CN221106149U - A support delivery device and vascular intervention operation robot for vascular intervention operation - Google Patents

Abstract

The application discloses a stent delivery device for vascular intervention operation and a vascular intervention operation robot, wherein the stent delivery device comprises: an outer tube; the inner tube is partially sleeved in the outer tube, the inner tube and the outer tube can move linearly relatively, a gap for sleeving the bracket is arranged between the inner tube and the outer tube, and the front end of the inner tube is provided with a mounting part; the ultrasonic array element is arranged in the mounting part and can rotate around the circumference in the mounting part in a driven manner. The application realizes the technical effect of completely acquiring the peripheral blood vessel information by utilizing the rotation of the ultrasonic array elements, and effectively reduces the arrangement cost of the ultrasonic array elements, thereby solving the problem of higher use cost caused by the fact that a plurality of ultrasonic devices are required to be arranged along the circumferential direction for acquiring the peripheral blood vessel information of the delivery device in the related technology.

Description

A support delivery device and vascular intervention operation robot for vascular intervention operation

Technical Field

The application relates to the technical field of medical equipment, in particular to a stent delivery device for vascular intervention operation and a vascular intervention operation robot.

Background

The stent (such as a self-expanding stent, a balloon expansion stent and the like) is a common medical intervention instrument for treating vascular lesions, and after reaching the lesion position under the guidance of a micro-guide wire, a doctor expands the stent to improve the smoothness of the blood vessel, thereby achieving the purpose of treatment.

Ultrasound imaging is a commonly used technique for acquiring images of the human body in the medical field at present. The principle of the ultrasonic imaging technology is mainly that a piezoelectric crystal is utilized to emit sound wave signals, the sound wave signals generate echo signals at layered positions of interfaces, and images of internal tissues of a human body are obtained according to the echo signals.

At present, the stent is arranged in a blood vessel, the position of a lesion in the blood vessel is required to be determined by utilizing an ultrasonic imaging device, such as hardening and blocking, after the position of the lesion is determined, the lesion is treated by utilizing the stent, and finally, whether the stent is correctly placed or not is required to be determined by utilizing the ultrasonic imaging device again, three steps are required, the steps are complicated, the operation is complex, and the damage to the body of a patient is larger.

For this reason, the related art adopts a method of installing an ultrasonic device at the front end of a stent delivery device, and acquiring relevant information of a blood vessel during stent delivery by the ultrasonic device. However, since the ultrasound wave transmitting direction of a single ultrasound device is single, and the section of the blood vessel is circumferential, a plurality of ultrasound devices need to be circumferentially arranged at the front end of the delivery device in order to obtain the complete information in the blood vessel in the related process, which results in the problems of high use cost, overlarge device volume and the like.

Disclosure of utility model

The application mainly aims to provide a stent delivery device for vascular interventional operation, which aims to solve the problem that a plurality of ultrasonic devices are required to be circumferentially arranged for acquiring vascular information around the delivery device in the related art, so that the use cost is high.

In order to achieve the above object, the present application provides a stent delivery device for vascular interventional procedures, the stent delivery device comprising:

An outer tube;

The inner tube is partially sleeved in the outer tube, the inner tube and the outer tube can move linearly relatively, a gap for sleeving a bracket is formed between the inner tube and the outer tube, and the front end of the inner tube is provided with a mounting part;

The ultrasonic array element is arranged in the mounting part and can rotate around the circumference in the mounting part in a driven manner.

Further, the mounting portion extends beyond the front end of the outer tube.

Further, the ultrasound array elements are arranged to transmit ultrasound waves towards the vessel wall and to receive echoes to measure relevant information of the vessel.

Further, the stent delivery device further comprises a driving motor and a connecting piece, wherein the first end of the connecting piece is connected with the ultrasonic array element, the second end of the connecting piece extends out of the rear end of the inner tube and is connected with the driving motor, and the driving motor drives the ultrasonic array element to rotate through the connecting piece.

Further, the stent delivery device also comprises an ultrasonic signal processing device, and the connecting piece is arranged as a signal cable;

The first end of the signal cable is electrically connected with the ultrasonic array element, and the second end of the signal cable extends out of the inner tube and is in transmission connection with the driving motor through a transmission structure;

the signal cable is electrically connected with the ultrasonic signal processing device, and the ultrasonic signal processing device is used for sending an electric excitation signal to the ultrasonic array element through the signal cable and receiving an electric signal sent out by the ultrasonic array element through the signal cable.

Further, the transmission structure comprises a connecting shaft, a first end of the connecting shaft is in transmission connection with the driving motor, a second end of the connecting shaft is provided with a clamping structure, and a second end of the signal cable is clamped and fixed by the clamping structure.

Further, the clamping structure is a plug arranged on the connecting shaft, and a spring and convex teeth are arranged in the plug;

The spring is used for pushing the convex teeth to move in the plug, and the second end of the signal cable is inserted into the connecting shaft and locked by the convex teeth.

Further, an unlocking button is arranged on the connecting shaft, and the unlocking button is arranged to push the convex teeth to move towards the direction deviating from the signal cable and compress the spring so as to release the signal cable.

Further, the transmission structure comprises a first rotating terminal and a second rotating terminal, the first rotating terminal is arranged at the second end of the signal cable, and the second rotating terminal is arranged at the output end of the driving motor;

The first rotating terminal and the second rotating terminal are in plug-in fit and locked with each other, so that the second rotating terminal can drive the first rotating terminal to rotate.

According to another aspect of the present application, there is provided a vascular interventional procedure robot comprising a robot body and the stent delivery device for vascular interventional procedure described above.

In the embodiment of the application, the outer tube, the inner tube and the ultrasonic array element are arranged; the inner pipe part is sleeved in the outer pipe, the inner pipe and the outer pipe can move relatively in a straight line, a gap for sleeving a bracket is formed between the inner pipe and the outer pipe, and the front end of the inner pipe is provided with an installation part; the ultrasonic array element is arranged in the installation part, the ultrasonic array element is arranged to be capable of being driven to rotate around the circumference in the installation part, the purpose that the ultrasonic array element can be driven to rotate around the circumference in the installation part in the process of stent delivery, so that the ultrasonic array element can send ultrasonic waves and receive echoes towards the circumference of the installation part is achieved, the purpose that the circumferential blood vessel information can be completely obtained by utilizing the rotation of the ultrasonic array element is achieved, the technical effect of the arrangement cost of the ultrasonic array element is effectively reduced, and the problem that a plurality of ultrasonic devices are required to be arranged along the circumference in order to obtain the circumferential blood vessel information of a delivery device in the related art is solved, so that the use cost is high is solved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application, are incorporated in and constitute a part of this specification. The drawings and their description are illustrative of the application and are not to be construed as unduly limiting the application. In the drawings:

FIG. 1 is a schematic view of a portion of a structure according to an embodiment of the present application;

FIG. 2 is a schematic view of the cross-sectional structure A-A of FIG. 1;

FIG. 3 is a schematic diagram of the overall structure in an embodiment according to the application;

FIG. 4 is a schematic side view of a plug in accordance with an embodiment of the application;

The ultrasonic array device comprises an outer tube 1, an inner tube 2, a gap 3, a mounting part 4, a mounting head 41, an ultrasonic array element 5, a driving motor 6, a connecting piece 7, a signal cable 71, a transmission structure 8, a connecting shaft 81, a plug 82, a connecting groove 821, a clamping structure 83, a convex tooth 831, a spring 832, an unlocking button 833, a driving member 9 and a bracket 10.

Detailed Description

In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the application herein.

In the present application, the azimuth or positional relationship indicated by the terms "upper", "lower", "inner", and the like are based on the azimuth or positional relationship shown in the drawings. These terms are only used to better describe the present application and its embodiments and are not intended to limit the scope of the indicated devices, elements or components to the particular orientations or to configure and operate in the particular orientations.

Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in the present application will be understood by those of ordinary skill in the art according to the specific circumstances.

Furthermore, the terms "disposed," "configured," "connected," "secured," and the like are to be construed broadly. For example, "connected" may be in a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

In addition, the term "plurality" shall mean two as well as more than two.

It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.

In the related art, an ultrasonic device is arranged at the front end of a stent delivery device, and related information of a blood vessel is acquired in the stent delivery process through the ultrasonic device. However, since the ultrasound wave transmitting direction of a single ultrasound device is single, and the section of the blood vessel is circumferential, a plurality of ultrasound devices need to be circumferentially arranged at the front end of the delivery device in order to obtain the complete information in the blood vessel in the related process, which results in the problems of high use cost, overlarge device volume and the like.

To solve the above-mentioned technical problems, as shown in fig. 1 to 3, the present embodiment provides a stent delivery device for vascular intervention, the stent delivery device comprising: an outer tube 1, an inner tube 2 and an ultrasonic array element 5; the inner tube 2 is partially sleeved in the outer tube 1, the inner tube 2 and the outer tube 1 can move linearly relatively, a gap 3 for sleeving a bracket 10 is arranged between the inner tube 2 and the outer tube 1, and the front end of the inner tube 2 is provided with an installation part 4; the ultrasonic array element 5 is provided in the mounting portion 4, and the ultrasonic array element 5 is provided so as to be driven to rotate around the circumferential direction in the mounting portion 4.

In this embodiment, as the stent delivery device, it mainly includes an outer tube 1 and an inner tube 2, where the inner tube 2 and the outer tube 1 are made of flexible materials, and of course, the specific materials are not limited as long as they can meet the use standard, at least part of the inner tube 2 is sleeved in the outer tube 1, and the inner tube 2 and the outer tube 1 can form relative linear movement by pushing the inner tube 2 or pushing the outer tube 1. A gap 3 of a certain width is provided between the front (i.e. insertion) end portions of the inner tube 2 and the outer tube 1, a stent 10 to be delivered can be sleeved on the inner tube 2 and positioned in the gap 3, and the stent 10 positioned in the gap 3 is in a contracted state under the restriction of the outer tube 1. In the operation process, under the traction action of the guide wire, the inner tube 2 and the outer tube 1 move together along the planned path of the guide wire, when the stent 10 is delivered to a focus position, the stent 10 can be positioned at the front end of the outer tube 1, namely outside the outer tube 1, and the outer tube 1 does not play a limiting role on the stent 10 any more, so that the stent 10 can expand under the self elastic force to finish the release of the stent 10.

To facilitate detection of intravascular conditions during stent delivery and to enable accurate placement of stent 10 after delivery. The present embodiment is formed with the mounting portion 4 at the front end of the inner tube 2, and the mounting portion 4 may be a part of the inner tube 2 itself or a structure separately disposed at the front end of the inner tube 2. The mounting portion 4 serves as a mounting base for the ultrasonic array element 5, and the ultrasonic array element 5 may be mounted in the mounting portion 4. In the present embodiment, the number of the ultrasonic array elements 5 arranged in the mounting portion 4 may be one, and in the case of using one ultrasonic array element 5, in order to acquire the blood vessel information around the mounting portion 4, the ultrasonic array element 5 is configured to be rotatable around the whole circumference in the present embodiment, that is, the ultrasonic array element 5 is configured to be drivable to rotate around the circumference in the mounting portion 4; of course, a plurality of ultrasonic array elements 5 may be provided in the mounting portion 4, and in the case where a plurality of ultrasonic array elements 5 are employed, the ultrasonic array elements 5 may be provided so as to be drivably rotatable within the mounting portion 4 within a sector range around the circumferential direction. It will be appreciated that a plurality of ultrasound array elements 5 may be each rotatable throughout the entire circumference to more fully and accurately acquire vascular information.

Specifically, a mounting cavity is formed in the mounting portion 4, the ultrasonic array element 5 can be arranged in the mounting cavity, and the ultrasonic array element 5 is slidably connected with the mounting cavity, so that the ultrasonic array element 5 can be driven to rotate in the mounting cavity. The rotation axis of the ultrasonic array element 5 can be the axis of the installation cavity, and the ultrasonic transmitting end and the receiving end of the ultrasonic array element 5 are attached to the side wall of the installation cavity.

As an embodiment, the guide wire channel of the stent delivery device may adopt a rapid crossing form, and a portion of the guide wire channel near the insertion end is coaxially disposed with the inner tube 2, that is, disposed on a central line of the inner tube 2, and the mounting cavity of the mounting portion 4 is eccentrically disposed with the inner tube 2, so as to satisfy both threading of the guide wire and setting of the ultrasonic array element 5. Of course, the mounting cavity of the mounting portion 4 may also be arranged coaxially with the inner tube 2, which is not limitative, when the inner tube 2 may be used as a guide wire.

In the process of delivering the stent 10, the ultrasonic array element 5 can be driven to rotate circumferentially in the mounting part 4, so that the ultrasonic array element 5 can send out ultrasonic waves towards the periphery of the mounting part 4 and correspondingly receive echoes, so that the peripheral vascular information can be completely acquired by using the rotation of the ultrasonic array element 5, the arrangement cost of the ultrasonic array element 5 is effectively reduced, and the problem that a plurality of ultrasonic devices are required to be arranged circumferentially for acquiring the peripheral vascular information of a delivery device in the related art, which results in higher use cost and larger volume is solved.

In the present embodiment, the ultrasonic array element 5 is made of a piezoelectric effect material, and the periphery of the mounting head 41 can be ascertained by the active rotation of the single ultrasonic array element 5. As an embodiment, the ultrasonic array elements 5 each include an ultrasonic transmitting probe and an ultrasonic receiving probe, the ultrasonic transmitting probe can transmit ultrasonic waves toward the direction of the blood vessel wall, and the ultrasonic receiving probe can receive echo waves, so that the ultrasonic array elements 5 can transmit ultrasonic waves and receive echo waves around the mounting portion 4 in a rotating manner, and the conditions of the blood vessels around the mounting portion 41 can be detected by means of the ultrasonic waves. Of course, the ultrasonic transmitting probe and the ultrasonic receiving probe may be the same probe, and transmit ultrasonic waves at time T1 and receive echoes at time T2.

Specifically, the distance between the probe and each tissue interface in and out of the blood vessel cavity can be measured according to the time interval of the echo and combining the transmission speed of the ultrasonic wave in the soft tissue of the human body. The probe transmits/receives ultrasonic waves, and after one rotation scan, these units Shu Huibo are combined into a fan-scan image, and a cross-sectional anatomical image of the blood vessel is obtained, and the distance between the attachment head 41 and the blood vessel wall is measured. Meanwhile, through collection and analysis of ultrasonic echo, the condition inside the blood vessel is perceived: including but not limited to: plaque condition, interlayer condition, etc. The ultrasonic array element 5 can be connected with an external ultrasonic processing device through a signal cable 71, and the ultrasonic processing device is responsible for controlling the ultrasonic array element 5 to emit ultrasonic waves and analyzing and processing the echo.

In order to more accurately acquire the spatial position of the mounting portion 4 in the blood vessel, the ultrasonic array element 5 may be configured to emit ultrasonic waves in a direction perpendicular to the wall of the blood vessel, so that the vertical distance between the mounting head 41 and the wall of the blood vessel may be measured from the echo, and thus the spatial position of the mounting portion 4 in the wall of the blood vessel may be accurately determined.

It can be understood that the ultrasonic array element 5 does not need to emit ultrasonic waves in a direction perpendicular to the wall of the blood vessel, and a certain offset angle is also required, so that the arrangement can reduce the echo image of the wall of the blood vessel too strong, so that the ultrasonic waves are emitted in a direction towards the wall of the blood vessel, and the ultrasonic array element can be set by a person skilled in the art according to actual use requirements.

In order to enable the ultrasound array element 5 to better detect the condition inside the blood vessel, it is necessary to keep the ultrasound array element 5 always in front of the outer tube 1 during the whole delivery process, i.e. the mounting portion 4 in the present application extends out of the front end of the outer tube 1. Since the inner tube 2 and the outer tube 1 are relatively moved when the stent 10 is placed, the ultrasonic array element 5 is partially or entirely positioned in the outer tube 1 due to the relative movement of the inner tube 2 and the outer tube 1 during delivery, so that the problem of a reduced detection effect is avoided. As shown in fig. 2, the present embodiment is provided with a mounting head 41 at the front end of the inner tube 2, the mounting head 41 forming a mounting portion 4 in the present application; and, the size of the mounting head 41 is controlled so as to cover at least a partial area of the one end opening of the gap 3 between the inner tube 2 and the outer rod.

Specifically, taking the annular shape as an example of the gap 3 between the inner tube 2 and the outer tube 1, the mounting head 41 may be provided in a mushroom head shape or an ellipsoid shape or a sphere shape. In this case, the maximum diameter of the mounting head 41 should be larger than the maximum diameter of the gap 3 (i.e., larger than the inner diameter of the outer tube 1), and when the mounting head 41 abuts against the front end surface of the outer tube 1, the mounting head 41 may completely cover the gap 3, so that the mounting head 41 cannot move further into the outer tube 1, and thus the electronic components located in the mounting head 41 can be always held at the front end of the outer tube 1.

Under another construction, the mounting head 41 may be provided in any other shape, but it has a radially extending stopper portion that opposes the front end face of the outer tube 1, and gradually approaches the front end face of the outer tube 1 when the mounting head 41 moves toward the front end face of the outer tube 1, and when the stopper portion abuts against the front end face of the outer tube 1, the stopper portion restricts further movement of the mounting head 41, so that the mounting head 41 can be always held at the front end of the outer tube 1. In order to balance the stress of the mounting head 41, the limiting portions are provided in plurality and uniformly distributed along the circumferential direction of the mounting head 41. In this case, the size of the mounting head 41 itself may be smaller than the inner diameter of the outer tube 1, and the movement of the mounting head 41 into the outer tube 1 may be avoided by means of the stopper. It is understood that the spacing portions may not be completely distributed over the gap 3, or may be configured to completely cover the gap 3, and when completely covered, the spacing portions may be annular spacing pieces. When the cover is not completely covered, the limiting part can be a fan-shaped or strip-shaped limiting strip. This is not restrictive as long as the movement range of the mounting head 41 can be limited.

According to the embodiment, the ultrasonic array element 5 is arranged in the mounting head 41 positioned at the front end of the inner tube 2, and the size of the mounting head 41 is controlled to ensure that the mounting head 41 cannot enter the outer tube 1, so that the technical effect that the effect of the ultrasonic array element 5 is more stable is realized because the mounting head 41 positioned at the front end of the inner tube 2 can be always kept at the front end of the outer tube 1 when the inner tube 2 and the outer tube 1 generate relative motion, namely the ultrasonic array element 5 can be kept at the front end of the outer tube 1.

As shown in fig. 3, in order to facilitate control of the relative movement of the outer tube 1 and the inner tube 2, a driving member 9 is provided at the rear end of the outer tube 1 in the present embodiment, and the driving member 9 is used to drive the outer tube 1 to move linearly relative to the inner tube 2; or the rear end of the inner tube 2 is provided with a driving member 9, the driving member 9 being for driving the inner tube 2 to move linearly relative to the outer tube 1. In the present embodiment, the driving member 9 functions to better push the outer tube 1 or the inner tube 2 to linearly move under the external force.

When the driving member 9 is connected with the outer tube 1, the outer tube 1 is pulled outwards in the release process of the support 10 to expose the support 10, and the release position of the support 10 can be ensured more easily by the arrangement mode, so that the release accuracy of the support 10 is ensured; when the driving member 9 is connected to the inner tube 2, the stent 10 is released by pushing the inner tube 2 inwards to expose the stent 10. Of course, the present application does not impose any limitation on the specific structure of the driving member 9, and for example, the driving member 9 may be an electric driving element such as a linear motor, a cylinder, or the like; as another example, the driving member 9 may be a manually operated element such as a driving handle, which is not limitative.

For convenience of operation, the driving member 9 in this embodiment is a push-pull driving handle, which has a grip portion or a grip lever for convenience of gripping. Specifically, the stent delivery device of this embodiment further includes a fixing plate on which the inner tube 2 is fixedly disposed, the driving member 9 is movably disposed on the fixing plate, the medical person operates the driving member 9 to move relative to the fixing plate to drive the outer tube 1 to move relative to the inner tube 2, and the moving fixing plate can drive the outer tube 1 and the inner tube 2 to move synchronously.

Since the ultrasonic array element 5 is disposed at the front end of the inner tube 2 in this embodiment, the signal cable 71 connected with the ultrasonic array element 5 needs to be led out of the inner tube 2, so that the active movement of the inner tube 2 is inconvenient. Of course, as another possible embodiment, the driving handle may be further connected to the inner tube 2, and at this time, the signal cable 71 moves along with the movement of the inner tube 2, so that a person skilled in the art can set the specific connection mode according to the actual use requirement.

As shown in fig. 3, in order to facilitate driving of the ultrasonic array element 5 to rotate in the mounting head 41, the stent delivery device in this embodiment further includes a driving motor 6 and a connecting piece 7, where the driving motor 6 may be fixedly connected to the fixing plate, and of course, may also be suspended, and the first end of the connecting piece 7 is connected to the ultrasonic array element 5, and the second end extends out of the rear end of the inner tube 2 and is connected to the driving motor 6, and the driving motor 6 drives the ultrasonic array element 5 to rotate through the connecting piece 7.

In particular, in the present embodiment, the driving motor 6 is an external structure at the outer end of the inner tube 2, and may be a servo motor or a stepper motor. The connecting piece 7 is used as a transmission structure 8 and can transmit the rotation force generated by the driving motor 6 to the ultrasonic array element 5 so as to drive the ultrasonic array element 5 to rotate. Since the inner tube 2 needs to be inserted into a blood vessel, the inner tube 2 is of a flexible structure, and the connecting piece 7 is a structure which is penetrated in the inner tube 2 and is connected with the ultrasonic array element 5, and is also of a flexible structure. Since the connection 7 also needs to transmit rotational forces to the ultrasound array element 5, the connection 7 needs to meet a certain rigidity while being flexible. In order to reduce friction caused by rotation, the surface of the connector 7 is as smooth as possible, and the cavity in which the signal cable 71 is arranged in the inner tube 2 and the cavity in which the ultrasonic array element 5 is mounted in the mounting head 41 are also as smooth as possible.

In order to control the ultrasonic array element 5 and receive and process the echo signal, the stent delivery device in this embodiment further includes an ultrasonic signal processing device, the ultrasonic signal processing device and the driving motor 6 are used as an external device of the stent delivery device, the ultrasonic signal processing device needs to be connected with the ultrasonic array element 5 through a signal cable 71, and the connecting piece 7 needs to be connected to the external driving motor 6 because the ultrasonic array element 5 needs to be driven to rotate by the connecting piece 7, so that the connecting piece 7 is set as the signal cable 71 in this embodiment for simplifying the structure, that is, the signal cable 71 plays a role of driving the ultrasonic array element 5 to rotate and also plays a role of signal transmission and power supply.

The first end of the signal cable 71 is electrically connected with the ultrasonic array element 5, and the second end extends out of the inner tube 2 and is in transmission connection with the driving motor 6 through the transmission structure 8; the signal cable 71 is electrically connected to the ultrasonic signal processing device. Since the signal cable 71 needs to be connected to both the driving motor 6 and the ultrasonic signal processing device, the signal cable 71 is locked to one of them and is movably connected to the other. In the present embodiment, the signal cable 71 is locked to the driving motor 6 and is movably connected to the ultrasonic signal processing device. Of course, the application does not limit the specific connection mode, so long as the electrical connection can be realized, and the normal rotation of the ultrasonic array element 5 can be ensured.

Specifically, as shown in fig. 3, the second end of the signal cable 71 is directly connected with the driving motor 6 in a transmission manner through the transmission structure 8, and the second end and the driving motor 6 are in a locking state, so that the rotation of the driving motor 6 can directly drive the rotation of the signal cable 71. The signal cable 71 extends the one end of inner tube 2 and is provided with the metal ring, and the wire fixed connection in metal ring and the signal cable 71, the metal ring can be along with signal cable 71 synchronous revolution to the metal ring cup joints at ultrasonic signal processing device's action end (signal send and receive part), keeps contact and sliding connection between metal ring and the action end, and the metal ring can be at the fixed rotation of action end dead axle promptly, and the signal that the action end sent can be transmitted to the metal ring simultaneously on, is transmitted to the wire of signal cable 71 by the metal ring. Similarly, signals received by the wire can be transmitted to the active end through the metal ring.

In this embodiment, the ultrasonic signal processing device is configured to send an electrical excitation signal to the ultrasonic array element 5 through the signal cable 71, and receive an electrical signal sent out by the ultrasonic array element 5 through the signal cable 71.

The ultrasonic signal processing device includes an acoustic wave signal transmitting module and a digitizer, both of which are connected with the signal cable 71. The sound wave signal transmitting module is used for transmitting an electric excitation signal, the ultrasonic array element 5 converts an electric signal into ultrasonic waves, the ultrasonic waves propagate forward in blood vessels, and echoes are generated at the interface of two different tissues (such as a blood vessel cavity and a blood vessel wall); the echo signals are received by the ultrasonic array elements 5 and become electrical signals, the electrical signals of the echo signals are changed into digital signals in a digital converter, and the digital converter is also connected with a visual equipment terminal and is used for imaging after converting the echo signals into digital signals.

Specifically, when in use, a doctor pushes the stent delivery device to advance in a human blood vessel under the guidance of a micro-guide wire, echo signals are transmitted through the signal cable 71, the echo signals are processed through the digital converter, three-dimensional graphs of cardiovascular sections and blood flow are displayed, real-time monitoring at 360 degrees can be realized, a cross-sectional image of the blood vessel is provided for medical staff, the thickness of a blood vessel wall structure, the size and the shape of a cavity can be clearly displayed through the image, the diameter and the cross-sectional area of a blood vessel cavity are accurately measured, lesions such as calcification, fibrosis and fat pool diseases of the blood vessel are identified, and if the lesion feature graph of the blood vessel image is found, the self-expanding stent 10 can be released to treat the lesions. The delivery device can be directly penetrated into the focus to observe the specific condition of the focus, so that doctors can directly treat after observing the lesion position, and the step of independently determining the focus position is not needed.

In order to facilitate the connection between the signal cable 71 and the driving motor 6, as shown in fig. 3 and 4, the transmission structure 8 in this embodiment includes a connection shaft 81, a first end of the connection shaft 81 is in transmission connection with the driving motor 6, a second end is provided with a clamping structure 83, and a second end of the signal cable 71 is clamped and fixed by the clamping structure 83. In the present embodiment, the clamping structure 83 can actively apply a clamping force to the signal cable 71, so that the signal cable 71 can be locked on the connection shaft 81, and the rotation of the connection shaft 81 drives the signal cable 71 to rotate. The present application is not limited to the specific form of the clamping structure 83, as long as the clamping structure 83 can actively apply a clamping force to the signal cable 71.

As an embodiment, the clamping structure 83 is a plug 82 arranged on the connecting shaft 81, and a spring 832 and a convex tooth 831 are arranged in the plug 82; the spring 832 serves to push the protrusion 831 to move within the plug 82, and the second end of the signal cable 71 is inserted into the connection shaft 81 and is locked by the protrusion 831.

Specifically, it should be noted that, in the present embodiment, a spring 832 and a tooth 831 form a set of locking assemblies in the plug 82. It will be appreciated that a plurality of locking assemblies may be circumferentially disposed within the plug 82 to provide a force against the circumference Shi Jiasuo of the signal cable 71.

More specifically, the plug 82 may be configured as a cylinder with a cylindrical connecting slot 821 therebetween, which is radially provided with a mounting slot, and the spring 832 and the teeth 831 are mounted in the mounting slot, and the teeth 831 can linearly extend along the mounting slot and into the connecting slot 821 to abut against the signal cable 71. The abutment force applied by the teeth 831 to the signal cable 71 may be provided by a spring 832, i.e. the spring 832 may push the teeth 831 against the signal cable 71. In order to facilitate the insertion and locking of the signal cable 71 into the connection groove 821, the outer side surface of the protrusion 831 may be an inclined surface, so that the protrusion 831 can be directly pushed to move and compress the spring 832 during the insertion of the signal cable 71, and the protrusion 831 is locked under the action of the spring 832 when the signal cable 71 moves to the locking position. The outer side of the signal cable 71 may be provided with a locking groove matched with the protrusion 831.

To facilitate unlocking the signal cable 71, an unlocking button 833 is provided on the connection shaft 81 in the present embodiment, and the unlocking button 833 is provided so as to be able to push the convex teeth 831 to move in a direction away from the signal cable 71 and compress the spring 832 to release the signal cable 71. The unlocking button 833 can control the movement of the teeth 831 in a pressing or radial pushing manner to release the signal cable 71.

In another transmission mode, the transmission structure 8 includes a first rotation terminal and a second rotation terminal, the first rotation terminal is disposed at the second end of the signal cable 71, and the second rotation terminal is disposed at the output end of the driving motor 6; the first rotary terminal and the second rotary terminal are in plug-in fit and locked with each other, so that the second rotary terminal can drive the first rotary terminal to rotate. The first rotary terminal and the second rotary terminal can be connected in a transmission way through a key slot or a connector fixedly connected in the interior after being spliced and matched, namely, the first rotary connecting terminal and the second rotary connecting terminal are matched and spliced, and are in driving connection, and the second rotary connecting terminal drives the first rotary connecting terminal to rotate.

According to another aspect of the present application, there is provided a vascular interventional procedure robot comprising a robot body and the stent delivery device for vascular interventional procedure described above. Specifically, vascular intervention surgical robot is including setting up in the outside main end of operating room and setting up in the operating room from the end, main end and from end communication connection for doctor is to the control from the end, and from the end mainly includes robot body, arm and consumable box, and the robot body passes through the arm to be connected to the operating table on, and the robot body includes mobilizable power seat, and the consumable box sets up on the power seat, and the power seat can provide power in order to drive above-mentioned support delivery device action for the consumable box, and the main end can control the action of support delivery device. Of course, the application does not limit the specific composition and structure of the vascular interventional surgical robot, as long as the vascular interventional surgical robot can drive the stent delivery device to act.

The stent delivery device in this embodiment is mounted to a robot body that is capable of driving the stent delivery device to perform a variety of actions including, but not limited to, delivery, withdrawal, rotation, etc. Meanwhile, the ultrasonic signal processing device and the driving motor 6 can also be integrally mounted on the robot body.

The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (10)

1. A stent delivery device for vascular interventional procedures, comprising:

An outer tube;

The inner tube is partially sleeved in the outer tube, the inner tube and the outer tube can move linearly relatively, a gap for sleeving a bracket is formed between the inner tube and the outer tube, and the front end of the inner tube is provided with a mounting part;

The ultrasonic array element is arranged in the mounting part and can rotate around the circumference in the mounting part in a driven manner.

2. The stent delivery device for vascular interventional procedures of claim 1, wherein the mounting portion extends beyond the forward end of the outer tube.

3. A stent delivery device for vascular interventions according to claim 2, characterized in that the ultrasound array elements are arranged to be able to transmit ultrasound waves towards the vessel wall and to receive echoes to measure relevant information of the vessel.

4. A stent delivery device for vascular interventional procedures as defined in any one of claims 1 to 3, further comprising a drive motor and a connector, the connector having a first end connected to the ultrasound array element and a second end extending beyond the rear end of the inner tube and connected to the drive motor, the drive motor driving the ultrasound array element in rotation via the connector.

5. The stent delivery device for vascular interventional procedures of claim 4, further comprising an ultrasonic signal processing device, the connector configured as a signal cable;

The first end of the signal cable is electrically connected with the ultrasonic array element, and the second end of the signal cable extends out of the inner tube and is in transmission connection with the driving motor through a transmission structure;

the signal cable is electrically connected with the ultrasonic signal processing device, and the ultrasonic signal processing device is used for sending an electric excitation signal to the ultrasonic array element through the signal cable and receiving an electric signal sent out by the ultrasonic array element through the signal cable.

6. The stent delivery device for vascular interventional procedures of claim 5, wherein the transmission structure comprises a connecting shaft and a clamping structure, a first end of the connecting shaft is in transmission connection with the driving motor, a second end is provided with the clamping structure, and a second end of the signal cable is clamped and fixed by the clamping structure.

7. The stent delivery device for vascular interventional procedures of claim 6, wherein the gripping structure is a plug provided on the connecting shaft, the plug having a spring and a tooth disposed therein;

The spring is used for pushing the convex teeth to move in the plug, and the second end of the signal cable is inserted into the connecting shaft and locked by the convex teeth.

8. The stent delivery device for vascular interventional procedures of claim 7, wherein an unlocking button is provided on the connection shaft, the unlocking button being configured to push the teeth to move in a direction away from the signal cable and compress the spring to release the signal cable.

9. The stent delivery device for vascular interventional procedures of claim 5, wherein the transmission structure comprises a first rotational terminal and a second rotational terminal, the first rotational terminal being disposed at a second end of the signal cable, the second rotational terminal being disposed at an output end of the drive motor;

The first rotating terminal and the second rotating terminal are in plug-in fit and locked with each other, so that the second rotating terminal can drive the first rotating terminal to rotate.

10. A vascular interventional procedure robot comprising a robot body and a stent delivery device for vascular interventional procedures as claimed in any one of claims 1 to 9.