Thrombus mechanical morcellation system

Abstract

The present application relates to the technical field of medical devices, and discloses a thrombus mechanical rotary cutting system, which at least comprises a cutter head assembly, a vibration signal acquisition unit and a processor; the vibration signal acquisition unit is arranged on or close to the cutter head assembly and is used for acquiring the vibration signal of the cutter head assembly; the processor is used for obtaining the texture characteristic information of the thrombus being currently rotary cut based on the vibration signal analysis, and the texture characteristic information comprises hardness information. The present application can acquire the vibration signal of the cutter head and obtain the texture characteristic of the thrombus being currently rotary cut based on the vibration signal analysis, so that the operator of the thrombus mechanical rotary cutting can adjust the strategy of feeding the cutter head according to the texture characteristic of the thrombus.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a thrombus mechanical cutting system. Background Technology

[0002] A thrombus is a blood clot formed on the inner wall of a blood vessel by platelets, fibrin, and other components in the blood. Under normal circumstances, thrombus formation and dissolution in the human body are in dynamic equilibrium. When this balance is disrupted, a thrombus may form locally. There are many methods for removing thrombi, such as traditional open surgery, drug-assisted thrombolysis, and mechanical thrombectomy. Compared to traditional open surgery or drug-assisted thrombolysis alone, mechanical thrombectomy offers advantages such as high efficiency in removal, rapid restoration of blood flow, shorter treatment time, and minimal invasiveness and safety. It requires only puncture, avoiding cutting the blood vessel, resulting in less trauma, less bleeding, lower risk of infection, and reduced dosage of thrombolytic drugs, thus reducing the risk of bleeding complications. It is particularly suitable for patients with high bleeding risk (such as those with cirrhosis or a history of gastrointestinal bleeding). It is also effective for subacute or organized thrombi that are difficult to dissolve with drugs. The mechanical thrombectomy system typically establishes a channel through minimally invasive puncture (such as the popliteal vein) and, under guidewire guidance, delivers the thrombus-dissolving catheter to the thrombus site. The blade at the tip of the catheter rotates at high speed under real-time guidance from imaging equipment (such as DSA), thereby mechanically shredding, stripping, or capturing the thrombus. The shredded thrombus fragments can then be simultaneously aspirated out of the body.

[0003] In related technologies, although imaging equipment is used to assist in the mechanical cutting of thrombi, the imaging equipment can only assist in positioning and cannot be used to identify the condition of the thrombus. If a hard thrombus is encountered, it may cause the cutting head to get stuck, and may also cause damage to blood vessels. Summary of the Invention

[0004] This invention provides a mechanical thrombus cutting system to solve the problem that mechanical thrombus cutting in related technologies may cause the cutting head to get stuck or damage blood vessels.

[0005] In a first aspect, the present invention provides a mechanical thrombus cutting system, the mechanical thrombus cutting system comprising at least: a blade assembly, a vibration signal acquisition unit, and a processor; The vibration signal acquisition unit is disposed on or close to the cutter head assembly and is used to acquire the vibration signal of the cutter head assembly; The processor is used to analyze the vibration signal to obtain the texture characteristics of the thrombus currently being cut, and the texture characteristics include hardness information.

[0006] In one alternative embodiment, the thrombus mechanical rotary cutting system further includes a motor for driving the blade assembly to rotate; The processor is configured to analyze and obtain the texture characteristics of the thrombus currently being cut based on the vibration signal and the current power and / or current of the motor.

[0007] In one optional embodiment, the vibration signal acquisition unit is a piezoelectric sensor, which is ring-shaped and sleeved on the cutter head assembly; the electrode film layer of the piezoelectric sensor is divided into four parts along the circumferential direction. Alternatively, the vibration signal acquisition unit may include two independent piezoelectric sensors, which are respectively positioned in the radial X and Y directions of the cutter head assembly.

[0008] In one optional embodiment, the thrombus mechanical excision system further includes an output unit for outputting the texture characteristic information; The output unit includes a sound output unit and / or a display unit.

[0009] In one optional implementation, the processor is configured to perform a fast Fourier transform on the vibration signal to obtain the amplitude of the vibration signal, and to analyze the texture feature information based on the amplitude of the vibration signal.

[0010] In one optional implementation, the processor is configured to match the peak amplitude of the vibration signal within a preset frequency range with data in a pre-constructed dataset to obtain the texture feature information; the data in the dataset indicates the correspondence between the peak amplitude of the vibration signal within the preset frequency range and the texture feature information.

[0011] In one alternative implementation, the amplitude and / or frequency of the vibration signal are output through an output unit.

[0012] In one optional embodiment, the thrombus mechanical excision system further includes a vibration signal processing unit; the vibration signal processing unit is used to process the vibration signal acquired by the vibration signal acquisition unit. The vibration signal processing unit includes a charge amplification circuit, a filter circuit, and an analog-to-digital conversion circuit; The charge amplifier circuit is used to amplify the vibration signal; The filtering circuit is used to filter the vibration signal obtained after amplification. The analog-to-digital converter circuit is used to convert the filtered vibration signal into a digital signal.

[0013] In one alternative embodiment, the blade assembly includes an outer rotary cutting blade and an inner rotary cutting blade, the outer rotary cutting blade being used to cut the thrombus, and the inner rotary cutting blade being used in conjunction with the outer rotary cutting blade to break up the thrombus at the suction port.

[0014] In one alternative embodiment, the thrombus mechanical shearing system further includes a catheter; the catheter includes an inner liner and an outer liner. A power transmission flexible shaft is installed inside the inner liner of the conduit. The inner liner of the catheter is provided with a vibration signal transmission line, and the vibration signal transmission line is integrated with the outer tube of the catheter.

[0015] In this embodiment of the invention, a vibration signal acquisition unit is set on or near the blade assembly to collect the actual vibration signal of the blade. Based on the collected vibration signal of the blade, the texture characteristics of the thrombus being cut can be analyzed, thereby allowing the operator of the mechanical cutting of the thrombus to adjust the feeding strategy of the blade according to the texture characteristics of the thrombus. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a schematic block diagram of the thrombus mechanical excision system according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the catheter tip of the thrombus mechanical shearing system according to an embodiment of the present invention; Figures 3(a) and 3(b) are schematic diagrams comparing the vibration signal before and after noise reduction when the rotary cutting head is idling according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the waveform and amplitude-frequency relationship of a fresh thrombus collected by a rotary cutting head according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the waveform and amplitude-frequency relationship collected when the rotary cutting head cuts a hard thrombus according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the waveform and its amplitude-frequency relationship collected by the rotary cutting head cutting calcified thrombus according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the radial direction (X and Y directions) of the cutter head assembly according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the speed control process of the cutter head according to an embodiment of the present invention; Figure 9 This is a schematic diagram of the time and frequency domains of a vibration signal according to an embodiment of the present invention; Figure 10 This is a schematic block diagram of the circuit structure of the thrombus mechanical excision system according to an embodiment of the present invention; Figure 11 This is a schematic diagram of the overall structure of the thrombus mechanical excision system according to an embodiment of the present invention; Figure 12 This is a schematic cross-sectional view of the catheter tip of the thrombus mechanical shearing system according to an embodiment of the present invention. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, 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] It is understood that before using the technical solutions disclosed in the various embodiments of the present invention, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in the present invention and their authorization should be obtained in accordance with relevant laws and regulations through appropriate means.

[0020] Mechanical thrombectomy is a minimally invasive interventional treatment technique primarily used to remove blood clots from arteries or veins. The catheter tip has a high-speed rotating blade that cuts up the blood clot, which is then removed from the body through an aspiration catheter.

[0021] The mechanical rotary thrombectomy technique in this field removes lesions solely through a mechanical rotary cutting head. However, the texture (including hardness) of the thrombus to be removed is unknown. If the operator lacks experience and blindly feeds the cutting head, there is a possibility of the cutting head getting stuck if it encounters a hard thrombus. Furthermore, the cutting head rotates at very high speeds, typically around 60,000-70,000 revolutions per minute. If it encounters a hard thrombus, it may scratch the vascular endothelium or even perforate the blood vessel.

[0022] This embodiment provides a thrombus mechanical excision system, such as Figure 1 and Figure 2 The thrombus mechanical rotary cutting system includes at least: a blade assembly 101, a vibration signal acquisition unit 102, and a processor 103; The vibration signal acquisition unit 102 is disposed on or close to the cutter head assembly 101 and is used to acquire the vibration signal of the cutter head assembly 101. The processor 103 is used to analyze the vibration signal to obtain the texture characteristics of the thrombus currently being cut, including hardness information. Specifically, a correspondence between the thrombus texture characteristics and the vibration signal can be pre-established. For example, a database can be established through repeated experiments to record the correspondence between the thrombus texture characteristics and the vibration signal.

[0023] Regarding thrombosis, clinically it is generally classified into several types according to the time of thrombosis formation (stage), pathological components, and imaging characteristics, and according to the texture from soft to hard, as shown in Table 1 below: Table 1. Classification of thrombi according to their texture

[0024] In this embodiment, when the blade of the thrombus mechanical rotary cutting system rotates and touches the thrombus, different vibration frequencies will inevitably occur due to the different textures of the thrombus. Similarly, due to the different textures of the thrombus, the reaction force of the thrombus on the blade is also different, resulting in different amplitude values. In addition, since the blade is connected to an external drive motor via a flexible drive shaft (i.e., a power transmission flexible shaft), and the flexible drive shaft itself cannot feed back the actual operation of the blade to the motor, the operation of the blade cannot be monitored externally. Therefore, the operator cannot determine the actual operation of the blade inside the blood vessel.

[0025] In this embodiment, a vibration signal acquisition unit 102 is set on or near the blade assembly 101 to acquire the actual vibration signal of the blade. Based on the acquired vibration signal of the blade, the texture characteristics of the thrombus being cut can be analyzed, so that the operator of the mechanical cutting of the thrombus can adjust the feeding strategy of the blade according to the texture characteristics of the thrombus.

[0026] The thrombus mechanical excision system provided in this embodiment can be used not only to excise thrombi but also to excise plaques.

[0027] Furthermore, when the blade is idling in the blood vessel, that is, when it is not cutting the thrombus, the uneven distribution of its circumferential mass causes a slight imbalance in dynamic equilibrium, resulting in background noise in the acquired vibration signal. Therefore, before analyzing the acquired vibration signal to obtain the texture characteristics of the thrombus currently being cut, it is necessary to filter out the background noise during blade idling.

[0028] Therefore, this embodiment provides a method for filtering and reducing the noise level of the cutting head during idling, the specific process of which includes: Step 1: Acquire multiple noise floor signals during the idling of the blade in the blood vessel. For example, M=10 noise floor signals can be acquired, with each segment having a length of N=25000 points and a sampling rate of fs=1.25 MHz.

[0029] Step 2: For each segment of the noise floor signal Remove DC component Then, an FFT transformation is performed to the frequency domain, and the power spectral density (PSD) is calculated, expressed by the formula: .

[0030] Step 3: Average the power spectral density (PSD) of the multiple noise floor signals to obtain the statistical power spectral model of the noise floor. : .

[0031] Step 4: Based on the statistical power spectrum model obtained in the previous step, obtain the noise amplitude benchmark for each frequency point. : .

[0032] After obtaining the aforementioned noise amplitude benchmark, it can be used to analyze the vibration signals acquired during the thrombus shearing process. Noise reduction processing is performed.

[0033] Step 5: Similarly, analyze the vibration signals collected during the thrombus removal process. First, remove the DC component. Then, an FFT transform is performed to obtain the frequency domain signal. This can be expressed by the formula: .

[0034] Step 6: For frequency domain signals Calculate the gain coefficient for each frequency point. : ; in, For noise reduction intensity coefficient (e.g., =2.5), To prevent division by zero, the gain coefficient G(f) is truncated to the interval [0, 1].

[0035] Step 7: Use the gain coefficient obtained in the previous step. For frequency domain signals Denoising is performed to obtain the denoised frequency domain signal. : .

[0036] Step 8: Transform the noise-reduced frequency domain signal using IFFT. By restoring the signal to the time domain and adding back the DC component, the noise-reduced vibration signal can be obtained. : .

[0037] This completes the analysis of vibration signals acquired during the thrombus rotation process. Noise reduction processing.

[0038] The filtering method provided in this embodiment is characterized by independently calculating the gain for each frequency point. High-noise-energy frequency bands are attenuated, while high-signal-energy frequency bands (such as the fundamental frequency and its harmonics) remain largely unaffected, without disrupting the signal structure. By modeling the average PSD of the multi-segment noise floor, the randomness of single-segment noise floor is suppressed, resulting in more robust noise estimation. The larger the value, the stronger the noise reduction. When the noise floor is attenuated by more than 95% (=2.5), the effective signal is only attenuated by 15%~25%.

[0039] For example, a vibration signal from a randomly selected cutting head during idle operation is acquired and denoised using the method described above. Figures 3(a) and 3(b) show a comparison of the vibration signals before and after denoising. Figure 3(a) is a superimposed time-domain waveform of the original and denoised vibration signals, with the horizontal axis representing time (ms) and the vertical axis representing amplitude (V). The mean, standard deviation, and peak-to-peak values ​​of the original and denoised vibration signals are also labeled. Figure 3(b) is an amplitude-frequency relationship graph, with the horizontal axis representing frequency (Hz) and the vertical axis representing amplitude. It shows the amplitude distribution of the original and denoised vibration signals in the frequency domain, labeling their respective peak frequencies and amplitudes. The right vertical axis (%) shows the cumulative energy percentage curve of the denoised signal, with the frequency points corresponding to 50% and 90% energy respectively.

[0040] Figure 3(b) shows the amplitude calculated using the normalized amplitude spectrum method for the acquired time-domain signal. x ( n Performing a discrete Fourier transform yields a frequency domain complex sequence (X( f ) ): ; in, N The number of sampling points is shown in this embodiment. N = 25000; This is the signal average, used to remove the DC component; fs The sampling frequency is specified in this embodiment. fs = 1.25 MHz. Since the time-domain signal is a real number sequence, a real fast Fourier transform (RFFT) is used, retaining only the positive frequency components, resulting in ( N / 2 + 1) frequency points.

[0041] Then, the spectral amplitude is normalized to obtain the amplitude A corresponding to each frequency component. f ): ; Normalization coefficient 2 / N The physical meaning lies in the fact that the amplitude of the FFT output spectrum is related to the number of sampling points. N Proportional, with a coefficient of 2 / N After normalization, A( f The value of ) is consistent with the actual amplitude of the corresponding frequency component in the time domain.

[0042] In addition, the zero-frequency component A(0) is forced to zero to eliminate the interference of DC bias on the spectrum display.

[0043] The method for calculating the cumulative energy percentage is based on the normalized amplitude spectrum A( f The power of each frequency component is defined as P( f ) = A 2 ( f In the frequency range [0, f max Within ], the cumulative energy percentage C ( f ) is defined as: ; C( f () indicates the frequency from 0 to f The percentage of total energy accumulated within a given interval.

[0044] Analysis of the vibration signal of the rotary cutting head during idling yields the following results: after noise reduction, the normalized amplitude spectrum is close to 0, and 90% of the energy is concentrated below 27350Hz, indicating that the noise reduction is highly effective.

[0045] In addition, in this embodiment, based on the thrombus texture from soft to hard, three typical samples were prepared and cut using a rotary cutting head, and the vibration signal of the rotary cutting head was obtained when cutting the three typical samples. These three samples are: fresh thrombus, relatively hard thrombus (chronic phase / organized thrombus), and calcified thrombus.

[0046] Analysis of vibration signals collected during rotary cutting of three types of thrombus samples (fresh thrombus, relatively hard thrombus, and calcified thrombus) yields... Figure 4 , Figure 5 and Figure 6 Three results. The amplitude-frequency data from the statistical analysis results are shown in Table 2 below: Table 2. Analysis results of vibration signals collected during rotary cutting of three types of thrombus samples.

[0047] In some optional embodiments, the thrombus mechanical rotary cutting system also includes a motor for driving the blade assembly 101 to rotate; The processor 103 is used to analyze and obtain the texture characteristics of the thrombus currently being cut based on the vibration signal and the current power (specifically, the current input power) and / or current of the motor.

[0048] Specifically, if the voltage is fixed, the motor power can be obtained by monitoring the motor current. Generally, if the blood clot being cut is too hard, the motor power will increase, meaning the current will increase if the voltage is fixed, and vice versa.

[0049] In other embodiments, the texture characteristics of the thrombus can be analyzed by combining the rotational speed of the motor.

[0050] In some optional embodiments, the vibration signal acquisition unit 102 is a piezoelectric sensor, which is ring-shaped and sleeved on the cutter head assembly 101; the electrode film layer of the piezoelectric sensor is divided into four parts along the circumferential direction; specifically, it can be divided into four equal parts. However, it is not limited to dividing into four parts, and can be divided into other numbers of parts. For example... Figure 7 As shown, the electrode film layer of the piezoelectric sensor can be divided into four parts: two parts in the radial X direction and two parts in the radial Y direction. Vibration signals in the X and Y directions of the cutter head can be obtained, and then the vibration vector direction can be synthesized.

[0051] In this embodiment, when the blade operates within a blood vessel, it may come into asymmetrical contact with a thrombus or the vessel wall. If the annular piezoelectric sensor is a single, integrated electrode, it can only sense a total, average force. However, by dividing the electrode into four equal parts along the circumference, it creates four quadrants, effectively providing an independent piezoelectric sensor in each quadrant. By comparing the differences in the vibration signals acquired from the four quadrants, the direction from which the contact force primarily originates can be determined. Furthermore, independently acquiring vibration signals from different quadrants reduces mutual interference between signals and improves the signal-to-noise ratio. Moreover, independently acquiring vibration signals from the four quadrants provides redundancy; if the electrode or its connecting lines in one quadrant malfunction during surgery, the other quadrants can still independently acquire vibration signals, still obtaining vibration signals in the X and Y directions of the blade's radial direction, thus enhancing the system's reliability.

[0052] In some alternative embodiments, the vibration signal acquisition unit 102 may include two independent piezoelectric sensors, which are respectively disposed in the radial X and Y directions of the cutter head assembly 101. Alternatively, it may include four independent piezoelectric sensors, with two independent piezoelectric sensors disposed in the radial X and Y directions of the cutter head assembly 101, respectively.

[0053] In this embodiment, the piezoelectric sensor is a high-sensitivity sensor that converts mechanical vibration into electrical signals based on the piezoelectric effect. This type of sensor features high sensitivity, wide frequency response, and good stability. The piezoelectric effect refers to the phenomenon that certain dielectric materials, when subjected to mechanical pressure (compression or tension) and deformed, exhibit internal polarization, simultaneously generating opposite charges on two opposing surfaces of the material.

[0054] Specifically, the piezoelectric sensor in this embodiment can be a piezoelectric ceramic sensor. When the polarized piezoelectric ceramic is squeezed or bent, this external force will disturb the already arranged charges inside, causing the balance of the bound charges on the material surface to be broken, thereby generating charges of opposite signs on the two electrode surfaces, forming a voltage. This voltage will change with the vibration acceleration.

[0055] A ring-shaped piezoelectric sensor utilizes the radial vibration force applied to the sensor to generate an electrical signal that varies with the vibration. The electrode film of the piezoelectric sensor can specifically be a silver-plated electrode film.

[0056] In other embodiments, other sensors may be used to collect the vibration signals of the cutter head.

[0057] In some optional embodiments, an output unit is also included, which is used to output the texture feature information; The output unit includes a sound output unit and / or a display unit. That is, the texture characteristic information of the thrombus can be output in the form of sound playback, or it can be output in the form of display.

[0058] Specifically, the sound output unit can be a speaker, and the display unit can be a display screen.

[0059] In this embodiment, the user (specifically, a doctor or other user) can adjust the operation based on the output texture information. For example, if the thrombus is hard, the blade can be retracted or the feed rate reduced to decrease the risk during surgery. If the thrombus is soft, the risk of the surgical procedure is lower, and the operation can be performed as expected.

[0060] In some optional embodiments, the processor 103 is used to perform a Fast Fourier Transform (FFT) on the vibration signal to obtain the amplitude of the vibration signal, and to analyze the texture feature information based on the amplitude of the vibration signal.

[0061] In this embodiment, the time-domain vibration waveform of the cutting head is transformed to the frequency domain by FFT. By analyzing the characteristics of the frequency domain (which can be combined with the increase or decrease of motor power or current), the texture characteristics (including hardness information, etc.) of the thrombus cut by the cutting head during the rotary cutting process are derived.

[0062] In this embodiment, the blade rotates at a constant speed. Under no-load conditions, i.e., when the blade is not in contact with a thrombus or plaque, constant speed rotation can be maintained through PID control. The specific control process can be as follows: Figure 8 As shown, the actual rotational speed of the cutting head can be obtained from the rotational speed of the motor driving the cutting head. For example, the actual rotational speed of the cutting head can be considered equal to the rotational speed of the motor output. Under load, that is, when the cutting head begins to spin and cut the thrombus or plaque, PID control can be used to maintain uniform rotation. When the cutting head has a constant rotational speed, this constant rotational speed can be used as a reference. Cutting the thrombus or plaque at a constant rotational speed is equivalent to generating an excitation frequency. At this time, the frequency collected by the cutting head is uniform without many peaks. When the cutting head encounters thrombi of different textures, since the cutting head is rigid, if the thrombus is soft, the excitation frequency is much lower than the resonant frequency, so there will not be many high peak characteristics. From the frequency domain plot of FFT, the frequency spectrum is low. If the thrombus is hard, the excitation frequency is close to the resonant frequency, and the resonant frequency is more distributed in the high-frequency part.

[0063] In some optional embodiments, the processor 103 is used to match the peak amplitude of the vibration signal within a preset frequency range with data in a pre-constructed dataset to obtain the texture feature information; the data in the dataset indicates the correspondence between the peak amplitude of the vibration signal within the preset frequency range and the texture feature information. The preset frequency range can be 300-550Hz, specifically obtained by statistically analyzing the resonant frequencies of thrombi of various textures.

[0064] For example, such as Figure 9As shown, when the blade cuts hard thrombi or plaques, multiple significant peaks appear in the 300-550Hz range, with the highest peak amplitude (0.1913) at 475.00Hz. This embodiment can pre-collect the features with the highest peak amplitudes through experiments, construct the correspondence between these features and thrombus texture characteristics, and organize them into a dataset or database. This allows for the analysis of the vibration signals acquired in real-time during thrombus cutting to determine the features with the highest peak amplitudes, which can then be matched with the dataset or database to obtain the corresponding thrombus texture.

[0065] In some optional embodiments, the amplitude and / or frequency of the vibration signal are output through an output unit.

[0066] In other words, not only can texture feature information be output through the output unit, but the amplitude and / or frequency of vibration signals can also be output through the output unit.

[0067] In some optional embodiments, the thrombus mechanical shearing system further includes a vibration signal processing unit; the vibration signal processing unit is used to process the vibration signal acquired by the vibration signal acquisition unit 102; like Figure 10 As shown, the vibration signal processing unit includes a charge amplifier circuit 1041, a filter circuit 1042, and an analog-to-digital converter circuit (ADC 1043). The charge amplifier circuit is used to amplify the vibration signal; The filtering circuit is used to filter the amplified vibration signal; specifically, it can be a bandpass filter circuit. The analog-to-digital converter (ADC) circuit is used to convert the filtered vibration signal into a digital signal.

[0068] In this embodiment, the vibration signal acquired by the vibration signal acquisition unit 102 is a tiny signal, belonging to the microvolt level. The vibration signal can be amplified to the volt level using a charge amplification circuit, and then the noise signal generated by the non-piezoelectric ceramic can be removed using a filter circuit. Finally, the vibration signal is converted into a digital signal using an analog-to-digital converter (ADC) circuit, and then input into the processor 103 for subsequent analysis and processing.

[0069] Specifically, the processor 103 can be a microcontroller, also known as a microcontroller unit (MCU).

[0070] In addition, such as Figure 10As shown, the thrombus mechanical rotary cutting system may also include an FPGA chip. The FPGA chip can simultaneously receive processed vibration signals (digital vibration signals) from the radial X and Y directions of the blade assembly 101, and then transmit the vibration signals to the microcontroller to complete the conversion of vibration signal data from parallel to serial.

[0071] The thrombus mechanical rotary cutting system may also include a memory for storing vibration signals collected during the rotary cutting process, providing data for subsequent updates and iterations of the thrombus mechanical rotary cutting system.

[0072] like Figure 11 As shown, the basic components of the thrombus mechanical rotary cutting system include a rotary cutting device main unit 10, connecting wires 105, a rotary cutting device handle 104, a catheter 106, and a blade assembly 101. The rotary cutting device main unit 10 functions to display data, collect vibration signals from the blade and analyze the vibration signals to obtain the texture characteristics of the thrombus currently being cut, and provide power to the rotary cutting device handle 104. Therefore, the rotary cutting device main unit 10 includes a switching power supply, a screen, and a circuit board (including a processor 103). The rotary cutting device handle 104 provides power to the rotary cutting blade and collects vibration signals from the vibration signal acquisition unit 102. Therefore, the rotary cutting device handle 104 internally houses a circuit board including a charge amplification unit, a filter circuit, and an analog-to-digital conversion circuit, as well as a motor. The catheter 106 is inserted into the human body; it contains a power transmission flexible shaft that transmits power to the rotary cutting blade. It also transports the shredded thrombus and transmits the vibration signals collected by the vibration signal acquisition unit 102 to the rotary cutting device handle 104.

[0073] Some optional implementations, such as Figure 12 As shown, the blade assembly 101 includes an outer rotary cutting blade 1011 and an inner rotary cutting blade 1012. The outer rotary cutting blade is used to cut the thrombus, and the inner rotary cutting blade is used in conjunction with the outer rotary cutting blade to break up the thrombus at the suction port. Additionally, the inner rotary cutting blade can also serve as a support structure for the outer rotary cutting blade. The broken up thrombus can be discharged from the body via a power transmission flexible shaft.

[0074] In some optional embodiments, the thrombus mechanical shearing system further includes a catheter 106; the catheter 106 includes an inner catheter liner 1061 and an outer catheter 1062; A power transmission flexible shaft 1063 is provided inside the inner liner tube 1061 of the conduit; The inner liner of the catheter is provided with a vibration signal transmission line 1064, and the vibration signal transmission line is integrated with the outer tube of the catheter.

[0075] Specifically, the vibration signal transmission line 1064 can be a coaxial cable. The vibration signal transmission line 1064 is used to transmit the vibration signal acquired by the vibration signal acquisition unit 102 to the vibration signal processing unit inside the handle 104 of the veneer cutting equipment.

[0076] Regarding the vibration signal transmission line 1064, it can be pre-attached to the surface of the inner liner tube 1061 of the conduit, and then the outer tube 1062 of the conduit and the vibration signal transmission line 1064 can be integrated using a thermorheological process.

[0077] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A thrombus mechanical excision system, characterized in that, The thrombus mechanical rotary cutting system includes at least: a blade assembly, a vibration signal acquisition unit, and a processor; The vibration signal acquisition unit is disposed on or close to the cutter head assembly and is used to acquire the vibration signal of the cutter head assembly; The processor is used to analyze the vibration signal to obtain the texture characteristics of the thrombus currently being cut, and the texture characteristics include hardness information.

2. The thrombus mechanical exfoliation system according to claim 1, characterized in that, It also includes a motor for driving the rotation of the cutter head assembly; The processor is configured to analyze and obtain the texture characteristics of the thrombus currently being cut based on the vibration signal and the current power and / or current of the motor.

3. The thrombus mechanical excision system according to claim 1 or 2, characterized in that, The vibration signal acquisition unit is a piezoelectric sensor, which is ring-shaped and sleeved on the cutter head assembly; the electrode film layer of the piezoelectric sensor is divided into four parts along the circumferential direction. Alternatively, the vibration signal acquisition unit may include two independent piezoelectric sensors, which are respectively positioned in the radial X and Y directions of the cutter head assembly.

4. The thrombus mechanical exfoliation system according to claim 1, characterized in that, It also includes an output unit, which is used to output the texture feature information; The output unit includes a sound output unit and / or a display unit.

5. The thrombus mechanical excision system according to claim 1, characterized in that, The processor is used to perform a fast Fourier transform on the vibration signal to obtain the amplitude of the vibration signal, and to analyze the texture feature information based on the amplitude of the vibration signal.

6. The thrombus mechanical excision system according to claim 5, characterized in that, The processor is used to match the peak amplitude of the vibration signal within a preset frequency range with data in a pre-constructed dataset to obtain the texture feature information; the data in the dataset indicates the correspondence between the peak amplitude of the vibration signal within the preset frequency range and the texture feature information.

7. The thrombus mechanical excision system according to claim 6, characterized in that, The amplitude and / or frequency of the vibration signal are output through the output unit.

8. The thrombus mechanical excision system according to claim 1, characterized in that, It also includes a vibration signal processing unit; the vibration signal processing unit is used to process the vibration signal acquired by the vibration signal acquisition unit; The vibration signal processing unit includes a charge amplification circuit, a filter circuit, and an analog-to-digital conversion circuit; The charge amplifier circuit is used to amplify the vibration signal; The filtering circuit is used to filter the vibration signal obtained after amplification. The analog-to-digital converter circuit is used to convert the filtered vibration signal into a digital signal.

9. The thrombus mechanical excision system according to claim 1, characterized in that, The blade assembly includes an outer rotary cutting head and an inner rotary cutting blade. The outer rotary cutting head is used to cut the thrombus, and the inner rotary cutting blade is used in conjunction with the outer rotary cutting head to break up the thrombus at the suction port.

10. The thrombus mechanical excision system according to any one of claims 1, 2, 4 to 9, characterized in that, It also includes a catheter; the catheter includes an inner liner and an outer liner; A power transmission flexible shaft is installed inside the inner liner of the conduit. The inner liner of the catheter is provided with a vibration signal transmission line, and the vibration signal transmission line is integrated with the outer tube of the catheter.

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