A flexible capture device for a heart mitral valve

Abstract

The application discloses a flexible capturing device for a heart bicuspid valve, which mainly comprises a capturing mechanism and a control mechanism; the capturing mechanism comprises a sheet-shaped capturing structure and an energy storage spring sheet; the sheet-shaped capturing mechanism comprises a curved paper folding structure, a cable fixing block and a cable; and the control mechanism comprises a feeding mechanism, a cable control structure and a shell. The application has simple structure, can reduce the difficulty of surgical operation, reduce the dependence on the cooperation of many people, and improve the surgical efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to a flexible capturing device for heart mitral valve. BACKGROUND

[0002] In the context of an aging population, the number of patients with heart mitral valve insufficiency increases year by year, and elderly patients may not be able to tolerate the trauma and slow postoperative recovery caused by open surgery, so the interventional transcatheter mitral valve edge-to-edge repair (TEER) surgery brings blessings to patients due to its small trauma and fast recovery. However, since the patient's heart is maintained in a beating state throughout the interventional procedure, the mitral valve is continuously opened and closed throughout the procedure, so there is a problem of difficulty in accurately capturing the mitral valve clip during the arrangement of the TEER surgery.

[0003] In addition, multiple surgical personnel need to operate the catheter mechanism simultaneously during the procedure, and it takes multiple practices to complete the accurate clamping and fixing of the tip of the mitral valve, which leads to the clinical pain points of long training time for surgical operators and dependence on multiple cooperative personnel. Many papers show that the existing flexible capturing mechanisms generally have problems such as a large number of driving and large driving structure, which are not suitable for application in catheter robots. SUMMARY

[0004] In view of the problem of difficulty in capturing the mitral valve in the existing TEER surgery, the present application provides a flexible capturing device for heart mitral valve, which can effectively reduce the structural complexity of the flexible capturing device and improve the stability of clamping.

[0005] The present application can be realized by the following technical solutions:

[0006] A flexible capturing device for heart mitral valve, which mainly consists of a capturing mechanism and a control mechanism; the capturing mechanism includes a sheet-shaped capturing structure and an energy storage spring, the sheet-shaped capturing mechanism includes a curved origami structure, a cable fixing block and a cable, and the control mechanism includes a feeding mechanism, a cable control structure and a shell.

[0007] The feeding mechanism pushes four groups of sheet-shaped capturing structures out of the four cavities of the shell, and as the energy storage spring reaches the release position, the folded spring is folded outward to knock the jump trigger point of the curved origami structure, so that the sheet-shaped capturing structure jumps and changes from the storage state to the outward folding state, thereby realizing the passive release process of the capturing mechanism;

[0008] The cable control structure drives four groups of cables simultaneously after the sheet-shaped capturing mechanism completes the jump, thereby realizing the active control of the capturing mechanism and achieving the capturing action of the heart mitral valve;

[0009] The four sets of sheet-shaped capturing mechanisms are passively deformed when the feeding mechanism is pulled backward after the operation process, and the flexible characteristics are utilized to realize the retracting action.

[0010] Further, the feeding structure and the cable control structure are fixed in relative position by the lock catch, so that the cable is not accidentally touched during the feeding of the sheet-shaped capturing mechanism.

[0011] Further, the curved origami structure has special mechanical characteristics of bistability, and has a jump trigger point below the curved crease, where the curved origami structure is transformed from the vertical state to the everted state after an external force is applied.

[0012] Further, the curved origami structure is composed of a high-compliance biocompatible material.

[0013] Further, the energy storage spring sheet is made of an ultra-thin shape memory alloy and has strong recovery ability.

[0014] Further, the sheet-shaped capturing structure realizes accurate control of the folding angle by driving the cable fixing block after the curved origami structure triggers the stable state jump.

[0015] Further, the cable control structure is unlocked with the feeding mechanism after the sheet-shaped capturing mechanism completes the jump, so that the four sets of sheet-shaped capturing mechanisms are simultaneously controlled.

[0016] Compared with the prior art, the present application has the following advantages:

[0017] 1. Reduce the difficulty of operation: by arranging the mitral valve flexible capturing device at the front end of the catheter structure, the relative position of the mitral valve can be constrained, thereby simplifying the operation process;

[0018] 2. Reduce the dependence on multi-person cooperation: due to the introduction of the mitral valve flexible capturing device, the doctor can focus on the installation of the mitral valve clamp, without repeatedly determining the real-time position of the mitral valve, reducing the dependence on multi-doctor cooperation and reducing the requirement for surgical personnel skills and experience;

[0019] 3. Easy to learn and operate: the mitral valve flexible capturing device makes the operation easier to operate and learn, which helps to reduce the learning threshold and facilitate the promotion of the interventional transcatheter mitral valve edge-to-edge repair (TEER) surgery, thereby benefiting the majority of patients with valvular heart disease;

[0020] 4. Improve the efficiency of the operation: by solving the problem of low efficiency of capturing the leaflets caused by the opening and closing of the mitral valve, the doctor can complete the operation steps more quickly;

[0021] 5. Standardized surgical procedure: the introduction of the flexible capture device for the mitral valve simplifies the clamping process of the mitral valve, helping to standardize the surgical procedure. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 Figure 1 is a general schematic diagram of the flexible capture device for the mitral valve of the heart of the present application;

[0023] Figure 2 Figure 2 is a structural schematic diagram of the flexible capture device for the mitral valve of the heart of the present application;

[0024] Figure 3 Figure 3 is a schematic diagram of the sheet capture structure of the present application;

[0025] Figure 4 Figure 4 is a schematic diagram of the deformation of the sheet capture structure of the present application;

[0026] Figure 5 Figure 5 is a schematic diagram of the deployment process of the flexible capture device for the mitral valve of the heart of the present application;

[0027] Figure 6 Figure 6 is a schematic diagram of the recovery process of the flexible capture device for the mitral valve of the heart of the present application.

[0028] Figure 1 Reference numerals shown in:

[0029] 1. Flexible capture device for the mitral valve of the heart, 2. Capture mechanism, 3. Control mechanism.

[0030] Figure 2 Reference numerals shown in:

[0031] 4. Sheet capture structure, 5. Housing, 6. Feed structure, 7. Cable control structure, 8. Energy storage spring.

[0032] Figure 3 Reference numerals shown in:

[0033] 9. Cable fixing block, 10. Curved origami structure, 11. Cable. DETAILED DESCRIPTION

[0034] The embodiments of the present application will be described in detail below with specific reference to specific embodiments. Those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in the specification.

[0035] As shown in Figure 1 , 2 and 3, the flexible capture device for the mitral valve of the heart of the present application, mainly composed of capture mechanism 2 and control mechanism 3, forms the capture device 1 for the mitral valve of the heart; the sheet capture mechanism 4 and the energy storage spring 8 form the capture mechanism 2; the housing 5, the feed structure 6, and the cable control structure 7 form the control mechanism 3. The sheet capture structure 4 is mainly composed of a curved origami structure 10, a cable fixing block 9, and a cable 11.

[0036] Wherein, the feeding structure 6 and the cable control structure 7 can realize the fixation of relative position by the lock catch, so that the cable 11 cannot be touched by mistake during the feeding process of the sheet-shaped capturing mechanism 4; the curve folding paper structure 10 has the special mechanical characteristics of bistable state, and has a jump trigger point below the curve folding crease, and the curve folding paper structure can be converted from the vertical state to the everted state after the external force is applied at the jump trigger point, as shown in steps 1 and 2 in the figure. Figure 4

[0037] Wherein, the curve folding paper structure 10 is composed of the high-compliance biocompatible material; the energy storage spring piece is made of the ultra-thin shape memory alloy and has strong recovery ability.

[0038] Wherein, the sheet-shaped capturing structure 4 can drive the cable fixing block 9 to realize the accurate control of the folding angle after the curve folding paper structure 10 triggers the stable jump, as shown in steps 2 and 3 in the figure. Figure 4

[0039] The cable control structure 7 can be unlocked with the feeding mechanism 6 after the sheet-shaped capturing mechanism 4 completes the jump, so that the four groups of sheet-shaped capturing mechanisms can be controlled simultaneously.

[0040] The feeding mechanism 6 of the present application pushes the four groups of sheet-shaped capturing structures 4 out of the four cavities of the shell 5, as shown in steps 1 and 2 in the figure. Figure 5 With the energy storage spring piece 8 reaching the release position, the folded spring piece knocks the jump trigger point of the curve folding paper structure 10, so that the sheet-shaped capturing structure 4 jumps and changes from the storage state to the everted state, so as to realize the passive release process of the capturing mechanism 2, as shown in steps 2 and 3 in the figure. Figure 5

[0041] The cable control structure 7 of the present application can drive the four groups of cables 11 simultaneously after the sheet-shaped capturing mechanism 4 completes the jump, so as to realize the active control of the capturing mechanism 2, as shown in steps 3 and 4 in the figure. Figure 5

[0042] The feeding mechanism 6 can realize the passive deformation of the four groups of sheet-shaped capturing mechanisms 4 when it is pulled backward, and the retraction action is realized by using the flexible characteristics, as shown in steps 2, 3 and 4 in the figure. Figure 6

[0043] The above only describes the preferred embodiments of the present application and does not limit the present application, and any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.​​​​​

Claims

1. A flexible capture device for a heart mitral valve, characterized in that, The capturing device mainly consists of a capturing mechanism and a control mechanism; the capturing mechanism includes a sheet-shaped capturing structure and an energy storage spring, the sheet-shaped capturing mechanism includes a curved paper folding structure, a cable fixing block and a cable, and the control mechanism includes a feeding mechanism, a cable control structure and a shell; The feeding mechanism pushes the four groups of sheet-shaped capturing structures out of the four cavities of the shell, and when the energy storage spring reaches the release position, the folded spring is folded outward to knock the jump trigger point of the curved paper folding structure, so that the sheet-shaped capturing structure jumps and changes from the storage state to the outward state, thereby realizing the passive release process of the capturing mechanism; The cable control structure drives the four groups of cables at the same time after the sheet-shaped capturing mechanism completes the jump, thereby realizing the active control of the capturing mechanism and achieving the capturing action of the heart mitral valve. The passive deformation of the four groups of sheet-shaped capturing mechanisms can be realized by pulling the feeding mechanism backward after the surgical process is completed, and the flexible characteristics are used to realize the recovery action.

2. A flexible capture device for a heart mitral valve according to claim 1, characterized in that, The relative position of the feeding mechanism and the cable control structure is fixed by a lock, so that the cable cannot be accidentally touched during the feeding process of the sheet-shaped capturing mechanism.

3. The flexible capture device of claim 1, wherein, The curved paper folding structure has special mechanical properties of bistability, and has a jump trigger point below the curved folding line, which changes from the vertical state to the outward state after an external force is applied at the jump trigger point.

4. A flexible capture device for a heart mitral valve according to claim 3, characterized in that, The curved paper folding structure is made of high-compliance biocompatible material.

5. The flexible capture device of claim 1, wherein, The energy storage spring is made of ultra-thin shape memory alloy and has strong recovery ability.

6. The flexible capture device of claim 1, wherein, The sheet-shaped capturing structure realizes the precise control of the folding angle by driving the cable fixing block through the cable after the jump of the curved paper folding structure.

7. The flexible capture device of claim 2, wherein, The cable control structure is unlocked with the feeding mechanism after the sheet-shaped capturing mechanism completes the jump, thereby realizing the simultaneous control of the four groups of sheet-shaped capturing mechanisms.

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