Automatic unfolding and folding device for ablation catheter and ablation control equipment

Abstract

The invention discloses an automatic unfolding and folding device for an ablation catheter and ablation control equipment, which are used for automatically unfolding the ablation catheter to a target position and automatically controlling the ablation catheter to realize recovery. The driving mechanism drives the driving wheel to rotate around the axis of the driving wheel, the annular peripheral side of the driving wheel is provided with a limiting groove sunken inwards, and an ablation catheter is placed in the limiting groove. The driven wheel is mounted in the driven wheel mounting frame, and the driven wheel is matched with the limiting groove and extrudes the limiting groove towards the center direction of the driving wheel so as to realize limiting movement of the ablation catheter. The detection unit detects the movement of the ablation catheter in real time to obtain a detection signal. And the motion control module accurately controls the motion ablation catheter of the driving mechanism based on the ablation parameters and the detection signals. Limiting movement of the ablation catheter is achieved through cooperation of the driving wheel and the driven wheel, real-time monitoring and control over rotation of the driving wheel are achieved through the movement control module and the detection unit, and therefore accurate movement control over the ablation catheter is achieved.

Description

Technical Field

[0001] The present invention belongs to the field of medical devices, and particularly relates to an automatic deployment and retraction device for an ablation catheter and an ablation control device. Background Art

[0002] Varicose veins are a vascular disease that affects millions of people globally, especially common in adults and the elderly. The main manifestations of this disease are the abnormal dilation, varicose of the lower limb veins and valve insufficiency, often accompanied by leg pain, swelling, itching and pigmentation. Severe varicose veins may lead to chronic venous insufficiency, phlebitis, venous thrombosis and even skin ulcers.

[0003] According to epidemiological studies, the incidence of varicose veins varies significantly in different regions and populations, and some form of varicose veins can be seen in approximately 20% to 30% of adults. The occurrence of varicose veins is mainly related to genetic factors, age, gender, obesity, long-term standing or sitting, pregnancy and changes in hormone levels. These factors cause increased venous pressure and damage to venous valves, thereby affecting the normal return of blood, resulting in blood stasis in the veins and dilation of blood vessels.

[0004] Traditional treatment methods include non-surgical and surgical methods. Non-surgical treatments such as elastic stocking compression, drug treatment and behavioral intervention can relieve symptoms but cannot cure the disease. Surgical treatments such as vein stripping and high ligation are more thorough treatment methods, but are often accompanied by greater invasiveness, longer recovery periods and certain risks of complications.

[0005] With the progress of medical technology, radiofrequency and laser treatments have become emerging treatment methods. They heat the inner wall of the vein through thermal effects to cause it to close, thereby blocking the blood flow in abnormal veins, relieving symptoms and restoring normal blood circulation. These methods have the advantages of less trauma, faster recovery, less pain and fewer complications compared to traditional surgeries. In particular, radiofrequency treatment has been proven to be effective in many clinical trials and can effectively reduce the recurrence rate of varicose veins.

[0006] Radiofrequency ablation requires the intervention of a medical catheter into the human body, that is, extending into the body cavity, and then while retracting the catheter, performing ablation on the target area. Existing implementations rely on medical staff to manually insert and remove, so the accuracy of the positioning of the medical catheter completely depends on the operator's own operation experience, resulting in difficulty in accurately controlling the movement speed and distance of the catheter. Summary of the Invention

[0007] The technical objective of the present invention is to provide an automatic deployment and retraction device for an ablation catheter and an ablation control device to solve the problem that the insertion and removal of the ablation catheter into the human body rely on manual operation by the operator, resulting in the implementation depending on the operator's own operation experience and having difficulty in accurately controlling the movement speed and distance of the catheter.

[0008] To solve the above problems, the technical solution of the present invention is as follows: An automatic deployment and retraction device for an ablation catheter, which is used to automatically deploy the ablation catheter to a target position and automatically control the ablation catheter to be retracted, including: A chassis, a driving component, a driven component and a detection unit connected and installed to the chassis; The driving component includes a driving mechanism and a driving wheel, and the driving mechanism drives the driving wheel to rotate around its axis; the driven component includes a driven wheel; the driven wheel squeezes the driving wheel to clamp and limit the ablation catheter arranged between the two; when the driving wheel rotates, it drives the ablation catheter to move; The detection unit is installed on the top of the chassis and is configured to detect the moving direction, moving speed and moving distance of the ablation catheter in real time to obtain detection signals; There is also a motion control module, which is respectively connected to the driving mechanism and the detection unit by signals, and is configured to receive ablation parameters input from the outside. Based on the ablation parameters and the detection signals output by the detection unit, it controls the driving mechanism to rotate the driving wheel, and then drives the ablation catheter to stretch and retract, so as to achieve precise control; The motion control module is also configured to perform stretching control on the ablation catheter according to the ablation parameters, and stretch the ablation catheter to the target position; then perform multi-segment retraction control on the ablation catheter according to the ablation parameters, pass through multiple ablation areas in sequence, and perform ablation respectively until the ablation catheter leaves the ablation area; among them, during the retraction process of the ablation catheter, multi-segment retraction of the same target tissue according to their respective corresponding ablation parameters is supported; The motion control module also cooperates with the detection unit to monitor the ablation catheter in real time, and is configured to monitor whether the power of the driving mechanism is abnormal, whether the driving wheel slips with the ablation catheter, and whether the ablation catheter touches the ablation warning line during the retraction process; Preferably, the motion control module is also configured to perform stretching control on the ablation catheter based on the stretching speed and stretching length in the ablation parameters, and stretch the ablation catheter by the stretching length at the stretching speed to reach the target position; perform retraction control on the ablation catheter based on the retraction speed and retraction length in the ablation parameters, and retract the ablation catheter by the retraction length at the retraction speed to reach the ablation area. At this time, the driving mechanism stops rotating, and the ablation catheter performs ablation; after the ablation is completed, repeat the above retraction steps to perform ablation on multiple ablation areas in sequence until the ablation catheter leaves the ablation area; Preferably, the control unit is also configured to control the driving component to perform stretching of the ablation catheter, and stretch it to the target position at the stretching speed V1. The stretching length of the ablation catheter at the target position is L; Control the driving component to perform retraction ablation of the ablation catheter, and retract it at the retraction speed V2, with a retraction distance of d each time; During the retraction process, the length to be ablated currently is D = S - (n - 1)*d, where n is the nth ablation execution; when D < d is satisfied, the ablation catheter is retracted at the retraction speed V3 until the real-time extension length of the ablation catheter retracts to L - S; Among them, the extension speed V1, the retraction speeds V2 and V3, the extension length L at the target position, the retraction distance d, and the length S of the target tissue are all ablation parameters input externally; Among them, a first accommodation cavity is opened on one side inside the chassis. The driving wheel is horizontally installed in the first accommodation cavity. A limiting groove recessed inward is opened on the circumferential side of the driving wheel, and the ablation catheter is placed in the limiting groove; a through hole is opened at the top of the first accommodation cavity, and the position of the through hole corresponds to the center of the driving wheel; the driving mechanism uses a motor, and the motor is installed above the first accommodation cavity. The output shaft of the motor sequentially passes through the through hole and the center of the rotating wheel to achieve transmission connection; Preferably, the driven assembly further includes a driven wheel mounting bracket and a pressing mechanism. The driven wheel is installed in the driven wheel mounting bracket. The driven wheel mounting bracket is movably installed inside the chassis and can move along the direction of the center connection line of the driving wheel and the driven wheel; the pressing mechanism is installed on the side of the driven wheel mounting bracket away from the driving wheel and is configured to use the chassis as a fulcrum to provide a force for the driven wheel to press toward the limiting groove; Among them, a second accommodation cavity is opened on the other side inside the chassis. The driven wheel mounting bracket is movably installed in the second accommodation cavity; the bottom of the driven wheel mounting bracket is slidably connected to the bottom surface of the second accommodation cavity; an installation groove recessed inward is opened on the side of the driven wheel mounting bracket facing the first accommodation cavity, and the driven wheel is horizontally installed in the installation groove, and the installation height of the driven wheel matches the installation height of the limiting groove; a pressing mechanism is installed on the other side of the driven wheel mounting bracket relative to the installation groove. The driven wheel and the driving wheel jointly press the ablation catheter located between them through the pressing mechanism, and the force applied by the pressing mechanism is positively correlated with the maximum resistance value of the ablation catheter that the target can withstand; Among them, the pressing mechanism and the driven wheel mounting bracket are selected to be in threaded locking fit, or selected to be in adjustable spring fit, or selected to be in interference fit; the pressing mechanism is configured to apply pressure to the driven wheel mounting bracket to push the driven wheel toward the limiting groove to clamp the ablation catheter. Since the limiting groove provides a positive pressure to the ablation catheter, when the driving wheel rotates, a frictional force is formed between the ablation catheter and the limiting groove to drive the ablation catheter to advance into the target position or retreat for recovery; Specifically, the detection unit selects a rotation detection sensor. The rotation detection sensor is configured to detect the rotation direction and number of turns of the driving wheel or the driven wheel, obtain a detection signal, and transmit it to the motion control module to calculate the moving direction, moving speed, and moving distance of the ablation catheter; Specifically, the detection unit selects a pulse receiver, and the driving mechanism selects a stepper motor. The pulse receiver is configured to obtain a detection signal according to the number of pulses sent by the stepper motor and transmit it to the motion control module to calculate the moving direction, moving speed, and moving distance of the ablation catheter; Specifically, the detection unit selects a photoelectric sensor. The photoelectric sensor is configured to release and collect an optical signal and convert it into a detection signal for transmission to the motion control module to calculate the moving direction, moving speed, and moving distance of the ablation catheter; Among them, the motion control module cooperates with the detection unit to monitor the ablation catheter in real time. It is configured to monitor whether the power of the driving mechanism is abnormal. If the monitored power is abnormal, it is determined that the movement resistance of the ablation catheter is too large, and the driving mechanism is commanded to stop driving to prevent secondary damage caused by the movement of the ablation catheter; Specifically, the motion control module cooperates with the rotation detection sensor to monitor the ablation catheter in real time. It is configured to monitor the rotation of the driven wheel. If the rotation of the driven wheel is not recognized within a preset time period, it is determined that the driving wheel slips with the ablation catheter, and the driving mechanism is commanded to stop driving; Specifically, the motion control module cooperates with the photoelectric sensor to monitor the ablation catheter in real time. It is configured to monitor the movement of the ablation catheter. If the movement of the ablation catheter is not recognized within a preset time period, it is determined that the driving wheel slips with the ablation catheter, and the driving mechanism is commanded to stop driving; An automatic unfolding and retracting and ablation control device for an ablation catheter includes the automatic unfolding and retracting device for an ablation catheter as described above, and further includes a total control module and an ablation control module; The total control module is respectively signal-connected to the motion control module and the ablation control module in the automatic unfolding and retracting device, and is configured to input ablation parameters by the total control module to synchronously control the stretching and retracting of the automatic unfolding and retracting device and the ablation execution of the ablation control module; Control the driving component of the automatic unfolding and retracting device to execute the stretching of the ablation catheter and stretch it to the target position at a stretching speed V1. The stretching length at the target position is L; Control the driving component to execute the retraction and ablation of the ablation catheter at a retraction speed V2, with a retraction distance of d each time. After each retraction is completed, perform ablation with an ablation power of W1 and an ablation time of T1; During the retraction process, the currently to-be-ablated length satisfies D = S - (n - 1)*d, where n is the current nth ablation execution; when D < d, retract the ablation catheter at a retraction speed V3 until the real-time stretching length of the ablation catheter retracts to L - S; Among them, the stretching speed V1, the retraction speeds V2 and V3, the stretching length L at the target position, the retraction distance d, the ablation power W1, the ablation time T1, and the target tissue length S are all ablation parameters input by the total control module; During the ablation catheter retraction ablation process, the support control motion control module and the ablation control module are supported to perform ablation on multiple segments of the same target tissue according to their respective different ablation parameters; Specifically, the motion control module cooperates with the detection unit in the automatic expansion and retraction device to monitor the ablation catheter in real time. When the ablation catheter retracts and the extension length of the ablation catheter reaches the warning length, a corresponding signal is uploaded to the total control module to cause the ablation control module to turn off the ablation output; where the warning length is the extension length of the ablation catheter when the heated working section of the ablation catheter overlaps with the trocar that plays a guiding role, and the warning length is the ablation parameter input by the total control module.

[0009] Due to the adoption of the above technical solutions, the present invention has the following advantages and positive effects compared with the prior art: The present invention is provided with a driving component and a driven component. The driving wheel of the driving component cooperates with the driven wheel of the driven component to fix the ablation catheter. The ablation parameters are input by the total control module, and then instructions are sent to the motion control module and the ablation control module. The motion control module controls the rotation of the driving wheel, and the driving wheel and the driven wheel cooperate with each other to move the ablation catheter forward and backward.

[0010] The present invention is provided with a detection unit that can detect the moving direction, moving speed, and moving distance of the ablation catheter in real time.

[0011] Based on the ablation parameters input in advance and the detection signals collected by the detection unit, the total control module issues corresponding control instructions to the motion control module and the ablation control module, which can achieve precise motion control of the ablation catheter and control the working frequency and duration of the heated working section of the ablation catheter.

[0012] The detection unit provided in the present invention can also monitor whether the power of the motor of the driving mechanism is abnormal. When the power of the motor is abnormal, it indicates that the catheter movement encounters abnormal reasons, such as local tissue sclerosis and stenosis. At this time, the catheter movement is stopped to prevent secondary damage, realizing power abnormality protection.

[0013] By detecting the rotation of the driven wheel or using a photoelectric sensor, the present invention can monitor in real time whether the driving wheel and the catheter are slipping, ensuring the stability of the catheter movement.

[0014] During the catheter recovery process, the present invention can monitor in real time whether the catheter reaches the ablation warning line, avoiding contact between the heated working section of the catheter and the trocar in the ablation working state, generating thermal runaway and damaging human tissues, and ensuring the safety of the ablation process.

[0015] The present invention supports the customization of ablation parameters. Users can input ablation parameters through the total control module, such as stretching speed, retracting speed, stretching length, ablation power, etc. The device can achieve the expected customized movement according to these parameters and automatically perform the ablation operation. Description of the Drawings

[0016] By reading the following detailed description of the preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present invention.

[0017] Figure 1 is a schematic structural diagram of an automatic expansion and retraction device for an ablation catheter according to the present invention; Figure 2 is a schematic internal structural diagram of an automatic expansion and retraction device for an ablation catheter according to the present invention; Figure 3 is a structural block diagram of an automatic expansion, retraction and ablation control device for an ablation catheter according to the present invention; Figure 4 is an implementation structural diagram of an ablation catheter according to the present invention; Figure 5 is a schematic diagram of the setting of another driving component and driven component according to the present invention; Figure 6 is a schematic structural diagram when an optoelectronic sensor is adopted according to the present invention; Figure 7 is a schematic diagram of the specific implementation of an ablation catheter according to the present invention.

[0018] Reference Numerals: 1: Chassis; 2: Motor; 3: Driving Wheel; 4: Driven Wheel; 401: Detection Unit; 402: Pressurizing Mechanism; 403: Driven Wheel Mounting Bracket; 5: Ablation Catheter; 501: Heating Working Section; 6: Trocar; 7: Human Body Cavity; 8: Optoelectronic Sensor. Detailed Embodiments

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or in the prior art, the specific embodiments of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained according to these drawings and other embodiments can be obtained.

[0020] In order to simplify the drawings, only the parts related to the present invention are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some figures, only one of the parts with the same structure or function is schematically drawn or marked. In this article, "one" not only means "only one", but also means "more than one".

[0021] The following is a further detailed description of an automatic deployment and retraction device for an ablation catheter 5 and an ablation control device proposed by the present invention in conjunction with the accompanying drawings and specific embodiments. The advantages and features of the present invention will become more apparent from the following description and claims.

[0022] Example 1 See also Figures 1 to 6 This embodiment provides an automatic deployment and retraction device for an ablation catheter, which is used to automatically deploy the ablation catheter to a target position and automatically control the ablation catheter to achieve retraction.

[0023] Specific reference Figure 1 and Figure 2 Structurally, this embodiment includes a chassis 1, and a driving component, a driven component and a detection unit 401 connected and installed with the chassis 1.

[0024] The driving assembly specifically includes a driving mechanism and a driving wheel 3 connected to the driving mechanism in a transmission manner. The driving mechanism adopts a motor 2, and its output shaft is connected to the axis of the driving wheel 3 so that it can drive the driving wheel 3 to rotate around its axis. A limit groove recessed inward is provided on the annular circumference of the driving wheel 3, and the ablation catheter 5 can be placed in the limit groove. Furthermore, the inner ring of the driving wheel 3 adopts hard rubber or a metal frame, and the outer ring adopts soft rubber, and a pattern is provided on the soft rubber to enhance the friction coefficient between the driving wheel 3 and the ablation catheter 5, thereby reducing the positive pressure required for the ablation catheter 5 to move. A first accommodating cavity is provided on one side of the chassis 1, and the driving wheel 3 is horizontally installed in the first accommodating cavity. A through hole is provided on the top of the first accommodating cavity, and the position of the through hole corresponds to the center of the driving wheel 3. The motor 2 is installed above the first accommodating cavity, and the output shaft of the motor 2 passes through the through hole and the center of the rotating wheel in turn to realize the transmission connection. The movement direction and movement speed of the ablation catheter 5 can be changed by adjusting the forward rotation, reverse rotation and rotation speed of the motor 2.

[0025] Further, a second accommodating cavity is formed on the other side inside the chassis 1, and the driven assembly is arranged in the second accommodating cavity. Specifically, the driven assembly includes a driven wheel 4, a driven wheel mounting bracket 403, and a pressing mechanism 402. The driven wheel mounting bracket 403 is movably mounted in the second accommodating cavity. The bottom of the driven wheel mounting bracket 403 is slidably connected to the bottom surface of the second accommodating cavity and can move along the direction connecting the centers of the driving wheel 3 and the driven wheel 4. An inwardly recessed mounting groove is formed on one side of the driven wheel mounting bracket 403 facing the first accommodating cavity. The driven wheel 4 is horizontally mounted in the mounting groove, and the set height of the driven wheel 4 is the same as that of the limiting groove. When the driven wheel mounting bracket 403 is pushed towards the driving wheel 3, the driven wheel 4 squeezes the limiting groove towards the center of the driving wheel 3, thereby clamping the ablation catheter 5 located between the driven wheel 4 and the driving wheel 3. A pressing mechanism 402 is mounted on the other side of the driven wheel mounting bracket 403 relative to the mounting groove. Taking the chassis 1 as a fulcrum, a pressing force towards the limiting groove is provided for the driven wheel 4. Therefore, the function of the pressing mechanism 402 is to make there be an appropriate positive pressure between the ablation catheter 5 and the driving wheel 3. At this time, when the driving wheel 3 rotates, it can drive the ablation catheter 5 to move. At the same time, the movement of the ablation catheter 5 will also drive the driven wheel 4 to rotate synchronously. By adjusting the pressing mechanism 402, the magnitude of the force exerted by the driven wheel 4 on the ablation catheter 5 can be changed. According to the friction principle, the maximum frictional force is only related to the coefficient of friction and the positive pressure. The maximum frictional force between the driving wheel 3 and the ablation catheter 5 can be adjusted by the pressing mechanism 402 to a target value. When the external resistance (the resistance received by the ablation catheter 5 during movement) exceeds this value, the driving wheel 3 cannot drive the catheter to move (i.e., slipping occurs); the maximum frictional force can be set according to the maximum resistance value that the target human tissue can withstand the movement of the catheter, so as to achieve the protection of the human body.

[0026] See Figure 1 、 Figure 2 , specifically, the pressing mechanism 402 and the driven wheel mounting bracket 403 can be selected with a threaded locking fit, or a adjustable spring fit, or an interference fit. Taking Figure 1 and Figure 2 as an example, a locking type pressing mechanism is selected. By adjusting the screw, the magnitude of the force exerted by the pressing mechanism 402 on the driven wheel mounting bracket 403 is changed, so as to control the pressing force of the driven wheel 4 on the ablation catheter 5.

[0027] See Figure 1 、 Figure 2 and Figure 6, in this embodiment, the detection unit 401 is installed on the top of the chassis 1, and can detect parameters such as the moving direction, moving speed and moving distance of the ablation catheter 5 in real time to obtain detection signals. Specifically, the detection unit 401 can select a rotation detection sensor, or a pulse receiver, or a photoelectric sensor 8. When a rotation detection sensor is selected, it is used to detect the rotation direction and number of turns of the driven wheel 4, so as to detect the movement direction, speed and distance of the ablation catheter 5. The rotation detection sensor can select sensors such as an encoder or a Hall sensor that can detect rotation. The advantage of setting a rotation detection sensor on the driven wheel 4 is that the situation of the ablation catheter 5 being affected by external movement resistance is relatively complex. When the resistance is too large, slippage may occur between the ablation catheter 5 and the driving wheel 3, resulting in asynchronous movement. However, the driven wheel 4 is driven by the catheter, and the resistance it receives during rotational movement is almost unchanged and stable. The risk of slippage between the driven wheel 4 and the catheter is much smaller than that between the catheter and the driving wheel 3. Therefore, if a sensor is set on the motor 2 shaft or the driving wheel 3 to monitor the rotation direction and number of turns to detect the movement direction, speed and distance of the catheter, there will be a problem that when slippage occurs between the driving wheel 3 and the ablation catheter 5, the sensor cannot recognize that the catheter has not moved.

[0028] When a pulse receiver is selected, the driving mechanism selects a stepper motor. The pulse receiver obtains detection signals according to the pulse direction, pulse frequency and pulse quantity sent by the stepper motor, and transmits them to the motion control module to calculate the moving direction, moving speed and moving distance of the ablation catheter 5. However, this solution has the problem that when the motor loses steps or slippage occurs between the driving wheel 3 and the catheter, the sensor cannot recognize that the catheter has not moved.

[0029] See Figure 6 , when a photoelectric sensor 8 is selected, the photoelectric sensor 8 can collect the movement of the ablation catheter 5 in a non-contact manner. The photoelectric sensor 8 can select a photoelectric mouse sensor and achieve detection by taking pictures and decoding and comparing, and the principle is the same as that of a photoelectric mouse detecting movement. It can also select a laser Doppler sensor. The principle is that laser irradiates a moving object → the laser irradiating the moving object is scattered → there is a Doppler frequency difference between the scattered light and the incident light → the frequency difference has a good mapping with the moving speed of the object. The photoelectric sensor 8 can also identify whether the ablation catheter 5 slips.

[0030] See Figure 5 , another way of setting the rotation detection sensor is also provided. The driving wheel 3 cooperates with the driven wheel 4 to drive the ablation catheter 5 to move. Another pair of driven wheels 4 are driven by the ablation catheter 5 to rotate. A rotation detection sensor can be set at this pair of driven wheels 4 to detect the movement direction, speed and distance of the ablation catheter 5.

[0031] See Figure 3, in this embodiment, a motion control module is provided, which is respectively connected to the above-mentioned driving mechanism and the detection unit 401 in a signal connection manner, and is used to receive ablation parameters input from the outside. Based on the ablation parameters and the detection signals collected by the detection unit 401, it precisely controls the driving mechanism to move the ablation catheter 5. The detailed content of its control is described in detail in Embodiment 2.

[0032] Preferably, the motion control module cooperates with the detection unit 401 to monitor the ablation catheter 5 in real time, and combines with the overall control module above it to monitor whether the power of the driving mechanism is abnormal, whether the driving wheel 3 slips with the ablation catheter 5, and whether the ablation catheter 5 reaches the ablation warning line during the recovery process. The specific monitoring logic is described in detail in Embodiment 2.

[0033] Embodiment 2 See Figure 3 , this embodiment provides an automatic deployment / retraction and ablation control device for an ablation catheter, including an automatic deployment / retraction device for an ablation catheter as in Embodiment 1, an overall control module, and an ablation control module. The overall control module is respectively connected to the motion control module and the ablation control module in the automatic deployment / retraction device in a signal connection manner. An operator can input ablation parameters to the overall control module to synchronously control the extension and retraction of the automatic deployment / retraction device and the ablation execution of the ablation control module. Now, the control of the present application will be described in combination with a usage scenario. The usage scenario is that the ablation catheter 5 first enters the human body cavity 7 and then performs ablation on the target area while retracting.

[0034] First, for the extension of the ablation catheter 5, the overall control module controls the driving component of the automatic deployment / retraction device to execute the extension of the ablation catheter 5. The user preset the extension length L and the extension speed V1. The instruction is dispatched by the overall control module to the motion control module, and the motor 2 drives the catheter to extend in the extension direction at the set speed V1. At the same time, the sensor real-time detects whether the movement of the ablation catheter 5 is in the target direction, whether it reaches the target speed, and whether the extension distance reaches the target value L. If the extension speed does not conform to the target speed V1 (external resistance fluctuations will affect the catheter movement speed), it is fed back to the motion control module to adjust the rotation speed of the motor 2 to V1; when it is detected that the catheter has extended to the target length L, it is fed back to the motion control module to stop the motor 2. Of course, the extension length L can also be subjectively judged by the operator to the target position under image guidance and then stop the motor 2. The sensor feeds back the extended length at this time to the main control module and records it as the extension length L for subsequent control calculations.

[0035] Then, the total control module controls the driving component and the ablation control module to perform the retraction ablation of the ablation catheter 5. Assume that the user sets the target tissue length S to be ablated during retraction, the ablation power W1, the ablation time T1, the retraction distance d each time, and the retraction speed V2, and executes according to the following ablation strategy: the length to be ablated is D, where D is a variable with an initial value equal to the target tissue length S; when the length D to be ablated is greater than the retraction distance d, then ablate with the ablation power W1 for the ablation time T1, then retract the ablation catheter 5 by the retraction distance d at the retraction speed V2, and then judge the length D to be ablated again. If it still meets the condition, continue to repeat the above steps to perform ablation until the length D to be ablated is less than the retraction distance d, and the retraction ablation stage is considered to end.

[0036] Finally, after the above steps, the total control module can calculate that the current extension size of the ablation catheter 5 is L - S. The instruction is dispatched by the total control module to the motion control module, and the motor 2 drives the ablation catheter 5 to retract in the retraction direction at the preset final retraction speed V3 of the user. At the same time, the sensor real-time detects whether the movement of the ablation catheter 5 is in the target direction, the target speed, and whether the retraction distance reaches the target value L - S; if the retraction speed does not match the target speed V3, it is fed back to the motion control module to adjust the rotation speed of the motor 2 to V3; when it is detected that the catheter has retracted to the target length L - S, it is fed back to the motion control module to stop the motor 2.

[0037] Further, during the retraction ablation process of the ablation catheter 5, it is supported to control the motion control module and the ablation control module to perform ablation according to their respective different ablation parameters. Take Figure 7 as an example for illustration. Figure 7 shows a blood vessel to be ablated. The AB segment is the target area to be ablated. The ablation area can be analyzed through means such as previous imaging examinations. Specifically, combined with information such as the size of the blood vessel segment to be ablated and the blood flow velocity, it is comprehensively analyzed and divided into four segments L1, L2, L3, and L4 (taking 4 segments in the figure as an example, but not limited to only four segments, and the number of segments divided depends on the specific situation), and personalized ablation parameters can be set for each segment, such as adopting different ablation powers, ablation times, ablation waveforms, movement schemes of the ablation catheter, etc. Then, during the operation, the previously planned ablation parameters, the total length of the ablation segment, and the length of each segment are input into the total control module. Then, after the ablation catheter 5 enters the target blood vessel and moves to the target point A, the point A is defined as the coordinate origin. According to the input information, the ablation catheter 5 moves to the target point B. According to the input information, each of the L1, L2, L3, and L4 segments is ablated according to their respective ablation parameters to achieve personalized customized automatic ablation.

[0038] Preferably, refer to Figure 4, when the ablation catheter 5 is retracted and the extended length of the ablation catheter 5 reaches the warning length, a corresponding signal is uploaded to the total control module to cause the ablation control module to turn off the ablation output. As Figure 4 shown, trocar 6, human body cavity 7, ablation catheter 5, and the heating working section 501 of ablation catheter 5. The ablation catheter 5 ablates while retracting along the arrow direction. When the catheter heating working section 501 contacts the trocar 6, ablation cannot be performed, otherwise it is likely to cause thermal runaway and damage human tissues. In current surgeries, it is impossible to directly observe with the naked eye whether the catheter heating working section 501 overlaps with the trocar 6. It is necessary to record the insertion length, extraction length, and then calculate the relative position, or rely on other detection means. In this embodiment, only a parameter A needs to be set. The parameter A is the length that the ablation catheter 5 extends just to reach the ablation warning line. That is, when the extended length of the ablation catheter 5 is less than the parameter A, the total control module locks the ablation control module, that is, ablation cannot be performed.

[0039] Furthermore, the total control module also cooperates with the motion control module and the detection unit 401 to monitor the real-time power of the motor 2. When the resistance to the movement of the ablation catheter 5 increases, the power of the motor 2 will increase. When encountering abnormal reasons, such as local tissue sclerosis and stenosis, etc., the resistance to the ablation catheter 5 will increase. At this time, when the total control module monitors abnormal electrode power, it can cause the motor 2 to stop rotating to stop the catheter movement, prevent secondary damage, and at the same time feedback to the operator for handling.

[0040] Specifically, the total control module also cooperates with the motion control module and the detection unit 401 to monitor the ablation catheter 5 in real time. When the detection unit 401 selects a rotation detection sensor, by monitoring the rotation of the driven wheel 4, if the rotation of the driven wheel 4 is not recognized within a preset time period, it is determined that the driving wheel 3 slips with the ablation catheter 5, and the driving mechanism is stopped from driving, and at the same time feedback to the operator for handling. Similarly, when an optical sensor 8 is selected, the movement of the ablation catheter 5 is directly monitored. If the movement of the ablation catheter 5 is not recognized within a preset time period, it is determined that the driving wheel 3 slips with the ablation catheter 5, and the driving mechanism is stopped from driving, and at the same time feedback to the operator for handling.

[0041] The embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, provided that these changes fall within the scope of the claims of the present invention and its equivalent technologies, they still fall within the protection scope of the present invention.

Claims

1. An automatic deployment and retraction device for an ablation catheter, which is used to automatically deploy the ablation catheter to a target position and automatically control the ablation catheter to achieve recovery, characterized in that Comprising: A chassis, a driving component, a driven component and a detection unit connected and installed to the chassis; The driving component includes a driving mechanism and a driving wheel, and the driving mechanism drives the driving wheel to rotate around its axis; the driven component includes a driven wheel; the driven wheel exerts extrusion on the driving wheel to clamp and limit an ablation catheter arranged therebetween; when the driving wheel rotates, it drives the ablation catheter to move; The detection unit is installed on the top of the chassis and is configured to detect the moving direction, moving speed and moving distance of the ablation catheter in real time to obtain detection signals; There is also a motion control module, which is respectively signal-connected to the driving mechanism and the detection unit, and is configured to receive ablation parameters input from the outside, and based on the ablation parameters and the detection signals output by the detection unit, control the driving mechanism to rotate the driving wheel, and then drive the ablation catheter to extend and retract, so as to achieve precise control.

2. The automatic expansion and retraction device for an ablation catheter according to claim 1, wherein The motion control module is further configured to perform extension control on the ablation catheter according to the ablation parameters, and extend the ablation catheter to a target position; then perform multi-segment retraction control on the ablation catheter according to the ablation parameters, pass through multiple ablation regions in sequence, and perform ablation respectively until the ablation catheter leaves the ablation region; wherein, during the retraction process of the ablation catheter, multi-segment retraction of the same target tissue according to their respective corresponding ablation parameters is supported; The motion control module also cooperates with the detection unit to monitor the ablation catheter in real time, and is configured to monitor whether the power of the driving mechanism is abnormal, whether the driving wheel slips with the ablation catheter, and whether the ablation catheter touches the ablation warning line during the retraction process.

3. The automatic deployment and retraction device for an ablation catheter according to claim 1, characterized in that, The motion control module is further configured to perform extension control on the ablation catheter based on the extension speed and extension length in the ablation parameters, and extend the ablation catheter by the extension length at the extension speed to reach the target position; perform retraction control on the ablation catheter based on the retraction speed and retraction length in the ablation parameters, and retract the ablation catheter by the retraction length at the retraction speed to reach the ablation region. At this time, the driving mechanism stops rotating, and the ablation catheter performs ablation; after ablation is completed, repeat the above retraction step to perform ablation on multiple ablation regions in sequence until the ablation catheter leaves the ablation region.

4. The automatic expansion and retraction device for an ablation catheter according to claim 3, wherein The motion control module is further configured to control the driving component to perform extension of the ablation catheter, and extend it to the target position at an extension speed V1, and the extension length of the ablation catheter at the target position is L; Control the driving component to perform retraction ablation of the ablation catheter, and retract it at a retraction speed V2, with a retraction distance of d each time; During the retraction process, the length to be ablated currently is D = S - (n - 1)*d, where n is the nth time of performing ablation currently; when D Among them, the stretching speed V1, the retracting speeds V2 and V3, the stretching length L at the target position, the retracting distance d, and the target tissue length S are all the ablation parameters input externally.

5. The automatic expanding and retracting device for an ablation catheter according to claim 1, wherein a first accommodating cavity is formed on one side inside the chassis. The driving wheel is horizontally installed in the first accommodating cavity. A limiting groove recessed inward is formed on the circumferential side of the driving wheel, and the ablation catheter is placed in the limiting groove. A through hole is formed at the top of the first accommodating cavity, and the position of the through hole corresponds to the center of the driving wheel. The driving mechanism uses a motor, and the motor is installed above the first accommodating cavity. The output shaft of the motor sequentially passes through the through hole and the center of the driving wheel to achieve transmission connection.

6. The automatic expanding and retracting device for an ablation catheter according to claim 5, wherein the driven assembly further includes a driven wheel mounting bracket and a pressing mechanism. The driven wheel is installed in the driven wheel mounting bracket, and the driven wheel mounting bracket is movably installed inside the chassis and can move along the direction of the center connection line between the driving wheel and the driven wheel. The pressing mechanism is installed on the side of the driven wheel mounting bracket away from the driving wheel and is configured to use the chassis as a fulcrum to provide a force for the driven wheel to press towards the limiting groove.

7. The automatic expanding and retracting device for an ablation catheter according to claim 6, wherein a second accommodating cavity is formed on the other side inside the chassis. The driven wheel mounting bracket is movably installed in the second accommodating cavity. The bottom of the driven wheel mounting bracket is slidably connected to the bottom surface of the second accommodating cavity. An inwardly recessed mounting groove is formed on the side of the driven wheel mounting bracket facing the first accommodating cavity, and the driven wheel is horizontally installed in the mounting groove, and the installation height of the driven wheel matches the installation height of the limiting groove. The pressing mechanism is installed on the other side of the driven wheel mounting bracket relative to the mounting groove. By means of the pressing mechanism, the driven wheel and the driving wheel jointly press the ablation catheter located between them, and the force applied by the pressing mechanism is positively correlated with the maximum resistance value that the target can withstand for the ablation catheter.

8. The automatic expanding and retracting device for an ablation catheter according to claim 6, wherein the pressing mechanism and the driven wheel mounting bracket are selected to be in threaded locking fit, or selected to be in adjustable spring fit, or selected to be in interference fit; the pressing mechanism is configured to apply pressure to the driven wheel mounting bracket to push the driven wheel towards the limiting groove to clamp the ablation catheter. Since the limiting groove provides a positive pressure to the ablation catheter, when the driving wheel rotates, a frictional force is formed between the ablation catheter and the limiting groove to drive the ablation catheter to advance and extend into the target position, or to retract for recovery.

9. The automatic expanding and retracting device for an ablation catheter according to claim 1, wherein The detection unit selects a rotation detection sensor, which is configured to detect the rotation direction and number of turns of the driving wheel or the driven wheel, obtain a detection signal, and transmit it to the motion control module to calculate the moving direction, moving speed, and moving distance of the ablation catheter.

10. The automatic expansion and retraction device for an ablation catheter according to claim 1, characterized in that, The detection unit selects a pulse receiver, and the driving mechanism selects a stepper motor. The pulse receiver is configured to obtain a detection signal according to the number of pulses sent by the stepper motor, and transmit it to the motion control module to calculate the moving direction, moving speed, and moving distance of the ablation catheter.

11. The automatic unfolding and folding device for an ablation catheter according to claim 1, wherein The detection unit selects a photoelectric sensor, which is configured to release and collect an optical signal, and convert it into a detection signal and transmit it to the motion control module to calculate the moving direction, moving speed, and moving distance of the ablation catheter.

12. The automatic unfolding and folding device for an ablation catheter according to claim 1, wherein The motion control module cooperates with the detection unit to perform real-time monitoring on the ablation catheter, and is configured to monitor whether the power of the driving mechanism is abnormal. If the monitored power is abnormal, it is determined that the movement resistance of the ablation catheter is too large, and the driving mechanism is commanded to stop driving to prevent secondary damage caused by the movement of the ablation catheter.

13. The automatic unfolding and folding device for an ablation catheter according to claim 9, wherein The motion control module cooperates with the rotation detection sensor to perform real-time monitoring on the ablation catheter, and is configured to monitor the rotation of the driven wheel. If the rotation of the driven wheel is not recognized within a preset time period, it is determined that the driving wheel and the ablation catheter are slipping, and the driving mechanism is commanded to stop driving.

14. The automatic unfolding and folding device for an ablation catheter according to claim 11, wherein The motion control module cooperates with the photoelectric sensor to perform real-time monitoring on the ablation catheter, and is configured to monitor the movement of the ablation catheter. If the movement of the ablation catheter is not recognized within a preset time period, it is determined that the driving wheel and the ablation catheter are slipping, and the driving mechanism is commanded to stop driving.

15. An automatic deployment and retraction and ablation control device for an ablation catheter, comprising the automatic deployment and retraction device for an ablation catheter according to any one of claims 1 to 14, characterized in that, It further includes a total control module and an ablation control module; The total control module is respectively signal-connected to the motion control module and the ablation control module in the automatic unfolding and folding device, and is configured to input ablation parameters by the total control module to synchronously control the stretching and recovery of the automatic unfolding and folding device and the ablation execution of the ablation control module; Control the driving component of the automatic unfolding and folding device to execute the stretching of the ablation catheter, and stretch it to the target position at a stretching speed V1, and the stretching length at the target position is L; Control the driving component to execute the retraction and ablation of the ablation catheter, with a retraction speed V2, a retraction distance of d each time, and an ablation power of W1 and an ablation time of T1 after each retraction; During the retraction process, the length to be ablated currently satisfies D = S - (n - 1)*d, where n is the nth time of ablation currently; when D is satisfied Among them, the stretching speed V1, the retracting speeds V2 and V3, the stretching length L at the target position, the retracting distance d, the ablation power W1, the ablation time T1, and the target tissue length S are all ablation parameters input by the overall control module; Among them, during the retracting ablation process of the ablation catheter, it supports and controls the motion control module and the ablation control module to perform ablation on multiple segments of the same target tissue according to their respective different ablation parameters.

16. The automatic deployment and ablation control device for an ablation catheter according to claim 15, characterized in that, The motion control module cooperates with the detection unit in the automatic deployment and retraction device to perform real-time monitoring on the ablation catheter, and is configured to upload a corresponding signal to the overall control module when the stretching length of the ablation catheter reaches the warning length during the retraction of the ablation catheter, so as to cause the ablation control module to turn off the ablation output; among them, the warning length is the stretching length of the ablation catheter when the heating working section of the ablation catheter overlaps with the trocar that plays a guiding role, and the warning length is an ablation parameter input by the overall control module.

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