Device for controlling an intravascular system

Abstract

A human control unit for manipulating a device for endovascular surgery, the human control unit comprising: a housing; the control unit comprises a transceiver; a movable member coupleable to the housing and movable by a user of the human control unit; and a haptic feedback unit communicatively coupleable to the control unit and coupleable to the movable member; wherein, upon movement of the movable member, the transceiver is configured to provide a signal to the device to change a parameter of the device, and wherein the haptic feedback unit is configured to provide haptic feedback to a user of the human control unit via the movable member.

Description

Technical Field

[0001] The present invention generally relates to an apparatus for endovascular surgery, the apparatus comprising a movable base, an injector, and a control unit. Furthermore, the present invention generally relates to a system for endovascular surgery and for operating the apparatus for endovascular surgery, and a human control unit (meaning a control unit that can be controlled by a human) for operating the apparatus for endovascular surgery. Background Art

[0002] Endovascular specialists (e.g., endovascular surgeons, interventional cardiologists, and interventional radiologists) train, practice, and strengthen their intuitive skills in handling surgical tools. This process also develops a mental image of the surgeon's skills by linking their actions to the way surgical tools react within the human anatomy. Endovascular surgeons are typically guided by two senses: visual feedback from imaging devices and force feedback from the tool. The surgeon's sense-action-visualization abilities are fine-tuned to the point where they can make surgical decisions even without observing hand gestures.

[0003] Currently, existing robotic systems focus only on imaging feedback but ignore another source of information: tactile feedback from surgical tools. Compared to the control of surgical tools, control of the tool using joysticks and PC interfaces is more similar to a video game controller and leaves vascular surgeons with less feedback to manually perform the procedure.

[0004] In particular, the pressure reducer is connected to the intravascular balloon catheter via a pipe. The pipe, balloon catheter, and pressure reducer are filled with fluid through a fluid line. The pressure in the fluid line is increased by moving the pressure reducer plunger linearly forward, and the user generates linear motion by rotating the pressure reducer handle. Since fluid is generally incompressible, each plunger movement in a linear direction significantly increases the pressure in the fluid line and balloon catheter. Therefore, the rotational movement of the handle is used to accurately reach and maintain the required pressure. Precise pressure is required to deploy, for example, a balloon / stent.

[0005] The reducer also features a quick-release button that, when pressed, allows the plunger to be retracted by manually pulling the rotating handle backward while holding the release button pressed. This allows the user to create a vacuum in the fluid line by pulling the handle backward. This is done for safety reasons to ensure that all air bubbles reach the distal portion of the reducer, or after a procedure is complete and the balloon needs to be deflated and removed from the patient.

[0006] The inventors have recognized that there is a need for improvements in eg manual pressure reducers or (endo)vascular systems in general.

[0007] Therefore, there is a need for improvements in (endo)vascular systems, and in particular in pressure reducers. Summary of the Invention

[0008] The inventors have realized that existing (endo)vascular systems, in particular manual pressure reducers, can be improved, for example, by adding certain remote control functionalities, in particular in conjunction with a tactile user interface.

[0009] The invention is set forth in the independent claim. Preferred embodiments of the invention are set forth in the dependent claims.

[0010] According to a first aspect, we describe a device for intravascular surgery, wherein the device includes: a movable base; a drive unit, which is connected to at least a first part of the movable base and is configured to move the first part of the movable base; a syringe, which includes a plunger, wherein the syringe is capable of being connected to the base; and a first control unit, which is configured to control the movement of at least the first part of the movable base; wherein, according to instructions provided by the first control unit to the drive unit, at least the first part of the movable base is configured to move the plunger from a first position to a second position and / or from the second position to the first position, and wherein the first position and the second position are different positions.

[0011] Throughout this disclosure, the term "first position to second position" or variations of the term "first position to second position" is used. It should be understood that when this term is used, the term "second position to first position" or variations of the term "second position to first position" also applies. The same applies to any other positions mentioned in this disclosure.

[0012] Additionally, throughout this disclosure, it should be understood that the "proximal end" of a syringe is the end to which the elongated medical member can be coupled to the syringe, and the "distal end" is the end of the syringe that includes the plunger.

[0013] The removable base can enable the syringe to be moved, thereby improving the efficiency and accuracy of endovascular procedures. The base can also be removable to accommodate different syringes, regardless of the diameter and / or length of the base, making the base compatible with commercially available off-the-shelf syringes.

[0014] The drive unit can enable at least the first portion of the movable base to move, as will be described in more detail below. In some examples, the drive unit is integral with the base. In some examples, the drive unit is located outside the base.

[0015] The elongated medical member may be a known elongated medical member, such as a catheter, a catheter balloon, a stent balloon, or a thrombectomy device. The elongated medical member may vary based on the endovascular procedure being performed by the device.

[0016] The control unit can be configured to instruct various parts of the movable base to move. This can increase the efficiency and accuracy of endovascular surgery because the surgeon or user can perform the procedure from a remote location (as described in further detail below). This can also reduce human error because the device is less likely to make unwanted movements and inputs during surgery than a person. In some examples, the control unit is integral to the base. In some examples, the control unit is located external to the base.

[0017] Based on movement of the first portion of the movable base, the plunger may be moved from the first position to the second position, and vice versa.

[0018] In some examples, the device further comprises an elongated medical member that is connectable to the proximal end of the syringe. Preferably, the proximal end of the syringe includes a standard Luer lock adapter, particularly a male lock. The elongated medical member may have a corresponding female lock to couple the two components to each other. Thus, the elongated medical member can be manually disconnected from the proximal end of the syringe.

[0019] In some examples, the removable base further includes a connector configured to couple at least the plunger of the syringe to the first portion of the removable base. This allows the syringe to be coupled to the removable base. The connector may be shaped to allow the plunger of the syringe to be coupled to the base and / or to allow the distal end of the syringe to be coupled to the base. In the case where the plunger is coupled to the base, the connector may be generally C-shaped to allow the plunger's post to be inserted through a gap, and then the connector secures the plunger. Alternatively, the connector may be generally U-shaped, generally V-shaped, or include any other suitable geometry that allows the plunger of the syringe to be coupled to the base and / or to allow the distal end of the syringe to be coupled to the base. In some examples, the connector includes a clamp configured to securely couple the plunger of the syringe to the base. Alternatively, the main body of the syringe may be coupled to the base via a second connector, which may be a clamp or other suitable device. Such a connector may allow the syringe to be held in place during surgery, thereby improving surgical safety. In some examples, the connector may be part of the first portion of the removable base. In some examples, the connector may be the first portion of the removable base.

[0020] In some examples, the drive unit includes a linear gear coupled to the connector, and wherein, based on instructions provided to the drive unit by the first control unit, the linear gear is configured to move the connector from a third position to a fourth position and / or from the fourth position to the third position, wherein when the connector is in the third position, the plunger is in the first position, and wherein when the connector is in the fourth position, the plunger is in the second position. When the connector is coupled to the base and the plunger of the syringe, the plunger of the syringe also moves when the connector moves. This thereby enables liquid, which may be within the syringe, to be injected into a patient and / or fluid to be withdrawn from a patient. The linear gear can be any suitable known linear gear that enables precise, continuous linear movement of the connector. In some examples, the linear movement can be non-stepped. Because the linear gear can move in very small increments, the connector can also move in very small increments, thereby enabling accurate and precise use of the syringe and device.

[0021] In some examples, when the first control unit executes an instruction to move the connector from the third position to the fourth position and / or from the fourth position to the third position, the connector is configured to move from the third position to the fourth position and / or from the fourth position to the third position via a linear gear. The control unit can instruct the linear gear to actuate.

[0022] In some examples, the control unit includes a processor and a memory, wherein the memory is configured to store instructions and the processor is configured to execute the instructions stored in the memory and / or instructions received from an external source. If the instructions are stored in the memory and / or if the instructions are received remotely from the external source, this can enable the device to be controlled in a predetermined manner. The processor and the control unit can thus instruct various parts of the device to move according to the executed instructions. Therefore, if the instructions are received from the external source, this can enable the control unit and the device to be controlled from a remote location.

[0023] In some examples, the drive unit includes a rotating gear, wherein the rotating gear is configured to rotate at least the second portion of the movable base about a fixed point on the movable base and / or about a fixed axis passing through the movable base. For example, the axis can be the axis of the syringe, the axis of the movable base, the connection axis between the elongated medical member and the syringe, or any other suitable axis. In some examples, the second portion can rotate about multiple axes. For example, the point can be a point on the syringe, a point on the movable base, the connection point between the elongated medical member and the syringe, or any other suitable point. The rotating gear can rotate the entire base, or in some examples, a portion of the movable base. Preferably, the rotating portion of the movable base includes the connector described above. The rotating gear can be any suitable known rotating gear that enables continuous, controlled movement of the connector and / or base. In some examples, the movement can be non-stepped. Because the rotating gear can move in very small increments, the connector and / or base can also move in very small increments, thereby enabling accurate and precise use of the syringe and device. In some examples, the first and second portions of the movable base are distinct components. In some examples, the first portion and the second portion are the same portion of the movable base. In some examples, one portion is surrounded by the other portion. That is, the first portion can be a sub-portion of the second portion, and vice versa.

[0024] In some examples, the rotational movement of the second portion of the movable base is further configured to rotate the movable base about the proximal end of the syringe. That is, during rotation of the movable base, the end of the syringe coupled to the elongated medical member remains substantially in the same position. This can thereby maintain a substantially stable relative position of the elongated medical member relative to the syringe, the surface on which the device is positioned, and the patient. This can be important during surgery, where movement of the elongated medical member within the patient's body could cause undesirable effects.

[0025] In some examples, when the first control unit executes an instruction to rotate at least the second portion of the movable base, the second portion of the movable base is configured to rotate via a rotation gear, which can enable the rotation gear to be actuated.

[0026] In some examples, when the first control unit executes an instruction to repeatedly rotate at least the second portion of the movable base, the at least second portion of the movable base is configured to repeatedly rotate from a fifth position to a sixth position and back to the fifth position via the rotating gear. That is, upon executing a single instruction, the movable base can repeatedly rotate by a predetermined angle. This can allow any bubbles within the syringe and / or the elongated medical member to be moved into the syringe. This can be important because bubbles within the elongated medical member and / or syringe could potentially cause undesirable effects on the patient during surgery. As a result, the surgery can be safer.

[0027] In some examples, the movable base further includes an actuatable device, wherein upon actuation of the actuatable device, the first control unit is configured to execute instructions to move the connector from a third position to a fourth position, and / or from the fourth position to the third position, and / or to rotate at least a second portion of the movable base. In other words, the base may include an actuatable device that can be actuated by a user. Upon actuation of the device, the base may rotate and / or the connector may move from the third position to the fourth position. This may be particularly helpful when attaching a new syringe to the base or removing a syringe from the base. In some examples, multiple actuatable devices may be present. There may be a first device for moving the connector toward the distal end of the syringe, and / or a second device for moving the connector toward the proximal end of the syringe, and / or a third device for rotating at least a portion of the base in a first direction, and / or a fourth device for rotating at least a portion of the base in a second direction, and / or a fifth device for repositioning at least a portion of the base and / or the connector to a predetermined position. This allows any commercially available syringe to be used in combination with the device described herein.

[0028] In some examples, the device further comprises a safety sensor capable of being coupled to the control unit, and wherein the safety sensor is configured to determine whether the syringe is coupled to the removable mount. The safety sensor can operate in a manner similar to a disable switch. That is, the sensor can detect when the syringe is coupled to the removable mount and enable the mount / device to be used when the syringe is detected to be in place. Conversely, when the safety sensor detects that the syringe is not coupled to the mount, the safety sensor can disable the mount. The safety sensor can be any one or more of a Hall sensor, a distance sensor, a light sensor, a depressible button, and any other suitable method that enables determination of coupling between the syringe and the mount.

[0029] In some examples, the device further includes a first pressure sensor communicatively coupled to a first control unit, wherein the first pressure sensor is coupleable to the syringe and wherein the first pressure sensor is configured to measure the pressure within the syringe based on movement of the syringe's plunger, wherein the first pressure sensor is configured to measure the pressure difference between the pressure within the syringe and a predetermined pressure value. This can enable calculation of the pressure applied within the syringe and / or the pressure applied by any fluid that may be within the syringe. For example, the control unit may know the area of ​​the syringe and the force currently being used to move the connector to its current position (when compared to its initial position). The force can be calculated using a force cell located on the connector and / or the base. In this case, the cross-sectional area of ​​the syringe is known, and thus the first pressure sensor can measure the pressure using the equation P = F / A, where P is the pressure, F is the force measured by the force cell, and A is the cross-sectional area of ​​the syringe. The control unit can calculate the applied pressure. The pressure sensor can be located within or outside the base and can be connected to the control unit via wired and / or wireless means. This can provide the user with an accurate indication of the pressure currently being applied if the user is not in the same room as the procedure being performed. The pressure differential may be determined from a predetermined point, such as 1 atmosphere, 1 bar, or any other suitable starting point.

[0030] In some examples, the first pressure sensor is configured to measure pressure based on movement of the connector from the third position to the fourth position and / or from the fourth position to the third position. The third position can be an initial "zero" position, where the pressure is 1 bar, or 1 atmosphere.

[0031] In some examples, the syringe is at least partially filled with a liquid. This is useful for surgeries that may require the use of dyes, surgeries that may require the use of catheter balloons, or IV injections of fluids. In some examples, saline or other fluids (such as liquids and / or gases) can be placed in the syringe. As a non-limiting example, if the device is used in conjunction with a closed balloon catheter, a contrast agent can be used through an open catheter and microspheres can be used at the same time. Alternatively, the syringe can be used as a suction pump by creating a vacuum. Therefore, this can enable the device to be used in a wide range of intravascular surgeries.

[0032] In some examples, the liquid contains microspheres. It will be understood by those skilled in the art that microspheres are particles of a specific size that, when in a liquid, are used to close small blood vessels after being delivered from a syringe via an open catheter to a specific location in the patient's body. Preferably, the microspheres are used in conjunction with the repeated rotation of the base mentioned herein, as this allows the microspheres to be evenly distributed in the liquid and enables the microspheres to be accurately delivered. Additionally or alternatively, glue and / or coils may be used, as these also result in the closure of blood vessels. Each of these options can be considered an embolization material / device.

[0033] In some examples, the device further includes a second pressure sensor communicatively coupled to the first control unit, wherein the second pressure sensor is coupled to the elongated medical member, wherein the elongated medical member is at least partially filled with a liquid, and wherein the second pressure sensor is configured to measure the pressure of the liquid within the elongated medical member. This pressure sensor can operate in a similar manner to the first pressure sensor described above, but in this case, the pressure sensor directly measures the pressure of the fluid / liquid within the elongated medical member and does not use force or area to calculate the pressure. This pressure reading can serve as a safety reading if the first pressure sensor malfunctions or is used for comparison. If the readings differ too significantly, an audio and / or tactile and / or visual indication can be provided to the user of the device to indicate this. Additionally or alternatively, the control unit of the device can halt the linear motion and / or the movement of the rotary gear until the discrepancy is corrected. The second pressure sensor can be coupled to the control unit via wired and / or wireless means, thereby enhancing the safety of the device.

[0034] In some examples, the device also includes a third pressure sensor configured to measure the force exerted by the plunger on the syringe. This can be used in combination with or separately from the first and / or second pressure sensors described above. The third pressure sensor can measure force and indicate this force to the user and / or use this force in pressure calculations by the first pressure sensor. If the third pressure sensor is a separate component, the control unit can compare the estimated force reading from the connector's movement with the reading from the third pressure sensor. If the readings differ significantly, an audio, tactile, and / or visual indication can be provided to the device user. Additionally or alternatively, the device's control unit can halt the linear and / or rotary gear movement until the discrepancy is corrected. The third pressure sensor can have a similar design to the first pressure sensor described above, but be located on the syringe's outer housing. Thus, the third pressure sensor can serve as a safety function and act as a replica of the first pressure sensor. That is, while the first pressure sensor measures the force required to advance the plunger, the second pressure sensor measures the force acting on the syringe's housing. This improves the safety of the device.

[0035] In some examples, the distal end of the syringe is configured to rise above the proximal end of the syringe during use of the device, wherein the proximal end of the syringe is the end that enables the elongated medical member to be coupled to the syringe, and the distal end is the end of the syringe that includes the plunger, wherein the distal end and the proximal end are located at two different end portions of the syringe. This further improves surgical safety, as air bubbles may cause undesirable effects on the patient during surgery. In some examples, the distal end of the syringe can always be above the proximal end during use of the device.

[0036] In some examples, the device further includes an expandable medical member that can be coupled to the elongated medical member, wherein a first end of the elongated medical member can be coupled to the proximal end of the syringe, and the expandable medical member can be coupled to a second end of the elongated medical member, wherein the first end and the second end are located at opposite ends of the elongated medical member. In other words, the expandable medical member can be a balloon or any other suitable expandable member. This can be particularly helpful during angioplasty procedures.

[0037] In some examples, the diameter of the expandable medical member depends on the pressure of the fluid within the elongated medical member. Therefore, the pressure readings from the pressure sensor can help the user determine the diameter of the expandable medical member, thereby improving the safety of such surgery.

[0038] In some examples, additionally or alternatively, the device is suitable for use in angioplasty. In particular, the device can be used for coronary angioplasty and / or peripheral angioplasty and / or carotid angioplasty.

[0039] In some examples, additionally or alternatively, the device is suitable for embolization. If the device is used in conjunction with the expandable medical member described above, this can enable the treatment of tumors and / or aneurysms, thereby improving the patient's health. Those skilled in the art will appreciate that syringes of different sizes are used for embolization. Therefore, since the device is suitable for use with any commercially available syringe, the device can also be used for embolization. In some examples, if the device is suitable for embolization, this can be used in conjunction with the rotation of the base described herein. Additionally or alternatively, the user interface (described in more detail below) can indicate volume rather than pressure.

[0040] According to a second aspect, we describe a system for intravascular surgery, comprising: an apparatus according to any one of the above examples, and a human control unit, the human control unit including a second control unit; wherein the human control unit is located at a first position and the apparatus is located at a second position; and wherein the first position and the second position are different positions.

[0041] The human control unit can be located at a location remote from the device and can be connected to the device by wired and / or wireless means. This can enable the device to be controlled remotely. If a qualified surgeon is not at the device's location, this can improve response time to critical surgeries, reduce the surgeon's use of personal protective equipment (PPE), and reduce surgeon fatigue due to reduced travel time between the surgeon's work or residence and the surgical site.

[0042] According to a third aspect, we describe a human-controlled unit for manipulating a device for intravascular surgery, the human-controlled unit comprising: a housing; a control unit comprising a transceiver; a movable member capable of being coupled to the housing and movable by a user of the human-controlled unit; and a tactile feedback unit capable of being communicatively coupled to the control unit and to the movable member; wherein, when the movable member moves, the transceiver is configured to provide a signal to the device to change a parameter of the device, and wherein the tactile feedback unit is configured to provide tactile feedback to the user of the human-controlled unit via the movable member.

[0043] The housing may have any suitable shape or design that enables the human control unit to include the features described herein.

[0044] The control unit can be configured to instruct various parts of the base to change state. In some examples, the control unit instructs an external device to change state. This can increase the efficiency and accuracy of endovascular procedures because the surgeon or user can perform the procedure from a remote location (as described in further detail below). This can also reduce human error because the device is less likely to make unwanted movements and inputs during surgery than a person.

[0045] The movable member can have any suitable design that enables the member to move, as described below. In particular, the movable member can be a rotatable member, a slidable member, or any other suitable movable member. Although rotatable members are described throughout this disclosure, it should be understood that the same effects and features can be applied to, for example, slidable members. Therefore, whenever a rotatable member is described in this disclosure, this also applies to a slidable member or any other suitable movable member.

[0046] In some examples, the tactile feedback provided to the user varies based on the parameter being changed. This can enable the user of the manually controlled unit to feel when the parameter is changed. This, in turn, can improve the manipulation of the device because the user can feel exactly what is happening at the device.

[0047] In some examples, the movable member includes a rotatable member, and wherein the movement of the movable member includes rotation of the rotatable member.

[0048] In some examples, the human control unit includes a first actuatable device, wherein upon actuation of the actuatable device, the human control unit changes from a first mode to a second mode. In some examples, the human control unit can change from a first mode related to angioplasty to a second mode related to embolization. In some examples, the first mode and the second mode can relate to a standby mode and an active mode, a test mode and an operational mode, or any other suitable two modes. This can enable the human control unit to be used for a wide range of procedures and surgeries.

[0049] In some examples, a human control unit can be coupled to the device. This can enable a user of the human control unit to remotely control the device.

[0050] In some examples, the transceiver is further configured to receive device signals from the device. This may enable the human control unit to receive control signals or status indications from the device.

[0051] In some examples, as the movable member moves, a parameter of the device is changed. This can enable the user to accurately and precisely control the parameter.

[0052] In some examples, the movable member includes a plurality of predefined positions, wherein the movable member can snap between the plurality of predefined positions and / or wherein the movable member can move continuously. The movable member can "snap" between the preset positions. That is, the movable member can snap from one preset position to another during movement (e.g., rotation). This "snap" motion can be achieved by placing the movable member on a pin connected to a stepper motor. As a result, the stepper motor moves one step for each snap of the movable member. Alternatively or additionally, the member can be continuously movable and theoretically include an infinite number of positions. In some examples, the first and second modes described above can involve preset positions in the first mode and continuous rotation in the second mode. In some examples, a mixture of predefined positions and continuous motion can exist. For example, predefined positions can be used for the first portion of the motion because parameter changes due to the motion are not significant. However, for the second portion of the motion, parameter changes may need to be fine-tunable, thus using continuous motion. The above examples can improve surgical safety because parameters cannot exceed predetermined limits.

[0053] In some examples, if the movable member is "clickable," the user can predetermine the number of clicks required to reach a predetermined pressure value. In other words, the user can set an upper limit for the pressure value, and when that limit is reached, the maximum possible resistance generated by the stepper motor is applied to the movable member, meaning the user cannot move the movable member further. This can improve operational safety, as parameters cannot be changed beyond the limit.

[0054] In some examples, the movable member is configured to provide tactile feedback to the user of the artificial control unit. This can enable the user to have a real sense of the force occurring at the device. Preferably, the tactile feedback is proportional to the pressure value measured at the device. In particular, the pressure can be the pressure measured by the first pressure sensor and / or the second pressure sensor and / or the third pressure sensor mentioned above. This may mean that for each increase in pressure, the resistance felt by the user also increases. This can increase the accuracy of the surgery because the user can feel what is happening at the device. Although pressure is mentioned here and throughout this application, it should be understood that any other parameter (such as distance and / or force) can produce the same effect.

[0055] In some examples, the tactile feedback provided to the user varies based on the changing parameter. That is, when the parameter changes, the tactile feedback also changes. This can increase the accuracy of the procedure because the user can feel what is happening at the device.

[0056] In some examples, as the parameter increases, the tactile feedback unit is configured to increase the force applied to the user via the movable member. As a non-limiting example, if the parameter is 0N, the user may not feel any tactile feedback. When the parameter increases to 5N, the user may feel a tactile force of 2N acting on the movable member, and when the parameter increases to 10N, the force felt by the user may be 4N. This can again help the user control the operation, because at high (above the threshold) parameters, it may be difficult to rotate the member. In some examples, the force increase can be gradual, or the force increase can have a continuous curve. This can in turn improve the safety of the operation, because the user may not be able to change the parameter to a dangerous level.

[0057] In some examples, the change in tactile feedback provided to the user is nonlinear with respect to the change in the value of the parameter. As a non-limiting example, if the parameter is 0N, the user may not feel any tactile feedback. When the parameter increases to 5N, the user may feel a tactile force of 2N acting on the movable member, and when the parameter increases to 10N, the force felt by the user may be 6N. In some examples, the force increase may be gradual, or the force increase may have a continuous curve. This can again help the user control the procedure, as it may be difficult to rotate the member at high parameters. This can also improve the safety of the procedure, as the user may not be able to change the parameter to a dangerous level.

[0058] In some examples, the nonlinear behavior with respect to the haptic feedback outlined above may include an x-fold increase in force applied by the surgeon resulting in a y-fold increase in force seen on the patient's side, where x is greater than y. This may enable avoidance of undesirable effects based on excessive pressure on the patient's side, particularly when the surgeon is operating from a remote location.

[0059] In some examples, the retractability of a movable member varies as a parameter changes. For example, if the parameter involves force and the member is rotatable, a single full rotation of the rotatable member may be required to change from 0N to 5N. Between 5N and 10N, two full rotations of the rotatable member may be required, increasing the force by 2.5N per rotation. After 10N, a single full rotation of the rotatable member may be required to increase the force by 1N. In some examples, the retractability can be gradual, or the retractability can have a continuous curve. This can improve surgical safety, as the user may be unable to change the parameter to a dangerous level.

[0060] In some examples, the human control unit further includes a display that can be coupled to the control unit and the housing. The display can be a known display device, such as a tablet computer or an integrated display that can be coupled to the housing. Additionally or alternatively, the display can be a hologram and / or include augmented reality elements.

[0061] In some examples, the display is configured to display the parameter of the device or the value related to the parameter. This can make the user of the artificial control unit can see and control the parameter that wants. In this example and throughout this disclosure, the parameter can be any suitable parameter, such as the detection of the bubble in the distance, force, pressure, volume remaining in the syringe or the pipeline, the plunger position of the syringe, syringe diameter, syringe or the pipeline, device mode / state and alarm message etc. or its any combination. In particular, the parameter can be the volume of the liquid remaining in the syringe and / or the elongated medical member. This can improve safety, because the parameter makes the user of the artificial control unit can see that there is no / very little liquid remaining, therefore avoid further pressing the plunger of the syringe (this may potentially cause gas (such as air) to be inserted into the patient's body, which is to be avoided).

[0062] In some examples, the human control unit further includes a timing module configured to be activated upon actuation of the second actuatable device, and wherein the display is configured to display an output of the timing module. This can enable a user to control time-sensitive operations and to view how long a current procedure has been in progress. In some examples, the second actuatable device is integral to the human control unit. In some examples, the second actuatable device is external to the human control unit.

[0063] In some examples, the display is further configured to display a graph with the output of the timing module on the first axis and the value of a parameter of the device on the second axis. This can enable a user to control time- and parameter-sensitive operations and view how long the current procedure has been ongoing and how long the currently controlled parameter has been at its current level. In some examples, the first and second modes described above can involve switching between a first visualization and a second visualization, or switching between a first parameter to be controlled and a second parameter to be controlled.

[0064] In some examples, the human control unit is configured to control a characteristic of the device when the third actuatable device is actuated. For example, the characteristic may relate to movement of the device, activation of a feature, deactivation of a feature, or any other suitable characteristic.

[0065] In some examples, the movable member is single-use and / or disposable. This can enable sterility to be maintained. In particular, the movable member can include any suitable plastic and / or metal.

[0066] In some examples, the movable member includes a circular cross-section or a cruciform cross-section. This can be particularly advantageous because the technician can change parameters more finely, thereby improving the accuracy of the device's manipulation and the safety of the surgery. Additionally, if necessary, this can help the movable member rotate faster and also facilitate movement of the movable member if the user is wearing gloves. Additionally, the adaptability and cross-section of the movable member can enable the user to switch the movable member according to personal preference. Although circular and cruciform cross-sections are mentioned, those skilled in the art will understand that the cross-section can be any suitable cross-section. In some examples, the movable member may also include a recess to facilitate rotation and orient the user.

[0067] In some examples, the human-controlled unit also includes a light source, wherein at least one characteristic of the light source changes based on changes in the value of a parameter of the device. The light source can provide a visual indication of the parameter status to the user. For example, if the parameter is within a normal range, a green light can be displayed. When the parameter approaches its upper limit, the light can turn yellow, and when the parameter exceeds its limit, the light can turn red. This can enable the user to avoid exceeding the parameter limit. The light source can be configured to indicate the operating status of the device to the user of the human-controlled unit. The operating status can relate to a critical pressure within the device, or to an individual component in or coupled to the device. Additionally or alternatively, tactile feedback can be provided by vibrating a movable member, similar to a stick shaker in an aircraft, and / or an audio indication can be provided. This can improve surgical safety by alerting the user when a limit is about to be exceeded / has been exceeded.

[0068] According to a fourth aspect, we describe a system for manipulating a device for intravascular surgery, the system comprising: a device; and an artificial control unit according to any one of the above-mentioned example embodiments; wherein the artificial control unit is located at a first position and the device is located at a second position; and wherein the first position and the second position are different positions.

[0069] The human control unit can be located at a location remote from the device and can be connected to the device by wired and / or wireless means. This can enable the device to be controlled remotely. If a qualified surgeon is not at the device's location, this can improve response time to critical surgeries, reduce the surgeon's use of personal protective equipment (PPE), and reduce surgeon fatigue due to reduced travel time between the surgeon's work or residence and the surgical site.

[0070] That is, the device of the first aspect may be controlled by the human control unit of the third aspect, and the device and human control unit as described herein may be used as a system.

[0071] In some examples, the device and the human control unit can be wirelessly communicatively coupled to each other. This can allow the device and the human control unit to be located in two separate locations that are far apart from each other.

[0072] In some examples, the device includes a second transceiver, wherein the parameter that can be changed by movement of the movable member is pressure, and wherein, when the pressure drops below a predetermined pressure, the device is configured to send a signal to a human control unit to prevent the human control unit from manipulating the device. This can be used to fully deflate the expandable medical member. This can also improve surgical safety by ensuring that the expandable medical member is fully deflated before removal from the patient.

[0073] In addition to or as an alternative to any of the above aspects, the present disclosure may relate to a pressure reducer and a method of using the pressure reducer as mentioned in the background section of this document. Any of the above aspects may involve the same function and principle of use, but from a remote location. This may mean that a user can move the movable member (i.e., the human control unit) at a remote location, and the connector of the device moves slowly and precisely in a linear manner.

[0074] In principle, the syringe and device can be similar to an infusion pump. That is, a standard syringe can be inserted into the inflation module and connected to the balloon catheter via a fluid line. During use of the inflation module, fluid injection from the syringe needs to be very slow and include a constant and accurate dose of liquid. The disclosure described herein enables this same functionality to be achieved from a remote location, allowing a user to administer fluid to many patients while simultaneously monitoring them.

[0075] Additionally, as pressure increases, current standard manual pressure reducers require more force to turn the handle. In the device or system according to any of the above aspects, the same tactile feedback can be provided to the movable member. As pressure in the fluid line increases, the member may become more difficult to move.

[0076] Any advantages and features described with respect to any of the above aspects and examples may be implemented with any of the other above aspects and examples.

[0077] It will be apparent to those skilled in the art that certain features of the systems set forth herein may be implemented using hardware (circuits), software devices, or a combination thereof. The software devices may be associated with a programmed microprocessor or general-purpose computer, an ASIC (application-specific integrated circuit), and / or a DSP (digital signal processor). For example, the processing unit may be implemented, at least in part, as a computer, a logic circuit, an FPGA (field programmable gate array), a processor (e.g., a microprocessor, a microcontroller (μC), or an array processor) / chip / CPU (central processing unit), an FPU (floating point unit), an NPU (numerical processing unit), an ALU (arithmetic logic unit), a coprocessor (another microprocessor for supporting a main processor (CPU)), a GPGPU (general-purpose computing on a graphics processing unit), a multi-core processor (for parallel computing, such as performing arithmetic operations simultaneously on multiple main processors and / or graphics processors), or a DSP.

[0078] Even though some of the above aspects have been described with reference to any one of the first to fifth aspects, these aspects may also be applied to the method (particularly the method of controlling an apparatus for endovascular surgery) and vice versa. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] These and other aspects of the present invention will now be further described, by way of example only, with reference to the accompanying drawings, in which like reference numerals refer to like parts, and in which:

[0080] Figure 1 shows a schematic diagram of an apparatus for endovascular surgery according to some example embodiments as described herein;

[0081] Figure 2 shows a schematic diagram of an apparatus for endovascular surgery according to some example embodiments as described herein;

[0082] Figure 3 shows a schematic diagram of an apparatus for endovascular surgery according to some example embodiments as described herein;

[0083] Figure 4 A block diagram illustrating an apparatus for endovascular surgery according to some example embodiments as described herein; and

[0084] Figure 5 Shown is a block diagram of a human control unit (surgeon unit) according to some example embodiments as described herein. DETAILED DESCRIPTION

[0085] Figure 1 A schematic diagram of an apparatus for endovascular surgery is shown, according to some example embodiments as described herein.

[0086] Figure 1 The diagram shows a device 100 for endovascular surgery and a human control unit 200 for manipulating the device 100 for endovascular surgery. In this example, the device controlled by the human control unit 200 is the device 100 shown. In some examples, the human control unit 200 can control any suitable type of device for endovascular surgery that can be remotely controlled.

[0087] In this example, the device 100 includes a movable base 101, a linear gear 102, a connector 103, a third pressure sensor 104, a first pressure sensor 105, a safety sensor 106, a control unit (eg, Figure 4 ), a communication line 108, an elongated medical member 109, an actuatable device 110 for controlling the movement of at least one linear gear, and a syringe 111. In addition, the device 100 includes a rotating gear, a transceiver, and a secondary pressure sensor (all in Figure 4 ). The human control unit 200 includes a housing 201, a rotatable member 202, a display 204 and an actuatable device 205. The human control unit 200 also includes a transceiver, a control unit, a tactile feedback unit, a light source and a timing module (all in Figure 5 shown in ).

[0088] exist Figure 1 In some examples, the syringe 111 can be coupled to the base 101 via a connector 103. The shape of the connector 103 can enable the plunger of the syringe 111 to be coupled to the base 101 and / or the distal end of the plunger to be coupled to the base 101. In the case where the distal end of the plunger is coupled to the base 101, the connector 103 can be generally C-shaped to enable the plunger's post to be inserted through a gap, and then the connector 103 secures the distal end of the plunger. Alternatively, the connector 103 can be generally U-shaped, generally V-shaped, or include any suitable geometry that enables the plunger of the syringe 111 to be coupled to the base 101 and / or the distal end of the syringe 111 to be coupled to the base 101. In some examples, the connector 103 includes a clamp configured to securely couple the plunger of the syringe 111 to the base 101. Additionally, the body of the syringe 111 can be coupled to the base 101 via a second connector, which can be a clamp or other suitable device. The connector 103 can enable the syringe 111 to remain in place during surgery, thereby improving the safety of the surgery.

[0089] At the proximal end of syringe 111, elongated medical member 109 can be coupled to the proximal end. Depending on the process for which apparatus 100 is used, elongated medical member 109 can be a catheter, a catheter balloon, a stent balloon, a thrombectomy device, or a dispensing system. Syringe 111 and elongated medical member 109 can be coupled, preferably via the proximal end of syringe 111, which includes a standard Luer lock adapter, particularly a male lock, and elongated medical member 109 includes a corresponding female lock, to couple the two elements to one another.

[0090] The control unit of device 100 includes a processor and a memory, wherein the memory is configured to store instructions, and the processor is configured to execute the instructions stored in the memory and / or execute instructions received from an external source. In some examples, the external source is a human control unit 200 as described herein. In some examples, the external source can be any other device suitable for controlling device 100 from a remote location, such as a computer. Communication line 108 can connect device 100 to the external source, and any suitable wired and / or wireless method can be used to communicate with the external source.

[0091] The base also includes a linear gear 102. The linear gear can be any commercially available linear gear or a custom linear gear. The linear gear can include a set of gears, a hydraulic device, an electrical device, or any other suitable device for linearly moving the connector 103. In some examples, the base 101 compresses an opening along a portion of the base 101 in which a first end of the connector 103 can be coupled to the linear gear 102 inside the base 101, and a second end of the connector 103 is located outside the base 101 and is suitable for coupling at least the plunger of the syringe 111 to the connector. In this example, the opening enables the connector 103 to be linearly moved from one end of the base 101 to the other end while depressing and / or releasing the plunger of the syringe 111.

[0092] According to the instructions from the control unit, the linear gear 102 can actuate the connector 103 and move the connector 103 from the third position to the fourth position. This can enable the connector 103 to move linearly, thereby enabling the plunger of the syringe 111 to be released / pressed from the first position to the second position and vice versa. The connection between the gear and the control unit and the method of subjecting the gear to the instructions executed by the control unit are known to the skilled person. In some examples, there can be multiple linear gears. The movement can be Figure 1 Proceed in the direction of the arrow shown in .

[0093] In this example, the base 101 also includes an actuatable device 110. When actuated by a user, the actuatable device 110 can enable the connector 103 to move linearly and / or enable the rotating gear to be actuated, as will be described in more detail below. This can enable the connector 103 and / or the rotating gear to be manually actuated. This can be particularly helpful during the loading and unloading of the syringe 111. Thus, the device 100 can be compatible with any off-the-shelf syringe 111 because, due to the actuatable device 110, the device 100 can accommodate syringes 111 of different sizes. In some examples, there are multiple actuatable devices 110. There may be a first means 110 for moving the connector 103 toward the distal end of the syringe 111, and / or a second means 110 for moving the connector 103 toward the proximal end of the syringe 111, and / or a third means 110 for rotating at least a portion of the base 101 in a first direction, and / or a fourth means 110 for rotating at least a portion of the base 101 in a second direction, and / or a fifth means 110 for repositioning at least a portion of the base 101 and / or the connector 103 to a predetermined position. This allows any commercially available syringe to be used in combination with the device described herein.

[0094] In this example, the device 100 also includes a safety sensor 106. The safety sensor 106 can operate in a manner similar to a disable switch. That is, the sensor 106 can detect when the syringe 111 is coupled to the removable base 101 and enable use of the base 101 / device 100 when the syringe 111 is detected to be in place. Conversely, when the safety sensor 106 detects that the syringe 111 is not coupled to the base 101, the safety sensor 106 can disable the base 101. The safety sensor 106 can be any one or more of a Hall sensor, a distance sensor, a light sensor, a depressible button, and any other suitable method that enables determination of coupling between the syringe 111 and the base 101.

[0095] In this example, the device 100 also includes a first pressure sensor 105. Preferably, the first pressure sensor can be coupled to the control unit and the syringe 111 and configured to measure the pressure applied by the syringe 111 based on the movement of the plunger of the syringe 111, wherein the pressure is measured according to a predetermined pressure value. The predetermined value can be determined based on a preset value stored in the memory of the control unit and / or based on the pressure applied when the safety sensor 106 indicates that the syringe 111 is securely coupled to the base 101 and / or after the connector 103 has moved a predetermined distance. This can enable calculation of the pressure applied by the syringe 111 and / or the fluid within the syringe. For example, the control unit can know the area of ​​the syringe 111 and the force currently used to move the connector 103 to its current position (when compared to its initial position). The force can be calculated by a force unit located on the connector 103 and / or the base 101. In this case, the cross-sectional area of ​​the syringe 111 is known, so the first pressure sensor 105 can measure the pressure by the equation P=F / A, where P is the pressure, F is the force measured by the force unit, and A is the cross-sectional area of ​​the syringe 111. The control unit is able to calculate the applied pressure. The pressure sensor 105 can be located inside the base 101 or outside the base 101 and can be connected to the control unit by wire and / or wirelessly. If the user is not in the same room as the room where the operation is being performed, this can provide the user with an accurate indication of the pressure currently being applied. The pressure can be calculated based on the movement of the connector 103 from the third position to the fourth position. The third position can be an initial "zero" position, where the pressure is 0 bar, or 1 bar, or 1 atmosphere.

[0096] In this example, device 100 also includes a third pressure sensor 104. Third pressure sensor 104 can be configured to measure the force exerted by the plunger on syringe 111 and / or the fluid within syringe 111. This can be used in combination with or separately from the first pressure sensor 105 described above. This third pressure sensor 104 can measure force and indicate this force to the user and / or use this force in pressure calculations by first pressure sensor 105. If third pressure sensor 104 is a separate component, the control unit can compare the estimated force reading from the movement of connector 103 via linear gear 102 with the reading from third pressure sensor 104. If the readings differ significantly, an audio and / or tactile and / or visual indication can be provided to the user of device 100 to indicate this. Additionally or alternatively, the control unit of device 100 can halt the linear motion and / or the movement of the rotary gear until the discrepancy has been corrected. This, therefore, improves the safety of the device.

[0097] In some examples, the syringe is at least partially filled with a liquid. This is useful for surgeries that may require the use of dyes, surgeries that may require the use of catheter balloons, or IV injections of fluids. In some examples, saline or other fluids (such as liquids and / or gases) can be placed in syringe 111. As a non-limiting example, if device 100 is used in conjunction with a closed balloon catheter, a contrast agent can be used through an open catheter and microspheres can be used at the same time. Alternatively, syringe 111 can be used as a suction pump by creating a vacuum. Thus, this can enable the device to be used in a wide range of intravascular procedures. In some examples, the liquid contains microspheres.

[0098] In some examples, the device includes a second pressure sensor. Preferably, this second pressure sensor can be coupled to the control unit and the elongated medical member 109 and configured to measure the pressure of the fluid within the elongated medical member 109. This pressure sensor can operate in a similar manner to the first pressure sensor 105 described above, but in this case, it directly measures the pressure of the fluid / liquid within the elongated medical member 109 and does not use the force provided by the plunger of the syringe 111 or the area of ​​the syringe 111 to calculate the pressure. This pressure reading can serve as a safety reading in the event of a malfunction of the first pressure sensor 105 or for comparison purposes. If the readings differ significantly, an audio, tactile, and / or visual indication can be provided to the user of the device 100. Additionally or alternatively, the device's control unit can halt the linear motion and / or rotational gear movement until the discrepancy is corrected, thereby enhancing the safety of the device. In some examples, the second pressure sensor is an optional sensor used in conjunction with the first pressure sensor 104 and / or the third pressure sensor 105. That is, the first and third pressure sensors 104, 105 compare their readings for safety and stability reasons. The second pressure sensor is used as a direct pressure sensor coupled into the fluid line of the device to measure the pressure in the fluid line.

[0099] During use of the device 100, it is preferred that the distal end of the syringe 111 be positioned above the proximal end of the syringe 111. This can reduce the number of air bubbles that may enter the elongated medical element 109 and / or collect at the proximal end of the syringe 111. This in turn improves surgical safety, as air bubbles may cause undesirable effects on the patient during surgery.

[0100] In some examples, device 100 also includes an expandable medical member that can be coupled to elongated medical member 109, wherein a first end of elongated medical member 109 can be coupled to the proximal end of syringe 111, and the expandable medical member can be coupled to a second end of elongated medical member 109, wherein the first and second ends are located at opposite ends of elongated medical member 109. In other words, the expandable medical member can be a balloon or any other suitable expandable member. This can be particularly helpful during angioplasty procedures. In some examples, the diameter of the expandable medical member depends on the pressure of the fluid within elongated medical member 109. Therefore, the pressure reading from pressure sensor 105 can help a user determine the diameter of the expandable medical member, thereby improving the safety of such procedures. Many commercially available balloons include a chart that correlates pressure with balloon diameter. This, in turn, enables the user of the device to accurately determine the balloon diameter, thereby successfully providing the desired treatment to the patient. The user can observe the pressure in bars or atmospheres and thereby determine the balloon diameter. In some examples, a display on device 100 indicates the current pressure. In some examples, the pressure is displayed on the display 204 of the human control unit 200 .

[0101] In this example, the human control unit 200 includes a housing 201, a rotatable member 202, a display 204, and an actuatable device 205. The human control unit 200 also includes a transceiver, a control unit, a tactile feedback unit, a light source, and a timing module (all in Figure 5 ). The human control unit 200 also includes a communication line 108. The communication line 108 can connect the device 100 to the human control unit 200 and can use any suitable wired and / or wireless method to communicate with the device 100. In some examples, the communication line 108 is not used to communicate with the device 100, but is used to communicate with any suitable device that can be remotely controlled.

[0102] Upon actuation of actuatable device 205, human control unit 200 can change from a first mode to a second mode. The first mode may relate to angioplasty, and the second mode may relate to embolization. In some examples, the first and second modes may relate to a standby mode and an active mode, a test mode and an operational mode (rotation of rotatable member 202 to a preset position in the first mode and continuous rotation of rotatable member 202 in the second mode, switching between a first visualization and a second visualization on display 204, a first parameter to be controlled and a second parameter to be controlled), or any other suitable two modes. This can enable human control unit 200 to be used in a wide range of operations and procedures. In some examples, multiple actuatable devices may be present, configured to change human control unit 200 between two or more modes. In some examples, a first actuation of actuatable device 205 may switch human control unit 200 to operate in the first mode, and a second actuation may switch human control unit 200 to operate in the second mode. In some examples, actuation of the first device enables human control unit 200 to operate in the first mode, and actuation of the second device enables human control unit 200 to operate in the second mode.

[0103] In some examples, display 204 is configured to display at least one parameter of the device. This allows a user of control unit 200 to view and control the desired parameter. The parameter can be any suitable parameter, such as distance, force, pressure, etc. The parameter can be displayed as a discrete number, as a percentage of a possible maximum limit, as a movable bar, or as an element whose area increases as the parameter increases, or by any other suitable method.

[0104] In some examples, the transceiver is configured to send control signals to the device and / or receive signals from the device. This can enable the human control unit 200 to control the device, or send status indications to the device, and / or receive control signals or status indications from the device. This can enable the human control unit 200 to remotely control the device.

[0105] In some examples, upon rotation of rotatable member 202, a parameter of the device is changed. This can enable a user to accurately and precisely control the parameter. In some examples, rotatable member 202 includes preset positions that member 202 can assume. Additionally or alternatively, member 202 can be continuously rotatable and theoretically include an infinite number of positions. That is, in the preset configuration, rotatable member 202 "clicks" from one position to another, while in the continuous configuration, the movement of rotatable member 202 is smooth.

[0106] In some examples, the rotatable member 202 is configured to provide tactile feedback to the user of the manual control unit 200. This can enable the user to have a realistic sense of the forces acting on the device. Preferably, the tactile feedback is proportional to the pressure value measured on the device 100. In particular, the pressure can be the pressure measured by the first pressure sensor and / or the second pressure sensor and / or the third pressure sensor 104, 105 described above. This may mean that with each increase in pressure, the resistance felt by the user also increases. This can increase the accuracy of the surgery because the user can feel what is happening on the device. The tactile feedback can be provided by a tactile feedback unit. The tactile feedback can take the form of the user finding it easier / harder to rotate the member 202 based on the parameter, and / or the vibration of the member 202 increasing / decreasing as the parameter changes.

[0107] In some examples, as the parameter increases, the force of the tactile feedback provided to the user also increases. As a non-limiting example, if the parameter is 0N, the user may not feel any tactile feedback. When the parameter increases to 5N, the user may feel a 2N tactile force acting on rotatable member 202. When the parameter increases to 10N, the user may feel a 4N force. This can further aid user control of the procedure, as rotating member 202 may be difficult at high parameters. This can also improve surgical safety, as the user may be unable to change the parameter to a dangerous level.

[0108] In some examples, the tactile feedback provided to the user changes nonlinearly with respect to the parameter. As a non-limiting example, if the parameter is 0N, the user may not feel any tactile feedback. When the parameter increases to 5N, the user may feel a 2N tactile force acting on the rotatable member 202. When the parameter increases to 10N, the user may feel a 6N force. This can further aid user control of the procedure, as rotating the member may be difficult at high parameters. This can also improve surgical safety, as the user may be unable to change the parameter to a dangerous level.

[0109] In some examples, the scalability of rotating member 202 can be varied as a parameter changes. For example, if the parameter involves force, a single full rotation of rotatable member 202 may be required to change from 0 N to 5 N. Between 5 N and 10 N, two full rotations of rotatable member 202 may be required, increasing the force by 2.5 N per rotation. After 10 N, a single full rotation of rotatable member 202 may be required to increase the force by 1 N. In some examples, the scalability can be gradual, or it can have a continuous curve. This can improve surgical safety, as the user may be less likely to change the parameter to a dangerous level.

[0110] In some examples, the human control unit 200 further includes a timing module configured to be activated upon actuation of the second actuatable device, wherein the output of the timing module is configured to be displayed on the display 204. This can enable the user to control time-sensitive operations and view how long the current procedure has been in progress. In some examples, as described above, the timing module is activated upon actuation of the actuatable device. Additionally or alternatively, the timing module can be activated when a parameter reaches a predetermined value.

[0111] In some examples, the display 204 is further configured to display a graph with the output of the timing module on a first axis and at least one parameter of the device on a second axis. This can allow the user to control time- and parameter-sensitive operations and view how long the current procedure has been ongoing and how long the currently controlled parameter has been at its current level. The graph can show only the last 60 seconds, for example, or can show the entire time the timing module has been active.

[0112] In some examples, human control unit 200 is configured to control a characteristic of the device upon actuation of the third actuatable device. For example, the characteristic may relate to movement of the device, activation of a feature, deactivation of a feature, or any other suitable characteristic. This may enable a user of human control unit 200 to have greater control over the device and to more precisely control the device.

[0113] In some examples, the rotatable member 202 is single-use and / or disposable. This can enable sterility to be maintained. In particular, the rotatable member can include any suitable plastic and / or metal.

[0114] In some examples, the rotatable member 202 includes a circular cross-section or a cruciform cross-section. This can help the movable member 202 rotate faster, if desired, and also facilitate movement of the movable member 202 if the user is wearing gloves. Additionally, the adaptability and cross-section of the movable member 202 can enable the user to customize the movable member 202 to their personal preferences. While circular and cruciform cross-sections are mentioned, those skilled in the art will appreciate that the cross-section can be any suitable cross-section. In some examples, the movable member 202 can also include a recessed portion to facilitate rotation and user orientation.

[0115] In some examples, the human control unit 200 also includes a light source, wherein at least one characteristic of the light source varies based on a parameter of the device. This light source can provide a visual indication of the parameter status to the user. For example, if a parameter is within a normal range, a green light can be displayed. When the parameter approaches its upper limit, the light can turn yellow, and when the parameter exceeds its limit, the light can turn red. This can enable the user to avoid exceeding the parameter limit. Additionally or alternatively, tactile feedback can be provided by vibrating the rotatable member, similar to a stick shaker in an aircraft, and / or an audio indication can be provided. This can improve surgical safety by alerting the user when a limit is about to be exceeded / has been exceeded.

[0116] Figure 2 A schematic diagram of an apparatus for endovascular surgery is shown, according to some example embodiments as described herein.

[0117] Figure 2 The device 100 and the human control unit 200 are Figure 1 The device 100 and the human control unit 200 shown in the are substantially identical. However, the device 100 and the human control unit include corresponding mounting track adapters 120, 220. This allows the device 100 and the human control unit 200 to be moved depending on the procedure. In some examples, the device 100 can be mounted to a movable track, thereby allowing the device 100 to be moved during use. This may be particularly helpful during certain surgeries. Likewise, the human control unit 200 may also be mounted on a similar movable track. In some examples, the track is static and the device 100 and / or the human control unit 200 need to be manually moved along the track. The clamp-type device in Figure 2 However, it will be appreciated that any suitable clamping method and any suitable adapter shape may be used.

[0118] Figure 3 A schematic diagram of an apparatus for endovascular surgery is shown, according to some example embodiments as described herein.

[0119] In some examples, the movable base 100 further includes a rotating gear and is configured to rotate the movable base about a fixed point on the movable base. The rotating gear can rotate the entire base 101, or in some examples, can rotate a portion of the movable base 101. Preferably, the rotating portion of the movable base 101 includes the connector 103 described above. The rotating gear can be any suitable known rotating gear that enables continuous, non-step movement of the connector and / or base. Because the rotating gear can move in very small increments, the connector and / or base can move in very small increments, thereby enabling the syringe and device to be used accurately and precisely. The rotating gear enables at least a portion of the base to move along Figure 3 That is, preferably, at least a portion of base 101 is configured to rotate along the transverse axis of syringe 111. In some examples, additionally or alternatively, the rotation gear can be configured to rotate at least a portion of base 101 along the longitudinal axis and / or vertical axis of syringe 111. In some examples, there are multiple rotation gears.

[0120] In some examples, the rotational movement of the movable base 101 is further configured to rotate the movable base about the proximal end of the syringe 111. That is, during the rotation of the movable base 101, the end of the syringe 111 coupled to the elongated medical member 109 remains substantially in the same position. This can thereby maintain a substantially stable relative position of the elongated medical member 109 relative to the syringe 111, the surface on which the device is located, and the patient. This can be important during surgery, as movement of the elongated medical member 109 within the patient's body can cause undesirable effects.

[0121] In some examples, when the control unit executes an instruction to rotate the movable base, the movable base 101 is rotated by rotating the gear. This can enable the rotating gear to be actuated. The connection between the gear and the control unit and the method of subjecting the gear to the instructions executed by the control unit are known to those skilled in the art.

[0122] In some examples, when the control unit executes a command to repeatedly rotate the movable base, the movable base 101 is repeatedly rotated from the fifth position to the sixth position and back to the fifth position by rotating the gear. That is, upon executing a single command, the movable base 101 can repeatedly rotate by a predetermined angle. This allows any bubbles within the syringe 111 and / or the elongated medical member 109 to be moved into the syringe 111. This can be important because bubbles within the elongated medical member 109 and / or the syringe 111 could potentially cause undesirable effects on the patient during surgery. As a result, the surgery can be safer.

[0123] Figure 4 A block diagram of an apparatus for endovascular surgery is shown, according to some example embodiments as described herein.

[0124] As described above, the device 100 includes the linear gear 102, the rotary gear 306, the transceiver 300, the control unit 302, the safety sensor 106, the first pressure sensor 105 and the second pressure sensor 310, and the third pressure sensor 104, in addition to the other features described herein. Figure 4The arrows in show the communication between the various elements of the device 100. Additionally, a communication line 108 is shown. The transceiver 300 enables sending and / or receiving instructions and / or control signals and / or signals from an external source, such as the human control unit 200.

[0125] Figure 5 A block diagram of a human control unit 200 is shown, according to some example embodiments as described herein.

[0126] As described above, the human control unit 200 includes a transceiver 400, a control unit 402, a tactile feedback unit 404, a light source 406, and a timing module 408, in addition to the other features described herein. Figure 5 The arrows in show the communication between the various elements of the device 100. Additionally, a communication pipeline 108 is shown. The transceiver 400 enables the sending and / or receiving of instructions and / or control signals and / or signals from an external source, such as the device 100.

[0127] The present disclosure also encompasses the following examples, which may be incorporated in whole or in part into the embodiments.

[0128] 1. A device for endovascular surgery, wherein the device comprises:

[0129] Removable base;

[0130] a drive unit coupled to at least a first portion of the movable base and configured to move the first portion of the movable base;

[0131] a syringe, the syringe comprising a plunger, wherein the syringe is coupleable to a base;

[0132] as well as

[0133] a first control unit configured to control movement of at least a first portion of the movable base;

[0134] wherein, according to instructions provided by the first control unit to the drive unit, at least the first portion of the movable base is configured to move the plunger from a first position to a second position and / or from the second position to the first position based on movement of the first portion of the movable base, and wherein the first position and the second position are different positions.

[0135] 2. The device of clause 1, further comprising an elongated medical member coupleable to the proximal end of the syringe.

[0136] 3. The device according to clause 1 or 2, wherein the movable base further comprises a connector configured to couple at least the plunger of the syringe to the first portion of the movable base.

[0137] 4. An apparatus according to claim 3, wherein the drive unit includes a linear gear connected to the connector, and wherein, based on instructions provided by the first control unit to the drive unit, the linear gear is configured to move the connector from a third position to a fourth position and / or from the fourth position to the third position, wherein when the connector is in the third position, the plunger is in the first position, and wherein when the connector is in the fourth position, the plunger is in the second position.

[0138] 5. An apparatus according to claim 4, wherein, when an instruction to move the connector from a third position to a fourth position and / or from the fourth position to the third position is executed by the first control unit, the connector is configured to move from the third position to the fourth position and / or from the fourth position to the third position via a linear gear.

[0139] 6. The apparatus of any of the preceding clauses, wherein the first control unit comprises a processor and a memory, wherein the memory is configured to store instructions and the processor is configured to execute instructions stored in the memory and / or instructions received from an external source.

[0140] 7. Apparatus according to any of the preceding clauses, wherein the drive unit comprises a rotating gear, and wherein the rotating gear is configured to rotate at least the second portion of the movable base about a fixed point on the movable base and / or a fixed axis passing through the movable base.

[0141] 8. The device of clause 7, wherein the rotational movement of the second portion of the movable mount is further configured to rotate the movable mount about the proximal end of the syringe.

[0142] 9. Apparatus according to clause 7 or 8, wherein when the instruction to rotate at least the second portion of the movable base is executed by the first control unit, the second portion of the movable base is configured to rotate by rotating the gear.

[0143] 10. An apparatus according to any one of clauses 7 to 9, wherein, when an instruction to repeatedly rotate at least the second part of the movable base is executed by the first control unit, at least the second part of the movable base is configured to repeatedly rotate from a fifth position to a sixth position and back to the fifth position via a rotating gear.

[0144] 11. An apparatus according to any of the preceding clauses, when subject to clause 4 and / or clause 7, wherein the movable base further comprises an actuable device, wherein, when the actuable device is actuated, the first control unit is configured to execute instructions to move the connector from a third position to a fourth position, and / or from the fourth position to the third position, and / or to rotate at least a second part of the movable base.

[0145] 12. The device according to any of the preceding clauses, further comprising a safety sensor coupleable to the first control unit, and wherein the safety sensor is configured to determine whether a syringe is coupled to the movable mount.

[0146] 13. The device according to any of the preceding clauses, further comprising a first pressure sensor capable of being communicatively coupled to a first control unit, wherein the first pressure sensor is capable of being coupled to a syringe, and wherein the first pressure sensor is configured to measure the pressure within the syringe based on movement of the plunger of the syringe, wherein the first pressure sensor is configured to measure the pressure difference between the pressure within the syringe and a predetermined pressure value.

[0147] 14. Apparatus according to clause 13, when dependent on clause 4, wherein the first pressure sensor is configured to measure pressure based on movement of the connector from the third position to the fourth position and / or from the fourth position to the third position.

[0148] 15. Apparatus according to any of the preceding clauses, wherein the syringe is at least partially filled with a liquid.

[0149] 16. The apparatus of clause 15, wherein the liquid comprises microspheres.

[0150] 17. A device according to any of the preceding clauses, when subject to clause 2 and when subject to clause 15 or 16, the device further comprising a second pressure sensor capable of being communicatively coupled to the first control unit, wherein the second pressure sensor is capable of being coupled to the elongated medical member, wherein the elongated medical member is at least partially filled with liquid, and wherein the second pressure sensor is configured to measure the pressure of the liquid within the elongated medical member.

[0151] 18. The device according to any of the preceding clauses, further comprising a force sensor configured to measure the force exerted by the plunger on the syringe.

[0152] 19. A device according to any of the preceding clauses, wherein the distal end of the syringe is configured to rise above the proximal end of the syringe during use of the device, the distal end being the end of the syringe including the plunger, wherein the distal end and the proximal end are located at two different end portions of the syringe.

[0153] 20. An apparatus according to any of the preceding clauses, further comprising an expandable medical member capable of being connected to an elongated medical member, wherein a first end of the elongated medical member is capable of being connected to a proximal end of a syringe, and the expandable medical member is capable of being connected to a second end of the elongated medical member, wherein the first end and the second end are located at opposite ends of the elongated medical member.

[0154] 21. The device of clause 20, wherein the diameter of the expandable medical member is dependent on the pressure of the fluid within the elongated medical member.

[0155] 22. The device according to any of the preceding clauses, wherein, additionally or alternatively, the device is suitable for angioplasty.

[0156] 23. The device according to any of the preceding clauses, wherein, additionally or alternatively, the device is suitable for embolization.

[0157] 24. A system for endovascular surgery, comprising:

[0158] An apparatus according to any one of clauses 1 to 23, and

[0159] A human control unit, the human control unit including a second control unit;

[0160] wherein the human control unit is located at a first location and the device is located at a second location; and

[0161] The first position and the second position are different positions.

[0162] 25. A human control unit for operating a device for endovascular surgery, the human control unit comprising:

[0163] case;

[0164] a control unit, the control unit including a transceiver;

[0165] a movable member that is coupleable to the housing and movable by a user of the human control unit; and

[0166] a tactile feedback unit communicatively coupled to the control unit and coupled to the movable member;

[0167] wherein, upon movement of the movable member, the transceiver is configured to provide a signal to the device to change a parameter of the device, and wherein the tactile feedback unit is configured to provide tactile feedback to a user of the human control unit via the movable member.

[0168] 26. The artificial control unit of clause 1, wherein the tactile feedback provided to the user varies based on the changed parameter.

[0169] 27. A control unit according to clause 25 or 26, wherein the movable member comprises a rotatable member, and wherein the movement of the movable member comprises a rotation of the rotatable member.

[0170] 28. The human control unit according to any one of clauses 25 to 27, further comprising a first actuatable device, wherein upon actuation of the actuatable device, the human control unit changes from the first mode to the second mode.

[0171] 29. The human control unit according to any of clauses 25 to 28, wherein the human control unit is connectable to a device.

[0172] 30. The artificial control unit of clause 29, wherein the transceiver is further configured to receive a device signal from the device.

[0173] 31. The human control unit according to any of clauses 25 to 30, wherein, when the parameter increases, the tactile feedback unit is configured to increase the force applied to the user via the movable member.

[0174] 32. An artificial control unit according to any of clauses 25 to 31, wherein the change in tactile feedback provided to the user is non-linear with respect to the change in the value of the parameter.

[0175] 33. The human control unit according to any one of clauses 25 to 32, further comprising a display connectable to the control unit and the housing.

[0176] 34. The human control unit according to clause 33, wherein the display is configured to display a parameter of the device or a value related to a parameter.

[0177] 35. The human control unit according to clause 33 or 34, wherein the human control unit further comprises a timing module, the timing module being configured to be activated when the second actuatable device is actuated, and wherein the display is configured to display an output of the timing module.

[0178] 36. The human control unit of clause 35, wherein the display is further configured to display a graph in which a first axis is the output of the timing module and a second axis is a parameter of the device.

[0179] 37. An artificial control unit according to any of clauses 25 to 36, when dependent on clause 29, wherein the artificial control unit is configured to control a property of the apparatus upon actuation of the third actuatable means.

[0180] 38. A control unit according to any one of clauses 25 to 37, wherein the movable member is single-use and / or disposable.

[0181] 39. The control unit according to any one of clauses 25 to 38, wherein the movable member comprises a circular cross-section or a cross-shaped cross-section.

[0182] 40. The artificial control unit according to any of clauses 25 to 39, wherein the artificial control unit further comprises a light source, and wherein at least one characteristic of the light source changes based on a change in a value of a parameter of the device.

[0183] 41. The control unit according to any one of clauses 25 to 40, wherein the movable member comprises a plurality of predefined positions, wherein the movable member is snappable between the plurality of predefined positions and / or wherein the movable member is continuously movable.

[0184] 42. A system for manipulating a device for endovascular surgery, the system comprising:

[0185] equipment; and

[0186] A human control unit according to any one of clauses 25 to 41;

[0187] wherein the human control unit is located at a first location and the device is located at a second location; and

[0188] The first position and the second position are different positions.

[0189] 43. The system of clause 42, wherein the device and the human control unit are communicatively coupled to each other via wireless means.

[0190] 44. A system according to clause 42 or 43, wherein the device includes a second transceiver, wherein the parameter that can be changed by movement of the movable member is pressure, and wherein, when the pressure drops below a predetermined pressure, the device is configured to send a signal to the human control unit to prevent the human control unit from operating the device.

Claims

1. A human-controlled control unit for operating a device for endovascular surgery, the human-controlled control unit comprising: case; a control unit, the control unit comprising a transceiver; a movable member coupleable to the housing and movable by a user of the human control unit; as well as a tactile feedback unit communicatively coupled to the control unit and coupled to the movable member; wherein, upon movement of the movable member, the transceiver is configured to provide a signal to the device to change a parameter of the device, and wherein the tactile feedback unit is configured to provide tactile feedback to the user of the human control unit via the movable member.

2. The artificial control unit according to claim 1, wherein: The tactile feedback provided to the user varies based on the changed parameter.

3. The artificial control unit according to claim 1 or 2, wherein: The movable member comprises a rotatable member, and wherein the movement of the movable member comprises a rotation of the rotatable member.

4. The artificial control unit according to any one of the preceding claims, further comprising a first actuatable device, wherein: Upon actuation of the actuatable device, the human control unit changes from a first mode to a second mode.

5. An artificial control unit according to any one of the preceding claims, wherein: The human control unit can be coupled to the device.

6. The artificial control unit according to claim 5, wherein: The transceiver is also configured to receive a device signal from the device.

7. An artificial control unit according to any one of the preceding claims, wherein: When the parameter increases, the tactile feedback unit is configured to increase the force applied to the user via the movable member.

8. An artificial control unit according to any one of the preceding claims, wherein: The change in the tactile feedback provided to the user is non-linear with respect to the change in the value of the parameter.

9. A human control unit according to any one of the preceding claims, further comprising a display connectable to the control unit and the housing.

10. The artificial control unit according to claim 9, wherein: The display is configured to display the parameter of the device or a value related to the parameter.

11. The artificial control unit according to claim 9 or 10, wherein: The human control unit further comprises a timing module configured to be activated upon actuation of a second actuatable device, and wherein the display is configured to display an output of the timing module.

12. The artificial control unit according to claim 11, wherein: The display is further configured to display a graph wherein a first axis is the output of the timing module and a second axis is the parameter of the device.

13. An artificial control unit according to any one of the preceding claims, when dependent on claim 5, wherein: The human control unit is configured to control a characteristic of the apparatus upon actuation of the third actuatable device.

14. An artificial control unit according to any one of the preceding claims, wherein: The movable member is single use and / or disposable.

15. An artificial control unit according to any one of the preceding claims, wherein: The movable member includes a circular cross-section or a cross-shaped cross-section.

16. An artificial control unit according to any one of the preceding claims, wherein: The human control unit further comprises a light source, and wherein at least one property of the light source, in particular brightness and / or color of light radiated via the light source, changes based on a change in the value of the parameter of the device.

17. An artificial control unit according to any one of the preceding claims, wherein: The movable member comprises a plurality of predefined positions, wherein the movable member is snappable between the plurality of predefined positions and / or wherein the movable member is continuously movable.

18. A system for manipulating a device for endovascular surgery, the system comprising: equipment; as well as A human control unit according to any one of the preceding claims; wherein the human control unit is located at a first position, and the device is located at a second position; and The first position and the second position are different positions.

19. The system according to claim 18, wherein: The device and the human control unit are communicatively coupled to each other.

20. The system according to claim 18 or 19, wherein: The device comprises a second transceiver, wherein the parameter that can be changed by movement of the movable member is pressure, and wherein, when the pressure drops below a predetermined pressure, the device is configured to send a signal to the human control unit to prevent the human control unit from operating the device.

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