Automatic deployment and retraction device for ablation catheter and ablation control equipment

Abstract

The present invention discloses an automatic deployment and retraction device for an ablation catheter and an ablation control device, which are used to automatically deploy the ablation catheter to the target position and automatically control the ablation catheter to achieve recovery. The driving mechanism drives the driving wheel to rotate around its axis. The annular circumference of the driving wheel is provided with an inwardly recessed limiting groove, and the ablation catheter is placed in the limiting groove. The driven wheel is installed in the driven wheel mounting frame. The driven wheel matches the limiting groove and squeezes the limiting groove toward the center of the driving wheel to achieve limiting movement of the ablation catheter. The detection unit detects the movement of the ablation catheter in real time and obtains a detection signal. The motion control module accurately controls the movement of the ablation catheter by the driving mechanism based on the ablation parameters and the detection signal. The present invention realizes limiting movement of the ablation catheter by cooperating with the driving wheel and the driven wheel, and monitors and controls the rotation of the driving wheel in real time through the motion control module and the detection unit, thereby achieving accurate motion control of the ablation catheter.

Description

Technical Field

[0001] The present invention belongs to the field of medical devices, and in particular 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 worldwide, particularly adults and the elderly. The condition manifests as abnormal dilation, varicose veins, and valvular insufficiency in the lower extremities, often accompanied by leg pain, swelling, itching, and hyperpigmentation. Severe varicose veins can lead to chronic venous insufficiency, phlebitis, venous thrombosis, and even skin ulcers.

[0003] Epidemiological studies show that the incidence of varicose veins varies significantly across regions and populations, with approximately 20% to 30% of adults experiencing some form of varicose veins. Varicose veins are primarily associated with genetic factors, age, gender, obesity, prolonged standing or sitting, pregnancy, and hormonal changes. These factors increase venous pressure and damage venous valves, which in turn impair normal blood flow, causing blood to stagnate and dilate.

[0004] Traditional treatments include both non-surgical and surgical approaches. Non-surgical treatments, such as elastic compression stockings, medication, and behavioral interventions, can alleviate symptoms but cannot cure the disease. Surgical treatments, such as vein stripping and high ligation, are more radical, but they are often associated with greater invasiveness, a longer recovery period, and a certain risk of complications.

[0005] With advances in medical technology, radiofrequency and laser therapy have become emerging treatment options. These methods heat the vein walls to seal, thereby blocking blood flow through the abnormal veins, alleviating symptoms, and restoring normal circulation. Compared to traditional surgery, these methods offer advantages such as less trauma, faster recovery, less pain, and fewer complications. Radiofrequency therapy, in particular, has been shown to be highly effective in reducing the recurrence rate of varicose veins in multiple clinical trials.

[0006] Radiofrequency ablation requires inserting a medical catheter into the body's cavity and then retracting it while ablation is performed on the target area. Current methods rely on manual insertion and removal by medical personnel. Consequently, accurate positioning of the medical catheter relies entirely on the operator's experience, making it difficult to precisely control the catheter's speed and distance. Summary of the Invention

[0007] The technical purpose of the present invention is to provide an automatic deployment and retraction device and ablation control equipment for an ablation catheter, so as to solve the problem that the ablation catheter is inserted into the human body and removed manually by the operator, resulting in the implementation relying on the operator's own operating experience and making it difficult to accurately control the movement speed and distance of the catheter.

[0008] In order to solve the above problems, the technical solution of the present invention is:

[0009] An automatic deployment and retraction device for an ablation catheter is used to automatically deploy the ablation catheter to a target location and automatically control the ablation catheter for retraction, comprising:

[0010] Chassis, driving components, driven components and detection units connected to the chassis;

[0011] The drive assembly includes a drive mechanism and a driving wheel. The drive mechanism drives the driving wheel to rotate about its axis. The driven assembly includes a driven wheel. The driven wheel squeezes the driving wheel to clamp and limit the ablation catheter placed between the two. The rotation of the driving wheel drives the ablation catheter to move.

[0012] 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 and obtain a detection signal;

[0013] A motion control module is also provided, which is connected to the drive mechanism and the detection unit signal respectively, and is configured to receive ablation parameters input from the outside, and based on the ablation parameters and the detection signal output by the detection unit, control the drive mechanism to rotate the active wheel, thereby driving the ablation catheter to achieve extension and retraction, thereby achieving precise control;

[0014] The motion control module is further configured to control the extension of the ablation catheter according to the ablation parameters, extending the ablation catheter to the target location; and then control the ablation catheter to retract in multiple sections according to the ablation parameters, sequentially passing through multiple ablation areas and performing ablation respectively until the ablation catheter leaves the ablation area. During the retraction of the ablation catheter, retraction of multiple sections of the same target tissue according to their corresponding ablation parameters is supported.

[0015] The motion control module also cooperates with the detection unit to monitor the ablation catheter in real time. It is configured to monitor whether the power of the drive mechanism is abnormal, whether the driving wheel and the ablation catheter are slipping, and whether the ablation catheter touches the ablation warning line during the retraction process.

[0016] Preferably, the motion control module is further configured to: control the extension of the ablation catheter based on the extension speed and the extension length in the ablation parameters, extending the ablation catheter by the extension length according to the extension speed to reach the target position; control the retraction of the ablation catheter based on the retraction speed and the retraction length in the ablation parameters, retracting the ablation catheter by the retraction length according to the retraction speed to reach the ablation area, at which time the driving mechanism stops rotating and the ablation catheter performs ablation; after the ablation is completed, repeat the above retraction steps to sequentially ablate multiple ablation areas until the ablation catheter leaves the ablation area;

[0017] Preferably, the control unit is further configured to control the driving component to perform ablation catheter extension, extend to the target position at an extension speed V1, and the extension length of the ablation catheter at the target position is L;

[0018] Control the driving component to perform ablation catheter retraction ablation, and retract at a retraction speed V2 with a retraction distance of d each time;

[0019] During the retraction process, the currently ablated length is D = S - (n - 1)*d, where n is the nth ablation execution; when D < d, retract the ablation catheter at a retraction speed V3 until the real-time extension length of the ablation catheter retracts to L - S;

[0020] Among them, the extension speed V1, retraction speeds V2 and V3, the extension length L at the target position, the retraction distance d, and the target tissue length S are all externally input ablation parameters;

[0021] 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 is recessed inward 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, the motor is installed above the first accommodation cavity, and the output shaft of the motor sequentially passes through the through hole and the center of the rotating wheel to achieve transmission connection;

[0022] Preferably, the driven component 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 line connecting 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 squeeze towards the limiting groove;

[0023] 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 inwardly recessed installation groove is opened on the side of the driven wheel mounting bracket facing the first accommodation cavity, 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, and the driven wheel and the driving wheel are used to jointly squeeze the ablation catheter located between the two through the pressing mechanism, and the force applied by the pressing mechanism is positively correlated with the maximum resistance value that the target can withstand of the ablation catheter;

[0024] The pressure mechanism and the driven wheel mounting frame are matched with threaded locking, or with an adjustable spring, or with an interference fit. The pressure mechanism is configured to apply pressure to the driven wheel mounting frame to push the driven wheel toward the limiting groove to clamp the ablation catheter. Since the limiting groove provides positive pressure to the ablation catheter, when the driving wheel rotates, friction is generated between the ablation catheter and the limiting groove to drive the ablation catheter forward to extend into the target position, or backward to achieve recovery.

[0025] Specifically, the detection unit uses 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;

[0026] Specifically, the detection unit uses a pulse receiver, and the driving mechanism uses a stepper motor. The pulse receiver is configured to obtain a detection signal based on the number of pulses sent by the stepper motor, and transmit the signal to the motion control module to calculate the moving direction, moving speed and moving distance of the ablation catheter.

[0027] Specifically, the detection unit uses a photoelectric sensor, which is configured to release and collect light signals, and convert them into detection signals and transmit them to the motion control module to calculate the moving direction, moving speed and moving distance of the ablation catheter;

[0028] The motion control module cooperates with the detection unit to monitor the ablation catheter in real time. It is configured to detect whether the power of the drive 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 drive mechanism is stopped to prevent secondary damage caused by the movement of the ablation catheter.

[0029] 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 driven wheel does not rotate within a preset time period, it is determined that the driving wheel and the ablation catheter are slipping, and the driving mechanism is stopped.

[0030] 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 detected within a preset time period, it is determined that the driving wheel and the ablation catheter are slipping, and the driving mechanism is stopped.

[0031] An automatic deployment and retraction device for an ablation catheter and an ablation control device, comprising the automatic deployment and retraction device for an ablation catheter as described above, and further comprising a general control module and an ablation control module;

[0032] The total control module is respectively signal-connected to the motion control module and the ablation control module in the automatic deployment and retraction device, and is configured to input ablation parameters by the total control module to synchronously control the extension and retraction of the automatic deployment and retraction device and the ablation execution of the ablation control module;

[0033] Control the driving component of the automatic deployment and retraction device to execute the extension of the ablation catheter, and extend it to the target position at the extension speed V1, and the extension length at the target position is L;

[0034] Control the driving component to execute the retraction and ablation of the ablation catheter, with the retraction speed V2, the retraction distance d each time, and after each retraction, with the ablation power W1 and the ablation time T1;

[0035] During the retraction process, the currently to-be-ablated length satisfies D = S - (n - 1)*d, where n is the nth time of performing ablation currently; when D < d, retract the ablation catheter at the retraction speed V3 until the real-time extension length of the ablation catheter retracts to L - S;

[0036] Among them, the extension speed V1, the retraction speeds V2, V3, the extension 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;

[0037] Among them, during the process of executing the retraction and ablation of the ablation catheter, it is supported to control 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;

[0038] Specifically, 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 total control module when the extension length of the ablation catheter reaches the warning length when the ablation catheter retracts, so as to make the ablation control module turn off the ablation output; where the warning length is the extension length of the ablation catheter when the heat-generating 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 total control module.

[0039] Due to the adoption of the above technical solutions, the present invention has the following advantages and positive effects compared with the prior art:

[0040] The present invention is provided with a driving component and a driven component, and the ablation catheter is fixed by the cooperation of the driving wheel of the driving component and the driven wheel of the driven component. 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 realize the forward and backward movement of the ablation catheter.

[0041] The present invention is provided with a detection unit, which can perform real-time detection on the moving direction, moving speed and moving distance of the ablation catheter.

[0042] Based on the pre-input ablation parameters and the detection signals collected by the detection unit, the general control module issues corresponding control instructions to the motion control module and the ablation control module, which can realize precise motion control of the ablation catheter and control the working frequency and duration of the heating working section of the ablation catheter.

[0043] 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 movement of the catheter has encountered an abnormal reason, such as local hardening and stenosis of the tissue. At this time, the movement of the catheter is stopped to prevent secondary damage, thereby realizing power abnormality protection.

[0044] The present invention can monitor in real time whether the driving wheel and the catheter are slipping by detecting the rotation of the driven wheel or using a photoelectric sensor, thereby ensuring the stability of the catheter movement.

[0045] During the catheter recovery process, the present invention can monitor in real time whether the catheter has reached the ablation warning line, avoiding the hot working section of the catheter from contacting the trocar during the ablation working state, causing thermal runaway and damaging human tissue, thereby ensuring the safety of the ablation process.

[0046] The present invention supports customization of ablation parameters. Users can input ablation parameters such as extension speed, retraction speed, extension length, ablation power, etc. through the main control module. The device can achieve the expected customized movement according to these parameters and automatically perform the ablation operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Various other advantages and benefits will become apparent to those skilled in the art by reading the following detailed description of the preferred embodiment.The accompanying drawings are only for the purpose of illustrating the preferred embodiment and are not to be considered as limiting the present invention.

[0048] Figure 1 Schematic diagram of the structure of an automatic deployment and retraction device for an ablation catheter according to the present invention;

[0049] Figure 2 Schematic diagram of the internal structure of an automatic deployment and retraction device for an ablation catheter according to the present invention;

[0050] Figure 3 This is a structural block diagram of an automatic deployment and ablation control device for an ablation catheter according to the present invention;

[0051] Figure 4 FIG1 is a structural diagram of an ablation catheter according to the present invention;

[0052] Figure 5 A schematic diagram of another arrangement of a driving assembly and a driven assembly according to the present invention;

[0053] Figure 6 This is a schematic structural diagram of the present invention when a photoelectric sensor is used;

[0054] Figure 7 This is a schematic diagram of a specific implementation of the ablation catheter of the present invention.

[0055] Reference numerals:

[0056] 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 cavity; 8: Photoelectric sensor. DETAILED DESCRIPTION

[0057] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific embodiments of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings and other embodiments can be obtained based on these drawings without inventive work.

[0058] To simplify the drawings, only the parts relevant to the present invention are schematically shown in each figure. They do not represent the actual structure of the product. Furthermore, to simplify the drawings and facilitate understanding, in some figures, only one of the components with the same structure or function is schematically depicted or labeled. As used herein, "one" not only means "only one" but also "more than one."

[0059] The following is a detailed description of an automatic deployment and retraction device for an ablation catheter 5 and an ablation control device according to the present invention, with reference to the accompanying drawings and specific embodiments. The advantages and features of the present invention will become more apparent from the following description and claims.

[0060] Example 1

[0061] See 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.

[0062] 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 to the chassis 1.

[0063] The drive assembly specifically includes a drive mechanism and a driving wheel 3 connected to the drive mechanism. The drive mechanism uses a motor 2, whose output shaft is connected to the axis of the driving wheel 3, so that it can drive the driving wheel 3 to rotate about its axis. An inwardly recessed limit groove 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 is made of hard plastic or a metal frame, and the outer ring is made of soft plastic with a pattern provided on the soft plastic 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 chamber is provided on one side of the chassis 1, and the driving wheel 3 is horizontally installed in the first accommodating chamber. A through hole is provided at the top of the first accommodating chamber, 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 chamber. The output shaft of the motor 2 passes through the through hole and the center of the rotating wheel in sequence to achieve a transmission connection. The movement direction and speed of the ablation catheter 5 can be changed by adjusting the forward and reverse rotation and rotation speed of the motor 2.

[0064] Furthermore, a second accommodating chamber is provided on the other side of the chassis 1, and the driven assembly is arranged in the second accommodating chamber. Specifically, the driven assembly includes a driven wheel 4, a driven wheel mounting bracket 403 and a pressurizing mechanism 402. The driven wheel mounting bracket 403 is movably installed in the second accommodating chamber, and the bottom of the driven wheel mounting bracket 403 is slidably connected to the bottom surface of the second accommodating chamber, and can move along the direction of the line connecting the center of the driving wheel 3 and the driven wheel 4. The driven wheel mounting bracket 403 is provided with an inwardly recessed mounting groove on the side facing the first accommodating chamber, and the driven wheel 4 is horizontally installed in the mounting groove, and the setting height of the driven wheel 4 is consistent with the setting height of the limit groove. When the driven wheel mounting bracket 403 is pushed toward the driving wheel 3, the driven wheel 4 squeezes the limit groove toward 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 pressure mechanism 402 is mounted on the other side of the driven wheel mounting bracket 403, opposite the mounting slot. Using the chassis 1 as a fulcrum, it applies a compressive force to the driven wheel 4 toward the stop slot. Therefore, the pressure mechanism 402 maintains a suitable positive pressure between the ablation catheter 5 and the driving wheel 3. Rotation of the driving wheel 3 drives the ablation catheter 5, and this movement also drives the driven wheel 4 to rotate synchronously. Adjusting the pressure mechanism 402 can alter the force exerted by the driven wheel 4 on the ablation catheter 5. Frictional principles indicate that the maximum frictional force is solely dependent on the friction coefficient and the positive pressure. The pressure mechanism 402 can be used to adjust the maximum frictional force between the driving wheel 3 and the ablation catheter 5 to a target value. When the external resistance (the resistance encountered by the ablation catheter 5 during movement) exceeds this value, the driving wheel 3 is unable to drive the catheter (i.e., slippage occurs). The maximum frictional force can be set based on the maximum resistance that the target tissue can withstand, thereby protecting the patient.

[0065] See Figure 1 、 Figure 2 Specifically, the pressure mechanism 402 and the driven wheel mounting bracket 403 can be matched with thread locking, or with an adjustable spring, or with an interference fit. Figure 1 and Figure 2 For example, a locking pressurizing mechanism is selected, and the force applied by the pressurizing mechanism 402 to the driven wheel mounting bracket 403 is changed by adjusting the screw, thereby controlling the pressing force of the driven wheel 4 on the ablation catheter 5 .

[0066] 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 a detection signal. Specifically, the detection unit 401 can be a rotation detection sensor, a pulse receiver, or a photoelectric sensor 8. When a rotation detection sensor is selected, it is used to detect the direction and number of rotations of the driven wheel 4, thereby detecting the movement direction, speed and distance of the ablation catheter 5. The rotation detection sensor can be an encoder, a Hall sensor, or other sensors that can detect rotation. The advantage of providing a rotation detection sensor for the driven wheel 4 is that the ablation catheter 5 is subject to more complex external movement resistance. When the resistance is too large, the ablation catheter 5 and the driving wheel 3 may slip, resulting in asynchronous movement. The driven wheel 4 is driven by the catheter, and the resistance to its rotational movement is stable and almost unchanged. The risk of slipping 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 direction and number of rotations, thereby detecting the movement direction, speed and distance of the catheter, there is a problem that when the driving wheel 3 and the ablation catheter 5 slip, the sensor cannot recognize that the catheter is not moving.

[0067] When a pulse receiver is used, the drive mechanism uses a stepper motor. The pulse receiver generates detection signals based on the direction, frequency, and number of pulses sent by the stepper motor. These signals are then sent to the motion control module to calculate the movement direction, speed, and distance of the ablation catheter 5. However, this solution suffers from the sensor's inability to detect catheter motion if the motor loses a step or the driving wheel 3 and catheter slip.

[0068] See Figure 6When photoelectric sensor 8 is used, it can contactlessly detect the movement of the ablation catheter 5. Photoelectric sensor 8 can be a photoelectric mouse sensor, which detects movement by capturing images and performing decoding and comparison, using the same principle as photoelectric mouse motion detection. Alternatively, a laser Doppler sensor can be used. The principle is that laser light illuminates a moving object, which is then scattered. A Doppler frequency difference exists between the scattered light and the incident light, which then maps well to the object's velocity. Photoelectric sensor 8 can also detect slippage of the ablation catheter 5.

[0069] See Figure 5 , another way of setting up 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, and the other pair of driven wheels 4 is driven by the ablation catheter 5 to rotate. A rotation detection sensor can be set at the pair of driven wheels 4 to detect the movement direction, speed and distance of the ablation catheter 5.

[0070] See Figure 3 In this embodiment, a motion control module is provided, which is respectively connected to the above-mentioned driving mechanism and detection unit 401 for signal connection, and is used to receive ablation parameters input from the outside, and based on the ablation parameters and the detection signal collected by the detection unit 401, accurately control the movement of the ablation catheter 5 of the driving mechanism. The control details are described in detail in Example 2.

[0071] Preferably, the motion control module cooperates with the detection unit 401 to monitor the ablation catheter 5 in real time, and combines with its upper general control module 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 Example 2.

[0072] Example 2

[0073] See Figure 3 This embodiment provides an automatic deployment and retraction device for an ablation catheter and ablation control device, comprising the automatic deployment and retraction device for an ablation catheter as described in Example 1, as well as a master control module and an ablation control module. The master control module is signal-connected to the motion control module and the ablation control module in the automatic deployment and retraction device, respectively. An operator can input ablation parameters into the master control module to synchronize the deployment and retraction of the automatic deployment and retraction device with the ablation execution of the ablation control module. The control of this application will now be described in conjunction with a usage scenario, in which an ablation catheter 5 first enters a human body cavity 7 and then retracts while performing ablation on the target area.

[0074] First, the ablation catheter 5 is extended. The main control module controls the drive assembly of the automatic deployment and retraction device to extend the ablation catheter 5. The user pre-sets the extension length L and extension speed V1. The main control module dispatches these instructions to the motion control module, causing motor 2 to extend the catheter in the extension direction at the set speed V1. Simultaneously, sensors monitor in real time whether the ablation catheter 5 is moving in the target direction, at the target speed, and at the target extension distance L. If the extension speed does not meet the target speed V1 (external resistance fluctuations can affect the catheter's movement speed), feedback is provided to the motion control module to adjust the motor 2 speed to V1. When the catheter is detected to have reached the target length L, feedback is provided to the motion control module to stop motor 2. Alternatively, the extension length L can be determined by the operator under image guidance, with motor 2 stopping after reaching the target position. The sensor then feeds the extended length back to the main control module, recording it as the extension length L for subsequent control calculations.

[0075] Then, the overall control module controls the drive assembly and the ablation control module to execute 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 for each retraction, 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 to be ablated D is greater than the retraction distance d, the ablation power W1 is used for the ablation time T1, and then the ablation catheter 5 is retracted at the retraction speed V2 for the distance d. The length to be ablated D is then determined. If the condition is still satisfied, the above steps are repeated to perform ablation until the length to be ablated D is less than the retraction distance d, at which point the retraction ablation phase is deemed to be complete.

[0076] Finally, after completing the above steps, the master control module calculates the current extended length of the ablation catheter 5 as LS. This command is dispatched by the master control module to the motion control module, causing Motor 2 to retract the ablation catheter 5 in the retraction direction at a user-defined final retraction speed V3. Simultaneously, sensors monitor the ablation catheter 5's movement in real time to determine if it is in the target direction and speed, and if the retraction distance has reached the target value LS. If the retraction speed does not meet the target speed V3, feedback is provided to the motion control module to adjust the speed of Motor 2 to V3. When the catheter has retracted to the target length LS, feedback is provided to the motion control module to stop Motor 2.

[0077] Furthermore, during the ablation process of the ablation catheter 5 retracting, the motion control module and the ablation control module are supported to perform ablation according to their respective different ablation parameters. Figure 7 Take this as an example to illustrate, Figure 7The figure shows a segment of a vessel to be ablated, with segments AB representing the target area to be ablated. The ablation area can be analyzed through preliminary imaging and other means. A comprehensive analysis is performed based on information such as vessel size and blood flow velocity within the ablation segment, dividing it into four segments: L1, L2, L3, and L4. (The figure uses four segments as an example, but the number of segments is not limited to four; the number of segments varies depending on the specific situation.) Individualized ablation parameters can be set for each segment, such as different ablation power, ablation time, ablation waveform, and ablation catheter movement strategies. During the procedure, the previously planned ablation parameters, the total length of the ablation segment, and the length of each segment are input into the master control module. The ablation catheter 5 then enters the target vessel and moves to target point A, defined as the coordinate origin. Based on the input information, the ablation catheter 5 is then moved to target point B. Based on this input information, ablation is then performed sequentially for each segment, L1, L2, L3, and L4, according to their respective ablation parameters, achieving customized automated ablation.

[0078] Preferably, see Figure 4 When the ablation catheter 5 retreats and the extended length of the ablation catheter 5 reaches the warning length, a corresponding signal is uploaded to the main control module, causing the ablation control module to turn off the ablation output. Figure 4 As shown, the trocar 6, the human cavity 7, the ablation catheter 5, the heating working section 501 of the ablation catheter 5, and the ablation catheter 5 are ablating while retreating in the direction of the arrow. When the heating working section 501 of the catheter contacts the trocar 6, ablation cannot be performed, otherwise it will easily cause thermal runaway and damage human tissue. In current operations, it is impossible to directly observe with the naked eye whether the heating working section 501 of the catheter overlaps with the trocar 6. It is necessary to record the entry length, the withdrawal length, and then calculate the relative position, or use other detection means. In this embodiment, only one parameter A needs to be set. The parameter A is the length of the ablation catheter 5 that just reaches the ablation warning line. That is, when the extension length of the ablation catheter 5 is less than the parameter A, the main control module locks the ablation control module, that is, ablation cannot be performed.

[0079] Furthermore, the master control module collaborates with the motion control module and detection unit 401 to monitor the real-time power of motor 2. When resistance to the ablation catheter 5 increases, the power of motor 2 increases. If an abnormality occurs, such as localized tissue sclerosis and stenosis, which increases resistance to the ablation catheter 5, the master control module detects abnormal electrode power and stops motor 2, halting catheter movement to prevent secondary damage. Feedback is also provided to the operator for processing.

[0080] Specifically, the overall control module also collaborates with the motion control module and the detection unit 401 to monitor the ablation catheter 5 in real time. When the detection unit 401 uses a rotation detection sensor, it monitors the rotation of the driven wheel 4. If no rotation of the driven wheel 4 is detected within a preset time period, it is determined that the driving wheel 3 and the ablation catheter 5 are slipping, and the drive mechanism is stopped, while feedback is provided to the operator for processing. Similarly, when the photoelectric sensor 8 is used, it directly monitors the movement of the ablation catheter 5. If no movement of the ablation catheter 5 is detected within a preset time period, it is determined that the driving wheel 3 and the ablation catheter 5 are slipping, and the drive mechanism is stopped, while feedback is provided to the operator for processing.

[0081] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, if these changes fall within the scope of the claims of the present invention and their equivalents, they still fall within the scope of protection of the present invention.

Claims

1. An automatic deployment and retraction device for an ablation catheter, used to automatically deploy the ablation catheter to a target position and automatically control the ablation catheter to achieve retraction, characterized in that: include: A chassis, a driving component, a driven component and a detection unit connected to and installed in the chassis; The driving assembly includes a driving mechanism and a driving wheel, wherein the driving mechanism drives the driving wheel to rotate around its axis; the driven assembly includes a driven wheel; the driven wheel presses against the driving wheel to clamp and limit the ablation catheter disposed therebetween; the ablation catheter is driven to move as the driving wheel rotates; 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 and obtain a detection signal; A motion control module is further provided, which is signal-connected to the drive mechanism and the detection unit, respectively, and is configured to receive ablation parameters input from the outside, and based on the ablation parameters and the detection signal output by the detection unit, control the drive mechanism to rotate the active wheel, thereby driving the ablation catheter to be extended and retracted, thereby achieving precise control; The motion control module is further configured to control the extension of the ablation catheter according to the ablation parameters, extending the ablation catheter to the target location; and then control the ablation catheter to retract in multiple sections according to the ablation parameters, sequentially passing through multiple ablation areas and performing ablation respectively until the ablation catheter leaves the ablation area; wherein, during the retraction of the ablation catheter, retraction of multiple sections of the same target tissue according to their corresponding ablation parameters is supported; The motion control module is further configured to control the driving assembly to extend the ablation catheter to a target position at an extension speed V1, where the extension length of the ablation catheter at the target position is L; Controlling the driving assembly to execute the ablation catheter to retract and ablate, with a retraction speed of V2 and a retraction distance of d each time; During the fallback process, the length of the current ablation to be performed is D=S-(n-1)*d, where n is the nth ablation execution. Among them, the extension speed V1, the retraction speed V2, V3, the extension length L at the target position, the retraction distance d, and the target tissue length S are all the ablation parameters input externally.

2. The automatic deployment and retraction device for an ablation catheter according to claim 1, characterized in that: 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 control the extension of 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; control the retraction of 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 which time the driving mechanism stops and the ablation catheter performs ablation; after the ablation is completed, repeat the above-mentioned retraction steps, and perform ablation on multiple ablation areas in sequence until the ablation catheter leaves the ablation area.

4. The automatic deployment and retraction device for an ablation catheter according to claim 1, characterized in that: A first accommodating cavity is provided on one side of the chassis, and the driving wheel is horizontally installed in the first accommodating cavity. An inwardly recessed limiting groove is provided on the annular circumference of the driving wheel, and an ablation catheter is placed in the limiting groove; 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; the driving mechanism adopts a motor, and the motor is installed above the first accommodating cavity, and the output shaft of the motor passes through the through hole and the center of the driving wheel in sequence to realize transmission connection.

5. The automatic deployment and retraction device for an ablation catheter according to claim 4, characterized in that: The driven assembly also includes a driven wheel mounting frame and a pressure mechanism, the driven wheel is mounted in the driven wheel mounting frame, the driven wheel mounting frame is movably mounted in the chassis and can move along the direction of the line connecting the driving wheel and the center of the driven wheel; the pressure mechanism is installed on the side of the driven wheel mounting frame away from the driving wheel, and is configured to use the chassis as a fulcrum to provide the driven wheel with a force to squeeze toward the limiting groove.

6. The automatic deployment and retraction device for an ablation catheter according to claim 5, characterized in that: A second accommodating chamber is provided on the other side of the chassis, and the driven wheel mounting bracket is movably installed in the second accommodating chamber; the bottom of the driven wheel mounting bracket is slidably connected to the bottom surface of the second accommodating chamber; the driven wheel mounting bracket is provided with an inwardly recessed mounting groove facing the first accommodating chamber, and the driven wheel is horizontally installed in the mounting groove, and the setting height of the driven wheel matches the setting height of the limiting groove; the driven wheel mounting bracket is installed with the pressure mechanism on the other side of the mounting groove, and the pressure mechanism allows the driven wheel and the driving wheel to jointly squeeze the ablation catheter located therebetween, and the force applied by the pressure mechanism is positively correlated with the maximum resistance value of the ablation catheter that the target can withstand.

7. The automatic deployment and retraction device for an ablation catheter according to claim 5, characterized in that: The pressurizing mechanism and the driven wheel mounting frame are matched with threaded locking, or with adjustable spring, or with interference fit; the pressurizing mechanism is configured to apply pressure to the driven wheel mounting frame to push the driven wheel toward the limiting groove to clamp the ablation catheter. Since the limiting groove provides positive pressure to the ablation catheter, when the driving wheel rotates, friction is formed between the ablation catheter and the limiting groove to drive the ablation catheter forward to extend into the target position, or backward to achieve recovery.

8. The automatic deployment and retraction device for an ablation catheter according to claim 1, characterized in that: The detection unit uses 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.

9. The automatic deployment and retraction device for an ablation catheter according to claim 1, characterized in that: The detection unit uses a pulse receiver, and the driving mechanism uses a stepper motor. The pulse receiver is configured to obtain a detection signal based on 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.

10. The automatic deployment and retraction device for an ablation catheter according to claim 1, characterized in that: The detection unit is a photoelectric sensor, which is configured to release and collect light signals, and convert them into detection signals and transmit them to the motion control module to calculate the moving direction, moving speed and moving distance of the ablation catheter.

11. The automatic deployment and retraction device for an ablation catheter according to claim 1, characterized in that: The motion control module 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. 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 stopped to prevent secondary damage caused by the movement of the ablation catheter.

12. The automatic deployment and retraction device for an ablation catheter according to claim 8, characterized in that: The motion control module cooperates with the rotation detection sensor to monitor the ablation catheter in real time and is configured to monitor the rotation of the driven wheel. If the driven wheel is not detected to rotate within a preset time period, it is determined that the driving wheel and the ablation catheter are slipping, and the driving mechanism stops driving.

13. The automatic deployment and retraction device for an ablation catheter according to claim 10, characterized in that: The motion control module cooperates with the photoelectric sensor to monitor the ablation catheter in real time and is configured to monitor the movement of the ablation catheter. If the movement of the ablation catheter is not identified within a preset time period, it is determined that the driving wheel and the ablation catheter are slipping, and the driving mechanism stops driving.

14. An automatic deployment and ablation control device for an ablation catheter, comprising the automatic deployment and ablation control device for an ablation catheter according to any one of claims 1 to 13, characterized in that: It also includes a general control module and an ablation control module; The general control module is signal-connected to the motion control module and the ablation control module in the automatic deployment and retraction device, respectively, and is configured to receive ablation parameters from the general control module to synchronously control the deployment and retraction of the automatic deployment and retraction device and the ablation performed by the ablation control module; Controlling the driving assembly of the automatic deployment and retraction device to extend the ablation catheter to a target position at an extension speed V1, where the extension length at the target position is L; Controlling the driving assembly to execute the ablation catheter retraction ablation at a retraction speed of V2, a retraction distance of d each time, an ablation power of W1 after each retraction is completed, and an ablation time of T1; During the fallback process, the length of the current ablation satisfies D=S-(n-1)*d, where n is the nth ablation execution. Among them, the extension speed V1, retraction speed V2, V3, extension length L at the target position, retraction distance d, ablation power W1, ablation time T1 and target tissue length S are all ablation parameters input by the general control module; Wherein, during the ablation catheter retraction ablation process, the motion control module and the ablation control module are supported to be controlled to perform ablation on multiple segments of the same target tissue according to their own different ablation parameters.

15. The automatic deployment and ablation control device for an ablation catheter according to claim 14, characterized in that: The motion control module cooperates with the detection unit in the automatic extension and retraction device to monitor the ablation catheter in real time, and is configured to upload a corresponding signal to the main control module when the ablation catheter retracts and the extended length of the ablation catheter reaches the warning length, so as to make the ablation control module turn off the ablation output; wherein the warning length is the extended length of the ablation catheter when the heating working section of the ablation catheter overlaps with the sheath needle that serves as a guide, and the warning length is the ablation parameter input by the main control module.

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