A soft shaft protection device and method for thrombus volume reduction rotary cutting equipment

Abstract

The present invention discloses a soft shaft protection device and method for thrombus volume reduction and rotary cutting equipment. The device comprises: a control module, a motor driver, a motor, a soft shaft, a flexible shaft end actuator, a terminal speed detection module and a current detection module; the control module sends a control signal to the motor driver to drive the motor to work; the motor transmits power to the flexible shaft end actuator through the flexible shaft when working; the terminal speed detection module obtains the real-time speed of the flexible shaft end actuator and sends it to the control module; the motor driver feeds back the real-time speed of the motor and sends it to the control module; the current detection module detects the real-time current of the motor and sends it to the control module; the control module determines the load size of the flexible shaft end actuator according to the real-time speed of the flexible shaft end actuator, the real-time speed of the motor and the real-time current of the motor; and outputs a brake deceleration signal to the motor driver according to the load size so that the motor driver drives the motor to decelerate.

Description

Technical Field

[0001] The embodiments of the present invention relate to a thrombus volume reduction and rotary excision device, and more particularly to a soft shaft protection device and method for the thrombus volume reduction and rotary excision device. Background Art

[0002] Thrombus volume reduction and rotary cutting equipment is a device that removes thrombi by mechanically rotary cutting. Thrombus rotary cutting is to cut or scrape atherosclerotic thrombotic plaques (deposits of fat and other substances accumulated on or in the arterial wall) through the rotating blade or grinding head at the end of the catheter that intervenes in the blood vessel. The basic principle of thrombus volume reduction and rotary cutting equipment currently on the market is to drive a soft shaft in a catheter through an electric or pneumatic prime mover (currently mostly motors). This soft shaft may be wound with a single layer or multiple layers of steel wire. There will be an actuator (blade head or grinding head) at the end of the soft shaft, which is also the end of the catheter, referred to as the actuator end. The rotational power of the prime mover will be transmitted to the actuator end through the soft shaft.

[0003] At present, the rotation speed monitoring of the execution end of the thrombus volume reduction and rotary cutting equipment is open-loop, that is, the rotation speed of the execution end is not monitored. Therefore, when the execution end encounters a hard material, it will cause the execution end to get stuck, which will cause damage or breakage of the transmission soft shaft. In addition, some thrombus volume reduction and rotary cutting equipment use brushless motors as prime movers. Although it is easier to obtain the speed monitoring of the motor, there is no speed monitoring of the execution end. Therefore, the protection method of the soft shaft of this equipment is not perfect. Summary of the invention

[0004] The invention provides a soft shaft protection device and method for thrombus volume reduction rotary cutting equipment, which realizes the protection of the soft shaft.

[0005] To achieve the above objectives, in a first aspect, an embodiment of the present invention provides a flexible shaft protection device for a thrombus volume reduction and rotary cutting device, the device comprising: a control module, a motor driver, a motor, a flexible shaft, a flexible shaft end actuator, a terminal speed detection module, and a current detection module;

[0006] The control module is electrically connected to the motor through the motor driver; the control module is used to send a control signal to the motor driver so that the motor driver drives the motor to work; the motor is used to transmit power to the end actuator of the flexible shaft through the flexible shaft when working;

[0007] The terminal speed detection module is electrically connected to the control module, and is used to obtain the real-time speed of the flexible shaft terminal actuator and send it to the control module;

[0008] The motor driver is also used to feed back the real-time rotation speed of the motor and send it to the control module;

[0009] The current detection module is electrically connected to the control module and the motor, and is used to detect the real-time current of the motor and send it to the control module;

[0010] The control module is also used to determine the load size of the flexible shaft end actuator according to the real-time rotation speed of the flexible shaft end actuator, the real-time rotation speed of the motor and the real-time current of the motor; and output a brake deceleration signal to the motor driver according to the load size so that the motor driver drives the motor to decelerate.

[0011] Optionally, a marker ring is provided on the flexible shaft; the marker ring comprises a polishing part and a light absorbing part;

[0012] The terminal speed detection module includes: a laser emitting tube, a beam splitter prism, an optical fiber, a reflecting prism and a photoelectric receiving tube;

[0013] The laser emitting tube is used to emit the incident laser beam to the beam splitter prism;

[0014] The beam splitter prism is used to split the incident laser beam into the optical fiber so that the reflected incident laser beam is incident on the reflecting prism through the optical fiber;

[0015] The reflecting prism is used to make the reflected laser incident light beam incident on the marker ring again;

[0016] The reflected light beam of the marker ring is reflected into the optical fiber through the reflecting prism so that the reflected light beam is incident on the beam splitting prism through the optical fiber;

[0017] The beam splitter prism is also used to transmit the reflected light beam to the photoelectric receiving tube;

[0018] The photoelectric receiving tube is used to output a voltage signal according to the reflected light beam, and feed the voltage signal back to the control module so that the control module determines the real-time rotation speed of the flexible shaft end actuator according to the voltage signal.

[0019] Optionally, the laser emitting tube includes an infrared laser emitting tube.

[0020] Optionally, the light absorbing part includes a metal oxide light absorbing unit, or includes a sprayed light absorbing unit.

[0021] Optionally, the current detection module includes a detection sampling resistor.

[0022] Optionally, the control module is further used to determine the load borne by the flexible shaft end actuator according to the real-time rotation speed of the flexible shaft end actuator, the real-time rotation speed of the motor and the real-time current of the motor, specifically:

[0023] Determine a first speed change rate according to the real-time speed of the flexible shaft end actuator;

[0024] Determining a second speed change rate according to the real-time speed of the motor;

[0025] When the difference between the first speed change rate and the second speed change rate is less than a preset change rate, and the real-time current of the motor is less than a preset current threshold, the load borne by the flexible shaft end actuator is light load;

[0026] When the difference between the first speed change rate and the second speed change rate is greater than the preset change rate, and the real-time current of the motor is greater than the preset current threshold, the load borne by the flexible shaft end actuator is heavy load;

[0027] When the real-time rotation speed of the flexible shaft end actuator is equal to the real-time rotation speed of the motor, and the real-time current of the motor is less than the preset current threshold, the load borne by the flexible shaft end actuator is no-load.

[0028] Optionally, the control module is used to output a brake deceleration signal to the motor driver according to the load size so that the motor driver drives the motor to decelerate, specifically:

[0029] When the load borne by the flexible shaft end actuator is heavy, a brake deceleration signal is output to the motor driver so that the motor driver drives the motor to decelerate;

[0030] When the load borne by the flexible shaft end actuator is light load, or when the load borne by the flexible shaft end actuator is no load, the output of the brake deceleration signal to the motor driver is stopped.

[0031] Optionally, the control module is further used to determine a first speed pulse signal of the flexible shaft end actuator according to the real-time speed of the flexible shaft end actuator; and determine a second speed pulse signal of the motor according to the real-time speed of the motor;

[0032] The load borne by the flexible shaft end actuator is determined according to the first speed pulse signal and the second speed pulse signal; and a brake deceleration signal is output to the motor driver according to the load borne, so that the motor driver drives the motor to decelerate.

[0033] Optionally, judging the load borne by the flexible shaft end actuator according to the first speed pulse signal and the second speed pulse signal; and outputting a brake deceleration signal to the motor driver according to the load borne so that the motor driver drives the motor to decelerate, including:

[0034] When the first speed pulse signal has no jump at the first preset time, and the second speed pulse signal has a jump at the first preset time, the load borne by the flexible shaft end actuator is heavy load;

[0035] When the load borne by the flexible shaft end actuator is heavy, an alarm signal is output at a second preset time, and a brake deceleration signal is output to the motor driver at a third preset time so that the motor driver drives the motor to decelerate.

[0036] Optionally, the control module is further used to control the output of a reverse control signal after the motor stops so that the motor driver drives the motor to rotate in the reverse direction.

[0037] Optionally, the device further comprises: a protective housing, a battery module, a protective switch and a circuit board;

[0038] The control module and the motor driver are arranged on the circuit board; the first end of the protection switch is electrically connected to the first end of the battery module; the second end of the protection switch is electrically connected to the circuit board; the second end of the battery module is electrically connected to the circuit board;

[0039] The circuit board, the battery module and the protection switch are arranged in the protection shell.

[0040] Optionally, the device further comprises: a single lumen catheter;

[0041] The flexible shaft is arranged in the single-lumen catheter;

[0042] Alternatively, the device further comprises: a multi-lumen catheter; the multi-lumen catheter comprises an outer sleeve and an inner sleeve;

[0043] The optical fiber is arranged in the outer sleeve; and the flexible shaft is arranged in the inner sleeve.

[0044] In a second aspect, an embodiment of the present invention further provides a method for protecting a soft shaft of a thrombus volume reduction and rotary excision device, which is applied to the thrombus volume reduction and rotary excision device soft shaft protection device described in the first aspect above, and the thrombus volume reduction and rotary excision device soft shaft protection method comprises:

[0045] Obtaining the real-time rotation speed of the end effector of the flexible shaft;

[0046] Obtaining the real-time rotation speed of the motor and the real-time current of the motor;

[0047] Determining the load borne by the flexible shaft end actuator according to the real-time rotation speed of the flexible shaft end actuator, the real-time rotation speed of the motor and the real-time current of the motor;

[0048] The motor deceleration process is controlled according to the load size.

[0049] Optionally, judging the load borne by the flexible shaft end actuator according to the real-time rotation speed of the flexible shaft end actuator, the real-time rotation speed of the motor and the real-time current of the motor comprises: determining a first rotation speed change rate according to the real-time rotation speed of the flexible shaft end actuator;

[0050] Determining a second speed change rate according to the real-time speed of the motor;

[0051] When the difference between the first speed change rate and the second speed change rate is less than a preset change rate, and the real-time current of the motor is less than a preset current threshold, the load borne by the flexible shaft end actuator is light load;

[0052] When the difference between the first speed change rate and the second speed change rate is greater than the preset change rate, and the real-time current of the motor is greater than the preset current threshold, the load borne by the flexible shaft end actuator is heavy load;

[0053] When the real-time rotation speed of the flexible shaft end actuator is equal to the real-time rotation speed of the motor, and the real-time current of the motor is less than the preset current threshold, the load borne by the flexible shaft end actuator is no-load.

[0054] In an embodiment of the present invention, a control signal is sent to the motor driver through the control module, so that the motor driver drives the motor to work; when the motor is working, the motor transmits power to the flexible shaft end actuator through the flexible shaft; the end speed detection module obtains the real-time speed of the flexible shaft end actuator and sends it to the control module; the motor driver also feeds back the real-time speed of the motor and sends it to the control module; the current detection module detects the real-time current of the motor and sends it to the control module; the control module determines the load size of the flexible shaft end actuator according to the real-time speed of the flexible shaft end actuator, the real-time speed of the motor and the real-time current of the motor; and outputs a brake deceleration signal to the motor driver according to the load size so that the motor driver drives the motor to decelerate, thereby achieving protection of the flexible shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 It is a structural schematic diagram of a soft shaft protection device for thrombus volume reduction and rotary excision equipment provided by an embodiment of the present invention;

[0056] Figure 2 is a schematic diagram of the structure of the first speed pulse signal and the second speed pulse signal in an embodiment of the present invention;

[0057] Figure 3 It is a schematic structural diagram of another soft shaft protection device for thrombus volume reduction and rotary excision equipment provided by an embodiment of the present invention;

[0058] Figure 4 It is a schematic diagram of the specific structure of a soft shaft protection device for thrombus volume reduction and rotary excision equipment provided by an embodiment of the present invention;

[0059] Figure 5 It is a schematic diagram of a part of the specific structure of a soft shaft protection device for thrombus volume reduction and rotary excision equipment provided by an embodiment of the present invention;

[0060] Figure 6 It is a flow chart of a soft shaft protection method for a thrombus volume reduction and excision device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0061] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0062] Figure 1 is a schematic diagram of a structure of a soft shaft protection device for thrombus volume reduction and rotary excision equipment provided by an embodiment of the present invention, such as Figure 1 As shown, the device includes: a control module 10, a motor driver 20, a motor 30, a flexible shaft 40, a flexible shaft end actuator 50, a terminal speed detection module 60 and a current detection module 70;

[0063] The control module 10 is electrically connected to the motor 30 through the motor driver 20; the control module 10 is used to send a control signal to the motor driver 20 so that the motor driver 20 drives the motor 30 to work; the motor 30 is used to transmit power to the flexible shaft end actuator 50 through the flexible shaft 40 when working;

[0064] The terminal speed detection module 60 is electrically connected to the control module 10 and is used to obtain the real-time speed of the flexible shaft terminal actuator 50 and send it to the control module 10;

[0065] The motor driver 20 is also used to feed back the real-time rotation speed of the motor 30 and send it to the control module 10;

[0066] The current detection module 70 is electrically connected to the control module 10 and the motor 30, and is used to detect the real-time current of the motor 30 and send it to the control module 10;

[0067] The control module 10 is also used to determine the load size of the flexible shaft end actuator 50 according to the real-time rotation speed of the flexible shaft end actuator 50, the real-time rotation speed of the motor 30 and the real-time current of the motor 30; and output a brake deceleration signal to the motor driver 20 according to the load size so that the motor driver 20 drives the motor 30 to decelerate.

[0068] Among them, the flexible shaft 40 is a structure with certain torsional elasticity, and torsional power can be transmitted to the flexible shaft end actuator 50 through the flexible shaft 40; the flexible shaft end actuator 50 can be a cutter head or a grinding head; the terminal speed detection module 60 can be any module for obtaining the real-time speed of the flexible shaft end actuator 50, and can be a module that uses optical principles to measure the speed, or a module that uses electrical principles to measure the speed; this embodiment does not make specific limitations on this.

[0069] This embodiment can determine the load size of the flexible shaft end actuator 50 through the real-time speed of the flexible shaft end actuator 50, the real-time speed of the motor 30 and the real-time current of the motor 30. When it is determined that the load size of the flexible shaft end actuator 50 is heavy, the control module 10 outputs a brake deceleration signal to the motor driver 20, so that the motor driver 20 drives the motor 30 to decelerate, avoiding the problem that when the load size of the flexible shaft end actuator 50 is heavy, the actuator end will be stuck, and then the transmission flexible shaft will be damaged or broken, thereby protecting the flexible shaft. When it is determined that the load size of the flexible shaft end actuator 50 is light or no-load, the control module 10 stops outputting the brake deceleration signal to the motor driver 20 to ensure that the flexible shaft end actuator 50 drives the load normally.

[0070] Optionally, based on the above embodiment, the load bearing size of the flexible shaft end effector 50 is further refined, such as Figure 1 As shown, the control module 10 is also used to determine the load size of the flexible shaft end actuator 50 according to the real-time speed of the flexible shaft end actuator 50, the real-time speed of the motor 30 and the real-time current of the motor 30, specifically:

[0071] The first speed change rate m1 is determined according to the real-time speed n1 of the actuator at the end of the flexible shaft; wherein the first speed change rate m1 is determined according to the real-time speed n1 of the actuator at the end of the flexible shaft as follows: m1=dn1 / dt;

[0072] The second speed change rate m2 is determined according to the real-time speed n2 of the motor; wherein the second speed change rate m2 is determined according to the real-time speed n2 of the motor as follows: m2=dn2 / dt;

[0073] When the difference between the first speed change rate m1 and the second speed change rate m2 is less than the preset change rate, the first speed change rate m1 is greater than the second speed change rate m2, and the real-time current I of the motor is less than the preset current threshold, the load borne by the flexible shaft end actuator 50 is light load; wherein the preset change rate can be determined according to the actual size of the heavy load that the flexible shaft end actuator 50 can bear;

[0074] When the difference between the first speed change rate m1 and the second speed change rate m2 is greater than the preset change rate, that is, the first speed change rate m1 is much greater than the second speed change rate m2, and the real-time current of the motor is greater than the preset current threshold, the load borne by the flexible shaft end actuator is heavy load;

[0075] When the real-time rotation speed n1 of the flexible shaft end actuator is equal to the real-time rotation speed n2 of the motor, and the real-time current I of the motor is less than the preset current threshold, the load borne by the flexible shaft end actuator is no-load.

[0076] Optional, such as Figure 1 As shown, the control module 10 is used to output a brake deceleration signal to the motor driver 20 according to the load size so that the motor driver 20 drives the motor 30 to decelerate, specifically:

[0077] When the load borne by the flexible shaft end effector 50 is heavy, a brake deceleration signal is output to the motor driver 20 so that the motor driver 20 drives the motor 30 to decelerate.

[0078] When the load borne by the flexible shaft end actuator 50 is light, or when the load borne by the flexible shaft end actuator 50 is no-load, the output of the brake deceleration signal to the motor driver 20 is stopped.

[0079] Optionally, in some other embodiments, the control module 10 is also used to determine a first speed pulse signal of the flexible shaft end actuator 50 according to the real-time speed n1 of the flexible shaft end actuator 50; determine a second speed pulse signal of the motor 30 according to the real-time speed n2 of the motor 30; judge the load size of the flexible shaft end actuator 50 according to the first speed pulse signal and the second speed pulse signal; and output a brake deceleration signal to the motor driver 20 according to the load size so that the motor driver 20 drives the motor 30 to decelerate.

[0080] The first speed pulse signal of the flexible shaft end actuator 50 is determined according to the real-time speed n1 of the flexible shaft end actuator 50; specifically:

[0081] n1= (N1 / t01)*60 / M1

[0082] Among them, n1 is the real-time rotation speed of the flexible shaft end actuator 50; N1 is the number of pulses detected by the control module 10 from the flexible shaft end actuator 50 in a certain period of time; t01 is the time used for the pulse number; M1 is the number of pulses emitted by the flexible shaft end actuator 50 per rotation, which is a high level and a low level;

[0083] The second speed pulse signal of the motor 30 is determined according to the real-time speed n2 of the motor 30; specifically:

[0084] n2= (N2 / t02)*60 / M2

[0085] Among them, n2 is the real-time speed of the motor; the number of pulses N2 is the number of pulses emitted by the motor in a certain period of time; t02 is the time used for the number of pulses; M2 is the number of pulses emitted by the motor per revolution; M2 is determined according to the magnetic logarithm of the motor;

[0086] Figure 2 is a schematic diagram of the structure of the first speed pulse signal and the second speed pulse signal in an embodiment of the present invention; Figure 2 As shown, T1 is the time for the motor to rotate one circle; M2 is the number of pulses for the motor to rotate one circle; M1 is the number of pulses for the flexible shaft end actuator 50 to rotate one circle; specifically, when the first speed pulse signal L1 has no jump at the first preset time t1, and the second speed pulse signal L2 has a jump at the first preset time t1, the load borne by the flexible shaft end actuator 50 is heavy load, that is, a stuck state occurs; it can be understood that when the execution end is stuck, the speed of the flexible shaft end actuator 50 does not change, and the speed pulse will not be output, and the motor is still rotating;

[0087] When the load borne by the end actuator 50 of the flexible shaft is heavy, an alarm signal is output at the second preset time t2, and a brake deceleration signal is output to the motor driver at the third preset time t3 to cause the motor driver 20 to drive the motor 30 to decelerate, thereby alleviating the torque of the flexible shaft; it is understandable that after the control module 10 controls the motor 30 to stop, the control module 10 also controls the output of a reverse control signal to cause the motor driver 20 to drive the motor 30 to rotate in the opposite direction, thereby releasing the torsion of the flexible shaft.

[0088] Optionally, based on the above embodiment, the terminal speed detection module 60 is further refined. Figure 3 FIG. 1 is a schematic diagram of the structure of another soft shaft protection device for thrombus volume reduction and rotary excision equipment provided by an embodiment of the present invention. Figure 3 As shown, a marker ring 41 is provided on the flexible shaft 40; the marker ring 41 includes a polishing portion 411 and a light absorbing portion 412; the terminal speed detection module 60 includes: a laser emitting tube 61, a beam splitter prism 62, an optical fiber 63, a reflecting prism 64 and a photoelectric receiving tube 65;

[0089] The laser emitting tube 61 is used to emit the incident laser beam to the beam splitter prism 62;

[0090] The beam splitter prism 62 is used to split the incident laser beam and reflect it into the optical fiber 63 so that the reflected incident laser beam is incident on the reflecting prism 64 through the optical fiber 63;

[0091] The reflecting prism 64 is used to make the reflected laser incident light beam incident again onto the light absorbing portion 412 on the marker ring 41;

[0092] The light beam reflected by the polished portion 411 of the marker ring 41 is reflected into the optical fiber 63 through the reflecting prism 64 so that the reflected light beam is incident on the beam splitting prism 62 through the optical fiber 63;

[0093] The beam splitter prism 62 is also used to transmit the reflected light beam to the photoelectric receiving tube 65;

[0094] The photoelectric receiving tube 65 is used to output a voltage signal according to the reflected light beam, and feed the voltage signal back to the control module 10 so that the control module 10 determines the real-time rotation speed of the flexible shaft end effector 50 according to the voltage signal.

[0095] The marker ring 41 includes a polishing portion 411 and a light absorbing portion 412; the polishing portion 411 can reflect laser light; the light absorbing portion 412 can absorb light; the light absorbing portion 412 includes a metal oxidation light absorbing unit, or includes a spraying light absorbing unit; the metal oxidation light absorbing unit is made by a metal oxidation process; the spraying light absorbing unit is made by a spraying process; the laser emitting tube 61 can be a laser diode; the laser power of the laser emitting tube 61 can be in the range of 4.5mW-5.5mW, and will not cause damage to the patient and the operator; the splitting ratio of the beam splitter prism 62 can be 10%-90%, preferably a 50% splitting ratio;

[0096] Specifically, the process of the terminal speed detection module 60 detecting the real-time speed of the flexible shaft terminal actuator 50 is as follows: after the laser incident light beam emitted by the laser emitting tube 61 is irradiated to the reflecting surface of the beam splitter prism 62, the laser incident light beam is split and reflected into the optical fiber 63, so that the reflected laser incident light beam is incident to the reflecting prism 64 through the optical fiber 63; the reflecting prism 64 will reflect the reflected laser incident light beam to the marker ring 41 again; the reflected laser incident light beam will be partially absorbed by its light absorbing part 412; due to the rotation of the actuator terminal, the reflected laser incident light beam will also irradiate its polishing part The reflected laser incident light beam will be reflected on the point 411. Therefore, if the execution end rotates one circle, the reflected laser incident light beam will be absorbed and reflected once, and the reflected reflected laser incident light beam will be reflected back to the dichroic prism 62 along the original light path reflection prism 64 and optical fiber 63. The dichroic prism 62 transmits the reflected reflected laser incident light beam to the photoelectric receiving tube 65; the photoelectric receiving tube 65 outputs a voltage signal according to the reflected light beam and feeds the voltage signal back to the control module 10. The control module 10 determines the real-time rotation speed of the flexible shaft end execution component 50 according to the voltage signal.

[0097] Optional, such as Figure 3 As shown, the laser emitting tube 61 includes an infrared laser emitting tube, wherein the infrared laser emitting tube emits an infrared laser with a wavelength of 1064 nm, which has a good diffraction effect, so that the infrared cells to be processed by the flexible shaft end effector 50 are not disturbed.

[0098] Optional, such as Figure 3 As shown, the current detection module 70 includes a detection sampling resistor. The ADC in the control module 10 collects the voltage Vr on the detection sampling resistor. Given the resistance R of the detection sampling resistor, the real-time current I of the motor can be determined as: I=Vr / R.

[0099] Optionally, based on the above embodiment, the structure of the soft shaft protection device of the thrombus volume reduction and rotary cutting device is further optimized. Figure 4 is a schematic diagram of a specific structure of a soft shaft protection device for thrombus volume reduction and rotary excision equipment provided by an embodiment of the present invention; Figure 3-4 As shown, the device further includes: a protective housing 80, a battery module 90, a protective switch 100 and a circuit board 110;

[0100] The control module 10 and the motor driver 20 are arranged on the circuit board 110; the first end of the protection switch 100 is electrically connected to the first end of the battery module 90; the second end of the protection switch 100 is electrically connected to the circuit board 110; the second end of the battery module 90 is electrically connected to the circuit board 110; the circuit board 110, the battery module 90, the protection switch 100, the motor 30, and the terminal speed detection module 60 are arranged in the protective shell 80.

[0101] Among them, the protective shell 80 is the main carrier of the entire protection device, which plays a supporting and protective role; the battery module 90 is the power supply component of the entire protection device; and the protection switch 100 plays a role in protecting the entire device by opening and closing.

[0102] Optional, Figure 5 Schematic diagram of a specific structure of a soft shaft protection device for thrombus volume reduction and rotary excision equipment provided by an embodiment of the present invention; Figure 3-5 As shown, the protection device further includes: a multi-lumen catheter 120; the multi-lumen catheter 120 includes an outer sleeve 121 and an inner sleeve 122; the optical fiber 63 is arranged in the outer sleeve 121; and the flexible shaft 40 is arranged in the inner sleeve 122. Of course, in some embodiments, the protection device further includes: a single-lumen catheter; and the flexible shaft 40 is arranged in the single-lumen catheter.

[0103] Based on the same inventive concept, an embodiment of the present invention further provides a method for protecting a soft shaft of a thrombus volume reduction and rotary excision device, which is applied to a soft shaft protection device of a thrombus volume reduction and rotary excision device. Figure 6 is a flow chart of a method for protecting a soft shaft of a thrombus volume reduction and rotary excision device provided by an embodiment of the present invention; Figure 6 As shown, the soft shaft protection method of the thrombus volume reduction rotary cutting device includes the following steps:

[0104] S110, obtaining the real-time rotation speed of the end effector of the flexible shaft;

[0105] S120, obtaining the real-time speed and current of the motor;

[0106] S130, judging the load borne by the flexible shaft end actuator according to the real-time rotation speed of the flexible shaft end actuator, the real-time rotation speed of the motor and the real-time current of the motor;

[0107] S140, controlling the motor to decelerate according to the load size.

[0108] Among them, this embodiment obtains the real-time rotation speed of the flexible shaft end actuator, the real-time rotation speed of the motor and the real-time current of the motor, and judges the load size of the flexible shaft end actuator according to the real-time rotation speed of the flexible shaft end actuator, the real-time rotation speed of the motor and the real-time current of the motor, and then controls the motor deceleration processing according to the load size, thereby avoiding the problem that the actuator end is stuck when the load size of the flexible shaft end actuator is heavy, and then causing damage or breakage of the transmission flexible shaft, thereby protecting the flexible shaft.

[0109] Optionally, based on the above method embodiment, further refinement is made to determine the load borne by the flexible shaft end actuator according to the real-time rotation speed of the flexible shaft end actuator, the real-time rotation speed of the motor and the real-time current of the motor, including: determining a first rotation speed change rate according to the real-time rotation speed of the flexible shaft end actuator;

[0110] Determining a second speed change rate according to the real-time speed of the motor;

[0111] When the difference between the first speed change rate and the second speed change rate is less than the preset change rate, and the real-time current of the motor is less than the preset current threshold, the load borne by the flexible shaft end actuator is light load;

[0112] When the difference between the first speed change rate and the second speed change rate is greater than the preset change rate, and the real-time current of the motor is greater than the preset current threshold, the load borne by the flexible shaft end actuator is heavy load;

[0113] When the real-time rotation speed of the flexible shaft end actuator is equal to the real-time rotation speed of the motor, and the real-time current of the motor is less than the preset current threshold, the load borne by the flexible shaft end actuator is no-load.

[0114] Specifically, when the load borne by the end actuator of the flexible shaft is heavy, a brake deceleration signal is output to the motor driver so that the motor driver drives the motor to decelerate; when the load borne by the end actuator of the flexible shaft is light, or when the load borne by the end actuator of the flexible shaft is no-load, the brake deceleration signal is stopped from being output to the motor driver.

[0115] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A soft shaft protection device for thrombus volume reduction and rotary cutting equipment, characterized in that: include: Control module, motor driver, motor, flexible shaft, flexible shaft end actuator, end speed detection module and current detection module; The control module is electrically connected to the motor through the motor driver; The control module is used to send a control signal to the motor driver so that the motor driver drives the motor to work; the motor is used to transmit power to the end actuator of the flexible shaft through the flexible shaft when working; The terminal speed detection module is electrically connected to the control module, and is used to obtain the real-time speed of the flexible shaft terminal actuator and send it to the control module; The motor driver is also used to feed back the real-time rotation speed of the motor and send it to the control module; The current detection module is electrically connected to the control module and the motor, and is used to detect the real-time current of the motor and send it to the control module; The control module is further used to determine the load borne by the flexible shaft end actuator according to the real-time rotation speed of the flexible shaft end actuator, the real-time rotation speed of the motor and the real-time current of the motor; And according to the load size, a brake deceleration signal is output to the motor driver so that the motor driver drives the motor to decelerate.

2. The soft shaft protection device for thrombus volume reduction and rotary excision equipment according to claim 1, characterized in that: A marker ring is arranged on the flexible shaft; the marker ring comprises a polishing part and a light absorbing part; The terminal speed detection module includes: a laser emitting tube, a beam splitter prism, an optical fiber, a reflecting prism and a photoelectric receiving tube; The laser emitting tube is used to emit the incident laser beam to the beam splitter prism; The beam splitter prism is used to split the incident laser beam into the optical fiber so that the reflected incident laser beam passes through the optical fiber and is incident on the reflecting prism; The reflecting prism is used to make the reflected laser incident light beam incident again onto the light absorbing part on the marker ring; The light beam reflected by the polished part of the marker ring is reflected into the optical fiber through the reflecting prism so that the reflected light beam is incident on the beam splitting prism through the optical fiber; The beam splitter prism is also used to transmit the reflected light beam to the photoelectric receiving tube; The photoelectric receiving tube is used to output a voltage signal according to the reflected light beam, and feed the voltage signal back to the control module so that the control module determines the real-time rotation speed of the flexible shaft end actuator according to the voltage signal.

3. The soft shaft protection device for thrombus volume reduction and rotary excision equipment according to claim 2, characterized in that: The laser emitting tube comprises an infrared laser emitting tube.

4. The soft shaft protection device for thrombus volume reduction and rotary excision equipment according to claim 2, characterized in that: The light absorbing part includes a metal oxide light absorbing unit, or includes a sprayed light absorbing unit.

5. The soft shaft protection device for thrombus volume reduction and rotary excision equipment according to claim 1, characterized in that: The current detection module includes a detection sampling resistor.

6. The soft shaft protection device for thrombus volume reduction and rotary excision equipment according to claim 1, characterized in that: The control module is further used to determine the load size of the flexible shaft end actuator according to the real-time rotation speed of the flexible shaft end actuator, the real-time rotation speed of the motor and the real-time current of the motor, specifically: Determine a first speed change rate according to the real-time speed of the flexible shaft end actuator; Determining a second speed change rate according to the real-time speed of the motor; When the difference between the first speed change rate and the second speed change rate is less than a preset change rate, and the real-time current of the motor is less than a preset current threshold, the load borne by the flexible shaft end actuator is light load; When the difference between the first speed change rate and the second speed change rate is greater than the preset change rate, and the real-time current of the motor is greater than the preset current threshold, the load borne by the flexible shaft end actuator is heavy load; When the real-time rotation speed of the flexible shaft end actuator is equal to the real-time rotation speed of the motor, and the real-time current of the motor is less than the preset current threshold, the load borne by the flexible shaft end actuator is no-load.

7. The soft shaft protection device for thrombus volume reduction and rotary excision equipment according to claim 6, characterized in that: The control module is used to output a brake deceleration signal to the motor driver according to the load size so that the motor driver drives the motor to decelerate, specifically: When the load borne by the flexible shaft end actuator is heavy, a brake deceleration signal is output to the motor driver so that the motor driver drives the motor to decelerate; When the load borne by the flexible shaft end actuator is light load, or when the load borne by the flexible shaft end actuator is no load, the output of the brake deceleration signal to the motor driver is stopped.

8. The soft shaft protection device for thrombus volume reduction and rotary excision equipment according to claim 1, characterized in that: The control module is further used to determine a first speed pulse signal of the flexible shaft end actuator according to the real-time speed of the flexible shaft end actuator; and determine a second speed pulse signal of the motor according to the real-time speed of the motor; Determine the load borne by the flexible shaft end actuator according to the first speed pulse signal and the second speed pulse signal; And according to the load size, a brake deceleration signal is output to the motor driver so that the motor driver drives the motor to decelerate.

9. The soft shaft protection device for thrombus volume reduction and rotary excision equipment according to claim 8, characterized in that: Determine the load borne by the flexible shaft end actuator according to the first speed pulse signal and the second speed pulse signal; And outputting a brake deceleration signal to the motor driver according to the load size so that the motor driver drives the motor to decelerate, including: When the first speed pulse signal has no jump at the first preset time, and the second speed pulse signal has a jump at the first preset time, the load borne by the flexible shaft end actuator is heavy load; When the load borne by the flexible shaft end actuator is heavy, an alarm signal is output at a second preset time, and a brake deceleration signal is output to the motor driver at a third preset time so that the motor driver drives the motor to decelerate.

10. The soft shaft protection device for thrombus volume reduction and rotary excision equipment according to claim 1 or 8, characterized in that: The control module is further used to control the output of a reverse control signal to enable the motor driver to drive the motor to rotate in the reverse direction after the motor stops.

11. The soft shaft protection device for thrombus volume reduction and rotary excision equipment according to claim 1, characterized in that: Also includes: Protect the housing, battery module, protection switch and circuit board; The control module and the motor driver are arranged on the circuit board; the first end of the protection switch is electrically connected to the first end of the battery module; the second end of the protection switch is electrically connected to the circuit board; the second end of the battery module is electrically connected to the circuit board; The circuit board, the battery module and the protection switch are arranged in the protection shell.

12. The soft shaft protection device for thrombus volume reduction and rotary excision equipment according to claim 2, characterized in that: Also includes: Single lumen catheter; The flexible shaft is arranged in the single-lumen catheter; Alternatively, it further comprises: a multi-lumen catheter; the multi-lumen catheter comprises an outer sleeve and an inner sleeve; The optical fiber is arranged in the outer sleeve; and the flexible shaft is arranged in the inner sleeve.

13. A method for protecting the soft shaft of a thrombus volume reduction and rotary cutting device, characterized in that: The soft shaft protection device for thrombus volume reduction and rotary excision equipment according to any one of claims 1 to 12, wherein the soft shaft protection method for thrombus volume reduction and rotary excision equipment comprises: Obtaining the real-time rotation speed of the end effector of the flexible shaft; Obtaining the real-time rotation speed of the motor and the real-time current of the motor; Determining the load borne by the flexible shaft end actuator according to the real-time rotation speed of the flexible shaft end actuator, the real-time rotation speed of the motor and the real-time current of the motor; The motor deceleration process is controlled according to the load size.

14. The method for protecting the soft shaft of a thrombus volume reduction and rotary excision device according to claim 13, characterized in that: The load size of the flexible shaft end actuator is determined according to the real-time rotation speed of the flexible shaft end actuator, the real-time rotation speed of the motor and the real-time current of the motor, including: determining a first rotation speed change rate according to the real-time rotation speed of the flexible shaft end actuator; Determining a second speed change rate according to the real-time speed of the motor; When the difference between the first speed change rate and the second speed change rate is less than a preset change rate, and the real-time current of the motor is less than a preset current threshold, the load borne by the flexible shaft end actuator is light load; When the difference between the first speed change rate and the second speed change rate is greater than the preset change rate, and the real-time current of the motor is greater than the preset current threshold, the load borne by the flexible shaft end actuator is heavy load; When the real-time rotation speed of the flexible shaft end actuator is equal to the real-time rotation speed of the motor, and the real-time current of the motor is less than the preset current threshold, the load borne by the flexible shaft end actuator is no-load.

Images