Simulated data acquisition handle for tricuspid valve interventional operation

Abstract

The invention discloses a tricuspid valve interventional operation simulation data acquisition handle, and relates to the technical field of medical assistance, the tricuspid valve interventional operation simulation data acquisition handle comprises a large sheath, a small sheath, a support and a box body, the large sheath and the small sheath are fixedly connected to the support, the support is fixedly installed on the box body, and the large sheath is fixedly connected to the small sheath. A large sheath bending control knob and a large sheath bending control sensor are arranged in the large sheath, and a small sheath bending control knob and a small sheath bending control sensor are arranged in the small sheath. By analyzing the problems that the tricuspid valve interventional surgical instrument is high in use training cost, large in input freedom degree, narrow in space, high in sensor type selection difficulty and internal structure design difficulty and the like, the technical scheme of mechanical transmission simulation signal collection is provided, and on the premise that it is guaranteed that the appearance of the tricuspid valve interventional surgical instrument is consistent with that of an original interventional surgical instrument, the mechanical transmission simulation signal is obtained. The core functions of compactness, stable data acquisition and highly simulated appearance and operation are realized.

Description

Technical Field

[0001] The present invention relates to the field of medical assistance technology, and in particular to a tricuspid valve interventional surgery simulation data acquisition handle. Background Art

[0002] Valvular heart disease is a common heart disease, and interventional surgery offers advantages such as minimal trauma and excellent results. Cardiac interventional surgery is complex and difficult to perform. Surgical conditions require analysis of medical imaging, which makes information acquisition indirect and requires extensive surgical experience and training. TM The handle of the tricuspid valve interventional surgical instrument has 9 input degrees of freedom, is more than 40cm long, and has a diameter of about 20mm. Due to its narrow and long characteristics, most existing sensors are difficult to use. In addition, many of its input degrees of freedom are coaxial rotation, which also poses a huge challenge to the acquisition and wiring of the sensor system. TM The transcatheter tricuspid annuloplasty system (a product that treats tricuspid regurgitation by reducing the size of the tricuspid valve through interventional devices) has designed a set of K-Clip with an appearance restoration of more than 95%. TM The surgical simulator is used to reduce the training and learning costs associated with tricuspid valve interventional devices and execution systems, and to improve the intraoperative performance of doctors during cardiovascular interventional surgeries.

[0003] Among the many existing angle sensors, the SV01A series of variable-resistance angle potentiometers offer significant advantages over more complex devices due to their simple principle and compact size. However, their limited range (0 to 333°) makes them incapable of directly meeting the full-rotational freedom requirements of a simulator handle (hereinafter referred to as the "handle"). Industrial applications using the SV01A series sensors often employ a workaround by limiting the sensor's position to prevent it from rotating within the dead zone. However, this approach is completely ineffective for the multiple full-rotational degrees of freedom required by the simulator handle in this project. Existing sensor data processing methods are primarily divided into two areas: industry and academia. The industry is accustomed to using methods such as data deletion, mean filtering, Z-score and SVM to handle outliers. However, the problem is that these methods are too simple and often judge outliers based on the mean and variance of adjacent data. This is not suitable for situations where the data in the dead zone of the small sensor is completely meaningless. The academic community tends to use methods such as machine learning and prediction. This method may be able to find information about changes in human operations in the dead zone from chaotic data, but it requires a large computing system and is not suitable for lightweight and low-cost deployment in simulator handles.

[0004] Therefore, technicians in this field are committed to developing a tricuspid valve interventional surgery simulation data acquisition handle with a simple and restored appearance, stable and accurate multi-degree-of-freedom data acquisition, and realistic operation. Summary of the Invention

[0005] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is how to design a simulator structure and a sensor system of a tricuspid valve interventional surgical instrument to meet the needs of doctors for related surgical training.

[0006] To achieve the above-mentioned purpose, the present invention provides a tricuspid valve interventional surgery simulation data acquisition handle, characterized in that it includes a large sheath, a small sheath, a bracket and a box body, wherein the large sheath and the small sheath are fixedly connected to the bracket, and the bracket is fixedly installed on the box body, a large sheath bending control knob and a large sheath bending control sensor are provided in the large sheath, a small sheath bending control knob and a small sheath bending control sensor are provided in the small sheath, a large sheath linear sensor and a large sheath angle sensor are also provided on the large sheath, and a small sheath linear sensor and a small sheath angle sensor are also provided on the small sheath.

[0007] Furthermore, the large sheath and the small sheath are fixed to the bracket via a threaded knob, and the bracket further comprises a linear sensor seat, on which the large sheath linear sensor and the small sheath linear sensor are mounted.

[0008] Furthermore, the large sheath angle sensor is installed at the rear end of the large sheath, and the small sheath angle sensor is installed at the rear end of the small sheath. When the threaded knob is loosened, the large sheath and the small sheath can rotate.

[0009] Furthermore, the large sheath bending control knob is connected to the large sheath bending control sensor seat through the transmission of a gear set, and the large sheath bending control sensor is installed on the large sheath bending control sensor seat.

[0010] Furthermore, the circuit of the large sheath bending control sensor and the circuit of the large sheath angle sensor are transmitted to the interior of the box through the shell on which the large sheath is fixed on the bracket.

[0011] Furthermore, the small sheath bending control knob is connected to the slider guide, the slider guide is connected to the slider, a thread groove is provided inside the slider, the thread groove cooperates with the first angle axis, and the small sheath bending control sensor is connected to the first angle axis.

[0012] Furthermore, the small sheath also includes a sheath tube telescopic knob and an inner tube forward and backward telescopic sensor. The sheath tube telescopic knob is connected to the telescopic screw, and the telescopic screw is connected to the telescopic threaded sleeve. The threaded structure inside the telescopic threaded sleeve cooperates with the second angle shaft, and the rotation of the second angle shaft drives the inner tube forward and backward telescopic sensor to move.

[0013] Furthermore, the circuit of the inner tube front and rear telescopic sensor is arranged toward the rear end of the handle through the side hole on the telescopic threaded sleeve, and the circuit is connected to the box after passing through the handle.

[0014] Furthermore, the small sheath also includes a telescopic guide and an inner tube rotation sensor. The telescopic fixing ring on the telescopic guide is matched with the shaft hole of the rotating connecting shaft, and the rotation of the rotating connecting shaft is transmitted to the inner tube rotation sensor.

[0015] Furthermore, the small sheath also includes a clip opening sensor. The rear end opening and closing knob of the small sheath is connected to the worm gear set through a planetary gear set. The worm gear set converts the lateral rotational motion into vertical rotational motion and transmits it to the clip opening sensor.

[0016] The beneficial technical effects of the present invention are as follows:

[0017] 1. K-Clip TM The tricuspid valve interventional surgical instrument has 9 input degrees of freedom, a length of more than 40cm, and a diameter of about 20mm. Due to its narrow and long characteristics, most existing sensors are difficult to use; in addition, many of its input degrees of freedom are coaxial rotation, which also poses a huge challenge to the acquisition and wiring of the sensor system. The present invention aims to retain the K-Clip TM The appearance of the tricuspid valve interventional surgical instrument and the operation method of the surgical instrument, that is, the operation mode, are the same as before. On this basis, the internal structure is completely changed to the sensor input and signal transmission. Therefore, for inputs with different degrees of freedom, different mechanical structures are adopted, such as thread linear transmission, coaxial rotation, worm gear, planetary gear set, etc., to transmit the original operation of the surgical instrument to the sensor in another way to achieve inputs with different degrees of freedom. This invention is similar to K-Clip TM Tricuspid valve interventional surgical instruments have consistent appearance and operation, and signal transmission can be completed inside the handle, thus achieving the effect of simulated surgery.

[0018] 2. The present invention uses the SV01A series variable resistance angle potentiometer. However, in industrial applications using the SV01A, a workaround is commonly adopted to limit the sensor so that it cannot rotate into the dead zone. However, this measure is not applicable to the many full-circle rotation degrees of freedom in the simulator handle of this project. The present invention aims to enhance the data robustness of small sensors and solve the problems of data confusion in the dead zone and the inability to read full-circle rotation data due to its limited range. Because the existing technology cannot simultaneously meet the conditions of lightweight sensors, high-bandwidth signal anomaly processing, and low-cost deployment, the present invention needs to develop a related data processing system (program) to realize the identification and processing of chaotic data in the dead zone, and ultimately realize real-time compensation and reading of all continuous full-circle rotation degrees of freedom and all other handle degree of freedom signals. The present invention first improves the stability of the incoming data through mean filtering, and then converts the absolute encoder into a relative encoder through a software algorithm. On the one hand, it avoids the tedious operation of resetting the absolute encoder handle every time the machine is turned on, and on the other hand, it provides a methodological basis for solving dead zone processing and full-circle compensation later. For all sensor input data, the present invention adopts targeted identification combined with human operation characteristics: a) If the change in adjacent data is greater than a reasonable threshold obtained by experiment, the sensor is in a dead zone; b) If the change pattern in a series of several adjacent data is not single (greater than the singleness judgment standard), the sensor is in a dead zone.

[0019] The concept, specific structure and technical effects of the present invention will be further described below in conjunction with the accompanying drawings to fully understand the purpose, characteristics and effects of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the overall appearance of a tricuspid valve interventional surgery simulation data acquisition handle according to a preferred embodiment of the present invention;

[0021] Figure 2 This is a schematic diagram of the movement of a support of a tricuspid valve interventional surgery simulation data acquisition handle according to a preferred embodiment of the present invention;

[0022] Figure 3 This is a schematic diagram of sensors inside a box of a tricuspid valve interventional surgery simulation data acquisition handle according to a preferred embodiment of the present invention;

[0023] Figure 4 This is a schematic diagram of the structure of a large sheath handle sensor for a tricuspid valve interventional surgery simulation data acquisition handle according to a preferred embodiment of the present invention;

[0024] Figure 5 This is a schematic diagram of the transmission principle of a large sheath handle sensor of a tricuspid valve interventional surgery simulation data acquisition handle according to a preferred embodiment of the present invention;

[0025] Figure 6 This is a schematic diagram of the internal structure of a small sheath of a tricuspid valve interventional surgery simulation data acquisition handle according to a preferred embodiment of the present invention;

[0026] Among them, 1-large sheath, 2-small sheath, 3-bracket, 4-box, 5-threaded knob, 6-linear sensor seat, 7-small sheath fixed housing, 8-large sheath linear sensor, 9-small sheath linear sensor, 10-large sheath angle sensor, 11-small sheath angle sensor, 12-large sheath bending control knob, 13-large sheath bending control sensor seat, 14-large sheath bending control sensor, 15-gear set, 16-small sheath bending control sensor, 17-inner tube front and rear telescopic sensor, 18-inner tube rotation sensor, 19-small sheath bending control knob, 20-slider, 21-first angle axis, 22-sheath tube telescopic knob, 23-telescopic threaded sleeve, 24-second angle axis, 25-telescopic guide, 26-threaded housing, 27-telescopic threaded housing, 28-planetary gear set, 29-worm gear set. DETAILED DESCRIPTION

[0027] The following describes several preferred embodiments of the present invention with reference to the accompanying drawings to make its technical content clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the scope of protection of the present invention is not limited to the embodiments mentioned herein.

[0028] In the drawings, components with identical structures are denoted by the same reference numerals, and components with similar structures or functions are denoted by similar reference numerals. The size and thickness of each component shown in the drawings are arbitrary and are not limited by the present invention. For clarity, the thickness of components in some places in the drawings is appropriately exaggerated.

[0029] like Figure 1 and Figure 2 As shown, the appearance structure of the present invention includes a large sheath 1, a small sheath 2, a bracket 3 and a box 4. The large sheath 1 and the small sheath 2 are fixed to the bracket 3 by threads. A linear sensor seat 6 is also provided on the bracket 3. The large sheath linear sensor 8 and the small sheath linear sensor 9 are installed on the corresponding linear sensor seats. Figure 3 As shown, when the thread is loosened, the large sheath 1 and the small sheath 2 can rotate, and at the same time control the operation of the large sheath angle sensor 10 and the small sheath angle sensor 11. The part that fixes the large sheath 1 and the small sheath 2 is fixed to the sliding rod of the bracket through the threaded knob 5. The threaded knob 5 can control the large sheath 1 and the small sheath 2 to move forward and backward, and at the same time control the movement of the linear sensor. The sliding rod is fixed inside the box 4.

[0030] like Figure 4 and Figure 5As shown, the large sheath 1 is provided with a large sheath bending control knob 12, the large sheath bending control sensor seat 13 is connected to the large sheath bending control knob 12 through the transmission of the gear set 15, and the large sheath bending control sensor 14 is installed on the large sheath bending control sensor seat 13. The circuit of the large sheath bending control sensor 14 and the circuit of the large sheath angle sensor 10 are transmitted to the inside of the box 4 through the shell fixing the large sheath 1 on the bracket 3.

[0031] like Figure 6 As shown, a small sheath bending control sensor 16, an inner tube front and rear extension sensor 17, an inner tube rotation sensor 18 and a clip opening sensor are provided inside the small sheath 2. The operation mode of each functional component is the same as that of the original K-Clip TM The tricuspid valve interventional surgical instrument is similar in that the rotation of the small sheath bending control knob 19 drives the slider guide to rotate, causing the slider 20 to move forward and backward. The slider 20 has a threaded groove inside that cooperates with the first angle shaft 21. The forward and backward movement of the slider 20 causes the first angle shaft 21 to rotate, thereby completing the transmission of the small sheath bending control sensor 16. The rotation of the sheath extension and retraction knob 22 drives the extension screw to move forward and backward, thereby causing the extension threaded sleeve 23 to move forward and backward. The threaded structure inside the extension threaded sleeve 23 cooperates with the second angle shaft 24. The forward and backward movement causes the second angle shaft 24 to rotate, driving the inner tube extension and retraction sensor 17. The circuit of the inner tube extension and retraction sensor 17 is arranged through the side hole of the extension threaded sleeve 23 to the rear end of the handle, and finally connects to the housing 4. Rotating the rear end of the small sheath handle drives the extension guide 25. The extension fixing ring on the extension guide 25 cooperates with the shaft hole of the rotating connecting shaft, causing the rotating connecting shaft to rotate and transmit the information to the inner tube rotation sensor 18. The circuit of the inner tube rotation sensor 18 is connected to the front end of the handle through the hole below, and finally connects to the components inside the housing. To open the clamp system, a planetary gear set 28 is used inside the rear end opening and closing knob to transmit the rotational motion to the worm gear. The worm gear set 29 converts the horizontal rotational motion into vertical rotational motion, which is finally transmitted to the clamp opening sensor. At the same time, the opening speed is controlled to be consistent with the speed signal received by the clamp opening sensor.

[0032] By analyzing the problems of high training costs for the use of tricuspid valve interventional surgical instruments, multiple input degrees of freedom, narrow space, and high difficulty in sensor selection and internal structure design, this paper proposes a technical solution based on SV01A series sensors and mechanical transmission simulation signal acquisition. While ensuring the appearance is consistent with the original interventional surgical instruments, this solution achieves the core functions of compactness, stable data acquisition, and highly realistic appearance and operation.

[0033] Appearance restoration: The appearance of the simulator is exactly the same as K-Clip TM The handles are consistent, minimizing the operator's burden.

[0034] High degree of freedom: It can collect up to 9 channels of freedom, stably filter the sensor dead zone, and output accurate sensor signals.

[0035] Handle function restoration: The operation is similar to K-Clip TM The handle is consistent, and the knob movement stroke and effect effectiveness will not change due to changes in the internal structure, allowing the operator to feel the same as the original instrument.

[0036] Portability: The overall size is more than half the space occupied by the original equipment, and the weight is basically the same, making it easy to carry.

[0037] Repeatability: Theoretically, this device can be used indefinitely. As long as the sensor can work, it can always be used. The metal parts of actual equipment will wear out after hundreds of times of fatigue, but this invention will not, saving training costs.

[0038] The core production process of the present invention is divided into three parts, combining precision machining and modular assembly technology to achieve large-scale manufacturing: the external shell, that is, some internal parts, are produced by machining or injection molding; the transmission coaxiality and consistency of the angle axis and the sensor are ensured by the cooperation of bearings and pins; the sensor is connected to the internal parts of the handle by bonding or threading, so that the sensor can work safely and stably; the planetary gears and worm gears cooperate to complete the mechanical transmission function in a complex space; the parts inside the handle are opened with irregular guide grooves to complete the complex wiring method; the external shell adopts a hidden threaded connection, which ensures both strength and connection reliability.

[0039] The preferred embodiments of the present invention have been described in detail above. It should be understood that numerous modifications and variations based on the concepts of the present invention are possible without inventive effort by those skilled in the art. Therefore, any technical solution that can be derived by one skilled in the art through logical analysis, reasoning, or limited experimentation based on the concepts of the present invention and the prior art should be within the scope of protection defined by the claims.

Claims

1. A tricuspid valve interventional surgery simulation data acquisition handle, characterized in that: It includes a large sheath, a small sheath, a bracket and a box, wherein the large sheath and the small sheath are fixedly connected to the bracket, the bracket is fixedly installed on the box, a large sheath bending control knob and a large sheath bending control sensor are provided in the large sheath, a small sheath bending control knob and a small sheath bending control sensor are provided in the small sheath, a large sheath linear sensor and a large sheath angle sensor are also provided on the large sheath, and a small sheath linear sensor and a small sheath angle sensor are also provided on the small sheath.

2. The tricuspid valve interventional surgery simulation data acquisition handle according to claim 1, characterized in that: The large sheath and the small sheath are fixed on the bracket through a threaded knob. The bracket also includes a linear sensor seat. The large sheath linear sensor and the small sheath linear sensor are installed on the linear sensor seat.

3. The tricuspid valve interventional surgery simulation data acquisition handle according to claim 2, characterized in that: The large sheath angle sensor is installed at the rear end of the large sheath, and the small sheath angle sensor is installed at the rear end of the small sheath. When the threaded knob is loosened, the large sheath and the small sheath can rotate.

4. The tricuspid valve interventional surgery simulation data acquisition handle according to claim 1, characterized in that: The large sheath bending control knob is connected to the large sheath bending control sensor seat through the transmission of a gear set, and the large sheath bending control sensor is installed on the large sheath bending control sensor seat.

5. The tricuspid valve interventional surgery simulation data acquisition handle according to claim 1, characterized in that: The circuit of the large sheath bending control sensor and the circuit of the large sheath angle sensor are transmitted to the interior of the box through the shell on which the large sheath is fixed on the bracket.

6. The tricuspid valve interventional surgery simulation data acquisition handle according to claim 1, characterized in that: The small sheath bending control knob is connected to the slider guide, the slider guide is connected to the slider, a thread groove is provided inside the slider, the thread groove cooperates with the first angle axis, and the small sheath bending control sensor is connected to the first angle axis.

7. The tricuspid valve interventional surgery simulation data acquisition handle according to claim 1, characterized in that: The small sheath also includes a sheath tube telescopic knob and an inner tube forward and backward telescopic sensor. The sheath tube telescopic knob is connected to the telescopic screw, and the telescopic screw is connected to the telescopic threaded sleeve. The threaded structure inside the telescopic threaded sleeve cooperates with the second angle shaft, and the rotation of the second angle shaft drives the inner tube forward and backward telescopic sensor to move.

8. The tricuspid valve interventional surgery simulation data acquisition handle according to claim 7, characterized in that: The circuit of the inner tube front and rear telescopic sensor is arranged toward the rear end of the handle through the side hole on the telescopic threaded sleeve, and the circuit is connected to the box body after passing through the handle.

9. The tricuspid valve interventional surgery simulation data acquisition handle according to claim 1, characterized in that: The small sheath also includes a telescopic guide and an inner tube rotation sensor. The telescopic fixing ring on the telescopic guide is matched with the shaft hole of the rotating connecting shaft, and the rotation of the rotating connecting shaft is transmitted to the inner tube rotation sensor.

10. The tricuspid valve interventional surgery simulation data acquisition handle according to claim 1, characterized in that: The small sheath also includes a clip opening sensor. The rear end opening and closing knob of the small sheath is connected to the worm gear set through a planetary gear set. The worm gear set converts the lateral rotational motion into vertical rotational motion and transmits it to the clip opening sensor.

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