CN1255080C - Automatic compartment operation system and method for catheter inserted into vessel of clinic - Google Patents

Abstract

The invention discloses a catheter compartment automatic operating system for intravascular intervention in clinical medicine and its operation method. The system includes a catheter operating system working part, a catheter action console and an automatic injector digital electric conversion part, and the operating system attitude Monitor, and three-way current and voltage stepless adjustable DC power supply; the working part of the catheter operating system is controlled by two steering handles, one controls the advance and retreat of the catheter, and the other controls the rotation of the catheter, and the motor rotation can be directly adjusted through the handle Direction and speed; and a monitor used to observe the situation in the catheter room, which is used to monitor the operating status of the patient in the operating room and the working part of the catheter operating system; through this system, the direction and speed of various actions of the interventional catheter can be directly and precisely controlled, and The quantitative injection of contrast agent or drug is automatically performed after the catheter reaches the target site. It enables doctors who perform interventional operations under radiation to perform compartment operations, and can truly achieve complete radiation protection.

Description

Catheter Compartment Automated Operating System for Clinical Endovascular Interventions

Technical field

The invention belongs to medical equipment, and relates to X-ray protection and catheter automatic operation equipment in intravascular interventional treatment in the medical field, in particular to an automatic operating system for a catheter compartment and an operating method for intravascular intervention in clinical medicine, The system and method of the present invention can realize compartment operation of interventional treatment, thereby achieving complete radiation protection for medical personnel during treatment. The system and method of the present invention can be widely used in the inspection of cardiovascular, cerebrovascular, pulmonary, liver, renal and trunk and extremity blood vessels and interventional diagnosis and treatment in the field of disease treatment.

Background technique

In the process of endovascular interventional therapy, the interventional catheter must be manually operated by the surgeon. The doctor and the patient are also exposed to radiation. Irradiation is required during each surgery. Long-term continuous or intermittent ultra-large allowable equivalent total body irradiation will inevitably cause different degrees of radiation damage, such as hematopoietic dysfunction, bone marrow hyperplasia or abnormality, changes in reproductive endocrine system and substance metabolism, etc. Generally, after the above situation occurs, the doctor will be considered to be transferred from the radiation work.

In the development of interventional radiology, the traditional X-ray protection measures are mainly to increase the distance between the operator and the X-ray tube, and use various protective materials worn by individuals, such as: lead plates, lead clothing, lead gloves , lead glasses, lead screens and so on. These materials are not only very bulky and inconvenient to use, but more importantly, the use of these materials cannot completely prevent X-rays from being irradiated to operators.

In the actual intervention operation, many medical staff cannot wear all the protective materials, because if they wear all the personal protective materials, it is almost impossible to perform any long-term intervention operation.

In addition, someone tried to add a lead protective skirt around the X-ray tube, but the actual test results proved that this method had little effect.

In order to pursue a clearer image effect for interventional equipment, it is necessary to increase the voltage of the tube and increase the dose of radiation; to obtain the best therapeutic effect, the doctor must operate patiently and meticulously, and the operation time should be prolonged accordingly. Here comes a bigger problem, and this contradiction has always troubled clinical interventional doctors.

It can be seen that the current technical methods cannot achieve complete radiation protection, and medical staff will inevitably be exposed to radiation while performing endovascular interventional therapy for patients.

Contents of Invention

The content of the present invention is to realize the automatic operation of the interventional catheter, and the compartment operation of the interventional operation can be performed after the automatic operation is completed. Aiming at the above-mentioned problem of radiation exposure of medical personnel during interventional operations, the main purpose of the present invention is to provide a set of mechanical and electronic devices that can realize automatic operation of catheters, through which various actions of catheters can be controlled during interventional treatment Control, and can complete the automatic quantitative injection of contrast agents and drugs, so as to realize the compartment operation of interventional therapy, so that medical staff can completely get rid of the damage caused by passive radiation exposure.

In order to achieve the above object, the technical solution adopted by the present invention is to use the catheter compartment automatic operating system for intravascular intervention in clinical medicine, and the system includes:

Catheter operating system work department, catheter action console and automatic injector digital power conversion part, operating system attitude monitor, and three-way current and voltage stepless adjustable DC power supply;

The catheter action console and the digital electric conversion part of the automatic injector are connected with the three-way current and voltage stepless adjustable DC power supply, and the catheter operating system working part is controlled through the X-ray protective wall; the catheter operating system working part consists of two control handles Control, one controls the advance and retreat of the catheter, and the other controls the rotation of the catheter, and the direction and speed of the motor rotation can be directly adjusted through the handle;

And a monitor used to observe the situation in the catheterization room, which is used to monitor the operation status of the patients in the operation room and the working part of the catheter operating system;

The working part of the catheter operating system is composed of a rotating device, a shield, a socket, and a conical shield, which are mechanically connected; the working part of the catheter operating system is controlled by a speed-regulating motor, and the driving gear part of the speed-regulating motor is fixed on the catheter rotating device. Inside, it is decelerated by a set of gears, kneaded with the fixed ring gear of the outer bracket of the rotating device, and fixed on the outer bracket through two self-inserted bearings. When the motor is working, the rotating device can freely rotate on the outer bracket. And the direction can be adjusted; a conductive slip ring is fixed on the rotating device and connected with a brush fixed on the outer bracket, and the operation command of the catheter action console is transmitted to the catheter operating system working department through the brush ring;

Inside the conical shield, there is a micro speed-regulating motor whose speed is adjusted by adjusting the current intensity. It is decelerated by a set of worm gears and driven by a pair of spring pressure pulleys to drive the catheter forward and backward. The pressure of the pressure pulleys can be adjusted. Adjust to control the force with which the catheter advances and retreats;

There is a stepper motor quantitatively controlled by a digital-to-electric conversion template in the rotating device, which is decelerated by a set of reduction gears, and a set of bolt sleeves is used to push the syringe set in the receiver to perform quantitative automatic injection. The injection speed is the same as The total amount can be preset;

A directional tube for guiding the catheter is arranged in the conical shield so that the catheter will not be folded during delivery.

The method for automatically operating the catheter compartment in the endovascular interventional treatment of the above system includes the following steps:

1) Place the interventional catheter in the working part of the catheter operating system, coil the catheter in a certain way in the chamber for coiling the catheter, press the catheter into the pressure roller, and make the head end of the catheter pass through the guide tube out;

2) The interface at the rear end of the catheter is connected to a syringe containing contrast medium or medicine, or connected to a syringe and a pressurized infusion bag through a "Y" valve;

3) The syringe containing the contrast agent or medicine is fixed on the automatic injection rack of the catheter automatic operation device;

4) After the catheter and syringe are installed, start the auto-injector to empty the air in the syringe, and cover the chamber for coiling the catheter;

5) After the blood vessel is successfully punctured by the Seidinger method, the catheter sheath is fixed on the surrounding skin, and the catheter automatic operation device is relatively fixed to the treatment bed;

6) Turn on the catheter push switch to send the catheter out about 3-5cm, and put the sent catheter into the arterial sheath that has been inserted into the artery and fixed;

7) After the inspection is correct, aim the monitor lens at the arterial puncture site and the patient's whole body respectively, and the operator leaves the catheterization room and enters the operation room next door, and observes the situation in the catheterization room through the lead glass and the monitor;

8) Observe the condition of the catheter in the patient's blood vessel through the digital subtraction display, control the advance and retreat of the catheter through the advance and retreat handle, and control the rotation of the entire device through the rotating handle, so as to realize the advance, retreat and rotation of the catheter in the blood vessel;

9) After the catheter is in place, set the advancing speed and amount of the automatic injector to automatically inject the contrast agent or medicine.

Another feature of this system is that the spring pressure of the spring pressure pulley can be adjusted within a certain range to ensure that the push-pull force on the catheter is within a safe range.

The active part of the rotating device is installed on the manipulator, and the fixed ring gear is installed on the outer bracket, so that the structure of the whole system is more compact, and the sealing performance of the mechanical part is stronger.

The two sets of servo motors responsible for the advance, retreat and rotation of the catheter are respectively controlled by two handles, and the speed of the motors is controlled by the pushing and pulling range of the handles, so that the operation is more intuitive.

The device of the present invention for realizing the automatic operation of the interventional catheter in clinical interventional medicine uses three speed-regulating servo motors to be respectively responsible for the advancing and retreating, rotating and automatic injection of the contrast agent and the drug of the catheter. Control the circuit system connected to the operating room through the control panel outside the operating room, directly and precisely control the direction and speed of various actions of the interventional catheter, and automatically perform quantitative injection of contrast agents or drugs after the catheter is in place. In this way, the doctor who performs the intervention operation can realize compartment operation, thereby completely avoiding passive exposure to X-rays during the operation, no need to wear heavy protective clothing, and can truly achieve complete radiation protection.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the interventional catheter automatic operating system of the present invention; the symbols in the figure are: 1-catheter operating system working part, 2-operating system attitude console and automatic injector digital electric conversion part, 3-operating system attitude monitoring 4-three-way current and voltage stepless adjustable DC power supply, 5-X-ray tube, 6-patient, 7-treatment bed, 8-digital subtraction "C" arm, 9-X-ray protection Wall, 10-digital subtraction monitor;

Fig. 2 is the schematic diagram of the structure of the working part of the catheter operating system of the present invention; the symbols in the figure are respectively: 1001-rotating device, 1002-shield, 1003-rear bearing seat, 1004-transmission gear, 1005-front bearing seat, 1006 -bearing, 1007-drive screw, 1008-sliding bracket, 1009-front bracket, 1010-syringe, 1011-connector, 1012-conical shield, 1013-internal gear, 1014-rear bracket, 1015-fixing sleeve , 1016-travel switch bracket, 1017-driving gear, 1018 motor, 1019-fixed plate, 1020-cylinder, 1021-conductive slip ring, 1022-fastening device, 1023-device, 1024-steel ball;

Figure 3 is the high-pressure injection power device and the system's own rotating device; the symbols in the figure are: 1001-rotating device, 1002-shield, 1003-rear bearing seat, 1004-transmission gear, 1005-front bearing seat, 1006-bearing, 1007 -Driving screw mandrel, 1008-sliding bracket, 1017-driving gear, 1018 motor, 1019-fixed plate;

Figure 4 is a structural diagram of the fuselage; the symbols in the figure are: 1013-internal gear, 1014-rear bracket, 1015-fixed sleeve, 1016-travel switch bracket, 1020-cylinder, 1021-conductive slip ring;

Fig. 5 is a partial structural diagram of the syringe and the warehouse for the coiled catheter; 1009-front support, 1010-syringe, 1011-connector, 1012-conical shield;

Figure 6(a) is a structural diagram of the guide wheel and pinch wheel of the catheter advancing and retreating device; the symbols in the figure are: 1025-guide wheel, 1026-pinching wheel; Figure 6(b) is the worm wheel and worm structure of the catheter advancing and retreating device Figure; 1027-worm gear, 1028-worm, 029-electric motor;

Figure 7 (a), (b) is a schematic diagram of the installation of the duct worm gear and worm; Figure 7 (b) is a top view of (a); the symbols in the figure are: 1027-worm gear, 1028-worm, 1029-motor, 1030-guide tube , 1031-bearing, 1032-bearing;

Figure 8 is a working diagram of the operating system; the symbols in the figure are: 1-catheter operating system working part, 2-operating system attitude console and automatic injector digital-electric conversion part, 3-operating system attitude monitor, 4-three-way current , Voltage stepless adjustable DC power supply.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments completed by the inventor according to the technical solution of the present invention.

Referring to Fig. 1～8, Fig. 1～8 is a specific embodiment of the present invention, but the present invention is not limited to this

Example.

According to the technical scheme of the present invention, the catheter compartment automatic operating system for intravascular intervention in clinical medicine includes a catheter operating system working part 1, a catheter action console and an automatic injector digital electric conversion part 2, and the operating system attitude monitoring device 3, and three-way current and voltage stepless adjustable DC power supply 4;

Catheter operating system working part 1 is composed of a rotating device 1001, shield 1002, socket 1011, and conical shield 1012 through mechanical connection; catheter operating system working part 1 is controlled by a speed-regulating motor, and the driving gear 1017 of the speed-regulating motor The part is fixed in the catheter rotating device 1001, through a set of gears to reduce the speed, kneads with the fixed ring gear 1013 of the outer bracket of the rotating device 1001, and is fixed on the outer bracket through two self-embedded bearings 1003, 1005. When the motor is working, the rotating device 1001 Free rotation can be done on the outer bracket 1014, and the speed and direction of rotation can be adjusted; a conductive slip ring 1021 is fixed on the rotating device 1001 and connected with a brush fixed on the outer bracket, and the catheter moves through the brush ring. Console 2 The operating instructions are transmitted to the catheter operating system working part 1;

Inside the conical shield 1012, there is a micro speed-regulating motor 1029 whose speed is regulated by adjusting the current intensity. It decelerates through a set of worm gear 1027 and worm screw 1028, and drives the catheter forward and backward through a pair of spring pressure pulleys 1026 to press the belt. The pressure of the wheel can be adjusted to control the strength of the catheter advancing and retreating;

A stepper motor 1018 quantitatively controlled by a digital-to-electrical conversion template is set in the rotating device 1001, and the speed is reduced by a set of reduction gears, and the syringe 1010 set in the socket 1011 is pushed by a pair of bolt sleeves 1007 to perform quantitative automatic injection , the injection speed and total amount can be preset;

An orienting tube 1030 for guiding the catheter is arranged in the conical shield 1012 so that the catheter will not be folded during delivery.

A compartment for coiled tubing and clear cover for easy opening and viewing.

A method for realizing automatic operation of a catheter compartment in endovascular interventional therapy, the method comprising the following steps:

1) Place the interventional catheter in the catheter operating system working part 1, coil the catheter in a certain way in the chamber for coiling the catheter, press the catheter into the pressure roller 1026, and make the head end of the catheter out of the guide tube Out in 1030;

2) The interface at the rear end of the catheter is connected to the syringe 1010 filled with contrast medium or medicine, or connected to the syringe and the pressurized infusion bag through a "Y" valve;

3) The syringe 1010 filled with contrast medium or medicine is fixed on the automatic injection frame 1008 of the catheter automatic operation device;

4) After the catheter and the syringe are installed, start the auto-injector to empty the air in the syringe, and cover the shield 1002 of the chamber for coiling the catheter;

5) After successful blood vessel puncture using the Seidinger method, fix the catheter sheath on the surrounding skin, and relatively fix the catheter automatic operation device 1 and the treatment bed 7;

6) Turn on the catheter push switch to send the catheter out about 3-5cm, and put the sent catheter into the arterial sheath that has been inserted into the artery and fixed;

7) After the inspection is correct, the monitor lens is aimed at the arterial puncture site and the patient's whole body respectively, and the operator leaves the catheterization room and enters the operation room next door, and observes the situation in the catheterization room through the lead glass and the monitor 3;

8) Observe the condition of the catheter in the patient's blood vessel through the digital subtraction display, control the advance and retreat of the catheter through the advance and retreat handle, and control the rotation of the entire device through the rotating handle, so as to realize the advance, retreat and rotation of the catheter in the blood vessel;

9) After the catheter is in place, set the advancing speed and amount of the automatic injector to automatically inject the contrast agent or medicine.

The present invention uses three stepless speed regulation servo motor devices to be respectively responsible for the advance and retreat, rotation and automatic injection of the contrast agent and medicine of the catheter. The invention can control the circuit system connected to the operating room through the control panel outside the operating room, directly and accurately control the direction and speed of various actions of the interventional catheter, and automatically perform quantitative injection of contrast agent or medicine after the catheter is in place. In this way, the doctor performing the intervention can operate in a compartment, thereby completely avoiding passive exposure to X-rays during the operation, no need to wear heavy protective clothing, and can truly achieve complete protection.

Claims (1)

1. one kind is used for the interior conduit compartment automatic operation system of getting involved of clinical medicine medium vessels, it is characterized in that this system comprises:

Conduit operating system operate portions (1), rod action control station and automatic injector number electricity conversion portion (2), operating system attitude monitoring device (3) and three road electric currents, voltage stepless adjustable dc source (4);

Rod action control station and automatic injector number electricity conversion portion (2) are connected with three road electric currents, voltage stepless adjustable dc source (4), and by X-line protecting wall (9) control conduit operating system operate portions (1); Conduit operating system operate portions (1) is led handle control by two manipulations, the advance and retreat of a control conduit, and the rotation of a control conduit, and can directly adjust direction and the speed that motor rotates by handle;

With a monitor (10) that is used for observing situation in the conduit room, be used for indoor patient of policer operation and conduit operating system operate portions (1) running status;

This conduit operating system operate portions (1) is connected and composed mechanically by a tumbler (1001), guard shield (1002), extend neck (1011), cone-shaped shield (1012); Conduit operating system operate portions (1) is controlled by buncher, the driving gear of buncher (1017) partial fixing is in conduit tumbler (1001), by one group of gear reduction, mediate mutually with the fixed gear ring (1013) of tumbler (1001) support arm, by two from inlay bearing (1003), (1005) are fixed on the support arm, during machine operation, tumbler (1001) can be done spinning movement freely on support arm (1014), and the speed of rotation and direction can be adjusted; On tumbler (1001), be fixed with conducting slip ring (1021) and link to each other, the operational order of rod action control station (2) is reached conduit operating system operate portions (1) by the brush ring with brush on being fixed on support arm;

In cone-shaped shield (1012), there is one by regulating the micro-speed motor (1029) that current intensity is carried out speed governing, it slows down by cover worm gear (a 1027) worm screw (1028), drive advancing, retreating of conduit by one pair of spring pinch roller (1026), the pressure of pinch roller can be adjusted the strength with control conduit advance and retreat;

In tumbler (1001), be provided with a motor (1018) of quantitatively controlling by the electric conversion module of number, slow down by a cover reduction gearing, the syringe (1010) that promotes to be provided with in the extend neck (1011) by one pair of bolt collar (1007) carries out quantitative automatic injection, and the speed of injection and total amount can preset;

In cone-shaped shield (1012), be provided with the oriented tube (1030) that is used for catheter directed effect, be used for conduit and can not give a discount in the process of carrying.

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