A clinical tumor targeted chemotherapy drug delivery intervention device

Abstract

This invention discloses a clinical interventional device for targeted chemotherapy in tumors, comprising a C-arm machine, a magnetically controlled robotic arm, an electromagnet, an automatic catheter delivery mechanism, a PICC catheter, a data acquisition controller, and a host computer. The PICC catheter is fixed on the automatic catheter delivery mechanism. The C-arm machine, the magnetically controlled robotic arm, the electromagnet, and the automatic catheter delivery mechanism are all connected to the data acquisition controller, which is connected to the host computer. A magnetic induction coil is fixed in the inner wall of the front end of the PICC catheter. When energized, the magnetic induction coil of the PICC catheter generates a magnetic field and bends under the action of magnetic fields of varying intensities from the electromagnet. This device uses magnetic control to manipulate the bending of the catheter's front end to adapt to the curvature of blood vessels and to pass through blood vessel bifurcations. The operation can be completed while the patient is in position, unaffected by the internal environment. Simultaneously, the device can automatically deliver the catheter to the target location without manual operation, reducing radiation exposure for medical personnel.

Description

Technical Field

[0001] This invention relates to the field of medical devices, specifically to a clinical tumor-targeted chemotherapy delivery interventional device. Background Technology

[0002] Cancer treatment includes conventional chemotherapy and interventional chemotherapy. Conventional chemotherapy is a systemic treatment that uses chemical drugs to kill cancer cells or inhibit their growth. The drugs are distributed throughout the body via the bloodstream, inhibiting metastatic cancer cells, but also affecting normal cells, leading to side effects such as hair loss and decreased immunity. Interventional chemotherapy, on the other hand, is a minimally invasive treatment. Guided by imaging technology (such as DSA and CT), a catheter is precisely inserted into the tumor's blood supply artery to directly inject high concentrations of chemotherapy drugs. This method can reduce the distribution of drugs throughout the body, reduce some side effects, and increase the local drug concentration.

[0003] Although interventional chemotherapy delivers drugs with higher utilization rates and stronger local tumor-killing power, making it suitable for highly vascularized solid tumors, the procedure is complex and often requires multiple people to establish the access route. PICC (Peripherally Inserted Central Catheter) placement is one such interventional method for chemotherapy delivery. A PICC is a long-term infusion device inserted through a peripheral vein in the arm, with the catheter tip placed in the superior vena cava. It reduces the pain of repeated punctures and is suitable for patients requiring medium- to long-term intravenous therapy, with placement time ranging from several weeks to several months. The PICC placement procedure involves: first, inserting a needle into a peripheral blood vessel; then, withdrawing the needle core and inserting a guidewire along the needle sheath into the vessel; subsequently, inserting the interventional catheter along the guidewire into the vessel; withdrawing the guidewire and advancing the catheter tip to the superior vena cava; finally, confirming the catheter's position using CT scan, thus completing the placement of the interventional device.

[0004] During PICC placement, the catheter often needs to be carefully passed through curved blood vessels and bifurcations. A pressing issue is how to adjust the PICC line's curvature to follow the curves of the blood vessel to smoothly pass through these areas and reach the superior vena cava. Furthermore, repeated X-ray examinations and CT scans are required during PICC placement to ensure the PICC line reaches the superior vena cava. Medical personnel are exposed to significant radiation during this process, potentially causing health problems. Reducing occupational exposure for doctors is another technical challenge that needs to be addressed during PICC placement. Summary of the Invention

[0005] Therefore, the present invention provides a clinical tumor-targeted chemotherapy drug delivery interventional device. The device uses magnetic control to manipulate the bending of the catheter tip to adapt to the bending of blood vessels and through blood vessel bifurcations. The operation can be completed in the patient's position and is not restricted by the internal environment. At the same time, the device can automatically deliver the catheter to the target position without manual operation, which can reduce the difficulty of catheter operation and reduce the radiation harm to medical personnel.

[0006] To achieve the above-mentioned technical effects, the present invention is implemented through the following technical solution: A clinical interventional device for targeted chemotherapy in tumors includes a C-arm CT scanner, a magnetically controlled robotic arm, an electromagnet, an automatic catheter delivery mechanism, a PICC catheter, a data acquisition controller, and a host computer. The electromagnet is fixed to the front end of the magnetically controlled robotic arm, and the PICC catheter is fixed to the automatic catheter delivery mechanism. The C-arm CT scanner, the magnetically controlled robotic arm, the electromagnet, and the automatic catheter delivery mechanism are all connected to the data acquisition controller, which is connected to the host computer. A magnetic induction coil is fixed in the inner wall of the front end of the PICC catheter. When energized, the magnetic induction coil of the PICC catheter generates a magnetic field and bends under the action of different intensities of magnetic field from the electromagnet. The PICC catheter passes through the bend and bifurcation of the blood vessel and reaches the superior vena cava under the push and rotation of the automatic catheter delivery mechanism. After CT positioning by the C-arm CT scanner, a positioning image is generated. The positioning image is transmitted to the host computer via the data acquisition controller. After system or manual confirmation by the host computer, the action of the automatic catheter delivery mechanism and the magnetic force action of the electromagnet and the magnetic induction coil are terminated, thereby completing the PICC placement.

[0007] Furthermore, the automatic guide tube pushing mechanism includes a mounting base plate, a first support plate, a rotary motor, a drive gear disk, a second support plate, a driven gear disk, an inverted L-shaped support plate, a pair of push-pull motors, a pair of push rollers, a third support plate, and a positioning sleeve. The first support plate is fixed to the mounting base plate, the rotary motor is fixed to the first support plate, and the rotating shaft of the rotary motor passes through the first support plate. The drive gear disk is fixed to the rotating shaft of the rotary motor. The second support plate is fixed to the mounting base plate, and the driven gear disk is rotatably connected to the second support plate. The driven gear disk meshes with the drive gear disk, and the driven gear disk has a grinding groove. The PICC conduit passes through the perforation hole and fits against the hole wall. The PICC conduit rotates with the driven gear disc. An inverted L-shaped support plate is fixed to the mounting base. A pair of push-pull motors are fixed to the mounting base. The shafts of the push-pull motors extend from the top of the inverted L-shaped support plate. The push roller shaft is fixed to the shaft of the push-pull motor. The PICC conduit passes between the push roller shafts and moves backward or forward as the push roller shafts rotate in opposite directions. A third support plate is fixed to the mounting base. A positioning sleeve is fixed to the third support plate, and the PICC conduit exits from the positioning sleeve.

[0008] Furthermore, a magnetic induction coil is fixed in the inner wall of the front end of the PICC catheter, and a conductive connector is led out from the rear end of the PICC catheter. The conductive connector is connected to the magnetic induction coil through a conductive guide wire embedded in the PICC catheter.

[0009] Furthermore, the data acquisition controller includes a housing and a base plate. A display screen and operation buttons are fixed on the housing. A control circuit board, a rectifier, several relays, a first current output regulator, and a second current output regulator are fixed on the base plate. The display screen, operation buttons, rectifier, relays, first current output regulator, and second current output regulator are all connected to the control circuit board. The magnetically controlled robotic arm and the automatic guide tube pushing mechanism are both connected to the relays. The electromagnet and magnetic induction coil are respectively connected to the first current output regulator and the second current output regulator. The C-arm is connected to the control circuit board.

[0010] The beneficial effects of this invention are as follows: The device uses magnetic control to manipulate the bending of the catheter tip so that it can adapt to the bending of blood vessels and pass through the bifurcation of blood vessels. The operation can be completed in the body position and is not restricted by the internal environment. At the same time, the device can automatically deliver the catheter to the target position without manual operation, which can reduce the difficulty of catheter operation and reduce the radiation damage to medical personnel. Attached Figure Description

[0011] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a schematic diagram of the system structure of a clinical tumor-targeted chemotherapy drug delivery intervention device; Figure 2 This is a schematic diagram of the automatic catheter delivery mechanism; Figure 3 This is a schematic diagram of the structure of the data acquisition controller; Figure 4 This is a schematic diagram of the structural layout of the electronic components on the base plate.

[0013] The attached diagram lists the components represented by each number as follows: 1-C-arm robot, 2-Magnetic control robotic arm, 3-Automatic conduit pushing mechanism, 4-PICC conduit, 5-Electromagnet, 6-Data acquisition controller, 7-Host computer, 31-Mounting base plate, 32-Rotary motor, 33-Driven gear disk, 34-Push-pull motor, 35-Push roller, 36-Positioning sleeve, 41-Magnetic induction coil, 61-Encapsulation shell, 62-Base plate, 311-First support plate, 312-Slot, 313-Second support plate, 314-Inverted L-shaped support plate, 315-Third support plate, 611-Display screen, 612-Operation buttons, 621-Control circuit board, 622-Rectifier, 623-Relay, 624-First current output regulator, 625-Second current output regulator. Detailed Implementation

[0014] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0015] like Figure 1As shown, a clinical tumor-targeted chemotherapy drug delivery interventional device includes a C-arm machine 1, a magnetically controlled robotic arm 2, an electromagnet 5, an automatic catheter delivery mechanism 3, a PICC catheter 4, a data acquisition controller 6, and a host computer 7. The electromagnet is fixed to the front end of the magnetically controlled robotic arm, and the PICC catheter is fixed to the automatic catheter delivery mechanism. The C-arm machine, the magnetically controlled robotic arm, the electromagnet, and the automatic catheter delivery mechanism are all connected to the data acquisition controller, which is connected to the host computer. A magnetic induction coil 41 is fixed in the inner wall of the front end of the PICC catheter. When the magnetic induction coil of the PICC catheter is energized, it generates a magnetic field and bends under the action of different intensity magnetic fields of the electromagnet. The PICC catheter passes through the curved blood vessel and bifurcation under the push and rotation of the automatic catheter delivery mechanism and reaches the superior vena cava. After being positioned by CT of the C-arm machine, a positioning image is generated. The positioning image is transmitted to the host computer via the data acquisition controller. After system or manual confirmation by the host computer, the action of the automatic catheter delivery mechanism and the magnetic action of the electromagnet and the magnetic induction coil are terminated, thereby completing the PICC placement.

[0016] like Figure 2 As shown, the automatic catheter pushing mechanism 3 includes a mounting base plate 31, a first support plate 311, a rotary motor 32, a drive gear disk 321, a second support plate 313, a driven gear disk 33, an inverted L-shaped support plate 314, a pair of push-pull motors 34, a pair of push rollers 35, a third support plate 315, and a positioning sleeve 36. The first support plate is fixed to the mounting base plate, the rotary motor is fixed to the first support plate, and the top of the first support plate is fixed with a slot 312 for supporting the PICC catheter. The rotating shaft of the rotary motor passes through the first support plate, the drive gear disk is fixed to the rotating shaft of the rotary motor, the second support plate is fixed to the mounting base plate, and the driven gear disk is rotatably connected to the second support plate. The driven gear disk meshes with the driving gear disk. The driven gear disk has a frosted through-hole. The PICC conduit passes through the through-hole and fits against the hole wall. The PICC conduit can rotate with the driven gear disk. An inverted L-shaped support plate is fixed to the mounting base plate. A pair of push-pull motors are fixed to the mounting base plate. The shaft of the push-pull motor extends from the top of the inverted L-shaped support plate. The push roller shaft is fixed to the shaft of the push-pull motor. The PICC conduit passes between the push roller shafts and moves backward or forward as the push roller shafts rotate in opposite directions. A third support plate is fixed to the mounting base plate. A positioning sleeve is fixed to the third support plate. The PICC conduit exits from the positioning sleeve.

[0017] A magnetic induction coil is fixed in the inner wall of the front end of the PICC catheter, and a conductive connector is led out from the rear end of the PICC catheter. The conductive connector is connected to the magnetic induction coil through a conductive wire embedded in the PICC catheter.

[0018] like Figure 3-4 As shown, the data acquisition controller includes a housing 61 and a base plate 62. A display screen 611 and operation buttons 612 are fixed on the housing 61. A control circuit board 621, a rectifier 622, several relays 623, a first current output regulator 624, and a second current output regulator 625 are fixed on the base plate 62. The display screen, operation buttons, rectifier, relays, first current output regulator, and second current output regulator are all connected to the control circuit board. The magnetically controlled robotic arm and the automatic conduit pushing mechanism are both connected to the relays. The electromagnet and magnetic induction coil are respectively connected to the first current output regulator and the second current output regulator. The C-arm is connected to the control circuit board.

[0019] One specific application of this device is as follows: Under ultrasound guidance, a puncture is performed at the elbow crease of the patient. After successful puncture, the needle core is withdrawn and a guidewire is inserted. The needle sheath is withdrawn and an expansion sheath is inserted along the insertion path. The guidewire is then withdrawn, and the PICC catheter is removed from the sterile bag. The PICC catheter is then fixed in the automatic catheter pushing mechanism 3. After the tip of the PICC catheter 4 is inserted into the expansion sheath, the automatic catheter pushing mechanism 3 is activated. The push-pull motor 34 of the automatic catheter pushing mechanism 3 rotates and drives the pushing roller shaft. The PICC catheter, stuck between the pushing roller shafts, is pushed forward or backward by the pushing roller shaft. The PICC catheter will move forward or backward along the blood vessel to adjust the position of the tip of the PICC catheter. During the pushing process, the C-arm machine 1 provides positioning assistance. The C-arm machine will capture CT images and transmit them to the data acquisition controller 6 and then to the host computer 7. The host computer then operates... Based on the position of the PICC catheter tip in the CT image, if the PICC catheter tip is located at a bend or bifurcation of the blood vessel and the curvature of the catheter needs to be adjusted, the host computer drives the magnetically controlled robotic arm to change its posture. At the same time, the host computer outputs a power-on command to the data acquisition controller. The data acquisition controller outputs current to the electromagnet and magnetic induction coil through the first and second current output regulators. After the electromagnet and magnetic induction coil are energized, they generate magnetic force. At this time, under the magnetic force of the electromagnet, the magnetic induction coil pulls the tip of the PICC catheter to deflect and bend. With the help of the automatic catheter pushing mechanism 3, it can easily pass over the bend and bifurcation of the blood vessel and reach the superior vena cava, thereby completing the PICC placement. Finally, chemotherapy drugs are delivered through the PICC catheter to achieve the purpose of treating tumors.

[0020] In the description of this specification, references to terms such as "an embodiment," "example," and "specific example" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

Claims

1. A clinical tumor targeted chemotherapy drug delivery intervention device, characterized in that, The system includes a C-arm CT scanner, a magnetically controlled robotic arm, an electromagnet, an automatic catheter delivery mechanism, a PICC catheter, a data acquisition controller, and a host computer. The electromagnet is fixed to the front end of the magnetically controlled robotic arm, and the PICC catheter is fixed to the automatic catheter delivery mechanism. The C-arm CT scanner, the magnetically controlled robotic arm, the electromagnet, and the automatic catheter delivery mechanism are all connected to the data acquisition controller, which is connected to the host computer. A magnetic induction coil is fixed in the inner wall of the front end of the PICC catheter. When the magnetic induction coil of the PICC catheter is energized, it generates a magnetic field and bends under the action of different intensities of magnetic field from the electromagnet. The PICC catheter passes through the curved blood vessel and bifurcation under the push and rotation of the automatic catheter delivery mechanism and reaches the superior vena cava. After being positioned by CT scan of the C-arm CT scanner, a positioning image is generated. The positioning image is transmitted to the host computer via the data acquisition controller. After system or manual confirmation by the host computer, the action of the automatic catheter delivery mechanism and the magnetic action of the electromagnet and the magnetic induction coil are terminated, thereby completing the PICC placement procedure.

2. The interventional device for targeted chemotherapy in clinical tumors according to claim 1, characterized in that, The automatic guide tube pushing mechanism includes a mounting base plate, a first support plate, a rotary motor, a drive gear disk, a second support plate, a driven gear disk, an inverted L-shaped support plate, a pair of push-pull motors, a pair of push rollers, a third support plate, and a positioning sleeve. The first support plate is fixed to the mounting base plate, the rotary motor is fixed to the first support plate, and the shaft of the rotary motor passes through the first support plate. The drive gear disk is fixed to the shaft of the rotary motor. The second support plate is fixed to the mounting base plate, and the driven gear disk is rotatably connected to the second support plate. The driven gear disk meshes with the drive gear disk, and the driven gear disk has a frosted surface. The PICC conduit passes through a through-hole and fits against the hole wall. It rotates with the driven gear. An inverted L-shaped support plate is fixed to the mounting base. A pair of push-pull motors are fixed to the mounting base. The shafts of the push-pull motors extend from the top of the inverted L-shaped support plate. A push roller shaft is fixed to the shaft of the push-pull motor. The PICC conduit passes between the push roller shafts and moves backward or forward as the push rollers rotate in opposite directions. A third support plate is fixed to the mounting base. A positioning sleeve is fixed to the third support plate, and the PICC conduit exits from the positioning sleeve.

3. The interventional device for targeted chemotherapy in clinical tumors according to claim 1, characterized in that, A magnetic induction coil is fixed in the inner wall of the front end of the PICC catheter, and a conductive connector is led out from the rear end of the PICC catheter. The conductive connector is connected to the magnetic induction coil through a conductive wire embedded in the PICC catheter.

4. The interventional device for targeted chemotherapy in clinical tumors according to claim 3, characterized in that, The data acquisition controller includes a housing and a base plate. A display screen and operation buttons are fixed on the housing. A control circuit board, a rectifier, several relays, a first current output regulator, and a second current output regulator are fixed on the base plate. The display screen, operation buttons, rectifier, relays, first current output regulator, and second current output regulator are all connected to the control circuit board. The magnetically controlled robotic arm and the automatic guide tube pushing mechanism are both connected to the relays. The electromagnet and magnetic induction coil are respectively connected to the first current output regulator and the second current output regulator. The C-arm is connected to the control circuit board.

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