Force feedback device used in process of intervening instrument into blood vessel

Abstract

The invention discloses a force feedback device for an instrument interventional vascular process, and belongs to the technical field of medical equipment manufacturing, the force feedback device comprises a vascular interventional instrument, a main body, a driving mechanism and a controller, the vascular interventional instrument sequentially penetrates through the driving mechanism and the main body, and the controller is connected with the main body and the driving mechanism. According to the force feedback device for the instrument interventional vascular process, real-time monitoring of the instrument interventional vascular process is achieved, far-end conditions can be transmitted to the force feedback device in real time and timely transmitted to the controller to be fed back to the driving mechanism to make correct actions, and clinical safety is improved.

Description

Technical Field

[0001] This invention relates to the field of medical equipment manufacturing technology, and in particular to a force feedback device for interventional vascular procedures. Background Technology

[0002] Vascular interventional robots are a cutting-edge technology that has developed rapidly in disaster medicine and extreme rescue environments in recent years. Their goal is to deliver interventional vascular devices independently or semi-autonomously and quickly identify lesions in the body without imaging equipment or medical personnel.

[0003] In the existing technology, the main monitoring methods for devices in vascular interventional procedures are ultrasound, DSA and other image navigation, as well as traditional force feedback monitoring devices. However, these methods have the following problems: image navigation systems have high environmental requirements, require large equipment size, and are difficult to transport, so they cannot be applied to relatively complex disaster accident sites; traditional force feedback monitoring devices have high requirements for the precision of the cooperation of each component, poor monitoring stability, and difficulty in realizing the function of sensing the resistance at the distal end of the device and automatic response, which can easily lead to monitoring data failure and induce operators to make incorrect judgments.

[0004] Given the above factors, in vascular interventional procedures, medical staff usually use a manual blind insertion method based on clinical experience to insert the device into the designated location in the blood vessel. However, this operation requires a high level of expertise from the medical staff in inserting the device, and the slightest carelessness can cause secondary damage to the blood vessels of the affected person. Summary of the Invention

[0005] The purpose of this invention is to provide a force feedback device for the interventional vascular procedure, enabling real-time monitoring of the procedure and transmitting the remote status to the force feedback device in real time. This allows the device to promptly transmit the information to the controller, which then feeds back to the drive mechanism to perform the correct action, thereby improving clinical safety.

[0006] To achieve the above objectives, the present invention provides a force feedback device for vascular interventional procedures, comprising a vascular interventional device, a main body, a drive mechanism, and a controller, wherein the vascular interventional device passes through the drive mechanism and the main body in sequence, and the controller is connected to the main body and the drive mechanism respectively.

[0007] Preferably, the main body has a channel inside, through which vascular interventional devices pass.

[0008] Preferably, a force transmission lever is provided inside the main body, and the vascular interventional device is in contact with one end of the force transmission lever.

[0009] Preferably, a bearing is provided inside the main body, and the other end of the force transmission lever is inserted into the bearing and rotates along the bearing axis.

[0010] Preferably, a thin-film sensor is provided inside the main body, and a contact element is provided on the force transmission lever, with the contact element in contact with the thin-film sensor.

[0011] Preferably, the contact element is a transmission point, which is in contact with the thin-film sensor.

[0012] Preferably, the thin-film sensor is provided with a signal acquisition point, and the transmission point is in contact with the signal acquisition point.

[0013] Preferably, the thin-film sensor is connected to the controller.

[0014] Preferably, the main body and the force transmission lever are made of lightweight and high-strength materials.

[0015] Preferably, the thin-film sensor is made of a flexible film material.

[0016] Therefore, the present invention employs the above-mentioned force feedback device for the interventional vascular process of medical devices to realize real-time monitoring of the interventional vascular process, and can transmit the remote status to the force feedback device in real time, so as to promptly transmit it to the controller to feed back to the drive mechanism to make the correct action, thereby improving clinical safety.

[0017] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0018] Figure 1 This is a front view of the force feedback device for instrumental interventional vascular processes in this invention; Figure 2 This is an exploded view of the force feedback device for interventional vascular procedures in this invention; Figure 3 This is a schematic diagram of the force feedback algorithm of the force feedback device for the interventional vascular process in this invention.

[0019] Figure Labels 1. Vascular interventional device; 2. Main body; 3. Force transmission lever; 31. Transmission point; 4. Thin film sensor; 5. Bearing. Detailed Implementation

[0020] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0021] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0022] like Figure 1 , Figure 2 As shown, a force feedback device for vascular intervention includes a vascular interventional device 1, a main body 2, a drive mechanism, and a controller. The main body 2 has a channel inside, which is smooth and has a relative angle α. The vascular interventional device 1 passes through the drive mechanism and the channel inside the main body 2 in sequence. The controller is electrically connected to the main body 2 and the drive mechanism respectively through micro-wiring.

[0023] The main body 2 has an internal groove, and a bearing 5 is embedded inside the groove. Preferably, the bearing 5 is a high-precision bearing, which can effectively reduce monitoring errors and achieve accurate feedback of the force at the distal end of the vascular interventional device 1. One end of the force transmission lever 3 is integrally formed with a connecting rod, which is inserted into the bearing 5. The force transmission lever 3 rotates axially along the bearing 5 through the connecting rod, and the vascular interventional device 1 contacts the top surface of the end of the force transmission lever 3 away from the bearing 5.

[0024] Both the main body 2 and the force transmission lever 3 are made of lightweight and high-strength materials.

[0025] The main body 2 has an embedded groove inside, and a thin film sensor 4 is embedded inside the groove. The thin film sensor 4 is electrically connected to the controller through micro-wiring. A transmission point 31 is integrally formed on the bottom surface of the force transmission lever 3 near the bearing 5. A signal acquisition point is set on the thin film sensor 4, and the transmission point 31 is in contact with the signal acquisition point.

[0026] The thin-film sensor 4 is made of flexible film material.

[0027] like Figure 3 As shown, the controller's decision logic is based on the following force feedback algorithm. Since the internal channel of the main body 2 is smooth, its frictional resistance to the vascular interventional device 1 is extremely small relative to the forward resistance F2 of the vascular interventional device 1, so it can be ignored. Therefore, the following formula is obtained.

[0028] The formula for calculating the material's resistance to stress Fe is: Fe=(E×π×d×d 3 ) / 64×R; Where d is the diameter of the vascular interventional device 1, E is the elastic modulus of the vascular interventional device 1, and R is a relevant parameter of the vascular interventional device 1.

[0029] The formula for calculating the sidewall compressive force F4 is: F4 = F / cos(β) × L1 / (L1 + L2); Where F is the pressure membrane measuring force, β is the relevant angle, and L1 and L2 are the lengths of the two ends of the force transmission lever 3, respectively.

[0030] The formula for calculating the buckling force F3 is: F3 = Fe + F4; The relationship between driving force F1 and forward resistance F2 is as follows: F1=F2=F3 / [2×sin(α / 2)]; Furthermore, we can deduce that: F2=[(E×π×d×d 3 ) / 64×R+F / cos(β)×L1 / (L1+L2)] / [2×sin(α / 2)].

[0031] Working principle: The main body 2 has a built-in channel with a relative angle α. When the vascular interventional device 1 passes through the built-in channel of the main body 2 with a driving force F1, it will be delivered by angle α under the action of the force transmission lever 3. According to the force balance, in order to ensure its own balance, the force transmission lever 3 will rotate axially around the bearing 5 as the axis, and feed back the corresponding pressure to the signal acquisition point on the thin film sensor 4 through the transmission point 31.

[0032] The thin-film sensor 4 can accurately sense pressure and output corresponding electrical signals, thereby calculating the magnitude of the driving force F1 and transmitting it to the controller through micro-wiring; the controller calls the force feedback algorithm and calculates Fe, F4, F3 and F1 in sequence based on the electrical signals and preset parameters.

[0033] The controller compares the calculated F1 with a preset threshold. When F1 does not exceed the threshold, the drive mechanism continues to drive the vascular interventional device 1 for delivery. When F1 exceeds the set threshold, the controller makes a judgment and feeds back to the drive mechanism to stop the current operation. At the same time, it activates the prompting system (not shown in the figure) to notify medical staff to adjust the distal angle of the vascular interventional device 1. After the medical staff has made the adjustment, the drive mechanism is restarted, and the device repeats the above monitoring and control process until the vascular interventional device 1 is delivered in place.

[0034] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A force feedback device for instrument-assisted vascular procedures, characterized in that: It includes a vascular interventional device, a main body, a drive mechanism, and a controller. The vascular interventional device passes through the drive mechanism and the main body in sequence, and the controller is connected to the main body and the drive mechanism respectively.

2. The force feedback device for vascular interventional procedures according to claim 1, characterized in that: The main body has a channel inside, through which the vascular interventional device passes.

3. A force feedback device for vascular interventional procedures according to claim 2, characterized in that: The main body is provided with a force transmission lever, and the vascular interventional device is in contact with one end of the force transmission lever.

4. A force feedback device for vascular interventional procedures according to claim 3, characterized in that: The main body is equipped with a bearing, and the other end of the force transmission lever is inserted into the bearing and rotates along the bearing axis.

5. A force feedback device for vascular interventional procedures according to claim 4, characterized in that: A thin-film sensor is installed inside the main body, and a contact element is installed on the force transmission lever, the contact element being in contact with the thin-film sensor.

6. A force feedback device for vascular interventional procedures according to claim 5, characterized in that: The contact element is a transmission point, and the transmission point is in contact with the thin-film sensor.

7. A force feedback device for vascular interventional procedures according to claim 6, characterized in that: The thin-film sensor is provided with a signal acquisition point, and the transmission point is in contact with the signal acquisition point.

8. A force feedback device for vascular interventional procedures according to claim 5, characterized in that: The thin-film sensor is connected to the controller.

9. A force feedback device for vascular interventional procedures according to claim 3, characterized in that: The main body and force transmission lever are made of lightweight, high-strength materials.

10. A force feedback device for instrument-assisted vascular procedures according to claim 5, characterized in that: The thin-film sensor is made of flexible film material.

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