An ablation catheter control device and method of controlling the same

Abstract

The application discloses an ablation catheter control device and a control method thereof. The ablation catheter control device is arranged on a robot mechanical arm. The device comprises a control assembly and a traction wire connecting barrel. The ablation catheter control device can be controlled by the robot mechanical arm, and bidirectional bending, forward and backward pushing and axial rotation of the catheter can be accurately controlled, so that accurate control of the catheter head end can be realized under the guidance of a three-dimensional measurement system, the operation difficulty is reduced, and the operation quality and efficiency are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical equipment, in particular to an ablation catheter control device and a control method thereof. BACKGROUND

[0002] Catheter radiofrequency ablation is the most commonly used minimally invasive intervention technique for treating arrhythmia at present, and its basic principle is: a radiofrequency ablation catheter is sent to the target heart cavity through a catheter with different lengths, under the guidance of three-dimensional mapping technology, the arrhythmia origin lesion is accurately positioned, the columnar ablation electrode at the head end of the catheter is contacted to the lesion tissue with effective contact force, and then radiofrequency current is emitted through the loop electrode attached to the patient's skin. The radiofrequency current flows through the lesion tissue under the electrode, and heat is generated in the tissue. When the temperature reaches the degree of coagulative necrosis, the tissue permanently loses electrophysiological activity, and the arrhythmia is cured. Therefore, the ability to accurately control the position and direction of the catheter tip is crucial and largely determines the practicability of the catheter.

[0003] When the operator performs the ablation operation by operating the catheter in the clinic, first, a catheter access is established by percutaneous vascular puncture, the catheter is sent into the target heart cavity under the guidance of fluoroscopy or three-dimensional image, then under the guidance of electrophysiology and three-dimensional imaging technology, the operator manually controls the catheter outside the patient's body to complete the positioning and ablation of the arrhythmia lesion. The operator cannot accurately control the catheter by manually operating the catheter, which leads to poor stability and accuracy of the catheter. Therefore, the existing radiofrequency ablation by manually operating the catheter has many inconveniences and insecurities. SUMMARY

[0004] The present application provides an ablation catheter control device and a control method thereof to solve the problem that the ablation catheter cannot be accurately controlled in the prior art.

[0005] In a first aspect, the present application provides an ablation catheter control device, one end of the ablation catheter control device is embedded with a catheter, the catheter passes through the ablation catheter control device and is connected with a saline tube at the other end of the ablation catheter control device, and the ablation catheter control device comprises a control assembly and a traction wire connecting barrel, and the rotation of the catheter is realized through the control assembly.

[0006] The first traction wire and the second traction wire are symmetrically embedded in the catheter, and the first traction wire and the second traction wire are connected with the traction wire connecting barrel, and the control assembly pulls the first traction wire or the second traction wire to realize the bidirectional bending of the catheter head end.

[0007] The ablation catheter control device is connected to a robot mechanical arm, the control assembly is controlled by the robot mechanical arm, so that the catheter head end realizes bidirectional bending to ablate the target lesion.

[0008] The catheter head is provided with a plurality of electrodes for collecting electrophysiological signals and cardiac and blood impedance, and is provided with a saline hole and a temperature sensor.

[0009] Optionally, the control assembly is sleeved outside the traction wire connecting barrel, and the control assembly is connected with a linkage part on the robot mechanical arm, and the control command on the robot mechanical arm is transmitted to the control assembly through the linkage part.

[0010] Optionally, the control assembly further comprises a first gear and a second gear, the first gear and the second gear are sleeved outside the traction wire connecting barrel, the first gear and the second gear rotate synchronously to realize the rotation of the catheter, and the second gear pulls the first traction wire or the second traction wire to realize the bidirectional bending of the catheter head.

[0011] Optionally, the second gear is sleeved outside the traction wire connecting barrel and is rotationally connected with the traction wire connecting barrel, and the first gear rotates synchronously with the traction wire connecting barrel along the shaft.

[0012] Optionally, the ablation catheter control device is connected with the robot mechanical arm through the fixing part;

[0013] The traction wire connecting barrel is provided with a first connecting hole and a second connecting hole at the end, the first traction wire is fixed to the first connecting hole at the end of the traction wire connecting barrel, and the second traction wire is fixed to the second connecting hole by passing through the reversing pulley on the fixing part, so that the rotation of the second gear in different directions pulls the first traction wire or the second traction wire to realize the bidirectional bending of the catheter head.

[0014] Optionally, the robot mechanical arm is provided with a linkage part;

[0015] The linkage part comprises a third gear and a fourth gear, the third gear is engaged with the first gear, and the fourth gear is engaged with the second gear, and the control command on the robot mechanical arm is transmitted to the control assembly through the third gear and the fourth gear.

[0016] Optionally, the first gear, the second gear, the third gear and the fourth gear are all conical gears.

[0017] Optionally, one end of the second gear is provided with a limiting groove for connecting the first gear, and the limiting groove is used to limit the radial movement of the second gear.

[0018] Optionally, a metal braided mesh is embedded in the catheter, and the metal braided mesh is located radially outward of the first pull wire and the second pull wire.

[0019] In a second aspect, the present application provides a method for controlling any of the ablation catheter control devices described above, the method comprising:

[0020] The master data processing system receives and processes the electrical signals of the catheter head position sent by the ablation catheter control device, and displays the position of the catheter head on a three-dimensional navigation interface display screen based on the electrical signals for the doctor to view in real time.

[0021] The control instructions input by the doctor through the doctor control terminal are received, and the master data processing system controls the control assembly through the robot mechanical arm according to the control instructions, thereby controlling the catheter head to achieve ablation treatment of the target lesion.

[0022] The present application has the following advantages:

[0023] The ablation catheter control device of the present application is arranged on a robot mechanical arm, and the device comprises a control assembly and a pull wire connecting barrel. The present application can control the ablation catheter control device through the robot mechanical arm, thereby achieving precise control of the bidirectional bending, forward and backward pushing, and axial rotation of the catheter, so as to realize precise control of the catheter head under the guidance of a three-dimensional mapping system, reduce the difficulty of surgery, and improve the quality and efficiency of surgery.

[0024] The above description is only a summary of the technical solutions of the present application. In order to more clearly understand the technical means of the present application, the content of the specification can be implemented, and in order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0025] By reading the detailed description of the preferred embodiments below, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of illustrating the preferred embodiments and are not considered to be limiting on the present application. Moreover, the same reference numerals are used to represent the same components throughout the drawings. In the drawings:

[0026] Figure 1 is a structural schematic diagram of an ablation catheter control device provided by the first embodiment of the present application;

[0027] Figure 2 is a structural schematic diagram of another ablation catheter control device provided by the first embodiment of the present application;

[0028] Figure 3 is a structural schematic diagram of a second gear provided by the first embodiment of the present application;

[0029] Figure 4 is a cross-sectional view of a catheter provided by the first embodiment of the present application;

[0030] Figure 5a is a schematic view of a straight catheter head provided by the first embodiment of the present application;

[0031] Figure 5b is a schematic view of a left-bent catheter head provided by the first embodiment of the present application;

[0032] Figure 5c is a schematic view of a right-bent catheter head provided by the first embodiment of the present application;

[0033] Figure 6 is a three-dimensional schematic view of a catheter head provided by the first embodiment of the present application;

[0034] Figure 7 is a schematic view of an ablation catheter control system provided by the first embodiment of the present application;

[0035] Figure 8 is a schematic view of a signal control method of an ablation catheter control system provided by the first embodiment of the present application.

[0036] The drawings show: 1 catheter, 2 control assembly, 3 saline tube, 4 traction wire connecting cylinder, 5 fixed part, 6 sheath tube, 7 ablation catheter control device, 8 robot mechanical arm, 9 support, 10 support, 11 main control data processing system, 12 three-dimensional navigation interface display screen, 13 control end, 14 first electrode, 15 second electrode, 16 third electrode, 17 fourth electrode, 18 saline passage, 19 traction wire, 20 electrode connecting point, 21 saline hole, 22 temperature sensor, 23 first gear, 24 second gear, 25 first connecting hole, 26 second connecting hole, 27 direction-changing pulley, 191 first traction wire, 192 second traction wire, 28 temperature sensor signal line, 29 electrode signal line, 30 metal woven mesh. DETAILED DESCRIPTION

[0037] The present application will be further described below in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described herein are merely intended to explain the present application, and do not limit the present application.

[0038] The first embodiment of the present application provides an ablation catheter control device, as shown in Figure 1 One end of the ablation catheter control device is embedded with a catheter 1, the catheter 1 passes through the ablation catheter control device and is connected with a saline tube 3 at the other end of the ablation catheter control device;

[0039] Specifically, the catheter in the embodiment of the present application is fixed in the ablation catheter control device through buckling or the like, and in specific implementation, the ablation catheter control device can be provided with a buckle at the front end of the control assembly 2, and the catheter is fixed in the ablation catheter control device through the buckle.

[0040] The ablation catheter control device comprises a control assembly 2 and a pull wire connecting barrel 4.

[0041] The first pull wire 191 and the second pull wire 192 are symmetrically embedded in the catheter 1, and both the first pull wire 191 and the second pull wire 192 are connected with the pull wire connecting barrel 4, the control assembly 2 pulls the first pull wire 191 or the second pull wire 192 to realize the bidirectional bending of the head end of the catheter 1, and the rotation of the catheter 1 is realized through the control assembly 2.

[0042] Specifically, the embodiment of the present application is realized by setting that the two pull wires can bend in different directions under the control of the control assembly 2, and the specific setting can be arbitrarily set by those skilled in the art, and the present application does not make detailed description.

[0043] The ablation catheter control device is connected to the robot mechanical arm 8, and the control assembly 2 is controlled by the robot mechanical arm 8 to realize the ablation treatment of the target lesion.

[0044] That is, the control assembly 2 in the ablation catheter control device is controlled by the robot mechanical arm 8 to realize the ablation treatment of the target lesion.

[0045] Among them, the head of the catheter 1 in the embodiment of the present application is provided with a plurality of electrodes for collecting electrophysiological signals and cardiac and blood impedance, and the head of the catheter 1 is provided with a saline hole 21 and a temperature sensor 22.

[0046] That is, the ablation catheter control device in the embodiment of the present application is arranged on the robot mechanical arm 8, and the device comprises a control assembly 2 and a pull wire connecting barrel 4, in specific implementation, the ablation catheter control device can be controlled by the robot mechanical arm 8, and then the bidirectional bending, forward and backward pushing and axial rotation of the catheter 1 can be accurately controlled, so that the head end of the catheter 1 can be accurately controlled under the guidance of the three-dimensional measurement system, the difficulty of the operation is reduced, and the operation quality and efficiency are improved.

[0047] It should be noted that the catheter 1 in the embodiment of the present application is embedded with a metal woven net, and the metal woven net is located on the outer side of the radial direction of the first pull wire 191 and the second pull wire 192.

[0048] Specifically, the embodiment of the present application is that the position of the catheter head 1 is received and processed by the master data processing system 11 from the electrical signal of the ablation catheter control device, and then the position of the catheter head 1 is displayed on the three-dimensional navigation interface display screen 12 based on the received electrical signal through processing for the doctor to view in real time, and the control instruction input by the doctor is received by the doctor control end 13, and the master data processing system 11 controls the control assembly 2 through the robot mechanical arm 8 according to the control instruction, and then controls the catheter head 1 to realize the ablation treatment of the target lesion.

[0049] In specific implementation, the control assembly 2 in the embodiment of the present application is sleeved outside the traction wire connecting barrel 4 and controls the bidirectional bending of the head end of the catheter 1 based on the triggering of the robot mechanical arm 8.

[0050] And a linkage part is arranged on the robot mechanical arm, which is connected with the control assembly 2 and fixed on the support, and the control instruction on the robot mechanical arm 8 is transmitted to the control assembly 2 through the linkage part.

[0051] Specifically, the control assembly 2 further comprises a first gear 23 and a second gear 24 in the embodiment of the present application, the first gear 23 and the second gear 24 are sleeved outside the traction wire connecting barrel 4, the first gear 23 and the second gear 24 rotate synchronously to realize the rotation of the catheter 1, and the second gear 24 pulls the first traction wire 191 or the second traction wire 192 to realize the bidirectional bending of the head end of the catheter 1.

[0052] And the linkage part in the embodiment of the present application comprises a third gear and a fourth gear, the third gear is engaged with the first gear 23, and the fourth gear is engaged with the second gear, and the control instruction on the robot mechanical arm 8 is transmitted to the control assembly 2 through the third gear and the fourth gear. Referring to Figure 7 The third gear and the fourth gear can be arranged on the support 9 and connected with the robot mechanical arm 8 through the support 9.

[0053] It should be noted that the first gear 23, the second gear 24, the third gear and the fourth gear in the embodiment of the present application can all be conical gears, of course, other transmission modes can be adopted according to the needs in specific implementation, and the present application does not make specific limitation thereto.

[0054] In specific implementation, the first gear 23 and the traction wire connecting barrel 4 rotate synchronously in the embodiment of the present application, specifically, the first gear 23 is locked through the locking groove arranged on the inner side wall of the traction wire connecting barrel 4 to realize the synchronous rotation of the two, and the second gear 24 is sleeved outside the traction wire connecting barrel 4 and rotationally connected with the traction wire connecting barrel 4.

[0055] Referring to Figure 2 , the end of the traction wire connecting cylinder 4 in the embodiment of the present application is connected with the fixed part 5 through the traction wire, and the ablation catheter control device is connected with the robot mechanical arm 8 through the fixed part 5;

[0056] The end of the traction wire connecting cylinder 4 is provided with a first connecting hole 25 and a second connecting hole 26, the first traction wire 191 is fixed to the first connecting hole 25 at the end of the traction wire connecting cylinder 4, and the second traction wire 192 is fixed to the second connecting hole 26 by passing through the reversing pulley 27 on the fixed part 5, so that the rotation of the second gear 24 in different directions pulls the first traction wire 191 or the second traction wire 192 to realize the bidirectional bending of the head end of the catheter 1.

[0057] Specifically, in the embodiment of the present application, one traction wire is directly fixed to the traction wire connecting cylinder 4, and the other traction wire is fixed to the traction wire connecting cylinder 4 by passing through the reversing pulley 27 on the fixed part 5, and the traction wire connecting cylinder 4 is driven by the gear, thereby realizing different control of the two traction wires, and finally controlling the bidirectional bending of the head of the catheter 1 by controlling the traction wire.

[0058] Referring to Figure 3 , the catheter 1 in the embodiment of the present application includes a deflectable segment and a rigid catheter segment, the deflectable segment is arranged at the end of the catheter 1 away from the ablation catheter control device, that is, at the head end of the catheter 1, and in the catheter 1, the first traction wire 191 and the second traction wire 192 are symmetrically arranged in the direction of the central axis of the catheter 1, and the two traction wires are respectively connected to the end of the traction wire connecting cylinder 4 of the ablation catheter control device.

[0059] Referring to Figure 4 , the cross section of the catheter can be seen that the first traction wire 191 and the second traction wire 192 are symmetrically arranged in the catheter 1, and the catheter 1 also includes a temperature sensor signal line 28, an electrode signal line 29, a metal braid 30 and a saline channel 18.

[0060] Referring to Figure 5a , Figure 5b and Figure 5c , the catheter 1 in the embodiment of the present application has a metal braid embedded in the catheter body, the metal braid is arranged outside the first traction wire 191 and the second traction wire 192, so that the catheter 1 main body can withstand the counter compressive load without deformation during the tension applied to the traction wire, and in response to the change of the rotation direction of the proximal end portion of the catheter, the torque can be transmitted along the longitudinal axis of the catheter 1 from the proximal end portion to the distal end portion of the catheter 1 to improve the rotation fidelity, and the outer diameter of the catheter 1 is not greater than 8Fr, which is suitable for guiding sheath 6 with a tube diameter of 8.5Fr or above.

[0061] Referring to Figure 1 and Figure 2 , the following will be described in detail with the bevel gear as an example: the first bevel gear is the first gear 23, the second bevel gear is the second gear 24, the third bevel gear is the third gear, and the fourth bevel gear is the fourth gear;

[0062] The first bevel gear is fixedly sleeved on the catheter 1, and rotation of the first bevel gear can drive the catheter 1 to rotate circumferentially around the central axis to achieve the purpose of rotating the catheter 1. One end of the second bevel gear is provided with a limiting groove for connecting the first bevel gear, and the limiting groove can limit the radial movement of the second bevel gear. The second bevel gear can rotate relative to the first bevel gear, referring to Figure 4 , the inner wall of the second bevel gear is threadedly connected with a traction wire connecting barrel 4. Rotation of the second bevel gear can drive the threadedly connected traction wire connecting barrel 4 to move axially. One end of the traction wire connecting barrel 4 is respectively provided with a first connecting hole 25 and a second connecting hole 26 in a central axis symmetry manner. A first traction wire 191 is connected with the first connecting hole 25. A second traction wire 192 passes through the traction wire connecting barrel 4, passes around a direction-changing pulley 27 fixed on a fixed block, and then is connected with the second connecting hole 26. Due to the existence of the direction-changing pulley 27, when the traction wire connecting barrel 4 moves, the two traction wires will produce opposite effects, that is, when the traction wire connecting barrel 4 moves away from the deflectable segment of the catheter 1, the first traction wire 191 is tightened, and the second traction wire 192 is loosened, so that the deflectable segment of the catheter 1 is bent to the side of the first traction wire 191. Conversely, it is bent to the side of the second traction wire 192, realizing the bidirectional bending of the catheter 1,

[0063] In a specific implementation, the ablation catheter control device can be installed on the mechanical arm (i.e., the robot mechanical arm 8 mentioned above) through the fixing part 5, and the linkage part in the embodiment of the present application is provided with a third bevel gear and a fourth bevel gear. After the ablation catheter control device is installed on the linkage part, the bevel gears on the linkage part are engaged with the bevel gears on the control assembly 2, respectively. After the ablation catheter control device is installed on the mechanical arm, the two output shafts of the mechanical arm are inserted into and engaged with the third bevel gear and the fourth bevel gear, respectively. The mechanical arm controls the rotation of the first and second bevel gears by driving the third and fourth bevel gears to rotate, thereby realizing the rotation of the catheter 1 and the bidirectional bending of the deflectable section. When the rotation of the catheter 1 is controlled, the first and second bevel gears need to be rotated synchronously, that is, the second bevel gear needs to be kept relatively stationary with the ablation catheter control device, otherwise the catheter 1 will be bent synchronously while rotating. Therefore, the rotation of the catheter 1 is controlled by rotating the first and second bevel gears synchronously, and the bidirectional bending of the catheter 1 is controlled by rotating the second bevel gear alone. The pushing and retraction of the catheter 1 are completed by the forward and backward movement of the entire mechanical arm.

[0064] Referring to FIG. 5, the deflectable section of the catheter 1 in the embodiment of the present application is provided with four electrodes (a first electrode 14, a second electrode 15, a third electrode 16, and a fourth electrode 17) from the end far away from the ablation catheter control device. The four electrodes are arranged at a preset ratio and are spaced apart at the end of the catheter 1 far away from the ablation catheter control device, and are used to collect electrophysiological signals and the impedance of the heart and blood, complete three-dimensional modeling of the heart in the three-dimensional mapping system, make the head end of the catheter 1 visible in the three-dimensional mapping system, and determine the position of the catheter 1 based on the three-dimensional dielectric mapping system. The electrode (the first electrode 14) at the farthest end of the catheter 1 is a large-head electrode, which is used to access a radiofrequency energy source and complete radiofrequency ablation on the target lesion position. The deflectable section of the catheter is also provided with two visualization electrodes (i.e., a fifth electrode and a sixth electrode) on the side close to the ablation catheter control device. The two electrodes are spaced apart and are used to display the posture of the deflectable section of the catheter 1 and the distance of the catheter 1 from the head end of the guide sheath in the three-dimensional mapping system. Since there are a total of six electrodes spaced apart, the position arrangement of the six electrodes not only enables the specific position of the head end of the catheter 1 to be known, but also enables the bending and rotation conditions of the head end of the catheter 1 to be displayed, which is helpful for the operator to more accurately control the catheter 1 to reach the target lesion position for precise ablation, so as to improve the quality of the ablation operation and reduce surgical complications. Figure 4 As shown in FIG. 5, the catheter 1 is also provided with signal connection lines for transmitting signals of the six electrodes, respectively. The electrode signal lines are connected to the respective electrodes and are connected to the main control data processing system 11 through the catheter 1.

[0065] Referring to Figure 6In this embodiment of the invention, the catheter 1 is provided with a saline channel 18. The output channel of the three-way connector is connected to the saline channel 18 in the catheter 1. Saline, heparin anticoagulant, and cardiac DSA contrast agent can be delivered to the tip of the catheter 1 through the three-way connector and the saline channel 18. The tip of the catheter 1 is uniformly provided with a number of fine holes, specifically a design of 72 holes, which is more than the number of holes in a traditional ablation catheter 1, but with a smaller diameter. Saline, heparin anticoagulant, and cardiac DSA contrast agent can be injected into the saline channel 18 through the three-way connector. The saline is injected into the saline cavity at the tip of the catheter 1 through the saline channel 18. Finally, the saline is evenly dispersed and sprayed from the tip of the catheter 1 through the fine holes, which can cool the tip of the ablation catheter 1. To prevent blood clots from adhering to the tip of catheter 1 due to excessive temperature during ablation, thus affecting the ablation process, heparin anticoagulation prevents blood clots from clogging the infusion pores and preventing saline from being sprayed out. While the number of pores has increased, their diameter has decreased, resulting in a larger contact area between the sprayed saline and the tissue near the tip of catheter 1, leading to better cooling. Furthermore, the diameter reduction is more significant than the increase in the number of pores, resulting in less total saline spray compared to traditional catheter 1. The large number and small diameter of pores not only improve the cooling effect of saline on the tip of catheter 1 but also reduce the total saline spray volume, which is more beneficial for heart failure patients and prevents the condition from worsening due to excessive saline spray.

[0066] In addition, such as Figure 6 As shown, in this embodiment of the invention, a temperature sensor 22 is also provided inside the tip of the catheter 1. The signal line of the temperature sensor 22 passes through the catheter 1 and is electrically connected to the main control data processing system 11. The temperature sensor 22 is located near the tip of the catheter 1 and can monitor the temperature of the tip of the catheter 1 during the ablation process, control the ablation energy, and also determine whether the ablation process is normal, whether there are abnormalities such as blood clots adhering to the catheter 1 or blocking the fine holes at the tip of the catheter 1 by the temperature display at the tip of the catheter 1. Figure 6 It also includes traction wire 19, namely the first traction wire 191 and the second traction wire 192 mentioned above, and electrode connection point 20.

[0067] See Figure 7 and Figure 8As shown, the operator sends control instructions (the specific input control instructions can report the instructions of three degrees of freedom of the catheter 1 and / or the sheath 6) to the master data processing system 11 through the doctor control end 13, the master data processing system 11 controls the mechanical arm at the distal end to control the ablation catheter control device 7 and the sheath 6 to perform corresponding surgical actions after receiving the instructions of the doctor end, the electrical signal is fed back to the master data processing system 11 through the electrode at the head end of the catheter 1, the master data processing system 11 converts the received signal into the spatial position information of the head end of the catheter 1 after processing and displays it on the three-dimensional navigation interface display screen 12, and the doctor can know the spatial position information of the catheter 1 in the patient's body, and the operator can further perform the next operation instruction based on the information, and gradually send the head end of the ablation catheter 1 to the target ablation position, and then send the instruction of opening the ablation generator to the master data processing system 11 through the doctor control end 13, the master data processing system 11 opens the ablation generator to send the radiofrequency ablation energy to the large head electrode at the head end of the catheter 1, and performs ablation treatment on the target ablation position. Therefore, during the entire operation process, the doctor only needs to remotely operate in the doctor control room, and does not need to perform the operation near the operating bed, thereby greatly reducing the exposure time of the operator under the rays.

[0068] Overall, the control process of the ablation catheter control device in the embodiment of the application includes:

[0069] 1. First, move the robot mechanical arm 8 to a suitable position for operation through the mechanical arm support 10;

[0070] 2. Install the ablation catheter control device on the robot mechanical arm 8, so that the two output shafts of the ablation catheter control device are respectively inserted into the third and fourth bevel gears of the linkage part and meshed with the internal gears of the third and fourth bevel gears;

[0071] 3. Install the catheter 1 on the traction wire connecting barrel 4, so that the first and second bevel gears are respectively meshed with the third and fourth bevel gears;

[0072] 4. Close the hinge to fix the catheter 1 on the traction wire connecting barrel 4 of the mechanical arm;

[0073] 5. Establish the catheter 1 passage in the blood vessel by using the sheath 6;

[0074] 6. The catheter 1 passes through the sheath 6 and enters the heart cavity;

[0075] 7. Under the guidance of the three-dimensional mapping system, the operator controls the doctor control end 13 to control the catheter 1 to rotate circumferentially, bend bidirectionally and advance and retreat axially, so as to send the head end of the catheter 1 to the target lesion position;

[0076] 8. Inject saline into the saline channel 18 through the three-way joint at the transmission handle of the catheter 1, for cooling near the head end of the catheter.

[0077] 9. The operator manipulates the physician control end 13, sends control instructions to the ablation generator through the master data processing system 11, the ablation generator emits radio frequency energy to the large head electrode at the head end of the catheter 1, and the large head electrode ablates the target lesion site.

[0078] Overall, the ablation catheter control device in the embodiment of the application is essentially a transmission handle, which can cooperate with the catheter support device 9 of the robot mechanical arm 8 to complete the circumferential rotation of the catheter 1, the bidirectional bending of the head end, and the forward and backward movement in the axial direction. Specifically, the embodiment of the application is provided with two traction wires inside the catheter to realize the bidirectional bending of the catheter 1, and four electrodes are installed at the head end of the catheter, the electrode at the most head end being a large head electrode that can be connected to a radio frequency energy source to complete radio frequency ablation, and the other two electrodes at the rear of the head end being visual electrodes used to display the posture in the three-dimensional measurement system and the distance between the catheter 1 and the head end of the guide sheath. In addition, the temperature sensor 22 is arranged inside the head end of the catheter 1 in the embodiment of the application, which can monitor the temperature during the ablation process and control the ablation energy. Furthermore, the transmission handle of the embodiment of the application is provided with a three-way joint, the catheter 1 is provided with a saline channel 18, and the head end of the catheter 1 is uniformly provided with fine holes, so that saline, heparin anticoagulation, and cardiac DSA contrast agent can be injected into the patient's body through the three-way joint and the catheter 1. In addition, the head end of the catheter 1 in the embodiment of the application is provided with fine holes for spraying saline to cool the head end of the catheter, and a 72-hole design is adopted. Compared with the traditional catheter, the number of holes is larger and the aperture is smaller, the design of the 72 holes is more than that of the traditional catheter but the aperture is smaller, which not only improves the cooling efficiency but also reduces the total amount of saline sprayed, is beneficial to heart failure patients, and in addition, the temperature sensor 22 is arranged inside the catheter 1 in the embodiment of the application, which can monitor the temperature at the head end of the catheter 1 to determine whether the ablation process is abnormal, such as saline hole blockage, control the ablation energy, and ensure the smooth progress of the ablation operation.

[0079] The second embodiment of the application provides a method for controlling the ablation catheter control device in any one of the first embodiments of the application, and the method comprises the following steps:

[0080] The master data processing system receives and processes the electrical signals of the catheter head position sent by the ablation catheter control device, and displays the position of the catheter head on the three-dimensional navigation interface display screen based on the electrical signals for the doctor to view in real time.

[0081] The control instructions input through the physician control end are received, and the master data processing system controls the control assembly through the robot mechanical arm according to the control instructions, thereby controlling the catheter head to realize the ablation treatment of the target lesion.

[0082] The related content of the embodiment of the application can be understood by referring to the first embodiment of the application, and will not be discussed in detail here.

[0083] Although the preferred embodiments of the present application have been disclosed for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the application as disclosed in the accompanying claims, and therefore the scope of the present application should not be limited to the above described embodiments.

Claims

1. An ablation catheter control device, characterized in that, One end of the ablation catheter control device is embedded with a catheter, which passes through the ablation catheter control device and is connected to a saline tube at the other end of the ablation catheter control device. The ablation catheter control device includes: a control component and a traction wire connecting tube. The catheter is symmetrically embedded with a first traction wire and a second traction wire, and both the first traction wire and the second traction wire are connected to the traction wire connecting sleeve. The control component pulls the first traction wire or the second traction wire to achieve bidirectional bending of the catheter tip, and the control component also achieves the rotation of the catheter. The ablation catheter control device is connected to the robotic arm, and the robotic arm controls the control components to make the catheter tip bend in both directions in order to ablate the target lesion. The catheter tip is equipped with multiple electrodes for collecting electrophysiological signals and cardiac and blood impedance, and the catheter tip is also equipped with a saline port and a temperature sensor. The control component includes a first gear and a second gear, which are sleeved outside the traction wire connecting sleeve. The first gear and the second gear rotate synchronously to realize the rotation of the catheter, and the second gear pulls the first traction wire or the second traction wire to realize the bidirectional bending of the catheter tip. The second gear is sleeved on the outside of the traction wire connecting cylinder and is rotatably connected to the traction wire connecting cylinder. The first gear and the traction wire connecting cylinder rotate synchronously along the shaft. The end of the traction wire connecting tube is provided with a first connecting hole and a second connecting hole. The first traction wire is fixed to the first connecting hole at the end of the traction wire connecting tube, and the second traction wire is fixed to the second connecting hole by passing around the reversing pulley on the fixing part. This allows the rotation of the second gear in different directions to pull the first traction wire or the second traction wire to achieve bidirectional bending of the catheter tip.

2. The ablation catheter control device according to claim 1, characterized in that, The control component is sleeved outside the traction wire connecting tube, and the control component is connected to the linkage part on the robot arm. The control command on the robot arm is transmitted to the control component through the linkage part.

3. The ablation catheter control device according to claim 2, characterized in that, The linkage includes a third gear and a fourth gear. The third gear meshes with the first gear, and the fourth gear meshes with the second gear. The control commands on the robot arm are transmitted to the control component through the third gear and the fourth gear.

4. The ablation catheter control device according to claim 3, characterized in that, The first gear, the second gear, the third gear, and the fourth gear are all bevel gears.

5. The ablation catheter control device according to any one of claims 1-4, characterized in that, One end of the second gear is provided with a limiting groove for connecting with the first gear, and the limiting groove is used to restrict the radial movement of the second gear.

6. The ablation catheter control device according to any one of claims 1-4, characterized in that, The catheter is embedded with a metal braided mesh, which is located on the outer side of the first traction wire and the second traction wire in the radial direction.

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