A catheter guidewire auxiliary processing device for interventional catheterization chamber

Abstract

This invention relates to the field of interventional medical devices and precision fluid control technology, specifically to an auxiliary device for catheter and guidewire processing in an interventional catheterization lab. It comprises a mechanical actuator, a data acquisition module, a pneumatic adjustment module, and a controller. The system, through the cooperation of a fluid drive unit and a flexible variable boundary unit, utilizes a spiral flow channel to transform the fluid into a spiral jet with axial thrust. Its core principle is to use a fluid medium as the sole power medium, replacing traditional solid-mechanical contact. This invention completely eliminates the physical damage to the guidewire's micron-level hydrophilic coating caused by roller clamping, effectively ensuring the integrity and lubrication performance of the interventional device.

Description

Technical Field

[0001] This invention relates to the field of interventional medical devices and precision fluid control technology, specifically to an interventional catheterization lab catheter guidewire auxiliary processing device. Background Technology

[0002] In the current field of interventional medical device processing, guidewires with hydrophilic coatings require frequent retrieval and cleaning during surgery, and the integrity of the instrument surface is extremely important. Existing guidewire auxiliary processing devices generally adopt mechanical drive architectures such as roller clamping or friction belt transmission. Although such contact drive solutions have certain transmission efficiency, they rely on mechanical extrusion and surface friction between solids to generate thrust, which can easily cause irreversible physical damage to the micron-level hydrophilic coating, leading to coating peeling and decreased instrument lubrication performance. If traditional fluid drive alternatives are used, it is difficult to balance driving force and throughput due to the fixed flow channel boundaries. They often face the physical contradiction of insufficient driving force due to fluid slippage on the guidewire surface, or guidewire buckling due to excessively narrow flow channels. At the same time, the opaque metal tubing and high-speed fluid environment make it impossible for conventional optical sensors to monitor the microscopic motion state inside the guidewire, resulting in a lack of effective feedback mechanism in the control system.

[0003] Therefore, how to achieve non-contact, lossless transmission of hydrophilic coated guidewires and solve the dynamic control problem of slippage and obstruction in fluid drive without relying on visual inspection has become an urgent technical problem to be solved. Summary of the Invention

[0004] In view of the shortcomings of the prior art, the purpose of this invention is to provide an interventional catheterization lab catheter guidewire auxiliary processing device, which can solve the technical problems existing in the prior art. Specifically, the technical solution of this invention includes: Mechanical actuators include: The system consists of a base that serves as a rigid support, a fluid drive unit that is fixedly connected inside the base, a flexible boundary unit that is coaxially wrapped around the flow channel of the fluid drive unit, and an adaptive centering unit that is distributed circumferentially along the flow channel. The data acquisition module includes a high-frequency piezoelectric pressure sensor installed at the inlet of the fluid drive unit, used to acquire the dynamic pressure waveform at the fluid inlet; A pneumatic adjustment module includes a pneumatic adjustment ring sleeved on the outer cylindrical surface of the fluid drive unit and a proportional pressure regulating valve connected to the pneumatic adjustment ring, wherein the pneumatic adjustment ring communicates with the annular cavity formed by the flexible boundary unit; and The controller is communicatively connected to the data acquisition module and the pneumatic adjustment module, and the controller contains a control program.

[0005] Preferably, the controller includes a housing, a motherboard disposed within the housing, a display screen connected to the motherboard, a power supply disposed on the motherboard, and a processing chip disposed on the motherboard, the processing chip running the control program.

[0006] Preferably, the main body of the fluid drive unit is a hollow cylinder, and the inner wall of the inlet end of the hollow cylinder is processed with evenly distributed spiral channels. The spiral channels are used to convert the input linear fluid into a spiral jet with an axial propulsion component. The flexible deformation unit is a flexible deformable bushing coaxially mounted in the fluid drive unit and located in the inner hole downstream of the spiral flow channel. The two ends of the flexible deformable bushing are sealed and fixed, so that the outer wall of the flexible deformable bushing and the inner wall of the fluid drive unit form the annular cavity. The adaptive centering unit includes multiple independent micro-cells embedded within the wall thickness of the flexible deformable bushing. Each micro-cell is connected to the central flow channel through a capillary through-hole, and an elastic diaphragm is connected to the back pressure side of the micro-cell.

[0007] Preferably, the controller, through its control program, performs at least one of the following steps: Real-time monitoring of pressure data at the inlet of the driving fluid, collected by the high-frequency piezoelectric pressure sensor; The pressure data is subjected to spectral analysis to extract the hydroacoustic features reflecting the motion state of the guidewire; and control commands are sent to the proportional pressure regulating valve based on the hydroacoustic features to adjust the boundary stiffness of the flexible boundary unit.

[0008] Preferably, the step of performing spectral analysis on the pressure data to extract fluid acoustic features reflecting the guidewire motion state, and sending control commands to the proportional pressure regulating valve based on the fluid acoustic features, includes: The collected time-domain pressure signal is subjected to a fast Fourier transform to obtain the pressure pulsation spectrum; The current fluid acoustic features are identified based on the pressure pulsation spectrum. The fluid acoustic features include shear-thinned noise features that appear as high-frequency broadband signals and pumping characteristic waves that appear as low-frequency high-amplitude fluctuations. The target fluid stiffness value required immediately is calculated based on the identified fluid acoustic features; The target fluid stiffness value is mapped to a pressure control signal, which drives the proportional pressure regulating valve to adjust the pressure in the annular cavity, thereby changing the inner diameter and inner wall corrugation shape of the flexible deformable bushing.

[0009] Preferably, the step of calculating the target fluid stiffness value required in real time based on the identified fluid acoustic features includes: Calculate the rate of change of the pressure data with respect to time, and multiply the rate of change by a preset load mutation weighting coefficient to obtain a proportional term reflecting the severity of the load; Extract the dominant frequency from the pressure pulsation spectrum as the current signal frequency, calculate the difference between the current signal frequency and the preset slip threshold frequency, perform an integral operation on the difference with respect to time, and multiply the integral result by a preset historical cumulative weighting coefficient to obtain an integral term reflecting the slip trend; The target fluid stiffness value is obtained by linearly summing the proportional term and the integral term.

[0010] Preferably, the step of mapping the target fluid stiffness value to a pressure control signal is configured as follows: In response to the identification of the shear-thinning noise feature in the pressure pulsation spectrum, and the determination that the fluid gripping force is insufficient, a pressurization command is output to increase the air pressure in the annular cavity, forcing the flexible deformable bushing to contract inward and form micro-ripples, thereby inducing micro-spiral separation vortices in the flow channel. In response to the identification of the pumping characteristic wave in the pressure pulsation spectrum, it is determined that the guide wire is blocked, and a pressure reduction command is output to reduce the air pressure in the annular cavity, causing the flexible deformable bushing to spring back and expand its diameter, thereby restoring the fluid in the flow channel to a laminar flow state.

[0011] Preferably, the adaptive centering unit is constructed such that the pressure inside the micro-air chamber can respond to the change in static pressure of the flow channel caused by the eccentric movement of the guidewire, and the elastic diaphragm is driven to expand towards the center of the flow channel by the pressure difference between the micro-air chamber and the flow channel, generating a reverse thrust pointing towards the center to achieve dynamic self-stabilization of the guidewire.

[0012] Compared with the prior art, the present invention has the following improvements and advantages: 1. This invention constructs a drive system with fluid medium as the sole power transmission medium by combining a fluid drive unit and a flexible variable boundary unit; by utilizing the spiral flow channel on the inner wall of the inlet end of the fluid drive unit, the input linear fluid is transformed into a spiral jet with an axial propulsion component, providing axial thrust while using centrifugal force to form a central low-pressure zone; this design completely eliminates the direct contact between solid mechanical parts and the guidewire surface in traditional roller clamping or friction belt drive, fundamentally avoiding the peeling and physical damage of the micron-level hydrophilic coating, and ensuring the integrity and lubrication performance of the interventional device; 2. This invention achieves real-time adjustment of the flow channel boundary stiffness through an annular cavity formed by a pneumatic adjustment module and a flexible variable boundary unit. When insufficient fluid gripping force is detected, the controller outputs a pressurization command to force the flexible deformable bushing to shrink inward and form micro-ripples, inducing Taylor-Couette vortices to increase the apparent viscosity and gripping force of the fluid. When the guide wire is obstructed, a decompression command is output to cause the bushing to spring back and expand its diameter, restoring the laminar flow state to allow the fluid to depressurize. This active morphological adjustment mechanism effectively overcomes the technical defects of traditional fixed boundary flow channels that cannot simultaneously achieve high driving force and low obstruction passage. 3. This invention utilizes a high-frequency piezoelectric pressure sensor installed at the fluid inlet to acquire dynamic pressure waveforms, and performs spectral analysis on the pressure data through a controller; the system can extract fluid acoustic features reflecting the guidewire's motion state from the time-domain signal, and quantify these acoustic fingerprints into target fluid stiffness values; this mechanism can accurately sense the microscopic movement of the guidewire in opaque metal channels and high-speed fluid environments, such as microscopic slippage or front-end obstruction, without relying on optical sensors, providing reliable feedback for closed-loop control; 4. This invention embeds an adaptive centering unit within the wall thickness of the flexible variable boundary unit, and constructs a purely mechanical negative feedback adjustment system using micro-air chambers, capillary through-holes, and elastic diaphragms. When the guidewire undergoes eccentric movement, the Bernoulli effect causes an increase in flow velocity and a decrease in static pressure on one side, making the pressure in the micro-air chamber higher than the static pressure in the flow channel. This drives the elastic diaphragm to expand towards the center of the flow channel and generate a reverse thrust. This design automatically corrects the guidewire position using fluid dynamics principles, preventing guidewire friction against the wall or high-speed tailing without the need for additional sensors or actuators, further improving the stability of transmission. Attached Figure Description

[0013] The present invention will be further explained below with reference to the accompanying drawings and embodiments: Figure 1 This is a schematic diagram of the overall external structure of the device; Figure 2 This is a cross-sectional structural diagram of the device; Figure 3 This is a schematic diagram of the fluid drive unit structure of the device; Figure 4 yes Figure 2 Enlarged schematic diagram of structure A in the middle; In the diagram: 1. Catheter and guidewire auxiliary processing device in the interventional catheterization lab; 2. Mechanical actuator; 3. Base; 4. Fluid drive unit; 401. Hollow cylinder; 402. Spiral flow channel; 403. Central flow channel; 5. Flexible boundary unit; 6. Annular cavity; 7. Adaptive centering unit; 701. Miniature air chamber; 702. Capillary through-hole; 703. Elastic diaphragm; 8. Data acquisition module; 801. High-frequency piezoelectric pressure sensor; 9. Pneumatic adjustment module; 901. Pneumatic adjustment ring; 902. Proportional pressure regulating valve; 10. Controller; 1001. Housing; 1002. Main board; 1003. Display screen. Detailed Implementation

[0014] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments.

[0015] Example 1 Please see Figures 1-4 A catheter guidewire auxiliary processing device for interventional catheterization lab, comprising: The mechanical actuator 2 includes: a base 3 serving as a rigid support body, a fluid drive unit 4 fixedly connected inside the base 3, a flexible boundary unit 5 coaxially wrapped around the flow channel of the fluid drive unit 4, and an adaptive centering unit 7 distributed circumferentially along the flow channel. The data acquisition module 8 includes a high-frequency piezoelectric pressure sensor 801 installed at the inlet of the fluid drive unit 4, which is used to acquire the dynamic pressure waveform at the fluid inlet. The pneumatic adjustment module 9 includes a pneumatic adjustment ring 901 sleeved on the outer cylindrical surface of the fluid drive unit 4 and a proportional pressure regulating valve 902 connected to the pneumatic adjustment ring 901. The pneumatic adjustment ring 901 is connected to the annular cavity 6 formed by the flexible boundary unit 5. The controller 10 is communicatively connected to the data acquisition module 8 and the pneumatic adjustment module 9. The controller 10 has a control program.

[0016] This embodiment details the physical construction logic and functional implementation of the above-mentioned interventional catheterization lab guidewire auxiliary processing device 1; the device aims to solve the physical contradiction between the easy mechanical clamping damage and fluid-driven slippage faced by hydrophilic coated guidewires during the recycling and cleaning process in the prior art; The mechanical actuator 2 serves as the physical basis for achieving non-destructive guidewire actuation. Its base 3 is made of 304 stainless steel and is used to support the entire power system and be fixed on the catheterization lab workbench. The fluid drive unit 4, which is fixedly connected inside the base 3, is responsible for constructing the basic flow field and converting the input saline solution into a fluid medium with kinetic energy. The flexible variable boundary unit 5, which is coaxially wrapped around the flow channel of the fluid drive unit 4, serves as a deformable elastic physical boundary. This unit is located on the radially outer side of the fluid passage to form the flow channel wall. In macroscopic assembly, this unit is actually installed in the internal space of the fluid drive unit 4, thereby avoiding logical conflicts with the description of installation in the inner hole in the subsequent specific embodiments. It can change the geometry of the flow channel according to control commands, thereby adjusting the hydrodynamic characteristics of the flow field; the adaptive centering unit 7 distributed along the circumference of the flow channel constitutes a passive mechanical feedback mechanism to maintain the center position of the guide wire in fluid disturbance. Based on this, the data acquisition module 8 performs the sensing task through the high-frequency piezoelectric pressure sensor 801 installed at the inlet of the fluid drive unit 4. The sampling frequency of the sensor is set to 20000Hz, which is intended to satisfy the Nyquist sampling theorem to accurately capture the fluid pressure fluctuations caused by the reverse propagation of the micro-movement of the guide wire in the flow channel within a 5kHz bandwidth, and to prevent the aliasing of high-frequency shear noise, that is, to acquire the dynamic pressure waveform at the fluid inlet. The pneumatic adjustment module 9, as the actuator for changing the boundary conditions of the flow field, adjusts the air pressure in the sealed annular cavity 6 formed between the pneumatic adjustment ring 901 and the flexible boundary unit 5 using the proportional pressure regulating valve 902, thereby directly changing the radial expansion or contraction degree of the flexible boundary unit 5; the controller 10 realizes closed-loop control based on fluid acoustic characteristics through communication connection. This embodiment integrates fluid drive, flexible boundary adjustment, and real-time pressure monitoring to construct a sensing-decision-execution fluid-structure interaction system. This system uses the fluid medium as the sole power transmission medium, completely eliminating direct contact between solid mechanical components and the hydrophilic coating of the guide wire, fundamentally avoiding the risk of coating damage. At the same time, the problem of insufficient fluid drive force is solved through the active adjustment of the flexible boundary.

[0017] Example 2 The controller 10 includes a housing 1001, a motherboard 1002 disposed within the housing 1001, a display screen 1003 connected to the motherboard 1002, a power supply disposed on the motherboard 1002, and a processing chip disposed on the motherboard 1002, the processing chip running a control program.

[0018] This embodiment further defines the hardware architecture of the controller 10, which aims to provide a stable computing platform for complex fluid dynamics control algorithms. The controller 10 includes a housing 1001 and a motherboard 1002 disposed within the housing 1001. The motherboard 1002 integrates power and processing chips. The processing chip, as the computing core, is configured to run the control program. It is responsible for receiving large amounts of data signals from the high-frequency piezoelectric pressure sensor 801, executing high-computing-power signal processing algorithms such as fast Fourier transform, and generating control commands in real time to drive the proportional pressure regulating valve 902. The display screen 1003 is connected to the motherboard 1002 and is used to display the current fluid pressure status, guide wire movement mode, and system operating parameters to the operator in real time. This embodiment, through a standardized embedded hardware architecture, ensures that the control program can process high-frequency pressure data with a millisecond-level response speed, meeting the stringent requirements for real-time and safety of guidewire handling in interventional surgery, and realizing the physical implementation of the fluid dynamics control algorithm.

[0019] Example 3 The main body of the fluid drive unit 4 is a hollow cylinder 401. The inner wall of the inlet end of the hollow cylinder 401 is machined with evenly distributed spiral flow channels 402. The spiral flow channels 402 are used to convert the input linear fluid into a spiral jet with an axial propulsion component. The flexible deformation unit 5 is a flexible deformable bushing coaxially installed in the inner hole of the fluid drive unit 4 and located downstream of the spiral flow channels 402. The two ends of the flexible deformable bushing are sealed and fixed, so that an annular cavity 6 is formed between the outer wall of the flexible deformable bushing and the inner wall of the fluid drive unit 4. The adaptive centering unit 7 includes multiple independent micro-air chambers 701 embedded inside the wall thickness of the flexible deformable bushing. Each micro-air chamber 701 is connected to the central flow channel 403 through a capillary through-hole 702, and an elastic diaphragm 703 is connected to the back pressure side of the micro-air chamber 701.

[0020] This embodiment details the specific structural design of the key internal components of the mechanical actuator 2, which is the physical prerequisite for realizing the spiral jet and adaptive centering functions. The main body of the fluid drive unit 4 is designed as a hollow cylinder 401, with evenly distributed spiral channels 402 machined on the inner wall of its inlet end. The spiral channels 402 have a specific spiral angle, which is 15 degrees in this embodiment, forcing the input straight fluid to rotate, thereby converting the input straight fluid into a spiral jet with an axial thrust component. This spiral jet not only provides axial thrust, but also uses centrifugal force to make the fluid adhere tightly to the pipe wall, forming a low-pressure zone at the center. The flexible boundary unit 5 is specifically defined as a flexible deformable bushing coaxially installed in the inner hole of the fluid drive unit 4 and located downstream of the spiral flow channel 402. That is, the flexible boundary unit 5 is located in the inner hole of the rigid fluid drive unit 4, and its inner surface defines the fluid flow channel, thereby realizing the functional definition of wrapping around the flow channel. The flexible boundary unit 5 is made of highly elastic medical silicone with a wall thickness of about 1 mm. The two ends of the flexible boundary unit 5 are sealed and fixed, so that an annular cavity 6 is formed between the outer wall of the flexible boundary unit 5 and the rigid inner wall of the fluid drive unit 4. This cavity is the direct area for air pressure regulation. The adaptive centering unit 7 includes multiple independent micro air chambers 701 pre-embedded inside the wall thickness of the flexible boundary unit 5. The micro-cavity 701 is a closed cavity vulcanized in the wall of the flexible variable boundary unit 5; the elastic diaphragm 703 refers to the thin-walled region of the inner wall of the flexible variable boundary unit 5 that separates the cavity from the central flow channel 403, with a thickness reduced to 0.2 mm. This diaphragm serves as the kinetic energy transfer interface and directly faces the fluid. The capillary through-hole 702 is an independent microchannel formed by laser drilling parallel to the normal direction of the diaphragm. It has a diameter of 0.08 mm and a length of 1.2 mm. The 0.08 mm micro-hole diameter is used to determine the flow resistance parameter R. Together with the acoustic compliance C of the micro-air chamber 701, it constructs a low-pass filter with a specific RC time constant. It is located in the edge rigid support area of ​​the air chamber. One end of the microchannel is connected to the internal cavity of the micro-air chamber 701, and the other end opens into the inner wall of the central flow channel 403 of the fluid drive unit 4, thus forming a connecting path. To ensure that the micro air chamber 701 can maintain its aerodynamic properties in a liquid working environment, the hydrophobic properties of the silicone material itself, combined with the surface tension of the gas-liquid interface at the micropores, are used to prevent the conductive liquid from completely filling the air chamber under normal pressure fluctuations. Specifically, the hydrophobic silicone has a contact angle greater than 100°, which, together with the capillary repulsion pressure formed by the micropores, resists the wetting of the liquid. The high air permeability of medical silicone allows the partial pressure of the gas dissolved in the saline solution inside the air chamber to reach equilibrium, thereby retaining a stable air bladder in the air chamber as a compressible medium.

[0021] In this embodiment, eight micro-chambers 701 are evenly distributed along the circumference of the flexible boundary unit 5. Each micro-chamber 701 is designed as a flat cavity with its major axis parallel to the flow channel, measuring 5mm in length, 2mm in width, and 0.5mm in height. These geometric dimensions provide the basic gas volume. The large deformation characteristics of the thin-walled diaphragm are combined to achieve the required acoustic compliance; the elastic diaphragm 703 is made of the same silicone film as the flexible boundary unit 5 to ensure that its deformation response to pressure difference takes precedence over the overall deformation of the flexible boundary unit 5. In this embodiment, the design of the spiral flow channel 402 significantly increases the contact path between the fluid and the guide wire surface, thereby improving energy transfer efficiency. The composite structure design of the flexible variable boundary unit 5 and the micro air chamber 701 not only realizes the variable control of the flow channel cross section, but also cleverly utilizes the principle of fluid dynamics to integrate a passive automatic centering function within the wall of the flexible variable boundary unit 5, which can prevent guide wire wear without additional sensors and actuators.

[0022] Example 4 Controller 10, through its control program, performs at least one of the following steps: The system monitors the pressure data at the inlet of the driving fluid in real time, which is collected by the high-frequency piezoelectric pressure sensor 801; performs spectral analysis on the pressure data to extract the fluid acoustic characteristics that reflect the motion state of the guide wire; and sends control commands to the proportional pressure regulating valve 902 according to the fluid acoustic characteristics to adjust the boundary stiffness of the flexible boundary unit 5.

[0023] This embodiment describes the core control logic executed by the controller 10, namely how to convert fluid signals from the physical world into control actions; the controller 10 executes a closed-loop control process through its control program: the system executes a real-time monitoring step, continuously reading the pressure data at the inlet of the driving fluid collected by the high-frequency piezoelectric pressure sensor 801, which is the basis of the system's tactile perception. The system performs spectral analysis on the pressure data to extract the fluid acoustic features that reflect the motion state of the guidewire. These features refer to the specific energy distribution pattern exhibited by the fluid in the frequency domain when it interacts with the guidewire, which is the acoustic fingerprint of the invisible motion state of the guidewire. Based on the identified fluid acoustic features, the system sends control commands to the proportional pressure regulating valve 902 to adjust the boundary stiffness of the flexible boundary unit 5. This embodiment establishes a non-visual fluid sensing mechanism. Since the guidewire is located in an opaque metal channel and is surrounded by high-speed fluid, optical sensors are difficult to operate. This solution uses the pressure pulsation of the fluid itself as an information carrier to achieve accurate monitoring and response to the microscopic motion state of the guidewire, overcoming the limitations of traditional visual detection.

[0024] Example 5 Spectral analysis is performed on the pressure data to extract the hydroacoustic characteristics reflecting the guidewire's motion state, and control commands are sent to the proportional pressure regulating valve 902 based on these characteristics, including: The acquired time-domain pressure signal is subjected to fast Fourier transform to obtain the pressure pulsation spectrum; the current fluid acoustic features are identified based on the pressure pulsation spectrum. The fluid acoustic features include shear-thinned noise features that appear as high-frequency broadband signals and pumping characteristic waves that appear as low-frequency high-amplitude fluctuations. The target fluid stiffness value is calculated based on the identified fluid acoustic characteristics; the target fluid stiffness value is mapped to a pressure control signal, which drives the proportional pressure regulating valve 902 to adjust the pressure in the annular cavity 6, thereby changing the inner diameter and inner wall corrugation shape of the flexible deformable bushing.

[0025] This embodiment further refines the specific algorithm flow for signal processing and feature recognition, which is the core manifestation of the system's intelligence; the system performs a Fast Fourier Transform on the acquired time-domain pressure signal, converting the time-series signal into a frequency-domain signal to obtain the pressure pulsation spectrum; specifically, the following is employed here: The FFT length of the points is determined, and a Hanning window is used to suppress spectral leakage; the system sampling frequency is set. Frequency resolution The calculation follows the formula: ; Substituting the numerical values ​​into the calculation yields This ensures accurate differentiation between low-frequency pumping characteristics and DC components. Secondly, based on the pressure pulsation spectrum, the system identifies the current fluid acoustic characteristics using a quantitative identification logic based on the band energy ratio: the spectrum is divided into a low-frequency characteristic band (0-100Hz) and a high-frequency characteristic band (2kHz-5kHz), and the band energy integrals of both are calculated separately. Specifically, the discrete symbol definition is clarified: let... Given a discrete-time pressure signal sequence, where, Performing a fast Fourier transform on it yields a complex sequence. ;definition Discrete frequency points The power spectral density estimate at point is calculated in a discrete form after modification. ; in, , Frequency point index; Define parameters For effective full-band Approximate value of the energy integral within; here, the rectangular approximation summation method is used: ; Wherein, the lower bound index of the summation upper limit index for summation This step explicitly removes... Low-frequency and DC components, define parameters The energy integral within the high-frequency characteristic band is calculated using the discrete frequency point summation formula: ; Wherein, the lower bound index of the summation upper limit index for summation When the energy proportion of the high-frequency characteristic band And the total power spectral density exceeds the preset noise floor threshold. At that time, it was determined to exhibit shearing and thinning noise characteristics of a high-frequency broadband signal. In order to prevent Small fluctuations near the threshold lead to a control state. High-frequency oscillations are addressed here by introducing Schmitt trigger logic: Definition The threshold for determining shear thinning is set to [value]. ; definition The state reset threshold is set to [value]. Only when At that time, the shear-thinning state is set. If and only if Falling back to This state will only be cleared under the following circumstances. If it is in between, then the state from the previous moment remains unchanged; This indicates that microscopic high-speed slippage occurs between the hydrophilic coating on the guidewire surface and the fluid; when the maximum peak value in the spectrum is located in the low-frequency characteristic band and the amplitude exceeds 20% of the reference pressure, i.e., greater than 3 kPa, it is determined to be a pumping characteristic wave exhibiting low-frequency high-amplitude fluctuations, indicating that the guidewire tip is obstructed; the target fluid stiffness value required in real time is calculated based on the identified fluid acoustic characteristics, which quantifies the magnitude of the constraint force exerted by the fluid field on the guidewire; the target fluid stiffness value is mapped to a pneumatic control signal; To address the limitation of a single linear mapping in simultaneously satisfying the bidirectional control requirements of slippage boosting and obstructed depressurization, this embodiment employs a state-dependent symbolic mapping function; where, defined... The directional polarity coefficient has a value of [value missing]. , Basic holding pressure value, For stiffness-pressure mapping gain, The target fluid stiffness modulus is calculated using the following formula:

[0026] The above parameters are selected and configured as follows: Set as This value is based on the nominal support pressure experimentally measured by the flexible variable boundary unit 5 under undisturbed conditions; Set as This coefficient was obtained through a static inflation-deformation calibration experiment, which measures the pressure increment required to change a unit stiffness. The absolute value of the calculated target fluid stiffness is taken. This refers to the directional polarity coefficient; when shear-thinning noise characteristics are identified... Automatically set to +1; when the pumping characteristic wave is detected, Automatically set to -1; if the recognition thresholds of the above two features are simultaneously met under complex operating conditions, the control logic sets the priority of the pumping characteristic wave to be higher than that of the shear-thinning noise feature, forcing it to be... Set to -1 to prioritize pressure relief protection operation.

[0027] If neither of the above two features is identified, that is Furthermore, since the low-frequency peak value did not exceed the threshold, it was determined to be a normal transmission state. Automatically set to 0, at which point the output air pressure is maintained at... To maintain the basic flow channel shape; the above parameters and The system was obtained through static inflation-deformation calibration experiments on the flexible deformable bushing, ensuring the linearity of air pressure and stiffness adjustment, thereby changing the inner diameter and inner wall corrugation morphology of the flexible deformable bushing. Furthermore, to prevent the calculated air pressure command from exceeding physical safety boundaries, the mapping process also includes an output limiting stage: the final output command to the proportional pressure regulating valve 902 is as follows: ; in, The pressure is set to 5 kPa to prevent the flow channel from collapsing due to negative pressure. The pressure was set at 40 kPa to prevent the flexible bushing from bursting due to overload, thus ensuring the physical safety and robustness of the system.

[0028] Example 6 The target fluid stiffness value required in real time is calculated based on the identified fluid acoustic features, including: The rate of change of pressure data with respect to time is calculated, and the rate of change is multiplied by a preset load mutation weighting coefficient to obtain a proportional term reflecting the severity of the load; the dominant frequency in the pressure pulsation spectrum is extracted as the current signal frequency, the difference between the current signal frequency and the preset slip threshold frequency is calculated, the difference is integrated with respect to time, and the integral result is multiplied by a preset historical cumulative weighting coefficient to obtain an integral term reflecting the slip trend; the proportional term and the integral term are linearly summed to obtain the target fluid stiffness value.

[0029] This embodiment details the calculation model for the target fluid stiffness value, introducing a composite calculation model based on load abrupt changes and slip trends to accurately calculate the required fluid constraint force modulus; the controller 10 adopts a dual-rate parallel processing architecture: the main control thread... To execute periodically in real time, maintain a length of The first-in-first-out circular buffer is used to store the latest pressure sampling point; The background analysis thread runs independently, updating whenever the circular buffer reaches a certain data volume. Points, i.e., overlap rate An FFT calculation is triggered when the overlap rate reaches 87.5%, updating the main frequency parameters. Write to shared memory; the main control thread in each Periodically read the current shared memory The value, namely, adopting a zero-order hold strategy, ensures that the mathematical model can operate stably on the digital controller 10 and has anti-integral saturation function. The calculation formula is specified as the following discrete-time difference equation: ; in, This is the load mutation weighting coefficient. and These are the pressure samples for the current and previous moments, respectively. Index of the current discrete sampling time; The sampling period of the system is set to . ( ); The current sampling time Pressure measurement value, unit This coefficient is derived based on the normalization of system dynamics: the maximum allowable pressure change rate of the system under extreme conditions is set to... ,Right now Pressure difference at Internally established; in order to map this physical quantity to a standardized control gain, the target normalization value is 1.0, and the calculated result is... This normalization process ensures that the proportional term can be linearly superimposed with the dimensionless integral term. The expected pressure response time constant of the system is set as follows: In this embodiment, The maximum permissible dynamic pressure overshoot is In this embodiment, According to the first-order system approximation model, this coefficient is defined as the ratio of the expected time constant to the maximum pressure, i.e., the calculation formula is: ; Substituting the above parameters into the calculation yields... ; here With dimensions of time / pressure, dynamic normalization was achieved, and the dimensions were made into... The pressure change rate term is converted into a dimensionless quantity, which further physically limits the proportional gain boundary of the controller, preventing the generation of stiffness commands that exceed the system safety threshold during sudden load changes, and enabling it to be linearly superimposed with the dimensionless integral term. The historical cumulative weighting coefficient is set to... Dimensionless; This is the discrete integral accumulation term corresponding to the slippage trend; to prevent numerical overflow due to long-term operation, an accumulation logic with saturation limits is used, and its mathematical expression is as follows: Calculate intermediate variables for unlimited amplitude : ; in, Let be the effective time step for integration, take ; The preset maximum score is set to [value]. Furthermore, to prevent shear thinning, i.e. With the pump flow obstructed, that is When switching between two drastically different control modes, the historical integral term causes control actions to lag or incorrectly reverse. Therefore, state reset logic has been added to the code. Before the calculation step, the orientation polarity coefficient of the current frame is detected. Is it equal to the previous frame? ,in, The system updates in real time based on the output of the feature recognition logic in Example 5 of this cycle. Specifically, if shear thinning is detected, the value is set to 1; if pumping is detected, the value is set to -1; otherwise, the value is set to 0. If they are not equal, a forced reset is performed. This ensures that the integral term only reflects the cumulative trend under the current fluid characteristics; For the dual-rate parallel processing architecture adopted by the system, the FFT analysis cycle With the main control cycle The issue of synchronization exists in this embodiment when calculating the integral term. A zero-order hold strategy is used; that is, the background analysis thread updates the main frequency. Then it is written to shared memory, and the main control thread writes it to each... Periodically read the latest data in memory. Value; therefore, in the discrete integral formula, It must be exactly equal to the main interrupt cycle. ,Right now Instead of the FFT update cycle, this ensures the correctness of the mathematical integral definition; : The current main frequency (Hz) extracted at this moment; Given that shear-thinned noise is a high-frequency broadband signal with a relatively flat spectral amplitude distribution and no significant single peak, using a method to find the maximum value would lead to highly random and unstable extraction results, causing the integral term to lose its physical meaning. This embodiment uses the spectral energy centroid method to calculate the effective dominant frequency to obtain a statistically stable frequency estimate: before performing the division operation, the validity of the denominator term is first determined; definition To determine the lower limit of the system's calculation accuracy, take... If the following conditions are met: ; This indicates that the current fluid is at a static or laminar background noise level, with no effective characteristic signal. In this case, a forced command is... Otherwise, execute the following formula for calculating the centroid of spectral energy; to prevent calculation errors caused by a denominator of zero, the algorithm logic stipulates that the above must be performed first. Only after the judgment is made can the division operation be performed: ; This calculation method uses a power-weighted average value to characterize the center frequency of the signal. It can smoothly reflect the sliding trend of broadband noise energy shifting to higher frequencies, thus ensuring the integral term... Control robustness; The preset sliding threshold frequency is set to 2500Hz. The historical cumulative weighting coefficient is set to 0.15. The specific logic of the calculation process is as follows: calculate the pressure difference between two adjacent sampling periods and divide it by the sampling time, then multiply it by the load mutation weighting coefficient to obtain the proportional term; extract the dominant frequency in the pressure pulsation spectrum, calculate the difference between it and the preset slip threshold frequency and add it to the historical integral term, and perform saturation truncation and state reset checks after each accumulation; linearly sum the proportional term and the integral term and take the modulus to obtain the target fluid stiffness value.

[0030] Example 7 The target fluid stiffness value is mapped to a gas pressure control signal, configured as follows: In response to the identification of shear-thinning noise characteristics in the pressure pulsation spectrum, indicating insufficient fluid gripping force, a pressurization command is output to increase the air pressure in the annular cavity 6, forcing the flexible deformable bushing to contract inward and form micro-ripples, thereby inducing micro-spiral separation vortices in the flow channel; in response to the identification of pumping characteristic waves in the pressure pulsation spectrum, indicating that the guide wire is obstructed, a depressurization command is output to reduce the air pressure in the annular cavity 6, causing the flexible deformable bushing to spring back and expand its diameter, thereby restoring the fluid in the flow channel to a laminar state.

[0031] This embodiment describes a specific mapping strategy for the air pressure control signal, that is, how the system uses the calculated stiffness value to execute specific physical actions after identifying different fluid characteristics; the target fluid stiffness value is mapped to the air pressure control signal, configured to execute the following two completely different control strategies: In response to the identification of shear thinning noise characteristics in the pressure pulsation spectrum, the system determines that the fluid grip is insufficient, i.e., slippage occurs. At this time, the controller 10 is based on positive mapping logic, i.e. Output a pressurization command, with the pressurization magnitude determined by the calculated target fluid stiffness value. Proportional to increase the air pressure in the annular cavity 6; The high pressure causes the flexible variable boundary unit 5 to contract violently inward, forming a microscopic corrugated structure on its inner wall. This induces microscopic spiral separation vortices within the flow channel, significantly increasing the apparent viscosity and gripping force of the fluid. In response to the identification of pumping characteristic waves in the pressure pulsation spectrum, the system determines that the guide wire is obstructed. At this point, the controller 10, based on negative mapping logic, i.e. Output a pressure reduction command, the pressure reduction range of which is also determined by the target fluid stiffness value. Under this operating condition, it is mainly composed of the proportional term. The contribution determines the rapid reduction of air pressure in the annular cavity 6; the release of air pressure causes the flexible boundary unit 5 to rebound under its own elasticity, the flow channel diameter expands, and the fluid in the flow channel returns to a stable laminar flow state, allowing the fluid to bypass the obstacle and release pressure, preventing the guide wire from buckling.

[0032] Example 8 The adaptive centering unit 7 is constructed such that the pressure inside the micro air chamber 701 can respond to the change in static pressure of the flow channel caused by the eccentric movement of the guidewire. The pressure difference between the micro air chamber 701 and the flow channel drives the elastic diaphragm 703 to expand towards the center of the flow channel, generating a reverse thrust pointing towards the center to achieve dynamic self-stabilization of the guidewire.

[0033] This embodiment describes in detail the working principle of the adaptive centering unit 7, which is a purely mechanical negative feedback adjustment mechanism based on Bernoulli's principle. The adaptive centering unit 7 is configured to achieve dynamic self-stabilization of the guide wire in the following way: when the guide wire deviates from the central axis to one side, such as the left side, due to disturbance during high-speed transmission, it will cause the flow channel cross section on that side to decrease. According to the fluid continuity equation, the flow velocity on this side will increase instantaneously; utilizing the Bernoulli effect, the increase in velocity will lead to a decrease in static pressure within the flow channel on this side; at this time, due to the extremely high flow resistance of the capillary orifice 702, it constitutes a pneumatic low-pass filter; the parameter calculation model for this cutoff frequency and its actual physical parameters: system time constant: ; in, The viscous flow resistance when the capillary orifice 702 is filled with physiological saline is calculated according to the Hagen-Poiseuille law: ; Considering that the actual working medium is physiological saline, it is in The dynamic viscosity below Slightly higher than pure water; for simplified calculations, an approximation is used. Substitute the length of the hole and the key aperture parameters modified according to Example 3 ,Right now ,have to: ; The flow state within the microchannel is measured using the Reynolds number. Calculation: Take the maximum transient pressure difference that the system may experience. Referring to the safety upper limit of Example 5, the maximum flow rate within the microchannel at this time The calculation is as follows: ; Substitute the density of physiological saline Then calculate the Reynolds number. : ; because This proves that even under extreme conditions, the diameter The flow within the microchannel is in the laminar flow region; it satisfies the application conditions of the Hagen-Poiseuille law, thus eliminating the fundamental doubts about the flow resistance calculation model. The equivalent acoustic compliance of the system is mainly determined by the minute volumetric deformation rate of the 0.2 mm thick silicone diaphragm. In this embodiment, the elastic diaphragm 703 is simplified as a peripherally fixed circular thin plate model; based on the large deflection theory of plate shells, its acoustic compliance... Defined as the change in volume caused by a unit change in pressure. Define the Young's modulus of silicone material. Poisson's ratio diaphragm radius Based on the width of the micro-cell 701 and the diaphragm thickness in Example 3 Before substituting the values ​​into the numerical calculation, calculate the bending stiffness of the diaphragm based on the plate and shell theory. : ; Substituting the numerical values, we get For a fixed circular plate, the approximate formula for its volumetric compliance is: ; parameters and the calculated Substituting the values, we get: ; This is the theoretical calculated value, compared with the experimental calibration value. The results are basically consistent and within the allowable range of engineering errors; simultaneous calculations yield... Corresponding cutoff frequency Under the interface pinning effect: although the flexible boundary unit 5 adopts a contact angle The device is made of hydrophobic silica gel, but during the pre-filling stage before initial use, a brief high-pressure pulse is applied to force the saline solution to overcome the hydrophobic silica gel. The capillary repulsion within the microchannel completely fills the microchannel.

[0034] However, when the fluid reaches the inlet of the micro-chamber 701, the cross-sectional expansion caused by the abrupt change in volume creates a huge surface tension barrier at the gas-liquid interface; according to the Laplace equation, this interface is sufficient to withstand normal operating pressure without rupture; therefore, the interior of the microchannel is filled with liquid, thus enabling... The viscous flow resistance calculation holds true, and the interior of the micro-chamber 701 remains airy, thus enabling... The acoustic compliance calculations are valid; the liquid thrombus-airbag series structure is the physical basis for realizing the RC low-pass filter characteristics; the frequency is still within the low-pass design domain below 5Hz, verifying the effectiveness of the design.

[0035] It should be noted here that, in response to theoretical concerns about instantaneous equilibrium upon connection, this device utilizes the viscous hysteresis effect of fluid within a microchannel. When the static pressure within the channel experiences a rapid transient decrease due to the Bernoulli effect, the high flow resistance of the capillary orifice 702 hinders the rapid outflow of fluid mass from the gas chamber. This causes the rate of pressure decrease within the gas chamber to lag far behind the rate of decrease of static pressure in the channel, thereby effectively maintaining a high-pressure state within the gas chamber during the dynamic process and forming the pressure difference required to drive the diaphragm. This low-pass characteristic ensures that for frequencies greater than [value missing] The high-frequency vibration of the guidewire prevents the pressure inside the micro-chamber 701 from instantly following the rapid decrease in the static pressure of the flow channel, and instead maintains a high time-averaged system pressure level; therefore, the pressure inside the micro-chamber 701 on this side is higher than the static pressure in the flow channel. By utilizing the micro-chamber 701, a pressure difference is maintained between the high background pressure and the transient low static pressure in the flow channel. This pressure difference drives the elastic diaphragm 703 to expand towards the center of the flow channel. The expansion of the diaphragm compresses the fluid, generating a reverse thrust pointing towards the center, which acts on the guidewire surface. At the same time, the cross-section of the flow channel on the opposite side increases, the flow velocity decreases, and the static pressure increases, forcing the elastic diaphragm 703 on the opposite side to retract. This asymmetrical pressure distribution on both sides forms a strong restoring couple, which automatically pushes the guidewire back to the center of the flow channel.

[0036] The centering mechanism in this embodiment relies entirely on the physical laws of fluid mechanics itself. It cleverly utilizes the damping delay effect of the capillary through-hole 702 to construct the necessary pressure difference. It requires no sensor or electronic control intervention, and the response speed reaches the speed of sound, with extremely high reliability. It effectively prevents the guide wire from experiencing high-frequency tailing or dynamic wall friction in the high-speed spiral flow, further protecting the integrity of the hydrophilic coating and demonstrating the robustness of passive mechanical feedback.

[0037] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. 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 be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A catheter guidewire auxiliary processing device for interventional catheterization labs, characterized in that, include: The mechanical actuator (2) includes: a base (3) serving as a rigid support body, a fluid drive unit (4) fixedly connected inside the base (3), a flexible boundary unit (5) coaxially wrapped around the flow channel of the fluid drive unit (4), and an adaptive centering unit (7) distributed circumferentially along the flow channel. The data acquisition module (8) includes a high-frequency piezoelectric pressure sensor (801) installed at the inlet of the fluid drive unit (4) for acquiring dynamic pressure waveforms at the fluid inlet; The pneumatic adjustment module (9) includes a pneumatic adjustment ring (901) sleeved on the outer cylindrical surface of the fluid drive unit (4) and a proportional pressure regulating valve (902) connected to the pneumatic adjustment ring (901). The pneumatic adjustment ring (901) communicates with the annular cavity (6) formed by the flexible boundary unit (5). The controller (10) is communicatively connected to the data acquisition module (8) and the pneumatic adjustment module (9), and the controller (10) contains a control program.

2. The interventional catheterization lab catheter guidewire auxiliary processing device (1) according to claim 1, wherein, The controller (10) includes a housing (1001), a motherboard (1002) disposed within the housing (1001), a display screen (1003) connected to the motherboard (1002), a power supply disposed on the motherboard (1002), and a processing chip disposed on the motherboard (1002), the processing chip running the control program.

3. The interventional catheterization lab catheter guidewire auxiliary processing device (1) according to claim 2, wherein, The main body of the fluid drive unit (4) is a hollow cylinder (401). The inner wall of the inlet end of the hollow cylinder (401) is processed with evenly distributed spiral channels (402). The spiral channels (402) are used to convert the input linear fluid into a spiral jet with an axial propulsion component. The flexible deformation unit (5) is a flexible deformable bushing coaxially installed in the fluid drive unit (4) and located in the inner hole downstream of the spiral flow channel (402). The two ends of the flexible deformable bushing are sealed and fixed, so that the outer wall of the flexible deformable bushing and the inner wall of the fluid drive unit (4) form the annular cavity (6). The adaptive centering unit (7) includes multiple independent micro air chambers (701) embedded in the wall thickness of the flexible deformable bushing. Each micro air chamber (701) is connected to the central flow channel (403) through a capillary through-hole (702), and an elastic diaphragm (703) is connected to the back pressure side of the micro air chamber (701).

4. The interventional catheterization lab catheter guidewire auxiliary processing device (1) according to claim 3, wherein, The controller (10) performs at least one of the following steps through its control program: Real-time monitoring of pressure data at the inlet of the driving fluid, collected by the high-frequency piezoelectric pressure sensor (801); The pressure data is subjected to spectral analysis to extract the hydroacoustic features that reflect the motion state of the guidewire; as well as Based on the fluid acoustic characteristics, a control command is sent to the proportional pressure regulating valve (902) to adjust the boundary stiffness of the flexible boundary unit (5).

5. The interventional catheterization lab catheter guidewire auxiliary processing device (1) according to claim 4, wherein, The step of performing spectral analysis on the pressure data to extract fluid acoustic features reflecting the guidewire motion state, and sending control commands to the proportional pressure regulating valve (902) based on the fluid acoustic features, includes: The collected time-domain pressure signal is subjected to a fast Fourier transform to obtain the pressure pulsation spectrum; The current fluid acoustic features are identified based on the pressure pulsation spectrum. The fluid acoustic features include shear-thinned noise features that appear as high-frequency broadband signals and pumping characteristic waves that appear as low-frequency high-amplitude fluctuations. The target fluid stiffness value required immediately is calculated based on the identified fluid acoustic features; The target fluid stiffness value is mapped to a pressure control signal, which drives the proportional pressure regulating valve (902) to adjust the pressure in the annular cavity (6), thereby changing the inner diameter and inner wall corrugation shape of the flexible deformable bushing.

6. The interventional catheterization lab catheter guidewire auxiliary processing device (1) according to claim 5, wherein, The step of calculating the immediate target fluid stiffness value based on the identified fluid acoustic features includes: Calculate the rate of change of the pressure data with respect to time, and multiply the rate of change by a preset load mutation weighting coefficient to obtain a proportional term reflecting the severity of the load; Extract the dominant frequency from the pressure pulsation spectrum as the current signal frequency, calculate the difference between the current signal frequency and the preset slip threshold frequency, perform an integral operation on the difference with respect to time, and multiply the integral result by a preset historical cumulative weighting coefficient to obtain an integral term reflecting the slip trend; The target fluid stiffness value is obtained by linearly summing the proportional term and the integral term.

7. The interventional catheterization lab catheter guidewire auxiliary processing device (1) according to claim 6, wherein, The step of mapping the target fluid stiffness value to a pressure control signal is configured as follows: In response to the identification of the shear-thinning noise feature in the pressure pulsation spectrum, it is determined that the fluid gripping force is insufficient, and a pressurization command is output to increase the air pressure of the annular cavity (6), forcing the flexible deformable bushing to contract inward and form micro-ripples, thereby inducing micro-spiral separation vortices in the flow channel; In response to the identification of the pumping characteristic wave in the pressure pulsation spectrum, it is determined that the guide wire is blocked, and a pressure reduction command is output to reduce the air pressure in the annular cavity (6), so that the flexible deformable bushing rebounds and expands in diameter, thereby restoring the fluid in the flow channel to a laminar flow state.

8. The interventional catheterization lab catheter guidewire auxiliary processing device (1) according to claim 3, wherein, The adaptive centering unit (7) is constructed such that the pressure inside the micro air chamber (701) can respond to the change in static pressure of the flow channel caused by the eccentric movement of the guidewire. The elastic diaphragm (703) is driven to expand towards the center of the flow channel by the pressure difference between the micro air chamber (701) and the flow channel, generating a reverse thrust pointing towards the center to achieve dynamic self-stabilization of the guidewire.

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