Apparatus and method for protecting flexible shaft of thrombus volume reduction rotary cutting device

Abstract

An apparatus and a method for protecting a flexible shaft of a thrombus volume reduction rotary cutting device. The apparatus comprises: a control module (10), a motor driver (20), a motor (30), a flexible shaft (40), a flexible shaft end effector assembly (50), an end rotation speed detection module (60), and a current detection module (70). The control module (10) sends a control signal to the motor driver (20) such that the motor driver (20) drives the motor (30) to work. During working, the motor (30) transmits power to the flexible shaft end effector assembly (50) by means of the flexible shaft (40). The end rotation speed detection module (60) acquires a real-time rotation speed of the flexible shaft end effector assembly (50) and sends the same to the control module (10). The motor driver (20) feeds back a real-time rotation speed of the motor (30) and sends the same to the control module (10). The current detection module (70) detects a real-time current of the motor (30) and sends the same to the control module (10). The control module (10) determines a load-bearing type of the flexible shaft end effector assembly (50) on the basis of the real-time rotation speed of the flexible shaft end effector assembly (50), the real-time rotation speed of the motor (30), and the real-time current of the motor (30); and outputs a braking deceleration signal to the motor driver (20) according to the load-bearing type, such that the motor driver (20) drives the motor (30) to decelerate.

Description

Thrombus reduction atherectomy device flexible shaft protection device and method

[0001] This application claims priority to the Chinese patent application No. 202411117679.2 filed on August 15, 2024 with the Chinese Patent Office, the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] Embodiments of the present application relate to the technical field of thrombus reduction atherectomy device, for example, to a thrombus reduction atherectomy device flexible shaft protection device and method. BACKGROUND

[0003] Thrombus reduction atherectomy device is a device that removes thrombus by mechanical atherectomy. Thrombus atherectomy is to cut or scrape atherosclerotic thrombus plaques (deposits of fat and other substances accumulated on or in the arterial wall) through a rotating cutter or burr at the end of an interventional catheter. The basic principle of the thrombus reduction atherectomy devices on the market is to drive a flexible shaft in a section of catheter through an electric or pneumatic prime mover (currently mostly electric motor). The flexible shaft may be single-layer or multi-layer steel wire winding, and the end of the flexible shaft (i.e. the end of the catheter) is provided with an execution component (cutter or burr), referred to as execution end. The rotational power of the prime mover will be transmitted to the execution end through the flexible shaft.

[0004] Currently, the rotational speed of the execution end of the thrombus reduction atherectomy device is monitored in an open loop, that is, the rotational speed of the execution end is not monitored, so when the execution end encounters hard material, the execution end may be stuck, which may cause damage or breakage of the transmission flexible shaft. In addition, some thrombus reduction atherectomy devices use brushless motors as prime movers, which can easily monitor the rotational speed of the motor, but the rotational speed of the execution end is not monitored, so the protection method for the flexible shaft of such devices is not perfect. SUMMARY

[0005] The present application provides a thrombus reduction atherectomy device flexible shaft protection device and method, which realizes protection of the flexible shaft.

[0006] In a first aspect, the embodiments of the present application provide a thrombus reduction atherectomy device flexible shaft protection device, which comprises a control module, a motor driver, a motor, a flexible shaft, a flexible shaft end execution component, an end rotational speed detection module and a current detection module.

[0007] The control module is electrically connected to the motor through the motor driver; the control module is configured to send a control signal to the motor driver to drive the motor driver to drive the motor to work; the motor is configured to transmit power to the flexible shaft end execution component through the flexible shaft when working.

[0008] The end rotating speed detection module is electrically connected with the control module, and is configured to acquire the real-time rotating speed of the soft shaft end execution component and send the real-time rotating speed to the control module;

[0009] The motor driver is further configured to feed back the real-time rotating speed of the motor and send the real-time rotating speed to the control module;

[0010] The current detection module is electrically connected with the control module and the motor, and is configured to detect the real-time current of the motor and send the real-time current to the control module;

[0011] The control module is further configured to determine the load type borne by the soft shaft end execution component according to the real-time rotating speed of the soft shaft end execution component, the real-time rotating speed of the motor and the real-time current of the motor, and output a brake deceleration signal to the motor driver according to the load type borne by the soft shaft end execution component to make the motor driver drive the motor to decelerate.

[0012] In a second aspect, the embodiments of the present application further provide a soft shaft protection method of a thrombus volume reduction rotary cutting device, which is applied to the soft shaft protection device of the first aspect, and the soft shaft protection method of the thrombus volume reduction rotary cutting device comprises the following steps.

[0013] Acquiring the real-time rotating speed of the soft shaft end execution component;

[0014] Acquiring the real-time rotating speed of the motor and the real-time current of the motor;

[0015] Determining the load type borne by the soft shaft end execution component according to the real-time rotating speed of the soft shaft end execution component, the real-time rotating speed of the motor and the real-time current of the motor;

[0016] Controlling the motor to decelerate according to the load type borne by the soft shaft end execution component. BRIEF DESCRIPTION OF DRAWINGS

[0017] FIG. 1 is a structural schematic diagram of a soft shaft protection device of a thrombus volume reduction rotary cutting device according to an embodiment of the present application;

[0018] FIG. 2 is a structural schematic diagram of a first rotating speed pulse signal and a second rotating speed pulse signal according to an embodiment of the present application;

[0019] FIG. 3 is a structural schematic diagram of another soft shaft protection device of a thrombus volume reduction rotary cutting device according to an embodiment of the present application;

[0020] FIG. 4 is a specific structural schematic diagram of a soft shaft protection device of a thrombus volume reduction rotary cutting device according to an embodiment of the present application;

[0021] FIG. 5 is a specific structural schematic diagram of a soft shaft protection device of a thrombus volume reduction rotary cutting device according to an embodiment of the present application;

[0022] Fig. 6 is a flow chart of a soft shaft protection method of a thrombus volume reduction rotary cutting device according to an embodiment of the present application. DETAILED DESCRIPTION

[0023] Fig. 1 is a structural schematic diagram of a soft shaft protection device of a thrombus volume reduction rotary cutting device according to an embodiment of the present application. As shown in Fig. 1, the device comprises a control module 10, a motor driver 20, a motor 30, a soft shaft 40, a soft shaft end execution component 50, an end speed detection module 60, and a current detection module 70.

[0024] The control module 10 is electrically connected to the motor 30 through the motor driver 20. The control module 10 is configured to send a control signal to the motor driver 20 to drive the motor driver 20 to work. The motor 30 is configured to transmit power to the soft shaft end execution component 50 through the soft shaft 40 when working.

[0025] The end speed detection module 60 is electrically connected to the control module 10 and is configured to obtain the real-time speed of the soft shaft end execution component 50 and send it to the control module 10.

[0026] The motor driver 20 is also configured to feed back the real-time speed of the motor 30 to the control module 10.

[0027] The current detection module 70 is electrically connected to the control module 10 and the motor 30 and is configured to detect the real-time current of the motor 30 and send it to the control module 10.

[0028] The control module 10 is also configured to determine the load type of the soft shaft end execution component 50 according to the real-time speed of the soft shaft end execution component 50, the real-time speed of the motor 30, and the real-time current of the motor 30, and output a brake deceleration signal to the motor driver 20 according to the load type to drive the motor driver 20 to decelerate the motor 30.

[0029] In this embodiment, the soft shaft 40 has a certain torsional elasticity, and can transmit torsional power to the soft shaft end execution component 50. The soft shaft end execution component 50 can be a cutter head or a grinding head. The end speed detection module 60 can be any module that can obtain the real-time speed of the soft shaft end execution component 50, such as a module that measures speed by optical principles or a module that measures speed by electrical principles.

[0030] The real-time rotation speed of the soft shaft end execution component 50, the real-time rotation speed of the motor 30 and the real-time current of the motor 30 can be used to determine the load type of the soft shaft end execution component 50. When it is determined that the load type of the soft shaft end execution component 50 is heavy load, the control module 10 outputs a brake deceleration signal to the motor driver 20, so that the motor driver 20 drives the motor 30 to decelerate. When the load type of the soft shaft end execution component 50 is heavy load, the execution end will be stuck, which will cause damage or breakage of the transmission soft shaft. Therefore, the protection of the soft shaft is realized. When it is determined that the load type of the soft shaft end execution component 50 is light load or no load, the control module 10 stops outputting the brake deceleration signal to the motor driver 20, so as to ensure that the soft shaft end execution component 50 normally drives the load to work.

[0031] In some embodiments, the determination of the load type of the soft shaft end execution component 50 can be refined. As shown in FIG. 1, the control module 10 is configured to determine the load type of the soft shaft end execution component 50 according to the real-time rotation speed of the soft shaft end execution component 50, the real-time rotation speed of the motor 30 and the real-time current of the motor 30 by the following method:

[0032] A first rotation speed change rate m1 is determined according to the real-time rotation speed n1 of the soft shaft end execution component; wherein m1 = dn1 / dt;

[0033] A second rotation speed change rate m2 is determined according to the real-time rotation speed n2 of the motor; wherein m2 = dn2 / dt;

[0034] When the difference between the first rotation speed change rate m1 and the second rotation speed change rate m2 is less than a preset change rate (i.e., the first rotation speed change rate m1 is greater than the second rotation speed change rate m2), and the real-time current I of the motor is less than a preset current threshold, the load type of the soft shaft end execution component 50 is light load; wherein the preset change rate can be determined according to the actual load type of the soft shaft end execution component 50;

[0035] When the difference between the first rotation speed change rate m1 and the second rotation speed change rate m2 is greater than the preset change rate (i.e., the first rotation speed change rate m1 is much greater than the second rotation speed change rate m2), and the real-time current of the motor is greater than the preset current threshold, the load type of the soft shaft end execution component is heavy load;

[0036] When the real-time rotation speed n1 of the soft shaft end execution component is equal to the real-time rotation speed n2 of the motor, and the real-time current I of the motor is less than the preset current threshold, the load type of the soft shaft end execution component is no load.

[0037] In some embodiments, as shown in FIG. 1, the control module 10 is configured to output a brake deceleration signal to the motor driver 20 according to the type of load borne by the soft shaft end execution component 50 to make the motor driver 20 drive the motor 30 to decelerate.

[0038] When the type of load borne by the soft shaft end execution component 50 is heavy load, the brake deceleration signal is output to the motor driver 20 to make the motor driver 20 drive the motor 30 to decelerate.

[0039] When the type of load borne by the soft shaft end execution component 50 is light load or no load, the brake deceleration signal is stopped to be output to the motor driver 20.

[0040] In some embodiments, the control module 10 is further configured to determine a first rotation speed pulse signal of the soft shaft end execution component 50 according to a real-time rotation speed n1 of the soft shaft end execution component 50, determine a second rotation speed pulse signal of the motor 30 according to a real-time rotation speed n2 of the motor 30, determine the type of load borne by the soft shaft end execution component 50 according to the first rotation speed pulse signal and the second rotation speed pulse signal, and output the brake deceleration signal to the motor driver 20 according to the type of load borne to make the motor driver 20 drive the motor 30 to decelerate.

[0041] In this embodiment, the first rotation speed pulse signal of the soft shaft end execution component 50 is determined according to the real-time rotation speed n1 of the soft shaft end execution component 50, specifically: n1 = (N1 / t01)*60 / M1

[0042] Wherein, n1 is the real-time rotation speed of the soft shaft end execution component 50; N1 is the number of pulses emitted by the control module 10 in unit time to detect the soft shaft end execution component 50; t01 is the time for the number of pulses; M1 is the number of pulses emitted by the soft shaft end execution component 50 per revolution, each pulse corresponds to a high level and a low level.

[0043] The second rotation speed pulse signal of the motor 30 is determined according to the real-time rotation speed n2 of the motor 30, specifically: n2 = (N2 / t02)*60 / M2

[0044] Wherein, n2 is the real-time rotation speed of the motor; N2 is the number of pulses emitted by the motor in unit time; t02 is the time for the number of pulses; M2 is the number of pulses emitted by the motor per revolution, M2 is determined according to the number of magnetic pairs of the motor;

[0045] Fig. 2 is a structural schematic diagram of a first rotation speed pulse signal and a second rotation speed pulse signal in the embodiment of the present application; as shown in Fig. 2, T1 is the time for one rotation of the motor; M2 is the number of pulses for one rotation of the motor; M1 is the number of pulses for one rotation of the soft shaft end execution component 50; for example, when the first rotation speed pulse signal L1 does not jump at the first preset time t1 and the second rotation speed pulse signal L2 jumps at the first preset time t1, the load type borne by the soft shaft end execution component 50 is heavy load, i.e., the dead state occurs; when the execution end is dead, the rotation speed of the soft shaft end execution component 50 does not change and no rotation speed pulse is output, while the motor is still rotating;

[0046] When the load type borne by the soft shaft end execution component 50 is heavy load, the control module 10 outputs an alarm signal at the second preset time t2 and outputs a brake deceleration signal to the motor driver at the third preset time t3, so that the motor driver 20 drives the motor 30 to decelerate, thus reducing the torque borne by the soft shaft; after stopping the motor 30, the control module 10 also controls to output a reverse rotation control signal to make the motor driver 20 drive the motor 30 to rotate reversely, thus releasing the torsion of the soft shaft.

[0047] In some embodiments, the end rotation speed detection module 60 can be refined, and Fig. 3 is a structural schematic diagram of another soft shaft protection device of the thrombus volume reduction and rotation cutting equipment provided by the embodiment of the present application, as shown in Fig. 3, a marker ring 41 is arranged on the soft shaft 40; the marker ring 41 includes a polished portion 411 and a light absorbing portion 412; the end rotation speed detection module 60 includes a laser emitting tube 61, a light splitting prism 62, an optical fiber 63, a reflecting prism 64 and a photoelectric receiving tube 65;

[0048] The laser emitting tube 61 is arranged to emit a laser incident light beam to the light splitting prism 62;

[0049] The light splitting prism 62 is arranged to reflect the laser incident light beam to the optical fiber 63 to make the reflected laser incident light beam incident to the reflecting prism 64 through the optical fiber 63;

[0050] The reflecting prism 64 is arranged to reflect the reflected laser incident light beam to the marker ring 41 again;

[0051] The polished portion 411 of the marker ring 41 reflects the light beam, and the reflected light beam is reflected to the optical fiber 63 through the reflecting prism 64 to make the reflected light beam incident to the light splitting prism 62 through the optical fiber 63;

[0052] The light splitting prism 62 is further arranged to transmit the reflected light beam to the photoelectric receiving tube 65;

[0053] The photoelectric receiving tube 65 is configured to output a voltage signal according to the reflected light beam and feed back the voltage signal to the control module 10 to determine the real-time rotating speed of the soft shaft end executing component 50 according to the voltage signal.

[0054] In the embodiment, the marker ring 41 comprises a polished portion 411 and a light-absorbing portion 412; the polished portion 411 can reflect laser; the light-absorbing portion 412 can absorb light; the light-absorbing portion 412 comprises a metal-oxidized light-absorbing unit or a sprayed light-absorbing unit; the metal-oxidized light-absorbing unit is made by a metal-oxidized process; the sprayed light-absorbing unit is made by a spraying process; the laser emitting tube 61 can be a laser diode; the laser power of the laser emitting tube 61 can be in the range of 4.5mW-5.5mW, which will not cause damage to the patient and the operator; the light splitting ratio of the light splitting prism 62 can be 10%-90%, and an exemplary light splitting ratio can be 50%.

[0055] In some embodiments, the process of the end rotating speed detection module 60 detecting the real-time rotating speed of the soft shaft end executing component 50 is as follows: the laser emitted by the laser emitting tube 61 is incident on the reflecting surface of the light splitting prism 62, and then reflected into the optical fiber 63; the reflected laser beam is incident on the reflecting prism 64 through the optical fiber 63; the reflecting prism 64 reflects the reflected laser beam onto the marker ring 41 again; the reflected laser beam is absorbed by the light-absorbing portion 412 of the marker ring 41, and when the executing end rotates, the reflected laser beam is reflected by the polished portion 411 of the marker ring 41; thus, the reflected laser beam is absorbed and reflected once every time the executing end rotates one revolution, and the reflected light beam is reflected back to the light splitting prism 62 along the original light path; the light splitting prism 62 transmits the reflected light beam to the photoelectric receiving tube 65; the photoelectric receiving tube 65 outputs a voltage signal according to the reflected light beam, and feeds back the voltage signal to the control module 10; the control module 10 determines the real-time rotating speed of the soft shaft end executing component 50 according to the voltage signal.

[0056] In some embodiments, as shown in FIG. 3, the laser emitting tube 61 comprises an infrared laser emitting tube. The infrared laser emitting tube emits infrared laser with a wavelength of 1064nm, which has good diffraction effect and does not interfere with the infrared cells to be treated by the soft shaft end executing component 50.

[0057] In some embodiments, as shown in FIG. 3, the current detection module 70 comprises a detection sampling resistor. The ADC in the control module 10 acquires the voltage Vr on the detection sampling resistor, and the real-time current I of the motor can be determined as I=Vr / R, where R is the resistance of the detection sampling resistor.

[0058] In some embodiments, the structure of the soft shaft protection device of the thrombus volume reduction rotary cutting device can be further optimized, and FIG. 4 is a specific structure schematic diagram of a soft shaft protection device of a thrombus volume reduction rotary cutting device according to an embodiment of the present application; as shown in FIGS. 3-4, the device further comprises: a protection shell 80, a battery module 90, a protection switch 100 and a circuit board 110;

[0059] The control module 10 and the motor driver 20 are arranged on the circuit board 110; the first end of the protection switch 100 is electrically connected with the first end of the battery module 90; the second end of the protection switch 100 is electrically connected with the circuit board 110; the second end of the battery module 90 is electrically connected with the circuit board 110; the circuit board 110, the battery module 90, the protection switch 100, the motor 30 and the terminal rotation speed detection module 60 are all arranged in the protection shell 80.

[0060] In the embodiment, the protection shell 80 is the main carrier of the entire protection device, which plays a supporting protection role; the battery module 90 is the power supply component of the entire protection device; the protection switch 100 plays a role of protecting the entire device by opening and closing.

[0061] In some embodiments, FIG. 5 is a partial specific structure schematic diagram of a soft shaft protection device of a thrombus volume reduction rotary cutting device according to an embodiment of the present application; as shown in FIGS. 3-5, the protection device further comprises: a multi-lumen catheter 120; the multi-lumen catheter 120 comprises an outer sleeve 121 and an inner sleeve 122; the optical fiber 63 is arranged in the outer sleeve 121; the soft shaft 40 is arranged in the inner sleeve 122. In other embodiments, the protection device further comprises: a single-lumen catheter; the soft shaft 40 is arranged in the single-lumen catheter.

[0062] In the embodiment, the control module sends a control signal to the motor driver, so that the motor driver drives the motor to work; the motor transmits power to the soft shaft terminal execution component through the soft shaft when working; the terminal rotation speed detection module acquires the real-time rotation speed of the soft shaft terminal execution component and sends it to the control module; the motor driver also feeds back the real-time rotation speed of the motor and sends it to the control module; the current detection module detects the real-time current of the motor and sends it to the control module; the control module judges the bearing load type of the soft shaft terminal execution component according to the real-time rotation speed of the soft shaft terminal execution component, the real-time rotation speed of the motor and the real-time current of the motor; and outputs a brake deceleration signal to the motor driver according to the bearing load type to make the motor driver drive the motor to decelerate, thereby realizing the protection of the soft shaft.

[0063] Based on the same application concept, the application further provides a soft shaft protection method of a thrombus volume reduction rotary cutting device. The method is applied to a soft shaft protection device of a thrombus volume reduction rotary cutting device. FIG. 6 is a flowchart of the soft shaft protection method of the thrombus volume reduction rotary cutting device according to an embodiment of the application. As shown in FIG. 6, the soft shaft protection method of the thrombus volume reduction rotary cutting device comprises the following steps:

[0064] S110, acquiring a real-time rotating speed of the soft shaft end execution component;

[0065] S120, acquiring a real-time rotating speed of the motor and a real-time current of the motor;

[0066] S130, judging a load bearing type of the soft shaft end execution component according to the real-time rotating speed of the soft shaft end execution component, the real-time rotating speed of the motor and the real-time current of the motor;

[0067] S140, controlling motor deceleration processing according to the load bearing type.

[0068] The embodiment acquires the real-time rotating speed of the soft shaft end execution component, the real-time rotating speed of the motor and the real-time current of the motor, judges the load bearing type of the soft shaft end execution component according to the real-time rotating speed of the soft shaft end execution component, the real-time rotating speed of the motor and the real-time current of the motor, and controls the motor deceleration processing according to the load bearing type, thereby avoiding the problem that the load bearing type of the soft shaft end execution component is heavy load, which causes the execution end to be stuck and further causes the transmission soft shaft to be damaged or broken, so as to realize the protection of the soft shaft.

[0069] In some embodiments, judging the load bearing type of the soft shaft end execution component according to the real-time rotating speed of the soft shaft end execution component, the real-time rotating speed of the motor and the real-time current of the motor comprises:

[0070] determining a first rotating speed change rate according to the real-time rotating speed of the soft shaft end execution component;

[0071] determining a second rotating speed change rate according to the real-time rotating speed of the motor;

[0072] when the difference between the first rotating speed change rate and the second rotating speed change rate is less than a preset change rate and the real-time current of the motor is less than a preset current threshold, the load bearing type of the soft shaft end execution component is light load;

[0073] when the difference between the first rotating speed change rate and the second rotating speed change rate is greater than the preset change rate and the real-time current of the motor is greater than the preset current threshold, the load bearing type of the soft shaft end execution component is heavy load;

[0074] when the real-time rotating speed of the soft shaft end execution component is equal to the real-time rotating speed of the motor and the real-time current of the motor is less than the preset current threshold, the load bearing type of the soft shaft end execution component is empty load.

[0075] In some embodiments, when the bearing load type of the soft shaft end execution component is heavy load, a brake deceleration signal is output to the motor driver to make the motor driver drive the motor deceleration process; when the bearing load type of the soft shaft end execution component is light load or no load, the brake deceleration signal is stopped to be output to the motor driver.

Claims

1. A thrombus debulking atherectomy device soft shaft protection device, comprising: The control module, the motor driver, the motor, the flexible shaft, the flexible shaft end execution component, the end rotation speed detection module and the current detection module; The control module is electrically connected with the motor driver; The control module is configured to send a control signal to the motor driver to drive the motor driver to drive the motor to work. The end rotation speed detection module is electrically connected with the control module and is configured to acquire the real-time rotation speed of the flexible shaft end execution component and send it to the control module. The motor driver is further configured to feed back the real-time rotation speed of the motor to the control module. The current detection module is electrically connected with the control module and the motor and is configured to detect the real-time current of the motor and send it to the control module. The control module is further configured to determine the load type of the flexible shaft end execution component according to the real-time rotation speed of the flexible shaft end execution component, the real-time rotation speed of the motor and the real-time current of the motor. And output a brake deceleration signal to the motor driver according to the load type to make the motor driver drive the motor to decelerate.

2. The thrombus debulking atherectomy device soft shaft protection device of claim 1, wherein, A marker ring is arranged on the flexible shaft, and the marker ring comprises a polished portion and a light-absorbing portion. The end rotation speed detection module comprises a laser emitting tube, a light splitting prism, an optical fiber, a reflecting prism and a photoelectric receiving tube. The laser emitting tube is configured to emit a laser incident beam to the light splitting prism. The light splitting prism is configured to split the laser incident beam into the optical fiber to make a reflected laser incident beam incident to the reflecting prism through the optical fiber. The reflecting prism is configured to make the reflected laser incident beam incident to the marker ring again. The polished portion of the marker ring reflects the light beam, and the reflected light beam is reflected to the optical fiber through the reflecting prism to make the reflected light beam incident to the light splitting prism through the optical fiber. The light splitting prism is further configured to transmit the reflected light beam to the photoelectric receiving tube. The photoelectric receiving tube is configured to output a voltage signal according to the reflected light beam and feed back the voltage signal to the control module to make the control module determine the real-time rotation speed of the flexible shaft end execution component according to the voltage signal.

3. The thrombus debulking atherectomy device soft shaft protection device of claim 2, wherein, The laser emitting tube comprises an infrared laser emitting tube.

4. The thrombus debulking atherectomy device soft shaft protection of claim 2, wherein, The light-absorbing portion comprises a metal oxide light-absorbing unit or a sprayed light-absorbing unit.

5. The thrombus debulking atherectomy device soft shaft protection device of claim 1, wherein, The current detection module comprises a detection sampling resistor.

6. The thrombus debulking atherectomy device soft shaft protection device of claim 1, wherein, The control module is configured to determine the load type of the flexible shaft end execution component according to the real-time rotation speed of the flexible shaft end execution component, the real-time rotation speed of the motor and the real-time current of the motor by the following method: Determine a first rotation speed change rate according to the real-time rotation speed of the flexible shaft end execution component; Determine a second rotation speed change rate according to the real-time rotation speed of the motor; When the difference between the first rotation speed change rate and the second rotation speed change rate is less than a preset change rate, and the real-time current of the motor is less than a preset current threshold, the load type of the flexible shaft end execution component is light load. When the difference between the first rotation rate and the second rotation rate is greater than the preset change rate, and the real-time current of the motor is greater than the preset current threshold, the load type borne by the soft shaft end execution component is heavy load; When the real-time rotation rate of the soft shaft end execution component is equal to the real-time rotation rate of the motor, and the real-time current of the motor is less than the preset current threshold, the load type borne by the soft shaft end execution component is empty load.

7. The thrombus debulking atherectomy device soft shaft protection device of claim 6, wherein, The control module is configured to output a brake deceleration signal to the motor driver according to the load type borne by the soft shaft end execution component to make the motor driver drive the motor to decelerate. When the load type borne by the soft shaft end execution component is heavy load, the brake deceleration signal is output to the motor driver to make the motor driver drive the motor to decelerate. When the load type borne by the soft shaft end execution component is light load or empty load, the brake deceleration signal is stopped from being output to the motor driver.

8. The thrombus debulking atherectomy device soft shaft protection device of claim 1, wherein, The control module is further configured to: determine a first rotation rate pulse signal of the soft shaft end execution component according to the real-time rotation rate of the soft shaft end execution component, and determine a second rotation rate pulse signal of the motor according to the real-time rotation rate of the motor; determine the load type borne by the soft shaft end execution component according to the first rotation rate pulse signal and the second rotation rate pulse signal; and output a brake deceleration signal to the motor driver according to the load type borne by the soft shaft end execution component to make the motor driver drive the motor to decelerate.

9. The thrombus debulking atherectomy device soft shaft protection device of claim 8, wherein, determine the load type borne by the soft shaft end execution component according to the first rotation rate pulse signal and the second rotation rate pulse signal; and output a brake deceleration signal to the motor driver according to the load type borne by the soft shaft end execution component to make the motor driver drive the motor to decelerate, including: when the first rotation rate pulse signal does not jump at a first preset time, and the second rotation rate pulse signal jumps at the first preset time, the load type borne by the soft shaft end execution component is heavy load; when the load type borne by the soft shaft end execution component is heavy load, an alarm signal is output at a second preset time, and a brake deceleration signal is output to the motor driver at a third preset time to make the motor driver drive the motor to decelerate.

10. The thrombo-reductive atherectomy device soft shaft protection device of claim 1 or 8, wherein, The control module is further configured to output a reverse rotation control signal to make the motor driver drive the motor to rotate reversely after the motor is stopped.

11. The thrombus debulking atherectomy device soft shaft protection of claim 1, further comprising: a protective shell, a battery module, a protection switch and a circuit board; the control module and the motor driver are arranged on the circuit board; a first end of the protection switch is electrically connected with a first end of the battery module, a second end of the protection switch is electrically connected with the circuit board, and a second end of the battery module is electrically connected with the circuit board; the circuit board, the battery module and the protection switch are arranged in the protective shell.

12. The soft shaft protection device of the thrombus volume-reducing atherectomy apparatus according to claim 2, further comprising: a single-lumen catheter, wherein the soft shaft is arranged in the single-lumen catheter; Alternatively, a multi-lumen catheter including an outer sleeve and an inner sleeve, the optical fiber disposed within the outer sleeve, the flexible shaft disposed within the inner sleeve.

13. A thrombus volume reduction rotary cutting device flexible shaft protection method applied to the thrombus volume reduction rotary cutting device flexible shaft protection device of any one of claims 1-12, the thrombus volume reduction rotary cutting device flexible shaft protection method comprising: obtaining a real-time rotating speed of the flexible shaft end execution component; obtaining a real-time rotating speed of the motor and a real-time current of the motor; judging a load bearing type of the flexible shaft end execution component according to the real-time rotating speed of the flexible shaft end execution component, the real-time rotating speed of the motor and the real-time current of the motor; controlling a motor deceleration process according to the load bearing type.

14. The thrombus debulking atherectomy device soft shaft protection method of claim 13, wherein, judging a load bearing type of the flexible shaft end execution component according to the real-time rotating speed of the flexible shaft end execution component, the real-time rotating speed of the motor and the real-time current of the motor, comprising: determining a first rotating speed change rate according to the real-time rotating speed of the flexible shaft end execution component; determining a second rotating speed change rate according to the real-time rotating speed of the motor; when a difference between the first rotating speed change rate and the second rotating speed change rate is less than a preset change rate, and the real-time current of the motor is less than a preset current threshold, the load bearing type of the flexible shaft end execution component is light load; when the difference between the first rotating speed change rate and the second rotating speed change rate is greater than the preset change rate, and the real-time current of the motor is greater than the preset current threshold, the load bearing type of the flexible shaft end execution component is heavy load; when the real-time rotating speed of the flexible shaft end execution component is equal to the real-time rotating speed of the motor, and the real-time current of the motor is less than the preset current threshold, the load bearing type of the flexible shaft end execution component is empty load.

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