An adjustable bending guide wire and a method for bending the same

Abstract

The application discloses a kind of adjustable bending guide wire and bending method thereof, it is related to the technical field of vascular intervention medical instrument.The adjustable bending guide wire includes guide wire body, bending motor module, advance motor module and host system.Integrated force sensor in guide wire body, the contact force of guide wire tail end and blood vessel wall can be measured in real time;The accurate bending of guide wire tail end ± 180 ° is realized by two symmetrical bending traction lines;The axial movement of guide wire is realized by the mode of motor-driven friction wheel.The host system controls the movement of bending motor and advance motor according to the signal fed back by force sensor, realizes intelligent bending and propulsion.The application solves the problem of fixed head end angle of existing guide wire, lack of force feedback and low operation precision, can significantly reduce the risk of vascular injury, improve the safety and success rate of interventional operation.

Description

Technical Field

[0001] This invention relates to the field of vascular interventional medical device technology, and in particular to an adjustable guidewire and its adjustment method. Background Technology

[0002] In interventional vascular surgery, the guidewire is an important guiding tool used to guide the catheter to the target blood vessel. Interventional surgery is usually performed under X-ray fluoroscopy guidance. The doctor inserts the guidewire percutaneously into the blood vessel, pushes it along the vascular path to the lesion site, and then advances treatment devices such as catheters, balloons, or stents along the guidewire.

[0003] Currently, most angiography guidewires on the market have straight or fixed bend angles at the tip, with common types including "J" shaped tips, straight tips, and angled tips. Existing guidewires have the following problems:

[0004] 1. The tip angle is not adjustable, limiting its applicability. Because the tip bends at a fixed angle, it is difficult to adapt to branching blood vessels at different angles, easily leading to difficulty in cannulation and potentially puncturing the vessel. When encountering complex vascular bifurcation structures, doctors often need to repeatedly try different sizes of guidewires, increasing surgical time and patient risk.

[0005] 2. Doctors need to continuously manually advance the guidewire, which can easily lead to fatigue and affect operational precision. Prolonged delicate operations can cause muscle fatigue in the doctor's hands and reduce the stability of their movements. This fatigue can directly affect the surgical outcome, especially in complex interventional procedures.

[0006] 3. Some existing adjustable guidewires can only be roughly adjusted by manual knobs, lacking real-time force feedback. Doctors must rely on experience to judge the force applied to the tip, making it difficult to precisely control the force applied and increasing the surgical risk of vascular injury.

[0007] 4. Most existing adjustable guidewires do not integrate a force sensing module, thus failing to achieve intelligent bending function and failing to meet the development needs of precise interventional surgery.

[0008] 5. During interventional surgery, doctors need to operate in an X-ray environment for a long time. Even wearing a lead apron cannot completely avoid radiation exposure, and long-term accumulation can have potential effects on the doctor's health.

[0009] Therefore, there is a need for an adjustable guidewire that can monitor contact force in real time, precisely control the bending angle, reduce surgical risks, and support remote operation. Summary of the Invention

[0010] The purpose of this invention is to provide an adjustable guidewire and its adjustment method to solve the problems of fixed guidewire tip angle, lack of force feedback, low operation accuracy, and doctor radiation exposure in the prior art.

[0011] To achieve the above objectives, the present invention adopts the following technical solution:

[0012] An adjustable bending guide wire includes a guide wire body, a bending motor module, a forward motor module, a host system, a sensor cable, a bending motor cable, and a forward motor cable.

[0013] The guide wire body includes a guide wire mounting box, a winding wheel, a guide wire proximal mounting platform, a bending traction wire, a force sensor, an outer tube, a guide wire core wire, a metal ring, and potting compound;

[0014] The bending motor module is connected to the guide wire body and is used to control the bending angle of the end of the guide wire;

[0015] The forward motor module is connected to the guide wire body and is used to drive the guide wire to move axially;

[0016] The host system is electrically connected to the bending motor module and the forward motor module respectively, and is used to control the movement of the motors;

[0017] The sensor cable connects the force sensor and the host system and is used to transmit force signals;

[0018] The bending motor cable connects the bending motor module to the main system;

[0019] The forward motor cable connects the forward motor module to the main unit system;

[0020] The force sensor is located at the end of the guidewire and is used to measure the contact force between the end of the guidewire and the blood vessel wall in real time.

[0021] Furthermore, the bending motor module includes a guide wire mounting plate, a motor mounting plate, a bending motor, and a rotary motor shaft;

[0022] The guidewire mounting plate is provided with a snap-fit ​​groove for fixing the guidewire proximal mounting platform;

[0023] The motor mounting plate is fixedly connected to the guide wire mounting plate;

[0024] The bending motor is mounted on a motor mounting plate;

[0025] The rotary motor shaft is connected to the output shaft of the bending motor and is used to drive the winding wheel to rotate;

[0026] The winding wheel is provided with a boss, which is connected to the shaft of the rotary motor so that the winding wheel rotates synchronously with the motor shaft.

[0027] Furthermore, there are two bending motors, which are used to control the end of the guide wire to bend to the left and right respectively, with a bending angle range of -180° to +180°; the winding wheel is also provided with a bending traction groove and a mounting slot. The bending traction groove is used to accommodate and guide the bending traction wire, and the mounting slot cooperates with the winding wheel mounting hole of the guide wire near end mounting platform.

[0028] Furthermore, the guide wire proximal mounting platform is provided with a guide wire outer tube mounting hole, a force sensor lead wire groove, a buckle, and a winding wheel mounting hole;

[0029] The guidewire outer tube mounting hole is located on one end face of the guidewire proximal mounting platform and is used to fix the outer tube.

[0030] The force sensor lead groove is located on the side end face opposite to the mounting hole of the guide wire outer tube, and is used to fix the force sensor lead.

[0031] The buckle is disposed on the side end face of the guidewire proximal mounting platform and is used to cooperate with the buckle groove of the guidewire mounting plate;

[0032] The winding wheel mounting hole is used to install the winding wheel.

[0033] Furthermore, the forward motor module includes a friction wheel, a motor mounting bracket, a forward motor mounting plate, a forward motor, and a mounting cover plate;

[0034] The friction wheels are arranged in pairs to clamp the guide wire outer sleeve;

[0035] The motor mounting bracket is used to mount the forward motor and the friction wheel;

[0036] The forward motor mounting plate is used to support the motor mounting bracket;

[0037] The forward motor drives the friction wheel to rotate;

[0038] The mounting cover is used to accommodate and fix the forward motor mounting plate;

[0039] Two friction wheels rotate relative to each other, driving the guide wire to move axially through friction.

[0040] Furthermore, the motor mounting bracket is provided with an oblong hole. By adjusting the position of the bolt in the oblong hole, the gap between the two friction wheels can be adjusted to accommodate guide wire outer sleeves of different outer diameters.

[0041] Furthermore, the force sensor includes a head end and leads;

[0042] The tip is hemispherical and exposed on the outer surface of the guidewire tip for contacting the inner wall of the blood vessel.

[0043] The lead wire extends from one side of the head end, runs along the inside of the guide wire to the proximal end, and connects to the sensor cable.

[0044] The outer diameter of the lead wire is no greater than 0.15 mm, and the outer diameter of the head end is no greater than 0.30 mm.

[0045] Furthermore, the overall length of the guidewire body is not less than 150cm, and the outer diameter of the outer sheath is not greater than 0.40mm;

[0046] The guide wire core is inserted into the outer sheath to provide support stiffness for the guide wire;

[0047] The metal ring is located at the end of the guide wire and is used to fix the bending traction wire and the force sensor.

[0048] The potting compound is used to fix the metal ring, bending traction wire and force sensor inside the outer tube.

[0049] Furthermore, the host system includes a display module, an alarm module, and a control module;

[0050] The display module is used to display the contact force value measured by the force sensor in real time;

[0051] The alarm module is used to issue an alarm when the contact force exceeds a preset threshold.

[0052] The control module is used to automatically adjust the drive power of the forward motor according to the magnitude of the contact force.

[0053] A method for adjusting the bending of an adjustable guide wire includes the following steps:

[0054] S1: Insert the guidewire into the blood vessel and monitor the contact force between the end of the guidewire and the blood vessel wall in real time using a force sensor;

[0055] S2: The host system receives the force signal and displays the contact force value on the display module;

[0056] S3: When the contact force exceeds the preset threshold, the host system issues a warning signal;

[0057] S4: The operator controls the bending motor to rotate through the main system, which drives the winding wheel to rotate and pulls the bending traction line, causing the end of the guide wire to bend in the corresponding direction;

[0058] S5: Simultaneously control the forward motor to drive the friction wheel to rotate, causing the guide wire to move axially;

[0059] S6: Automatically adjusts the drive power of the forward motor based on the magnitude of the contact force fed back by the force sensor.

[0060] The beneficial effects of this invention are as follows:

[0061] 1. A miniature force sensor is embedded at the tip of the guidewire, which can measure the contact force between the guidewire and the blood vessel wall in real time and display it on the main system, realizing force feedback. Doctors can intuitively obtain quantitative mechanical data, no longer relying entirely on subjective experience, significantly improving the safety and precision of the surgery.

[0062] 2. Two symmetrical bending traction wires allow for precise left and right bending control of the guidewire tip, with a bending angle of ±180°. This adapts to various complex vascular bifurcation structures, eliminating the need for repeated replacement of guidewires of different specifications, shortening surgical time, and reducing patient risk.

[0063] 3. Using motor-driven operation to replace manual operation reduces the workload of doctors and improves operational accuracy and consistency. Motor-driven movement is smoother and more controllable, enabling precise control and meeting the requirements of delicate interventional surgeries.

[0064] 4. A tiered alarm system is installed to promptly alert authorities when contact force exceeds a safe threshold, preventing vascular damage. This multi-level alarm mechanism provides early warning, giving doctors ample reaction time and effectively preventing serious complications such as vascular perforation and dissection.

[0065] 5. The system can automatically adjust the advancing force based on the contact force, achieving intelligent bending adjustment. When increased resistance is detected, the system automatically reduces the advancing force, minimizing impact on the blood vessel wall and further improving surgical safety.

[0066] 6. The forward motor module adopts an adjustable gap friction wheel design, which can adapt to guide wires with different outer diameters, improving the versatility and compatibility of the system.

[0067] 7. The guidewire proximal mounting platform and the bending motor module adopt a snap-on quick-release connection, which facilitates the rapid replacement and maintenance of the guidewire and improves surgical efficiency. Attached Figure Description

[0068] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0069] Figure 1 This is a schematic diagram of the overall device structure of the present invention;

[0070] Figure 2 This is a schematic diagram of the assembly of the guide wire body and the bending motor module.

[0071] Figure 3 This is a schematic diagram of the assembly of the guide wire body and the forward motor module.

[0072] Figure 4 This is an exploded view of the guidewire body;

[0073] Figure 5 This is a diagram showing the dimensions and location of the guidewire body.

[0074] Figure 6 This is an exploded view of the guidewire tip;

[0075] Figure 7 This is a structural diagram of the winding reel;

[0076] Figure 8 Guidewire proximal mounting platform structure Figure 1 ;

[0077] Figure 9 Guidewire proximal mounting platform structure Figure 2 ;

[0078] Figure 10 This is a structural diagram of the bending motor module;

[0079] Figure 11 Exploded view of the bending motor module;

[0080] Figure 12 This is a structural diagram of the guidewire mounting plate;

[0081] Figure 13 This is a structural diagram of the forward motor module;

[0082] Figure 14 This is an exploded view of the forward motor module;

[0083] Figure 15 This is a dimensional drawing of the forward motor module. Detailed Implementation

[0084] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0085] Example 1

[0086] like Figure 1 As shown, an adjustable bending guide wire includes a guide wire body 1, a bending motor module 2, a forward motor module 3, a bending motor cable 4, a host system 5, a sensor cable 6, and a forward motor cable 7.

[0087] The sensor on the guidewire body is electrically connected to the host system 5 via sensor cable 6, which transmits the contact force between the guidewire tip and the blood vessel measured by the sensor to the host system 5. The bending motor module 2 is electrically connected to the host system 5 via bending motor cable 4, and its movement is controlled by the host system; the forward motor module 3 is electrically connected to the host system 5 via forward motor cable 7, and its movement is also controlled by the host system.

[0088] like Figure 2 As shown, the guide wire body 1 is inserted into the snap-fit ​​groove 21-3 of the guide wire mounting plate 21 of the bending motor module 2 via a snap-fit; then the boss 12-3 of the winding wheel 12 of the guide wire body 1 is inserted into the rotating motor shaft 24 of the bending motor module 2. The barbs of the snap-fit ​​can tightly hook onto the lower surface of the guide wire mounting plate, achieving a quick and detachable connection.

[0089] like Figure 3 As shown, the outer sleeve of guide wire 1 is inserted between the two friction wheels of the forward motor module 3. The two friction wheels clamp the guide wire body in the middle, and the clamping force generated between the two wheels is the "normal force". When the forward motor drives the friction wheels (the two forward motors rotate in opposite directions), the surface of the guide wire outer sleeve will be subjected to static friction in the same direction as the movement, converting the rotational power of the friction wheels into a driving force to push the guide wire, causing the guide wire to move linearly along the axial direction. By controlling the forward and reverse rotation of the motor, the forward and backward movement of the guide wire can be achieved.

[0090] Example 2

[0091] like Figure 4 As shown, the overall structure of the guidewire body includes a guidewire mounting box 11, a winding wheel 12, a guidewire proximal mounting platform 13, a bending traction wire 14, a force sensor 15, an outer sheath 16, a guidewire core wire 17, a metal ring 18, and potting compound 19.

[0092] The guidewire mounting box 11 serves as the outer shell structure for the proximal end of the guidewire, accommodating and protecting internal components such as the guidewire proximal mounting platform 13 and the winding wheels 12. Two winding wheels 12 are inserted into the winding wheel mounting holes 13-4 of the guidewire proximal mounting platform 13, allowing them to rotate freely after insertion. The outer sleeve 16 is inserted into the guidewire outer sleeve mounting hole 13-1 of the guidewire proximal mounting platform 13 and secured with adhesive.

[0093] like Figure 5 As shown, the outer diameter of the force sensor lead is 0.125 mm, and the outer diameter d1 of the tip is 0.25 mm; the outer diameter of the outer sheath is 0.36 mm. The overall length L1 of the guidewire body is not less than 150 cm to meet the operating distance requirements of clinical interventional surgery.

[0094] like Figure 6As shown, the guide wire core 17 is inserted into the outer sheath 16, and the two are coaxially arranged. The guide wire core 17 is made of a highly elastic metal material to provide support stiffness and torsional transmission capability for the guide wire. The end of the guide wire core 17 is inserted into the metal ring 18, and its end face is bonded and fixed to the proximal end face of the force sensor head.

[0095] The force sensor 15 consists of a lead wire 15-2 and a tip 15-1. The tip 15-1 is hemispherical and is exposed to contact the inner wall of the blood vessel. The arc-shaped design avoids damage to the blood vessel. The lead wire 15-2 is led out from one side of the tip, extends along the inside of the guidewire to the proximal end, and finally connects to the sensor cable 6.

[0096] The distal ends of the two bending guide wires 14 are respectively bonded to the outer surface of the metal ring 18, and are symmetrical about the axis of the metal ring. Then, the two bending guide wires are inserted into the inner tube, and the proximal ends of the guide wires are respectively wound and fixed on the winding wheel. When the winding wheel rotates, the guide wire on one side is tightened and the guide wire on the other side is loosened, thereby achieving directional bending of the end of the guide wire.

[0097] The head end 15-1 is installed on the far end face of the metal ring 18. Its lead wire 15-2 is led out from the opening of the metal ring 18, pulled out along the outer surface of the metal ring, and then passed into the inside of the outer sleeve. Finally, it passes out from the proximal end of the outer sleeve and is fixed in the force sensor lead wire groove 13-2 of the guide wire proximal end mounting platform 13.

[0098] Finally, the metal ring, along with the bending traction wire and force sensor, is inserted into the outer sleeve and secured with potting compound 19, leaving the head of the force sensor exposed. The potting compound 19 serves to seal, secure, and cushion the wire, ensuring that the internal components do not loosen during the guide wire bending process.

[0099] Example 3

[0100] like Figure 7 As shown, the winding wheel structure is provided with a bending traction groove 12-1, a mounting slot 12-2, and a boss 12-3.

[0101] The bending traction groove 12-1 is located at the top of the winding wheel structure. Its outer diameter is smaller than the outer diameters of the upper and lower ends, forming an annular groove structure. This groove can restrict the position of the traction line and prevent it from sliding up and down during winding, thus ensuring the accurate transmission of the bending action.

[0102] The mounting slot 12-2 is located at the lower end of the bending traction groove 12-1 and is used to cooperate with the winding wheel mounting hole 13-4 of the guide wire near end mounting platform 13. The outer diameters of the two are basically equal, with the outer diameter of the mounting slot 12-2 being slightly smaller to ensure that the winding wheel can rotate freely in the mounting hole.

[0103] The boss 12-3 is located at the center of the lowest end of the winding wheel structure. It is a rectangular structure used to connect with the rotating motor shaft 24 to transmit the motor torque to the winding wheel.

[0104] like Figure 8 , Figure 9 As shown, the guide wire proximal mounting platform includes a guide wire outer tube mounting hole 13-1, a force sensor lead wire groove 13-2, a buckle 13-3, and a winding wheel mounting hole 13-4.

[0105] The guidewire outer tube mounting hole 13-1 is located on one side end face of the guidewire proximal mounting platform and is on its center line. It is an integral through hole used to fix the proximal end of the outer tube 16.

[0106] The force sensor lead groove 13-2 is provided on the side end face opposite to the guide wire outer tube mounting hole 13-1, and is used to accommodate and fix the force sensor lead wire led out from the inside of the guide wire, ensuring that the lead wire is not pulled during the movement of the guide wire.

[0107] Clips 13-3 are respectively disposed on the other two side end faces of the guide wire near-end mounting platform, and are used to cooperate with the clip slots 21-3 of the guide wire mounting plate 21 to realize the quick connection between the guide wire body and the bending motor module. The barbed structure of the clip can tightly hook onto the lower surface of the guide wire mounting plate to prevent it from falling off.

[0108] Example 4

[0109] like Figure 10 , Figure 11 As shown, the bending motor module includes a guide wire mounting plate 21, a motor mounting plate 22, two bending motors 23, a rotating motor shaft 24, a tightening screw 25, a bolt 26, and a bolt 27.

[0110] Two bending motors 23 are respectively installed into the holes of the motor mounting plate 22 and secured with bolts 26. The two bending motors are used to control the bending of the guide wire end to the left and right, respectively, and precise bending angle adjustment is achieved through differential control.

[0111] Insert the rotary motor shaft 24 onto the bending motor shaft 23, and then use the tightening screw 25 to fix the rotary motor shaft 24 onto the bending motor shaft 23, so that the motor can drive the rotary motor shaft to rotate synchronously.

[0112] Finally, the guide wire mounting plate 21 is installed above the motor mounting plate 22 and secured with bolts 27. An installation space is formed between the guide wire mounting plate 21 and the motor mounting plate 22 to accommodate components such as the guide wire proximal mounting platform and the winding wheel.

[0113] like Figure 12As shown, the guide wire mounting plate 21 includes a mounting hole 21-1, a shaft hole 21-2, and a snap-fit ​​groove 21-3. The guide wire mounting plate has a mounting hole 21-1 with internal threads around its perimeter, which is used to cooperate with bolt 27 to achieve a fixed connection with the motor mounting plate.

[0114] The two axial holes 21-2 are located in the middle of the guide wire mounting plate. They are symmetrical about the center line of the guide wire mounting plate and penetrate the plate. Their inner diameter is slightly larger than the outer diameter of the rotary motor shaft, allowing the rotary motor shaft to pass through and drive the winding wheel below.

[0115] The snap-fit ​​grooves 21-3 are located at both ends of the guide wire mounting plate and are symmetrical about the center line of the guide wire mounting plate. They are used to cooperate with the snap-fit ​​13-3 of the guide wire proximal mounting platform 13 to realize the quick installation and fixation of the guide wire body.

[0116] Example 5

[0117] like Figure 13 , Figure 14 As shown, the forward motor module consists of a friction wheel 31, a motor mounting bracket 32, bolt three 33, a forward motor mounting plate 34, bolt four 35, bolt five 36, a forward motor 37, and a mounting cover plate 38.

[0118] The forward motor 37 is screwed into the threaded hole of the motor mounting bracket 32 ​​for fixation. The friction wheel 31 is mounted on the output shaft of the forward motor. Bolt 36 is screwed into the threaded hole of the friction wheel and tightened against the forward motor shaft, so that the forward motor can drive the friction wheel to rotate synchronously.

[0119] The motor mounting bracket 32 ​​has oblong holes at both ends. When it is installed on the upper side of the forward motor mounting plate 34, it can be fixed by passing bolts 33 through the oblong holes at both ends and screwing them into the threaded holes of the motor mounting bracket 32. The oblong hole design allows the position of the motor mounting bracket 32 ​​relative to the forward motor mounting plate 34 to be adjusted, thereby adjusting the gap L2 between the two friction wheels to ensure that guide wire outer sleeves of different outer diameters can be clamped precisely.

[0120] The forward motor mounting plate 34 is fixed inside the mounting cover plate 38 by bolts 4 and 35. The mounting cover plate 38 serves as a protective shell, making the forward motor module a complete and independent unit.

[0121] like Figure 15 As shown, gap L2 is the wheel side clearance of the friction wheel. The wheel side clearance of the two friction wheels can be adjusted by adjusting the tightening position of the oblong hole. This adjustable design allows the forward motor module to accommodate various guide wire specifications, improving the system's versatility.

[0122] In use, the two friction wheels 31 rotate relative to each other, driving the guide wire to move axially through friction. By controlling the rotation direction of the forward motor, the guide wire can be moved forward or backward. The friction force generated between the friction wheels and the guide wire outer tube is static friction, which will not cause wear on the surface of the outer tube.

[0123] Example 6

[0124] The intelligent control method of the present invention is as follows:

[0125] 1. Real-time contact force measurement: By inserting a miniature force sensor at the tip of the guidewire, the sensor can measure the contact force between the guidewire tip and the blood vessel in real time during guidewire insertion into the blood vessel and transmit it to the host system for display; a warning threshold can also be set on the host system. The force sensor tip adopts a hemispherical design, which can uniformly transmit the contact force to the sensing element and ensure the accuracy of the measurement data.

[0126] 2. Force Feedback and Graded Alarms: The force value measured by the force sensor is displayed on the main unit's display module, allowing doctors to intuitively observe the real-time contact force value. The main unit supports setting multiple alarm force values ​​from low to high, based on the differences in blood vessels among different patients. These safe force alarm values ​​are based on historical clinical data. Users can also change the alarm force values ​​according to actual needs. The alarm format includes displaying a warning message on the screen and emitting an audible alarm. When the preset alarm force value is exceeded, the main unit immediately triggers an audible and visual alarm, prompting the doctor to stop the operation, thereby preventing the guidewire from puncturing the blood vessel and reducing the risk of intimal tearing leading to aortic dissection.

[0127] 3. Intelligent Drive: Two sets of motors drive friction wheels to clamp the guidewire, using friction to propel the guidewire forward and backward. Simultaneously, the drive power of the forward motor is automatically adjusted based on the contact force at the guidewire tip (to regulate the advancing force). The forward motor module is located at the proximal end (operating end) of the guidewire, pushing the guidewire tip from the blood vessel opening to the target blood vessel location. When increased contact force is detected, the system automatically reduces the advancing power and force to prevent excessive pressure on the blood vessel wall.

[0128] Similarly, two bending motors 23 are equipped to control the bending angle of the guidewire tip in real time. The bending motors are located at the proximal end of the guidewire. By controlling the different rotation directions and angles of the two bending motors, the guidewire tip can be precisely bent to the left or right, with a bending angle range of -180° to +180°, which can adapt to various complex vascular bifurcation structures.

[0129] The operator controls the motor's movement via buttons or a control interface on the main unit system to achieve wire feeding and bending. Motor-driven movement is smoother, more controllable, and enables precise control.

[0130] 4. Remote Operation: The main unit or haptic module can be placed outside the operating room for operation. Operators can operate remotely from outside the shielded operating room, eliminating the need for doctors to wear heavy lead aprons weighing 15-20 kg, significantly reducing the long-term cumulative radiation risk and orthopedic strain risk; secondly, motor drive can precisely control the movement of the guidewire, effectively reducing surgical risks and improving the consistency and repeatability of the surgery.

[0131] Although embodiments of this application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An adjustable bending guide wire, characterized in that: It includes a guide wire body (1), a bending motor module (2), a forward motor module (3), a main unit system (5), a sensor cable (6), a bending motor cable (4), and a forward motor cable (7); The guide wire body (1) includes a guide wire mounting box (11), a winding wheel (12), a guide wire proximal mounting platform (13), a bending traction wire (14), a force sensor (15), an outer tube (16), a guide wire core wire (17), a metal ring (18), and potting compound (19); The bending motor module (2) is connected to the guide wire body (1) and is used to control the bending angle of the end of the guide wire; The forward motor module (3) is connected to the guide wire body (1) and is used to drive the guide wire to move axially; The host system (5) is electrically connected to the bending motor module (2) and the forward motor module (3) respectively, and is used to control the movement of the motor; The sensor cable (6) connects the force sensor (15) and the host system (5) for transmitting force signals; The bending motor cable (4) connects the bending motor module (2) to the main system (5); The forward motor cable (7) connects the forward motor module (3) to the host system (5); The force sensor (15) is located at the end of the guidewire and is used to measure the contact force between the end of the guidewire and the blood vessel wall in real time.

2. The adjustable bending guide wire according to claim 1, characterized in that: The bending motor module (2) includes a guide wire mounting plate (21), a motor mounting plate (22), a bending motor (23), and a rotary motor shaft (24); The guide wire mounting plate (21) is provided with a snap-fit ​​groove (21-3) for fixing the guide wire proximal mounting platform (13); The motor mounting plate (22) is fixedly connected to the guide wire mounting plate (21); The bending motor (23) is mounted on the motor mounting plate (22); The rotary motor shaft (24) is connected to the output shaft of the bending motor (23) and is used to drive the winding wheel (12) to rotate; The winding wheel (12) is provided with a boss (12-3), which is connected to the rotating motor shaft (24) so ​​that the winding wheel rotates synchronously with the motor shaft.

3. The adjustable bending guide wire according to claim 2, characterized in that: There are two bending motors (23), which are used to control the end of the guide wire to bend to the left and to the right respectively, with a bending angle range of -180° to +180°; the winding wheel (12) is also provided with a bending traction groove (12-1) and a mounting slot (12-2). The bending traction groove is used to accommodate and guide the bending traction wire (14), and the mounting slot cooperates with the winding wheel mounting hole (13-4) of the guide wire near end mounting platform (13).

4. The adjustable bending guide wire according to claim 1, characterized in that: The guide wire proximal mounting platform (13) is provided with a guide wire outer tube mounting hole (13-1), a force sensor lead wire groove (13-2), a buckle (13-3), and a winding wheel mounting hole (13-4); The guidewire outer tube mounting hole (13-1) is located on one side end face of the guidewire proximal mounting platform and is used to fix the outer tube (16); The force sensor lead groove (13-2) is provided on the side end face opposite to the guide wire outer tube mounting hole, and is used to fix the force sensor lead. The buckle (13-3) is provided on the side end face of the guidewire proximal mounting platform and is used to cooperate with the buckle groove (21-3) of the guidewire mounting plate (21); The winding wheel mounting holes (13-4) are used to mount the winding wheel (12).

5. The adjustable bending guide wire according to claim 1, characterized in that: The forward motor module (3) includes a friction wheel (31), a motor mounting bracket (32), a forward motor mounting plate (34), a forward motor (37), and a mounting cover plate (38); The friction wheels (31) are arranged in pairs for clamping the guide wire outer sleeve (16); The motor mounting bracket (32) is used to mount the forward motor (37) and the friction wheel (31); The forward motor mounting plate (34) is used to support the motor mounting bracket (32); The forward motor (37) drives the friction wheel (31) to rotate; The mounting cover (38) is used to accommodate and fix the forward motor mounting plate (34); Among them, the two friction wheels (31) rotate relative to each other, and drive the guide wire to move axially through friction.

6. The adjustable bending guide wire according to claim 5, characterized in that: The motor mounting bracket (32) is provided with a waist-shaped hole. By adjusting the position of the bolt in the waist-shaped hole, the gap between the two friction wheels (31) can be adjusted to accommodate guide wire outer sleeves (16) with different outer diameters.

7. The adjustable bending guide wire according to claim 1, characterized in that: The force sensor (15) includes a head end (15-1) and a lead wire (15-2); The tip (15-1) is hemispherical and exposed on the outer surface of the guidewire tip for contacting the inner wall of the blood vessel; The lead wire (15-2) is drawn out from one side of the head end (15-1), extends along the inside of the guide wire to the proximal end, and is connected to the sensor cable (6); The outer diameter of the lead wire (15-2) is no greater than 0.15 mm, and the outer diameter of the head end (15-1) is no greater than 0.30 mm.

8. The adjustable bending guide wire according to claim 1, characterized in that: The overall length of the guidewire body (1) is not less than 150cm, and the outer diameter of the outer tube (16) is not greater than 0.40mm; The guide wire core (17) is inserted into the outer tube (16) to provide support stiffness for the guide wire; The metal ring (18) is disposed at the end of the guide wire and is used to fix the bending traction wire (14) and the force sensor (15); The potting compound (19) is used to fix the metal ring (18), the bending traction wire (14) and the force sensor (15) inside the outer tube (16).

9. The adjustable bending guide wire according to claim 1, characterized in that: The host system (5) includes a display module, an alarm module, and a control module; The display module is used to display the contact force value measured by the force sensor (15) in real time; The alarm module is used to issue an alarm when the contact force exceeds a preset threshold. The control module is used to automatically adjust the drive power of the forward motor (37) according to the magnitude of the contact force.

10. A method for adjusting the bendable guide wire as described in any one of claims 1-9, characterized in that, Includes the following steps: S1: Insert the guidewire into the blood vessel and monitor the contact force between the end of the guidewire and the blood vessel wall in real time using a force sensor (15); S2: The host system (5) receives the force signal and displays the contact force value on the display module; S3: When the contact force exceeds the preset threshold, the host system (5) issues a warning signal; S4: The operator controls the bending motor (23) to rotate through the host system (5), which drives the winding wheel (12) to rotate and pull the bending traction line (14) to bend the end of the guide wire in the corresponding direction; S5: Simultaneously control the forward motor (37) to drive the friction wheel (31) to rotate, thereby moving the guide wire along the axial direction; S6: Automatically adjust the drive power of the forward motor (37) based on the magnitude of the contact force fed back by the force sensor (15).

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