CN112826537A - An endoscopic ultrasound microprobe - Google Patents
An endoscopic ultrasound microprobeDownload PDFInfo
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- CN112826537A CN112826537ACN202011641498.1ACN202011641498ACN112826537ACN 112826537 ACN112826537 ACN 112826537ACN 202011641498 ACN202011641498 ACN 202011641498ACN 112826537 ACN112826537 ACN 112826537A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/12—Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
- A61B8/4444—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device related to the probe
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
- A61B8/4444—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device related to the probe
- A61B8/445—Details of catheter construction
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Abstract
Translated fromChinese
Description
Technical Field
The invention relates to the field of ultrasonic detection, in particular to an endoscope ultrasonic microprobe.
Background
The endoscope ultrasonic microprobe is characterized in that an image sensor chip is placed at the far end of a diagnosis catheter, a motor or other driving mechanisms are used for self-rotating at the near end of the diagnosis catheter, the sensor chip at the far end is driven to image within a 360-degree range through a metal driving shaft hose, and images can be transmitted and received by using a lead wire placed in a cavity inside the metal driving hose.
Obviously, if a good quality image is to be obtained, the rotary design of the endoscopic ultrasonic microprobe is a key part, and the performance of the drive shaft hose is also crucial, so that good torque is required to realize good conductivity of the near-far end rotary force; also, because it is used in the channels, it should be axially flexible enough to be easily manipulated and easily accessed without bending damage. Therefore, a driving shaft having a spring-like structure is applied to this field, and in the prior art, in general, in order to enhance torque, a metal material having a relatively strong hardness, such as stainless steel or nitinol, is generally used to realize a strong torque in a rotational direction; in order to increase the flexibility, the metal tube is designed to be spring-shaped, so that the function of being flexible enough in the axial direction and strong torque in the rotating direction is realized.
However, the endoscopic ultrasound microprobe in the prior art still has more weak points. For example, the size of the used spring-shaped driving shaft is not stable enough, when the rotation rate is large, and the service life is long, the length of the driving shaft can be changed, and the cable arranged in the driving shaft is of a fixed length, so that the chip of the driving shaft is easily deviated from the originally designed position, thereby influencing the micro probe to enter the human body or interfering the imaging judgment of a doctor, seriously even causing the problem that the micro probe breaks the signal, and further causing the unqualified instrument image or the unavailable instrument image.
Therefore, how to make the endoscopic ultrasound microprobe dimensionally stable after rotation is a technical problem that needs to be solved by those skilled in the art at present.
Disclosure of Invention
The invention aims to provide an endoscope ultrasonic microprobe which can effectively improve the dimensional stability of the probe, is not easy to deform after rotation and can effectively improve the image precision.
In order to achieve the purpose, the invention provides the following technical scheme:
an endoscope ultrasonic microprobe comprises a driving shaft, a sheath tube sleeved outside the driving shaft and an imaging chip assembly arranged at the far end of the driving shaft; the driving shaft comprises n layers of driving springs, each driving spring is sequentially sleeved, the winding directions of two adjacent layers of driving springs are opposite, and the winding direction of the driving spring positioned on the outermost layer is the same as the rotating direction of a motor driving the driving spring to rotate; each driving spring is formed by winding a single-strand spring, and each strand of spring comprises a plurality of spring monofilaments; and in two adjacent layers of the driving springs, the wire diameter of the spring monofilament of the inner layer driving spring is larger than that of the spring monofilament of the outer layer driving spring.
Preferably, at least one connecting point is arranged between the driving springs, and the width of the connecting point is larger than that of each strand of spring.
Preferably, at least two connecting points are arranged between the driving springs, and at least one connecting point is respectively arranged at two axial ends between the driving springs; when the connecting points are positioned at the two ends of the driving spring, the two ends of the driving spring are provided with grinding parts, and the thickness of the grinding parts is less than or equal to 50% of the wire diameter of the spring monofilament of the outer layer driving spring.
Preferably, at least three connecting points are arranged among the driving springs and are uniformly distributed along the axial direction of the driving springs.
Preferably, the connection point is a laser welding connection point or a glue bonding connection point.
Preferably, the surface of the driving shaft is provided with a coating for reducing friction resistance, and the coating is a PTFE coating or a Parylene coating.
Preferably, the number of the spring monofilaments of each single spring in each layer of the driving spring is the same; the winding inclination angles of the driving springs of all layers are the same; and the clearance between each strand of spring in each layer of the driving spring is smaller than the wire diameter of the spring monofilament.
Preferably, in two adjacent layers of the driving springs, the wire diameter of the spring monofilament of the inner layer driving spring is 1-1.5 times that of the spring monofilament of the outer layer driving spring; the gap between the driving spring at the outermost layer and the sheath tube is 50-400 μm, and the gap between two adjacent layers of the driving springs is 1-20 μm.
Preferably, in each layer of the drive spring of the drive shaft, Nn is the number of the steel wires of the nth layer, r n is the central radius of the nth layer, θ n is the complementary angle of the angle between the steel wire of the nth layer and the axis, dn is the wire diameter of the steel wire of the nth layer, and σ is the stress; then:
∑Tsn-T＝∑(Π*dn2/4σ*Nn*rn*sinθn)-(k/rn*P)＞0；
wherein: k is the coefficient of friction resistance and P is the pressure.
Preferably, the sum of the strain forces of the layers of the driving shaft satisfies:
∑Fsn＝∑(Π*dn2/4σ*Nn*rn*cosθn)＝0。
the endoscope ultrasonic microprobe provided by the invention comprises a driving shaft, a sheath tube sleeved outside the driving shaft and an imaging chip assembly arranged at the far end of the driving shaft; the driving shaft comprises n layers of driving springs, each driving spring is sequentially sleeved, the winding directions of two adjacent layers of driving springs are opposite, and the winding direction of the driving spring positioned on the outermost layer is the same as the rotating direction of a motor driving the driving spring to rotate; each driving spring is formed by winding a single-strand spring, and each strand of spring comprises a plurality of spring monofilaments; and in two adjacent layers of the driving springs, the wire diameter of the spring monofilament of the inner layer driving spring is larger than that of the spring monofilament of the outer layer driving spring. According to the endoscope ultrasonic microprobe provided by the invention, the deformation amounts of the adjacent two layers of driving springs are mutually restricted by utilizing the arrangement of the plurality of layers of driving springs, and meanwhile, the wire diameter of the spring monofilament of the inner layer driving spring is set to be larger than that of the spring monofilament of the outer layer driving spring, so that the deformation difference of the inner layer driving spring and the outer layer driving spring caused by small expansion or contraction amount and large expansion or contraction amount of the inner layer driving spring can be effectively supplemented in the rotating process of the driving shaft, the deformation amount of the driving shaft after rotation can be further reduced, the stability of the endoscope ultrasonic microprobe is effectively ensured, and the detection precision is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of one embodiment of an endoscopic ultrasound microprobe provided in accordance with the present invention;
FIG. 2 is a schematic view of a drive shaft of the endoscopic ultrasound microprobe shown in FIG. 1;
wherein: a conduit-1; a sheath-2; imaging chip assembly-3; a drive shaft-4; coating-4-1; an outer layer driving spring-4-2; an inner layer driving spring-4-3; connection point-4-4; imaging chip-5.
Detailed Description
The core of the invention is to provide an endoscope ultrasonic microprobe which can effectively improve the dimensional stability of the endoscope ultrasonic microprobe, is not easy to deform after rotation and can effectively improve the image precision.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 and 2, fig. 1 is a schematic structural diagram of an embodiment of an endoscopic ultrasound microprobe provided in the present invention; fig. 2 is a schematic structural view of a drive shaft in the endoscopic ultrasonic microprobe shown in fig. 1.
In this embodiment, the endoscopic ultrasound microprobe includes adrive shaft 4, asheath 2, and animaging chip assembly 3.
Thesheath tube 2 is sleeved outside thedriving shaft 4, theimaging chip assembly 3 is installed at the far end of thedriving shaft 4, and theimaging chip assembly 3 comprises an imaging chip 5 for acquiring images; thedriving shaft 4 comprises n layers of driving springs, the driving springs are sequentially sleeved, the winding directions of the adjacent two layers of driving springs are opposite, and the winding direction of the driving spring positioned on the outermost layer is the same as the rotating direction of a motor driving the driving spring to rotate.
Furthermore, each driving spring is formed by winding a single-strand spring, and each strand of spring comprises a plurality of spring monofilaments; in two adjacent layers of driving springs, the diameter of the spring monofilament of the inner layer driving spring 4-3 is larger than that of the spring monofilament of the outer layer driving spring 4-2.
The endoscope ultrasonic microprobe provided by the invention utilizes the arrangement of a plurality of layers of driving springs, and the winding directions of two adjacent layers of driving springs are opposite, so that the deformation quantities of the driving springs are mutually restricted, meanwhile, the wire diameter of the spring monofilament of the inner layer of driving spring 4-3 is set to be larger than that of the spring monofilament of the outer layer of driving spring 4-2, so that the deformation difference of the inner layer of driving spring 4-3 and the outer layer of driving spring 4-2 caused by small expansion or contraction quantity and large expansion or contraction quantity of the inner layer of driving spring 4-3 in the rotating process of thedriving shaft 4 can be effectively supplemented, the deformation quantity of thedriving shaft 4 after rotation can be further reduced, the stability of the endoscope ultrasonic microprobe effectively ensured, and the detection precision is improved.
On the basis of the above embodiments, at least one connection point 4-4 is arranged between the driving springs, and the width of the connection point 4-4 is larger than that of each strand of spring.
On the basis of the above embodiments, when the length of thedrive shaft 4 is long, the wire diameter or the bending angle, etc. are easy to have tolerance and fluctuation, and in order to overcome this difficulty, the inner and outer layers of thedrive shaft 4 are connected together, so that even if the partial region rotational stress imbalance occurs, the influence on thedrive shaft 4 is limited to each part of the connecting section, and the total length of theentire drive shaft 4 is not influenced; specifically, at least two connecting points 4-4 are arranged between the driving springs, and at least one connecting point 4-4 is respectively arranged at two axial ends between the driving springs; when the connecting points 4-4 are positioned at the two ends of the driving spring, the two ends of the driving spring are provided with grinding parts, and the thickness of the grinding parts is less than or equal to 50% of the diameter of the spring monofilament of the outer layer driving spring.
On the basis of the above embodiments, at least three connection points 4-4 are arranged between the driving springs and are uniformly distributed along the axial direction of the driving springs.
In addition to the above embodiments, the connection points 4-4 are laser welding connection points or glue bonding connection points.
On the basis of the above embodiments, the surface of thedriving shaft 4 is provided with a coating 4-1 for reducing frictional resistance, and the coating 4-1 is a PTFE coating or a Parylene coating, wherein the PTFE coating is a polytetrafluoroethylene coating, and the Parylene coating is a Parylene coating or a Parylene coating. The provision of the coating 4-1 can significantly reduce the surface friction coefficient of thedrive shaft 4. Specifically, the thickness of the coating 4-1 is preferably 2% to 10% of the filament diameter of the spring monofilament in the outermost drive spring 4-2 of thedrive shaft 4.
In addition to the above embodiments, the number of spring monofilaments of a single spring in each layer of the drive spring is the same. Preferably, the winding inclination angles of the drive springs of the respective layers are the same. Preferably, the gaps between each of the individual layers of drive springs are less than the wire diameter of the individual spring wires.
In addition to the above embodiments, in the two adjacent layers of the driving springs, the wire diameter of the spring monofilament of the inner layer driving spring 4-3 is 1-1.5 times of the wire diameter of the spring monofilament of the outer layer driving spring 4-2; the clearance between the outermost layer of the driving spring and thesheath 2 is 50-400 μm, and the clearance between the two adjacent layers of the driving springs is 1-20 μm.
In each of the above embodiments, in each of the drive springs of thedrive shaft 4, Nn is the number of wires in the nth layer, r n is the center radius of the nth layer, θ n is the complementary angle of the angle between the nth layer wire and the axis, dn is the wire diameter of the nth layer wire, and σ is the stress; then:
∑Tsn-T＝∑(Π*dn2/4σ*Nn*rn*sinθn)-(k/rn*P)＞0；
wherein: k is the coefficient of friction resistance and P is the pressure.
In addition to the above embodiments, the sum of the respective layer strain forces of thedrive shaft 4 satisfies:
∑Fsn＝∑(∏*dn2/4σ*Nn*rn*cosθn)＝0。
specifically, the spring-like driving shaft 4 is tightly attached by a metal wire having elasticity. When the drivingshaft 4 rotates, the winding mode which is the same as the rotating direction gradually extrudes the cavity between the springs in the rotating process, thereby realizing the transmission of torque and shortening the length. And the winding mode opposite to the rotating direction can enlarge the cavity step by step, so that the length is lengthened.Drive shaft 4 is two-layer at least drive spring among this endoscope supersound microprobe, adjacent two-layer drive spring's direction of rotation should be inconsistent, like this, when direction of rotation is unanimous with outer drive spring 4-2's direction, outer drive spring 4-2 can be exerted the power that inside shrink direction warp, and the inboard then can be exerted the power that opposite outside direction warp, under the effect of two kinds of forces, whole drive spring can be in inseparable state of each other, thereby the moment of torsion can be transmitted the front end, drive the even rotation of imaging chip 5. However, the two-layer driving shaft 4 has a weak ability to rotate in opposite directions, when the rotation direction is opposite to the winding direction of the outer-layer driving spring 4-2, the outer-layer driving spring 4-2 will have an outward deformation force, and the inner-layer coil will have an inward deformation force, so that the two-layer coil will be layered, and the moment transmission will be poor, therefore, when strong torque is required for both forward and reverse rotation, the two-layer driving shaft should be designed in multiple layers, such as in the form of S/Z/S or Z/S/Z. Obviously, agood drive shaft 4 design needs to satisfy two conditions: 1) the rotation stress is larger than the friction resistance, so that the chip can be driven to rotate; 2) only when the deformation force of the inner-layer driving spring (4-2) and the outer-layer driving spring (4-2) tends to be 0, the driving shaft (4) can be ensured not to deform.
However, whether double-layered or multi-layered, because the diameters of the inner drive spring 4-3 and the outer drive spring 4-2 are different, the diameter of the outer drive spring 4-2 > the diameter of the inner drive spring 4-3; nn is the number of steel wires in the nth layer, r n is the central radius of the nth layer, theta n is the complementary angle of the angle between the steel wire in the nth layer and the axial line, dn is the wire diameter of the steel wire in the nth layer, and sigma is the stress. The rotational stress is then:
Tsn＝∏*dn2/4σ*Nn*rn*sinθnformula (1)
It is clear that the rotational force is inversely proportional to the central radius of the wire diameter and directly proportional to the square of the wire diameter. The friction torque is:
T＝k/rnp formula (2)
Wherein k is a friction resistance coefficient, and P is a pressure. The friction torque is proportional to the weight of thedrive shaft 4 itself and the friction coefficient, and inversely proportional to the center radius of the wire diameter. Therefore, to satisfy the above-mentioned condition 1, it is necessary to make:
∑Tsn-T＝∑(∏*dn2/4σ*Nn*rn*sinθn)-(k/rnp) > 0 formula (3)
Maintaining a high stability of the rotation process requires that the strain force of thedrive shaft 4 is close to 0. Strain force:
Fsn＝∏*dn2/4σ*Nn*rn*cosθnformula (4)
It should be noted that if the rotation direction of thedrive shaft 4 is reversed, the strain force is the reverse force. Therefore, it is required to satisfy: sigma FsnCondition 0. When the double-layer or multi-layer rotating stress is superposed, the manufacturing process of thewhole driving shaft 4 is simpler and more convenient because the same included angle and the same number of steel wires are kept. Therefore, when the diameter of the outer layer driving spring 4-2 is larger, the wire diameter of the spring monofilament of the inner layer driving spring 4-3 should be increased in order to balance the force values.
In a specific embodiment, as shown in fig. 1, the endoscopic ultrasound microprobe comprises a guide tube 1, asheath tube 2, a drivingshaft 4 and animaging chip assembly 3, wherein the guide tube 1 can be matched with a driving motor so as to drive the drivingshaft 4 to rotate; thesheath tube 2 is used for protecting the drivingshaft 4 and theimaging chip assembly 3, thesheath tube 2 is generally in a hollow cylindrical structure, the far end of the sheath tube is in a plug structure, and coupling liquid for transmitting signals is filled in the sheath tube; the imaging chip 5 of theimaging chip component 3 is positioned at a far end and exchanges signals with a host through a cable or an optical fiber and the like; the drivingshaft 4 is a hollow structure, and theimaging chip assembly 3 should penetrate through the drivingshaft 4 and be connected with the drivingshaft 4, so that the imaging chip 5 is driven by the drivingshaft 4 to rotate.
As shown in fig. 2, the driving shaft 4 is a double-layer structure, and the total length of the driving shaft 4 is matched with the ultrasonic microprobe of the endoscope so as to meet the clinical requirements, and is optimally 1200 mm and 2500 mm; wherein the surface of the driving shaft 4 is a PTFE coating 4-1 which can reduce the friction resistance coefficient, and the optimal thickness of the coating 4-1 is 2-10% of the diameter of the spring monofilament of the outermost driving spring 4-2 of the driving shaft 4; the winding direction of the outer layer driving spring 4-2 is the Z direction consistent with the rotation direction of the motor, the inner layer driving spring 4-3 is the S direction opposite to the rotation direction of the motor, and the driving shaft 4 does not have bidirectional rotation capacity; the number of spring monofilaments of each strand of spring in the outer layer driving spring 4-2 and the inner layer driving spring 4-3 is the same, generally 2-20, and the optimal number is 6-14; the diameter of the outermost layer is smaller than the inner diameter of the sheath tube 2, and the outermost layer is provided with a certain gap so as to be convenient to rotate, the optimal gap is 50-400 microns, the gap is filled with coupling liquid, and the coupling liquid has the characteristics of low friction and low sound attenuation; the size design of the driving shaft 4 is obtained through a formula (3) and a formula (4), the wire diameter of the spring monofilament of the inner-layer driving spring 4-3 is more than or equal to that of the spring monofilament of the outer-layer driving spring 4-2, and the optimal wire diameter is between 0% and 50%; the outer layer driving spring 4-2 and the inner layer driving spring 4-3 have the same or close inclination angle, and the lengths are the same; welding points are arranged between the outer layer driving spring 4-2 and the inner layer driving spring 4-3, and the optimal length is the wire diameter of 1-4 spring monofilaments by means of bonding or welding; the number of the welding points is positively correlated with the length of the driving shaft 4, the optimal number is 1-4, the welding points at least comprise a far end, and the intervals are equally divided; the gaps between adjacent spring filaments in the outer drive spring 4-2 and the inner drive spring 4-3 should be sufficiently small and uniform, with the largest gap being smaller than the diameter of a single filament. The gap between the outer diameter of the inner drive spring 4-3 and the inner diameter of the outer drive spring 4-2 should be small enough, preferably 1-20 microns.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The endoscope ultrasonic microprobe provided by the invention is described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. An endoscope ultrasonic microprobe is characterized by comprising a driving shaft (4), a sheath tube (2) sleeved outside the driving shaft (4) and an imaging chip assembly (3) arranged at the far end of the driving shaft (4); the driving shaft (4) comprises n layers of driving springs, the driving springs are sequentially sleeved, the winding directions of two adjacent layers of driving springs are opposite, and the winding direction of the driving spring positioned on the outermost layer is the same as the rotating direction of a motor driving the driving spring to rotate; each driving spring is formed by winding a single-strand spring, and each strand of spring comprises a plurality of spring monofilaments; and in two adjacent layers of the driving springs, the wire diameter of the spring monofilament of the inner layer driving spring (4-3) is larger than that of the spring monofilament of the outer layer driving spring (4-2).
2. The endoscopic ultrasound microprobe according to claim 1, wherein at least one connection point (4-4) is provided between the driving springs, and the width of the connection point (4-4) is larger than the width of each spring.
3. The endoscopic ultrasound microprobe according to claim 2, wherein at least two connection points (4-4) are provided between the driving springs, and at least one connection point (4-4) is provided at each of both axial ends between the driving springs; when the connecting points (4-4) are positioned at two ends of the driving spring, grinding parts are arranged at two ends of the driving spring, and the thickness of each grinding part is less than or equal to 50% of the diameter of the spring monofilament of the outer layer driving spring.
4. The endoscopic ultrasound microprobe according to claim 3, wherein at least three connection points (4-4) are provided between the driving springs and are uniformly distributed along an axial direction of the driving springs.
5. The endoscopic ultrasound microprobe according to claim 2, wherein the connection points (4-4) are laser welding connection points or glue bonding connection points.
6. The endoscopic ultrasound microprobe according to claim 1, wherein a surface of the driving shaft (4) is provided with a coating (4-1) for reducing frictional resistance, the coating (4-1) being a PTFE coating or a Parylene coating.
7. The endoscopic ultrasound microprobe according to claim 1, wherein the number of spring monofilaments of a single spring in each layer of the driving spring is the same; the winding inclination angles of the driving springs of all layers are the same; and the clearance between each strand of spring in each layer of the driving spring is smaller than the wire diameter of the spring monofilament.
8. The endoscopic ultrasound microprobe according to any one of claims 1 to 7, wherein, in two adjacent layers of the drive springs, the diameter of the spring monofilament of the inner drive spring (4-3) is 1 to 1.5 times that of the spring monofilament of the outer drive spring (4-2); the gap between the outermost layer of the driving spring and the sheath tube (2) is 50-400 mu m, and the gap between two adjacent layers of the driving springs is 1-20 mu m.
9. The endoscopic ultrasound microprobe according to any one of claims 1 to 7, wherein in each layer of the drive spring of the drive shaft (4), Nn is the number of wires of the nth layer, rn is the central radius of the nth layer, θ n is the complementary angle of the angle between the nth layer of wires and the axis, dn is the wire diameter of the nth layer of wires, and σ is the stress; then:
∑Tsn-T＝∑(Π*dn2/4σ*Nn*rn*sinθn)-(k/rn*P)＞0；
wherein: k is the coefficient of friction resistance and P is the pressure.
10. The endoscopic ultrasound microprobe according to claim 9, wherein a sum of strain forces of respective layers of the drive shaft (4) satisfies:
∑Fsn＝∑(Π*dn2/4σ*Nn*rn*cosθn)＝0。
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