Intravascular calcification lesion ultrasonic-powered rotary grinding device

Abstract

Disclosed is an intravascular calcification lesion ultrasonic-powered rotary grinding device. The technical problem to be solved is to improve the safety of surgeries and reduce costs. In the present invention, a rotary grinding head is provided, and from the proximal end to the distal end, an ultrasonic motor system, a first-order transmission acceleration mechanism, a second-order transmission acceleration mechanism, and a rotary grinding head, which are connected in sequence, are provided. The rotary grinding head has a rotating speed of 60,000 rad / min to 120,000 rad / min. Compared with the prior art, the present invention adopts an ultrasonic motor to convert electrical energy into rotational mechanical energy, to drive the transmission acceleration mechanism to achieve the rotation of the rotary grinding head, and is used for dredging or improving severely narrow and severely calcified or fibrotic atherosclerotic lesions in coronary arteries. The rotary grinding head has low transmission noise in high-speed rotation, reducing the frictional heat retained in a human body caused by rotary grinding, reducing the amount of cooling and lubricating solution input into the human body, and reducing the metabolic burden on human kidneys. The present invention has safety, reliability, a simple structure, and low costs.

Description

Intravascular calcified lesion ultrasound powered rotational atherectomy device TECHNICAL FIELD

[0001] The present invention relates to a medical device, in particular a device for interventional treatment of peripheral and coronary calcified lesions. TECHNICAL BACKGROUND

[0002] Rotational atherectomy is an indispensable procedure for the successful completion of percutaneous coronary intervention (PCI) for severe stenosis, severe calcification or fibrosis of the lesion. It is a useful treatment for severe stenosis, severe calcification or fibrosis of the lesion. The prior art uses a rotational atherectomy device to complete the rotational atherectomy. A high-speed rotating diamond bur is used for interventional treatment in the coronary artery of the human body. The lesion site in the artery is rotated to make the severely occluded coronary artery passable. One of the rotational atherectomy devices is driven by a high-speed motor to rotate the diamond bur, and the representative device is CSIDiamondback 360 Coronary Orbital Atherectomy System. Another rotational atherectomy device is driven by high-pressure gas transmission, which converts the kinetic energy of the gas into mechanical energy to rotate the diamond bur, and the representative device is Boston Rotablato.

[0003] The deficiencies of the above two rotational atherectomy devices are as follows:

[0004] 1. The high-speed rotation of the diamond bur and the bur carrier in the coronary artery of the human body generates a large amount of heat, which may cause a series of complications in the patient, such as vascular spasm, acute thrombosis, and acute myocardial infarction;

[0005] 2. A large amount of lubricating coolant solution is used in the rotational atherectomy process to be input into the human artery, which brings a large burden to the kidney function of the human body;

[0006] 3. The driving motor and high-pressure gas generate a large amount of noise during the rotational atherectomy process;

[0007] 4. The residual particles generated by the rotational bur during the rotational atherectomy process flow into the distal position of the vascular lesion through the flushing of blood and lubricating fluid.

[0008] The deficiencies of the above two rotational atherectomy devices are as follows:

[0009] 1. The motor drive, the structure and shape of the diamond bur are difficult to effectively pass through the large area of the occlusion (blockage) of the lesion in the blood vessel, and many control signals are needed to control the motor, which is easy to be disturbed by wireless interference; the motor control board needs to be powered by a storage battery, and the storage battery has the risk of effective storage time.

[0010] 2. High-pressure gas transmission, diamond grinding head structure shape is not applicable to improve the unilateral calcification of blood vessel wall and blood vessel bifurcation calcification; the whole equipment is large in size, the equipment connection is complex, and the cost is high.

[0011] SUMMARY

[0012] The purpose of the present application is to provide an intravascular calcification lesion ultrasonic power rotary grinding device, and the technical problem to be solved is to improve the safety of the operation and reduce the cost.

[0013] The present application adopts the following technical scheme: an intravascular calcification lesion ultrasonic power rotary grinding device is provided with a rotary grinding head, and the intravascular calcification lesion ultrasonic power rotary grinding device is sequentially provided with an ultrasonic motor system, a first transmission acceleration mechanism, a second transmission acceleration mechanism and the rotary grinding head from the proximal end to the distal end, and the rotating speed of the rotary grinding head is 60000-120000 rad / min.

[0014] The ultrasonic motor system of the present application is provided with a direct current power supply for driving the motor driving assembly and the ultrasonic motor, and the motor driving assembly provides a driving signal for the ultrasonic motor.

[0015] The ultrasonic motor system of the present application is provided with an ultrasonic motor and a transmission box, the output shaft of the ultrasonic motor is in detachable connection with the first driving gear of the transmission box, the first driving gear transmits power to the first driven gear, and the first driven gear is in detachable connection with one end of the driving main shaft.

[0016] The ultrasonic motor of the present application is two, the first driving gear is two, the first driving gear is symmetrically located on both sides of the first driven gear, the first driving gear is parallel to the axis of the first driven gear and located in the same plane.

[0017] The direct current power supply of the present application adopts a power module with a model of XGE, the motor driving assembly adopts a motor driving assembly with a model of TMCM-1110-STEPROCKER, and the ultrasonic motor adopts an SJ-PXS-60-05K type ultrasonic motor.

[0018] The first transmission acceleration mechanism of the present application is provided with a second driving gear connected to the other end of the driving main shaft, the second driving gear transmits power to the second driven gear through the first double gear and the second double gear, and outputs power.

[0019] The second-order transmission acceleration mechanism of the application is provided with an input shaft and an output shaft, a third double gear formed by a third driving gear and a straight gear, a fourth double gear formed by a fourth driven gear and a fifth driven gear, and a fifth double gear formed by a sixth driven gear and a seventh driven gear; the input shaft is a straight gear driving shaft, and the output shaft is a helical gear driving shaft; the straight gear driving shaft transmits the power output by the first-order transmission acceleration mechanism to the helical gear driving shaft through the third double gear, the fourth double gear, the fifth double gear, an eighth driven gear, a helical gear on the helical gear driving shaft, and a helical gear on the helical gear driving shaft.

[0020] The rotary grinding head of the application is a rotary grinding wire tube, which is provided with a six-ribbed hollow shaft, the proximal end of the six-ribbed hollow shaft is connected to the helical gear driving shaft at the output end of the second-order transmission acceleration mechanism in a detachable manner, and the distal end of the six-ribbed hollow shaft is connected to the proximal end of the rotary grinding wire tube.

[0021] The rotary grinding wire tube of the application is formed by helically winding at least two stainless steel wires.

[0022] The distal end of the rotary grinding wire tube of the application is provided with a rotary grinding head, the rotary grinding head is sleeved around the distal end of the rotary grinding wire tube, and the rotary grinding wire tube extends out of the rotary grinding head; the axial section of the rotary grinding head is in the shape of a calabash, the small end of the calabash points to the distal end, the axis of the rotary grinding wire tube coincides with the axis of the rotary grinding head, the maximum outer diameter of the calabash extends along the axis in a cylindrical shape, the length of the cylindrical shape is less than the axial length of the reduced outer diameter of the large end of the calabash; or a part of the calabash shape and the cylindrical shape is cut off from the outer edge of the lower part of the axial section of the calabash-shaped rotary grinding head, so that an eccentric rotary grinding head is formed; or the axial section of the rotary grinding head is in the shape of a trapezoid combined with a rectangle, the axial section of the rotary grinding wire tube coincides with the rectangle, the upper outer edge of the axial section of the rotary grinding wire tube coincides with the lower base of the trapezoid of the rotary grinding head, so that an eccentric rotary grinding head is formed.

[0023] Compared with the prior art, the application uses an ultrasonic motor to convert electrical energy into rotary mechanical energy to drive the transmission acceleration mechanism to rotate the rotary grinding head, which is used for dredging or improving severe stenosis of severe calcification or fibrosis of atherosclerotic lesions in the coronary artery; the ultrasonic motor is made of non-magnetic materials and is not affected by electromagnetic waves in the use environment; a magnetic encoder is used to control the rotary displacement of the motor, 360° is divided into 20000 unit bytes, the axial rotary displacement resolution of 1um can be realized, the reaction efficiency is high, and the controllability is strong; the high-speed rotary transmission noise of the rotary grinding head is low, the friction heat caused by the rotary grinding is reduced, the amount of cooling and lubricating solution input into the human body is reduced, the metabolic burden of the human kidney is reduced, and the safety, reliability, simple structure, and low cost are achieved. BRIEF DESCRIPTION OF DRAWINGS

[0024] Fig. 1 is a structural block diagram of the application.

[0025] Fig. 2 is a schematic diagram of the connection between the ultrasonic motor system and the transmission acceleration mechanism of the application.

[0026] Figure 3 is an exploded schematic diagram of the ultrasonic motor system structure of the present application.

[0027] Figure 4 is an exploded schematic diagram of the first-stage transmission acceleration mechanism structure of the present application.

[0028] Figure 5 is an exploded schematic diagram of the second-stage transmission acceleration mechanism structure of the present application.

[0029] Figure 6 is a schematic diagram of the second-stage transmission acceleration mechanism structure of the present application.

[0030] Figure 7 is an axial sectional view of the second-stage transmission acceleration mechanism structure of the present application.

[0031] Figure 8 is a schematic diagram of the ultrasonic motor system and acceleration transmission mechanism of the present application.

[0032] Figure 9 is an axial sectional view of the ultrasonic motor system and acceleration transmission mechanism of the present application.

[0033] Figure 10 is an exploded axial sectional view of the ultrasonic motor system and acceleration transmission mechanism of the present application.

[0034] Figure 11 is an axial sectional view of the ultrasonic motor system of the present application.

[0035] Figure 12 is an axial sectional view of the first-stage transmission acceleration mechanism of the present application.

[0036] Figure 13 is an axial sectional view of the second-stage transmission acceleration mechanism of the present application (I).

[0037] Figure 14 is an axial sectional view of the second-stage transmission acceleration mechanism of the present application (II).

[0038] Figure 15 is a schematic diagram of the rotary grinding wire-wound tube structure of the present application.

[0039] Figure 16 is a schematic diagram of the axial sectional view of the rotary grinding wire-wound tube structure of the present application.

[0040] Figure 17 is a cross-sectional view of the rotary grinding wire-wound tube structure of the present application.

[0041] Figure 18 is a schematic diagram of the rotary grinding head structure of the present application (I).

[0042] Figure 19 is a schematic diagram of the rotary grinding head structure of the present application (II). DETAILED DESCRIPTION

[0043] The present application is further described in detail below with reference to the accompanying drawings and examples. The intravascular calcified lesion ultrasonic power rotary grinding device of the present application converts electrical energy into mechanical energy through an ultrasonic motor (ultrasonic motor) system, and drives the rotary grinding head to rotate through a first-stage and second-stage transmission acceleration mechanism, so as to dredge or improve severe stenosis of severe calcified or fibrotic atherosclerotic lesions in the human coronary artery.

[0044] As shown in Fig. 1, the intravascular calcified lesion ultrasonic power-driven rotary grinding device of the present application is provided with, from proximal end to distal end, sequentially connected ultrasonic motor system, first-stage transmission acceleration mechanism, second-stage transmission acceleration mechanism and rotary grinding head.

[0045] In the ultrasonic motor system, a direct current power supply is provided for powering the motor driving assembly and the ultrasonic motor, the motor driving assembly provides driving signal for the ultrasonic motor, the power output by the ultrasonic motor is transmitted to the rotary grinding head through the first-stage transmission acceleration mechanism and the second-stage transmission acceleration mechanism.

[0046] The direct current power supply inputs alternating current AC 220V and outputs direct current DC 12V.

[0047] In this embodiment, the direct current power supply adopts the power supply module of model XGE of Excelsys Technologies Ltd. with headquarters in Ireland, the output is 24V, the output range is 5-28V, and the power is 120W.

[0048] The motor driving assembly is used for regulating and controlling the ultrasonic motor, regulating and controlling the running speed of the ultrasonic motor and controlling its forward and reverse rotation. The motor driving assembly outputs pulse to regulate and control the ultrasonic motor, and the pulse waveforms for the running speed and the movement direction are continuous wave, the amplitude is 10KV, the width is 50ns, and the frequency is 1Hz.

[0049] In this embodiment, the motor driving assembly adopts the motor driving assembly of model TMCM-1110-STEPROCKER of Trinamic Motion Control GmbH in Germany, which is bipolar 12-24VDC output, power supply 1A, load 2.8A, 10-30V.

[0050] The ultrasonic motor is used for converting electrical energy into rotary mechanical energy, and the reaction speed is fast. The output torque of the ultrasonic motor is not less than 0.25N.m, and the maintenance time at a constant speed of 100rad / min is not less than 3min.

[0051] In this embodiment, the ultrasonic motor adopts SJ-PXS-60-05K ultrasonic motor of Siemens AG in Germany.

[0052] The first-stage transmission acceleration mechanism is used for speed-up power and transmission to the second-stage transmission acceleration mechanism.

[0053] The second-stage transmission acceleration mechanism is used for further speed-up power to achieve higher output speed.

[0054] The rotary grinding head is used for dredging or improving severe calcification or fibrosis of severe calcified or fibrotic atherosclerotic lesions in the coronary artery.

[0055] The rotation speed of the rotary grinding head is 60000-120000 rad / min, the pulse frequency of the motor driving assembly is adjusted to control the rotation speed of the rotary grinding head to a specific rotation speed value.

[0056] As shown in Fig. 2, the output hole of the ultrasonic motor system 1 is coaxially connected with the input hole of the first-stage transmission accelerating mechanism 3 through the driving spindle 2, and the input hole of the first-stage transmission accelerating mechanism 3 is parallel to the axis of the second-stage transmission accelerating mechanism 4.

[0057] In this embodiment, the cross section of the driving spindle 2 is a regular hexagon.

[0058] As shown in Fig. 3 and Fig. 11, the ultrasonic motor system 1 is provided with two ultrasonic motors 5 and a transmission box. The output shafts of the two ultrasonic motors 5 are parallel and respectively extend into two input holes of the transmission box.

[0059] The transmission box is provided with two first driving gears 8 and a first driven gear 9 which is simultaneously engaged with the two first driving gears 8. The first driving gears 8 are symmetrically located on both sides of the first driven gear 9, the axes of the first driving gears 8 are parallel to the first driven gear 9 and are located in the same plane. The shaft sleeve extended parts of the two end faces of the first driving gear 8 with the input hole and the shaft sleeve extended parts of the two end faces of the first driven gear 9 with the output hole are respectively arranged in the first bearing 7 and the second bearing 10, the first bearing 7 and the second bearing 10 are respectively arranged in the first housing 6 and the second housing 11, and the first housing 6 and the second housing 11 constitute the housing of the transmission box. The first housing 6 and the second housing 11 are connected by the first screw 12 to form the housing of the transmission box with a detachable connection structure.

[0060] The output shafts of the ultrasonic motors 5 respectively extend into the input holes of the two first driving gears 8 to form a detachable connection. The first driving gears 8 transmit power to the first driven gear 9. The central hole of the first driven gear 9 serves as the power output hole of the transmission box and forms a detachable connection with one end of the driving spindle 2. The power of the ultrasonic motor 5 is output to the first-stage transmission accelerating mechanism 3 through the driving spindle 2. The meshing parts of the driving gears 8 and the driven gears 9 are kept with a large enough tooth side gap and a large enough addendum gap.

[0061] In this embodiment, the first driving gears 8 and the first driven gears 9 are standard spur cylindrical gears with a module of 1.5. The first driving gears 8 have 30 teeth, the pitch circle diameter is 48 mm, and the central hole is a 24-tooth inner spline groove through hole with an inner diameter of 8 mm for matching with the output shaft of the ultrasonic motor 5. The first driven gears 9 have 30 teeth, the central hole is a regular hexagon through hole with an inscribed circle diameter of 13 mm, serving as the power output hole of the transmission box. The transmission efficiency of the ultrasonic motor 5 to the driven gears 9 is 0.90-0.95, and the rotation speed ratio is 1:1.

[0062] The ultrasonic motor 5 has a large output torque value, and can stably output a motor torque of not less than 0.25 N.m. The ultrasonic motor 5 uses a ceramic sheet of non-magnetic material, is not affected by electromagnetic waves in the use environment, and uses a magnetic encoder to control the output rotation angle of the ultrasonic motor. The 360° is divided into 20000 units, and the displacement resolution of the rotary abrasive head is 1 μm. The sensitivity is high, and the control precision is high.

[0063] As shown in FIG. 4 and FIG. 12, the first-stage transmission acceleration mechanism 3 is provided with a third housing 13 and a fourth housing 21. After the third housing 13 and the fourth housing 21 are connected by the second screw 23, a first-stage transmission acceleration mechanism housing is formed.

[0064] In the first-stage transmission acceleration mechanism housing, a second driving gear 14 is arranged. The center hole of the second driving gear 14 is connected to the other end of the driving main shaft 2, and receives the power transmitted by the ultrasonic motor 5 through the transmission box and the driving main shaft 2. The power is sequentially transmitted from the second driving gear 14 to the second driving gear 19 through the second driving gear 14, the first double gear 16, the second double gear 18, and the second driven gear 19, and is output by the second driven gear 19.

[0065] The second driving gear 14, the first double gear 16, the second double gear 18, and the second driven gear 19 are standard spur cylindrical gears, and the axes thereof are parallel to each other. The module is 2.5.

[0066] The two ends of the second driving gear 14 are arranged in two third bearings 15, and the two ends of the second driven gear 19 are arranged in two fourth bearings 20. The third bearings 15 and the fourth bearings 20 are arranged in the first-stage transmission acceleration mechanism housing formed by the third housing 13 and the fourth housing 21. The two ends of the first double gear 16 and the second double gear 18 are arranged in the fixed bearings in the third housing 13 and the fourth housing 21.

[0067] In this embodiment, the second driving gear 14 has 48 teeth, and the pitch circle diameter is 72 mm. The center hole is a regular hexagonal through hole with an inscribed circle diameter of 13 mm, which is a power input hole of the first-stage transmission acceleration mechanism 3. The second driven gear 19 has 18 teeth, and the pitch circle diameter is 12 mm.

[0068] The second driving gear 14 is engaged with the smaller gear of the first double gear 16, and the smaller gear has a pitch circle diameter of 12 mm and 18 teeth. The larger gear of the first double gear 16 has a pitch circle diameter of 18 mm and 24 teeth, and is engaged with the smaller gear of the second double gear 18, which has a pitch circle diameter of 12 mm and 18 teeth. The larger gear of the second double gear 18 has a pitch circle diameter of 18 mm and 24 teeth, and is engaged with the driven gear 19.

[0069] The rotation speed ratio of the second driving gear 14 to the second driven gear 19 is 1:10, and a first-stage transmission acceleration mechanism is used to realize acceleration.

[0070] As shown in FIGS. 5, 6 and 7, the second-stage transmission acceleration mechanism 4 is provided with a shell 24.

[0071] In this embodiment, the shell 24 is in the shape of a cylinder with an inner diameter of 27.5 mm, an outer diameter of 30 mm and a length of 50 mm. The distal end of the cylinder is provided with an end cover 47 which is embedded in the distal end opening of the cylinder and is positioned and connected to the cylinder wall by a third screw 25.

[0072] An acceleration transmission mechanism of the second-stage transmission acceleration mechanism 4 is arranged axially in the cylinder. The acceleration transmission mechanism is provided with a third driving gear 30 with 15 teeth and a pitch circle diameter of 5.2 mm. The distal end of the central shaft of the third driving gear 30 is provided with a spur gear 33 with a pitch circle diameter of 11 mm and 34 teeth. An inner spline groove with an inner diameter of 3 mm and 24 teeth is opened on the central axis of the third driving gear 30. The third driving gear 30 and the spur gear 33 form a third double gear.

[0073] In the shell 24, the inner side of the end cover 47 is sequentially provided with a first bearing cover plate 41 and a second bearing cover plate 31 which are parallel to the end cover 47. Six gear shaft holes are respectively opened on the end cover 47, the first bearing cover plate 41 and the second bearing cover plate 31 and are uniformly distributed along the axial direction at a radius of 7.5 mm, i.e. at an angle of 60° with respect to each other. Six gear shafts 39 are respectively arranged in the six gear shaft holes. The gear shafts 39 have a diameter of 2 mm. One end of the gear shafts 39 is arranged in the hole of the end cover 47. The other end of the gear shafts 39 is arranged in the hole of the second bearing cover plate 31 through the hole of the first bearing cover plate 41. The second bearing cover plate 31 is arranged near the proximal end of the shell 24.

[0074] As shown in FIGS. 10, 11, 13 and 14, the second-stage transmission acceleration mechanism 4 is provided with an input shaft and an output shaft. The input shaft is a spur gear driving shaft 29 and the output shaft is a helical gear driving shaft 45. The spur gear driving shaft 29 (input shaft) to the helical gear driving shaft 45 (output shaft) is a five-stage acceleration transmission mechanism with a rotation speed ratio of about 1:128.

[0075] The spur gear driving shaft 29 of the second-stage transmission acceleration mechanism 4 has 34 teeth and a pitch circle diameter of 11 mm. The portion of the spur gear driving shaft 29 which is elongated along the central shaft axis towards the input end is a regular hexagonal shaft with an inscribed circle diameter of 5 mm.

[0076] The output end of the spur gear drive shaft 29 is arranged in the fifth bearing 32, which is arranged on the second bearing cover plate 31. At the input end of the second-stage transmission acceleration mechanism 4, the sixth bearing 26 and the seventh bearing 28 and the bearing spacer 27 therebetween are arranged at the input end of the spur gear drive shaft 29 for limiting the axial displacement of the spur gear drive shaft 29. The input end of the spur gear drive shaft 29 is connected to the central hole of the second driven gear 19 in the first-stage transmission acceleration mechanism 3. The spur gear drive shaft 29 is engaged with the six third driving gears 30, which are provided with spline grooves with a pitch circle diameter of 3 mm and 24 teeth in the inner holes of the third driving gears 30, and the spline grooves are arranged to be connected with the gear shaft 39 with a diameter of 2 mm.

[0077] The third driving gears 30 are engaged with the fourth driven gear 34 through the spur gear 33 of the third double gear. The fourth driven gear 34 has 15 teeth and a pitch circle diameter of 5.2 mm. The fourth driven gear 34 is arranged with a spline groove in the central hole, which is connected with the central shaft, and the fifth driven gear 35 is arranged on the central shaft. The fifth driven gear 35 is arranged with a spline groove in the central hole, which has a pitch circle diameter of 3.5 mm and 24 teeth, and is connected with the central shaft of the fourth driven gear 34. The fourth driven gear 34 and the fifth driven gear 35 form the fourth double gear.

[0078] The fifth driven gear 35 is engaged with the sixth driven gear 36, which has 12 teeth and a pitch circle diameter of 4.3 mm. The sixth driven gear 36 is arranged with the gear shaft 39 in the central hole, and the sixth driven gear 36 is connected with the gear shaft 39 through the spline and the spline groove, which has a pitch circle diameter of 3 mm and 24 teeth. The gear shaft 39 is connected with the seventh driven gear 37, which has a pitch circle diameter of 11.7 mm and 37 teeth, through the spline and the spline groove, which has a pitch circle diameter of 3 mm and 24 teeth. The sixth driven gear 36 and the seventh driven gear 37 form the fifth double gear.

[0079] The middle part of the six gear shafts 39 is arranged on the first bearing cover plate 41 through the eighth bearing 40, one end of the gear shaft 39 extends out of the first cover plate 41, and the eighth driven gear 42 is arranged on the gear shaft 39. The eighth driven gear 42 penetrates through the first bearing cover plate 41, and the eighth driven gear 42 can adopt a combined structure. The gear shaft 39 and the eighth driven gear 42 are connected through the spline with a pitch circle diameter of 3 mm and 24 teeth. The eighth driven gear 42 is engaged with the helical gear 43, which has an outer diameter of 11.3 mm and 34 teeth. The helical gear 43 is connected to the helical gear shaft 44 through the spline groove with an inner diameter of 3 mm and 24 teeth. The helical gear 43 is engaged with the helical gear on the helical gear drive shaft 45. The output end of the helical gear drive shaft 45 is a regular hexagon with an inscribed circle diameter of 3 mm.

[0080] The power transmission of the second-stage transmission acceleration mechanism 4 is as follows: the straight gear driving shaft 29 transmits the power output by the first-stage transmission acceleration mechanism 3 to the seventh driven gear 37, the eighth driven gear 42, the helical gear 43, and the helical gear driving shaft 45 via the third double gear, the fourth double gear, and the fifth double gear, and is output from the output end of the helical gear driving shaft 45.

[0081] The eighth bearing 40 arranged on the first bearing cover plate 41 and the ninth bearing 46 arranged on the end cover 47 limit the axial displacement of the helical gear driving shaft 45 (output shaft) with a radius of 4.8 mm of the index circle and 13 teeth.

[0082] As shown in FIGS. 8, 9, 10, and 15, the rotary grinding head connected to the output end of the second-stage transmission acceleration mechanism is a rotary grinding wire tube, which is provided with a six-ribbed hollow shaft, the proximal end of which forms a detachable connection structure with the helical gear driving shaft 45 of the output end of the second-stage transmission acceleration mechanism, and the distal end of which is welded to the proximal end of the rotary grinding wire tube.

[0083] As shown in FIGS. 16 and 17, the rotary grinding wire tube is formed by helical winding of at least two stainless steel wires, three in this embodiment, with an outer diameter d = 0.175 mm, a single helical winding pitch P = 0.5 mm, an outer diameter OD = 0.85 mm, an inner diameter ID = 0.5 mm, a helical angle a = 12°, and a right-handed rotation. After helical winding, the stainless steel wires are subjected to a stress relief heat treatment at a temperature of not less than 450°C to obtain a good torsion transmission capacity and a good bending capacity, and can pass through a complex bending condition of a blood vessel.

[0084] As shown in FIG. 18, the distal end of the rotary grinding wire tube is provided with a rotary grinding head, which is sleeved around the distal end of the rotary grinding wire tube, the rotary grinding wire tube extends out of the rotary grinding head, and the rotary grinding head and the rotary grinding wire tube are connected by laser welding. The axial section of the rotary grinding head is in the shape of a gourd, the small end of the gourd faces the distal end, the axis of the rotary grinding wire tube coincides with the axis of the rotary grinding head, and the maximum outer diameter of the gourd extends along the axis in a cylindrical shape, and the length of the cylindrical shape is less than the axial length of the reduced outer diameter of the large end of the gourd.

[0085] A part of the gourd shape and the cylindrical shape can be cut off from the lower edge of the axial section of the gourd-shaped rotary grinding head to form an eccentric rotary grinding head. The eccentric rotary grinding head can not only dredge the forward narrowness, but also improve the calcified lesions on the blood vessel wall, and can also take into account the bifurcated lesions.

[0086] As shown in Figure 19, the axial section of the rotary grinding head is in the shape of a trapezoid combined with a rectangle, the axial section of the rotary grinding wire tube coincides with the rectangle, and the upper outer edge of the axial section of the rotary grinding wire tube coincides with the lower base of the trapezoid of the rotary grinding head, so as to form an eccentric rotary grinding head. The rotary grinding wire tube extends 2-3 cm from the distal end of the rotary grinding head. The rotary grinding head of this shape is suitable for improving unilateral calcification lesions and bifurcation calcification lesions of the blood vessel wall, and is suitable for improving unilateral calcification lesions and bifurcation calcification lesions of the blood vessel wall.

[0087] The present application converts electrical energy into mechanical energy of the ultrasonic motor to drive the transmission acceleration mechanism to rotate the rotary grinding head, and is used for dredging or improving severe stenosis of severe calcification or fibrosis of atherosclerotic lesions in peripheral and coronary blood vessels of the human body. The ultrasonic motor is made of non-magnetic material and is not affected by electromagnetic waves in the use environment. A magnetic encoder is used to control the rotation angle of the motor, which is divided into 20000 unit bytes from 360°. The rotary grinding head can realize a rotation displacement resolution of 1 μm along the circumferential direction, has high sensitivity and strong controllability. The high-speed rotary grinding head has low transmission noise, reduces the friction heat retained in the human body caused by the rotary grinding, reduces the amount of cooling and lubricating solution input into the human body, reduces the metabolic burden of the human kidney, is safe and reliable, has simple structure and low cost.

[0088] The ultrasonic motor used in the present application is powered by a 12V DC power supply. The motor drive controls the motor power pulse frequency to regulate the motor. The motor output torque is not less than 0.25 N·m. The motor maintains a constant speed of 100 rad / min for more than 3 min. The motor output shaft is connected to the rotary grinding head through a transmission acceleration mechanism. The rotary grinding head has a speed of 60000-120000 rad / min. The power pulse frequency of the motor is adjusted to control the speed of the rotary grinding head to any value between 60000-120000 rad / min. The structure is simple, the cost is low, and the operation is safe and reliable.

Claims

1. An intravascular calcified lesion ultrasonic powered rotary ablation device provided with a rotary ablation head, characterized in that: The intravascular calcification lesion ultrasonic power rotary grinding device is provided with, from proximal end to distal end, sequentially connected ultrasonic motor system (1), first-stage transmission acceleration mechanism (3), second-stage transmission acceleration mechanism (4) and rotary grinding head, and the rotary speed of the rotary grinding head is 60000-120000 rad / min.

2. The intravascular calcified lesion ultrasonically powered abrasive cutting device of claim 1, wherein: The ultrasonic motor system is provided with direct current power supply for power supply of motor driving assembly and ultrasonic motor, and motor driving assembly for providing driving signal for the ultrasonic motor.

3. The intravascular calcified lesion ultrasonically powered abrasive cutting device of claim 2, wherein: The ultrasonic motor system (1) is provided with ultrasonic motor (5) and transmission box, the output shaft of the ultrasonic motor (5) is formed with detachable connection with the first driving gear (8) of the transmission box, the first driving gear (8) transmits power to the first driven gear (9), and the first driven gear (9) is formed with detachable connection with one end of the driving main shaft (2).

4. The intravascular calcified lesion ultrasonically powered abrasive cutting device of claim 3, wherein: The ultrasonic motor (5) is two, the first driving gear (8) is two, the first driving gear (8) is symmetrically located on both sides of the first driven gear (9), the first driving gear (8) is parallel to the axis of the first driven gear (9) and is located in the same plane.

5. The intravascular calcified lesion ultrasonically powered abrasive cutting device of claim 4, wherein: The direct current power supply adopts power module of model XGE, the motor driving assembly adopts motor driving assembly of model TMCM-1110-STEPROCKER, and the ultrasonic motor adopts SJ-PXS-60-05K type ultrasonic motor.

6. The intravascular calcified lesion ultrasonically powered abrasive cutting device according to claim 5, wherein: The first-stage transmission acceleration mechanism (3) is provided with the second driving gear (14) connected with the other end of the driving main shaft (2), the second driving gear (14) transmits power to the second driven gear (19) through the first double gear (16), the second double gear (18) and outputs power.

7. The intravascular calcified lesion ultrasonically powered abrasive cutting device of claim 6, wherein: The second-stage transmission acceleration mechanism (4) is provided with input shaft and output shaft, third driving gear (30) and spur gear (33) form third double gear, fourth driven gear (34) and fifth driven gear (35) form fourth double gear, and sixth driven gear (36) and seventh driven gear (37) form fifth double gear; the input shaft adopts spur gear driving shaft (29), and the output shaft adopts helical gear driving shaft (45); the spur gear driving shaft (29) transmits power output by the first-stage transmission acceleration mechanism (3) to the helical gear driving shaft (45) through the third double gear, the fourth double gear, the fifth double gear, the eighth driven gear (42), the helical gear (43) and the helical gear on the helical gear driving shaft (45).

8. The intravascular calcified lesion ultrasonically powered abrasive cutting device of claim 7, wherein: The rotary grinding head is rotary grinding wire tube provided with six-rib hollow shaft, the six-rib hollow shaft is formed with detachable connection structure with the helical gear driving shaft (45) at the output end of the second-stage transmission acceleration mechanism (4) at the proximal end, and the six-rib hollow shaft is connected with the rotary grinding wire tube at the distal end.

9. The intravascular calcified lesion ultrasonically powered abrasive cutting device of claim 8, wherein: The rotary grinding wire tube is formed by at least two stainless steel wires spirally wound.

10. The intravascular calcified lesion ultrasonically powered abrasive cutting device of claim 9, wherein: The rotary grinding wire tube distal end is provided with a rotary grinding head, the rotary grinding head is sleeved near the rotary grinding wire tube distal end part, and the rotary grinding wire tube extends out of the rotary grinding head; the axial section of the rotary grinding head is in the shape of a calabash, the small end of the calabash shape is towards the distal end, the axis of the rotary grinding wire tube coincides with the axis of the rotary grinding head, the maximum outer diameter of the calabash shape extends along the axis for a length in the shape of a cylinder, the length of the cylinder is less than the axial length of the calabash shape large end outer diameter which decreases, or a part of the calabash shape and the cylinder is cut off from the lower part of the axial section of the calabash shape rotary grinding head, so that an eccentric rotary grinding head is formed, or the axial section of the rotary grinding head is in the shape of a trapezoid combined with a rectangle, the axial section of the rotary grinding wire tube coincides with the rectangle, the upper part of the axial section of the rotary grinding wire tube coincides with the lower base of the trapezoid of the rotary grinding head, and an eccentric rotary grinding head is formed.

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