CN102151162A - Magnetic control blood vessel robot for cleaning thrombus - Google Patents
Magnetic control blood vessel robot for cleaning thrombus Download PDFInfo
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- CN102151162A CN102151162A CN 201110103184 CN201110103184A CN102151162A CN 102151162 A CN102151162 A CN 102151162A CN 201110103184 CN201110103184 CN 201110103184 CN 201110103184 A CN201110103184 A CN 201110103184A CN 102151162 A CN102151162 A CN 102151162A
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- robot
- microrobot
- permanent magnets
- thrombosis
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Abstract
The invention discloses a magnetic control blood vessel robot for cleaning thrombus. The robot consists of a miniature robot and an external driver and is characterized in that a liquid pump (5) and a thrombus collector (8) connected with an inlet of the liquid pump (5) in series are arranged in a miniature robot body; the liquid pump (5) is provided with a cylindrical pump body made by an elastic film; a plurality of permanent magnets (9) provided with central holes (9-1) are circumferentially and uniformly distributed on the outer wall of the pump body; guide rods (10) are respectively arranged at the positions of the inner wall of a cavity of the miniature robot body corresponding to the permanent magnets (9); each guide rod (10) respectively extends into the central hole (9-1) of the corresponding permanent magnet (9); a spiral spring (11) is sleeved on each guide rod (10); the external driver is provided with an annular supporting frame (13); and direct current electromagnets (14) with the same quantity as the permanent magnets (9) are uniformly distributed on the annular supporting frame (13).
Description
Technical field
The present invention relates to microrobot, be specifically related to a kind of vascular micro-robot.
Background technology
Vascular micro-robot is a kind of microrobot of can intravasation and can move freely in blood vessel, it can finish work such as removing thrombosis, tumor resection, input medicine in blood vessel, having great importance to preventing and treating cardiovascular disease, is the focus of current domestic and international microrobot research field.
The type of drive of vascular micro-robot is divided into to be had the cable driving and not to have two kinds of cable drivings, wherein do not have the cable driving and comprise self-powered driving and external magnetic field driving etc., wherein, the external magnetic field drives owing to have advantages such as the microminiaturization of being easy to, work timing be unrestricted, thereby has great application prospect.For example, application number is to have disclosed a kind of " the external magnetic field precession of online medical micro-robot drives control method in the blood vessel " in 200510046377.1 the Chinese invention patent ublic specification of application, this driving method utilizes an outer cylindrical outer driver to be enclosed within on the vascular micro-robot and drives, wherein, the inner surface of described cylindrical shape outer driver and vascular micro-robot outer surface are respectively equipped with opposite polarity neodymium-iron-boron permanent magnet, when outer driver rotates and moves axially, under magneticaction, vascular micro-robot rotates synchronously and moves.The benefit that adopts the external magnetic field to drive is, need not to be provided with power supply and CD-ROM drive motor in the vascular micro-robot, both can dwindle the volume of robot, can guarantee the robot long-term work again.As everyone knows, it is just meaningful that vascular micro-robot wants to carry out certain task in blood vessel, and as removing the thrombosis in the blood, still the vascular micro-robot of above-mentioned field drives obviously can't be finished thrombosis removing work.
A kind of jet-driven vascular micro-robot is disclosed in the inventor's a application for a patent for invention formerly (application number the is 201010299445.6) description, be provided with a variable pump in this vascular micro-robot, its first effect is to utilize jet-driven principle the blood in the blood vessel to be sucked and ejection at a high speed, thus driven machine people motion; Its second effect is that the thrombosis in the blood is drawn in the thrombosis catcher, reaches the purpose of cleaning thrombosis.But described variable pump need be equipped with power supply and could work in vascular micro-robot, if this variable pump is applied in the vascular micro-robot of above-mentioned field drives, then needs to increase supply unit, obviously the work in blood vessel for a long time.
Summary of the invention
The technical problem to be solved in the present invention provides a kind of vascular micro-robot that can carry out thrombus cleaning work in blood vessel for a long time.
The technical scheme that the present invention addresses the above problem is:
A kind of magnetic control vascular micro-robot of clearing up thrombosis, this robot is made up of microrobot and peripheral driver, it is characterized in that,
Be provided with liquor pump and the thrombosis catcher that is serially connected on this liquor pump inlet in the body of described microrobot, described liquor pump has the pump housing of the cylindrical tube shape of being made by elastic film, be respectively equipped with check valve in the import at this pump housing two and the outlet, circumferentially be evenly equipped with a plurality of permanent magnets on the outer wall with centre bore; Described liquor pump is supported in the intravital cavity of microrobot by supporting construction is coaxial, and described supporting construction is:
On the inwall of the intravital cavity of microrobot, establish a guide rod respectively in the corresponding position of described permanent magnets, each guide rod extends to respectively in the centre bore of corresponding permanent magnets; The sheathed helical spring of difference on the described guide rod, under naturalness, described this helical spring one is squeezed on the inwall of the intravital cavity of microrobot, and the other end is squeezed on the end face of permanent magnets;
Described peripheral driver has the ring holder that is placed in outside the microrobot, is evenly equipped with the DC electromagnet identical with the quantity of described permanent magnets on this ring holder.
Because the viscosity of vessel inner blood is big, be mingled with certain pathological tissues toward contact, so the resistance that microrobot moves therein is bigger.In order to solve this technical problem, a kind of a kind of improvement project of clearing up the magnetic control vascular micro-robot of thrombosis of the present invention is, described ring holder is an external toothing, and it is supported in one has on the pedestal of arc groove, with the gears engaged of the arc groove bottom that is located at pedestal.Cleaning is during thrombosis like this, and described gear can drive ring holder and rotates when externally driver self moved, and can drive microrobot and move and rotate, and increases the ability of the penetrate of microrobot.Because although cleaning needs during thrombosis DC electromagnet to produce the magnetic field of pulsation simultaneously, because its frequency is higher, therefore move the speed of rotating slowly the time when peripheral driver with ring holder, still can drive described microrobot with moved further and rotation.
A kind of magnetic control vascular micro-robot of clearing up thrombosis of the present invention, wherein, the bottom of described pedestal is provided with a vertical rotating shaft, and this rotating shaft is inserted on the travelling car.This structure is set both can have made described peripheral driver conveniently moving, also make ring holder to rotate, and then change the microrobot moving direction around vertical direction.
Vascular micro-robot of the present invention, owing to circumferentially be evenly equipped with a plurality of permanent magnets on the outer wall of described liquor pump, be evenly equipped with the DC electromagnet identical on the described ring holder with the quantity of described permanent magnets, therefore, utilize supporting control circuit can make the magnetic field of described DC electromagnet generation and the opposite polarity pulsation of described permanent magnets, the pump housing that pulling is synchronously made by elastic film makes its volume become recovery greatly more repeatedly, filters thereby blood pump is advanced the thrombosis catcher.
Vascular micro-robot of the present invention compared with prior art has following beneficial effect:
(1) vascular micro-robot of the present invention has carried out bigger improvement to prior art, and the liquor pump that promptly adopts magnetic to drive replaces existing electrically driven (operated) liquor pump, and makes the permanent magnet in the peripheral driver into DC electromagnet.After so improving, it both can utilize moving and rotation of peripheral driver as prior art, drove endovascular microrobot and was synchronized with the movement, and can guarantee that again microrobot can be engaged in thrombus cleaning work for a long time in blood vessel.
(2) with the coaxial setting of described liquor pump and microrobot, be about to permanent magnet and the coaxial setting of microrobot on the microrobot, provide essential condition for utilizing rotating excitation field to drive microrobot around synchronous rotation of self axis.Therefore, as long as making on the described ring holder a plurality of DC electromagnets produce rotating excitation fields can drive microrobot and rotate synchronously around self axis, and do not need to rotate described ring holder, if promptly with existing the same, only need to drive endovascular microrobot and move and rotate, can save a cover and drive the mechanical driving device that ring holder rotates.
Description of drawings
Fig. 1～Fig. 3 is the structural representation of a specific embodiment of microrobot of the present invention, and wherein Fig. 1 is a front view, and Fig. 2 is the vertical view that removes behind the upper shell, and Fig. 3 is the enlarged drawing of A-A cutaway view among Fig. 2.
Fig. 4 is a kind of concrete structure sketch map of thrombosis catcher of the present invention.
Fig. 5～Fig. 7 is a concrete structure sketch map of vascular micro-robot of the present invention, and wherein, Fig. 5 is a front view, and Fig. 6 is a left view, and Fig. 7 is the enlarged drawing of the B-B cutaway view among Fig. 5.
Fig. 8 is the axonometric chart of a concrete structure of pedestal of the present invention.
The specific embodiment
Referring to Fig. 1～Fig. 4, the microrobot in the vascular micro-robot of the present invention has the capsule shape housing that is combined by upper shell 1 and lower house 2, and the two ends of this housing are embedded with a suction nozzle 3 and a nozzle 4 respectively.The pump housing of liquor pump 5 is made by elastic film, its middle part is cylindrical tube shape, two is connected with drain pipe 7 with feed tube 6 respectively, wherein is provided with in the feed tube 6 to allow blood flow to the check valve 21 of the pump housing, is provided with in the drain pipe 7 to allow blood flow out another check valve 21 of the pump housing.Liquor pump 5 is coaxially installed on the middle part of capsule shape housing inner chamber, wherein, is connected in series thrombosis catcher 8 and suction nozzle 3 on the feed tube 6 successively, serial connection nozzle 4 on the drain pipe 7.Circumferentially be provided with 4 equally distributed permanent magnets 9 on the outer wall at liquor pump 5 middle parts, the side that this permanent magnets 9 contacts with the pump housing is made circular-arc and is bonded together with the outer wall of the pump housing.Each permanent magnets 9 is provided with centre bore 9-1, and is respectively equipped with a guide rod 10 on the inwall of each corresponding capsule shape housing in centre bore 9-1 position, the end of this guide rod 10 put in the corresponding centre bore 9-1 and with this centre bore 9-1 movingly.Be arranged with a helical spring 11 on each root guide rod 10, this helical spring 11 is in the raw the time, and one is squeezed on the inwall of capsule shape housing, and the other end is squeezed on the end face of permanent magnets 9.
Referring to Fig. 4, thrombosis catcher 8 is a rectangular cavities, and it is serially connected with on the feed tube 6; The blood inlet of this thrombosis catcher 8 and outlet are arranged at the center at its two ends respectively, and its middle outlet is provided with the filter screen 12 that is used to filter thrombosis.
Referring to Fig. 5～Fig. 7, peripheral driver is made up of ring holder 13,4 DC electromagnets 14 and the moving-member that are located on this ring holder 13, wherein, described ring holder 13 is an external toothing, the both sides of this external toothing extend axially respectively and form support ring 13-1, and described 4 DC electromagnets 14 circumferentially are uniformly distributed in the inboard of external toothing.Described moving-member comprises pedestal 17, back-up block 16 and travelling car 15 from top to bottom successively; Wherein, pedestal 17 tops are provided with arcuate groove 17-1, and the both sides at this arc groove 17-1 two all are embedded with a plurality of cylindrical rollers 23; The middle part cross-section is provided with round-arced tooth race 17-2, and the bottom of this gear grooved 17-2 becomes pit toward lower recess; The bottom is provided with the cylinder-shaped shaft 17-3 that down extends; The top of back-up block 16 is provided with a blind hole, and the rotating shaft 17-3 of said base 17 bottoms inserts in this blind hole, makes pedestal 17 be supported on this back-up block 16, and can be on this back-up block 16 axis of 17-3 rotation around the shaft; The bottom of travelling car 15 is provided with 4 road wheel 15-1, fixedlys connected with back-up block 16 in its top.The support ring 13-1 of support frame as described above 13 both sides is supported on the cylindrical roller 23 on the arc groove 17-1 on the pedestal 17, and be closely attached on its inboard limited block 22 by 4 and be positioned on the pedestal 17, these 4 limited blocks 22 are fixedly connected on the both sides at pedestal 17 two by screw; The external toothing of bracing frame 17 partly puts in the gear grooved 17-2, and meshes with the gear 18 that is located in the pit of this gear grooved 17-2 bottom, and the rotating shaft 19 of this gear 18 is supported on the pedestal 17 and with external motive device and is connected.
Claims (3)
1. magnetic control vascular micro-robot of clearing up thrombosis, this robot is made up of microrobot and peripheral driver, it is characterized in that,
Be provided with liquor pump (5) in the body of described microrobot and be serially connected in thrombosis catcher (8) on this liquor pump (5) inlet, described liquor pump (5) has the pump housing of the cylindrical tube shape of being made by elastic film, be respectively equipped with check valve (21) in the import at this pump housing two and the outlet, circumferentially be evenly equipped with a plurality of permanent magnets (9) on the outer wall with centre bore (9-1); Described liquor pump (5) is supported in the intravital cavity of microrobot by supporting construction is coaxial, described supporting construction is: on the inwall of the intravital cavity of microrobot, establish a guide rod (10) respectively in the corresponding position of described permanent magnets (9), each guide rod (10) extends to respectively in the centre bore (9-1) of corresponding permanent magnets (9); Described guide rod (10) is gone up a sheathed helical spring (11) respectively, and under naturalness, one of described helical spring (11) is squeezed on the inwall of the intravital cavity of microrobot, and the other end is squeezed on the end face of permanent magnets (9);
Described peripheral driver has the ring holder (13) that is placed in outside the microrobot, is evenly equipped with the DC electromagnet (14) identical with the quantity of described permanent magnets (9) on this ring holder (13).
2. a kind of magnetic control vascular micro-robot of clearing up thrombosis according to claim 1, it is characterized in that, described ring holder (13) is an external toothing, it is supported in one has on the pedestal (17) of arc groove (17-1), with gear (18) engagement of the arc groove that is located at pedestal (17) (17-1) bottom.
3. a kind of magnetic control vascular micro-robot of clearing up thrombosis according to claim 2 is characterized in that, the bottom of described pedestal (17) is provided with a vertical rotating shaft (17-3), and this rotating shaft (17-3) is inserted on the travelling car (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101031840A CN102151162B (en) | 2011-04-24 | 2011-04-24 | Magnetic control blood vessel robot for cleaning thrombus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101031840A CN102151162B (en) | 2011-04-24 | 2011-04-24 | Magnetic control blood vessel robot for cleaning thrombus |
Publications (2)
| Publication Number | Publication Date |
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| CN102151162A true CN102151162A (en) | 2011-08-17 |
| CN102151162B CN102151162B (en) | 2012-07-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2011101031840A Expired - Fee Related CN102151162B (en) | 2011-04-24 | 2011-04-24 | Magnetic control blood vessel robot for cleaning thrombus |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103961156A (en) * | 2014-04-09 | 2014-08-06 | 广东机电职业技术学院 | In-vitro guiding type phlebothrombosis dredging machine and working method thereof |
| CN104251365A (en) * | 2013-06-25 | 2014-12-31 | 高文 | Magnetic-force-driven pipeline robot |
| CN105596054A (en) * | 2015-12-21 | 2016-05-25 | 浙江大学 | Device for removing vascular thrombus based on electrostatic fields |
| CN105943116A (en) * | 2016-05-16 | 2016-09-21 | 西安交通大学第附属医院 | Multi-stage inching circulating plaque removal device for department of cardiology |
| CN109171976A (en) * | 2018-10-22 | 2019-01-11 | 中国人民解放军陆军军医大学第附属医院 | A kind of vascular surgery robot accurately controlled and its operating method |
| CN109330661A (en) * | 2018-10-17 | 2019-02-15 | 深圳达芬奇创新科技有限公司 | A kind of blood vessel depths blood lipid rubbish medical treatment cleaning mechanism |
| CN109350179A (en) * | 2018-12-06 | 2019-02-19 | 孙雷雷 | A kind of Cardiological multistage adjusting microinching circulation removes spot device |
| CN110123499A (en) * | 2019-05-28 | 2019-08-16 | 姜井赞 | A kind of multi-functional blood vessel automatic supporter device |
| US10959751B2 (en) * | 2018-11-07 | 2021-03-30 | Warren Z McCarthy | Piezoelectric thrombus removal |
| CN113197669A (en) * | 2021-05-19 | 2021-08-03 | 广州大学 | Variable-caliber magnetic control internal spiral vascular robot |
| CN114173697A (en) * | 2019-07-26 | 2022-03-11 | 汉阳大学校产学协力团 | Catheter system |
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| WO2005122866A1 (en) * | 2004-06-21 | 2005-12-29 | Korea Institute Of Science And Technology | Capsule type endoscope control system |
| CN101961261A (en) * | 2010-09-30 | 2011-02-02 | 广州大学 | Jet flow-driven blood vessel robot |
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2011
- 2011-04-24 CN CN2011101031840A patent/CN102151162B/en not_active Expired - Fee Related
Patent Citations (4)
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| US5217449A (en) * | 1990-12-11 | 1993-06-08 | Miyarisan Kabushiki Kaisha | Medical capsule and apparatus for activating the same |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104251365A (en) * | 2013-06-25 | 2014-12-31 | 高文 | Magnetic-force-driven pipeline robot |
| CN103961156A (en) * | 2014-04-09 | 2014-08-06 | 广东机电职业技术学院 | In-vitro guiding type phlebothrombosis dredging machine and working method thereof |
| CN103961156B (en) * | 2014-04-09 | 2016-03-02 | 广东机电职业技术学院 | External guiding phlebothrombosis dredging machine and method of work thereof |
| CN105596054A (en) * | 2015-12-21 | 2016-05-25 | 浙江大学 | Device for removing vascular thrombus based on electrostatic fields |
| CN105943116A (en) * | 2016-05-16 | 2016-09-21 | 西安交通大学第附属医院 | Multi-stage inching circulating plaque removal device for department of cardiology |
| CN109330661A (en) * | 2018-10-17 | 2019-02-15 | 深圳达芬奇创新科技有限公司 | A kind of blood vessel depths blood lipid rubbish medical treatment cleaning mechanism |
| CN109171976A (en) * | 2018-10-22 | 2019-01-11 | 中国人民解放军陆军军医大学第附属医院 | A kind of vascular surgery robot accurately controlled and its operating method |
| US10959751B2 (en) * | 2018-11-07 | 2021-03-30 | Warren Z McCarthy | Piezoelectric thrombus removal |
| CN109350179A (en) * | 2018-12-06 | 2019-02-19 | 孙雷雷 | A kind of Cardiological multistage adjusting microinching circulation removes spot device |
| CN110123499A (en) * | 2019-05-28 | 2019-08-16 | 姜井赞 | A kind of multi-functional blood vessel automatic supporter device |
| CN110123499B (en) * | 2019-05-28 | 2021-02-09 | 青岛大学附属医院 | Multifunctional automatic blood vessel support device |
| CN114173697A (en) * | 2019-07-26 | 2022-03-11 | 汉阳大学校产学协力团 | Catheter system |
| CN113197669A (en) * | 2021-05-19 | 2021-08-03 | 广州大学 | Variable-caliber magnetic control internal spiral vascular robot |
| CN113197669B (en) * | 2021-05-19 | 2022-03-22 | 广州大学 | Variable-caliber magnetic control internal spiral vascular robot |
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| CN102151162B (en) | 2012-07-25 |
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