Ventricular auxiliary soft robot

Abstract

The invention discloses a ventricle assisting soft robot, and relates to the technical field of heart assisting control, the ventricle assisting soft robot comprises a data acquisition module, a ventricle assisting module and a control module, the data acquisition module is used for acquiring physiological data of a human body and transmitting the physiological data to the control module; the ventricle auxiliary module is connected to a ventricle corresponding to a human heart, can be detached and is used for assisting corresponding ventricle diastole and contraction respectively; the control module is respectively connected with the data acquisition module and the ventricular auxiliary module and is used for driving the ventricular auxiliary module to work according to the physiological data of the human body. The ventricle assisting soft robot provided by the invention can be detached and can be independently driven according to different ventricles.

Description

Technical Field

[0001] The present invention relates to the technical field of cardiac assist control, and in particular to a ventricular assist soft robot. Background Art

[0002] For assisting human heart function, soft robots have become an optional auxiliary structure. The soft robots known to the inventor achieve assistance by squeezing the outside of the heart, but they are designed mainly for the two ventricles and cannot effectively assist the function of the single ventricle. Since the physiological pressures of the two ventricles are different, the resistances that need to be overcome are different. Using a single robot for synchronous squeezing will result in excessive pressure on one side and insufficient pressure on the other side. In addition, the existing soft robots cannot be disassembled, and there is a possibility of air embolism after long-term use. Summary of the invention

[0003] The purpose of the present invention is to provide a ventricular assist soft robot to solve the problems existing in the above-mentioned prior art, which can be disassembled and can be driven independently for different ventricles.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] The present invention provides a ventricular assist soft robot, comprising:

[0006] A data acquisition module is used to collect physiological data of the human body and transmit it to the control module;

[0007] The ventricular assist module is connected to the corresponding ventricle of the human heart and can be disassembled to assist the corresponding ventricle in diastole and contraction respectively;

[0008] The control module is connected to the data acquisition module and the ventricular auxiliary module respectively, and is used to drive the ventricular auxiliary module to work according to the physiological data of the human body.

[0009] In one embodiment, the ventricular assist module includes a support rod, one end of which is fixed at the ventricular septum, and the other end of which passes through the heart and is connected to a support frame. The support frame is attached to the outer surface of the human heart, and an airbag is provided on the inner side of the support frame. The airbag is connected to a pneumatic driver, which is connected to the control module, and the control module can control the pneumatic driver to inflate or deflate the airbag to assist the corresponding ventricle in contraction or relaxation.

[0010] In one embodiment, one end of the support rod away from the interventricular septum is threadedly connected to a support frame head, and the pneumatic driver and the control module are arranged in the support frame head.

[0011] In one embodiment, the support frame includes an integrally formed first arc portion and a second arc portion, one end of the support rod connected to a support frame head is inserted into the connecting position of the first arc portion and the second arc portion, and the support frame head is located on the outside of the support frame; airbags are provided on the inner sides of the first arc portion and the second arc portion.

[0012] In one embodiment, positioning blocks are provided at inner sides of the ends of the first arc-shaped portion and the second arc-shaped portion, and the positioning blocks abut against the outer surface of the human heart.

[0013] In one embodiment, a connecting rod is threadedly connected to one end of the support rod, the connecting rod is penetrated through the interventricular septum, and two umbrella handles are fixed on the connecting rod, and the umbrella handles are respectively attached to two sides of the interventricular septum.

[0014] In one embodiment, the ventricular assist module includes a hose assembly, a first sleeve and a second sleeve; the hose assembly includes a plurality of annular hoses and a plurality of arc hoses; the first sleeve is coated on the outer surface of the human heart; the annular hose is sleeved on the outer surface of the first sleeve at intervals; the arc hose is sleeved on the outer surface of the annular hose, and one end of the arc hose is closed and the other end is connected to an airbag, and the airbag is connected to a pneumatic driver; the second sleeve is coated on the outer surface of the arc hose; a plurality of the arc hoses are arranged circumferentially along the annular hose, and a plurality of connecting ports are opened on the arc hose, and the connecting ports are connected to the annular hoses at corresponding positions; the pneumatic driver can inflate and deflate the annular hose at the corresponding ventricular position through the arc hose to assist the human heart in contraction and relaxation.

[0015] In one embodiment, the ventricular auxiliary module includes multiple auxiliary components, and the auxiliary components include two symmetrical triangular tubes. The two ends of the first side tube of the triangular tube are connected to the second side tube and the third side tube respectively through spiral tube heads, the end of the second side tube away from the first side tube is connected to the second side tube of another triangular tube through a spiral tube head, and the end of the third side tube away from the first side tube is connected to the third side tube of another triangular tube through a spiral tube head; the spiral tube heads are riveted to the outer surface of the human heart; the multiple auxiliary components are connected to airbags through tracheas, and the airbags are connected to pneumatic drivers.

[0016] In one embodiment, a metal wire is passed through the auxiliary component.

[0017] In one embodiment, the data acquisition module further includes an air pressure sensor capable of acquiring air pressure within the ventricular assist module.

[0018] Compared with the prior art, the present invention has achieved the following technical effects:

[0019] The present invention can be disassembled after installation, thus avoiding the problem of air embolism after long-term use. The ventricular auxiliary module of the present invention can independently assist the work of different ventricles according to the physiological data of the human body, that is, it can effectively assist the work of a single ventricle, and can also provide different auxiliary pressures for the two ventricles according to the different physiological pressures of the two ventricles, thus avoiding the situation where the pressure on one side is too high and the pressure on the other side is insufficient when the two ventricles are squeezed synchronously. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 This is a schematic diagram of the structure of Embodiment 1 of the present invention;

[0022] Figure 2 for Figure 1 Schematic diagram of the airbag inflation state;

[0023] Figure 3 This is a schematic diagram of the structure of Embodiment 2 of the present invention;

[0024] Figure 4 This is a schematic diagram of the structure of the third embodiment of the present invention.

[0025] In the figure: 1-support frame, 101-first arc-shaped portion, 102-second arc-shaped portion, 2-support rod, 3-umbrella handle, 4-connecting rod, 5-airbag, 6-support frame head, 7-first sleeve, 8-second sleeve, 9-arc hose, 10-annular hose, 11-triangular tube, 1101-first side tube, 1102-second side tube, 1103-third side tube, 12-spiral tube head, 13-connecting port. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] The purpose of the present invention is to provide a ventricular assist soft robot to solve the problems existing in the above-mentioned prior art, which can be disassembled and can be driven independently for different ventricles.

[0028] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] Embodiment 1

[0030] Heart failure is usually manifested by ventricular enlargement, left or right shift of the ventricular septum, decreased diastolic and systolic function, severe tricuspid regurgitation, and adverse ventricular remodeling (including hypertrophy and fibrosis). The best treatment for end-stage heart failure is heart transplantation, but due to a shortage of donors, many patients die without waiting for a transplant. To alleviate this problem, ventricular assist devices have become an alternative treatment option. However, existing left ventricular assist devices have a series of complications, including infection, thrombosis, stroke, etc., which limits their widespread clinical application.

[0031] The application of soft robot technology in the field of cardiac assist devices provides a new possibility. Soft robots are made of flexible materials and are biocompatible. They can achieve auxiliary movement of the heart through artificial muscles or different driving modes (air pressure, voltage, light, etc.). When designing a cardiac assist soft robot, it is necessary to consider issues such as synchronization with cardiac movement, matching of movement direction and power with the heart, and fixation method. The cardiac assist soft robot known to the inventor achieves assistance by squeezing the outside of the heart, but its design is mainly used for both ventricles, and does not fully utilize the interventricular septum, nor can it effectively assist the function of a single ventricle. Moreover, the physiological pressures of the two ventricles are different, and the resistances that need to be overcome are different. Using a single robot for synchronous squeezing will result in excessive pressure on one side and insufficient pressure on the other side.

[0032] In order to solve the above problems, the present invention provides a ventricular assist soft robot, referring to Figure 1 and Figure 2As shown, it includes a data acquisition module, a ventricular auxiliary module and a control module. The ventricular auxiliary module of this embodiment includes a support rod 2, one end of the support rod 2 is fixed at the ventricular septum, and the other end is connected to a support frame 1 after passing through the heart. The support frame 1 is attached to the outer surface of the human heart, and an airbag 5 is provided on the inner side of the support frame 1. The airbag 5 is connected to a pneumatic driver, and the pneumatic driver is connected to the control module, and the control module can control the pneumatic driver to inflate or deflate the airbag 5 to assist the corresponding ventricle in contraction or relaxation. By arranging a ventricular auxiliary module at each ventricle, each ventricular auxiliary module works independently, so that a single ventricle can be effectively assisted as needed, and the inflation amount and inflation rate of the airbag 5 in the ventricular auxiliary module at the corresponding ventricle can be controlled separately according to the different pressures required by the two ventricles, so that the two ventricles have different auxiliary pressures, thereby avoiding the situation where the pressure on one side is too high and the pressure on the other side is insufficient due to synchronous extrusion by a single robot. In order to realize the inflation and deflation of the airbag 5 and reduce the intermediate pipeline transmission structure, a support frame head 6 is threadedly connected to the end of the support rod 2 away from the interventricular septum in this embodiment, and a pneumatic driver and a control module are arranged in the support frame head 6. The pneumatic driver is connected to the airbag 5 with a small distance between them, thereby reducing the number of intermediate pipelines. The pneumatic driver is controlled by the control module to operate, so that the gas stored in the pneumatic driver is filled into the airbag 5, or the gas in the airbag 5 is recovered into the pneumatic driver, thereby realizing the expansion and contraction of the airbag 5, and then realizing the auxiliary contraction and relaxation of the corresponding ventricle.

[0033] The data acquisition module of this embodiment can provide different data such as heart rate, blood pressure, cardiac electrical activity, instantaneous arterial blood flow velocity during systole, stroke volume, arterial oxygen saturation, etc. through an in vivo implant or an external ECG monitoring device, providing a basis for the auxiliary function of the entire human body auxiliary soft robot. For example, a puncture is performed on the left subclavian artery, and a sensor is set on the vessel wall to measure parameters such as blood pressure and blood flow. The control module of this embodiment can develop a customized software interface to allow data acquisition and equipment control (200Hz) to be performed simultaneously using an X series DAQ card. Clinical parameters (electrocardiogram, pressure, flow) can be read from the clinical monitoring device, and the original analog input signal is converted into engineering units (such as L / min, mmHg) and intuitively displayed as a waveform on the user interface. By setting up a data acquisition module to collect the physiological data of the human body, the inflation volume and inflation rate of the airbag 5 in the corresponding ventricular auxiliary module can be regulated based on the physiological data of the human body, so as to achieve the function of accurately assisting the corresponding ventricular contraction and relaxation of the heart based on the current physiological condition of the human body.

[0034] In order to better fit the heart structure, the support frame 1 of this embodiment adopts an integrally formed first arc portion 101 and second arc portion 102, both of which are smooth arc-shaped sheet structures and can fit the outer surface of the heart. One end of the support rod 2 connected to the support frame head 6 is arranged at the connecting position of the first arc portion 101 and the second arc portion 102, and the support frame head 6 is located outside the support frame 1; the inner sides of the first arc portion 101 and the second arc portion 102 are both provided with air bags 5, from The arc-shaped structure of the first arc-shaped portion 101 and the second arc-shaped portion 102 can protect the airbag 5 and limit the airbag 5. When the airbag 5 is inflated, it can only compress the heart inward, thereby assisting the heart to contract. In order to ensure that there is an installation space for the airbag 5 between the surface of the heart and the inner side of the arc-shaped portion, a positioning block can be provided on the inner side of the end of the first arc-shaped portion 101 and the second arc-shaped portion 102. The positioning block abuts against the outer surface of the human heart, thereby forming an installation space for the airbag 5 on the inner side of the arc-shaped portion.

[0035] The soft robots known to the inventors do not effectively utilize the interventricular septum. The present embodiment is different therefrom. In the present embodiment, a connecting rod 4 is threadedly connected to one end of the support rod 2. The connecting rod 4 is penetrated through the interventricular septum, and two umbrella handles 3 are fixedly provided on the connecting rod 4. The umbrella handles 3 are respectively attached to the inner and outer sides of the interventricular septum to realize the positioning of the connecting rod 4. The connecting rod 4 and the support rod 2 can adjust the initial contact pressure between the support frame 1 and the outer surface of the heart by adjusting the threaded connection length.

[0036] Embodiment 2

[0037] refer to Figure 3 As shown, the present embodiment improves the ventricular assist module, and the ventricular assist module of the present embodiment includes a hose assembly, a first sleeve 7 and a second sleeve 8; the hose assembly includes a plurality of annular hoses 10 and a plurality of arc hoses 9; the first sleeve 7 is coated on the outer surface of the human heart; the annular hoses 10 are sleeved on the outer surface of the first sleeve 7 at intervals; the arc hose 9 is sleeved on the outer surface of the annular hose 10, and one end of the arc hose 9 is closed, and the other end is connected to an air bag 5, and the air bag 5 is connected to a pneumatic driver; the second sleeve 8 is coated on the outer surface of the arc hose 9; a plurality of arc hoses 9 are arranged circumferentially along the annular hose 10, and a plurality of connecting ports 13 are opened on the arc hose 9, and the connecting ports 13 are connected to the annular hoses 10 at corresponding positions, so that the inflation speed is faster; the pneumatic driver can inflate and deflate the annular hose 10 at the corresponding ventricular position through the arc hose 9 to assist the human heart to contract and relax. In this embodiment, a data acquisition module is provided to collect the physiological data of the human body, so that the annular hose 10 in the ventricular auxiliary module can be regulated based on the physiological data of the human body to follow the actual movement of the heart to perform diastole and diastole operations, thereby achieving accurate assistance of heart contraction and diastole based on the current physiological condition of the human body.

[0038] In order to achieve independent auxiliary control of the left ventricle and the right ventricle, the air supply ends of the arc hose 9 in the left ventricle area and the air supply ends of the arc hose 9 in the right ventricle area can be connected to the air supply pipes through their respective actuators, and the air supply pipes are connected to the pneumatic drivers. The actuators are controlled by the control modules to achieve their respective adjustment functions. The two actuators are located at the ventricular septum at the other end of the heart. To ensure that the inflation volume of the left ventricle area hose is greater than the inflation volume of the right ventricle area hose, the gas flow rates achieved by the two actuators can be regulated. The gas flow rate of the actuator connected to the left ventricle area hose can be required to be larger, so that the gas volume and flow rate of the arc hose 9 filled into the corresponding side of the annular hose 10 are different, thereby achieving that the auxiliary contraction force of the left ventricle area hose on the left ventricle of the human heart in the inflated state is greater than the auxiliary contraction force of the right ventricle area hose on the left ventricle of the human heart in the inflated state.

[0039] An air pressure sensor is arranged in each annular hose 10 and arc hose 9. The probe of the air pressure sensor can be inserted into the hose from the sealing end of the hose, and the non-probe end is located outside the hose and arranged at the ventricular septum of the heart; thus, all the air pressure sensors of the hose are arranged at the ventricular septum of the heart as a whole.

[0040] Embodiment 3

[0041] The ventricular auxiliary module in the first and second embodiments mainly achieves its function by assisting the contraction function of the ventricle, such as Figure 4 As shown, the improved ventricular auxiliary module of this embodiment mainly achieves its auxiliary effect by adjusting the diastolic function of the heart. The ventricular auxiliary module of this embodiment includes multiple auxiliary components, and the auxiliary components include two symmetrical triangular tubes 11. The two ends of the first side tube 1101 of the triangular tube 11 are connected to the second side tube 1102 and the third side tube 1103 through the spiral tube head 12 respectively, the end of the second side tube 1102 away from the first side tube 1101 is connected to the second side tube 1102 of another triangular tube 11 through the spiral tube head 12, and the end of the third side tube 1103 away from the first side tube 1101 is connected to the third side tube 1103 of another triangular tube 11 through the spiral tube head 12; the spiral tube head 12 is riveted to the outer surface of the human heart; the multiple auxiliary components are connected to the airbags 5 through the trachea, and the airbags 5 are connected to the pneumatic driver. Since the multiple auxiliary components are riveted to the outer surface of the human heart, they can assist the heart in diastole and contraction when they are inflated and deflated, and the diastolic function is greater than the contractive function. In order to further increase its auxiliary effect, in a preferred embodiment, a metal wire may be passed through the auxiliary component to improve its strength and ductility.

[0042] The ventricular auxiliary modules involved in the present invention are all made of medical silicone material, and the gas in the airbag 5 and the hose is nitrogen, which is insoluble in blood and has higher safety.

[0043] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A ventricular assist soft robot, characterized in that: include: A data acquisition module is used to collect physiological data of the human body and transmit it to the control module; The ventricular assist module is connected to the corresponding ventricle of the human heart and can be disassembled to assist the corresponding ventricle in diastole and contraction respectively; The control module is connected to the data acquisition module and the ventricular auxiliary module respectively, and is used to drive the ventricular auxiliary module to work according to the physiological data of the human body.

2. The ventricular assist soft robot according to claim 1, characterized in that: The ventricular assist module includes a support rod, one end of which is fixed at the ventricular septum, and the other end of which passes through the heart and is connected to a support frame. The support frame is attached to the outer surface of the human heart, and an airbag is provided on the inner side of the support frame. The airbag is connected to a pneumatic driver, which is connected to the control module, and the control module can control the pneumatic driver to inflate or deflate the airbag to assist the corresponding ventricle in contracting or relaxing.

3. The ventricular assist soft robot according to claim 2, characterized in that: One end of the support rod away from the interventricular septum is threadedly connected to a support frame head, and the pneumatic driver and the control module are arranged in the support frame head.

4. The ventricular assist soft robot according to claim 3, characterized in that: The support frame includes an integrally formed first arc-shaped portion and a second arc-shaped portion, one end of the support rod connected to a support frame head is inserted into the connecting position of the first arc-shaped portion and the second arc-shaped portion, and the support frame head is located outside the support frame; airbags are provided inside the first arc-shaped portion and the second arc-shaped portion.

5. The ventricular assist soft robot according to claim 4, characterized in that: Positioning blocks are disposed at the inner sides of the ends of the first arc-shaped portion and the second arc-shaped portion, and the positioning blocks abut against the outer surface of the human heart.

6. The ventricular assist soft robot according to claim 2, characterized in that: One end of the support rod is threadedly connected to a connecting rod, the connecting rod is penetrated at the interventricular septum, and two umbrella handles are fixed on the connecting rod, and the umbrella handles are respectively attached to two sides of the interventricular septum.

7. The ventricular assist soft robot according to claim 1, characterized in that: The ventricular assist module includes a hose assembly, a first sleeve and a second sleeve; the hose assembly includes multiple annular hoses and multiple arc hoses; the first sleeve is coated on the outer surface of the human heart; the annular hose is sleeved on the outer surface of the first sleeve at intervals; the arc hose is sleeved on the outer surface of the annular hose, and one end of the arc hose is closed and the other end is connected to an airbag, and the airbag is connected to a pneumatic driver; the second sleeve is coated on the outer surface of the arc hose; multiple arc hoses are arranged circumferentially along the annular hose, and multiple connecting ports are opened on the arc hose, and the connecting ports are connected to the annular hoses at corresponding positions; the pneumatic driver can inflate and deflate the annular hose at the corresponding ventricular position through the arc hose to assist the human heart to contract and relax.

8. The ventricular assist soft robot according to claim 1, characterized in that: The ventricular auxiliary module includes multiple auxiliary components, and the auxiliary components include two symmetrical triangular tubes. The two ends of the first side tube of the triangular tube are connected to the second side tube and the third side tube respectively through spiral tube heads, the end of the second side tube away from the first side tube is connected to the second side tube of another triangular tube through a spiral tube head, and the end of the third side tube away from the first side tube is connected to the third side tube of another triangular tube through a spiral tube head; the spiral tube heads are riveted to the outer surface of the human heart; the multiple auxiliary components are connected to air bags through tracheas, and the air bags are connected to pneumatic drivers.

9. The ventricular assist soft robot according to claim 8, characterized in that: A metal wire is passed through the auxiliary component.

10. The ventricular assist soft robot according to claim 1, characterized in that: The data acquisition module also includes an air pressure sensor, which can collect the air pressure in the ventricular auxiliary module.

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