Laser-induced hemangioma embolism interventional therapy device

Abstract

The invention discloses a laser-induced hemangioma embolism interventional therapy device, and relates to the field of vascular interventional operation equipment.The laser-induced hemangioma embolism interventional therapy device comprises a frame shell, a speed reduction transmission mechanism, an interventional catheter conveying and twisting mechanism and a laser-induced therapy catheter, and the frame shell comprises a total frame and a total shell; the speed reduction transmission mechanism is provided with two pairs of power discs which rotate oppositely and are arranged front and back, and the rotating speeds of the four power discs are equal; circumferential transmission and axial sliding can be realized between the power disc and the conveying and twisting shaft; cylindrical inclined tables are arranged in the middles of the two pairs of conveying and twisting shafts rotating in the opposite directions and tightly connected with the cylindrical inclined table sleeves. Each pair of two conveying and twisting shafts which rotate in opposite directions alternately move up and down, and synchronous conveying and twisting of the laser-induced treatment catheter are completed through two pairs of conveying and twisting wheels which rotate in opposite directions and alternately move up and down. The efficiency of the vascular interventional operation can be improved, and the treatment effect of hemangioma embolism is improved through the 4D printing intelligent embolism device.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a laser-induced hemangioma embolization interventional treatment device. Background Art

[0003] Vascular diseases are the number one major disease in the 21st century. Hemangioma refers to a tumor-like protrusion of the arterial wall caused by the abnormal expansion of the arterial lumen. The main treatments for hemangioma are surgical clipping and interventional therapy. Clinical findings show that the mortality rate of interventional therapy for hemangioma patients is lower than that of surgical treatment, so interventional therapy has become the main means of clinical treatment for hemangioma.

[0004] Endovascular embolization therapy is a type of interventional endovascular treatment technology. It inserts a very thin catheter into the blood vessel, controls the catheter from the vascular system to the site of the hemangioma, and then delivers the embolization device to the hemangioma sac through the catheter to block the hemangioma sac from the blood vessel. It aims to minimize the residual blood flow in the aneurysm, thereby reducing the risk of hemangioma rupture or re-rupture, and achieve the therapeutic effect on the hemangioma. Endovascular embolization therapy is less traumatic, has a short postoperative recovery time, and can treat a large area, which has good short-term treatment advantages.

[0005] However, current hemangioma embolization treatment faces problems such as incomplete occlusion caused by hemangioma growth, or embolization of other blood vessels in the human body due to the detachment of the embolization device. With the development of 4D printing technology in the biomedical field, new 4D printing materials have emerged. 4D printing materials have low density, controllable shape, and large volume expansion. They can more evenly and adaptively fill hemangiomas, ensure embolization effects, and reduce the probability of complications such as vascular perforation and endoleak. In addition, 4D printing materials allow ultrasound imaging, which can effectively observe the installation of embolization devices. However, there is still a lack of overall hemangioma embolization intervention devices based on 4D printed embolization devices. Summary of the invention

[0007] The purpose of the present invention is to solve the problems of low surgical efficiency and great influence of human operation factors on surgical safety in traditional vascular interventional embolization surgery; and to provide a laser-induced hemangioma embolization interventional treatment device, which combines 4D printing additive manufacturing technology with vascular interventional robot technology to achieve the use of mechanical devices to complete the synchronous delivery and twisting of laser-induced treatment catheters, and at the same time use light-induced 4D printed embolization devices for hemangioma filling treatment, so as to solve the problems of incomplete occlusion of traditional embolization devices due to hemangioma growth, or embolization of other blood vessels in the human body due to the detachment of the embolization device.

[0008] A laser-induced hemangioma embolization interventional treatment device, comprising:

[0009] The frame housing 1, the reduction transmission mechanism 2, the interventional catheter delivery twisting mechanism 3 and the laser-induced treatment catheter 4, wherein: the frame housing 1 includes a general frame 10 and a general housing 11; the reduction transmission mechanism 2 is fixedly connected to the lower part of the general frame 10 and driven by a motor 20;

[0010] The output end of the reduction transmission mechanism 2 is k pairs of power disks that rotate in opposite directions and are arranged front and back. The 2k power disks are connected to the support shaft 10f of the main frame 10, and the rotation speeds of the 2k power disks are equal, k≥1;

[0011] The 2k power discs are provided with polygonal grooves on the upper part, and the polygonal grooves cooperate with the polygonal bosses on the lower part of the 2k conveying twisting shafts 30, so that the power discs and the conveying twisting shafts 30 can realize circumferential transmission and axial sliding;

[0012] A cylindrical ramp 30b is provided in the middle of the k pairs of conveying twisting shafts 30 rotating in opposite directions. The conveying twisting shafts 30 pass through the cylindrical ramp sleeve 31 fixed to the main frame 10, and the cylindrical ramp 30b is connected with the cylindrical ramp sleeve 31, and the contact force between the two is provided by the spring 32; when the conveying twisting shafts 30 rotate, an axial up-and-down movement will be generated, and the rotation phase difference between each pair of conveying twisting shafts 30 rotating in opposite directions is 180°, that is, one moves up and down alternately;

[0013] The delivery twisting shaft 30 is axially connected to the main frame 10 upwards, and its uppermost end is fixedly connected to the delivery twisting wheel. The laser induced treatment catheter 4 passes through the k pairs of delivery twisting wheels that rotate in opposite directions and move up and down axially alternately.

[0014] The general frame 10 includes a lower plate 10a, a lower plate 10b, an upper plate 3 10c, an upper plate 10d, a support shaft 10f and a guide sleeve 10g, wherein the lower plate 10a, the lower plate 10b, the upper plate 3 10c and the upper plate 10d are arranged in sequence from bottom to top; the upper side of the lower plate 2 10b is fixedly connected to k pairs of support shafts 10f arranged front and back; the upper side of the upper plate 3 10c is fixedly connected to k pairs of cylindrical ramp sleeves 31 arranged front and back, and the ramps between each pair of cylindrical ramp sleeves 31 are relatively arranged to form an "eight" shape; the upper part of the upper plate 4 10d is symmetrically fixedly connected to the guide sleeves 10g, and the laser induced therapy catheter 4 passes through the guide sleeves 10g on both sides.

[0015] The 2k power discs are gears 201, which have the same structure and number of teeth, and form k pairs of gears 201 meshing with each other;

[0016] When k≤2, the motor 20 can be used to drive the gear 200 located on one side to drive k pairs of meshing gears 201 to rotate towards each other at the same time; when k>2, a transition transmission gear needs to be added when each pair of meshing gears 201 is added;

[0017] The gear 1 201 is provided with a square groove 201a at the upper part, and a shaft connection sleeve 201c is provided at the lower part to be axially connected to the support shaft 10f, and a pin hole 201b is provided inside, and the gear 1 201 is fixed on the support shaft 10f by a pin.

[0018] The interventional catheter delivery twisting mechanism 3 comprises 2k delivery twisting shafts 30, 2k cylindrical inclined platform sleeves 31, a spring 32, and 2k delivery twisting wheels. A square platform 30a is provided at the lower part of the delivery twisting shaft 30. The square platform 30a cooperates with the square groove 201c of the gear 1 201 to realize circumferential transmission and axial sliding. The cylindrical inclined platforms 30b on the 2k delivery twisting shafts 30 are arranged in the same direction. The k pairs of cylindrical inclined platform sleeves 31 arranged in an "eight" shape cooperate to realize that the rotation phase of each pair of delivery twisting shafts 30 rotating in opposite directions differs by 180°.

[0019] The 2k conveying twisting shafts 30 pass upward through the upper plate four 10d and are axially connected thereto, a spring 32 is provided between the upper plate four 10d and the cylindrical ramp 30b of the conveying twisting shaft 30; the uppermost ends of the 2k conveying twisting shafts 30 are fixedly connected to the conveying twisting wheels in turn.

[0020] The laser induced therapy catheter 4 includes an interventional catheter 402 , an optical fiber 401 , and a protective spring 403 . The optical fiber 401 is evenly distributed and integrated in parallel in the interventional catheter 402 . The front end of the interventional catheter 402 is fixedly connected to the protective spring 403 .

[0021] The present invention provides a method for using a laser-induced hemangioma embolization interventional treatment device, comprising the following steps:

[0022] (1) Before the operation, the patient's femoral artery is punctured. After the puncture is successful, the puncture guide wire is inserted, the puncture needle is pulled out, and the sheath is placed along the puncture guide wire. Then the puncture guide wire and the inner sheath are pulled out, and the outer sheath is retained to facilitate the subsequent guide wire and catheter to enter the blood vessel.

[0023] (2) Install the contrast catheter and contrast guide wire on the laser-induced hemangioma treatment device and inject contrast agent. Then turn on the motor and use the interventional catheter delivery twisting mechanism 3 to input the contrast catheter and contrast guide wire along the femoral artery to determine the location of the hemangioma under X-ray irradiation.

[0024] (3) Subsequently, the angiography catheter and the angiography guidewire are pulled out; the terminal laser-induced treatment catheter 4 and the 4D-printed intelligent embolization device are installed on the interventional catheter delivery twisting mechanism 3 and delivered to the designated treatment position; at this time, the laser generator is turned on to input the laser along the optical fiber 401 integrated on the interventional catheter 402, and the embolization device is output to the hemangioma site. Under the guidance of the laser, the 4D-printed intelligent embolization device is fully deployed and fills the hemangioma to be treated, thereby blocking the blood flow in the hemangioma and achieving the desired treatment effect; after the operation is completed, the interventional catheter 402 is withdrawn.

[0025] The present invention provides a laser-induced hemangioma embolization interventional treatment device, which relates to the field of vascular interventional surgical equipment, and includes: a frame shell, a reduction transmission mechanism, an interventional catheter delivery twisting mechanism, and a laser-induced treatment catheter, wherein the frame shell includes a general frame and an overall shell; the reduction transmission mechanism is provided with two pairs of power disks that rotate in opposite directions and are arranged front and back, and the rotation speeds of the four power disks are equal; circumferential transmission and axial sliding can be achieved between the power disks and the delivery twisting shafts; the middle parts of the two pairs of delivery twisting shafts that rotate in opposite directions are provided with cylindrical ramps that are tightly connected to the cylindrical ramp sleeves; each pair of the two delivery twisting shafts that rotate in opposite directions move alternately up and down, and the synchronous delivery and twisting of the laser-induced treatment catheter are completed by two pairs of delivery twisting wheels that rotate in opposite directions and move alternately up and down. The invention can improve the efficiency of vascular interventional surgery, and improve the therapeutic effect of hemangioma embolization by using a 4D-printed intelligent embolization device.

[0026] In summary, the laser-induced hemangioma embolization interventional treatment device provided by the present invention has the following beneficial effects and advantages:

[0027] 1) Combining hemangioma embolization therapy with 4D printing technology can improve the embolization effect of hemangiomas and improve the adaptability of the embolization device to the shape of hemangiomas;

[0028] 2) The use of mechanical devices to complete the synchronous delivery and twisting of the laser-induced treatment catheter improves the surgical efficiency of vascular embolization interventional surgery, ensures the precise delivery control of the interventional catheter, and ensures the operational stability of the interventional catheter in complex vascular systems;

[0029] 3) This treatment device is easy to operate, which reduces the time required for doctors to learn the equipment. Compared with traditional interventional surgery, doctors do not need to wear heavy lead suits, which reduces the physical exertion of doctors and also reduces the impact of the wires on doctors during surgery. It provides a new laser-induced hemangioma embolization interventional treatment device for the field of hemangioma embolization interventional surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the three-dimensional structure of a laser-induced hemangioma embolization interventional treatment device of the present invention;

[0031] Figure 2 This is a schematic diagram of the three-dimensional structure of the overall frame of a laser-induced hemangioma embolization interventional treatment device of the present invention;

[0032] Figure 3 It is a three-dimensional structural schematic diagram of a deceleration transmission mechanism of a laser-induced hemangioma embolization interventional treatment device of the present invention;

[0033] Figure 4This is a schematic diagram of the specific structure of a deceleration transmission mechanism of a laser-induced hemangioma embolization interventional treatment device of the present invention;

[0034] Figure 5 It is a three-dimensional structural schematic diagram of a guidewire catheter delivery twisting mechanism of a laser-induced hemangioma embolization interventional treatment device of the present invention;

[0035] Figure 6 It is a schematic diagram of the specific structure of a guidewire catheter delivery twisting mechanism of a laser-induced hemangioma embolization interventional treatment device of the present invention;

[0036] Figure 7 It is a schematic diagram of the specific structure of a laser-induced treatment catheter at the end of a laser-induced hemangioma embolization interventional treatment device of the present invention;

[0037] Figure 8 This is a schematic diagram of the working state of a laser-induced hemangioma embolization interventional treatment device of the present invention;

[0038] Fig. 9 This is a working principle diagram of the intervention catheter delivery of a laser-induced hemangioma embolization intervention treatment device of the present invention;

[0039] Fig.10 This is a working principle diagram of twisting of an interventional catheter of a laser-induced hemangioma embolization interventional treatment device of the present invention;

[0040] Fig.11 The present invention is a diagram showing the working principle of a laser-induced treatment catheter at the end of a laser-induced hemangioma embolization interventional treatment device.

[0041] In the attached picture:

[0042] 1. Frame shell; 10. Overall frame; 10a. Lower plate 1; 10b. Lower plate 2; 10c. Upper plate 3; 10d. Upper plate 4; 10e. Connecting column; 10f. Support shaft; 10g. Guide sleeve; 11. Overall shell; 11a. Upper shell; 11b. Lower shell;

[0043] 2. Speed ​​reduction transmission mechanism; 20. Motor; 21. Speed ​​reduction pinion; 22. Speed ​​reduction gear; 23. Transmission shaft; 23a. Transmission bearing; 200. Gear; 201. Gear 1; 201a Square groove; 201b Pin hole; 201c Shaft joint sleeve; 202. Gear 2; 203. Gear 3; 204. Gear 4;

[0044] 3. Interventional catheter delivery twisting mechanism; 30. Delivery twisting shaft; 30a. Square platform; 30b. Cylindrical inclined platform; 31. Cylindrical inclined platform sleeve; 32. Spring; 33. Support bearing; 301. Delivery twisting wheel 1; 302. Delivery twisting wheel 2; 303. Delivery twisting wheel 3; 304. Delivery twisting wheel 4;

[0045] 4. Laser-induced therapy catheter; 401. Optical fiber; 402. Interventional catheter; 403. Protective spring. DETAILED DESCRIPTION

[0046] Embodiment 1:

[0047] A laser-induced hemangioma embolization interventional treatment device, comprising:

[0048] The frame housing 1, the reduction transmission mechanism 2, the interventional catheter delivery twisting mechanism 3 and the laser-induced treatment catheter 4, wherein: the frame housing 1 includes a general frame 10 and a general housing 11; the reduction transmission mechanism 2 is fixedly connected to the lower part of the general frame 10 and driven by a motor 20;

[0049] The output end of the reduction transmission mechanism 2 is two pairs of power discs that rotate in opposite directions and are arranged front and back. The four power discs are connected to the support shaft 10f of the main frame 10, and the rotation speeds of the four power discs are equal.

[0050] The four power discs are provided with polygonal grooves on the upper part, and the polygonal grooves cooperate with the polygonal bosses on the lower part of the conveying twisting shaft 30, so that the power discs and the conveying twisting shaft 30 can realize circumferential transmission and axial sliding;

[0051] The two pairs of conveying twisting shafts 30 rotating in opposite directions are provided with cylindrical ramps 30b in the middle, and the conveying twisting shafts 30 pass through cylindrical ramp sleeves 31 fixed to the main frame 10, and the cylindrical ramps 30b in the middle are connected with the cylindrical ramp sleeves 31, and the contact force between the two is provided by springs 32; the rotation of the conveying twisting shafts 30 will produce axial up and down movement, and the rotation phase difference between each pair of two conveying twisting shafts 30 rotating in opposite directions is 180°, that is, one moves up and down alternately;

[0052] The delivery twisting shaft 30 is axially connected to the main frame 10 upwards, and its uppermost end is fixedly connected to the delivery twisting wheel. The laser induced treatment catheter 4 passes through the two pairs of delivery twisting wheels that rotate in opposite directions and move up and down axially alternately.

[0053] The general frame 10 comprises a lower plate 10a, a lower plate 10b, an upper plate 3 10c, an upper plate 4 10d, a connecting column 10e, a support shaft 10f and a guide sleeve 10g. The lower plate 10a, the lower plate 10b, the upper plate 3 10c and the upper plate 4 10d are arranged in sequence from bottom to top and are connected and fixed in sequence through the cylindrical connecting column 10e; four support shafts 10f are fixedly connected to the upper side of the lower plate 2 10b, and the four support shafts 10f are arranged in pairs front and back; four cylindrical inclined platform sleeves 31 are fixedly connected to the upper side of the upper plate 3 10c, and the inclined platforms between each pair of two cylindrical inclined platform sleeves 31 are relatively arranged to form an "eight" shape; the guide sleeves 10g are symmetrically fixedly connected to the front and back sides of the upper part of the upper plate 4 10d, and the laser induced therapy catheter 4 passes through the guide sleeves 10g;

[0054] The overall housing 11 includes an upper housing 11 a and a lower housing 11 b , which are fixed to the upper and lower parts of the main frame 10 respectively.

[0055] The reduction transmission mechanism 2 includes a motor 20, a reduction pinion 21, a reduction gear 22, a transmission shaft 23, a transmission bearing 23a, a gear 200, a gear 1 201, a gear 2 202, a gear 3 203, and a gear 4 204; the gear 1 201, the gear 2 202, the gear 3 203, and the gear 4 204 are the above-mentioned power disks, and the four have the same structure and module; the gear 1 201 and the gear 2 202 are meshed with each other, the gear 3 203 and the gear 4 204 are meshed with each other, and the gear 1 201 and the gear 3 203 are located on one side; the gear 1 201 is provided with a square groove 201a on the upper part, and a shaft sleeve 201c is provided on the lower part to be axially connected to the support shaft 10f, and a pin hole 201b is provided inside, which can be fixed to the support shaft 10f by a pin;

[0056] The motor 20 is fixedly connected to the lower side of the lower plate 10a, and its output shaft passes through the lower plate 10a and is fixedly connected to the reduction pinion 21. The upper and lower parts of the transmission shaft 23 are respectively axially connected to the lower plate 2 10b and the lower plate 10a, and the axial connection is provided with a transmission bearing 23a; the gear 200 and the reduction gear 22 are respectively fixedly connected to the upper end and the middle part of the transmission shaft 23, and the reduction gear 22 is meshed with the reduction pinion 21, and the front and rear sides of the gear 200 are respectively meshed with the gear 1 201 and the gear 3 203.

[0057] The interventional catheter delivery twisting mechanism 3 comprises 4 delivery twisting shafts 30, 4 cylindrical inclined platform sleeves 31, a spring 32, a support bearing 33, a delivery twisting wheel 1 301, a delivery twisting wheel 2 302, a delivery twisting wheel 3 303 and a delivery twisting wheel 4 304. A square platform 30a is provided at the lower part of the delivery twisting shaft 30. The square platform 30a cooperates with the square groove 201c of the gear 1 201, the gear 2 202, the gear 3 203 and the gear 4 204 to realize circumferential transmission and axial sliding. The cylindrical inclined platforms 30b on the 4 delivery twisting shafts 30 are arranged in the same direction, thereby cooperating with two pairs of cylindrical inclined platform sleeves 31 arranged in an "eight" shape, thereby realizing that the rotation phase difference between each pair of two delivery twisting shafts 30 rotating in opposite directions is 180°.

[0058] The four conveying twisting shafts 30 pass through the upper plate four 10d upwards and are axially connected thereto, a support bearing 33 is provided at the axial connection, and a spring 32 is provided between the support bearing 33 and the cylindrical inclined platform 30b of the conveying twisting shaft 30; the uppermost ends of the four conveying twisting shafts 30 are fixedly connected to the conveying twisting wheel one 301, the conveying twisting wheel two 302, the conveying twisting wheel three 303 and the conveying twisting wheel four 304 in sequence, and the four conveying twisting wheels have the same structure and are located above the gear one 201, the gear two 202, the gear three 203 and the gear four 204 in sequence.

[0059] The laser induced therapy catheter 4 includes an interventional catheter 402, three optical fibers 401, and a protective spring 403. The three optical fibers 401 are evenly distributed and integrated in parallel in the interventional catheter 402, and are used to transmit the morphological change inducing source laser required for the 4D printed embolization device; the front end of the interventional catheter 402 is fixedly connected to the protective spring 403, and the two are fixedly connected by welding; the catheter has an anti-puncture effect, ensuring the safety of the patient during the interventional surgery.

[0060] The present invention provides a laser-induced hemangioma embolization interventional treatment device, and its working process and use method are as follows:

[0061] 1. The working process of a laser-induced hemangioma embolization interventional treatment device is as follows:

[0062] The starting motor 20 drives the small reduction gear 21 to rotate counterclockwise (looking down), and the small gear 21 drives the large reduction gear 22 to rotate clockwise; the large reduction gear 22 drives the transmission shaft 23 to rotate together, thereby driving the gear 200 to rotate clockwise; the gear 200 drives the gear 1 201 and the gear 3 203 on its front and rear sides to rotate counterclockwise, and the gear 1 201 and the gear 3 203 respectively drive the gear 2 202 and the gear 4 204 to rotate clockwise. For details, please refer to the attached Fig. 9 ; Gear 1 201, gear 2 202, gear 3 203 and gear 4 204 rotate to drive the four conveying twisting shafts 30 thereon to rotate, thereby forming two pairs of conveying twisting shafts 30 rotating in opposite directions; the rotation of the conveying twisting shafts 30 drives the cylindrical ramps 30b thereon to rotate, and due to the action of the spring 32, the two pairs of cylindrical ramps 30b arranged in the same direction will be closely matched with the two pairs of cylindrical ramp sleeves 31 arranged in an "eight" shape on their lower sides, thereby achieving a rotation phase difference of 180° between each pair of the two conveying twisting shafts 30 rotating in opposite directions, that is, achieving the two conveying twisting shafts 30 in each pair to move up and down alternately; and then driving the conveying twisting wheel to rotate while performing an up and down movement in space, achieving the two pairs of conveying twisting wheels rotating in opposite directions and alternating up and down movement in the axial direction, Fig.10 The laser-induced therapy catheter 4 passes through two pairs of delivery and twisting wheels in sequence, and the front and rear sides are limited by the guide sleeve 10g, thereby completing the delivery and twisting of the laser-induced therapy catheter 4 at the same time.

[0063] Embodiment 2:

[0064] A method for using a laser-induced hemangioma embolization interventional treatment device comprises the following steps:

[0065] 1) Before the operation, the patient is given local anesthesia, and then the surgeon finds the femoral artery at the root of the thigh and punctures the femoral artery. After a successful puncture, the puncture guide wire is inserted, the puncture needle is pulled out, and the sheath is placed along the puncture guide wire. The puncture guide wire and the inner sheath are then pulled out, leaving the outer sheath outside to facilitate the subsequent guide wire and catheter to enter the blood vessel.

[0066] 2) Install the angiography catheter and angiography guidewire on the laser-induced hemangioma treatment device and inject contrast agent; then turn on the motor and use the interventional catheter delivery twisting mechanism 3 to input the angiography catheter and the angiography guidewire along the femoral artery, so that the direction and thickness of the blood vessel can be clearly displayed under X-ray irradiation, and the hemangioma can be found along the femoral artery, and the hemangioma can be located to determine the position of the blood vessel that needs to be treated.

[0067] 3) After confirming the location of the hemangioma and positioning it, the angiography catheter and the angiography guidewire can be pulled out; at this time, the interventional catheter 402 of the laser-induced treatment catheter 4 and the 4D-printed intelligent embolization device are installed on the interventional catheter delivery twisting mechanism 3, and the interventional catheter 402 and the 4D-printed intelligent embolization device can be delivered into the blood vessel along the femoral artery; after reaching the designated treatment position, turn on the laser generator to allow the laser to be input along the optical fiber 401 integrated on the interventional catheter 402 for treatment, and at the same time output the embolization device to the designated hemangioma site, and under the irradiation of the laser, the 4D-printed intelligent embolization device is fully deployed and filled with the hemangioma to be treated, thereby blocking the blood flow in the hemangioma and achieving the desired treatment effect; after the embolization device is delivered and deployed, the interventional catheter 402 can be withdrawn to complete the operation.

[0068] 4) When the material of the light-induced 4D printed smart embolic device is irradiated by light of a specific wavelength, the molecules will undergo an optical isomerization reaction, thereby changing the form of the chain segments and achieving the effect of optical deformation. When the light source is removed, the optical isomerization reaction of the optical functional group will be reversed; therefore, the molecular chain returns to its original state and produces a shape memory effect; when the light-induced 4D printed smart embolic device is delivered to the designated treatment position during surgery, the optical fiber 401 integrated in the interventional catheter 402 is controlled to output a laser of a specified wavelength to irradiate the light-induced embolic device, perform shape memory recovery, and fill the hemangioma with the 4D printed smart embolic device, thereby achieving the desired effect.

[0069] In summary, the laser-induced hemangioma embolization interventional treatment device provided by the present invention can realize the synchronous delivery and twisting of the interventional catheter, thereby improving the surgical efficiency of the hemangioma embolization interventional treatment; and combines 4D printing additive manufacturing technology with vascular interventional robot technology to realize the use of light-induced 4D printed embolization device for hemangioma filling treatment. Compared with traditional embolization devices, the 4D printed embolization device realizes the adaptability of the embolization device to the shape of the hemangioma, improves the filling effect of the hemangioma, ensures the blocking effect of the blood flow in the hemangioma, and improves the treatment effect of the hemangioma.

Claims

1. A laser-induced hemangioma embolization interventional treatment device, comprising: A frame shell (1), a reduction transmission mechanism (2), an interventional catheter delivery twisting mechanism (3), and a laser-induced treatment catheter (4), wherein: the frame shell (1) comprises a general frame (10) and an overall shell (11); the reduction transmission mechanism (2) is fixedly connected to the lower part of the general frame (10) and driven by a motor (20); The output end of the reduction transmission mechanism (2) is k pairs of power disks that rotate in opposite directions and are arranged front and back, the 2k power disks are axially connected to the support shaft (10f) of the main frame (10), and the rotation speeds of the 2k power disks are equal, k≥1; The 2k power discs are provided with polygonal grooves on their upper parts, and through the cooperation with the polygonal bosses on the lower parts of the 2k conveying twisting shafts (30), circumferential transmission and axial sliding can be achieved between the power discs and the conveying twisting shafts (30); A cylindrical ramp (30b) is provided in the middle of the k pairs of conveying and twisting shafts (30) that rotate in opposite directions. The conveying and twisting shafts (30) pass through a cylindrical ramp sleeve (31) fixed to the main frame (10), and the cylindrical ramp (30b) is connected to the cylindrical ramp sleeve (31), and the contact force between the two is provided by a spring (32); when the conveying and twisting shafts (30) rotate, an axial up-and-down movement will be generated, and the rotation phase difference between each pair of conveying and twisting shafts (30) that rotate in opposite directions is 180 degrees; The delivery twisting shaft (30) is axially connected to the main frame (10) upwards, and its uppermost end is fixedly connected to a delivery twisting wheel. The laser induced treatment catheter (4) passes through k pairs of delivery twisting wheels that rotate in opposite directions and move axially alternately up and down.

2. The laser-induced hemangioma embolization interventional treatment device according to claim 1, characterized in that: The overall frame (10) comprises a lower plate one (10a), a lower plate two (10b), an upper plate three (10c), an upper plate (10d), a support shaft (10f) and a guide sleeve (10g), wherein the lower plate one (10a), the lower plate two (10b), the upper plate three (10c) and the upper plate (10d) are arranged in sequence from bottom to top; the upper side of the lower plate two (10b) is fixedly connected to k pairs of support shafts (10f) arranged front and back; the upper side of the upper plate three (10c) is fixedly connected to k pairs of cylindrical inclined platform sleeves (31) arranged front and back, and the inclined platforms between each pair of cylindrical inclined platform sleeves (31) are arranged relative to each other in the shape of an "eight"; the upper part of the upper plate four (10d) is symmetrically fixedly connected to the guide sleeves (10g), and the laser induced treatment catheter (4) passes through the guide sleeves (10g) on ​​both sides.

3. The laser-induced hemangioma embolization interventional treatment device according to claim 2, characterized in that: The 2k power discs are gears 1 (201), which have the same structure and number of teeth, and form k pairs of gears 1 (201) meshing with each other; When k≤2, a motor (20) can be used to drive a gear (200) located on one side to drive k pairs of mutually meshing gears (201) to rotate in opposite directions at the same time; when k>2, a transition transmission gear needs to be added when each pair of mutually meshing gears (201) is added; The gear 1 (201) is provided with a square groove (201a) at the top, and a shaft connection sleeve (201c) at the bottom for shaft connection with the support shaft (10f), and is provided with a pin hole (201b) therein, and is fixed to the support shaft (10f) by a pin.

4. The laser-induced hemangioma embolization interventional treatment device according to claim 3, characterized in that: The interventional catheter delivery twisting mechanism (3) comprises 2k delivery twisting shafts (30), 2k cylindrical bevel sleeves (31), a spring (32), and 2k delivery twisting wheels. A square table (30a) is provided at the bottom of the delivery twisting shaft (30). The square table (30a) cooperates with the square groove (201c) of the gear 1 (201) to achieve circumferential transmission and axial sliding. The cylindrical bevels (30b) on the 2k delivery twisting shafts (30) are arranged in the same direction. The k pairs of cylindrical bevel sleeves (31) arranged in an "eight" shape cooperate to achieve a rotation phase difference of 180° between each pair of delivery twisting shafts (30) rotating in opposite directions. The 2k conveying twisting shafts (30) pass upward through the upper plate four (10d) and are axially connected thereto; a spring (32) is provided between the upper plate four (10d) and the cylindrical inclined platform (30b) of the conveying twisting shaft (30); the uppermost ends of the 2k conveying twisting shafts (30) are fixedly connected to the conveying twisting wheels in sequence.

5. The laser-induced hemangioma embolization interventional treatment device according to claim 1, 2, 3 or 4, characterized in that: The laser induced treatment catheter (4) comprises an interventional catheter (402), an optical fiber (401), and a protective spring (403); the optical fiber (401) is evenly distributed and integrated in parallel in the interventional catheter (402); and the protective spring (403) is fixedly connected to the periphery of the front end of the interventional catheter (402).

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