Stent delivery device for vascular intervention procedures

Abstract

The application discloses a stent delivery device for vascular interventional surgery, which comprises a catheter main body, the proximal end of the catheter main body is connected with a sensing handle, the distal end of the sensing handle is fixedly connected with a catheter fixed sleeve through a multi-axis torque sensor, the catheter main body is arranged through the center of the sensing handle and the catheter fixed sleeve, and the catheter fixed sleeve is provided with a clamping fixing mechanism, the eccentric inner balloon cooperates with the multi-axis torque sensor, the direction of the calcified lesion of the blood vessel can be quickly positioned, the position does not need to be repeatedly confirmed by means of an additional image contrast device, the operation process is simplified, and the dependence of doctors on experience judgment is reduced. The expansion support force is guided and concentrated on the calcified side in advance, the calcified plaque can be more efficiently broken, the expansion force is not dispersed by the normal blood vessel wall with good elasticity during conventional expansion, the problem that the calcified plaque is not expanded sufficiently is avoided, the effect of pretreatment of the lesion part is effectively improved, and the risk of incomplete expansion after stent implantation is reduced.

Description

Technical Field

[0001] This invention relates to the field of vascular interventional medical device technology, specifically a stent delivery device for vascular interventional surgery. Background Technology

[0002] In percutaneous coronary intervention (PCI), balloon-expandable stent systems are the mainstream devices. Their basic structure consists of a long, thin catheter with an inflatable balloon at the distal end, pre-loaded with a stent. During the procedure, the system is delivered to the lesion site along a guidewire approximately 0.014 inches (0.36 mm) in diameter. Pressure is applied to the balloon to inflate it, thereby expanding the stent and attaching it to the vessel wall. To handle hard lesions such as calcifications, variations such as cutting balloons and scoring balloons have emerged, which enhance the cutting force locally by attaching blades or nylon wires to the balloon surface.

[0003] However, the expansion pattern of these balloons is fixed and passive. When inflated, the expansion force of a traditional balloon is evenly distributed circumferentially. When encountering an eccentric lesion with one side being hard calcification and the other side being soft normal tissue, the balloon will preferentially expand towards the normal side with less resistance, leading to poor stent apposition on the calcified side and potentially causing vascular damage on the opposite side. The dimensions of the guiding catheter lumen and the outer diameter of the balloon catheter are extremely limited. Within this space, it is practically impossible to ensure the guidewire lumen, the filling lumen, and to integrate the physical connections or fluid capillaries of multiple pressure sensors, which would severely compromise the catheter's delivery capability, flexibility, and reliability. Therefore, this invention provides a stent delivery device for vascular interventional surgery. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a stent delivery device for vascular interventional surgery to solve the aforementioned problems.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a stent delivery device for vascular interventional surgery, comprising a catheter body, a sensing handle connected to the proximal end of the catheter body, and a catheter fixation clip fixedly connected to the distal end of the sensing handle via a multi-axis torque sensor. The catheter body passes through the sensing handle and is centrally located at the catheter fixation clip, and a clamping and fixing mechanism is provided inside the catheter fixation clip. An eccentric inner balloon is provided at the distal end of the catheter body, and a supporting outer balloon is wrapped around the outer wall of the eccentric inner balloon.

[0006] Preferably, the outer wall of the supporting outer balloon is fixed with multiple reinforcing ribs at equal intervals corresponding to the eccentric protruding section of the inner balloon.

[0007] Preferably, the catheter body has two independent inflation channels embedded within it, and the two independent inflation channels are respectively connected to the inner cavity of the eccentric inner balloon and the inner cavity of the supporting outer balloon.

[0008] Preferably, a display driver circuit board is embedded on one side of the sidewall of the sensing handle, and a small display screen is fixedly installed on the outside of the display driver circuit board.

[0009] Preferably, the clamping and fixing mechanism includes a sliding inner ring that is slidably connected and fixed to the inner cavity of the conduit fixing sleeve, and a plurality of linkage push rods are fixedly connected to the end of the sliding inner ring away from the sensing handle. Each linkage push rod has an elastic clamping claw fixedly connected to its outer end. The outer end of the elastic clamping claw is inclined outward, and a rubber clamping pad is fixedly connected to the outer section of the inner wall of the elastic clamping claw.

[0010] Preferably, a push slide is provided in the middle of the side wall of the catheter fixing sleeve, and a push slider is fixedly connected to the side wall of the sliding inner ring. The push slider is slidably connected in the push slide, and the outer end of the push slider protrudes out of the outer wall of the catheter fixing sleeve.

[0011] Preferably, the outer wall of the catheter body is printed with an angle indicator strip, and the direction of the angle indicator strip corresponds to the position of the corresponding eccentric inner balloon protrusion.

[0012] A method for stent delivery in vascular interventional surgery includes the following steps: S1. Guided by the guidewire, the catheter body is delivered to the vascular lesion site, bringing the eccentric inner balloon and the supporting outer balloon close to the lesion location; S2. The main body of the catheter is clamped and fixed in the catheter fixing sleeve by the clamping and fixing mechanism; S3. Perform initial low-pressure inflation of the eccentric balloon and push the eccentric balloon toward the lesion site so that the eccentric protruding segment of the eccentric balloon contacts the blood vessel wall. S4. Hold the induction handle and rotate the catheter body. The system senses the torque of the catheter body through the multi-axis torque sensor. If one side of the blood vessel is calcified and the other side is normal, the eccentric inner balloon will be subjected to eccentric resistance. The reaction force of the blood vessel wall on the eccentric inner balloon is unevenly distributed on the circumference. This uneven radial force will form a torque that attempts to deflect the eccentric inner balloon. S5. Based on the direction of calcification sensed by the multi-axis torque sensor, adjust the direction of the eccentric inner balloon, rotate the protruding section of the eccentric inner balloon to align with the calcified side, at which point the reinforcing ribs face the calcified area, inflate the supporting outer balloon, guide the expansion force to act preferentially on the calcified area, generate greater concentrated stress on the calcified plaque, expand the lesion area, and maintain pressure. S6. Remove the catheter body, replace it with a guidewire carrying a stent balloon, and re-pass it through the lesion site. S7. Continue to apply pressure to the working pressure to expand the support; S8. Depressurize and withdraw from the system.

[0013] Preferably, the sensing method of the multi-axis torque sensor in S4 is as follows: After the eccentric inner balloon is initially inflated at low pressure, the output signal of the multi-axis torque sensor is collected and adjusted to the position where the torque of the catheter fixing clip sensed by the multi-axis torque sensor is zero. Holding the induction handle, continue pushing the catheter body inward, bringing the eccentric inner balloon closer to the lesion site. At this point, the outer wall of the eccentric inner balloon contacts the lesion site, while the locally calcified inner wall of the blood vessel contacts the multi-axis torque sensor. Due to the asymmetrical contact of the multi-axis torque sensor, different contact areas result in different torsional torques on the eccentric inner balloon. The average torque vector representing the eccentric inner balloon is extracted from the multi-axis torque sensor signal. Calculate the average torque vector Its direction angle The direction of the reaction force of the blood vessel wall, i.e., the direction of least resistance, is indicated. Therefore, the direction 180 degrees away from this direction... That is the direction with the greatest resistance, where the reinforcement ribs are most needed to align. Based on the target rotation direction and the current azimuth angle of the balloon asymmetric structure The difference Rotate the sensor handle to align the reinforcing rib with the center of the calcified lesion.

[0014] Preferably, the signal from the multi-axis torque sensor is low-pass filtered during real-time acquisition to eliminate high-frequency noise from hand tremors.

[0015] Beneficial effects Compared with the prior art, the present invention has the following advantages: This invention utilizes an eccentric intraballoon in conjunction with a multi-axis torque sensor to rapidly locate the direction of vascular calcification lesions, eliminating the need for repeated confirmation of position using additional imaging equipment. This simplifies the procedure and reduces the physician's reliance on experience. By pre-directing the expansion force to the calcified side, it more efficiently breaks up calcified plaques, avoiding the problem of insufficient expansion of calcified plaques caused by the dispersion of expansion force by the more elastic normal vessel wall during conventional expansion. This effectively improves the pretreatment effect of the lesion site and reduces the risk of incomplete expansion after stent implantation. Simultaneously, the reinforcing rib design further enhances the stress concentration effect on the calcified site, improving expansion efficiency. The overall device is easy to operate, and its safety and therapeutic effect are significantly improved compared to traditional delivery expansion devices. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural schematic diagram of the present invention; Figure 2 This is an internal structural diagram of the sensing handle in this invention; Figure 3 This is a diagram of the internal structure of the eccentric inner balloon in this invention. Figure 4 This is a cross-sectional structural diagram of the eccentric inner balloon position in this invention.

[0017] In the diagram: 1. Catheter body; 2. Sensing handle; 3. Multi-axis torque sensor; 4. Catheter fixing clip; 5. Sliding inner ring; 6. Push slide; 7. Push slider; 8. Linkage push rod; 9. Elastic clamping claw; 10. Rubber clamping pad; 11. Display driver circuit board; 12. Small display screen; 13. Eccentric inner balloon; 14. Supporting outer balloon; 15. Reinforcing rib; 16. Independent inflation channel; 17. Angle indicator color bar. Detailed Implementation

[0018] 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.

[0019] Please see Figure 1-4 The present invention provides a stent delivery device for vascular interventional surgery, comprising a catheter body 1, a sensing handle 2 connected to the proximal end of the catheter body 1, and a catheter fixation clip 4 fixedly connected to the distal end of the sensing handle 2 via a multi-axis torque sensor 3. The catheter body 1 is disposed at the center of the sensing handle 2 and the catheter fixation clip 4, and a clamping and fixing mechanism is disposed inside the catheter fixation clip 4. An eccentric inner balloon 13 is disposed at the distal end of the catheter body 1, and a supporting outer balloon 14 is wrapped around the outer wall of the eccentric inner balloon 13.

[0020] This device first inflates the eccentric inner balloon 13 at low pressure to contact the diseased vessel wall. Then, using the multi-axis torque sensor 3 to sense the torque generated by the eccentric resistance, the location of the calcified lesion can be accurately calculated. There is no need to integrate multiple pressure sensors at the distal balloon of the catheter body 1. The multi-axis torque sensor 3 is only set at the proximal sensing handle 2 to complete the calcification positioning. This does not occupy too much space in the inner lumen of the catheter body 1, and maximizes the pushability, flexibility and reliability of the catheter body 1. At the same time, after positioning, the eccentric protruding section with reinforcing ribs 15 can be directly turned to align with the calcified side. When inflating and expanding the outer balloon 14, the expansion force will preferentially concentrate on the calcified area with greater resistance, avoiding the balloon from preferentially expanding to the soft and normal side. This not only ensures the wall apposition effect after the stent is expanded, but also reduces unnecessary damage to normal vascular tissue. It solves the problem of uneven expansion in the treatment of eccentric calcified lesions in the past, and improves the safety and effectiveness of vascular interventional surgery.

[0021] Specifically, multiple reinforcing ribs 15 are fixed at equal intervals on the outer wall of the supporting outer balloon 14 corresponding to the protruding section of the eccentric inner balloon 13; the reinforcing ribs 15 can further enhance the concentrated stress on the calcified parts during expansion, making the calcified plaques easier to expand effectively and avoiding the problem of insufficient expansion.

[0022] Specifically, the catheter body 1 has two independent inflation channels 16 embedded inside, and the two independent inflation channels 16 are respectively connected to the inner cavity of the eccentric inner balloon 13 and the supporting outer balloon 14, realizing independent inflation control of the two balloons, and the positioning and expansion operations can be completed in steps to meet the needs of step-by-step operation.

[0023] Specifically, a display driver circuit board 11 is embedded on one side of the side wall of the sensing handle 2, and a small display screen 12 is fixedly installed on the outside of the display driver circuit board 11. The multi-axis torque sensor 3 is connected to the computer terminal through wires. After the target direction is calculated by the software program on the computer terminal, the difference between the current position and the target direction can be displayed on the small display screen 12 in real time, which makes it convenient for the operator to intuitively and quickly complete the rotation and intuitively obtain the deflection angle of the eccentric inner balloon 13 to complete the adjustment operation.

[0024] Specifically, the clamping and fixing mechanism includes a sliding inner ring 5 that is slidably connected and fixed within the inner cavity of the catheter fixing sleeve 4. Multiple linkage push rods 8 are fixedly connected to the end of the sliding inner ring 5 away from the sensing handle 2. Each linkage push rod 8 has an elastic clamping claw 9 fixedly connected to its outer end. The outer end of the elastic clamping claw 9 is inclined outward, and a rubber clamping pad 10 is fixedly connected to the outer part of the inner wall of the elastic clamping claw 9. When the sliding inner ring 5 is pushed to retract the elastic clamping claw 9, the multiple elastic clamping claws 9 are retracted, and the catheter body 1 can be clamped and fixed by the rubber clamping pad 10, ensuring the relative fixation between the catheter body 1 and the catheter fixing sleeve 4, so that the torque can be stably transmitted to the multi-axis torque sensor 3.

[0025] Specifically, a push slide 6 is provided in the middle of the side wall of the catheter fixation clip 4, and a push slider 7 is fixedly connected to the side wall of the sliding inner ring 5. The push slider 7 is slidably connected in the push slide 6, and the outer end of the push slider 7 protrudes from the outer wall of the catheter fixation clip 4. The push slider 7 can slide back and forth in the push slide 6, thereby driving the sliding inner ring 5 to move back and forth, which makes it convenient for the operator to manually push the sliding inner ring 5 to move and complete the clamping operation.

[0026] Specifically, an angle indicator strip 17 is printed on the outer wall of the catheter body 1, and the angle indicator strip 17 is oriented in a direction that corresponds to the position of the protruding segment of the eccentric inner balloon 13, so that the operator can intuitively grasp the current position of the protruding segment of the eccentric inner balloon 13 and assist in completing the rotation adjustment operation.

[0027] A method for stent delivery in vascular interventional surgery includes the following steps: S1. Guided by the guidewire, the catheter body 1 is delivered to the vascular lesion site, so that the eccentric inner balloon 13 and the supporting outer balloon 14 are close to the lesion site. S2. The catheter body 1 is clamped and fixed in the catheter fixing sleeve 4 by the clamping and fixing mechanism; S3. Initially inflate the eccentric inner balloon 13 with low pressure, and push the eccentric inner balloon 13 toward the lesion site so that the eccentric protruding segment of the eccentric inner balloon 13 contacts the blood vessel wall. S4. Hold the induction handle 2 and rotate the catheter body 1. The system senses the torque of the catheter body 1 through the multi-axis torque sensor 3. If the blood vessel is calcified on one side and normal on the other side, the eccentric inner balloon 13 will be subjected to eccentric resistance. The reaction force of the blood vessel wall on the eccentric inner balloon 13 is unevenly distributed on the circumference. This uneven radial force will form a torque that attempts to deflect the eccentric inner balloon 13. S5. Based on the direction of calcification sensed by the multi-axis torque sensor 3, adjust the direction of the eccentric inner balloon 13, rotate the protruding section of the eccentric inner balloon 13 to align with the calcified side, at which point the reinforcing rib 15 faces the calcified area, inflate the supporting outer balloon 14, guide the expansion force to act preferentially on the calcified area, generate greater concentrated stress on the calcified plaque, expand the lesion area, and maintain pressure. S6. Withdraw catheter body 1, replace with guidewire carrying stent balloon, and re-pass through the lesion site. S7. Continue to apply pressure to the working pressure to expand the support; S8. Depressurize and withdraw from the system.

[0028] By using an eccentric intraballoon 13 in conjunction with a multi-axis torque sensor 3, the direction of vascular calcification lesions can be quickly located without the need for repeated confirmation of position using additional imaging equipment, simplifying the operation process and reducing the doctor's reliance on experience. By pre-directing the expansion support force to the calcified side, calcified plaques can be broken up more efficiently, avoiding the problem of insufficient expansion of calcified plaques caused by the dispersion of expansion force by the more elastic normal blood vessel wall during conventional expansion. This effectively improves the pretreatment effect of the lesion site and reduces the risk of incomplete expansion after stent implantation. At the same time, the design of the reinforcing ribs further enhances the stress concentration effect on the calcified site, improving expansion efficiency. The overall device is easy to operate, and its safety and therapeutic effect are significantly improved compared to traditional delivery expansion devices.

[0029] Specifically, the sensing method of the multi-axis torque sensor 3 in S4 is as follows: After the eccentric inner balloon 13 is initially inflated at low pressure, the output signal of the multi-axis torque sensor 3 is collected and adjusted to the position where the torque of the catheter fixing clip 4 sensed by the multi-axis torque sensor 3 is zero. Holding the induction handle 2, continue pushing the catheter body 1 inward, bringing the eccentric inner balloon 13 closer to the lesion site. At this point, the outer wall of the eccentric inner balloon 13 contacts the lesion site, and the locally calcified vascular inner wall contacts the multi-axis torque sensor 3. Due to the asymmetrical contact of the multi-axis torque sensor 3, different contact areas result in different torsional torques on the eccentric inner balloon 13. The average torque vector representing the eccentric inner balloon 13 is extracted from the signal of the multi-axis torque sensor 3. Calculate the average torque vector Its direction angle The direction of the reaction force of the blood vessel wall, i.e., the direction of least resistance, is indicated. Therefore, the direction 180 degrees away from this direction... That is the direction with the greatest resistance, where the reinforcement rib 15 needs to be aligned the most. Based on the target rotation direction and the current azimuth angle of the balloon's asymmetric structure. The difference Rotate the sensor handle 2 to align the reinforcing rib 15 with the center of the calcified lesion.

[0030] Specifically, the signal from the multi-axis torque sensor 3 is low-pass filtered during real-time acquisition to eliminate high-frequency noise caused by hand tremors; this effectively eliminates high-frequency noise introduced by the operator's hand tremors, avoids noise interference with the calculation of torque direction, and ensures the accuracy of the positioning results.

[0031] Furthermore, any content not described in detail in this specification is existing technology known to those skilled in the art.

[0032] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0033] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A stent delivery device for vascular interventional surgery, characterized in that, The catheter includes a catheter body (1), a sensor handle (2) is connected to the proximal end of the catheter body (1), and a catheter fixing clip (4) is fixedly connected to the distal end of the sensor handle (2) through a multi-axis torque sensor (3). The catheter body (1) passes through the center of the sensor handle (2) and the catheter fixing clip (4), and a clamping and fixing mechanism is provided inside the catheter fixing clip (4). An eccentric inner balloon (13) is provided at the distal end of the catheter body (1), and a supporting outer balloon (14) is wrapped around the outer wall of the eccentric inner balloon (13).

2. The stent delivery device for vascular interventional surgery according to claim 1, characterized in that, The outer wall of the supporting outer balloon (14) is fixed with multiple reinforcing ribs (15) at equal intervals corresponding to the protruding section of the eccentric inner balloon (13).

3. The stent delivery device for vascular interventional surgery according to claim 1, characterized in that, The catheter body (1) has two independent inflation channels (16) embedded in it, and the two independent inflation channels (16) are respectively connected to the inner cavities of the eccentric inner balloon (13) and the supporting outer balloon (14).

4. A stent delivery device for vascular interventional surgery according to claim 1, characterized in that, The sensor handle (2) has a display driver circuit board (11) embedded on one side of its sidewall, and a small display screen (12) is fixedly installed on the outside of the display driver circuit board (11).

5. A stent delivery device for vascular interventional surgery according to claim 1, characterized in that, The clamping and fixing mechanism includes a sliding inner ring (5) that is slidably connected to the inner cavity of the conduit fixing sleeve (4), and a plurality of linkage push rods (8) are fixedly connected to the end of the sliding inner ring (5) away from the sensing handle (2). Each linkage push rod (8) has an elastic clamping claw (9) fixedly connected to its outer end. The outer end of the elastic clamping claw (9) is inclined outward, and a rubber clamping pad (10) is fixedly connected to the outer part of the inner wall of the elastic clamping claw (9).

6. A stent delivery device for vascular interventional surgery according to claim 5, characterized in that, The conduit fixing sleeve (4) has a push slide (6) in the middle of its side wall, and a push slider (7) is fixedly connected to the side wall of the sliding inner ring (5). The push slider (7) is slidably connected in the push slide (6), and the outer end of the push slider (7) protrudes from the outer wall of the conduit fixing sleeve (4).

7. A stent delivery device for vascular interventional surgery according to claim 1, characterized in that, The outer wall of the catheter body (1) is printed with an angle indicator color bar (17), and the angle indicator color bar (17) is oriented to correspond to the position of the protruding segment of the corresponding eccentric inner balloon (13).

8. A method for stent delivery in vascular interventional surgery, characterized in that, It includes the following steps: S1. Guided by the guidewire, the catheter body (1) is delivered to the vascular lesion site, so that the eccentric inner balloon (13) and the supporting outer balloon (14) are close to the lesion site. S2. The catheter body (1) is clamped and fixed in the catheter fixing sleeve (4) by the clamping and fixing mechanism; S3. Initially inflate the eccentric inner balloon (13) with low pressure and push the eccentric inner balloon (13) toward the lesion site so that the eccentric protruding segment of the eccentric inner balloon (13) contacts the blood vessel wall. S4. Hold the induction handle (2) and rotate the catheter body (1). The system senses the torque of the catheter body (1) through the multi-axis torque sensor (3). If the blood vessel is calcified on one side and normal on the other side, the eccentric inner balloon (13) will be subjected to eccentric resistance. The reaction force of the blood vessel wall on the eccentric inner balloon (13) is unevenly distributed on the circumference. This uneven radial force will form a torque that attempts to deflect the eccentric inner balloon (13). S5. According to the direction of calcification sensed by the multi-axis torque sensor (3), adjust the direction of the eccentric inner balloon (13) and rotate the protruding section of the eccentric inner balloon (13) to align with the calcification side. At this time, the reinforcing rib (15) faces the calcification site, and the supporting outer balloon (14) is inflated to guide the expansion force to act preferentially on the calcification site, generate greater concentrated stress on the calcified plaque, expand the lesion site, and maintain pressure. S6. Remove the catheter body (1), replace the guidewire with one carrying the stent balloon, and re-pass it through the lesion site. S7. Continue to apply pressure to the working pressure to expand the support; S8. Depressurize and withdraw from the system.

9. A method for stent delivery in vascular interventional surgery according to claim 8, characterized in that, The sensing method of the multi-axis torque sensor (3) in S4 is as follows: After the eccentric inner balloon (13) is initially inflated at low pressure, the output signal of the multi-axis torque sensor (3) is collected and adjusted to the position where the torque of the catheter fixing clip (4) sensed by the multi-axis torque sensor (3) is zero. Holding the induction handle (2), continue to push the catheter body (1) inward, so that the eccentric inner balloon (13) is close to the lesion site. At this time, the outer wall of the eccentric inner balloon (13) is in contact with the lesion site, and the locally calcified inner wall of the blood vessel is in contact with the multi-axis torque sensor (3). Due to the asymmetrical contact of the multi-axis torque sensor (3), the different contact parts will result in different torsional torques on the eccentric inner balloon (13). Extract the average torque vector representing the eccentric inner balloon (13) from the signal of the multi-axis torque sensor (3). Calculate the average torque vector Its direction angle The direction of the reaction force of the blood vessel wall, i.e., the direction of least resistance, is indicated. Therefore, the direction 180 degrees away from this direction... That is the direction where the resistance is greatest and the reinforcing ribs (15) are most needed to align; Based on the target rotation direction and the current azimuth angle of the balloon asymmetric structure The difference Rotate the sensor handle (2) to align the reinforcing rib (15) with the center of the calcified lesion.

10. A method for stent delivery in vascular interventional surgery according to claim 9, characterized in that, The multi-axis torque sensor (3) performs low-pass filtering during real-time signal acquisition to eliminate high-frequency noise from hand tremors.

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