A multi-channel multi-medium electromechanical control system for an interventional catheter

Abstract

This application provides a multi-channel, multi-media electromechanical control system for interventional catheters, relating to the field of medical device technology. Both the control module and the drive module are connected to a controller. Multiple transmission channels are established between the control module and the catheter, including cable channels and media channels. The first end of the cable in each cable channel is connected to the controller, and the second end is connected to a diagnostic / therapeutic device within the catheter's detection section. The input port of the media channel is located on the housing of the control module, and the output port is located in the detection section. The drive module is used to adjust the detection position and direction of the catheter's detection section. The controller reconstructs data based on the detection signals from the diagnostic / therapeutic device and feeds it back to the host computer. It receives instructions from the host computer and / or lower-level feedback information to regulate the control module and / or drive module. The lower-level feedback information includes feedback information obtained after the control module completes the corresponding regulation. This allows for flexible switching or combined application of multiple media.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a multi-channel, multi-media electromechanical control system for interventional catheters. Background Technology

[0002] Currently, interventional catheters can be used in clinical settings for interventional treatment, intraoperative guidance, and early screening and diagnosis. However, the electromechanical modules used in current interventional catheter systems have limited functionality and are difficult to integrate into multiple modes. They cannot flexibly switch or combine multiple media such as sound, light, electricity, and fluid, requiring the switching of different systems for diagnosis and treatment, resulting in low efficiency. Summary of the Invention

[0003] In view of this, embodiments of this application provide a multi-channel, multi-media electromechanical control system for interventional catheters to solve the problem that electromechanical functional modules have limited functionality and are difficult to integrate into multiple modes.

[0004] This application provides a multi-channel, multi-media electromechanical control system for interventional catheters, including: a control module 1, a drive module, and a controller;

[0005] Both the control module 1 and the drive module are connected to the controller;

[0006] Multiple transmission channels are provided between the control module 1 and the catheter 3. The transmission channels include cable channels 4 and media channels 5. The first end of the cable 41 in the cable channel 4 is connected to the controller, and the second end of the cable 41 is connected to the diagnostic and therapeutic device in the probe part 321 of the catheter 3. The input port 112 of the media channel 5 is opened on the housing 11 of the control module 1, and the output port 34 of the media channel 5 is opened in the probe part 321 of the catheter 3.

[0007] The drive module is used to adjust the detection position and direction of the detection part 321 of the catheter 3;

[0008] The controller is used to reconstruct data based on the detection signal of the diagnostic device and feed it back to the host computer; to obtain instructions and / or lower-level feedback information from the host computer to regulate the control module 1 and / or the drive module, wherein the lower-level feedback information includes feedback information obtained after the control module 1 completes the corresponding regulation.

[0009] Optionally, the controller is specifically used to determine the control strategy based on the instructions from the host computer;

[0010] According to the control strategy, a first control command is sent to the diagnostic and therapeutic device of the probe section 321 of the catheter 3, and / or a second control command is sent to the media control valve corresponding to the media channel 5;

[0011] If a first control command is sent, the detection signal of the diagnostic and therapeutic device executing the first control command is acquired in real time based on the synchronous clock, and the data is reconstructed based on the detection signal of the diagnostic and therapeutic device and fed back to the host computer.

[0012] If a second control command is sent, then the lower-level feedback information corresponding to the medium in the medium channel 5 after the second control command is executed is obtained; combining the control strategy and the lower-level feedback information, a new second control command is sent to the medium control valve corresponding to the medium channel 5.

[0013] Optionally, the diagnostic device is a transducer, and the cable 41 includes a cable connected to the transducer;

[0014] The controller is specifically used to determine the row and column addressing control strategy for the transducer according to the diagnostic and treatment needs indicated by the instructions of the host computer; control the transducer to send the corresponding beam mode based on the row and column addressing control strategy, and receive the detection signal after the echo fed back by the transducer; perform beamforming and signal image processing on the detection signal to obtain reconstructed data, and feed the reconstructed data back to the visualization interface of the host computer.

[0015] Optionally, the detection unit 321 is provided with a device chamber for accommodating the diagnostic and therapeutic device, the cable 41 includes an optical cable, and an optical fiber path is opened on the side wall of the device chamber.

[0016] Optionally, the drive module includes a first drive unit 21, a second drive unit 22, and a third drive unit 23 for the guide wire inside the protective wall 31 of the traction control catheter 3; the control module 1 includes a housing 11 and a rotating core 12 inside the housing 11, wherein the rotating core 12 is coaxially rotatably connected to the housing 11.

[0017] The driving end of the first driving unit 21 passes through the mounting through hole 111 at the first end of the housing 11 and is connected to the first end of the rotating core 12, providing rotational torque to the rotating core 12; the driving end of the second driving unit 22 is connected to the housing 11, providing the housing 11 with a torque for translation along the axial direction of the rotating core 12.

[0018] The control terminals of the first drive unit 21, the second drive unit 22, and the third drive unit 23 are all connected to the controller.

[0019] Optionally, the second end of the rotating core 12 is connected to the proximal end of the rotating unit 32 of the conduit 3, and the second end of the outer shell 11 is connected to the proximal end of the protective wall 31 sleeved on the outside of the rotating unit 32.

[0020] The rotating core 12 and the rotating unit 32 are provided with a cable channel 4. The first end of the cable 41 in the cable channel 4 passes through the mounting hole 111 and is connected to the controller.

[0021] The medium channel 5 includes a first channel and a second channel. The rotating core 12 and the rotating unit 32 cooperate to open multiple first channels. The rotating core 12 and the outer shell 11 cooperate to set a second channel. The first channel and the second channel are connected in a one-to-one correspondence. The outer shell 11 opens an input port 112 corresponding to the second channel.

[0022] Optionally, a first sealing bearing 15 and a second sealing bearing 16 are provided for each input port 112 of the second channel. The outer rings of the first sealing bearing 15 and the second sealing bearing 16 are coaxially fitted and sealed to the inner wall of the housing 11. The inner rings of the first sealing bearing 15 and the second sealing bearing 16 are coaxially fitted and sealed to the outer wall of the rotating core 12.

[0023] The input port 112 of each second path and the corresponding connection port 121 are both located between the first sealed bearing 15 and the second sealed bearing 16; the connection port 121 is the connection port 121 connecting the second path and the corresponding first path.

[0024] Optionally, the housing 11 of the control module 1 is coaxially fixed with a flange 13 at the mounting hole 111;

[0025] The cable channel 4 on the rotating core 12 of the control module 1 is located on the central axis. The cable channel 4 has a mounting part 14 fixedly installed at one end near the mounting hole 111. The mounting part 14 is coaxially rotatably connected to the central hole of the flange 13.

[0026] The driving end of the first driving unit 21 passes through the central through hole and is fixedly connected to the mounting member 14. The mounting member 14 is provided with a cable 41 through hole corresponding to the cable 41.

[0027] Optionally, the protective wall extends from the distal end of the rotating unit 32 as the detection part 321 of the conduit 3;

[0028] The detection unit 321 is provided with a small chamber for accommodating the feedback device 35 at the output port 34 of the medium channel 5, and the feedback device 35 is connected to the controller.

[0029] The controller is also used to obtain lower-level feedback information of the medium in the medium channel 5 through the feedback device 35, and to regulate the medium in the medium channel 5 based on the lower-level feedback information of the medium.

[0030] Optionally, the second drive unit 22 includes a first motor 221, a reducer, a transmission mechanism, a slide rail 222, and a sliding platform 223;

[0031] The output end of the first motor 221 is connected to the input end of the reducer, the output end of the reducer is connected to the input end of the transmission mechanism, the output end of the transmission mechanism is connected to the sliding platform 223, the sliding platform 223 is slidably connected to the slide rail 222, the sliding platform 223 is fixedly connected to the outer shell 11, and the sliding platform 223 reciprocates along the axis of the rotating core 12.

[0032] This application provides a multi-channel, multi-media electromechanical control system for interventional catheters, comprising: a control module, a drive module, and a controller; both the control module and the drive module are connected to the controller; multiple transmission channels are provided between the control module and the catheter, the transmission channels including cable channels and media channels; a first end of a cable in each cable channel is connected to the controller, and a second end of the cable is connected to a diagnostic / therapeutic device within the probe section of the catheter; an input port of the media channel is located on the housing of the control module, and an output port of the media channel is located in the probe section of the catheter; the drive module is used to adjust the probe position and direction of the probe section of the catheter; the controller is used to reconstruct data based on the probe signal from the diagnostic / therapeutic device and feed it back to a host computer; and to obtain instructions and / or lower-level feedback information from the host computer to regulate the control module and / or the drive module, wherein the lower-level feedback information includes feedback information obtained after the control module completes the corresponding regulation. The control module works in conjunction with the catheter to set up multiple transmission channels, including a cable channel for transmitting and feeding back detection signals, and a medium channel for transmitting media to assist in diagnosis or treatment. Furthermore, the controller adjusts the detection position and direction of the catheter's detection unit through the control drive module, thus pushing the detection device in the detection unit and the output port of the medium channel into position. The controller processes the signals transmitted via the cable and the media transmitted in the medium channel of the control module. This allows for flexible switching or combination of multiple media, reducing the frequency of changing catheters or equipment and improving efficiency. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in this embodiment or the prior art, the drawings used in the description of the embodiment or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1A schematic diagram of the structure of a multi-channel, multi-media electromechanical control system for interventional catheters provided in this application embodiment;

[0035] Figure 2 This is a schematic diagram of the structure for connecting a control module and a conduit, provided in an embodiment of this application.

[0036] Figure 3 A schematic diagram of a multi-channel, multi-media electromechanical control system for interventional catheters provided in an embodiment of this application;

[0037] Figure 4 This is a schematic diagram of the structure of a catheter provided in an embodiment of this application.

[0038] Figure Number Explanation: 1-Control Module; 11-Housing; 111-Mounting Hole; 112-Input Port; 12-Rotating Core; 121-Connection Port; 13-Flange; 14-Mounting Component; 15-First Sealed Bearing; 16-Second Sealed Bearing; 21-First Drive Unit; 22-Second Drive Unit; 221-First Motor; 222-Slide Rail; 223-Sliding Platform; 23-Third Drive Unit; 231-Guide Wire Push-Pull Winch; 232-Guide Wire Push-Pull Winch Drive Motor; 3-Conduit; 31-Protective Wall; 32-Rotating Unit; 321-Detection Unit; 322-Light Path; 33-Device Chamber; 34-Output Port; 35-Feedback Device; 36-Rotating Bearing; 4-Cable Channel; 41-Cable; 5-Media Channel. Detailed Implementation

[0039] Currently, the electromechanical modules used in interventional catheter systems have limited functionality, making multimodal integration difficult. They cannot flexibly switch or combine multiple media such as acoustic, optical, electrical, and hydraulic, requiring switching between different systems for diagnosis and treatment, resulting in low efficiency. Furthermore, they have shortcomings in control and information processing. Existing electromechanical modules often rely on preset instructions from a host computer for dynamic control of the catheter and information transmission relay, lacking their own dynamic programmable control and information processing capabilities. Therefore, the electromechanical modules cannot share the information processing and dynamic control tasks of the host computer, limiting the improvement of the efficiency and flexibility of catheter control in interventional catheter systems.

[0040] To address the aforementioned issues, this application provides a multi-channel, multi-media electromechanical control system for interventional catheters. The system's control module 1, in conjunction with the catheter 3, is configured with multiple transmission channels, including a cable channel 4 for transmitting and feeding back detection signals via cables 41, and a media channel 5 for transmitting media to assist in diagnosis or treatment. The controller controls diagnostic and therapeutic devices via cables 41, processes and reconstructs data based on the detection signals from these devices, and feeds this data back to the host computer. The controller can also regulate the media within the media channel 5, flexibly enabling the switching or combination of multiple media. Furthermore, the controller adjusts the detection position and direction of the catheter 3's detection unit 321 via a control drive module, thus pushing the detection device in the detection unit 321 and the output port 34 of the media channel 5 into position. This approach effectively shares the information processing and dynamic control workload with the host computer, improving efficiency.

[0041] Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0042] See Figure 1 The diagram shown is a structural schematic of a multi-channel, multi-media electromechanical control system for interventional catheters provided in this application embodiment. The multi-channel, multi-media electromechanical control system for interventional catheters includes: a control module 1, a drive module, and a controller.

[0043] Both the control module 1 and the drive module are connected to the controller;

[0044] See Figure 2 The diagram shows a structural schematic of a control module connected to a catheter. Multiple transmission channels are provided between the control module 1 and the catheter 3, including a cable channel 4 and a media channel 5. The first end of the cable 41 in the cable channel 4 is connected to the controller, and the second end of the cable 41 is connected to a diagnostic device within the probe section 321 of the catheter 3. The input port 112 of the media channel 5 is located on the housing 11 of the control module 1, and the output port 34 of the media channel 5 is located in the probe section 321 of the catheter 3.

[0045] Understandably, the cable 41 in the aforementioned cable channel 4 can be a cable 41 for transmitting different media, such as optical fiber or electrical cable. Optionally, the cable channel 4 can be located on the central axis between the conduit 3 and the control module 1. The number of the aforementioned media channels 5 can be set according to the type of transmission medium, which can be in the physical form of gas, liquid, etc.

[0046] The drive module is used to adjust the detection position and direction of the detection part 321 of the catheter 3.

[0047] Optionally, the drive module may include multiple drive units, such as a drive unit that provides forward or backward torque for the conduit 3, a drive unit that provides rotational torque for the conduit 3, and a drive unit that causes the conduit 3 to swing. Each drive unit may be configured with a corresponding drive motor. Of course, a reducer may be configured for the drive motor as needed.

[0048] The controller is used to reconstruct data based on the detection signal of the diagnostic device and feed it back to the host computer; to obtain instructions and / or lower-level feedback information from the host computer to regulate the control module 1 and / or the drive module, wherein the lower-level feedback information includes feedback information obtained after the control module 1 completes the corresponding regulation.

[0049] Understandably, diagnostic and therapeutic devices can perform detection based on control commands sent by the controller and provide timely feedback to the controller, enabling the controller to reconstruct data (e.g., perform imaging processing) based on the detected signals for convenient analysis. Optionally, the aforementioned host computer can be a device with a visual interface.

[0050] Understandably, the controller can control the drive module to move the detection part 321 of the conduit 3 toward the target detection position and direction. Of course, a spatial positioning unit can also be set in the detection part 321 of the conduit 3 as needed to provide feedback on the actual position information of the conduit 3, so that the controller can optimize and adjust the detection part 321 of the conduit 3 based on the feedback to continuously approach until it reaches the target detection position.

[0051] Based on the above-mentioned multi-channel, multi-media electromechanical control system for interventional catheters, the control module 1 of this application cooperates with the catheter 3 to set up multiple transmission channels, including a cable channel 4 that can be laid with cables 41 to realize the transmission and feedback of detection signals, and a media channel 5 that can transmit media to assist in diagnosis or realize treatment. Furthermore, the controller controls the drive module to adjust the detection position and direction of the detection part 321 of the catheter 3, thereby pushing the detection device in the detection part 321 and the output port 34 of the media channel 5 into place. In this way, multiple media can be flexibly switched or combined, reducing the frequency of changing the catheter 3 or equipment and improving efficiency.

[0052] Based on the above embodiments, in one specific embodiment, see [link to specific embodiment]. Figure 3 The diagram shown illustrates a multi-channel, multi-media electromechanical control system for interventional catheters. Specifically, the controller can be used for:

[0053] The control strategy is determined based on the instructions from the host computer.

[0054] It should be noted that the instructions from the host computer can include diagnostic needs. For example, if there is a diagnostic need, the host computer issues a diagnostic instruction, and the controller can determine the corresponding diagnostic strategy, such as allocating and using the cable in cable channel 4 to execute the corresponding control strategy.

[0055] The control strategy includes controlling the probe 321 of the catheter 3 to use the target transmission channel to transmit the target medium at the target time, for example, in diagnostic imaging, only light and sound are modulated, while in treatment, gas and liquid can be modulated.

[0056] For example, the above-mentioned diagnostic device includes a transducer. The controller sends a diagnostic command for a certain part of the body through a host computer. The control strategy determined by the controller may include matching the transducer with a row and column addressing control strategy suitable for the detection of that part of the body, so as to obtain the corresponding transmission beam mode.

[0057] According to the control strategy, a first control command is sent to the diagnostic and therapeutic device of the probe section 321 of the catheter 3, and / or a second control command is sent to the media control valve corresponding to the media channel 5;

[0058] If a first control command is sent, the detection signal of the diagnostic and therapeutic device executing the first control command is acquired in real time based on the synchronous clock, and the data is reconstructed based on the detection signal of the diagnostic and therapeutic device and fed back to the host computer.

[0059] If a second control command is sent, then the lower-level feedback information based on the medium detection feedback in the medium channel 5 is obtained after the second control command is executed; combined with the control strategy and the lower-level feedback information, a new second control command is sent to the medium control valve corresponding to the medium channel 5.

[0060] Optionally, the above control strategy may also include a control strategy for the drive module, such as controlling the movement of the probe 321 of the catheter 3 according to the location of the affected area, or controlling the movement of the probe 321 of the catheter 3 according to the target location indicated by the host computer command.

[0061] For example, in the case of reconstructing data based on the detection signal of the diagnostic device and feeding it back to the host computer in the above embodiments, the diagnostic device is a transducer, the cable 41 includes a cable connected to the transducer, and the controller can specifically be used for:

[0062] Based on the diagnostic and treatment needs indicated by the host computer, a row and column addressing control strategy for matching the transducer is determined; based on the row and column addressing control strategy, the transducer is controlled to send the corresponding beam mode, and the detection signal after the echo fed back by the transducer is received; the detection signal is subjected to beamforming and signal image processing to obtain reconstructed data (such as images), and the reconstructed data is fed back to the visualization interface of the host computer.

[0063] Optionally, the transducer in the detector 321 can be any type of transducer array, such as a linear array or an arc array, and the array parameters are not limited. Different arrays with different frequencies, number of array elements, array element spacing, and array element distribution schemes can be selected according to various diagnostic and treatment environments.

[0064] Furthermore, in one possible implementation, the detection unit 321 is provided with a device chamber 33 for accommodating the diagnostic and therapeutic device, the cable 41 further includes an optical cable, and an optical fiber path is opened on the side wall of the device chamber.

[0065] Optionally, the device chamber 33 of the probe section 321 of the catheter 3 can be equipped with a reserved slot for a magnetic positioning needle, a reserved slot for optical components such as optical fibers, and a light path 322 to adapt to the three-dimensional reconstruction function or to meet the needs of optical coherence tomography (OCT) multimodal scanning.

[0066] Based on the above embodiments, the specific structure of the aforementioned driver module can be found in [reference needed]. Figure 1 .

[0067] The drive module includes a first drive unit 21, a second drive unit 22, and a third drive unit 23 for the guide wire inside the protective wall 31 of the traction control catheter 3; the control module 1 includes a housing 11 and a rotating core 12 inside the housing 11, the rotating core 12 being coaxially rotatably connected to the housing 11.

[0068] The driving end of the first driving unit 21 passes through the mounting through hole 111 at the first end of the housing 11 and is connected to the first end of the rotating core 12, providing rotational torque to the rotating core 12; the driving end of the second driving unit 22 is connected to the housing 11, providing the housing 11 with a torque for translation along the axial direction of the rotating core 12.

[0069] The control terminals of the first drive unit 21, the second drive unit 22, and the third drive unit 23 are all connected to the controller.

[0070] In one specific implementation, the connection structure between the first drive unit 21 and the first end of the rotating core 12 can be as follows: the outer shell 11 of the control module 1 has a flange 13 fixedly mounted coaxially at the mounting hole 111; the cable channel 4 on the rotating core 12 of the control module 1 is located on the central axis, and a mounting member 14 is fixedly mounted at one end of the cable channel 4 near the mounting hole 111, and the mounting member 14 is coaxially rotatably connected to the central hole of the flange 13; the drive end of the first drive unit 21 passes through the central hole and is fixedly connected to the mounting member 14, and the mounting member 14 is provided with a cable 41 through hole corresponding to the cable 41.

[0071] For example, the mounting piece 14 is coaxially fixedly connected to the drive end of the first drive unit 21, and a cable 41 through hole is opened around the fixed position of the mounting piece 14 and the drive end.

[0072] In one specific implementation, the second drive unit 22 includes a first motor 221, a reducer, a transmission mechanism, a slide rail 222, and a sliding platform 223; the output end of the first motor 221 is connected to the input end of the reducer, the output end of the reducer is connected to the input end of the transmission mechanism, the output end of the transmission mechanism is connected to the sliding platform 223, the sliding platform 223 is slidably connected to the slide rail 222, the sliding platform 223 is fixedly connected to the outer shell 11, and the sliding platform 223 reciprocates along the axis of the rotating core 12.

[0073] Understandably, the control terminal of the first motor 221 is the control terminal of the first drive unit 21, and the transmission mechanism is a transmission mechanism that converts rotary motion into linear motion.

[0074] In one specific implementation, the first drive unit 21 may include a second motor, a reduction gearbox, and a transmission link connected in sequence, with the output end of the transmission link serving as the drive end of the first drive unit 21. The rotational speed of the second motor is reduced by the reduction gearbox and then connected to the rotating core 12 via the transmission link to provide rotational torque. The control end of the second motor serves as the control end of the second drive unit 22.

[0075] In one specific implementation, the protective wall 31 of the rotating unit 32 of the catheter 3 is evenly distributed with multiple guide wires around the axis of the catheter 3. For example, four guide wires can be set. In this way, by pulling the guide wires corresponding to any of the four orthogonal directions through the third driving unit 23, the catheter 3 can be swung in the pulling direction, and the travel direction of the catheter 3 can be adjusted. Optionally, the third drive unit 23 may include a guide wire push-pull winch 231 and a guide wire push-pull winch drive motor 232. The guide wire can be wound around the guide wire push-pull winch 231 in a first direction (e.g., clockwise). The controller controls the guide wire push-pull winch drive motor 232 to drive the guide wire push-pull winch 231 to rotate in the first direction, using the guide wire wound around the guide wire push-pull winch 231 to pull the guide wire; or the controller controls the guide wire push-pull winch drive motor 232 to drive the guide wire push-pull winch 231 to rotate in the opposite direction to the first direction, so that the guide wire gradually disengages from the guide wire push-pull winch 231 and is released. It is understood that the first end of the guide wire in the protective wall 31 is fixed to the far end of the protective wall 31 (the end closer to the detection part 321), and the second end of the guide wire is connected to the corresponding guide wire push-pull winch 231.

[0076] Based on the above embodiments, the specific structure of the aforementioned joint control module 1 can be found in [reference needed]. Figure 2 As shown.

[0077] In one specific implementation, the second end of the rotating core 12 is connected to the proximal end of the rotating unit 32 of the conduit 3, and the second end of the outer shell 11 is connected to the proximal end of the protective wall 31 sleeved on the outside of the rotating unit 32.

[0078] Optionally, a rotary bearing 36 is provided between the rotating unit 32 and the protective wall 31, and the rotary bearing 36 is located at one end of the protective wall 31 near the detection part 321.

[0079] Thus, when the rotating core 12 rotates relative to the outer shell 11, the rotating core 12 will also drive the rotating unit 32 in the conduit 3 to rotate relative to the protective wall 31, so that the detection unit 321 can achieve 360-degree rotation detection.

[0080] The rotating core 12 and the rotating unit 32 cooperate to form a cable channel 4. The first end of the cable 41 in the cable channel 4 passes through the mounting hole 111 and is connected to the controller. The medium channel 5 includes a first channel and a second channel. The rotating core 12 and the rotating unit 32 cooperate to form multiple first channels. The rotating core 12 and the outer shell 11 cooperate to form a second channel. The first channel and the second channel are connected in a one-to-one correspondence. The outer shell 11 has an input port 112 corresponding to the second channel.

[0081] Optionally, the first passage connects the input port 112 of the housing 11 and the connection port 121 of the rotating core 12, and the second passage connects the connection port 121 of the rotating core 12 and the output port 34 of the probe end of the conduit 3. The connection port 121 is the connection port 121 connecting the first passage and the second passage, and the connection port 121 is located on the rotating core 12.

[0082] Optionally, the structure in which the rotating core 12 and the outer shell 11 are configured with a second passage can be as follows: a first sealing bearing 15 and a second sealing bearing 16 are provided for each input port 112 of the second passage. The outer rings of the first sealing bearing 15 and the second sealing bearing 16 are coaxially fitted and sealed to the inner wall of the outer shell 11. The inner rings of the first sealing bearing 15 and the second sealing bearing 16 are coaxially fitted and sealed to the outer wall of the rotating core 12. The input port 112 of each second passage and the corresponding connection port 121 are both located between the first sealing bearing 15 and the second sealing bearing 16.

[0083] See Figure 4The diagram shows a structure of a catheter, wherein the detection part 321 is the protective wall extending from the distal end of the rotating unit 32 as the detection part 321 of the catheter 3.

[0084] The detection unit 321 is provided with a small chamber for accommodating the feedback device 35 at the output port 34 of the medium channel 5. The feedback device 35 is connected to the controller. The controller is also used to obtain the lower-level feedback information of the medium in the medium channel 5 through the feedback device 35, and to regulate the medium in the medium channel 5 based on the lower-level feedback information of the medium.

[0085] The lower-level feedback information of the medium can include information such as whether the medium exists in the medium channel 5 and the flow rate of the medium. Thus, the input port 112 of the medium channel 5 can be configured with a control valve, and the controller can send a second control command to the control valve according to the control strategy. The second control command can include start, pause, and the flow rate after start. When the controller receives lower-level feedback information from the feedback device 35 indicating that the flow rate of the medium is too fast, it can generate a new second control command. The flow rate indicated by the new second control command is less than the flow rate of the original second control command, thus achieving feedback closed-loop regulation.

[0086] This application also provides a corresponding diagnostic and treatment device for implementing the solution provided in this application.

[0087] The diagnostic and treatment equipment includes a host computer, a catheter, and any of the above embodiments provides a multi-channel, multi-media electromechanical control system for interventional catheters.

[0088] In the embodiments of this application, the terms "first" and "second" (if they exist) are used only as name identifiers and do not represent the order of first and second.

[0089] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on its differences from other embodiments. Those skilled in the art can understand and implement these embodiments without any creative effort.

[0090] The above description is merely an exemplary implementation of this application and is not intended to limit the scope of protection of this application.

Claims

1. A multi-channel, multi-media electromechanical control system for interventional catheters, characterized in that, include: The system comprises a control module, a drive module, and a controller. Both the control module and the drive module are connected to the controller; Multiple transmission channels are provided between the control module and the catheter, including cable channels and media channels; the first end of the cable in the cable channel is connected to the controller, and the second end of the cable is connected to the diagnostic and therapeutic device in the probe section of the catheter; the input port of the media channel is located on the housing of the control module, and the output port of the media channel is located in the probe section of the catheter; multiple media channels are provided. The drive module is used to adjust the detection position and direction of the probe of the catheter; The controller is used to reconstruct data based on the detection signals of the diagnostic and therapeutic device and feed it back to the host computer; to obtain instructions and / or lower-level feedback information from the host computer to regulate the control module and / or drive module, wherein the lower-level feedback information includes feedback information obtained after the control module completes the corresponding regulation; The controller is specifically used for, The control strategy is determined based on the instructions from the host computer. According to the control strategy, a first control command is sent to the diagnostic and therapeutic device of the catheter's probe section, and / or a second control command is sent to the media control valve corresponding to the media channel; If a first control command is sent, the detection signal of the diagnostic and therapeutic device executing the first control command is acquired in real time based on the synchronous clock, and the data is reconstructed based on the detection signal of the diagnostic and therapeutic device and fed back to the host computer. If a second control command is sent, then the lower-level feedback information corresponding to the medium in the medium channel after the second control command is executed is obtained; combining the control strategy and the lower-level feedback information, a new second control command is sent to the medium control valve corresponding to the medium channel.

2. The system according to claim 1, characterized in that, The diagnostic device is a transducer, and the cable includes a cable connected to the transducer; The controller is specifically used to determine the row and column addressing control strategy for the transducer according to the diagnostic and treatment needs indicated by the instructions of the host computer; control the transducer to send the corresponding beam mode based on the row and column addressing control strategy, and receive the detection signal after the echo fed back by the transducer; perform beamforming and signal image processing on the detection signal to obtain reconstructed data, and feed the reconstructed data back to the visualization interface of the host computer.

3. The system according to claim 2, characterized in that, The detection unit is provided with a device chamber to accommodate the diagnostic and therapeutic device, the cable includes an optical fiber cable, and an optical fiber path is opened on the side wall of the device chamber.

4. The system according to any one of claims 1-3, characterized in that, The drive module includes a first drive unit, a second drive unit, and a third drive unit for the guide wire inside the protective wall of the traction control catheter; the control module includes a housing and a rotating core inside the housing, the rotating core being coaxially rotatably connected to the housing. The drive end of the first drive unit passes through the mounting hole at the first end of the housing and connects to the first end of the rotating core, providing rotational torque to the rotating core; the drive end of the second drive unit is connected to the housing, providing the housing with a torque for translation along the axis of the rotating core. The control terminals of the first drive unit, the second drive unit, and the third drive unit are all connected to the controller.

5. The system according to claim 4, characterized in that, The second end of the rotating core is connected to the proximal end of the rotating unit of the conduit, and the second end of the outer shell is connected to the proximal end of the protective wall sleeved on the outside of the rotating unit; The rotating core and the rotating unit have a cable channel, and the first end of the cable in the cable channel passes through the mounting hole and is connected to the controller. The medium channel includes a first channel and a second channel. The rotating core and the rotating unit cooperate to open multiple first channels. The rotating core and the outer shell cooperate to set a second channel. The first channel and the second channel are connected in a one-to-one correspondence. The outer shell opens an input port corresponding to the second channel.

6. The system according to claim 5, characterized in that, A first sealing bearing and a second sealing bearing are provided for each input port of the second channel. The outer rings of the first sealing bearing and the second sealing bearing are coaxially fitted and sealed to the inner wall of the housing. The inner rings of the first sealing bearing and the second sealing bearing are coaxially fitted and sealed to the outer wall of the rotating core. The input port and corresponding connection port of each second path are located between the first sealed bearing and the second sealed bearing; the connection port is the connection port connecting the second path and the corresponding first path.

7. The system according to claim 5, characterized in that, The housing of the control module is coaxially fixed with a flange at the mounting hole; The cable channel on the rotating core of the control module is located on the central axis. A mounting component is fixedly installed at one end of the cable channel near the mounting hole. The mounting component is coaxially rotatably connected to the central hole of the flange. The driving end of the first driving unit passes through the central through hole and is fixedly connected to the mounting component, and the mounting component is provided with a cable through hole corresponding to the cable.

8. The system according to claim 5, characterized in that, The protective wall extends from the distal end of the rotating unit as the probe of the catheter; The detection unit is provided with a small chamber for accommodating a feedback device at the output port of the medium channel, and the feedback device is connected to the controller. The controller is further configured to acquire lower-level feedback information of the medium in the medium channel through the feedback device, and to regulate the medium in the medium channel based on the lower-level feedback information of the medium.

9. The system according to claim 4, characterized in that, The second drive unit includes a first motor, a reducer, a transmission mechanism, a slide rail, and a sliding platform; The output end of the first motor is connected to the input end of the reducer, the output end of the reducer is connected to the input end of the transmission mechanism, the output end of the transmission mechanism is connected to the sliding platform, the sliding platform is slidably connected to the slide rail, the sliding platform is fixedly connected to the outer shell, and the sliding platform reciprocates along the direction of the rotating spindle axis.

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