阅读说明：本技术 可视化追踪定位的血流导向装置输送系统及追踪定位方法 (Blood flow guiding device conveying system capable of visually tracking and positioning and tracking and positioning method ) 是由 许永松 穆磊 唐航 秦川 吴健 王金磊 于 2020-08-24 设计创作，主要内容包括：本发明实施例涉及一种可视化追踪定位的血流导向装置输送系统及追踪定位方法,血流导向装置输送系统包括：血流导向装置、推送导丝、支撑弹簧、远端弹簧、摩擦垫片、远端标记、近端标记和完全释放标记；远端弹簧设置在推送导丝的远端；远端标记设置在远端弹簧的近端；其中,远端标记与微导管腔的远端标记对准时指示血流导向装置释放的起始状态；血流导向装置预装在远端标记与完全释放标记之间；摩擦垫片设置在完全释放标记的远端一侧；近端标记设置在摩擦垫片的远端一侧；摩擦垫片用于稳固推送导丝推送血流导向装置在微导管腔内的输送；完全释放标记设置在支撑弹簧的远端,完全释放标记与微导管腔的远端标记对准时指示血流导向装置释放的完成状态。(The embodiment of the invention relates to a blood flow guiding device conveying system for visual tracking and positioning and a tracking and positioning method, wherein the blood flow guiding device conveying system comprises: the blood flow guiding device comprises a blood flow guiding device, a pushing guide wire, a supporting spring, a far-end spring, a friction gasket, a far-end mark, a near-end mark and a complete release mark; the distal spring is arranged at the distal end of the push guide wire; the distal marker is arranged at the proximal end of the distal spring; wherein the distal marker when aligned with the distal marker of the microcatheter lumen indicates an initial state of release of the blood flow directing device; the blood flow directing device is preloaded between the distal marker and the full release marker; the friction pad is arranged on one side of the far end of the complete release mark; the near-end mark is arranged on one side of the far end of the friction gasket; the friction gasket is used for stably pushing the guide wire to push the blood flow guiding device to be conveyed in the micro catheter cavity; a full release marker is disposed at the distal end of the support spring, the full release marker indicating completion of release of the blood flow directing device when aligned with the distal marker of the microcatheter lumen.)

1. A blood flow guide delivery system for visually tracking a location, the blood flow guide delivery system comprising: the blood flow guiding device comprises a blood flow guiding device, a pushing guide wire, a supporting spring, a far-end spring, a friction gasket, a far-end mark, a near-end mark and a complete release mark;

the distal end spring, the distal end mark, the blood flow guiding device, the proximal end mark, the friction gasket, the complete release mark and the support spring are sequentially arranged on the push guide wire from the distal end to the proximal end; wherein the distal spring, distal marker, blood flow directing device, proximal marker and full release marker are made of materials that are visualized under visualization;

the distal spring is arranged at the distal end of the push guide wire;

the distal marker is arranged at the proximal end of the distal spring, and a gap of 1mm-5mm is formed between the proximal end of the distal spring and the distal marker so as to indicate the positioning of the blood flow guiding device in the micro-catheter cavity conveying process; wherein the distal marker, when aligned with the distal marker of the microcatheter lumen, indicates an initial state of release of the blood flow directing device;

the blood flow directing device is preloaded between the distal marker and the full release marker;

the friction gasket is arranged on one side of the far end of the complete release mark, and a gap of 1mm-5mm is formed between the friction gasket and the complete release mark; the proximal marker is arranged on one side of the distal end of the friction pad; the friction gasket is used for stabilizing the delivery of the push guide wire to push the blood flow guiding device in the micro catheter cavity;

the complete release mark is arranged at the distal end of the supporting spring, and when the complete release mark is aligned with the distal end mark of the micro-catheter cavity, the complete release mark indicates the release completion state of the blood flow guiding device.

2. The blood flow directing device delivery system of claim 1 wherein the alignment of the proximal marker with the distal marker of the microcatheter lumen indicates an impending release of the blood flow directing device.

3. The blood flow directing device delivery system of claim 1 wherein the friction pad is made of an ultraviolet light curable glue.

4. The blood flow direction device delivery system of claim 1, wherein the push guidewire is tapered and has a Polytetrafluoroethylene (PTFE) coated guidewire at a proximal end for an overall length of 190cm to 230cm, wherein the push guidewire has a coated length at the proximal end of 150cm to 190 cm;

the length of the friction gasket is 5mm-20mm, the outer diameter size is 0.40mm-0.60mm, the precision is 0.01mm, the hardness is 30D-40D, and the distance from the friction gasket to the tail end of the push guide wire is 5cm-25 cm.

5. The blood flow direction device delivery system of claim 4, wherein the push guidewire has a distal minimum diameter of between 0.08mm and 0.20m and a proximal maximum diameter of between 0.36mm and 0.50 mm.

6. The blood flow guiding device delivery system of claim 1, wherein both ends of the supporting spring are fixed with the pushing guide wire by ultraviolet UV curing glue or soldering;

the far-end spring is made of platinum-tungsten alloy or platinum-iridium alloy, the primary wire diameter is 0.04-0.07 mm, and the length is 0.5-3 cm;

the far-end spring and the pushing guide wire are assembled together in a UV curing glue or tin soldering mode, and a far-end ball cap is arranged at the tail end of the far-end spring.

7. The blood flow direction device delivery system of claim 1, wherein the distal marker, the proximal marker and the full release marker are made of platinum-tungsten alloy or platinum-iridium alloy, the distance between the distal marker and the full release marker is 2cm-8cm, the diameter of the distal marker, the diameter of the proximal marker and the diameter of the full release marker are respectively 0.4mm-0.7mm, and the width of the distal marker, the proximal marker and the full release marker are respectively 0.5mm-2 mm.

8. A method for visually tracking and locating a blood flow guide device in a blood flow guide device delivery system according to any one of claims 1-7, wherein the method comprises:

after the blood flow guiding device is pushed into the micro catheter cavity, under the condition of radiography, a pushing guide wire is pushed, so that a distal end mark of a blood flow guiding device conveying system is aligned with a distal end mark of the micro catheter cavity, and the blood flow guiding device reaches a releasing initial position;

withdrawing the microcatheter so that the blood flow directing device is gradually released from the distal end to the proximal end, and tracking the relative positions of the proximal marker and the complete release marker with respect to the distal marker of the microcatheter lumen in real time under imaging; wherein, in the releasing process, the blood flow guiding device is gradually changed from a compressed state to an open state;

the release of the flow directing device is complete when the full release marker is aligned with the distal marker of the microcatheter lumen.

9. The visual tracking positioning method according to claim 8, wherein after the release of the blood flow directing device is completed, the method further comprises: withdrawing the push guidewire and the distal spring, distal marker, proximal marker, friction pad, full release marker, and support spring disposed thereon.

10. The visual tracking positioning method of claim 8, wherein before the proximal marker is aligned with the distal marker of the microcatheter lumen during withdrawal of the microcatheter, the method further comprises:

stopping withdrawing the microcatheter and pushing the microcatheter so that the released blood flow directing device is gradually compressed from the proximal end to the distal end and is withdrawn back into the lumen of the microcatheter;

when the distal marker of the blood flow directing device delivery system is realigned with the distal marker of the microcatheter lumen, the microcatheter position is adjusted and the blood flow directing device is released again, or the microcatheter is withdrawn along with the blood flow directing device delivery system within the microcatheter.

Technical Field

The invention relates to the technical field of special instruments, in particular to a blood flow guiding device conveying system capable of visually tracking and positioning and a tracking and positioning method.

Background

The blood flow directing device is typically a high metal surface coverage braided stent. At present, more mature blood flow guiding products are provided, and the product structures of different companies are slightly different.

How to visually track the conveying process of the positioned blood flow guiding device is a technical difficulty, in particular to the release and recovery control of the recyclable blood flow guiding device.

Aiming at the difficulty, the application provides a new technical scheme.

Disclosure of Invention

The invention aims to provide a blood flow guiding device conveying system and a tracking and positioning method for visual tracking and positioning, which can visually and accurately control the release and recovery or secondary release of a blood flow guiding device in the whole process.

To this end, in a first aspect, the embodiments of the present invention provide a blood flow guiding device delivery system for visually tracking and positioning, the blood flow guiding device delivery system including: the blood flow guiding device comprises a blood flow guiding device, a pushing guide wire, a supporting spring, a far-end spring, a friction gasket, a far-end mark, a near-end mark and a complete release mark;

the distal end spring, the distal end mark, the blood flow guiding device, the proximal end mark, the friction gasket, the complete release mark and the support spring are sequentially arranged on the push guide wire from the distal end to the proximal end; wherein the distal spring, distal marker, blood flow directing device, proximal marker and full release marker are made of materials that are visualized under visualization;

the distal spring is arranged at the distal end of the push guide wire;

the distal marker is arranged at the proximal end of the distal spring, and a gap of 1mm-5mm is formed between the proximal end of the distal spring and the distal marker so as to indicate the positioning of the blood flow guiding device in the micro-catheter cavity conveying process; wherein the distal marker, when aligned with the distal marker of the microcatheter lumen, indicates an initial state of release of the blood flow directing device;

the blood flow directing device is preloaded between the distal marker and the full release marker;

the friction gasket is arranged on one side of the far end of the complete release mark, and a gap of 1mm-5mm is formed between the friction gasket and the complete release mark; the proximal marker is arranged on one side of the distal end of the friction pad; the friction gasket is used for stabilizing the delivery of the push guide wire to push the blood flow guiding device in the micro catheter cavity;

the complete release mark is arranged at the distal end of the supporting spring, and when the complete release mark is aligned with the distal end mark of the micro-catheter cavity, the complete release mark indicates the release completion state of the blood flow guiding device.

Preferably, the alignment of the proximal marker with the distal marker of the microcatheter lumen indicates an impending release of the blood flow directing device.

Preferably, the friction pad is made of ultraviolet light curing glue.

Preferably, the pushing guide wire is conical and has a Polytetrafluoroethylene (PTFE) coating guide wire at the proximal end, and the total length is 190cm-230cm, wherein the pushing guide wire has a coating at the proximal end and the length is 150cm-190 cm;

the length of the friction gasket is 5mm-20mm, the outer diameter size is 0.40mm-0.60mm, the precision is 0.01mm, the hardness is 30D-40D, and the distance from the friction gasket to the tail end of the push guide wire is 5cm-25 cm.

Further preferably, the minimum diameter of the distal end of the push guide wire is between 0.08mm and 0.20m, and the maximum diameter of the proximal end of the push guide wire is between 0.36mm and 0.50 mm.

Preferably, two ends of the supporting spring are fixed together with the pushing guide wire in an ultraviolet UV curing glue or tin soldering mode;

the far-end spring is made of platinum-tungsten alloy or platinum-iridium alloy, the primary wire diameter is 0.04-0.07 mm, and the length is 0.5-3 cm;

the far-end spring and the pushing guide wire are assembled together in a UV curing glue or tin soldering mode, and a far-end ball cap is arranged at the tail end of the far-end spring.

Preferably, the far end mark, the near end mark and the complete release mark are made of platinum-tungsten alloy or platinum-iridium alloy, the distance between the far end mark and the complete release mark is 2cm-8cm, the diameters of the far end mark, the near end mark and the complete release mark are respectively 0.4mm-0.7mm, and the widths of the far end mark, the near end mark and the complete release mark are respectively 0.5mm-2 mm.

In a second aspect, an embodiment of the present invention provides a method for visually tracking and positioning a blood flow guiding device in a blood flow guiding device delivery system based on the visual tracking and positioning of the first aspect, where the method for visually tracking and positioning a blood flow guiding device includes:

after the blood flow guiding device is pushed into the micro catheter cavity, under the condition of radiography, a pushing guide wire is pushed, so that a distal end mark of a blood flow guiding device conveying system is aligned with a distal end mark of the micro catheter cavity, and the blood flow guiding device reaches a releasing initial position;

withdrawing the microcatheter so that the blood flow directing device is gradually released from the distal end to the proximal end, and tracking the relative positions of the proximal marker and the complete release marker with respect to the distal marker of the microcatheter lumen in real time under imaging; wherein, in the releasing process, the blood flow guiding device is gradually changed from a compressed state to an open state;

the release of the flow directing device is complete when the full release marker is aligned with the distal marker of the microcatheter lumen.

Preferably, after the release of the blood flow directing device is completed, the method further comprises: withdrawing the push guidewire and the distal spring, distal marker, proximal marker, friction pad, full release marker, and support spring disposed thereon.

Preferably, before the proximal marker is aligned with the distal marker of the microcatheter lumen during withdrawal of the microcatheter, the method further comprises:

stopping withdrawing the microcatheter and pushing the microcatheter so that the released blood flow directing device is gradually compressed from the proximal end to the distal end and is withdrawn back into the lumen of the microcatheter;

when the distal marker of the blood flow directing device delivery system is realigned with the distal marker of the microcatheter lumen, the microcatheter position is adjusted and the blood flow directing device is released again, or the microcatheter is withdrawn along with the blood flow directing device delivery system within the microcatheter.

According to the blood flow guiding device conveying system with the visual tracking and positioning functions, the far-end mark, the near-end mark and the complete release mark are adopted to indicate the positioning of the blood flow guiding device in the conveying process in the micro catheter cavity, the initial state is released through the far-end mark, the state is completed through the complete release mark, the release to-be-completed state is prompted through the near-end mark, and whether the blood flow guiding device can carry out the critical point of the recovery operation or not is indicated, so that the whole process is visible, the tracking and positioning functions can be realized, and the control accuracy is greatly improved. In addition, the friction gasket made of the ultraviolet curing adhesive has high precision, strong bonding force with the guide wire, uniform and controllable hardness, and improves the reliability of the releasing and recovering process of the blood flow guiding device.

Drawings

Fig. 1 is a schematic structural diagram of a blood flow guiding device for visual tracking positioning according to an embodiment of the present invention;

FIG. 2 is a flowchart of a visual tracking positioning method according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a visual tracking and positioning process according to an embodiment of the present invention;

FIG. 4 is a second schematic diagram illustrating a visual tracking and positioning process according to an embodiment of the present invention;

FIG. 5 is a third schematic diagram illustrating a visual tracking and positioning process according to an embodiment of the present invention;

fig. 6 is a fourth schematic view of a visual tracking and positioning process according to an embodiment of the present invention.

Detailed Description

The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.

The embodiment of the invention provides a blood flow guiding device for visual tracking and positioning, which is structurally shown in fig. 1 and comprises: the blood flow guiding device comprises a blood flow guiding device 8, a push guide wire 1, a supporting spring 2, a far-end spring 3, a friction gasket 4, a far-end mark 5, a near-end mark 7 and a complete release mark 6;

the positional relationship of the respective members will be described with the distal end spring 3 side as the distal end in the drawing and the operation end (i.e., the right direction in the drawing) of the push guide wire 1 as the proximal end.

The far-end spring 3, the far-end mark 5, the blood flow guiding device 8, the near-end mark 7, the friction gasket 4, the complete release mark 6 and the support spring 2 are sequentially arranged on the push guide wire 1 from the far end to the near end; wherein the distal spring 3, the distal marker 5, the blood flow directing device 8, the proximal marker 7 and the complete release marker 6 are made of materials that are visualized under radiography;

the distal spring 3 is arranged at the distal end of the push guide wire 1;

the distal marker 5 is arranged at the proximal end of the distal spring 3, and a gap of 1mm-5mm is formed between the proximal end of the distal spring 3 and the distal marker 5 so as to clearly indicate the positioning of the blood flow guiding device 8 in the micro-catheter cavity conveying process; wherein the distal marker 5, when aligned with the distal marker 5 of the microcatheter lumen, indicates an initial state of release of the blood flow directing device 8;

the blood flow directing device 8 is preloaded between the distal marker 5 and the full release marker 6;

the friction pad 4 is arranged at the far end side of the complete release mark 6, and has a clearance of 1mm-5mm with the complete release mark 6; the friction gasket 4 is used for stabilizing the delivery of the push guide wire 1 and the push blood flow guiding device 8 in the cavity of the micro catheter;

the proximal marker 7 is arranged on the distal side of the rubbing pad 4; when the proximal mark 7 is aligned with the distal mark 5 of the micro-catheter cavity, the blood flow guiding device 8 is indicated to be in a state of completing the release, so that accurate prompt can be given when the release is about to end; meanwhile, the proximal marker 7 is also used for indicating a recoverable critical point in the release process of the blood flow guiding device 8, and the blood flow guiding device 8 can be recovered before the proximal marker 7 is aligned with the distal marker 5 of the micro catheter cavity, so that the micro catheter can be released after the position of the micro catheter is readjusted under the condition of inaccurate positioning. When the proximal marker 7 is aligned with the distal marker 5 of the microcatheter lumen and is not recoverable, visual observation of the position can clearly indicate to the operator whether the blood flow guide 8 is in a recoverable state, to prevent the operator from performing a recovery operation on the blood flow guide 8 again to cause damage or other harm to the blood flow guide device when the blood flow guide 8 has reached the unrecoverable position.

A full release mark 6 is provided at the distal end of the support spring 2, the full release mark 6 indicating the completion of the release of the blood flow directing device 8 when aligned with the distal end mark 5 of the microcatheter lumen.

In a specific implementation of this embodiment:

the push guide wire 1 is conical, the proximal end of the push guide wire is provided with a Polytetrafluoroethylene (PTFE) coating guide wire, the total length of the push guide wire 1 is 190cm-230cm, and the length of the push guide wire 1 with the coating at the proximal end is 150cm-190 cm;

the friction pad 4 is made of ultraviolet light curing glue with high fluidity and proper hardness; the length is 5mm-20mm, the outer diameter size is 0.40mm-0.60mm, the precision is 0.01mm, the hardness is 30D-40D, and the distance from the friction gasket 4 to the end of the proximal end side of the push guide wire 1 is 5cm-25 cm.

The specific manufacturing process of the rubbing pad 4 may be as follows: with the aid of the polyolefin heat-shrinkable tube or the FEP heat-shrinkable tube which can be torn, one or two notches are processed at one end or two ends of the heat-shrinkable tube in advance, so that subsequent stripping is facilitated. The method comprises the steps of firstly performing heat shrinkage covering on a heat shrinkage tube on a mandrel by adopting a high-precision stainless steel mandrel or a PTFE mandrel, removing the mandrel after the heat shrinkage is finished, sleeving the heat shrinkage tube with an accurate inner diameter (equal to the diameter of the mandrel) on the distal end part of a push guide wire 1, injecting ultraviolet curing glue to fully fill the inside of the heat shrinkage tube, keeping the distal end of the push guide wire 1 at the central position of the heat shrinkage tube, irradiating ultraviolet light, realizing complete curing (5-30S) of glue within 5S-30S, stripping the heat shrinkage tube along a preset end gap after the glue is cured to obtain an integrally-formed friction gasket 4, wherein the obtained friction gasket 4 has good bonding force, can be well fixed with the push guide wire 1, and the hardness of the friction gasket 4 is uniform and controllable.

Two ends of the supporting spring 2 are fixed with the pushing guide wire 1 by adopting an ultraviolet UV curing adhesive or tin soldering mode; in this example, the supporting spring 2 is a densely wound 304 stainless steel spring with a primary wire diameter of 0.04mm to 0.08mm and a length of 5cm to 20 cm.

The far-end spring 3 is made of platinum-tungsten alloy or platinum-iridium alloy, the primary wire diameter is 0.04-0.07 mm, and the length is 0.5-3 cm; the distal spring 3 and the pushing guide wire 1 are assembled together in a UV curing glue or tin soldering mode, and a distal ball cap arranged at the tail end of the distal spring 3 is made of a high polymer material or a metal material. Further, in order to improve the softness of the distal end spring 3, heat treatment setting is performed at 580 ℃ -650 ℃ before the assembly with the push guide wire 1, and the specific shape can be straight as shown in fig. 1, and can also be J-shaped or S-shaped.

The far end mark 5, the near end mark 7 and the complete release mark 6 are made of platinum-tungsten alloy or platinum-iridium alloy, the distance between the far end mark 5 and the complete release mark 6 is 2cm-8cm, the diameters of the far end mark 5, the near end mark 7 and the complete release mark 6 are respectively 0.4mm-0.7mm, and the widths of the far end mark 5, the near end mark 7 and the complete release mark 6 are respectively 0.5mm-2 mm.

By adopting the blood flow guiding device 8 for visual tracking and positioning, the whole visual tracking and positioning of the blood flow guiding device 8 can be realized in the conveying process of the blood flow guiding device 8. Can effectively improve the operation convenience degree of the release of the blood flow guiding device 8 and the accuracy and precision of the release position.

Fig. 2 is a flowchart of a visual tracking positioning method according to an embodiment of the present invention. Fig. 3-6 are schematic diagrams of several states in the process of the method, and the method of the invention is described in conjunction with fig. 2-6.

The method mainly comprises the following steps:

step 210, after pushing the blood flow guiding device into the micro-catheter cavity, pushing the pushing guide wire under radiography to align the distal end mark of the blood flow guiding device delivery system with the distal end mark of the micro-catheter cavity, so that the blood flow guiding device reaches the release initial position;

specifically, before the blood flow directing device is advanced into the lumen of the microcatheter, the microcatheter is first advanced into position, as shown in FIG. 3. This position is optimally 3-5cm beyond the center of the release position of the blood flow directing device. The tip of the microcatheter lumen has a distal marker of the microcatheter lumen visible under the contrast.

The blood flow directing device delivery system is then used to deliver the blood flow directing device into the lumen of the microcatheter. The alignment of the distal ball cap of the delivery system of the delivery blood flow guide with the distal marker of the microcatheter lumen is shown in figure 4. The rubbing pads are not shown in this figure.

Step 220, withdrawing the microcatheter, gradually releasing the blood flow guiding device from the far end to the near end, and tracking the relative positions of the near-end mark and the complete release mark with the far-end mark of the microcatheter cavity in real time under radiography;

specifically, in the release process, the blood flow guiding device is gradually changed from a compressed state to an open state; as shown in fig. 5.

When the complete release marker is aligned with the distal marker of the microcatheter lumen, release of the flow directing device is complete, step 230.

After release is complete, the blood flow directing device is fully open. One state in which the release has been completed is shown in fig. 6.

After the release of the blood flow guiding device is completed, the push guide wire, the far-end spring, the far-end mark, the near-end mark, the friction gasket, the complete release mark and the support spring which are arranged on the push guide wire are withdrawn, and then the whole release process of the blood flow guiding device is completed.

Further, in the releasing process, if the situation that the releasing position needs to be adjusted or the releasing is stopped to be withdrawn integrally occurs, the micro catheter can be stopped being withdrawn and pushed before the proximal marker is aligned with the distal marker of the micro catheter cavity, so that the released blood flow guiding device is gradually compressed from the proximal end to the distal end and is withdrawn into the micro catheter cavity again; when the distal marker of the blood flow directing device delivery system is realigned with the distal marker of the lumen of the microcatheter, indicating that the blood flow directing device delivery system has been fully retracted into the microcatheter, the position of the microcatheter can be adjusted and the blood flow directing device released again, or the microcatheter can be withdrawn along with the blood flow directing device delivery system within the microcatheter.

According to the blood flow guiding device conveying system with the visual tracking and positioning functions, the far-end mark, the near-end mark and the complete release mark are adopted to indicate the positioning of the blood flow guiding device in the conveying process in the micro catheter cavity, the initial state is released through the far-end mark, the state is completed through the complete release mark, the release to-be-completed state is prompted through the near-end mark, and whether the blood flow guiding device can carry out the critical point of the recovery operation or not is indicated, so that the whole process is visible, the tracking and positioning functions can be realized, and the control accuracy is greatly improved. In addition, the friction gasket made of the ultraviolet curing adhesive has high precision, strong bonding force with the guide wire, uniform and controllable hardness, and improves the reliability of the releasing and recovering process of the blood flow guiding device.

Those of skill would further appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, a software module executed by a processor, or a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.