CN112006778A - Rotary cutting robot for cleaning thrombus - Google Patents
Rotary cutting robot for cleaning thrombus Download PDFInfo
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- CN112006778A CN112006778A CN202010846152.9A CN202010846152A CN112006778A CN 112006778 A CN112006778 A CN 112006778A CN 202010846152 A CN202010846152 A CN 202010846152A CN 112006778 A CN112006778 A CN 112006778A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/22—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B17/3205—Excision instruments
- A61B17/3207—Atherectomy devices working by cutting or abrading; Similar devices specially adapted for non-vascular obstructions
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B17/3205—Excision instruments
- A61B17/3207—Atherectomy devices working by cutting or abrading; Similar devices specially adapted for non-vascular obstructions
- A61B17/320758—Atherectomy devices working by cutting or abrading; Similar devices specially adapted for non-vascular obstructions with a rotating cutting instrument, e.g. motor driven
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/73—Manipulators for magnetic surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00238—Type of minimally invasive operation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/22—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for
- A61B2017/22079—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for with suction of debris
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B17/3205—Excision instruments
- A61B17/3207—Atherectomy devices working by cutting or abrading; Similar devices specially adapted for non-vascular obstructions
- A61B2017/320716—Atherectomy devices working by cutting or abrading; Similar devices specially adapted for non-vascular obstructions comprising means for preventing embolism by dislodged material
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B17/3205—Excision instruments
- A61B17/3207—Atherectomy devices working by cutting or abrading; Similar devices specially adapted for non-vascular obstructions
- A61B2017/320741—Atherectomy devices working by cutting or abrading; Similar devices specially adapted for non-vascular obstructions for stripping the intima or the internal plaque from a blood vessel, e.g. for endarterectomy
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B17/3205—Excision instruments
- A61B17/3207—Atherectomy devices working by cutting or abrading; Similar devices specially adapted for non-vascular obstructions
- A61B17/320758—Atherectomy devices working by cutting or abrading; Similar devices specially adapted for non-vascular obstructions with a rotating cutting instrument, e.g. motor driven
- A61B2017/320775—Morcellators, impeller or propeller like means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
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- Biomedical Technology (AREA)
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- General Health & Medical Sciences (AREA)
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- Orthopedic Medicine & Surgery (AREA)
- Surgical Instruments (AREA)
Abstract
The invention discloses a rotary cutting robot for cleaning thrombus, which comprises a micro robot and an external magnetic driver, wherein the micro robot is connected with the external magnetic driver; the micro-robot comprises a shell, a broken thrombus collector, a rotary-cut blood inlet part and a tail blood discharging assembly, wherein a permanent magnet is embedded in the shell; the rotary-cutting blood inlet piece is fixedly connected to the front end of the shell, a plurality of rotary-cutting knives are arranged on the front end face of the rotary-cutting blood inlet piece, a blood inlet groove is formed in the rotary-cutting blood inlet piece, and a miniature camera head facing the front is further arranged on the rotary-cutting blood inlet piece; the tail blood discharging assembly comprises an impeller, a guide vane and a blood discharging driving mechanism for driving the impeller to rotate, and the guide vane is fixedly arranged in the shell; the impeller is arranged in front of the guide vane and behind the thrombus collector along the flowing direction of blood, and the impeller and the outlet of the thrombus collector are correspondingly arranged; the tail part of the shell is provided with a blood discharging port. The invention can effectively destroy and clean thrombus, can stably move forward, and is beneficial to improving the thrombus cleaning effect.
Description
Technical Field
The invention relates to a vascular robot, in particular to a rotary cutting robot for cleaning thrombus.
Background
The blood vessel robot is a micro robot capable of entering blood vessel and moving freely in the blood vessel, and can complete the work of removing thrombus, tumor excision, adding medicine, etc. in the blood vessel, and has important significance in preventing and treating cardiovascular diseases.
The invention patent with the publication number of CN102151162B discloses a magnetic control blood vessel robot for cleaning thrombus, which realizes the suction of the thrombus and the ejection of the blood by a suction nozzle and a nozzle and has the following problems:
1. adopt the suction nozzle to absorb the thrombus, it is not good to the destruction clear away effect of thrombus, leads to the thrombus to block up the pipeline in the robot easily or block up the filter screen in the thrombus collector.
2. The filtered blood is sprayed out from the nozzle, so that the advancing auxiliary power generated to the micro-robot is difficult to form, and the micro-robot can smoothly advance in the blood vessel with higher viscosity only by increasing the external driving force.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a rotary cutting robot for cleaning thrombus, which can effectively destroy and clean thrombus, can stably move forwards and is beneficial to improving the thrombus cleaning effect.
The purpose of the invention is realized by the following technical scheme:
a rotary cutting robot for cleaning thrombus comprises a micro robot and an external magnetic driver; the micro-robot is characterized by comprising a capsule-shaped shell, a thrombus breaking collector, a rotary cutting blood inlet piece and a tail blood discharging assembly, wherein the thrombus breaking collector, the rotary cutting blood inlet piece and the tail blood discharging assembly are arranged in the shell; the rotary-cutting blood inlet piece is fixedly connected to the front end of the shell, a plurality of rotary-cutting knives are arranged on the front end face of the rotary-cutting blood inlet piece, a blood inlet groove communicated with an inlet of the thrombus collector is formed in the rotary-cutting blood inlet piece, and a miniature camera facing the front is further arranged on the rotary-cutting blood inlet piece; the tail blood discharging assembly comprises an impeller, a guide vane and a blood discharging driving mechanism for driving the impeller to rotate, and the guide vane is fixedly arranged in the shell; the impeller is arranged in front of the guide vane and behind the thrombus collector along the flowing direction of blood, and the impeller and the outlet of the thrombus collector are correspondingly arranged; the tail part of the shell is provided with a blood discharging port.
The rotary cutting robot for cleaning the thrombus has the working principle that:
firstly, under the action of an external magnetic driver, controlling the micro robot to rotate and advance along a set direction; meanwhile, the blood discharge driving mechanism drives the impeller to rotate, and the rotation direction of the impeller is opposite to that of the outer micro-robot shell; when the micro-robot moves to the position of the thrombus, the rotary cutter on the rotary cutting blood inlet piece positioned at the front end of the shell carries out rotary cutting on the thrombus, so that the thrombus is cut up and damaged; the cut broken thrombus enters the broken thrombus collector through the blood inlet groove on the cut blood inlet part, the blood filtered by the broken thrombus collector flows onto the impeller and is ejected radially backwards to the periphery of the impeller under the driving of the impeller, the blood flows through the guide vane, the guide vane enables the inflowing blood to be turned to the center and flow out, and the blood obtains kinetic energy and pressure energy at the same time and is finally discharged through the blood outlet at the tail part of the shell. In the rotary cutting thrombus removal process, the rotary cutter firstly cuts up and destroys the thrombus so as to filter the thrombus in the thrombus collecting device, so that blockage is avoided, and meanwhile, in the blood discharging process, under the action of the impeller and the guide vane, the driving force for the whole micro-robot is increased, so that the micro-robot can move forward in blood and absorb the thrombus.
In a preferred embodiment of the present invention, the surface of the outer shell is provided with a plurality of equally spaced helical threads, and the helical threads form a plurality of helical grooves on the surface of the outer shell.
In a preferable scheme of the invention, the thrombus collecting device comprises a conical filter cover which is arranged in a conical manner, the conical filter cover is gradually contracted from front to back, and an opening at the front end of the conical filter cover is communicated with the blood inlet groove.
Preferably, the thrombus collector further comprises a cylindrical filter cover, the front end of the cylindrical filter cover is provided with a connecting opening, the connecting opening is connected to the conical filter cover, and the rear end of the conical filter cover extends into the cylindrical filter cover.
Preferably, the rear end of the conical filter cover is provided with an extension filter cover, the extension filter cover is arranged in a cylindrical shape, and the rear end of the extension filter cover is arranged in an opening mode.
Preferably, the rear end of the cylindrical filter cover is arranged in a conical shape and gradually enlarged from front to back.
In a preferred embodiment of the present invention, there are two sets of the rotary cutters for rotary cutting into the blood sample; one group of the rotary cutters is external rotary cutters which are arranged in a circular and equidistant manner; the other group is an inner rotary cutter which is arranged in a rotary arrangement mode and is positioned in an outer rotary cutter; the blood inlet grooves are arranged in a plurality and are arranged between the external rotary cutter and the internal rotary cutter in a rotary arrangement mode.
In a preferred embodiment of the present invention, the blood discharging driving mechanism includes a rotating shaft and a rotating power mechanism for driving the rotating shaft to rotate, the rotating shaft is rotatably disposed at an axis of the housing, and the impeller is disposed on the rotating shaft; the cylindrical filter cover is internally provided with an axially extending central filter cover, and the rotating shaft penetrates through the central filter cover. The central filter cover is arranged in the extension filter cover in a penetrating mode.
According to a preferable scheme of the invention, the tail part of the shell is convexly arranged, the plurality of blood discharging ports are arranged, and the plurality of blood discharging ports are distributed on the tail part of the shell in a circular grid manner.
In a preferred embodiment of the present invention, the external magnetic actuator includes a three-axis helmholtz coil in which the micro-robot is disposed, and a base.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the rotary cutter is used for firstly cutting and destroying the thrombus, so that the thrombus can enter the thrombus collecting device for filtering, the blockage is avoided, and the thrombus removing effect is favorably improved.
2. In the blood discharging process, the filtered blood is actively discharged through the impeller and the guide vanes, so that the blood is conveniently discharged, and meanwhile, the pushing force to the whole micro-robot is increased, so that the micro-robot can advance in the blood and absorb the thrombus.
Drawings
Fig. 1 to 4 are schematic structural views of one embodiment of a rotational atherectomy robot for cleaning thrombus according to the present invention, wherein fig. 1 is a perspective view, fig. 2 is a perspective view of a micro-robot, fig. 3 is a sectional view of the micro-robot, and fig. 4 is an exploded view of the micro-robot.
Detailed Description
The present invention will be further described with reference to the following examples and drawings, but the embodiments of the present invention are not limited thereto.
Referring to fig. 1 to 4, the rotary-cut robot for cleaning thrombus of the present embodiment includes a micro-robot 3 and an external magnetic driver, the external magnetic driver includes a three-axis helmholtz coil 1 and a base 2, the micro-robot 3 is disposed in the three-axis helmholtz coil 1; the micro-robot 3 comprises a capsule-shaped shell 4, a thrombus breaking collector arranged in the shell 4, a rotary cutting blood inlet part 6 and a tail blood discharging assembly, wherein a permanent magnet 21 is embedded in the shell 4; the rotary-cutting blood inlet part 6 is fixedly connected to the front end of the shell 4, a plurality of rotary-cutting knives are arranged on the front end face of the rotary-cutting blood inlet part 6, a blood inlet groove 9 communicated with an inlet of the thrombus collector is formed in the rotary-cutting blood inlet part 6, and a miniature camera 10 facing the front is further arranged on the rotary-cutting blood inlet part 6; the tail blood discharging assembly comprises an impeller 16, a guide vane 17 and a blood discharging driving mechanism for driving the impeller 16 to rotate, and the guide vane 17 is fixedly arranged in the shell 4; the impeller 16 is arranged in front of the guide vane 17 and behind the thrombus collector along the flowing direction of the blood, and the impeller 16 is arranged corresponding to the outlet of the thrombus collector; the tail part of the shell 4 is provided with a blood discharging port 18.
Referring to fig. 2-4, the surface of the outer shell 4 is provided with a plurality of equally spaced helical threads 5, and the helical threads 5 form a plurality of helical grooves on the surface of the outer shell 4. Therefore, a dynamic pressure lubricating film can be generated in the rotating process of the shell 4, and the suspended running in the blood vessel is realized; meanwhile, under the action of the spiral groove, axial thrust is convenient to generate in blood, and suspension type rapid operation of the robot is facilitated.
Referring to fig. 3 and 4, the thrombus collecting device comprises a conical filter cover 11 which is arranged in a conical manner, the conical filter cover 11 is gradually contracted from front to back, and the front end opening of the conical filter cover 11 is communicated with the blood inlet groove 9. Set up toper filter mantle 11, be convenient for the garrulous bolt is concentrated and is filtered, is favorable to blood to be discharged from all directions to accelerate filter speed, avoid blockking up.
Referring to fig. 3 and 4, the plug collecting device further comprises a cylindrical filter housing 12, the front end of the cylindrical filter housing 12 is provided with a connecting opening, the connecting opening is connected to the conical filter housing 11, and the rear end of the conical filter housing 11 extends into the cylindrical filter housing 12. The thrombus in the conical filter cover 11 is easy to rush out of the conical filter cover 11 under the impact of blood, and the flushed thrombus is subjected to secondary filtration and collection through the arrangement of the cylindrical filter cover 12, so that the thrombus is prevented from reentering a blood vessel, the collection of the thrombus is facilitated, and the storage space is increased.
Referring to fig. 3 and 4, the rear end of the conical filter housing 11 is provided with an extension filter housing 13, the extension filter housing 13 is cylindrically disposed, and the rear end of the extension filter housing 13 is open-ended. By the arrangement of the extending filter cover 13, after the broken plug enters the conical filter cover 11, the inner wall of the extending conical filter cover 11 is guided to move to extend into the filter cover 13 and enters the cylindrical filter cover 12 by extending through the filter cover 13, so that the broken plug can enter the inner center of the cylindrical filter cover 12, the moving distance of the broken plug is prolonged, and blood can fully flow out through the through hole on the conical filter cover 11; meanwhile, the broken thrombus can be prevented from being accumulated at the rear end part of the conical filter cover 11, the fluidity of blood is kept, and the filtering effect is improved.
Referring to fig. 3 and 4, the rear end of the cylindrical filter housing 12 is tapered and gradually enlarged from front to back. By arranging the cylindrical filter housing 12, the broken plugs are effectively prevented from being accumulated on the rear end of the cylindrical filter housing 12, so that blockage is avoided; in addition, when the filter plug moves to the rear end of the cylindrical filter housing 12, the filter plug gradually scatters and moves in various directions along the rear end portion of the conical arrangement, thereby being beneficial to improving the filtering effect.
Referring to fig. 2 and 3, there are two sets of rotary cutters for rotary cutting into the blood component 6; one group is an external rotary cutter 7, and the external rotary cutters 7 are arranged in a circular shape at equal intervals; the other group is an inner rotary cutter 8, and the inner rotary cutters 8 are arranged in a rotary arrangement mode and are positioned in the outer rotary cutter 7; the blood inlet grooves 9 are provided in plurality, and the plurality of blood inlet grooves 9 are provided between the outer rotary cutter 7 and the inner rotary cutter 8 in a rotational arrangement. Through setting up such rotary cutter, be convenient for after the contact thrombus fully with the thrombus comminution destruction, let the bits of broken glass bolt get into the bits of broken glass bolt collector from the groove 9 that advances blood that sets up between rotary cutter and filter simultaneously.
Referring to fig. 3 and 4, the blood discharging driving mechanism includes a rotating shaft 15 and a rotating power mechanism for driving the rotating shaft 15 to rotate, the rotating shaft 15 is rotatably disposed at the axis of the housing 4, and the impeller 16 is disposed on the rotating shaft 15; the rear end of the rotating shaft 15 extends backwards through the guide vane 17 and is connected to the tail of the shell 4; the cylindrical filter housing 12 is internally provided with a central filter housing 14 extending axially, and the rotating shaft 15 is arranged in the central filter housing 14 in a penetrating manner. The central filter housing 14 is arranged to extend through the interior of the filter housing 13. The installation of the impeller 16 and the guide vane 17 is facilitated through the rotating shaft 15, and the impeller 16 is driven to rotate. The rotating shaft 15 penetrates through the central filter cover 14, so that the central filter cover 14 and the broken bolts in the cylindrical filter cover 12 can be kept in a certain dynamic state when the rotating shaft 15 rotates, the accumulation and blockage are avoided, and the filtering effect is improved. In this embodiment, the rotating power mechanism is a motor 19, and the motor 19 and the control module of the micro-robot 3 are disposed on the front end of the rotating shaft 15. In this embodiment, the blades of the impeller 16 are close to the inner wall of the guide vane 17 casing, and a blood through groove 20 is arranged between the wheel disc of the impeller 16 and the inner wall of the guide vane 17 casing. In this embodiment, stator 17 and shell 4 inner wall fixed connection, and be equipped with between stator 17 and the shell 4 equally and lead to blood groove 22, stator 17 can do benefit to the blood flow diffusion to pass through, increases the propulsive force of micro-robot 3.
Referring to fig. 3 and 4, the tail portion of the outer shell 4 is protruded, and a plurality of blood discharge ports 18 are arranged on the tail portion of the outer shell 4 in a circular grid distribution.
Referring to fig. 1 to 4, the rotary-cut robot for cleaning thrombus of the present embodiment works on the following principle:
firstly, under the action of an external magnetic driver, controlling the micro-robot 3 to rotate and advance along a set direction; meanwhile, the blood discharging driving mechanism drives the impeller 16 to rotate, and the rotation direction of the impeller 16 is opposite to the rotation direction of the shell 4 of the outer micro robot 3; when the micro-robot 3 moves to the position of thrombus, the rotary cutter on the rotary cutting blood inlet piece 6 at the front end of the shell 4 carries out rotary cutting on the thrombus, so that the thrombus is cut up and damaged; the cut broken thrombus enters the broken thrombus collector through the blood inlet groove 9 on the blood inlet part 6, the blood filtered by the broken thrombus collector flows to the impeller 16, is radially ejected backwards to the periphery of the impeller 16 under the driving of the impeller 16, flows through the guide vane 17, the guide vane 17 enables the inflow blood to be turned to the center and flows out, and the blood obtains kinetic energy and pressure energy at the same time and is finally discharged through the blood outlet 18 at the tail part of the shell 4. In the rotary cutting thrombus removal process, the rotary cutter firstly cuts up and destroys the thrombus so as to filter the thrombus in the thrombus collecting device, so that blockage is avoided, and meanwhile, in the blood discharging process, under the action of the impeller 16 and the guide vane 17, the driving force for the whole micro-robot 3 is increased, so that the micro-robot 3 can move forward in blood and absorb the thrombus.
The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents and are included in the scope of the present invention.
Claims (10)
1. A rotary cutting robot for cleaning thrombus comprises a micro robot and an external magnetic driver; the micro-robot is characterized by comprising a capsule-shaped shell, a thrombus breaking collector, a rotary cutting blood inlet piece and a tail blood discharging assembly, wherein the thrombus breaking collector, the rotary cutting blood inlet piece and the tail blood discharging assembly are arranged in the shell; the rotary-cutting blood inlet piece is fixedly connected to the front end of the shell, a plurality of rotary-cutting knives are arranged on the front end face of the rotary-cutting blood inlet piece, a blood inlet groove communicated with an inlet of the thrombus collector is formed in the rotary-cutting blood inlet piece, and a miniature camera facing the front is further arranged on the rotary-cutting blood inlet piece; the tail blood discharging assembly comprises an impeller, a guide vane and a blood discharging driving mechanism for driving the impeller to rotate, and the guide vane is fixedly arranged in the shell; the impeller is arranged in front of the guide vane and behind the thrombus collector along the flowing direction of blood, and the impeller and the outlet of the thrombus collector are correspondingly arranged; the tail part of the shell is provided with a blood discharging port.
2. A rotational atherectomy robot according to claim 1, wherein the outer casing has a plurality of equally spaced helical threads forming helical grooves in the outer casing.
3. A rotary-cut robot for clearing thrombus according to claim 1 wherein the thrombus collecting device comprises a conical filter cover which is arranged in a conical shape, the conical filter cover is gradually contracted from front to back, and the front end opening of the conical filter cover is communicated with the blood inlet groove.
4. A rotational atherectomy robot for thrombus cleaning according to claim 3, wherein the thrombus collector further comprises a cylindrical filter sock, the cylindrical filter sock having a front end with a connection opening, the connection opening being connected to the conical filter sock, the conical filter sock having a rear end extending into the cylindrical filter sock.
5. A rotary-cut robot for clearing thrombus according to claim 4 wherein the rear end of said conical filter cage is provided with an extension filter cage which is cylindrically disposed and the rear end of which is open.
6. A rotary-cut robot for clearing thrombus according to claim 4 or 5 wherein the rear end of the cylindrical filter cover is tapered and gradually enlarged from front to back.
7. A rotary atherectomy robot for clearing thrombus according to claim 1, wherein there are two sets of rotary cutting blades on the rotary cutting member; one group of the rotary cutters is external rotary cutters which are arranged in a circular and equidistant manner; the other group is an inner rotary cutter which is arranged in a rotary arrangement mode and is positioned in an outer rotary cutter; the blood inlet grooves are arranged in a plurality and are arranged between the external rotary cutter and the internal rotary cutter in a rotary arrangement mode.
8. A rotary cutting robot for clearing thrombus according to claim 4 wherein the blood discharging driving mechanism comprises a rotating shaft and a rotating power mechanism for driving the rotating shaft to rotate, the rotating shaft is rotatably arranged at the axis of the shell, the impeller is arranged on the rotating shaft; the cylindrical filter cover is internally provided with an axially extending central filter cover, and the rotating shaft penetrates through the central filter cover.
9. A rotary-cut robot for clearing thrombus according to claim 1 wherein the tail of the housing is convexly disposed, and the plurality of blood discharge ports are disposed on the tail of the housing in a circular grid.
10. The rotational atherectomy robot for clearing thrombus of claim 1, wherein the external magnetic drive comprises a three-axis Helmholtz coil and a base, the micro-robot being disposed in the three-axis Helmholtz coil.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010846152.9A CN112006778A (en) | 2020-08-20 | 2020-08-20 | Rotary cutting robot for cleaning thrombus |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010846152.9A CN112006778A (en) | 2020-08-20 | 2020-08-20 | Rotary cutting robot for cleaning thrombus |
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| CN112006778A true CN112006778A (en) | 2020-12-01 |
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| CN202010846152.9A Pending CN112006778A (en) | 2020-08-20 | 2020-08-20 | Rotary cutting robot for cleaning thrombus |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113855158A (en) * | 2021-09-14 | 2021-12-31 | 广东工业大学 | External magnetic field controlled vascular interventional robot |
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| KR101315893B1 (en) * | 2010-04-20 | 2013-10-08 | 서울대학교산학협력단 | Mobile robot for eliminating impurities inside the hollow shaft |
| CN101961261A (en) * | 2010-09-30 | 2011-02-02 | 广州大学 | Jet flow-driven blood vessel robot |
| CN104244797A (en) * | 2012-05-07 | 2014-12-24 | 奥林巴斯医疗株式会社 | Magnetic field generation device, and capsule-type medical device guide system |
| KR101307581B1 (en) * | 2012-09-07 | 2013-09-12 | 이경진 | Filtering mesh assembly for drainhole |
| CN104822304A (en) * | 2012-11-23 | 2015-08-05 | 全南大学校产学协力团 | Operation control system of capsule type endoscope, and capsule type endoscope system comprising same |
| CN204255531U (en) * | 2013-07-31 | 2015-04-08 | 是德科技股份有限公司 | Nano calorimeter device |
| CN204582692U (en) * | 2015-04-14 | 2015-08-26 | 广东梅雁吉祥水电股份有限公司 | A kind of water pipeline for hydraulic engineering |
| CN107280728A (en) * | 2017-08-04 | 2017-10-24 | 李莉 | A kind of thrombus remover for preventing blood vessel from damaging |
| CN108114525A (en) * | 2017-12-26 | 2018-06-05 | 铜陵日科电子有限责任公司 | Transformer immersion oil filter device |
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| CN113855158A (en) * | 2021-09-14 | 2021-12-31 | 广东工业大学 | External magnetic field controlled vascular interventional robot |
| CN113855158B (en) * | 2021-09-14 | 2023-11-28 | 广东工业大学 | Vascular intervention robot controlled by external magnetic field |
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