Voice control intervention guide wire, control system and interventional operation system

Abstract

The invention discloses a sound control interventional guide wire, a control system and an interventional operation system.The sound control interventional guide wire comprises a sound field response section and a non-sound field response section, and the sound field response section is located at the head end of the guide wire and connected with the non-sound field response section in an end-to-end mode; the sound field response section is made of a flexible material, a cavity structure is arranged in the sound field response section, and the cavity structure responds to the effect of an external sound field to generate acoustic force to drive the sound field response section to deflect so as to control the steering direction and angle of the head end of the sound control intervention guide wire; and the non-sound field response section is a linear object. The head end of the sound control intervention guide wire is a sound field response section and can be directly controlled by an external sound field to steer. The steering direction and angle are precisely regulated and controlled through sound field parameters so as to adapt to different shapes of blood vessels or natural cavities, and safe and efficient intervention to a target position is achieved.

Description

Technical Field

[0001] The present invention relates to the field of interventional treatment devices, and particularly to a voice-controlled interventional guide wire, a control system, and an interventional surgical system. Background Art

[0002] The interventional guide wire is one of the basic medical devices for vascular intervention or other natural channel interventions. Usually, doctors control the tail end of the interventional guide wire to achieve the control of the steering direction and feeding depth of the head end of the interventional guide wire entering the human blood vessel or other natural channels, so as to reach the target lesion area. Through the track established by the interventional guide wire, doctors can deliver treatment instruments and perform surgical treatment on the target lesion. However, the control method of driving the head end of the guide wire to turn by operating the tail end has the problem of low control accuracy. Doctors need to try many times to make the head end of the guide wire face the target direction, which not only prolongs the operation time but also increases the risk of damage to the blood vessel wall or natural channel wall caused by repeated operations. In addition, to ensure that the force applied from the tail end can be effectively transmitted to the head end, the size of the traditional guide wire needs to be in the millimeter level, resulting in challenges when it enters narrow blood vessels or natural channels.

[0003] Applying force directly to the head end of the guide wire through an external physical field can improve the flexible controllability and operation accuracy of the head end of the guide wire. However, the existing control of the head end of the shape memory alloy guide wire through an external electric field and the control of the head end of the magnetic control guide wire through an external magnetic field both have problems of biosafety, such as the need for a relatively high driving voltage and a magnetically responsive material with potential toxicity respectively. The sound field has excellent biocompatibility and tissue penetration depth, but there is currently no report on the manipulation of interventional guide wires through an external sound field. Summary of the Invention

[0004] In view of the above-mentioned defects of the prior art, the present invention provides a voice-controlled interventional guide wire, a control system, and an interventional surgical system; the voice-controlled interventional guide wire can achieve the control of the head end of the voice-controlled interventional guide wire through the action of an external sound field, realizing safe and efficient intervention in complex and narrow blood vessels or natural cavities, and providing an interventional medical device with simple operation, safety, and high efficiency for interventional surgery. To achieve the above technical purposes, the present invention provides:

[0005] A voice-controlled interventional guide wire, which comprises:

[0006] A sound field response section and a non-sound field response section, the sound field response section is located at the head end of the guide wire and is connected end to end with the non-sound field response section;

[0007] The sound field response section is made of a flexible material, and a cavity structure is arranged inside it. The cavity structure responds to the action of an external sound field, generates acoustic force to drive the sound field response section to deflect, so as to control the steering direction and angle of the head end of the voice-controlled interventional guide wire;

[0008] The non-acoustic field response section is a linear object.

[0009] A further improvement of the present invention lies in that the cavity structures in the acoustic field response section are arranged in an array; the shapes of the cavity structures include cylindrical, spherical or polygonal; the diameter of the cavity structures is 10 μm to 8 mm, and the height is 100 μm to 2 mm.

[0010] A further improvement of the present invention lies in that the radial dimension of the acoustic control intervention guide wire is 10 μm to 1 cm.

[0011] A further improvement of the present invention lies in that the material of the acoustic field response section includes polydimethylsiloxane, polytetrafluoroethylene, polyetheretherketone and silica gel.

[0012] A further improvement of the present invention lies in that the deflection direction and deflection angle of the head end of the acoustic control intervention guide wire are controlled by adjusting the acoustic field parameters, and the acoustic field parameters include transducer position, acoustic field direction, acoustic field intensity and acoustic field frequency; the range of the deflection direction is 0 - 360°, and the range of the deflection angle is 0 - 180°.

[0013] A further improvement of the present invention lies in that when the acoustic field frequency is lower than the resonance frequency of the cavity structure, the direction of the acoustic force on the cavity structure is towards the transducer emitting the acoustic field; when the acoustic field frequency is higher than the resonance frequency, the direction of the acoustic force on the cavity structure is away from the transducer emitting the acoustic field; the frequency range of the acoustic field is 1 kHz–10 MHz.

[0014] The present invention also provides a control system for an acoustic control intervention guide wire, which includes:

[0015] An acoustic field generating device, including a signal generator, a power amplifier and a transducer, for generating and adjusting acoustic field parameters and applying the acoustic field to the acoustic control intervention guide wire;

[0016] A robotic arm, including a fixture and multi-degree-of-freedom axes, for adjusting the spatial position and orientation of the transducer;

[0017] A propulsion device for controlling the feeding depth of the acoustic control intervention guide wire;

[0018] A real-time imaging device for monitoring the position of the acoustic control intervention guide wire in a blood vessel or a cavity;

[0019] A terminal device for coordinately controlling the acoustic field generating device, the robotic arm, the propulsion device and the real-time imaging device.

[0020] A further improvement of the present invention lies in that the real-time imaging device includes a magnetic resonance imaging device, an ultrasonic imaging device, and a computed tomography device.

[0021] A further improvement of the present invention lies in that the terminal device realizes guide wire control through the following steps:

[0022] Obtain the real-time image of the target area and push the tip of the voice-controlled intervention guide wire to the bifurcation;

[0023] Adjust the position of the transducer and the sound field parameters, and drive the tip of the voice-controlled intervention guide wire to turn to the target branch;

[0024] Control the propulsion device to push the voice-controlled intervention guide wire to the target position.

[0025] The present invention also provides an interventional surgery system, including the above-mentioned voice-controlled intervention guide wire and the control system of the above-mentioned voice-controlled intervention guide wire.

[0026] The technical solution provided by the present invention has the following technical effects:

[0027] 1. The present invention provides a voice-controlled intervention guide wire and a control system. The tip of the voice-controlled intervention guide wire is a sound field response section, which can be directly controlled by an external sound field to turn. The turning direction and angle are precisely regulated through sound field parameters to adapt to different shapes of blood vessels or natural cavities, and safely and efficiently intervene to the target position.

[0028] 2. Compared with the force conduction control method of driving the tip by the tail end of the traditional guide wire, the control of the voice-controlled intervention guide wire is through the direct force application of the external sound field at the tip of the guide wire. The method is more sensitive and efficient, greatly enhancing the flexible controllability and operation accuracy of the tip of the guide wire. Therefore, the operation time can be significantly shortened, and the risk of damage to the blood vessel wall or the wall of the natural cavity can be reduced.

[0029] 3. Compared with the electric control or magnetic control guide wire, the voice-controlled intervention guide wire is controlled by a sound field with better tissue penetration ability. Therefore, in the tissue body (especially in the deep tissue area), it has better turning ability.

[0030] 4. Since the radial size of the voice-controlled intervention guide wire can be minimized to 10 microns, greatly breaking through the millimeter-level size of the traditional guide wire, it provides a feasible interventional medical device for the interventional treatment of diseases in narrow blood vessels or natural cavities, expanding the treatment scope of interventional surgery.

[0031] 5. Since the voice-controlled intervention guide wire is entirely composed of medical materials without any doping of metal and magnetic materials, it is compatible with a variety of medical images, especially magnetic resonance imaging (metal and magnetic materials cannot be carried); guiding the guide wire intervention process through magnetic resonance imaging method greatly reduces the X-ray radiation damage to doctors and patients caused by CT imaging method.

[0032] The following will further illustrate the concept, specific structure and technical effects generated by the present invention in conjunction with the drawings to fully understand the purpose, features and effects of the present invention. Description of the Drawings

[0033] Figure 1 Schematic diagram of the voice-controlled intervention guide wire of the present invention;

[0034] Figure 2 Schematic diagram of the control principle of the voice-controlled intervention guide wire of the present invention;

[0035] Figure 3 Schematic diagram of the method for controlling the steering degree of the voice-controlled intervention guide wire of the present invention;

[0036] Figure 4 Schematic diagram of the voice-controlled intervention guide wire control system of the present invention;

[0037] Figure 5 Experimental diagram of the intervention of the voice-controlled intervention guide wire of the present invention in animal microvessels.

[0038] In the attached drawings: 1 - sound field response section; 2 - non-sound field response section; 3 - cavity structure; 4 - transducer; 5 - sound field; 6 - direction of acoustic force action. Specific implementation manners

[0039] The following uses specific specific examples to illustrate the implementation manners of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation manners. The details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0040] Figure 1 A voice-controlled intervention guide wire provided by the present invention includes a sound field response section 1 and a non-sound field response section 2; the sound field response section 1 and the non-sound field response section 2 are connected end to end, and the sound field response section 1 is located at the head end of the voice-controlled intervention guide wire. The sound field response section is composed of a flexible medical material and internally embedded with cavity structures 3 distributed in an array; the non-sound field response section is a linear object made of a medical material or a traditional intervention guide wire.

[0041] The material of the sound field response section 1 is preferably polydimethylsiloxane (PDMS), or common medical materials such as polytetrafluoroethylene (PTFE), polyetheretherketone (PEEK), silicone (Ecoflex), etc.

[0042] In this embodiment, the shape of the cavity structure is preferably cylindrical, the diameter is preferably 300 μm, and the height is preferably 300 μm. Therefore, the radial dimension of the voice-controlled intervention guide wire is preferably 0.4 mm. It breaks through the limitation of the millimeter-level dimension of the traditional guide wire.

[0043] Such as Figure 2As shown, the above-mentioned voice-controlled intervention guidewire turns under the stimulation of the sound field 5 of the transducer 4. The principle is that the cavity structure generates an offset under the action of acoustic force, driving the sound field response section to deflect, and realizing the head-end turning of the voice-controlled intervention guidewire. For example, Figure 2 .

[0044] The sound field is generated by the transducer 4, and the transducer is preferably a planar transducer. The frequency of the sound field generated by the transducer is preferably 8 kHz and 100 kHz.

[0045] The head-end turning degree of the voice-controlled intervention guidewire can be controlled by programming the sound field parameters. The following details the control method of the head-end turning degree of the voice-controlled intervention guidewire through specific embodiments. For example, Figure 3 . The specific control methods include: changing the position and orientation of the transducer to adjust the direction and position of the sound field; changing the sound field intensity; changing the sound field frequency.

[0046] When changing the transducer position (i.e., changing the sound field direction), the direction of the acoustic force received by the cavity structure also changes accordingly and always points towards the transducer position. Using this principle, the control of the head-end turning direction of the voice-controlled intervention guidewire can be realized. In this embodiment, when the transducer is placed above, the head end of the voice-controlled intervention guidewire turns upward; when the transducer is placed below, the head end of the voice-controlled intervention guidewire turns downward. In addition, by gradually changing the transducer position, the control of the head-end turning angle of the voice-controlled intervention guidewire can also be realized.

[0047] When changing the sound field intensity, the magnitude of the acoustic force received by the cavity structure also changes accordingly. Using this principle, the control of the head-end turning angle of the voice-controlled intervention guidewire can be realized. In this embodiment, when the sound field intensity increases, the head-end turning angle of the voice-controlled intervention guidewire increases.

[0048] When changing the sound field frequency, the direction of the acoustic force received by the cavity structure also changes accordingly. Using this principle, the control of the head-end turning direction of the voice-controlled intervention guidewire can be realized. In this embodiment, when the sound field frequency 1 (preferably 8 kHz) is less than the resonance frequency of the cavity structure, the direction of the acoustic force received by the cavity structure points towards the transducer, so the head end of the voice-controlled intervention guidewire turns upward; when the sound field frequency 2 (preferably 100 kHz) is greater than the resonance frequency of the cavity structure, the direction of the acoustic force received by the cavity structure points away from the transducer, so the head end of the voice-controlled intervention guidewire turns downward.

[0049] The turning direction is 0 - 360°, and the turning angle is 0 - 180°.

[0050] Figure 4A voice-controlled interventional guidewire control system provided by the present invention includes an acoustic field generating device, a robotic arm, a propulsion device, a real-time imaging device, and a terminal device. The acoustic field generating device includes a signal generator, a power amplifier, and a transducer, and is used for emitting an acoustic field and adjusting acoustic field parameters. The robotic arm is used for fixing the transducer and adjusting its spatial position. The propulsion device is used for adjusting the feeding position of the voice-controlled interventional guidewire. The real-time imaging device is used for observing the position of the voice-controlled interventional guidewire in a blood vessel or a natural cavity in real time. The terminal device is used for controlling the acoustic field generating device, the robotic arm, the propulsion device, and the real-time imaging device, and the control process is as follows:

[0051] First, control the real-time imaging device to obtain an image of the target blood vessel or natural cavity; then control the propulsion device to push the voice-controlled interventional guidewire to the bifurcation of the blood vessel or natural cavity; according to the shape of the branches of the target blood vessel or natural cavity, control the robotic arm to adjust the spatial position of the transducer; subsequently, trigger the acoustic field generating device to turn on the acoustic field, and at the same time regulate the acoustic field parameters to make the tip of the guidewire face the target branch; finally, control the propulsion device to push the voice-controlled interventional guidewire to the target blood vessel or natural cavity branch.

[0052] The above-mentioned voice-controlled interventional guidewire and control system realize the tip control of the voice-controlled interventional guidewire through the action of an external acoustic field, and can achieve safe and efficient intervention in complex and narrow blood vessels or natural cavities. The following takes the intervention experiment in animal microvessels as a specific embodiment to illustrate the application of the voice-controlled interventional guidewire in the intervention operation in detail, as Figure 5 shown.

[0053] Rats were selected as the intervention objects in the experiment, and the distribution of the liver blood vessel network was obtained through an imaging device, which contained 1 bifurcation and 2 blood vessel branches, and the smallest blood vessel diameter was 0.8 mm.

[0054] When the voice-controlled interventional guidewire reaches the bifurcation (t = 0 s), under the condition that the acoustic field is not turned on, since the initial direction of the tip of the guidewire faces downward, it enters blood vessel branch 1 (t = 2 - 5 s).

[0055] When the voice-controlled interventional guidewire returns to the bifurcation, under the condition that the acoustic field is turned on, the tip of the guidewire is turned upward under the action of the upper acoustic field, so it enters blood vessel branch 2 (t = 15 - 20 s).

[0056] The above experimental results show that the voice-controlled interventional guidewire can achieve safe and efficient intervention in complex and narrow blood vessels under the action of an external acoustic field, providing a simple, safe and efficient interventional medical device for the intervention operation.

[0057] Since the acoustic field has a relatively deep tissue penetration ability, and the radial size of the voice-controlled interventional guidewire is in the micron level, the interventional application of the voice-controlled interventional guidewire is not limited to the above experiment.

[0058] The above embodiments are only illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A voice-controlled interventional guidewire, characterized in that: include: An acoustic field response section (1) and a non-acoustic field response section (2), wherein the acoustic field response section (1) is located at the guide wire tip and is connected end to end with the non-acoustic field response section (2); The acoustic field response section (1) is made of a flexible material, and a cavity structure (3) is arranged inside the section. The cavity structure (3) generates an acoustic force in response to an external acoustic field to drive the acoustic field response section (1) to deflect, so as to control the steering direction and angle of the head end of the acoustically controlled interventional guidewire; The non-sound field response section (2) is a linear object.

2. The voice-controlled interventional guidewire according to claim 1, characterized in that: The cavity structures (3) in the sound field response section (1) are distributed in an array; the shapes of the cavity structures (3) include cylindrical, spherical or polygonal; the diameter of the cavity structures is 10 μm to 8 mm, and the height is 100 μm to 2 mm.

3. The voice-controlled interventional guidewire according to claim 1, characterized in that: The radial size of the acoustically controlled interventional guidewire is 10 μm to 1 cm.

4. The voice-controlled interventional guidewire according to claim 1, characterized in that: The material of the sound field response section (1) includes polydimethylsiloxane, polytetrafluoroethylene, polyetheretherketone and silicone.

5. The voice-controlled interventional guidewire according to claim 1, characterized in that: The control of the deflection direction and deflection angle of the tip end of the acoustically controlled interventional guidewire is achieved by adjusting the sound field parameters, which include transducer position, sound field direction, sound field intensity and sound field frequency; the deflection direction ranges from 0-360°, and the deflection angle ranges from 0-180°.

6. The voice-controlled interventional guidewire according to claim 5, characterized in that: When the frequency of the sound field is lower than the resonance frequency of the cavity structure, the direction of the acoustic force acting on the cavity structure (3) is toward the transducer (4) that emits the sound field; when the frequency of the sound field is higher than the resonance frequency, the direction of the acoustic force acting on the cavity structure (3) is away from the transducer (4) that emits the sound field; the frequency range of the sound field is 1 kHz to 10 MHz.

7. A control system for a voice-controlled interventional guidewire, characterized in that include: The sound field generating device comprises a signal generator, a power amplifier and a transducer (4), and is used to generate and adjust sound field parameters and apply the sound field to the sound-controlled interventional guidewire; A mechanical arm, including a fixture and a multi-degree-of-freedom axis, for adjusting the spatial position and orientation of the transducer (4); A propulsion device for controlling the feeding depth of the acoustically controlled interventional guidewire; Real-time imaging device for monitoring the position of the acoustically controlled interventional guidewire within a blood vessel or cavity; The terminal device is used to coordinate and control the sound field generating device, the mechanical arm, the propulsion device and the real-time imaging device.

8. The control system of the voice-controlled interventional guidewire according to claim 7, characterized in that: The real-time imaging device includes a magnetic resonance imaging device, an ultrasonic imaging device, and a computer tomography device.

9. The control system of the voice-controlled interventional guidewire according to claim 7, characterized in that: The terminal device realizes guidewire control through the following steps: Acquire real-time images of the target area and push the tip of the voice-controlled interventional guidewire to the bifurcation; adjusting the position and acoustic field parameters of the transducer (4) to drive the tip of the acoustically controlled interventional guidewire to turn toward the target branch; The propulsion device is controlled to push the acoustically controlled interventional guide wire to the target position.

10. An interventional surgery system, comprising the voice-controlled interventional guidewire according to any one of claims 1 to 6 and a control system for the voice-controlled interventional guidewire according to any one of claims 7 to 9.

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