Ablation needle driving system

Abstract

The invention discloses an ablation needle driving system which comprises a coil support, a first electrode, a second electrode and a third electrode, an inner cavity is formed in the coil support, and the inner cavity is provided with a first end and a second end which are oppositely arranged in the first direction; the magnetic affinity inner core is movably arranged in the inner cavity in the first direction, and the magnetic affinity inner core is used for fixing an ablation needle; and the driving coil is wound on the outer side of the coil support, and the driving coil is electrified to attract the magnetic-affinity inner core so as to provide power for the magnetic-affinity inner core to move towards the first end or the second end. The high-voltage large current is applied to the driving coil to form a strong magnetic field, the magnetic-affinity inner core is attracted to move, the driving force and the driving speed on the magnetic-affinity inner core are large, and the driving force and the driving speed can be changed by adjusting different instantaneous voltages, so that the ablation needle is quick in response, larger driving force is obtained, the ablation needle is more reliable in movement, and the driving effect is better.

Description

Technical Field

[0001] The present application belongs to the field of medical device technology, and specifically relates to an ablation needle driving system. Background Art

[0002] Ablation surgery has the advantages of less trauma, shorter operation time and fewer complications. At present, some ablation systems, such as steam ablation systems, work on the principle that high-temperature steam passes through the ablation needle tube, and the high-temperature steam is discharged from the ablation needle tip to ablate the affected tissue. During the treatment, the ablation needle tip is inserted into the affected tissue, and the needle tip is retracted during the idle period of treatment to avoid scratching healthy tissue when searching for the next treatment position or ending the treatment. Therefore, the driving effect of the ablation needle directly affects the safety and treatment effect of ablation. However, the current ablation needle drive system has a poor driving effect on the ablation needle. Summary of the invention

[0003] The present application provides an ablation needle driving system to solve the technical problem that the ablation needle driving system has a poor driving effect on the ablation needle.

[0004] In order to solve the above technical problems, a technical solution adopted in the present application is: an ablation needle driving system, comprising: a coil bracket, an inner cavity is formed in the coil bracket, and the inner cavity has a first end and a second end arranged relatively to each other along a first direction; a magnetically friendly inner core, movably arranged in the inner cavity along the first direction, and the magnetically friendly inner core is used to fix the ablation needle; a driving coil, wound around the outside of the coil bracket, and the driving coil is energized to attract the magnetically friendly inner core to provide the magnetically friendly inner core with power to move toward the first end or the second end.

[0005] According to one embodiment of the present application, the drive system also includes: a first retaining ring, arranged at the end of the coil bracket close to the first end; a second retaining ring, arranged at the end of the coil bracket close to the second end; a first magnet, arranged on the side of the first retaining ring away from the magnetically friendly inner core; a second magnet, arranged on the side of the second retaining ring away from the magnetically friendly inner core.

[0006] According to one embodiment of the present application, the driving system includes: the area of ​​the first retaining ring corresponding to the inner cavity can extend into the inner cavity; the area of ​​the second retaining ring corresponding to the inner cavity can extend into the inner cavity.

[0007] According to one embodiment of the present application, it includes: a first end cover, which is arranged on the side of the first retaining ring facing away from the coil bracket, and the first magnet is located in the first end cover; a second end cover, which is arranged on the side of the second retaining ring facing away from the coil bracket, and the second magnet is located in the first end cover.

[0008] According to one embodiment of the present application, the magnetically friendly inner core moves toward the first end as the direction for driving the ablation needle into position. When the magnetically friendly inner core is in contact with the second retaining ring, the magnetically friendly inner core at least partially overlaps with the driving coil.

[0009] According to one embodiment of the present application, the driving coil is a unidirectional coil and is formed by a single coil wound around the outside of the coil bracket.

[0010] According to an embodiment of the present application, in the first direction, the driving coil is centrally disposed on the coil support or disposed toward one end thereof.

[0011] According to one embodiment of the present application, it includes: an ablation needle, which is inserted into the magnetically friendly inner core and extends from the first end of the inner cavity to the outside of the coil bracket; a delivery tube, which is connected to the ablation needle and extends from the second end of the inner cavity to the outside of the coil bracket.

[0012] According to one embodiment of the present application, an insertion groove is formed in the magnetically friendly inner core along the first direction, and the ablation needle is inserted in the insertion groove. A glue containing groove is also formed on the surface of the magnetically friendly inner core, and the glue containing groove is connected to the insertion groove.

[0013] According to one embodiment of the present application, it includes: a viscose channel, which is arranged at the end of the magnetically friendly inner core facing the first end, the viscose channel is connected to the plug-in slot, and the inner diameter of the viscose channel matches the outer diameter of the ablation needle for the ablation needle to pass through.

[0014] According to one embodiment of the present application, it includes: a guide channel, which is arranged at the end of the magnetically friendly inner core facing the second end, the guide channel is connected to the plug-in slot, and the conveying pipe is passed through the guide channel.

[0015] According to one embodiment of the present application, the inner wall of the coil support has a plurality of support ribs that are arranged at intervals and extend along the first direction.

[0016] According to one embodiment of the present application, it includes: a pull rod, which is arranged on the magnetically friendly inner core and extends from the second end of the inner cavity to the outside of the coil bracket.

[0017] According to one embodiment of the present application, it includes: a first sensor, which is arranged outside the coil bracket and located on the side of the pull rod toward the first end, and when the magnetically friendly inner core moves to the first retaining ring, the first sensor senses the pull rod; and / or, a second sensor, which is arranged outside the coil bracket and located on the side of the pull rod toward the second end, and when the magnetically friendly inner core moves to the second retaining ring, the second sensor senses the pull rod.

[0018] The beneficial effect of the present application is: by instantaneously energizing the driving coil, the driving coil winding forms an instantaneous strong magnetic field, and the strong magnetic field has an attraction to the magnetic affinity core, so that the magnetic affinity inner core moves toward the center of the driving coil until the first end of the coil bracket. When the driving coil is instantaneously energized again, the magnetic affinity inner core will be ejected to the second end of the coil bracket in the same way, thereby realizing the insertion and withdrawal of the ablation needle. The driving system of the present application forms a strong magnetic field by passing high voltage and high current through the driving coil, and attracts the magnetic affinity inner core to move. The driving force and driving speed of the magnetic affinity inner core are large, and the driving force and driving speed can be changed by adjusting different instantaneous voltages, thereby realizing the rapid response of the ablation needle and obtaining a greater driving force, making the movement of the ablation needle more reliable and the driving effect better. Since the driving coil of the present application is instantaneously energized to drive the magnetic affinity inner core to move, the driving coil will not heat up due to continuous energization, and the magnetic field magnetic force formed by the driving coil can be guaranteed to avoid a decrease in the driving force. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work, among which:

[0020] Figure 1 It is a schematic diagram of the working principle of the ablation needle driving system of one embodiment of the present application;

[0021] Figure 2 It is a schematic diagram of the overall structure of the ablation needle driving system of an embodiment of the present application, wherein the magnetically friendly inner core is located at the first end;

[0022] Figure 3 1 is a partial structural schematic diagram of an ablation needle driving system according to an embodiment of the present application, wherein the driving coil in FIG. a is shorter, and the driving coil in FIG. b is not centered on the coil support;

[0023] Figure 4 It is a partial structural schematic diagram of an ablation needle driving system according to an embodiment of the present application, wherein the magnetically friendly inner core is located at the second end;

[0024] Figure 5 : is a partial structural schematic diagram of an ablation needle driving system according to an embodiment of the present application, wherein the magnetically friendly inner core is located at a position where a side of the magnetically friendly inner core facing the first end is aligned with a side of the driving coil facing the second end;

[0025] Figure 6 is a schematic diagram of the overall structure of an ablation needle driving system according to another embodiment of the present application;

[0026] Figure 7is a schematic cross-sectional structure diagram of a magneto-philic inner core of an ablation needle driving system according to an embodiment of the present application;

[0027] Figure 8 It is a schematic diagram of the three-dimensional structure of the magnetically friendly inner core of the ablation needle driving system according to one embodiment of the present application;

[0028] Fig. 9 It is a schematic diagram of the overall structure of an ablation needle driving system according to another embodiment of the present application. DETAILED DESCRIPTION

[0029] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. It is to be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for ease of description, only some structures related to the present application are shown in the accompanying drawings, rather than all structures. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0030] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0031] The inventors have found through long-term research that some existing ablation needle drive systems use screw drive or gear rack drive, which has the disadvantages of large drive module size and slow response. Some existing ablation needle drive systems also use spring drive, which has weakened spring elastic potential energy and unstable driving force, requiring the operator to manually withdraw the needle and compress the spring.

[0032] Some existing ablation needle drive systems also use bidirectional winding coils to pass positive and negative currents, thereby pushing and pulling the magnetic field, and then driving the permanent magnet core to move. By continuously energizing the two coils (or energizing with a duty cycle), a force is continuously applied to the permanent magnet core, so that the permanent magnet core fits the retaining ring, thereby forming a position retention. However, the continuously energized coils in this solution are prone to heat up, and the magnetic field formed by the heated coils weakens the magnetic force, thereby causing a decrease in the driving force; at the same time, because the permanent magnet will also demagnetize in the reverse magnetic field, the permanent magnet is easy to demagnetize in the strong magnetic field of high voltage and high current. Therefore, the coils in this solution cannot use high voltage and high current, and the driving force is relatively small; in addition, the high temperature of steam during steam ablation will also cause the permanent magnet to demagnetize, thereby affecting the ablation needle driving effect; because the permanent magnet core in this solution is in both coils at the same time, the driving stroke is limited. Therefore, the solution of bidirectional winding coils with permanent magnets has the disadvantages of limited driving stroke, general driving force, and general holding force.

[0033] First, the driving principle of the ablation needle driving system 100 in the embodiment of the present application is briefly introduced. Figure 1 The ablation needle driving system 100 drives the ablation needle 171 to move in and out of the guide rod 10 to perform ablation. The ablation needle driving system 100 can also drive the ablation needle 171 to move back into the guide rod 10 to ensure safety in non-ablation operations.

[0034] The following is a detailed description of the ablation needle drive system 100. An embodiment of the present application provides an ablation needle drive system 100. Figure 2 , including a coil support 110, a magnetically friendly inner core 120 and a driving coil 130. An inner cavity 111 is formed in the coil support 110. The inner cavity 111 has a first end 101 and a second end 102 that are relatively arranged along a first direction X. The magnetically friendly inner core 120 is movably arranged in the inner cavity 111 along the first direction X. The ablation needle 171 is fixed on the magnetically friendly inner core 120. The ablation needle 171 can extend from the first end 101 to the outside of the coil support 110. The driving coil 130 is wound around the outside of the coil support 110. The driving coil 130 is energized to attract the magnetically friendly inner core 120 to provide the magnetically friendly inner core 120 with power to move toward the first end 101 or the second end 102.

[0035] Before the driving system 100 works, the magnetically friendly inner core 120 can be driven to move to the second end 102 of the inner cavity 111, and the ablation needle 171 is in the needle withdrawal state. At this time, the center of the magnetically friendly inner core 120 deviates from the center of the driving coil 130. When the driving coil 130 is continuously energized, the driving coil 130 will form a magnetic field. Under the action of the magnetic field, the magnetically friendly inner core 120 is attracted. Since the coil support 110 is a fixed part, under the action of the magnetic field, the magnetically friendly inner core 120 moves toward the first end 101. Due to inertia, it fluctuates back and forth when it moves to the position where the center of the magnetically friendly inner core 120 is aligned with the center of the driving coil 130, and finally stops at the position where the center of the magnetically friendly inner core 120 is aligned with the center of the driving coil 130. Therefore, if the driving coil 130 is controlled to be energized instantaneously, the driving coil 130 is powered off and loses the magnetic field, and at the same time the magnetically friendly inner core 120 is also quickly demagnetized. At this time, there is no magnetic field effect, and the magnetically friendly inner core 120 still has the potential energy to move toward the center of the driving coil 130, and can continue to move toward the first end 101 until it moves to the first end 101, and the ablation needle 171 is in the needle insertion state.

[0036] Therefore, by momentarily energizing the driving coil 130, the winding of the driving coil 130 forms a momentary strong magnetic field, which has an attraction to the magnetic affinity core, so that the magnetic affinity inner core 120 moves toward the center of the driving coil 130 until it reaches the first end 101 of the coil support 110. When the driving coil 130 is momentarily energized again, the magnetic affinity inner core 120 will be ejected to the second end 102 of the coil support 110 in the same way, thereby achieving the insertion and withdrawal of the ablation needle 171.

[0037] The driving system 100 of the present application uses a driving coil 130 in conjunction with a magnetically friendly inner core 120. A strong magnetic field can be formed by passing a high voltage and a large current through the driving coil 130, and the magnetically friendly inner core 120 is attracted to move. The driving force and driving speed of the magnetically friendly inner core 120 are large, and the driving force and driving speed can be changed by adjusting different instantaneous voltages, thereby achieving a rapid response of the ablation needle 171 and obtaining a greater driving force, so that the movement of the ablation needle 171 is more reliable and the driving effect is better. The magnetically friendly inner core 120 has no magnetism and can be attracted by the magnetic field. It can also be quickly demagnetized after magnetization, and there is no problem of demagnetization under high voltage and large current and high steam temperature during steam ablation. In addition, since the driving coil 130 of the present application is instantly energized to drive the magnetically friendly inner core 120 to move, the driving coil 130 will not heat up due to continuous energization, and the magnetic field magnetic force formed by the driving coil 130 can be guaranteed to avoid a decrease in the driving force.

[0038] Since the drive system 100 of the present application has the advantage of rapid response and can quickly insert and withdraw the needle, firstly, it can improve the operator experience; secondly, it can immediately perform ablation work after the needle insertion command is triggered without burning healthy tissue; thirdly, it can immediately withdraw the ablation needle 171 to the introduction shaft after the needle withdrawal command is issued without scratching the tissue.

[0039] Since the drive system 100 of the present application has the advantage of a large driving force, the ablation needle 171 can be stably inserted into the affected area during needle insertion, improving the ablation effect. Please refer to Figure 3 , taking the length of the coil bracket 110 in the first direction X as S, the length of the magnetophilic inner core 120 in the first direction X as L, 0 < L < S, and taking the stroke of the magnetophilic inner core 120 as n, 0 < n < S. Since the driving force of the drive coil 130 in this solution is greater, referring to Figure 3 Figure a in, the length of the drive coil 130 can be set shorter. Since the present application uses a single drive coil 130 to drive the movement of the magnetophilic inner core 120, compared with the drive method using two forward and reverse coils, under the same size limitation, the drive stroke range of the drive system 100 of the present application is wider, the ablation needle 171 can reach a farther affected area, the setting method of the drive coil 130 is more flexible, and the ablation effect is improved.

[0040] Refer to Figure 3 Figure a in, in the first direction X, the drive coil 130 is centered on the coil bracket 110. At this time, the driving forces for the drive coil 130 to drive the magnetophilic inner core 120 to move towards the first end 101 and the second end 102 are the same, so that the driving forces for the ablation needle 171 to insert and retract the needle are the same. Refer to Figure 3 Figure b in, in the first direction X, the drive coil 130 can also be set to bias towards one end on the coil bracket 110, that is, the drive coil 130 can also be asymmetrically set, so that the driving forces for the ablation needle 171 to insert and retract the needle are different. Specifically, Figure 3 in Figure b, the drive coil 130 is set to bias towards the first end 101. Taking the movement of the magnetophilic inner core 120 towards the first end 101 as the direction for driving the ablation needle 171 to insert the needle, the driving force for the ablation needle 171 to insert the needle is greater at this time.

[0041] Among them, the drive coil 130 is a unidirectional coil and is formed by winding a single wire around the outside of the coil bracket 110. Specifically, please refer to Figure 2 , a groove can be formed outside the coil bracket 110 for winding the drive coil 130. The drive coil 130 can be a single-turn multi-layer coil wound with a wire having a wire diameter of 0.4 - 1.0 mm. For example, enameled wire with a wire diameter of 0.4 mm, 0.6 mm or 0.8 mm.

[0042] Specifically, the high-voltage instantaneous electricity that the drive system 100 of the present application can conduct has a voltage of 80V - 400V, such as 80V, 120V, 230V, 370V or 400V, etc. The higher the voltage, the stronger the magnetic field and the greater the driving force. Among them, the current can be stored by a capacitor and then instantaneously released to form a high-voltage large current, thereby driving the magnetophilic inner core 120.

[0043] Specifically, the magnetic core 120 can be made of a soft iron core. Soft iron is non-magnetic and can be easily magnetized after being attracted by a magnetic field, and can be quickly demagnetized after being magnetized. Preferably, the soft iron core is generally made of DT4 or 1j117, etc., which can prevent the magnetic core 120 from being magnetized into a permanent magnet, can be quickly demagnetized, and avoid affecting the driving force and driving direction after being magnetized. Since the magnetic core 120 is made of a soft iron core, driving the magnetic core 120 to move depends on the attraction of the magnetic field formed after the driving coil 130 is energized to the metal, which is not affected by time and high temperature, and the reliability of driving the ablation needle 171 is higher. It should be noted that the magnetic core 120 is a non-magnetic material that can be attracted by a magnetic field, and can also be quickly demagnetized after being magnetized. In other embodiments, the magnetic core 120 can also be made of metal materials such as cobalt and nickel.

[0044] In order to reduce the friction force of the magnetic core 120 during the movement in the inner cavity 111, in some embodiments, see Figure 2 and Figure 7 The inner wall of the coil support 110 has a plurality of support ribs 112 arranged at intervals and extending along the first direction X. The support ribs 112 can separate the magnetic inner core 120 from the inner wall of the coil support 110, thereby reducing the friction force of the magnetic inner core 120 during the movement of the inner cavity 111. Specifically, the support ribs 112 have two ribs, three ribs or four ribs.

[0045] In some embodiments, see Figure 2 , the driving system 100 further includes a first retaining ring 141 and a second retaining ring 142. The first retaining ring 141 is disposed at the end of the coil support 110 close to the first end 101, and the area of ​​the first retaining ring 141 corresponding to the inner cavity 111 can extend into the inner cavity 111. The second retaining ring 142 is disposed at the end of the coil support 110 close to the second end 102, and the area of ​​the second retaining ring 142 corresponding to the inner cavity 111 can extend into the inner cavity 111. By providing the second retaining ring 142, the extreme position of the magnetically friendly inner core 120 moving toward the second end 102 in the inner cavity 111 can be limited, and by providing the first retaining ring 141, the extreme position of the magnetically friendly inner core 120 moving toward the first end 101 in the inner cavity 111 can be limited, thereby preventing the magnetically friendly inner core 120 from detaching from the coil support 110.

[0046] The driving stroke of the ablation needle 171 in the embodiment of the present application can be adjusted in a variety of ways.

[0047] The first type: the coil support 110 can be replaced. By adjusting the length of the coil support 110 , the length of the inner cavity 111 can be changed, thereby adjusting the moving stroke of the magnetically friendly inner core 120 in the inner cavity 111 , and further adjusting the driving stroke of the ablation needle 171 .

[0048] The second type: the magnetically friendly inner core 120 can be replaced. By adjusting the length of the magnetically friendly inner core 120 , the moving stroke of the magnetically friendly inner core 120 in the inner cavity 111 can be adjusted, thereby achieving the adjustment of the driving stroke of the ablation needle 171 .

[0049] The third type: the first retaining ring 141 and / or the second retaining ring 142 can be replaced by changing the position of the area of ​​the inner cavity 111 corresponding to the first retaining ring 141 and the second retaining ring 142 extending into the inner cavity 111. For example, the first retaining ring 141 and the second retaining ring 142 can protrude into the inner cavity 111, thereby shortening the movable stroke of the magnetically friendly inner core 120, and then adjusting the driving stroke of the ablation needle 171 to achieve the best driving effect.

[0050] The ablation needle driving system 100 in the embodiment of the present application can not only replace the coil support 110, but also adjust the driving stroke of the ablation needle 171 by replacing the first retaining ring 141 and / or the second retaining ring 142 when the length of the coil support 110 is constant, without adjusting the overall length of the coil support 110, and the adjustment is more convenient. In addition, in addition to adjusting the first retaining ring 141 and / or the second retaining ring 142 to adjust the driving stroke of the ablation needle 171, the driving stroke of the ablation needle 171 can also be changed by adjusting the length of the magnetically friendly inner core 120, without adjusting the length of the coil support 110, without adjusting the overall structure, and the module has a small size and high versatility.

[0051] In some embodiments, see Figure 2 , the ablation needle 171 extends from the first end 101 of the inner cavity 111 to the outside of the coil support 110, so the magnetically-friendly inner core 120 can be moved toward the first end 101 to drive the ablation needle 171 into the needle direction. Under normal circumstances, before the needle is inserted, the magnetically-friendly inner core 120 is in contact with the second retaining ring 142, and the driving coil 130 is energized, which can drive the magnetically-friendly inner core 120 to move toward the first end 101 to be in contact with the first retaining ring 141, so that the ablation needle 171 can be inserted into the needle; when the driving coil 130 is energized, it can also drive the magnetically-friendly inner core 120 to retreat from the first end 101 to be in contact with the second retaining ring 142, so that the ablation needle 171 can be withdrawn.

[0052] In order to better drive the ablation needle 171, please refer to Figure 4When the magnetic core 120 is fitted with the second retaining ring 142, the magnetic core 120 at least partially overlaps with the driving coil 130. When the driving coil 130 is energized, the magnetic core 120 can have an attraction toward the first end 101, and a certain attraction strength can be guaranteed to ensure that the magnetic core 120 has the power to move toward the first end 101, thereby achieving a rapid response and greater driving force for the ablation needle 171. It should be noted that the magnetic core 120 at least partially overlaps with the driving coil 130, including the end of the magnetic core 120 facing the first end 101 being aligned with the end of the driving coil 130 facing the second end 102, please refer to Figure 5 , one end of the magnetically friendly inner core 120 facing the first end 101 is aligned with the end of the driving coil 130 facing the second end 102, and the other end of the magnetically friendly inner core 120 is in contact with the second retaining ring 142. This is the critical position on the right side of the magnetically friendly inner core 120. Only by ensuring that the magnetically friendly inner core 120 and the driving coil 130 at least partially overlap can the driving coil 130 have a good driving effect on the magnetically friendly inner core 120.

[0053] Of course, in other embodiments, when the magnetic field formed by the driving coil 130 being energized is strong enough, when the magnetically friendly inner core 120 is in contact with the second retaining ring 142, the magnetically friendly inner core 120 can be driven even if the magnetically friendly inner core 120 and the driving coil 130 do not overlap, and no limitation is made here.

[0054] Under normal circumstances, the instantaneous power-on of the driving coil 130 can realize that the magnetically friendly inner core 120 moves from the first end 101 to the extreme position where the second end 102 fits with the second retaining ring 142 in the inner cavity 111, and moves from the second end 102 to the extreme position where the first end 101 fits with the first retaining ring 141, so as to realize reciprocating movement between the first end 101 and the second end 102 of the inner cavity 111. However, the driving system 100 may be abnormally stuck. In order to ensure the safe operation of the driving system 100, in some embodiments, please refer to Figure 6 The driving system 100 includes a pull rod 180. The pull rod 180 is disposed on the magnetically friendly inner core 120 and extends from the second end 102 of the inner cavity 111 to the outside of the coil support 110. When the driving system 100 is abnormally stuck, the operator can manually pull the pull rod 180 to drive the magnetically friendly inner core 120 to move, thereby returning the ablation needle 171 to a safe position. In addition, by pulling the pull rod 180, the position of the magnetically friendly inner core 120 before the needle is inserted can be manually adjusted, and the distance between the magnetically friendly inner core 120 and the second retaining ring 142 can be adjusted to achieve the adjustment of the driving stroke of the ablation needle 171.

[0055] In some embodiments, see Figure 2, the driving system 100 also includes a first magnet 151 and a second magnet 152. The first magnet 151 is arranged on the side of the first retaining ring 141 away from the magnetically friendly inner core 120. The second magnet 152 is arranged on the side of the second retaining ring 142 away from the magnetically friendly inner core 120. Specifically, when the magnetically friendly inner core 120 is located at the second end 102, the driving coil 130 is instantly energized, driving the magnetically friendly inner core 120 to overcome the attraction of the second magnet 152 and move toward the first end 101, and the magnetically friendly inner core 120 moves to the first retaining ring 141 and is adsorbed and held by the first magnet 151. At this time, the magnetically friendly inner core 120 can be stabilized in the needle insertion state, and the first magnet 151 provides sufficient holding force for the magnetically friendly inner core 120, so that the ablation needle 171 remains in a stable position in the working state. The driving coil 130 is energized again instantaneously, driving the magnetically friendly inner core 120 to overcome the attraction of the first magnet 151 and move toward the second end 102. The magnetically friendly inner core 120 moves to the second retaining ring 142 and is adsorbed and held by the second magnet 152. At this time, the magnetically friendly inner core 120 can be stabilized in the needle withdrawal state, and the second magnet 152 provides sufficient holding force for the magnetically friendly inner core 120, so that the ablation needle 171 can be stably withdrawn. By providing the first magnet 151 and the second magnet 152, sufficient holding force can be provided for the magnetically friendly inner core 120, so that the ablation needle 171 can be kept in a stable position during transportation or working.

[0056] The first magnet 151 and the second magnet 152 are used to adsorb the magnetic inner core 120 when the power is off, and provide a holding force for the magnetic inner core 120 to be stable in the needle insertion state or the needle withdrawal state. The first magnet 151 and the second magnet 152 have a central opening for passing accessories such as the ablation needle 171, the delivery tube 172, and the endoscope. Specifically, the first magnet 151 and the second magnet 152 are permanent magnets.

[0057] At this time, in addition to the limiting effect on the magnetically friendly inner core 120, the first retaining ring 141 and the second retaining ring 142 also play a buffering role on the magnetically friendly inner core 120. According to the holding force requirement of the ablation needle 171, the first retaining ring 141 and the second retaining ring 142 can also use different materials or different thicknesses to adjust the suction force between the first magnet 151 and the second magnet 152 and the magnetically friendly inner core 120, thereby adjusting the holding force.

[0058] In some embodiments, see Figure 2The drive system 100 further includes a first end cover 161 and a second end cover 162. The first end cover 161 is disposed on the side of the first retaining ring 141 facing away from the coil support 110, and the first magnet 151 is located in the first end cover 161. The second end cover 162 is disposed on the side of the second retaining ring 142 facing away from the coil support 110, and the second magnet 152 is located in the second end cover 162. The first end cover 161 plays a role in positioning and protecting the first magnet 151 and the first retaining ring 141, and the second end cover 162 plays a role in positioning and protecting the second magnet 152 and the second retaining ring 142.

[0059] In some embodiments, see Figure 2 The driving system 100 further includes an ablation needle 171 and a delivery tube 172. The ablation needle 171 is inserted into the magnetically friendly inner core 120 and extends from the first end 101 of the inner cavity 111 to the outside of the coil support 110 for performing ablation therapy. The delivery tube 172 is connected to the ablation needle 171 and extends from the second end 102 of the inner cavity 111 to the outside of the coil support 110 for passing external instruments or drugs.

[0060] The ablation needle 171 may be a steam ablation needle 171, and external high-temperature steam is delivered to the ablation needle 171 through the delivery tube 172, and the high-temperature steam is discharged from the tip of the ablation needle 171 to ablate the affected tissue. The ablation needle 171 may also be an electrode ablation needle 171, and the delivery tube 172 provides a path for the electrode to conduct electricity. The ablation needle 171 may also be other types of ablation needles 171, which are selected according to actual conditions and are not limited here.

[0061] Among them, the delivery tube 172 is generally made of plastic materials such as PEEK (polyetheretherketone), has physical and chemical properties such as high temperature resistance, chemical corrosion resistance, and good insulation, and is suitable for various types of ablation needles 171.

[0062] In some embodiments, see Figure 2 , Figure 7 and Figure 8 , the magnetic-affinity inner core 120 is penetrated along the first direction X to form a plug-in slot 121, and the ablation needle 171 is inserted into the plug-in slot 121. The magnetic-affinity inner core 120 and the ablation needle 171 can be fixed by gluing. In order to facilitate the injection of adhesive material into the plug-in slot 121, a glue-containing groove 122 is also provided on the surface of the magnetic-affinity inner core 120, and the glue-containing groove 122 is connected to the plug-in slot 121. Through the glue-containing groove 122 on the surface of the magnetic-affinity inner core 120, it is convenient to inject adhesive material into the plug-in slot 121, thereby facilitating the ablation needle 171 to be fixed in the plug-in slot 121, thereby improving the fixing effect of the ablation needle 171 and the magnetic-affinity inner core 120.

[0063] Specifically, the adhesive material may be instant adhesive, epoxy adhesive or structural adhesive.

[0064] Furthermore, the driving system 100 further includes an adhesive channel 123. The adhesive channel 123 is disposed at the end of the magnetically friendly inner core 120 facing the first end 101, the adhesive channel 123 is connected to the plug slot 121, and the inner diameter of the adhesive channel 123 matches the outer diameter of the ablation needle 171, so that the ablation needle 171 can pass through. The adhesive channel 123 increases the contact area with the ablation needle 171 and the support force for the ablation needle 171, and also improves the fixing effect of the magnetically friendly inner core 120 and the ablation needle 171.

[0065] See also Fig. 9 Under the high-speed and strong driving of the driving system 100, the delivery tube 172 may be bent, etc., which may affect the delivery function inside the delivery tube 172. In particular, when the ablation needle 171 is a steam ablation needle 171, the bending of the delivery tube 172 may cause poor steam delivery. In order to avoid other adverse effects such as bending on the delivery tube 172 under the high-speed and strong driving of the driving system 100, in some embodiments, the driving system 100 further includes a guide channel 124. The guide channel 124 is provided at the end of the magnetic-friendly inner core 120 facing the second end 102, and the guide channel 124 is connected to the plug-in slot 121. The delivery tube 172 is passed through the guide channel 124. The guide channel 124 increases the contact area with the delivery tube 172, thereby increasing the support force for the delivery tube 172, and avoiding the delivery tube 172 from bending when the delivery tube 172 moves with the magnetic-friendly inner core 120.

[0066] Furthermore, a reinforcing tube 1621 may be provided on the second end cover 162 for the delivery tube 172 to pass through, and the reinforcing tube 1621 may further enhance the supporting effect on the delivery tube 172 to prevent the delivery tube 172 from being bent.

[0067] In some embodiments, when the operator uses the ablation needle drive system 100 of the present application, the operator first performs an initial reset operation, that is, pulls the pull rod 180 to withdraw the magnetic core 120 to a position where it is adsorbed by the second magnet 152 and fits with the second retaining ring 142, the ablation needle 171 is in the withdrawn state, and the host count is 0; then the operator presses the switch, and the control host instantly releases the high voltage electricity in the capacitor to the drive coil 130, and drives the magnetic core 120 to move toward the first end 101 under the action of the magnetic field, and is adsorbed by the first magnet 151 to a position that fits with the first retaining ring 141, and the ablation needle 171 pops out and is in the inserted state. After the capacitor is discharged, the control host immediately charges the capacitor to prepare for the next discharge, and the host count is 1. When the capacitor is discharged again, the magnetically friendly inner core 120 moves to be attracted by the second magnet 152, and is now in the needle withdrawal state, and the host counts 2; this is repeated, and the host counts an odd number to know that the current ablation needle 171 is in the needle insertion state, and the host counts an even number to know that the current ablation needle 171 is in the needle withdrawal state. Through the initial reset and host count, the control host or operator can know whether the current ablation needle 171 is in the needle insertion state or the needle withdrawal state.

[0068] In some embodiments, the drive system 100 further includes a first sensor (not shown in the figure) and / or a second sensor (not shown in the figure). The first sensor is disposed outside the coil support 110, and the first sensor is located on the side of the pull rod 180 facing the first end 101. When the magnetically friendly inner core 120 moves to be adsorbed by the first magnet 151, the first sensor senses the pull rod 180. The second sensor is disposed outside the coil support 110, and the second sensor is located on the side of the pull rod 180 facing the second end 102. When the magnetically friendly inner core 120 moves to be adsorbed by the second magnet 152, the second sensor senses the pull rod 180. By sensing the pull rod 180 by the first sensor and / or the second sensor, the current state of the ablation needle 171 can be determined.

[0069] Specifically, the first sensor and the second sensor can be set at the same time. By sensing the pull rod 180 by the first sensor and the second sensor, the position of the pull rod 180 can be directly determined, so that the control host does not need to determine whether the ablation needle 171 is in the needle insertion position or the needle withdrawal position by counting.

[0070] Specifically, when the space size is limited, only the second sensor can be set. When the magnetically friendly inner core 120 is located at the position adsorbed by the second magnet 152, that is, when the ablation needle 171 is in the needle withdrawal position, the pull rod 180 can trigger the second sensor, and the control host can know that the ablation needle 171 is in the needle withdrawal state. Combined with the number of capacitor discharges, the position of the ablation needle 171 can be determined.

[0071] Specifically, the driving system 100 further includes a shell (not shown in the figure), which is disposed outside the coil support 110 , and the first sensor and the second sensor may be disposed on the inner wall of the shell.

[0072] The first sensor may be any applicable sensor such as a photoelectric sensor, an infrared sensor, a micro switch or a Hall sensor, etc. The second sensor may be any applicable sensor such as a photoelectric sensor, an infrared sensor, a micro switch or a Hall sensor, etc.

[0073] Several specific implementations of the ablation needle driving system 100 are provided below:

[0074] Example 1

[0075] The coil support 110 is 28 mm long, the driving coil 130 is 18 mm long, and the magnetically friendly inner core 120 is 16 mm long. The first retaining ring 141 and the second retaining ring 142 are located on both sides of the coil support 110. At this time, the movement stroke of the magnetically friendly inner core 120 is 12 mm. When the magnetically friendly inner core 120 is attached to the second retaining ring 142, the magnetically friendly inner core 120 overlaps with the driving coil 130 by 11 mm.

[0076] Example 2

[0077] The coil support 110 is 28 mm long, and the driving coil 130 is 18 mm long. When a larger driving stroke is required, the size of the magnetically friendly inner core 120 can be adjusted to a minimum of 5 mm, and the driving stroke is 23 mm. The first retaining ring 141 and the second retaining ring 142 are located on both sides of the coil support 110.

[0078] Example 3

[0079] The coil support 110 is 28 mm long, and the driving coil 130 is 18 mm long. When the required driving stroke is smaller, the area of ​​the first retaining ring 141 and the second retaining ring 142 corresponding to the inner cavity 111 can be extended into the inner cavity 111 of the coil support 110, or the length of the driving core can be directly increased.

[0080] It should be noted that the terms "horizontal", "vertical" and the like do not mean that the components are absolutely horizontal or vertical, but can be slightly tilted; the terms "parallel", "vertical" and the like do not mean that the components are absolutely parallel or vertical, but can form a certain angle deviation. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted. In addition, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the product of the present application is usually placed when used, which is only for the convenience of describing the embodiments of the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present application.

[0081] The above description is only an implementation method of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. An ablation needle driving system, characterized in that: include: A coil support, wherein an inner cavity is formed in the coil support, and the inner cavity has a first end and a second end disposed opposite to each other along a first direction; A magnetically friendly inner core, movably disposed in the inner cavity along the first direction, and the magnetically friendly inner core is used to fix the ablation needle; The driving coil is wound around the outside of the coil support. The driving coil is energized to attract the magnetically friendly inner core, so as to provide power for the magnetically friendly inner core to move toward the first end or the second end.

2. The drive system according to claim 1, characterized in that: The drive system further comprises: A first retaining ring, disposed at an end of the coil support close to the first end; A second retaining ring, disposed at an end of the coil support close to the second end; A first magnet is arranged on a side of the first retaining ring away from the magnetically friendly inner core; The second magnet is arranged on a side of the second retaining ring away from the magnetically friendly inner core.

3. The drive system according to claim 2, characterized in that: The area of ​​the first retaining ring corresponding to the inner cavity can extend into the inner cavity; An area of ​​the second retaining ring corresponding to the inner cavity may extend into the inner cavity.

4. The drive system according to claim 3, characterized in that: include: A first end cover, which is disposed on a side of the first retaining ring facing away from the coil support, and the first magnet is located in the first end cover; The second end cover is arranged on the side of the second retaining ring facing away from the coil support, and the second magnet is located in the first end cover.

5. The drive system according to claim 2, characterized in that: The movement of the magnetically friendly inner core toward the first end is used as the direction for driving the ablation needle to advance. When the magnetically friendly inner core is in contact with the second retaining ring, the magnetically friendly inner core at least partially overlaps with the driving coil.

6. The drive system according to claim 1, characterized in that: The driving coil is a unidirectional coil and is formed by a single coil wound around the outside of the coil support.

7. The drive system according to claim 1, characterized in that: In the first direction, the driving coil is centrally arranged on the coil support or is arranged toward one end.

8. The drive system according to claim 1, characterized in that: include: an ablation needle, inserted into the magnetically friendly inner core and extending from the first end of the inner cavity to the outside of the coil support; A delivery tube is connected to the ablation needle and extends from the second end of the inner cavity to the outside of the coil support.

9. The drive system according to claim 8, characterized in that: An inserting slot is formed in the magnetically friendly inner core along the first direction, and the ablation needle is inserted in the inserting slot. A glue containing slot is also formed on the surface of the magnetically friendly inner core, and the glue containing slot is connected to the inserting slot.

10. The drive system according to claim 9, characterized in that: include: A viscose channel is provided at the end of the magnetically friendly inner core facing the first end. The viscose channel is connected to the plug-in slot, and the inner diameter of the viscose channel matches the outer diameter of the ablation needle for the ablation needle to pass through.

11. The drive system according to claim 9, characterized in that: include: A guide channel is provided at the end of the magnetically friendly inner core facing the second end, the guide channel is communicated with the plug-in slot, and the delivery pipe is passed through the guide channel.

12. The drive system according to claim 1, characterized in that: The inner wall of the coil support has a plurality of support ribs which are arranged at intervals and extend along the first direction.

13. The drive system according to claim 2, characterized in that: include: A pull rod is arranged on the magnetically friendly inner core and extends from the second end of the inner cavity to the outside of the coil support.

14. The drive system according to claim 13, characterized in that: include: A first sensor is arranged outside the coil support and located on the side of the pull rod facing the first end. When the magnetically friendly inner core moves to the first retaining ring, the first sensor senses the pull rod; and / or, The second sensor is arranged outside the coil support and located on the side of the pull rod facing the second end. When the magnetically friendly inner core moves to the second retaining ring, the second sensor senses the pull rod.

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