Motion compensated intracardiac echocardiography catheter backtracking navigation control device and system

Abstract

This application discloses a motion-compensated retrograde navigation control device and system for intracardiac ultrasound imaging catheters, relating to medical device technology. The device includes: an ultrasound catheter with a two-dimensional ultrasound transducer and a three-dimensional magnetic positioning sensor integrated at its movable end, and a fixed end connected to a control handle; a control handle with left-right bending freedom control knobs and forward-backward bending freedom control knobs to control the bending of the ultrasound catheter; a vascular access guide for placing the ICE catheter; a power propulsion adapter for controlling the transmission between the handle and the actuator; and an actuator with multiple motors to achieve freedom control of the ultrasound catheter. By using the retrograde navigation device, the ultrasound imaging catheter can be controlled to complete cardiac interventional surgical image navigation, solving the problems existing in current clinical interventional catheter control systems.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a motion-compensated intracardiac ultrasound imaging catheter retrograde navigation control device and system. Background Technology

[0002] Cardiac interventional diagnosis and treatment, such as catheter ablation for atrial fibrillation, can be achieved through minimally invasive cardiac interventional catheter techniques. Intracardiac ultrasound (ICE) catheters, with an integrated ultrasound transducer at the distal end, allow clinicians to perform cardiac interventional procedures under the image guidance of the ultrasound imaging catheter. Providing enhanced imaging of cardiac structures and surgical instruments through ICE catheters, this procedure has gradually become the mainstream clinical approach. It offers real-time imaging of the heart's interior, significantly reducing DSA radiation exposure. ICE catheters provide the surgeon with first-person ultrasound images for navigation, improving the safety and effectiveness of cardiac interventional procedures.

[0003] Clinically used rigid intracardiac ultrasound imaging catheters have a handle controlled by the physician. The ultrasound transducer at the tip acquires ultrasound images of the patient's organs and tissues. The catheter is guided to the target chamber of the heart via the femoral vein. It typically has four degrees of freedom (DOF), which the operator activates by holding the catheter handle. Specific manipulation actions include: 1) forward and reverse rotation, 2) axial movement (advance and retraction), 3) forward and backward bending, and 4) left and right bending. However, achieving manual navigation for interventional procedures requires extensive training and advanced skills.

[0004] The primary role of ICE catheters in clinical procedures is to provide image-guided interventional procedures. However, directly controlling ICE catheters using a catheter control system presents two major problems: 1) Precise and stable manipulation of intracardiac catheters is limited by various disturbances, including periodic physiological movements such as heartbeat and respiration. Therefore, in actual clinical surgery, these disturbances caused by periodic cardiac physiological movements can significantly affect surgical navigation images, thus impacting surgical safety and effectiveness. These physiological disturbances coexist when manually manipulating the ICE catheter.

[0005] 2) In clinical surgery, if the surgeon uses a catheter-based image navigation system, they often need to switch between multiple different imaging angles. However, the surgical efficiency of the control systems currently used in clinical practice is relatively low. Navigation control relies heavily on the surgeon's manual operation and cannot automatically perform retrospective navigation operations, adjusting from one imaging angle to a new one, similar to manual control, which is inefficient. Utility Model Content

[0006] This application provides a motion-compensated intracardiac ultrasound imaging catheter retrograde navigation control device and system, which proposes a motion-compensated intracardiac ultrasound catheter and retrograde navigation control system to replace manual catheter image navigation operation, solve the problems existing in the current clinical interventional catheter control system, and control the ultrasound imaging (ICE) catheter to complete cardiac interventional surgery image navigation through retrograde control navigation device.

[0007] This application provides a motion-compensated intracardiac ultrasound imaging catheter retrograde navigation control device, comprising: The ultrasonic catheter 4 has a two-dimensional ultrasonic transducer and a three-dimensional magnetic positioning sensor integrated at its movable end, and its fixed end is connected to the control handle 3. The control handle 3 is connected to the ultrasonic catheter 4, and is provided with a left-right bending degree of freedom control knob 2 and a front-back bending degree of freedom control knob 1, so as to control the bending of the ultrasonic catheter 4 based on the left-right bending degree of freedom control knob 2 and the front-back bending degree of freedom control knob 1. Vascular access guide 5 is used to place the ICE catheter and the direction of the ultrasound catheter 4 is controlled by the flexible vascular access guide; The power propulsion adapter 6 is used to control the transmission between the handle 3 and the actuator 7; Actuator 7 is equipped with multiple motors, which are used to control the degrees of freedom of the ultrasonic catheter 4.

[0008] This application provides a motion-compensated intracardiac ultrasound imaging catheter retrograde navigation control system, including the motion-compensated intracardiac ultrasound imaging catheter retrograde navigation control device as described above.

[0009] This application embodiment achieves mapping and position memory of the ICE catheter handle degrees of freedom for a specific ultrasound imaging position by embedding a spatial three-dimensional magnetic positioning sensor at the tip of the ultrasound catheter. This solves the problems existing in the current clinical interventional catheter control system. Through the retrospective control navigation device, the ultrasound imaging (ICE) catheter is controlled to complete the image navigation of cardiac interventional surgery.

[0010] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0011] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This is a schematic diagram of the ultrasound catheter portion of the motion-compensated intracardiac ultrasound imaging catheter retrograde navigation control device according to an embodiment of this application. Figure 2 This is a schematic diagram of the actuator part of the motion-compensated intracardiac ultrasound imaging catheter retrograde navigation control device according to an embodiment of this application. Figure 3 Different degrees of freedom sector control of the motion-compensated intracardiac ultrasound imaging catheter retrograde navigation control device in this application embodiment; Figure 4 This is a schematic diagram of the propulsion component structure of the motion-compensated intracardiac ultrasound imaging catheter retrograde navigation control device according to an embodiment of this application. Detailed Implementation

[0012] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0013] This application provides a motion-compensated intracardiac ultrasound imaging catheter retrograde navigation control device, such as... Figure 1 , Figure 2 As shown, it includes: An ultrasonic catheter (ICE catheter) 4 integrates a two-dimensional ultrasonic transducer and a three-dimensional magnetic positioning sensor at its movable end, and its fixed end is connected to a control handle 3. In a specific example, the ultrasonic catheter 4 integrates the two-dimensional ultrasonic transducer and the three-dimensional magnetic positioning sensor at a distance of 1-3 cm from its movable end. The ultrasonic catheter 4 has a diameter of 2.5 mm-3.5 mm and a length of 80-100 cm. In some examples, the ultrasonic catheter 4 integrates a 64-element two-dimensional ultrasonic transducer and a three-dimensional magnetic positioning sensor at a distance of 2 cm from the front end, with a diameter of 2.67 mm (8 Fr) or 3.33 mm (10 Fr) and a length of 90 cm.

[0014] The control handle 3, also known as the ICE catheter control handle, is used to connect the ultrasonic catheter 4, i.e., to the ICE catheter. The control handle 3 is equipped with a left-right bending freedom control knob 2 and a front-back bending freedom control knob 1, which control the bending of the ultrasonic catheter 4 based on these knobs. In a specific example, the four bending degrees of freedom of the ultrasonic catheter (ICE catheter) 4 are controlled by two pairs of opposing steel wire traction lines. When the knobs are operated, the movement of the steel wire traction lines produces significant bending.

[0015] Vascular access guide 5 is used to place the ICE catheter (ultrasound catheter 4). The direction of ultrasound catheter 4 is controlled by the flexible vascular access guide. At the start of the procedure, the surgeon places the ICE catheter through the femoral vein approach, controlling the direction of the catheter body through the flexible vascular access guide. This allows the ICE catheter to follow the femoral vein into the blood vessel, reducing the risk of percutaneous hematoma complications.

[0016] The power propulsion adapter 6 is used to control the transmission between the handle 3 and the actuator 7.

[0017] Actuator 7 is equipped with multiple motors, which control the corresponding motors to achieve degree of freedom control of ultrasonic catheter 4.

[0018] In a specific example, during the procedure, the surgeon manipulates four degrees of freedom by holding the catheter handle, and uses the ultrasound transducer to achieve different sector scans, such as... Figure 3 As shown, from left to right, the scanning methods are front-to-back bending, left-to-right bending, circumferential rotation, and axial front-to-back.

[0019] This application embodiment achieves mapping and position memory of the ICE catheter handle degrees of freedom for a specific ultrasound imaging position by embedding a spatial three-dimensional magnetic positioning sensor at the tip of the ultrasound catheter. This solves the problems existing in the current clinical interventional catheter control system. Through the retrospective control navigation device, the ultrasound imaging (ICE) catheter is controlled to complete the image navigation of cardiac interventional surgery.

[0020] In some embodiments, the power propulsion adapter 6 has an inner cavity that is adapted to the control knobs of each degree of freedom of the control handle 3, and an outer cavity that meshes with the actuator gear.

[0021] In some embodiments, such as Figure 4 As shown, the power propulsion adapter 6 includes: The system comprises a front-to-back bending knob gear ring 61, a left-to-right bending knob gear ring 62, a control handle adapter gear sleeve 63, and an actuator gear meshing structure 64. The inner cavities of the front-to-back bending knob gear ring 61, the left-to-right bending knob gear ring 62, and the control handle adapter gear sleeve 63 are each provided with corresponding adapter structures. The front and rear bending knob gear ring 61 is sleeved on the front and rear bending degree of freedom control knob 1; The left and right bending knob gear ring 62 is sleeved on the left and right bending degree of freedom control knob 2; The control handle is fitted with a gear sleeve 63, which is sleeved on the outside of the control handle 3.

[0022] In some embodiments, such as Figure 4As shown, it also includes: an actuator gear meshing structure 64, which is used to mount the control handle 3 as a whole on the actuator 7, so that the gear structures on the front and rear bending knob gear ring 61, the left and right bending knob gear ring 62 and the control handle adapter gear sleeve 63 respectively mesh with the corresponding power gear of the actuator.

[0023] The ultrasonic catheter tip in this embodiment has a built-in magnetic positioning sensor, which can monitor the positional displacement of the ultrasonic catheter tip caused by human physiological movement during the operation. In specific applications, based on the positional displacement of the ultrasonic catheter tip, frequency domain modeling of periodic physiological movements such as heartbeat and respiration can be performed, and the position of the moving target can be predicted through a Kalman filter.

[0024] This application also proposes a motion-compensated intracardiac ultrasound imaging catheter retrograde navigation control system, including the motion-compensated intracardiac ultrasound imaging catheter retrograde navigation control device as described above.

[0025] It should be noted that, in the embodiments of this application, 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 a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0026] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0027] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims. All of these forms are within the protection scope of this application.

Claims

1. A motion compensated intracardiac echographic catheter backtracking navigation control device, characterized in that, include: An ultrasonic catheter (4) has a two-dimensional ultrasonic transducer and a three-dimensional magnetic positioning sensor integrated at its movable end, and its fixed end is connected to a control handle (3). The control handle (3) is connected to the ultrasonic catheter (4), and is provided with a left and right bending degree of freedom control knob (2) and a front and back bending degree of freedom control knob (1) to control the bending of the ultrasonic catheter (4) based on the left and right bending degree of freedom control knob (2) and the front and back bending degree of freedom control knob (1). The vascular access guide (5) is used to place the ultrasound catheter (4), and the direction of the ultrasound catheter (4) is controlled by the flexible vascular access guide; A power propulsion adapter (6) is used to control the transmission between the handle (3) and the actuator (7); The actuator (7) is equipped with multiple motors to achieve degree of freedom control of the ultrasonic catheter (4).

2. The back-projection navigational control device for a motion compensated intracardiac echocardiography catheter of claim 1, wherein, The ultrasonic catheter (4) integrates a two-dimensional ultrasonic transducer and a three-dimensional magnetic positioning sensor at its movable end, 1cm-3cm.

3. The back-projection navigational control device for a motion compensated intracardiac echocardiography catheter of claim 1, wherein, The ultrasonic catheter (4) has a diameter of 2.5mm-3.5mm and a length of 80-100cm.

4. The back-projection navigational control device for a motion compensated intracardiac echocardiography catheter of claim 1, wherein, The power propulsion adapter (6) has an inner cavity that is adapted to the control knobs of each degree of freedom of the control handle (3), and an outer cavity that meshes with the actuator gear.

5. The back-projection navigational control device for a motion compensated intracardiac echographic catheter of claim 4, wherein, The power propulsion adapter component (6) includes: The front-to-back curved knob gear ring (61), the left-to-right curved knob gear ring (62), the control handle adapter gear sleeve (63), and the actuator gear meshing structure (64) are provided with corresponding adapter structures in their inner cavities. The front and rear bending knob gear ring (61) is sleeved on the front and rear bending degree of freedom control knob (1); The left and right bending knob gear ring (62) is sleeved on the left and right bending degree of freedom control knob (2); The control handle is fitted with a gear sleeve (63) and is sleeved on the outside of the control handle (3).

6. The back-projection navigational control device for a motion compensated endo-cardiac ultrasound catheter of claim 5, wherein, Also includes: The actuator gear meshing structure (64) is used to mount the control handle (3) as a whole on the actuator (7), so that the gear structures on the front and rear bending knob gear ring (61), the left and right bending knob gear ring (62) and the control handle adapter gear sleeve (63) respectively mesh with the corresponding power gear of the actuator.

7. A motion-compensated intracardiac ultrasound imaging catheter retrograde navigation control system, characterized in that, Includes the motion-compensated intracardiac ultrasound imaging catheter retrograde navigation control device as described in any one of claims 1-6.

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