Filter recovery device and system
Patent Information
- Application Number
- CN202210068132.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2022-01-20
- Publication Date
- 2026-11-03
- Estimated Expiration
- 2042-01-20
Smart Images
Figure CN116509596B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of medical device technology, specifically to a filter recovery device and system. Background Technology
[0002] Pulmonary embolism (PE) is a common disease. As an implant, the vena cava filter (which can also be referred to as the filter in this article) has been clinically proven to be an effective means of preventing PE and can greatly reduce the incidence of PE.
[0003] Filters are mainly divided into two types: permanent filters and retrievable filters. Among them, retrievable filters, due to their retrievability, can effectively avoid long-term complications caused by long-term filter implantation and have wider clinical applications. Currently, the mainstream retrieval device in clinical practice is called a capture ring or snare. Its principle is to use a closed-loop snare to encircle the retrieval hook of the filter, and then pull the filter into the retrieval sheath for retrieval. However, in practice, a certain percentage of retrievable filters cannot be retrieved using this method. This is because when the retrieval hook of the filter is filled with thrombus, or when the retrieval hook is close to the blood vessel wall and covered by the vascular intima, the snare cannot encircle the retrieval hook, resulting in retrieval failure.
[0004] When the capture ring (or snare) cannot retrieve the filter, using biopsy forceps with a guide wire to remove the filter is an optional operation. However, traditional biopsy forceps are not well adapted to the needs of filter retrieval, the procedure requires a high level of skill from the operator, and it is very easy to damage blood vessels during the operation. Summary of the Invention
[0005] The purpose of this invention is to provide a filter recovery device and system that aims to improve the success rate of filter recovery and reduce vascular damage.
[0006] To achieve the above objectives, the present invention provides a filter recovery device, comprising:
[0007] Push lever;
[0008] The grappling clamp includes two joints and two clamping plates; both joints are disposed on the distal end of the push rod, and at least one joint is hinged to the push rod such that at least one joint can rotate relative to the push rod about a first rotation axis; a clamping plate is hinged to the distal end of each joint such that the clamping plate can rotate relative to the corresponding joint about a second rotation axis, the second rotation axis being intersecting with or opposite to the first rotation axis;
[0009] A control component is connected to the grappling clamp; the control component is used to control the rotation of at least one of the engagement portions to at least control the opening or closing of the grappling clamp, and the control component is also used to control the rotation of the clamping plates to adjust the posture of the grappling clamp.
[0010] Optionally, the rotation axis of any of the clips is perpendicular to the rotation axis of the joint.
[0011] Optionally, the two engagement portions are respectively hinged to the push rod;
[0012] The control component is used to control one of the joints to rotate or to control two of the joints to rotate in opposite directions to control the opening or closing of the grasping clamp; the control component is also used to control two of the joints to rotate in the same direction to adjust the posture of the grasping clamp.
[0013] Optionally, the control assembly includes two first control mechanisms, each of which is used to control the rotation of one of the joints;
[0014] Each of the first control mechanisms includes two first control wires, the distal ends of which are connected to the corresponding joint. The connection point of any one of the first control wires to the joint is located on the distal side of the hinge point between the joint and the push rod. The two first control wires are located on opposite sides of the corresponding joint in a first direction, which is the extension direction of the second rotation axis.
[0015] Optionally, the control assembly includes a first control mechanism, each of which controls the rotation of one of the engagement portions; the first control mechanism includes a first control wire, the distal end of which is connected to the corresponding engagement portion, and the connection point between the first control wire and the engagement portion is located on the proximal or distal side of the hinge point between the engagement portion and the push rod.
[0016] Optionally, the control assembly includes two second control mechanisms, each of which controls one of the clamps to rotate relative to a corresponding engagement portion.
[0017] Optionally, the second control mechanism includes a second control wire and an elastic element, the distal end of the second control wire being connected to the clamp, and the elastic element being connected between the clamp and the engagement portion;
[0018] The filter recovery device is configured such that when the second control belt causes the clamp to rotate in a third direction, the elastic element deforms and stores elastic potential energy, and when the elastic element at least partially releases the elastic potential energy, the clamp rotates in a fourth direction, which is opposite to the third direction.
[0019] Optionally, each of the second control mechanisms includes a second control wire, the distal end of which is connected to the clip, and the connection point between the second control wire and the clip is located on the proximal or distal side of the hinge point between the clip and the corresponding engagement portion.
[0020] Optionally, the second control mechanism includes two second control wires, the distal ends of which are connected to the corresponding clamps. The connection point of any second control wire to the clamp is located at the distal end of the hinge point between the clamp and the corresponding joint. The two second control wires are located on opposite sides of the clamp in a second direction, which is the extension direction of the first rotation axis.
[0021] Optionally, the push rod has a first internal cavity extending axially;
[0022] The filter recovery device further includes a guide, which includes a guide rod and a connector. The guide rod passes through the first inner cavity and is axially movable relative to the push rod. The connector is connected to the distal end of the guide rod and is used to connect to the filter.
[0023] Optionally, the connector includes a hook; or, the connector includes a magnet.
[0024] Optionally, each of the clamping pieces has a clamping surface, the clamping surfaces of two clamping pieces are arranged opposite to each other, and a clamping groove is formed on the clamping surface, the distal end of the clamping groove being an open end.
[0025] Optionally, the clamping groove is provided with a patterned structure.
[0026] To achieve the above objectives, the present invention also provides a filter recovery system, comprising:
[0027] The filter recovery device as described in the preceding item; and
[0028] The sheath has a second inner cavity extending axially, the second inner cavity being used to insert the filter recovery device.
[0029] Compared with the prior art, the filter recovery device and system of the present invention have the following advantages:
[0030] The aforementioned filter recovery device includes a push rod, a clamping pincer, and a control assembly. The clamping pincer includes two joints and two clamping plates. Both joints are located at the distal end of the push rod, and at least one joint is hinged to the push rod so that at least one joint can rotate relative to the push rod about a first rotation axis. Each joint is hinged to a clamping plate at its distal end so that the clamping plate can rotate relative to the corresponding joint about a second rotation axis, which intersects with or is not in plane with the first rotation axis. The control assembly is connected to the clamping pincer and is used to control the rotation of at least one joint to at least control the clamping pincer to punch or close. The control assembly is also used to control the rotation of the clamping plates to adjust the posture of the clamping pincer. When using the filter retrieval device to retrieve a filter implanted in the vena cava, the operator can flexibly adjust the posture of the grasping forceps by controlling the rotation of the clamps, and control the opening or closing of the grasping forceps to hold the target area of the filter. This allows the filter to be pulled into the sheath and withdrawn from the body, improving filter retrieval efficiency and reducing damage to the blood vessel. This filter retrieval device is suitable not only for retrieving filters that are centered in the vena cava, but also for retrieving filters that have adhered to the wall.
[0031] Furthermore, the push rod has a first internal cavity extending axially; the filter retrieval device also includes a guide, which includes a guide rod and a connector. The guide rod passes through the first internal cavity and is axially movable relative to the push rod; the connector is connected to the distal end of the guide rod and is used to connect to the filter. In actual use of the filter retrieval device, the device is first connected to the filter via the guide, and then the grabbing clamp is guided to the vicinity of the filter via the guide before grabbing, which can reduce the difficulty of grabbing and further improve the grabbing efficiency. Attached Figure Description
[0032] The accompanying drawings are provided to better understand the invention and are not intended to unduly limit the scope of the invention. Wherein:
[0033] Figure 1 This is a schematic diagram of the filter recovery device provided according to Embodiment 1 of the present invention. In the figure, the filter recovery device is partially inserted into the inner cavity of the sheath tube, and the guide is not shown in the figure.
[0034] Figure 2 This is a partial structural schematic diagram of the filter recovery device provided in Embodiment 1 of the present invention;
[0035] Figure 3 This is a partial cross-sectional view of the filter recovery device provided in Embodiment 1 of the present invention;
[0036] Figure 4This is a schematic diagram of the clip structure of the filter recovery device provided in Embodiment 1 of the present invention;
[0037] Figure 5 yes Figure 4 A cross-sectional view (AA) of the clips of the filter recovery device shown;
[0038] Figure 6 yes Figure 4 BB cross-sectional view of the clips of the filter recovery device shown;
[0039] Figure 7 This is a schematic diagram of the filter recovery device provided according to Embodiment 1 of the present invention. The diagram shows a guide, and the filter recovery device is partially inserted into the inner cavity of the sheath tube.
[0040] Figure 8 This is a schematic diagram of the use scenario of the filter recovery device provided in Embodiment 1 of the present invention, in which the guide's coupling head is engaged with the filter;
[0041] Figure 9 This is a schematic diagram of the use scenario of the filter recovery device provided in Embodiment 1 of the present invention, in which the grabbing clamps grab the filter;
[0042] Figure 10 This is a schematic diagram of the filter recovery device provided in Embodiment 2 of the present invention;
[0043] Figure 11 This is a partial structural schematic diagram of the filter recovery device provided according to Embodiment 3 of the present invention;
[0044] Figure 12 This is a partial structural schematic diagram of the filter provided by the alternative implementation of Embodiment 3 of the present invention;
[0045] Figure 13 This is a partial structural schematic diagram of the filter recovery device provided in Embodiment 4 of the present invention;
[0046] Figure 14 This is a schematic diagram of the filter recovery device provided according to Embodiment 5 of the present invention. In the figure, the filter recovery device is partially inserted into the inner cavity of the sheath tube.
[0047] Figure 15 This is a schematic diagram of the filter recovery device provided according to Embodiment 5 of the present invention. In the diagram, the two first control mechanisms control the two joints to rotate in the same direction to adjust the posture of the grabbing clamp.
[0048] Figure 16 This is a partial structural schematic diagram of an alternative implementation of the filter recovery device provided in Embodiment Six of the present invention;
[0049] Figure 17 This is a schematic diagram of the filter recovery device provided in Embodiment Six of the present invention.
[0050] [The annotations in the attached figures are explained below]:
[0051] 10-Filter recovery device; 100-Push rod; 200-Grabbing clamp; 300-Control assembly; 210-Joint; 210a-First joint; 210b-Second joint; 220-Clamping piece; 220a-First clamping piece; 220b-Second clamping piece; 221-Clamping surface; 222-Clamping groove; 223-Patterned structure; 300-Control assembly; 310-First control wire; 311-Third sub-control wire; 312-Fourth sub-control wire; 321-Second control wire; 321a-First sub-control wire; 321b-Second sub-control wire; 322-Elastic element; 400-Guide; 410-Guide rod; 420-Joint head.
[0052] 20-Filter, 21-Recovery hook, 22-Filter rod,
[0053] 30-Sheath. Detailed Implementation
[0054] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in this embodiment are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show components related to the present invention and are not drawn according to the actual number, shape, and size of components in the actual implementation. In the actual implementation, the type, quantity, and proportion of each component can be arbitrarily changed, and the component layout may also be more complex.
[0055] Furthermore, while each embodiment described below possesses one or more technical features, this does not imply that users of the present invention must simultaneously implement all technical features in any embodiment, or can only separately implement some or all technical features in different embodiments. In other words, provided it is feasible, those skilled in the art can, based on the disclosure of the present invention and depending on design specifications or implementation requirements, selectively implement some or all technical features in any embodiment, or selectively implement a combination of some or all technical features in multiple embodiments, thereby increasing the flexibility in implementing the present invention.
[0056] As used herein, the singular forms “a,” “an,” and “the” include plural objects, and the plural form “a plurality” includes two or more objects, unless otherwise expressly indicated. As used herein, the term “or” is generally used to include the meaning of “and / or,” unless otherwise expressly indicated, and the terms “install,” “connect,” and “link” should be interpreted broadly, for example, as a fixed connection, a detachable connection, or an integral connection. Connections can be mechanical or electrical. Connections can be direct or indirect through an intermediate medium, and can represent internal communication between two elements or an interaction between two elements. Those skilled in the art will understand the specific meaning of the above terms in this invention according to the specific circumstances.
[0057] In addition, the terms "upper," "lower," "left," and "right" used in this specification to describe orientation are based on the corresponding drawings and are used for ease of description. They do not imply that the corresponding elements or components have a specific orientation.
[0058] In this article, the terms "proximal" and "distal" refer to the relative orientation, position, and direction of the components or actions of the medical device relative to each other from the perspective of the doctor during use. Although "proximal" and "distal" are not restrictive, "proximal" usually refers to the end of the medical device that is closer to the doctor during normal operation, while "distal" usually refers to the end that is farther away from the doctor, that is, the end that first enters the patient's body.
[0059] To make the objectives, advantages, and features of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. It should be noted that the drawings are all in a very simplified form and use non-precise proportions, and are only used to facilitate and clearly illustrate the objectives of the embodiments of the present invention. The same or similar reference numerals in the drawings represent the same or similar parts.
[0060] Please refer to Figure 1 , Figure 2 , Figure 10 and Figure 17The core idea of this invention is to provide a filter recovery device 10, which includes at least a push rod 100, a grasping clamp 200, and a control assembly 300. The grasping clamp 200 includes two engaging portions 210 and two clamping plates 220. Both engaging portions 210 are located at the distal end of the push rod 100, and at least one engaging portion 210 is hinged to the push rod 100, allowing at least one engaging portion 210 to rotate relative to the push rod 100 about a first rotation axis. Each engaging portion 210 is hinged to a clamping plate 220 at its distal end, allowing the clamping plate 220 to rotate relative to the corresponding engaging portion 210 about a second rotation axis. The second rotation axis intersects with or is not in plane with the first rotation axis. The control component 300 is connected to the catching clamp 200. The control component 300 is used to control at least one of the joints 210 to rotate, so as to control the catching clamp 200 to open or close. The control component 300 is also used to control the rotation of the two clamps 220 to adjust the posture of the catching clamp 200.
[0061] When the filter retrieval device 10 operates in the vena cava, the control component 300 can control the rotation of the two clamps 220 to adjust the posture of the grasping forceps 200, ensuring that the posture of the grasping forceps 200 matches the position and posture of the filter 20. The control component 300 can also control the opening and closing of the grasping forceps 200 to capture the filter 20, improving the retrieval success rate. Furthermore, the rotation of the clamps 220 allows the grasping forceps 200 to adjust its posture more flexibly within the limited space of the blood vessel, reducing the risk of damage to the vessel wall. In some embodiments, preferably, the first rotation axis is perpendicular to the second rotation axis; in this case, the rotation plane of the joint 210 is perpendicular to the rotation plane of the clamps 220.
[0062] It should be noted that, in the embodiments of the present invention, please refer to... Figure 1 and Figure 2 The push rod 100 has a first axis A1. This first axis of rotation is referred to as the second axis A2. Figure 1 In the orientation shown, the second axis A2 is perpendicular to the plane of the paper, therefore the second axis A2 is in Figure 1 (Displayed as dots), it can be understood that when both of the joints 210 are rotatable relative to the push rod 100, both joints 210 rotate about the second axis A2, that is, both joints 210 rotate in a plane perpendicular to the second axis A2. Typically, the second axis A2 is perpendicular to the first axis A1. It should also be noted that, as... Figure 1As shown, each of the clamping pieces 220 rotates about one of the second axes, thus the gripping clamp 200 has two second axes of rotation, which can be referred to as the third axis A3 and the fourth axis A4, respectively. That is, one clamping piece 220 rotates about the third axis A3 relative to the corresponding engagement portion 210, and the other clamping piece 220 rotates about the fourth axis A4 relative to the corresponding engagement portion 210.
[0063] When the control component 300 controls at least one of the engagement portions 210 to rotate, thereby controlling the opening or closing of the grasping clamp 200, the two clamping plates 220 should be aligned. Alignment means that when the grasping clamp 200 is closed, the third axis A3 and the fourth axis A4 coincide, and when the grasping clamp 200 is open, the third axis A3 and the fourth axis A4 intersect. If the third axis A3 and the fourth axis A4 are parallel but not coincident, or if the third axis A3 and the fourth axis A4 are not planar, the two clamping plates 220 are misaligned. Those skilled in the art will understand that in actual use, controlling the rotation angle of the two clamping plates 220 by the control component 300 can control the alignment of the two clamping plates 220.
[0064] In addition, in this embodiment of the invention, the control component 300 may specifically include a first control mechanism and a second control mechanism. The first control mechanism controls the rotation of the engaging portion 210 relative to the push rod 100, and the second control mechanism controls the rotation of the clamping piece 220 relative to the corresponding engaging portion 210. Optionally, one first control mechanism can control the rotation of one engaging portion 210. Thus, the number of first control mechanisms matches the number of rotatable engaging portions 210. For example, when only one engaging portion 210 can rotate relative to the push rod 100, the number of first control mechanisms is one; when both engaging portions 210 can rotate relative to the push rod 100, the number of first control mechanisms is two. Similarly, one second control mechanism can control the rotation of one clamping piece 220, thus the number of second control mechanisms is two.
[0065] Furthermore, such as Figure 7 and Figure 17As shown, the push rod 100 has a first inner cavity (not shown) extending through the first axis A1. The filter retrieval device 10 also includes a guide 400, which includes a guide rod 410 and a connecting head 420. The guide rod 410 passes through the first inner cavity and is axially movable relative to the push rod 100. The connecting head 420 is connected to the distal end of the guide rod 410 and is used to connect with the filter 20. In actual use of the filter retrieval device 10, the filter 20 is first connected to the filter 20 via the connecting head 420 of the guide 400, and then the capturing clamp 200 is guided to the vicinity of the filter 20 along the guide rod 410 before capture, which can reduce the difficulty of capture and further improve the capture efficiency.
[0066] Next, this document will describe in more detail some optional structures of the filter recovery device 10 through specific embodiments. Those skilled in the art will understand that the following description only enumerates some optional embodiments of the filter recovery device 10 and does not exhaustively list all optional embodiments of the filter recovery device 10; therefore, it should not be construed as unduly limiting the present invention.
[0067] Furthermore, for ease of description, in some embodiments the two joints 210 are referred to as the first joint 210a and the second joint 210b, respectively, and the clip 220 connected to the first joint 210a is referred to as the first clip 220a, the clip 220 connected to the second joint 210b is referred to as the second clip 220b, and the second rotation axis corresponding to the first clip 220a is the third axis A3, and the second rotation axis corresponding to the second clip 220b is the fourth axis A4.
[0068] <Example 1>
[0069] Figure 1 This is a schematic diagram of the filter recovery device 10 provided in this embodiment. Figure 1 As shown, in this embodiment, one of the first joint 210a and the second joint 210b is fixedly connected to the push rod 100, and the other is hinged to the push rod 100, so that one of the joints 210 can rotate about the first axis A1. Thus, the control assembly 300 includes a first control mechanism.
[0070] The following description takes the example of the first joint 210a being movably connected to the push rod 100. That is, the first control mechanism controls the closing or opening of the grasping clamp 200 by controlling the rotation of the first joint 210a around the first axis A1.
[0071] Please continue to refer to this. Figure 1 The first control mechanism includes a first control wire 310. Optionally, the distal end of the first control wire 310 is connected to the first joint 210a, and the connection point between the first control wire 310 and the first joint 210a is located proximal to the hinge point between the first joint 210a and the push rod 100. The proximal end of the first control wire 310 extends to the proximal end of the filter recovery device 10 for user operation. Figure 1 As shown in the example, Figure 1 In this configuration, the first clamp 220a and the second clamp 220b are aligned. When the user applies a pulling force from the distal end to the proximal end of the first control wire 310 to pull the first control wire 310 proximally, the first engagement portion 210a rotates counterclockwise around the second axis A2, causing the distal end of the first engagement portion 210a to bring the first clamp 220a closer to the second clamp 220b until the first clamp 220a and the second clamp 220b are in contact, thereby closing the gripping clamp 200. When the user applies a pushing force from the proximal end to the distal end of the first control wire 310, pushing the first control wire 310 towards the distal end, the first engagement portion 210a rotates clockwise around the second axis A2 due to the obstruction of the second engagement portion 210b (on the premise that the grasping clamp 200 is closed). This causes the distal end of the first engagement portion 210a to move the first clamping piece 220a away from the second clamping piece 220b, thus opening the grasping clamp 200. It can be understood that if the grasping clamp 200 is already in the open state when the user applies the pushing force to the proximal end of the first control wire 310, then the distal end of the first engagement portion 210a is already in the open state. Figure 1 As shown in the lower right direction, the first control wire 310 will continue to drive the first joint 210a to rotate clockwise around the second axis A2, and increase the opening angle of the grasping clamp 200.
[0072] In this embodiment, the first control wire 310 is made of a material with good rigidity and high strength, so that it can transmit the pushing force. Optional materials include, but are not limited to, stainless steel or nickel-titanium alloy. Additionally, the clip 220 can be made of stainless steel.
[0073] Please refer to this again. Figure 2 and Figure 3Each of the second control mechanisms includes a second control wire 321 and an elastic element 322. The distal end of the second control wire 321 is connected to the corresponding clamp 220, and the proximal end of the second control wire 321 extends to the proximal end of the filter recovery device 10. The elastic element 322 is disposed between the corresponding clamp 220 and the engagement portion 210. The filter recovery device 10 is configured such that when the second control wire 321 is subjected to an external force, it drives the clamp 220 around a second rotation axis (around the third axis for the first clamp and around the fourth axis for the second clamp). Figure 2 and Figure 3 When the elastic element 322 (not shown in the image) rotates along a third direction, it deforms and stores elastic potential energy. When the external force is removed and the elastic element 322 at least partially releases its elastic potential energy, the clamp 220 rotates along a fourth direction, which is opposite to the third direction. The third direction is either clockwise or counterclockwise, and the fourth direction is either clockwise or counterclockwise.
[0074] by Figure 3 As shown in the example, the distal end of the second control wire 321 and the distal end of the elastic element 322 are respectively connected to opposite sides of the clip 220 in a second direction, which is the extension direction of the first rotation axis, i.e., the second axis A2. The proximal end of the elastic element 322 is connected to the joint 210. When the user applies a pulling force from distal to proximal to the second control wire 321 at the proximal end, causing the second control wire 321 to move from distal to proximal, the second control wire 321 drives the corresponding clip 220 to rotate in a clockwise direction (i.e., the third direction). At the same time, the elastic element 322 deforms and stores elastic potential energy. When the user stops applying the pulling force to the second control wire 321 or the pulling force decreases to less than the elastic potential energy, the elastic element 322 at least partially releases the elastic potential energy, and the clip 220 rotates in a counterclockwise direction (i.e., the fourth direction) under the drive of the elastic potential energy. The second control wire 321 can be made of a material with good flexibility and strength. The optional materials include, but are not limited to, stainless steel, nickel-titanium alloy, and polymer materials.
[0075] Those skilled in the art will know that the filter recovery device 10 is connected via a sheath 30 (e.g., Figure 1 As shown, the filter is delivered into the body, and after capture, the filter recovery device 10 retracts into the sheath 30 and is withdrawn from the body along with the sheath 30. During this process, the length direction of the clip 220 coincides with the length direction of the joint 210 (i.e., Figure 2 and Figure 3(as shown in the diagram), and preferably extending along the extension direction of the first axis, with the elastic element 322 storing elastic potential energy, at which point the proximal end of the second control wire 321 is fixed so that the elastic element 322 maintains its elastic potential energy. This has the advantage of reducing the radial dimension of the sheath 30.
[0076] Please continue to refer to this. Figure 2 and combined Figure 4 and Figure 5 Each clamping piece 220 has a clamping surface 221, and the clamping surfaces 221 of two clamping pieces 220 are arranged opposite to each other. A clamping groove 222 is formed on the clamping surface 221, and the clamping groove 222 extends from the middle of the clamping surface 221 to its distal end, such that the distal end of the clamping groove 222 is an open end. When the gripping clamp 200 is closed, the clamping grooves 222 on the two clamping pieces 220 enclose a receiving space. This receiving space is used to receive the target portion of the filter 20. The target portion can be at least a portion of the structure of the retrieval hook 21 of the filter 20. For example, if the retrieval hook 21 includes a cylindrical segment, the target portion can be that cylindrical segment, and correspondingly, the receiving space can be a cylindrical space. Further, please refer to... Figure 6 The clamping groove 222 is also provided with a patterned structure 223, such as a toothed structure, as long as it can increase the friction between the clamping groove 222 and the target part.
[0077] Please refer to this again. Figure 7 In this embodiment, the connector 420 includes a hook for hooking the filter rod 22 of the filter 20 or any other suitable structure.
[0078] Figure 8 and Figure 9 A schematic diagram of the filter recovery device 10 provided in this embodiment is shown in its usage state. Its usage process includes the following steps:
[0079] First, the sheath 30 is inserted into the patient's vena cava, the sheath 30 having a second lumen extending axially through it.
[0080] Then, the filter recovery device 10 is delivered into the vena cava through the second inner cavity.
[0081] Next, the sheath 30 is retracted so that the distal end of the filter recovery device 10 is exposed.
[0082] Then, the guide 400 is pushed along the first inner cavity of the push rod 100 so that the distal end of the guide 400 extends out of the push rod 100, and the hook engages the filter rod 22 of the filter 20 (e.g., Figure 8 (As shown).
[0083] Subsequently, the push rod 100 is pushed along the guide rod 410 to push the capture clamp 200 to the vicinity of the filter 20.
[0084] Next, the first control mechanism controls the opening of the grabbing clamp 200, and the second control mechanism controls the rotation of the two clamping plates 220 so that the posture of the grabbing clamp 200 matches the posture of the retrieval hook 21 of the filter 20, and so that the cylindrical section of the retrieval hook 21 enters the clamping groove 222.
[0085] Then, the first control mechanism controls the closing of the grasping clamp 200 to clamp the cylindrical section of the retrieval hook 21 (e.g., Figure 9 (As shown).
[0086] Next, the sheath 30 is pushed forward to recycle the filter recovery device 10 and the filter 20 into the second inner cavity.
[0087] Finally, the sheath 30, the filter recovery device 10 therein, and the filter 20 are removed from the body as a whole.
[0088] <Example 2>
[0089] Figure 10 A schematic diagram of the filter recovery device 10 provided in this embodiment is shown. Figure 10 As shown, the difference between this embodiment and Embodiment 1 is that the distal end of the first control wire 310 is connected to the first joint portion 210a, and the connection point between the first joint portion 210a and the first control wire 310 is located at the distal end of the hinge point between the first joint portion 210a and the push rod 100. Figure 10 As shown in the example, Figure 10 In this configuration, the first clamp 220a and the second clamp 220b are aligned. When the user applies a pulling force from distal to proximal to the proximal end of the first control wire 310, the first engagement 210a rotates clockwise around the second axis A2 due to the obstruction of the second engagement 210b (on the basis of the closed gripper 200). This causes the distal end of the first engagement 210a to pull the first clamp 220a away from the second clamp 220b, thereby opening the gripper 200. It can be understood that if the gripper 200 is already open when the user applies the pulling force to the proximal end of the first control wire, then the distal end of the first engagement 210a is already in the open state. Figure 10Located on the lower right side, the first control wire 310 continues to drive the first engagement portion 210a to rotate clockwise around the second axis A2, thereby increasing the opening angle of the grasping clamp 200. When the user applies a pushing force from the proximal end to the distal end of the first control wire 310, the first control wire 310 pushes the first engagement portion 210a to rotate counterclockwise around the second axis A2. Thus, the distal end of the first engagement portion 210a drives the first clamp 220a closer to the second clamp 220b until the two are in contact, causing the grasping clamp 200 to close.
[0090] <Example 3>
[0091] Figure 11 A partial structural schematic diagram of the filter recovery device 10 provided in this embodiment is shown. Figure 11 As shown, the difference between this embodiment and Embodiment 1 lies in the structure of the second control mechanism.
[0092] In this embodiment, each of the second control mechanisms includes a second control wire 321, but does not include an elastic element, and the distal end of the second control wire 321 is connected to the corresponding clamp 220, and the connection point between the second control wire 321 and the clamp 220 is located on the proximal side of the hinge point between the clamp 220 and the corresponding joint 210. Figure 11 Taking the initial state where the length direction of the clip 220 coincides with the length direction of the corresponding engagement portion 210 as an example, in the initial state, when the user applies a pushing force from proximal to distal to the second control wire 321 at the proximal end of the second control wire 321, if the lower side of the clip 220 at least partially abuts against the blood vessel wall, the clip 220 rotates clockwise around its second rotation axis (for the first clip, it rotates around the third axis; for the second clip, it rotates around the fourth axis) under the action of the pushing force. Conversely, if the upper side of the clip 220 at least partially abuts against the blood vessel wall, the clip 220 rotates counterclockwise around its axis under the action of the pushing force. When the user applies a pulling force from distal to proximal to the second control wire 321 at the proximal end, the clip 220 can be pulled to rotate about its axis of rotation until the length direction of the clip 220 coincides with the length direction of the corresponding engagement portion 210. Figure 11 The lower and upper sides of the clip 220 are opposite sides of the clip 220 in the second direction, that is, the extension direction of the second axis A2.
[0093] Alternatively, such as Figure 12As shown, in this embodiment, the connection point between the second control wire 321 and the corresponding clamp 220 can also be located at the distal end of the hinge point between the clamp 220 and the corresponding joint 210. Here, taking the initial state where the length direction of the clamp 220 coincides with the length direction of the corresponding joint 210 as an example, in the initial state, with... Figure 12 Taking the illustrated orientation as an example, when the lower side of the clip 220 is at least partially abutting against the blood vessel wall, and the user applies a distal-to-proximal pulling force to the proximal end of the second control wire 321, the clip 220 can be rotated clockwise around the second rotation axis (for the first clip, the second rotation axis is the third axis; for the second clip, the second rotation axis is the fourth axis). When the upper side of the clip 220 is at least partially abutting against the blood vessel wall, and the user applies a distal-to-proximal pulling force to the proximal end of the second control wire 321, the clip 220 can be rotated counterclockwise around the second rotation axis. Furthermore, the user can apply a proximal-to-distal pushing force to the second control wire 321 to rotate the clip 220 until its length direction coincides with the length direction of the corresponding engagement portion 210.
[0094] In this embodiment, the second control wire is made of a material with good rigidity and strength, so that the second control wire can transmit the pushing force. Furthermore, in this embodiment, the clip 220 has a smooth outer surface to avoid damaging the blood vessel wall when the clip 220 abuts against it.
[0095] <Example 4>
[0096] Figure 13 A partial structural schematic diagram of the filter recovery device 10 provided in this embodiment is shown. Figure 13 As shown, the difference between this embodiment and Embodiment 1 lies in the structure of the second control mechanism.
[0097] Specifically, in this embodiment, the second control mechanism includes two second control wires 321, the distal ends of which are connected to the same clamp 220. The connection point of any second control wire 321 with the clamp 220 is located on the distal side of the hinge point between the clamp 220 and the corresponding joint 210. The two second control wires 321 are located on opposite sides of the clamp 220 in the second direction, that is, the extension direction of the second axis A2.
[0098] Figure 13 In this configuration, the two second control wires 321 are respectively the first sub-control wire 321a and the second sub-control wire 321b. Figure 13Taking the initial state where the length direction of the clip 220 coincides with the length direction of the corresponding joint 210 as an example, in the initial state, when the user applies a pulling force from the distal end to the proximal end of the first sub-control wire 321a, and the second sub-control wire 321b is not under force, the first sub-control wire 321a pulls the clip 220 to rotate clockwise around the second rotation axis. When the user applies a pulling force from the distal end to the proximal end of the second sub-control wire 321b, and the first sub-control wire 321a is not under force, the second sub-control wire 321b pulls the clip 220 to rotate counterclockwise around the second rotation axis.
[0099] <Example 5>
[0100] Figure 14 This is a schematic diagram of the filter recovery device 10 provided according to Embodiment 5 of the present invention. Figure 14 As shown, the difference between this embodiment and Embodiment 1 is that both of the joint portions 210 are hinged to the push rod 100, that is, both of the joint portions 210 can rotate around the second axis A2. Meanwhile, there are two first control mechanisms, namely a first sub-control mechanism and a second sub-control mechanism. The first sub-control mechanism is used to control the rotation of the first joint portion 210a, and the second sub-control mechanism is used to control the rotation of the second joint portion 210b.
[0101] In actual use, when the two clamping plates 220 are aligned, and one of the first control mechanisms, such as the first sub-control mechanism, controls the rotation of the first engaging portion 210a, while the second sub-control mechanism controls the second engaging portion 210b to remain relatively stationary with the push rod 100, the grasping clamp 200 can be controlled to open or close. Alternatively, when the two clamping plates 220 are aligned, and the two first control mechanisms control the two first engaging portions 210 to rotate in opposite directions, the grasping clamp 200 can be controlled to open or close, for example, by using... Figure 14 As shown in the example, when the first sub-control mechanism controls the first joint 210a to rotate counterclockwise, and the second sub-control mechanism controls the second joint 210b to rotate clockwise, the grasping clamp 200 can be opened. When the first sub-control mechanism controls the first joint 210a to rotate counterclockwise, and the second sub-control mechanism controls the second joint 210b to rotate clockwise, the grasping clamp 200 can be closed.
[0102] In addition, such as Figure 15As shown, when the two first control mechanisms control the two joints 210 to rotate in the same direction, for example, controlling both joints 210 to rotate clockwise as indicated by arrow S1, or controlling both joints 210 to rotate counterclockwise as indicated by arrow S2, the posture of the grasping clamp 200 can be adjusted. In particular, when the second axis A2 is perpendicular to the third axis A3 and the fourth axis A4, the posture adjustment of the grasping clamp 200 in any orientation can be achieved by the co-rotation of the two joints 210 and the rotation of the two clamps 220.
[0103] In this embodiment, as Figure 14 As shown and Figure 15 As shown, each of the first control mechanisms may include a first control wire 310, and the distal end of the first control wire 310 is connected to the corresponding joint 210, and the connection point between the first control wire 310 and the joint 210 is located proximal to the hinge point between the joint 210 and the push rod 100. In actual operation, the joint 210 can be rotated in a predetermined direction by abutting against the blood vessel wall. For example, in the initial state, the length direction of both joints 210 extends along the extension direction of the first axis A1, then in Figure 15 In the orientation shown, when it is desired that both of the joints 210 rotate simultaneously in a counterclockwise direction, the gripping clamp 200 can be closed first, and then the upper sides of the two joints 210 can be at least partially pressed against the blood vessel wall. Then, the user can simultaneously apply a pushing force from distal to proximal to the proximal ends of the two strands of the first control wire 310 to push the two joints 210 to rotate counterclockwise.
[0104] Alternatively, the connection point of each first control wire and the corresponding engagement can also be located at the distal end of the hinge point between the engagement and the push rod. In actual use, the engagement can also be rotated in a predetermined direction by pressing it against the blood vessel wall.
[0105] In this embodiment, the joint 210 has a smooth outer surface to avoid the joint 210 abutting against the blood vessel wall and causing damage to the blood vessel wall.
[0106] <Example 6>
[0107] Figure 16 A partial structural schematic diagram of the filter recovery device 10 provided in this embodiment is shown. Please refer to... Figure 16As shown, the difference between this embodiment and Embodiment 5 is that each first control mechanism includes two first control wires 310, namely a third sub-control wire 311 and a fourth sub-control wire 312. The distal ends of the third sub-control wire 311 and the fourth sub-control wire 312 are connected to the distal end of the same joint 210, and the third sub-control wire 311 and the fourth sub-control wire 312 are respectively located on opposite sides of the joint 210 in a first direction, where the first direction refers to the extension direction of the second rotation axis. Specifically, for the first joint 210a, the first direction is the extension direction of the third axis A3; for the second joint 210b, the first direction is the extension direction of the fourth axis A4. Figure 16 Taking the orientation shown as an example, by applying a tension force from the distal end to the proximal end of the third control wire 311 and making the fourth sub-control wire 312 unloaded, the joint portion 210 can be rotated in a clockwise direction. Conversely, by applying a tension force from the distal end to the proximal end of the fourth sub-control wire 312 and making the third sub-control wire 311 unloaded, the joint portion 210 can be rotated in a counterclockwise direction.
[0108] <Example 7>
[0109] Figure 17 A schematic diagram of the filter recovery device 10 provided in this embodiment is shown, as follows: Figure 17 As shown, the difference between this embodiment and the previous embodiment is that the connecting head 420 of the guide 400 includes a magnet, which is suitable for situations where a local structure of the filter 20 is magnetic, and the magnetism of the magnet is opposite to that of the filter 20. That is, the connecting head 420 and the filter 20 are connected by mutual attraction through magnetic force.
[0110] Furthermore, embodiments of the present invention also provide a filter recovery system, including the aforementioned filter recovery device 10 and sheath 30, wherein the filter recovery device 10 is used to pass through the second inner cavity of the sheath 30.
[0111] While the present invention has been disclosed above, it is not limited thereto. Those skilled in the art can make various modifications and variations to the present invention without departing from its spirit and scope. Therefore, if such modifications and variations fall within the scope of the claims and their equivalents, the present invention also intends to include such modifications and variations.
Claims
1. A filter recovery device, characterized in that, include: The push rod has a first internal cavity that extends axially. The grappling clamp includes two joints and two clamping plates; both joints are disposed on the distal end of the push rod, and at least one joint is hinged to the push rod such that at least one joint can rotate relative to the push rod about a first rotation axis; a clamping plate is hinged to the distal end of each joint such that the clamping plate can rotate relative to the corresponding joint about a second rotation axis, the second rotation axis being intersecting with or opposite to the first rotation axis; A control component is connected to the grappling pincers; the control component is used to control at least one of the engagement portions to rotate, at least to control the opening or closing of the grappling pincers, and the control component is also used to control the rotation of the clamping plates to adjust the posture of the grappling pincers; as well as, The guide includes a guide rod and a connector. The guide rod passes through the first inner cavity and is axially movable relative to the push rod. The connector is connected to the distal end of the guide rod. The connector is separated from the filter before the filter recovery device recovers the filter, and the connector is connected to the filter when the filter recovery device recovers the filter.
2. The filter recovery device according to claim 1, characterized in that, The second axis of rotation is perpendicular to the first axis of rotation.
3. The filter recovery device according to claim 1, characterized in that, The two connecting parts are respectively hinged to the push rod; The control component is used to control one of the joints to rotate or to control two of the joints to rotate in opposite directions to control the opening or closing of the grasping clamp; the control component is also used to control two of the joints to rotate in the same direction to adjust the posture of the grasping clamp.
4. The filter recovery device according to claim 3, characterized in that, The control assembly includes two first control mechanisms, each of which is used to control the rotation of one of the joints. Each of the first control mechanisms includes two first control wires, the distal ends of which are connected to the corresponding joint. The connection point of any one of the first control wires to the joint is located at the distal end of the hinge point between the joint and the push rod. The two first control wires are located on opposite sides of the corresponding joint in a first direction, which is the extension direction of the second rotation axis.
5. The filter recovery device according to any one of claims 1-3, characterized in that, The control assembly includes a first control mechanism, each of which controls the rotation of one of the joints; the first control mechanism includes a first control wire, the distal end of which is connected to the corresponding joint, and the connection point between the first control wire and the joint is located on the proximal or distal side of the hinge point between the joint and the push rod.
6. The filter recovery device according to any one of claims 1-3, characterized in that, The control assembly includes two second control mechanisms, each of which controls one of the clamps to rotate relative to a corresponding engagement portion.
7. The filter recovery device according to claim 6, characterized in that, The second control mechanism includes a second control wire and an elastic element, the distal end of the second control wire being connected to the clamp, and the elastic element being connected between the clamp and the joint. The filter recovery device is configured such that when the second control belt causes the clamp to rotate in a third direction, the elastic element deforms and stores elastic potential energy, and when the elastic element at least partially releases the elastic potential energy, the clamp rotates in a fourth direction, which is opposite to the third direction.
8. The filter recovery device according to claim 6, characterized in that, The second control mechanism includes a second control wire, the distal end of which is connected to the clamp, and the connection point between the second control wire and the clamp is located on the proximal or distal side of the hinge point between the clamp and the corresponding engagement portion.
9. The filter recovery device according to claim 8, characterized in that, Each of the second control mechanisms includes two second control wires, the distal ends of which are connected to the corresponding clamps. The connection point of any second control wire to the clamp is located at the distal end of the hinge point between the clamp and the corresponding joint. The two second control wires are located on opposite sides of the clamp in a second direction, which is the extension direction of the first rotation axis.
10. The filter recovery device according to claim 1, characterized in that, The connector includes a hook; or, the connector includes a magnet.
11. The filter recovery device according to claim 1, characterized in that, Each of the clamping pieces has a clamping surface, the clamping surfaces of two clamping pieces are arranged opposite to each other, and a clamping groove is formed on the clamping surface, the distal end of the clamping groove being an open end.
12. The filter recovery device according to claim 11, characterized in that, The clamping groove is provided with a patterned structure.
13. A filter recovery system, characterized in that, include: The filter recovery device as described in any one of claims 1-12; as well as, The sheath has a second inner cavity extending axially, the second inner cavity being used to insert the filter recovery device.
Citation Information
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