A radiofrequency ablation catheter and sheath linkage control device

Abstract

The present invention discloses a radiofrequency ablation catheter and sheath linkage control device. Based on the existing mechanical arm, the present invention further adds a sheath controller, a catheter controller and a tube-sheath linkage driver. These three are used in conjunction with the mechanical arm to jointly control the movement of the catheter and the sheath, so as to enable the catheter to reach the target position quickly and accurately, and solve the problem of low efficiency of the existing mechanical arm in positioning the catheter.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a radio frequency ablation catheter and sheath linkage control device. Background Art

[0002] The method of using the existing radiofrequency ablation catheter robotic arm is: place the tail of the catheter into the working chamber of the robotic arm, and fix the handle and slide handle of the tail of the catheter on the control parts of the robotic arm respectively. The operator controls the handle and slide handle through digital commands to control the forward, backward and rotation of the catheter, and cooperates with other imaging equipment to guide, monitor and adjust the control action of the catheter, so that the catheter finally reaches the target position.

[0003] That is, the existing robotic arm can only manipulate the catheter alone to move the catheter to the target position, thereby limiting the efficiency of catheter positioning. Summary of the invention

[0004] The present invention provides a radiofrequency ablation catheter and sheath linkage control device to solve the problem of low efficiency of catheter positioning by controlling the catheter alone in the prior art.

[0005] In a first aspect, the present invention provides a radiofrequency ablation catheter and sheath linkage control device, wherein the catheter moves under the control of a robotic arm controller, and the device comprises: a sheath controller, a catheter controller, a tube-sheath linkage device, and a robotic arm controller;

[0006] The sheath tube controller is used to drive the sheath tube to perform rotational motion and forward and backward motion;

[0007] The catheter controller is used to drive the catheter to perform rotational movement and forward and backward movement;

[0008] The tube-sheath linkage is used to drive the catheter and the sheath tube to perform an integral forward and backward movement;

[0009] The movement of the catheter and the sheath is controlled by coordinating and controlling the sheath controller, the catheter controller, the sheath linkage and the robotic arm controller, so that the catheter reaches a preset target position.

[0010] Optionally, the tube-sheath linkage further comprises: a tube-sheath driver and a tube-sheath linkage support rod that are fixedly connected;

[0011] The sheath controller further comprises: a sheath rotation driver and a sheath advance and retreat driver;

[0012] The sheath tube rotation driver is arranged at a first end of the sheath tube, the first end being the end of the sheath tube connected to the catheter, and the sheath tube rotation driver is used to drive the sheath tube to perform rotational motion according to a received control signal;

[0013] The sheath tube advance and retreat driver is arranged on the sheath linkage support rod, and is used to drive the sheath tube to advance and retreat along the direction of the sheath linkage support rod according to the received control signal;

[0014] The catheter controller further comprises: a catheter rotation driver and a catheter advance and retreat driver;

[0015] The catheter rotation driver is arranged on the catheter near the first end, and is used to drive the catheter to perform rotational motion according to a received control signal;

[0016] The catheter advance and retreat driver is arranged on the sheath linkage support rod, and is used to drive the catheter to move forward and backward along the direction of the sheath linkage support rod according to the received control signal.

[0017] Optionally, the sheath linkage support rod is provided with a first track and a second track parallel to each other, and both the first track and the second track extend along the direction of the sheath linkage support rod;

[0018] The sheath tube advance and retreat driver and the catheter advance and retreat driver are respectively slidably fixed on the first track;

[0019] The sheath driver is slidably fixed on the second track.

[0020] Optionally, the sheath tube advance / retract driver and the catheter advance / retract driver can both be locked in position during the sliding process, and in the locked position, the sheath tube advance / retract driver and the catheter advance / retract driver have no relative movement with the first track;

[0021] The sheath driver can be locked in position during the sliding process, and in the locked position, the sheath driver and the second track have no relative movement.

[0022] Optionally, the catheter rotation driver is disposed on the catheter at a preset distance from the first end, wherein the preset distance is 5-8 cm.

[0023] Optionally, the sheath driver is used to drive the sheath linkage support rod to move according to the received control signal, and drive the catheter and the sheath tube as a whole to move forward and backward along the direction of the sheath linkage support rod through the sheath linkage support rod.

[0024] Optionally, the robot arm controller further comprises: a robot arm advance and retreat driver, a slide handle telescopic driver and a catheter handle rotation driver;

[0025] The mechanical arm advance and retreat driver is used to drive the mechanical arm to perform advance and retreat movements according to the received control signal, so as to drive the catheter to perform advance and retreat movements;

[0026] The slide handle telescopic driver is arranged in the mechanical arm and is used to drive the telescopic slide handle according to the received control signal to control the tip end of the catheter to bend to a preset curvature;

[0027] The catheter handle rotation driver is arranged in the mechanical arm, and is used to control the handle rotation according to the received control signal, so as to control the catheter to perform rotational movement.

[0028] Optionally, the robot arm controller further comprises: a robot arm movement support rod;

[0029] The mechanical arm forward and backward drive is slidably fixed on the third track of the mechanical arm moving support rod, and the mechanical arm forward and backward drive can be locked in position during the sliding process. When in the locked position, the mechanical arm forward and backward drive and the third track have no relative movement;

[0030] The mechanical arm moving support rod and the sheath linkage support rod are both fixed on a preset fixed rod.

[0031] Optionally, the catheter rotation driver and the catheter handle rotation driver are controlled simultaneously so as to make the catheter perform an overall rotational movement;

[0032] By simultaneously controlling the catheter advance and retreat driver to move on the first track and controlling the mechanical arm advance and retreat driver to run on the third track, the catheter is made to move forward and backward as a whole;

[0033] The catheter and the sheath tube can move forward and backward as a whole by simultaneously controlling the mechanical arm advance and retreat driver to run on the third track and controlling the sheath driver to run on the second track.

[0034] Optionally, the device also includes: a control terminal; the control terminal is used to display the position of the catheter in real time, and send control signals to the sheath rotation driver, the sheath advance and retreat driver, the catheter rotation driver, the catheter advance and retreat driver, the sheath driver and the robotic arm controller to control the movement of the catheter and the sheath so that the catheter reaches the preset target position.

[0035] The beneficial effects of the present invention are as follows:

[0036] The present invention sets a sheath controller at the tail end of the sheath to drive the sheath to perform rotational movement and advance and retreat movement, and sets a catheter controller on the catheter near the sheath position side, drives the catheter to perform rotational movement and advance and retreat movement through the catheter controller, and sets a tube-sheath linkage to drive the catheter and the sheath to perform overall advance and retreat movement, and finally controls the movement of the catheter and the sheath through coordinated control of the sheath controller, the catheter controller, the tube-sheath linkage and the robotic arm controller, so that the catheter can quickly reach a preset target position. That is to say, the present invention further adds a sheath controller, a catheter controller and a tube-sheath linkage on the basis of the existing robotic arm, and jointly controls the movement of the catheter and the sheath through the three in cooperation with the robotic arm, so that the catheter can quickly and accurately reach the target position, and solves the problem of low efficiency of the existing robotic arm in positioning the catheter.

[0037] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0039] Figure 1 It is a structural schematic diagram of a radiofrequency ablation catheter and sheath linkage control device provided by an embodiment of the present invention;

[0040] Figure 2 It is a structural schematic diagram of another radiofrequency ablation catheter and sheath linkage control device provided by an embodiment of the present invention;

[0041] Explanation of the reference numerals: 1 sheath controller, 2 catheter controller, 3 sheath linkage, 31 sheath driver, 4 robotic arm controller, 5 sheath linkage support rod, 6 robotic arm movement support rod, 7 preset fixed rod, 8 sheath, 9 catheter, 11 sheath rotation driver, 12 sheath advance and retreat driver, 21 catheter rotation driver, 22 catheter advance and retreat driver, 41 robotic arm advance and retreat driver, 42 sliding handle telescopic driver, 43 catheter handle rotation driver, 51 first guide rail, 52 second guide rail, 10 saline injection tube, 13 catheter connecting line, 14 robotic arm support rod. DETAILED DESCRIPTION

[0042] In view of the problem that the existing radiofrequency ablation catheter mechanical arm can only control the catheter for positioning alone, an embodiment of the present invention provides a radiofrequency ablation catheter and sheath linkage control device, that is, on the basis of the existing mechanical arm, a sheath controller, a catheter controller and a sheath linkage are added, and the sheath controller, the catheter controller and the sheath linkage cooperate with the mechanical arm to jointly control the movement of the catheter and the sheath, so as to complete the precise positioning of complex cases, special parts, abnormal structures and important targets, and with the effective cooperation of the sheath linkage, the accuracy of catheter positioning, the stability of the catheter contacting the target, and the contact force of the catheter on the tissue can be significantly improved, and at the same time, the catheter arrival time, the target positioning time, and the interventional treatment time can be significantly shortened, thereby significantly improving the safety, effectiveness and work efficiency of the interventional surgery. The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and do not limit the present invention.

[0043] The embodiment of the present invention provides a radiofrequency ablation catheter and sheath linkage control device, see Figure 1 , the device comprises: a sheath controller 1, a catheter controller 2 and a sheath linkage 3;

[0044] The sheath tube controller 1 is used to drive the sheath tube 8 to perform rotational motion and forward and backward motion;

[0045] The catheter controller 2 is used to drive the catheter 9 to perform rotational movement and forward and backward movement;

[0046] The tube-sheath linkage 3 is used to drive the catheter 9 and the sheath tube 8 to perform an overall forward and backward movement;

[0047] The movement of the catheter 9 and the sheath 8 is controlled by coordinating and controlling the sheath controller 1 , the catheter controller 2 , the sheath linkage 3 and the robot arm controller 4 , so that the catheter 9 reaches a preset target position.

[0048] It should be noted that, in the embodiment of the present invention, making the catheter 9 reach the preset target position specifically means making the head end of the catheter 9 reach the preset target position. Since those skilled in the art can easily know, for the sake of simplicity, the embodiment of the present invention will be described below with only the catheter 9 reaching the preset target position.

[0049] In general, the embodiment of the present invention is to set a sheath controller 1 at the rear end of the sheath 8 to drive the sheath 8 to rotate and move forward and backward, and set a catheter controller 2 on the catheter 9 close to the sheath position side, and drive the catheter 9 to rotate and move forward and backward through the catheter controller 2, and drive the catheter 9 and the sheath 8 to move forward and backward as a whole by setting a sheath linkage 3, and finally coordinate and control the sheath controller 1, the catheter controller 2, the sheath linkage 3 and the robotic arm controller 4 to control the movement of the catheter 9 and the sheath 8, so that the catheter 9 can quickly reach the preset target position. That is to say, the present invention is based on the existing robotic arm, and further adds the sheath controller 1, the catheter controller 2 and the sheath linkage 3, and the three are used to cooperate with the robotic arm to simultaneously control the movement of the catheter 9 and the sheath 8, so that the catheter 9 can quickly and accurately reach the target position, thereby effectively solving the problem of low positioning efficiency of the existing robotic arm for the catheter 9.

[0050] That is, the embodiment of the present invention controls the movement of the catheter 9 and the sheath 8 by controlling the sheath controller 1, the catheter controller 2, the sheath linkage 3 and the robotic arm controller 4 to jointly control the movement of the catheter 9 and the sheath 8, so as to complete the precise positioning of complex cases, special parts, abnormal structures and important targets. Practice has proved that with the effective coordination of the sheath 8 linkage, the accuracy of the positioning of the catheter 9, the stability of the catheter 9 contacting the target, and the contact force of the catheter 9 on the tissue can be significantly improved, and the time for the catheter 9 to be in place, the target positioning time and the interventional treatment time can be significantly shortened, thereby significantly improving the safety, effectiveness and work efficiency of the interventional surgery.

[0051] Since the catheter 9 needs to enter the target heart cavity through the sheath 8, and the support and guiding functions of the sheath 8 are crucial for the operator to operate the catheter 9 to efficiently move and accurately position it, based on this, the embodiment of the present invention realizes the control of the catheter 9 by the robotic arm while jointly controlling the sheath 8, thereby ensuring the safety, positioning effect and positioning efficiency of the interventional surgery.

[0052] In other words, in addition to manipulating the catheter 9 during actual interventional surgery, in many cases it is also necessary to manipulate the sheath 8 individually or in combination to complete the treatment of complex cases. Therefore, the present invention is configured to achieve effective coordination of the sheath 8 to improve the accuracy of catheter 9 positioning, the stability of catheter 9 contacting the target, and the contact force of catheter 9 on the tissue, thereby shortening the time it takes for the catheter 9 to be in place, the target positioning time, and the interventional treatment time.

[0053] like Figure 2 As shown, in a specific implementation, in an embodiment of the present invention, the tube-sheath linkage device 3 further comprises: a tube-sheath driver 31 and a tube-sheath linkage support rod 5 that are fixedly connected;

[0054] The sheath controller 1 further comprises: a sheath rotation driver 11 and a sheath advance and retreat driver 12; the sheath rotation driver 11 is arranged at a first end of the sheath 8, which is an end of the sheath 8 connected to the catheter 9, and is used to drive the sheath 8 to rotate according to a received control signal; the sheath advance and retreat driver 12 is arranged on the sheath linkage support rod 5, and is used to drive the sheath 8 to advance and retreat along the direction of the sheath linkage support rod 5 according to a received control signal;

[0055] The catheter controller 2 further includes: a catheter rotation driver 21 and a catheter advance and retreat driver 22; the catheter rotation driver 21 is arranged on the catheter 9 close to the first end, and is used to drive the catheter 9 to rotate according to the received control signal; the catheter advance and retreat driver 22 is arranged on the sheath linkage support rod 5, and is used to drive the catheter 9 to advance and retreat along the direction of the sheath linkage support rod 5 according to the received control signal.

[0056] Specifically, the sheath tube rotation driver 11 of the embodiment of the present invention is fixedly connected to the sheath tube 8. In the specific implementation, those skilled in the art can fix the sheath tube rotation driver 11 to the sheath tube 8 through various fixings, so that the sheath tube rotation driver 11 drives the sheath tube 8 to rotate according to the preset requirements, for example, various power devices such as a sheath tube rotation drive motor are used to drive the sheath tube 8 to rotate. The sheath tube advance and retreat driver 12 in the embodiment of the present invention can be various power devices such as a sheath tube advance and retreat drive motor, and the sheath tube 8 is driven to advance and retreat through the sheath tube advance and retreat driver 12.

[0057] Similarly, the catheter rotation driver 21 in the embodiment of the present invention is also relatively fixed to the catheter 9 through a fixing member, and the catheter rotation driver 21 drives the catheter 9 to rotate. The catheter advance and retreat driver 22 in the embodiment of the present invention can be various power devices such as a catheter advance and retreat drive motor, and the catheter advance and retreat driver 22 drives the catheter 9 to advance and retreat.

[0058] It should be noted that all drivers and controllers in the embodiments of the present invention are devices that can perform corresponding actions according to received control signals. During specific implementation, those skilled in the art can make any settings according to actual needs, and the present invention does not make any specific limitations on this.

[0059] In specific implementation, the embodiment of the present invention fixes the sheath rotation driver 11 to the sheath 8 to drive the rotation movement of the sheath 8 through the sheath rotation driver 11, and fixes the sheath advance and retreat driver 12 to the sheath rotation driver 11 through a fixing member. When the sheath advance and retreat driver 12 is in operation, the sheath rotation driver 11 only realizes the function of a fixing member. That is to say, when the sheath advance and retreat driver 12 is working, the sheath 8 is driven to move forward and backward by pushing the sheath rotation driver 11. Therefore, when the sheath advance and retreat driver 12 is in operation, it is necessary to drive the sheath 8 to move through the sheath rotation driver 11.

[0060] According to the same principle, in the embodiment of the present invention, the catheter rotation driver 21 is fixed to the catheter 9 so as to drive the rotation of the catheter 9 through the catheter rotation driver 21, and the catheter advance and retreat driver 22 is fixed to the catheter rotation driver 21 through a fixing member. When the catheter advance and retreat driver 22 is in operation, the catheter rotation driver 21 only realizes the function of a fixing member. That is to say, when the catheter advance and retreat driver 22 is working, the catheter 9 is driven to move forward and backward by pushing the catheter rotation driver 21. Therefore, when the catheter advance and retreat driver 22 is in operation, it is necessary to drive the catheter 9 to move through the catheter rotation driver 21.

[0061] Of course, the above is only a specific implementation of an embodiment of the present invention. When implementing it, those skilled in the art can fix the above-mentioned rotation drive and advance and retreat drive to the catheter 9 and the sheath 8 respectively through settings to achieve control of the catheter 9 and the sheath 8.

[0062] In general, the embodiments of the present invention do not impose any specific restrictions on the specific connection method between the sheath rotation driver 11, the sheath advancement and retreat driver 12 and the sheath 8, and the specific connection method between the catheter rotation driver 21 and the catheter advancement and retreat driver 22 and the catheter 9, as long as the rotation and advancement and retreat control of the sheath 8 and the catheter 9 can be achieved.

[0063] In addition, it should be noted that the catheter rotation driver 21 and the catheter advance and retreat driver 22 in the embodiment of the present invention can not only control the catheter 9, but also support the catheter 9 and prevent the catheter 8 from bending at the tail of the sheath 8.

[0064] In a specific implementation, in an embodiment of the present invention, the catheter rotation driver 21 is disposed on the catheter 9 at a preset distance from the first end.

[0065] The preset distance is the inner diameter of the heart cavity of the operation object. In specific implementation, the embodiment of the present invention sets the preset distance to 5-8 cm. Of course, in specific implementation, those skilled in the art can adjust the preset distance according to actual needs, and the present invention does not specifically limit this.

[0066] Furthermore, in an embodiment of the present invention, the sheath linkage includes: a fixedly connected sheath driver 31 and a sheath linkage support rod, the sheath driver 31 is arranged on the sheath linkage support rod 5, and the sheath driver 31 drives the catheter 9 and the sheath tube 8 as a whole to move forward and backward along the direction of the sheath linkage support rod 5 according to the received control signal.

[0067] Specifically, in the embodiment of the present invention, the catheter 9 and the sheath tube 8 are pushed to move synchronously by the sheath driver 31 to achieve rapid and accurate positioning of the catheter 9 .

[0068] It should be noted that the sheath linkage support rod 5 of the embodiment of the present invention is provided with a first track 51 and a second track 52, and the first track 51 and the second track 52 are parallel;

[0069] The sheath tube advance / retract driver 22 and the catheter advance / retract driver 12 are slidably fixed on the first track 51 respectively;

[0070] The sheath driver 31 is slidably fixed on the second track 52 .

[0071] The sheath driver 31 can be locked in position during the sliding process. When in the locked position, there is no relative movement between the sheath driver 31 and the second track 52 .

[0072] That is to say, the sheath tube advance and retreat driver 22, the catheter advance and retreat driver 12, and the sheath driver 31 of the embodiment of the present invention are slidably fixed to the sheath linkage support rod 5 through a slideway, and can all achieve position locking. Similarly, the robot arm advance and retreat driver 41 and the robot arm moving support rod 6 in the embodiment of the present invention are also slidably connected through a slideway.

[0073] Furthermore, the robot arm controller 4 of the embodiment of the present invention further comprises: a robot arm advance and retreat driver 41, a slide handle telescopic driver 42 and a catheter handle rotation driver 43;

[0074] The mechanical arm advance and retreat driver 41 is used to drive the mechanical arm to move forward and backward according to the received control signal, so as to drive the catheter 9 to move forward and backward;

[0075] The slide handle telescopic driver 42 is disposed in the mechanical arm and is used to drive the telescopic slide handle according to the received control signal to control the tip end of the catheter 9 to bend to a preset curvature;

[0076] The catheter handle rotation driver 43 is disposed in the mechanical arm and is used to control the handle rotation according to the received control signal, so as to control the catheter 9 to perform rotational movement.

[0077] The end of the catheter handle rotation driver 43 is connected to the saline injection tube 10 and the catheter connection line 13 .

[0078] The robot controller 4 further comprises: a robot moving support rod 6; the robot advance and retreat driver 41 is slidably fixed on the third track of the robot moving support rod 6, and the robot advance and retreat driver 41 can be locked in position during the sliding process. When in the locked position, the robot advance and retreat driver 41 has no relative movement with the third track;

[0079] In specific implementation, the embodiment of the present invention simultaneously controls the catheter rotation driver and the catheter handle rotation driver 43 to make the catheter 9 rotate as a whole; simultaneously controls the catheter advance and retreat driver 22 to move on the first track 51, and controls the robotic arm advance and retreat driver 41 to run on the third track, so that the catheter 9 moves forward and backward as a whole; simultaneously controls the robotic arm advance and retreat driver 41 to run on the third track, and controls the sheath driver 31 to run on the second track 52, so that the catheter 9 and the sheath tube 8 move forward and backward as a whole.

[0080] Since the control method of the robot arm controller 4 is a relatively mature technology, the present invention will not be described in detail. The focus of the present invention is to coordinate the control of the catheter 9 and the sheath 8 by coordinating the control of the robot arm controller 4, the sheath controller 1, the catheter controller 2 and the sheath driver 31, so as to achieve rapid and accurate positioning of the catheter 9 to the target position.

[0081] In specific implementation, the embodiment of the present invention controls the catheter 9 to perform overall rotational movement by controlling the catheter rotation driver 21 and the catheter handle rotation driver 43; controls the catheter advance and retreat driver 22 and the robotic arm advance and retreat driver 41 to control the catheter 9 to perform overall advance and retreat movement; and controls the robotic arm advance and retreat driver 41 and the sheath driver 31 to control the catheter 9 and the sheath 8 to perform overall advance and retreat movement.

[0082] It should be noted that the robot arm advance and retreat driver 41 of the embodiment of the present invention is arranged on the robot arm moving support rod 6, and the robot arm moving support rod 6 is fixed on the preset fixing rod 7. In addition, the sheath linkage support rod 5 of the embodiment of the present invention is fixed on the preset fixing rod 7. The preset fixing rod 7 can be a bedside fixing rod on the existing robot arm, that is, the fixing rod carried by the angiographic image through digital subtraction angiography (DSA) itself.

[0083] In addition, in the specific implementation, the robot arm moving support rod 6 of the embodiment of the present invention is fixed to the preset fixed rod 7 through the robot arm support rod 14, that is, the robot arm forward and backward drive 41 moves forward and backward along the robot arm moving support rod 6, and at the same time, the robot arm moving support rod 6 is fixed to the preset fixed rod 7 through the robot arm support rod 14.

[0084] In specific implementation, the device described in the embodiment of the present invention is also provided with a control terminal. The embodiment of the present invention uses the control terminal to display the position of the tip end of the catheter 9 in the positioned target body (i.e., the object positioned by the catheter 9, which is mostly a human body, or can also be various animal bodies) in real time, that is, the position of the tip end of the catheter 9 inside the positioned target is displayed in real time.

[0085] The control terminal can also determine the position control strategy for the catheter and the sheath 8 according to the current position of the head end of the catheter 9 and the preset target position. The position control strategy is the overall solution for adjusting the position movement of the catheter 9 and the sheath 8. In other words, the position control strategy of the embodiment of the present invention is how to move the positions of the catheter 9 and the sheath 8 to achieve the strategy of moving the head end of the catheter 9 to the target position. In specific implementation, the position control strategy can be accumulated through a large number of specific experiments of moving different target positions, or it can be input into the control terminal by the operator according to the current situation.

[0086] After obtaining the control strategy, the control terminal generates control signals for the sheath rotation driver 11, the sheath advance and retreat driver 12, the catheter rotation driver 21, the catheter advance and retreat driver 22, the sheath driver 31 and the robotic arm controller 4 based on the position control strategy. That is, based on the position adjustment strategy of the catheter 9 and the sheath 8, it is necessary to generate control signals for each driver, so as to coordinate and control the sheath rotation driver 11, the sheath advance and retreat driver 12, the catheter rotation driver 21, the catheter advance and retreat driver 22, the sheath driver 31 and the robotic arm controller 4 through each control signal, so as to control the movement of the catheter 9 and the sheath 8 so that the catheter 9 reaches the preset target position. Specifically, the embodiment of the present invention controls the head end of the catheter 9 to reach the preset target position.

[0087] In general, the embodiment of the present invention generates control signals for the sheath rotation driver 11, the sheath advance and retreat driver 12, the catheter rotation driver 21, the catheter advance and retreat driver 22, the sheath driver 31 and the robotic arm controller 4 based on the current position of the head end of the catheter 9 and the preset target position, and the catheter 9 is enabled to reach the preset target position through the control signal.

[0088] Specifically, the control terminal described in the embodiment of the present invention includes two functions, one is a display function, and the other is a function for an operator to control the catheter 9 and the sheath tube through the computing power of the control terminal.

[0089] In detail, the operator can coordinate the control of the sheath rotation driver 11, the sheath advance and retreat driver 12, the catheter rotation driver 21, the catheter advance and retreat driver 22, the sheath driver 31 and the robotic arm controller 4 through the display interface of the control terminal, thereby controlling the movement of the catheter 9 and the sheath 8, and finally making the catheter 9 reach the preset target position.

[0090] Of course, those skilled in the art can also make settings so that the control terminal can automatically determine the position control strategy for the catheter 9 and the sheath tube according to the current position of the catheter 9 and the preset target position, and send control signals to the sheath tube rotation driver 11, the sheath tube advance and retreat driver 12, the catheter rotation driver 21, the catheter advance and retreat driver 22, the sheath driver 31 and the robotic arm controller 4 according to the position control strategy, and coordinate and control the sheath tube rotation driver 11, the sheath tube advance and retreat driver 12, the catheter rotation driver 21, the catheter advance and retreat driver 22, the sheath driver 31 and the robotic arm controller 4 to control the movement of the catheter 9 and the sheath tube 8 so that the catheter 9 reaches the preset target position.

[0091] That is, the control terminal in the embodiment of the present invention can automatically complete the control of the positioning of the catheter 9, and can also finally make the catheter 9 reach the target position according to the manipulation of the operator.

[0092] It should be noted that the control signal emitted by the control terminal of the embodiment of the present invention is a specific trigger signal for the sheath rotation driver 11, the sheath advance and retreat driver 12, the catheter rotation driver 21, the catheter advance and retreat driver 22, the sheath driver 31 and the robotic arm controller 4. During specific implementation, those skilled in the art can arbitrarily set the control signal according to actual needs, and the present invention does not make any specific limitation on this.

[0093] In addition, since the position of the control terminal may not be fixed, the present invention does not illustrate the control terminal in the figure. During specific implementation, those skilled in the art may set the position of the control terminal according to specific needs.

[0094] The various driving devices in the embodiments of the present invention are described in detail below:

[0095] The sheath tube rotation driver 11 of the embodiment of the present invention is installed on the catheter 9 and the sheath tube linkage device, that is, on the tube-sheath linkage support rod 5, and has a sheath tube 8 tail fixing component. After the sheath tube 8 tail is securely fixed, the sheath tube 8 tail can be independently rotated according to instructions, thereby driving the sheath tube 8 to rotate. The functions of the sheath tube rotation driver 11 include: independently rotating the sheath tube 8 clockwise, independently rotating the sheath tube 8 counterclockwise, the rotation speed is divided into slow gear and fast gear, and the sheath tube 8 can be independently rotated while the catheter 9 moves and the whole system moves;

[0096] The sheath tube advance and retreat driver 12 of the embodiment of the present invention is installed on the support rod of the catheter 9 and the sheath tube linkage device, that is, the tube-sheath linkage support rod 5, and can move forward and backward through the bar gear on the support rod, thereby driving the sheath tube 8 to advance and retreat independently. The functions of the sheath tube advance and retreat driver 12 include: independently advancing the sheath tube 8, independently withdrawing the sheath tube 8, the advance and retreat speed is divided into a slow gear and a fast gear, and independently advancing and retreating the sheath tube 8 while the catheter 9 moves and the whole system moves.

[0097] The catheter rotary motor of the embodiment of the present invention is installed in parallel with the sheath rotary driver 11 on the support rod of the catheter and sheath linkage device, and the initial working distance between the two can be freely adjusted. The catheter rotary driver 21 of the catheter 9 body has a catheter 9 fixing component. After the catheter 9 body is securely fixed, the catheter 9 body can be rotated according to instructions, thereby driving the catheter 9 head end to rotate. The functions of the catheter rotary motor include: independently rotating the catheter 9 body clockwise, independently rotating the catheter 9 body counterclockwise, the rotation speed is divided into slow gear and fast gear, and the catheter body is independently rotated while the sheath 8 moves and the whole system moves. In actual work, the default setting is to receive the same instructions as the catheter handle rotary motor, and synchronously rotate the catheter 9 body and the catheter handle at the same rotation speed. The catheter rotary driver and the catheter handle rotary driver 43 are mutually linked.

[0098] The catheter advance and retreat driver 22 of the embodiment of the present invention is installed on the support rod of the catheter and sheath linkage device in parallel with the catheter rotation drive, and the initial working distance between the two can be freely adjusted. The catheter advance and retreat motor can move forward and backward through the bar gear on the support rod, thereby driving the catheter 9 to advance and retreat independently. The catheter advance and retreat driver 22 can achieve: independently advancing the body of the catheter 9, independently withdrawing the body of the catheter 9, the advance and retreat speed is divided into slow gear and fast gear, and independently advancing and retreating the body of the catheter 9 while the sheath 8 moves and the entire system moves. And in actual work, the default setting is to receive the same instructions as the mechanical arm advance and retreat driver 41, and to advance and retreat the body of the catheter 9 and the catheter handle synchronously at the same advance and retreat speed. The catheter advance and retreat driver of the embodiment of the present invention and the mechanical arm advance and retreat driver 41 are mutually linked.

[0099] The slide handle telescopic driver 42 of the embodiment of the present invention is installed in the mechanical arm and has a slide handle fixing component. When the slide handle is securely fixed, the slide handle can be independently telescoped according to the command, thereby driving the pulling wire to achieve the bending of the head end of the catheter 9. The functions of the slide handle telescopic driver 42 include independently extending the slide handle to bend the head end of the catheter 9, independently retracting the slide handle to straighten the head end of the catheter 9, and the telescopic speed is divided into a slow gear and a fast gear. The slide handle can be independently telescoped while the mechanical arm moves, the handle rotates, and the entire system moves.

[0100] The handle rotation driver of the embodiment of the present invention is installed in the mechanical arm and has a handle fixing component. When the handle is securely fixed, the handle can be independently rotated according to the command, thereby driving the catheter 9 to rotate. The functions of the handle rotation driver include: independently rotating the handle clockwise, independently rotating the handle counterclockwise, the rotation speed is divided into slow gear and fast gear, and the handle is independently rotated while the mechanical arm moves and the whole system moves. In actual work, the default setting is to receive the same command as the catheter rotation driver 21, and synchronously rotate the catheter 9 handle and the catheter 9 body at the same rotation speed. The catheter handle rotation driver 43 and the catheter rotation driver 21 are mutually linked.

[0101] The mechanical arm advance and retreat driver 41 in the embodiment of the present invention is installed on the mechanical arm support rod, and can move forward and backward through the bar gear on the support rod, thereby driving the mechanical arm to advance and retreat independently. The functions of the mechanical arm advance and retreat driver 41 include: independently advancing the mechanical arm, independently retracting the mechanical arm, the advance and retreat speed is divided into slow gear and fast gear, and independently or synchronously advancing and retreating the mechanical arm while the sheath 8 moves and the whole system moves. In actual work, the default setting is: receiving the same instructions as the catheter advance and retreat driver, strictly advancing and retreating the catheter 9 body and the mechanical arm at the same advance and retreat speed, and receiving the same instructions as the sheath linkage device advance and retreat driver, strictly advancing and retreating the sheath linkage device and the mechanical arm at the same advance and retreat speed. The mechanical arm advance and retreat driver 41 and the catheter advance and retreat driver in the embodiment of the present invention are mutually linked, and the mechanical arm advance and retreat driver 41 and the sheath linkage device advance and retreat driver 8 are mutually linked. The lethal mechanical arm advance and retreat driver 41 of the present invention cannot move simultaneously with the sheath linkage device advance and retreat driver and the catheter advance and retreat driver.

[0102] The sheath linkage device advance and retreat driver of the embodiment of the present invention is installed on the sheath linkage device support rod, and can move forward and backward through the bar gear on the support rod, thereby driving the sheath linkage device to advance and retreat independently. The sheath linkage device advance and retreat driver can independently advance the sheath linkage device, and independently retract the sheath linkage device. The advance and retreat speed is divided into a slow gear and a fast gear. The sheath linkage device can be advanced and retreated independently or synchronously while the sheath tube 8 rotates, the sheath tube 8 moves, the catheter 9 rotates, the catheter 9 moves, and the entire system moves. In actual work, the default setting is to receive the same instructions as the tube robot arm advance and retreat driver 41, and the sheath linkage device and the robot arm are synchronously advanced and retreated at the same advance and retreat speed. The sheath linkage device advance and retreat driver and the robot arm advance and retreat driver 41 of the embodiment of the present invention are mutually linked parties.

[0103] The driving methods of each driver and controller in the embodiments of the present invention are described in detail below:

[0104] The device described in the embodiment of the present invention includes a three-level linkage solution, specifically including:

[0105] The first level refers to the independent movement of the driver with independent movement function, including: the sheath tube motion controller and the slide handle telescopic driver 42.

[0106] The sheath motion controller includes: a sheath rotation driver 11 and a sheath advance and retreat driver 12, wherein the sheath rotation driver 11 can independently rotate the sheath 8, and the sheath advance and retreat motor 2 can independently advance and retreat the sheath 8, and at the same time has a two-level linkage function: rotating the sheath 8 while the catheter 9 rotates, and advancing and retreating the sheath 8 while the catheter 9 advances and retreats; and at the same time has a three-level linkage function: rotating and advancing and retreating the sheath 8 while the whole system advances and retreats, and rotating and advancing and retreating the sheath 8 while the whole system advances and retreats and the catheter 9 rotates and advances and retreats.

[0107] The catheter handle rotation driver 43 can be independent of all functions. When the whole system performs all functions, the handle can be independently extended and retracted to drive the pulling wire to form bends of different degrees and directions at the tip of the catheter 9.

[0108] Level 2: refers to the secondary linkage that must be used in pairs, including:

[0109] 1. The catheter 9 rotates, the catheter rotation driver 21 and the catheter handle rotation driver 43 are linked to each other, and the system default setting is two-level linkage, referred to as catheter 9 rotation linkage + / - (LCT+ / -, linked catheter torque);

[0110] 2. The catheter 9 advances and retreats. The catheter advance and retreat driver 22 and the robot arm advance and retreat motor 7 are linked to each other. The system default setting is two-level linkage, referred to as catheter 9 advance and retreat linkage + / - (LAR+ / -, linked advance and retreat).

[0111] 3. The whole system advances and retreats. The sheath linkage device advance and retreat motor 8 and the robot arm advance and retreat motor 7 are mutually linked. The system default setting is two-level linkage, referred to as system advance and retreat linkage + / - (SAR+ / -, system advance and retreat).

[0112] The third level refers to various combined movements of independent movements and secondary linkage, including: for example, advancing and retracting the catheter 9 while rotating, rotating the sheath 8 while advancing and retracting the catheter 9, bending the tip while the catheter 9 rotates, bending the tip while advancing and retracting the entire system, and so on.

[0113] The following will take motor drive as an example to explain and illustrate the method described in the embodiment of the present invention in detail through several specific adjustment examples in different implementation scenarios:

[0114] The first implementation scenario of the embodiment of the present invention is to position and stabilize the tip of the catheter 9 located in the center of the left upper pulmonary vein vestibule at a predetermined target point in the middle section of the front edge of the pulmonary vein opening by forwarding, bending, and rotating the light, and then continue to perform the following steps:

[0115] First, the sheath tube rotating motor 1 is driven to rotate the sheath tube 8 so that the tip of the sheath tube is bent and points to the direction of the predetermined target point; the sliding handle telescopic motor 5 is driven to appropriately bend the tip of the catheter 9 through the slow gear until the tip of the catheter 9 is bent to the predetermined curvature as shown on the three-dimensional image; then the catheter rotating motor 3 and the handle rotating motor 6 are driven to appropriately rotate the catheter 9 through the slow gear (LCT+ / -) until the bend of the tip of the catheter is shown on the three-dimensional image to point to the predetermined target point; and the catheter advance and retreat motor 4 and the mechanical arm advance and retreat motor 7 are driven to appropriately advance the catheter 9 through the slow gear (LAR+) until the tip of the catheter 9 is shown on the three-dimensional image to be close to the predetermined target point. Finally, the catheter is slowly advanced (LAR+, slowly driven the catheter advance and retreat motor 4 and the mechanical arm advance and retreat motor 7), rotated (LCT+ / -, slowly driven the catheter rotating motor 3 and the handle rotating motor 6) and bent (slowly driven the sliding handle telescopic motor 5) until it accurately reaches and stably abuts against the predetermined target point.

[0116] The first implementation scenario of the embodiment of the present invention is to manipulate the catheter tip located in the middle of the right atrium to move to the right ventricular outflow tract, which specifically includes:

[0117] First, drive the sheath tube rotating motor 1 to rotate the sheath tube 8, and under the observation of the three-dimensional image, make the bend of the sheath tube head end point to the middle of the tricuspid valve opening, and drive the sliding handle telescopic motor 5 to appropriately bend the catheter 9 head end through the slow gear until the three-dimensional image shows that the catheter 9 head end is bent to a predetermined curvature, drive the catheter rotating motor 3 and the handle rotating motor 6, and appropriately rotate the catheter 9 through the slow gear (LCT+ / -) until the three-dimensional image shows that the bend of the catheter head end points to the middle of the tricuspid valve opening. Then, drive the driving catheter advance and retreat motor 4 and the mechanical arm advance and retreat motor 7, and appropriately advance the catheter 9 through the slow gear (LAR+) until the three-dimensional image shows that the catheter head 9 reaches the middle of the right ventricular inflow tract. Finally, while rotating the catheter 9 clockwise (LCT+, slowly drive the catheter rotating motor 3 and the handle rotating motor 6), bend the catheter 9 head end (slowly drive the sliding handle telescopic motor 5) and advance the catheter 9 (LAR+, slowly drive the catheter advance and retreat motor 4 and the mechanical arm advance and retreat motor 7) until the catheter 9 head end enters the right ventricular outflow tract.

[0118] The first implementation scenario of the embodiment of the present invention is to position the tip of the catheter 9 located in the middle of the right atrium to the His bundle, which specifically includes:

[0119] First, drive the sheath rotation motor 1 to rotate the sheath 8, so that the bend of the sheath tip is directed toward the middle of the tricuspid valve opening under the observation of the three-dimensional image, and drive the sliding handle telescopic motor 5 to appropriately bend the catheter tip through the slow gear until the bend of the catheter 9 tip reaches the predetermined curvature as shown on the three-dimensional image, and drive the catheter rotation motor 3 and the handle rotation motor 6 to appropriately rotate the catheter 9 (LCT+ / -) through the slow gear until the bend of the catheter 9 tip points to the middle of the tricuspid valve opening as shown on the three-dimensional image. Then drive the catheter advance and retreat motor 4 and the robotic arm advance and retreat motor 7, and appropriately advance the catheter 9 (LAR+) through the slow gear until the three-dimensional image shows that the catheter tip enters the middle of the right ventricular inflow tract, and while rotating the catheter 9 clockwise (LCT+), slowly withdraw the catheter 9 (LAR-) until the tip of the catheter 9 is located at about 1 o'clock of the tricuspid valve ring, and at the same time, a small A wave and a large V wave are recorded on the endocardial electrogram of the tip of the catheter 9. Finally, while increasing or decreasing the bend of the tip of the catheter 9, advance or withdraw the catheter 9 (LAR+ / -, slowly drive the body advance and retreat motor 4 and the robotic arm advance and retreat motor 7), and at the same time rotate the catheter 9 clockwise or counterclockwise (LCT+ / -, slowly drive the catheter rotation motor 3 and the handle rotation motor 6) until a clear and stable H wave is recorded on the endocardial electrogram of the tip of the catheter 9.

[0120] In general, the core idea of ​​the embodiment of the present invention is to design and layout a drive array that can jointly drive the catheter and the sheath 8, specifically a motor array (motorarray), to synchronously drive the catheter 9 and the sheath 8, and truly simulate the operator's synchronous control of the catheter 9 and the sheath 8. In addition, the embodiment of the present invention focuses on the design and use of the three-level linkage of the drive array, which efficiently realizes the function of the operator flexibly using the catheter 9 and the sheath 8 for free movement and precise positioning. At the same time, the embodiment of the present invention optimizes the three-level linkage control instructions and actions, achieving the purpose of safe, simple, practical and efficient use, thereby greatly improving the operator experience.

[0121] Although the preferred embodiments of the present invention have been disclosed for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, and thus, the scope of the present invention should not be limited to the above embodiments.

Claims

1. A radiofrequency ablation catheter and sheath linkage control device, wherein the catheter moves under the control of a mechanical arm controller, characterized in that: The device comprises: a sheath controller, a catheter controller, a sheath linkage and a mechanical arm controller; The sheath tube controller is used to drive the sheath tube to perform rotational motion and forward and backward motion; The catheter controller is used to drive the catheter to perform rotational movement and forward and backward movement; The tube-sheath linkage is used to drive the catheter and the sheath tube to perform an integral forward and backward movement; By coordinating and controlling the sheath controller, the catheter controller, the tube-sheath linkage and the robotic arm controller, the robotic arm is used to jointly control the movement of the catheter and the sheath, so that the catheter reaches a preset target position; The tube-sheath linkage device further comprises: a tube-sheath driver and a tube-sheath linkage support rod that are fixedly connected; The sheath controller further comprises: a sheath rotation driver and a sheath advance and retreat driver; The sheath tube rotation driver is arranged at a first end of the sheath tube, the first end being the end of the sheath tube connected to the catheter, and the sheath tube rotation driver is used to drive the sheath tube to perform rotational motion according to a received control signal; The sheath tube advance and retreat driver is arranged on the sheath linkage support rod, and is used to drive the sheath tube to advance and retreat along the direction of the sheath linkage support rod according to the received control signal; The catheter controller further comprises: a catheter rotation driver and a catheter advance and retreat driver; The catheter rotation driver is arranged on the catheter near the first end, and is used to drive the catheter to perform rotational motion according to a received control signal; The catheter advance and retreat driver is arranged on the sheath linkage support rod, and is used to drive the catheter to move forward and backward along the direction of the sheath linkage support rod according to the received control signal.

2. The device according to claim 1, characterized in that The sheath linkage support rod is provided with a first track and a second track parallel to each other, and the first track and the second track both extend along the direction of the sheath linkage support rod; The sheath tube advance and retreat driver and the catheter advance and retreat driver are respectively slidably fixed on the first track; The sheath driver is slidably fixed on the second track.

3. The device according to claim 2, characterized in that The sheath tube advance / retract driver and the catheter advance / retract driver can both be locked in position during the sliding process, and in the locked position, the sheath tube advance / retract driver and the catheter advance / retract driver have no relative movement with the first track; The sheath driver can be locked in position during the sliding process, and in the locked position, the sheath driver and the second track have no relative movement.

4. The device according to claim 1, characterized in that The catheter rotation driver is disposed on the catheter at a preset distance from the first end, wherein the preset distance is 5-8 cm.

5. The device according to claim 1, characterized in that The sheath driver is used to drive the sheath linkage support rod to move according to the received control signal, and drive the catheter and the sheath tube to move forward and backward along the direction of the sheath linkage support rod through the sheath linkage support rod.

6. The device according to claim 1, characterized in that The robot arm controller further comprises: a robot arm advance and retreat driver, a slide handle telescopic driver and a catheter handle rotation driver; The mechanical arm advance and retreat driver is used to drive the mechanical arm to perform advance and retreat movements according to the received control signal, so as to drive the catheter to perform advance and retreat movements; The slide handle telescopic driver is arranged in the mechanical arm and is used to drive the telescopic slide handle according to the received control signal to control the tip end of the catheter to bend to a preset curvature; The catheter handle rotation driver is arranged in the mechanical arm, and is used to control the handle rotation according to the received control signal, so as to control the catheter to perform rotational movement.

7. The device according to claim 6, characterized in that The robot arm controller further comprises: a robot arm movement support rod; The mechanical arm forward and backward drive is slidably fixed on the third track of the mechanical arm moving support rod, and the mechanical arm forward and backward drive can be locked in position during the sliding process. When in the locked position, the mechanical arm forward and backward drive and the third track have no relative movement; The mechanical arm moving support rod and the sheath linkage support rod are both fixed on a preset fixed rod.

8. The device according to claim 7, characterized in that By simultaneously controlling the catheter rotation driver and the catheter handle rotation driver, the catheter is made to perform an overall rotational motion; By simultaneously controlling the catheter advance and retreat driver to move on the first track and controlling the mechanical arm advance and retreat driver to run on the third track, the catheter is made to move forward and backward as a whole; The catheter and the sheath tube can move forward and backward as a whole by simultaneously controlling the mechanical arm advance and retreat driver to run on the third track and controlling the sheath driver to run on the second track.

9. The device according to claim 6, characterized in that The device also includes: a control terminal; The control terminal is used to display the position of the catheter in real time, and send control signals to the sheath rotation driver, the sheath advance and retreat driver, the catheter rotation driver, the catheter advance and retreat driver, the sheath driver and the robotic arm controller to control the movement of the catheter and the sheath so that the catheter reaches the preset target position.

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