第二驱动座(220)的驱动方向相反；和/或，所述第三驱动座(320)的驱动方向与所述第一驱动座(210)的驱动方向相同。
  14. 根据权利要求2～13中任意一项所述的管腔介入系统，其中，所述医用管丝驱动器包括固定座(120)以及滑动安装于所述固定座(120)上且能够沿所述固定座(120)的长度方向滑动的所述基座(110)。
  15. 根据权利要求14所述的管腔介入系统，其中，所述调控机构还包括用于驱动所述医用管丝旋转和移动的第三调控组件，所述第三调控组件包括：
    第四驱动座(8)，用于驱动所述医用管丝移动并固定安装于所述固定座(120)上；和
    旋转驱动座(9)，固定安装于所述基座板上并用于固定并驱动所述医用管丝旋转。
  16. 根据权利要求15所述的管腔介入系统，其中，所述固定座(120)包括L形板，所述L形板包括依次相连的第一方向板部和第二方向板部，所述基座板的板面上设置有滑动件，所述第一方向板部板面上设置有用于所述滑动件滑动的滑轨。
PCT/CN2022/132067 2021-11-23 2022-11-15 管腔介入系统 Ceased WO2023093579A1 (zh)

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