CN113855158A

CN113855158A - External magnetic field controlled vascular interventional robot

Info

Publication number: CN113855158A
Application number: CN202111075782.1A
Authority: CN
Inventors: 隋建波; 陈伟源; 王成勇
Original assignee: Guangdong University of Technology
Current assignee: Guangdong University of Technology
Priority date: 2021-09-14
Filing date: 2021-09-14
Publication date: 2021-12-31
Anticipated expiration: 2041-09-14
Also published as: CN113855158B

Abstract

The application relates to an external magnetic field controlled vascular interventional robot, which comprises a head part and a tail part; the tail part and the head part are both provided with the magnetic driving part, and the magnetic driving part provides an excitation magnetic field; one end of the head is provided with the magnetic micro-cutter, and the other end of the head is provided with the first connecting piece; one end of the tail part is provided with the thread groove, and the other end of the tail part is provided with the second connecting piece; the first connecting piece and the second connecting piece are movably connected, and the head part and the tail part are combined into the robot; the magnetic micro-cutter provides an excitation magnetic field; driving the driving component and the magnetic micro-cutter by applying an external alternating magnetic field, and further pushing the head part, the tail part and the magnetic micro-cutter to rotate without interfering with each other; the tail part independently rotates to continuously provide driving force, the magnetic micro cutter revolves around the central shaft of the head part and rotates, and the mechanical rotary cutting distance of the cleaning end is increased, so that the cleaning capacity of thrombus is improved.

Description

External magnetic field controlled vascular interventional robot

Technical Field

The application relates to the technical field of medical equipment, in particular to a blood vessel intervention robot controlled by an external magnetic field.

Background

In human blood vessels, when a large number of platelets adhere to the exposed collagen surface after vascular endothelial injury, fibrin is precipitated among the platelets, and the fibrin forms a net structure to block red blood cells, so that thrombus is formed to block the blood vessels, and fatal danger is caused.

In the prior art, when the thrombus is serious, an interventional operation is needed to remove the thrombus. Thrombus aspiration catheters are generally used to be conveyed to a thrombus generation position along a blood vessel to aspirate thrombus out of the body and restore the circulation capacity of the blood vessel. However, when a thrombectomy is performed using a thrombus aspiration catheter, a physician needs to insert the catheter under guidance of X-ray real-time imaging. Therefore, during the operation, the doctor is exposed to the radiation environment, and the health of the medical staff is damaged. Meanwhile, the catheter is difficult to reach the far-bending area of the human blood vessel, and the position for removing the thrombus is limited.

When the alternating magnetic field exists, the magnetic component generates a rotating torque, so that a driving blade of the vascular intervention robot rotates to generate forward thrust, and the vascular intervention robot is driven; the blood vessel intervenes robot and is provided with the little sword of clearance with the contact one end of thrombus, the blood vessel intervenes the robot and rotates and drive the little sword of clearance carries out the rotary-cut, realizes the mechanical type clearance of thrombus.

However, the vascular interventional robot in the prior art is usually an integrated design of a single cutter, and when the cleaning micro-cutter is used for cleaning, the cleaning micro-cutter is easily stuck by thrombus due to the rotation angle and the single road layer of the single cutter and insufficient torque; and then the blood vessel intervention robot is also blocked and can not rotate at the same time, which leads to the failure of the thrombus cleaning operation.

Therefore, it is urgently needed to design an external magnetic field controlled vascular intervention robot, when the vascular robot cleaning end or one of the cutters of the cleaning end cannot work normally, the rest of the cutters of the cleaning end can still rotate, and meanwhile, the driving end can still keep driving force to push the cleaning end to perform rotary cutting cleaning of multiple cutters, so that the thrombus cleaning effect is improved.

Disclosure of Invention

To overcome the problems in the related art, the present application provides an external magnetic field controlled robot for vascular intervention, which is characterized by comprising a head 10 and a tail 20:

the tail part 20 and the head part 10 are both provided with a magnetic driving part 30, and the magnetic driving part 30 provides an excitation magnetic field;

one end of the head part 10 is provided with N magnetic micro-cutters 40, and the other end is movably connected with the tail part 20; n is an integer greater than zero;

the magnetic micro-cutter 40 provides an excitation magnetic field; a thread groove 201 is formed in one end side surface of the tail portion 20 along the length direction of the whole robot.

In one embodiment, one end of the head portion 10 is movably connected to the second connecting member 210 at one end of the tail portion by the first connecting member 110.

In one embodiment, the first connecting member 110 is provided with a first groove 111 and a first protrusion 112; the second connector 210 is provided with a second groove 211 and a second protrusion 212;

the second protrusion 212 is inserted into the first groove 111, and the first protrusion 112 is inserted into the second groove 211.

In one embodiment, the head 10 is provided with N housing holes in which the magnetic micro-knives 40 are placed.

In one embodiment, the magnetic micro-cutter 40 is provided with a groove on the side along the length direction, the groove surrounds the magnetic micro-cutter 40 for a circle, and the width of the groove matches with the length of the accommodating hole in the length direction.

In one embodiment, the magnetic microtool 40 includes at least one blade.

In one embodiment, the second groove 211 is further provided with a lubrication pad, and the lubrication pad is arranged on a contact plane of the first protrusion 112 and the second groove 211, and the contact plane is perpendicular to the length direction.

In one embodiment, the magnetic driving members 30 are respectively disposed at the sides of the head portion 10 and the tail portion 20 in the length direction.

In one embodiment, the tail portion 20 is provided with a through hole along the length direction, and the thread groove 201 is arranged on the inner wall of the through hole;

the side face of the head 10 along the length direction is provided with a hollow space, and the hollow space is communicated with the through hole space.

The technical scheme provided by the application can comprise the following beneficial effects: the robot adopts a split type design and comprises a head part 10 and a tail part 20, wherein the head part 10 and the tail part 20 are movably connected through the first connecting piece 110 and the second connecting piece 210, so that the turnover of the head part 10 and the turnover of the tail part 20 are not influenced by each other; the head 10 is provided with N magnetic micro-cutters 40; while the head portion and the magnetic micro cutter 40 rotate, the head portion 10 and the magnetic micro cutter 40 can simultaneously rotate around the central axis of the head portion 10. After the robot enters a human blood vessel, the head part 10 and the tail part 20 are respectively provided with mutually independent magnetic driving components 30, the magnetic driving components 30 can provide an excitation magnetic field, and the magnetic driving components 30 generate driving torque under the control of an external alternating magnetic field to respectively drive the head part 10 and the tail part 20 to coaxially circulate. The thread groove 201 of the tail part 20 stirs liquid to generate forward thrust to push the robot to advance along the blood vessel, and thrombus is mechanically cleared through the multi-point rotation of the magnetic micro-cutter 40 of the head part 10. When the vascular robot cleaning end or one of the cutters of the cleaning end is stuck by thrombus and cannot rotate, the rest cutters of the cleaning end can still rotate; meanwhile, the driving end still can keep driving force, the cleaning end is pushed to carry out rotary cutting cleaning of multiple cutters, and the cleaning effect of thrombus is improved. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application, as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.

Fig. 1 is a general sectional view of an external magnetic field controlled robot for vascular intervention according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of an external magnetic field controlled vascular interventional robot according to an embodiment of the present application;

fig. 3 is a side cross-sectional view of the robot shown in fig. 1.

Detailed Description

Preferred embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

Because prior art's vascular robot's clearance cutter and drive component formula design as an organic whole, when the clearance cutter of robot is died by the thrombus card and can't normally rotate, the robot also can't normally advance or retreat, influences the clearance effect of thrombus.

In view of the above problems, the present invention provides an external magnetic field controlled robot for vascular intervention, as shown in fig. 1, including a head 10 and a tail 20:

Further, one end of the head portion 10 is movably connected to the second connecting member 210 at one end of the tail portion through the first connecting member 110.

Further, as shown in fig. 3, the first connecting member 110 is provided with a first groove 111 and a first protrusion 112; the second connection member 210 is provided with

second grooves

211 and 212;

In the embodiment of the present application, the robot includes a head 10 and a tail 20, and the head 10 and the tail 20 each have the independent magnetic driving part 30; the head part 10 is connected with the second connecting piece 210 of the tail part 20 through the first connecting piece 110; the first connector 110 and the second connector 210 are provided with grooves and protrusions capable of being embedded into each other, and can be combined into a movable buckle, so that the turnover of the head 10 and the tail 20 is not affected by each other. When the robot enters an external alternating magnetic field, the magnetic driving assembly generates a magnetic moment to drive the head 10 and the tail 20 to revolve around the axes of the head and the tail. When the head part 10 can not normally rotate, the tail part 20 can keep the driving capability, and the forward direction can be adjusted again by advancing or retreating, so that the thrombus cleaning effect is improved.

Further, the head 10 is provided with N receiving holes, and the magnetic micro-cutter 40 is placed in the receiving holes.

Furthermore, a groove is formed in the side surface of the magnetic micro cutter 40 in the length direction, the groove surrounds the magnetic micro cutter 40 for a circle, and the width of the groove is matched with the length of the accommodating hole in the length direction.

Further, the magnetic micro-knife 40 includes at least one blade.

In the present embodiment, when the magnetic driving assembly drives the head 10 to rotate, the magnetic micro-cutter 40 rotates around the central axis of the head 10; because the magnetic microtool 40 is provided with the magnetic drive assembly, the magnetic microtool 40 is revolving about its central axis; the magnetic micro-cutter 40 and the head 10 rotate simultaneously, and the magnetic micro-cutter 40 firstly contacts the thrombus to mechanically crush and clean the thrombus and drill through the blocked part.

Further, the second groove 211 is further provided with a lubrication pad, the lubrication pad is disposed on a contact plane of the first protrusion 112 and the second groove 211, and the contact plane is perpendicular to the length direction.

Further, the magnetic driving members 30 are respectively disposed on the sides of the head portion 10 and the tail portion 20 in the length direction.

Further, the tail portion 20 is provided with a through hole along the length direction, and the thread groove 201 is arranged on the inner wall of the through hole.

Further, a hollow space is arranged on the side surface of the head 10 along the length direction, and the hollow space is communicated with the through hole space.

In an embodiment of the application, the patient is placed in the alternating magnetic field device after the robot has been introduced into the blood vessel of the patient. The alternating magnetic field device can provide a rotating magnetic field with a vector direction, and the magnetic driving assembly rotates along with the rotating magnetic field. The alternating magnetic field equipment realizes the steering control of the robot by changing the magnetic vector direction of the position of the robot in the alternating magnetic field.

In the embodiment of the present application, when the magnetic driving component 30 drives the tail part 20 to rotate, the thread groove 201 is disposed on the inner wall of the through hole of the tail part 20, the outer surface of the robot is smooth, and the exposed thread is prevented from damaging the inner wall of the blood vessel when rotating. In the present embodiment, blood fluid flows into the through holes of the tail 20 through the hollow space of the head 10. When the tail portion 20 rotates, blood fluid is accelerated out of the tail portion 20 along the threads of the thread groove 201, and the tail portion 20 pushes the robot to advance along the length direction.

Further, the installation surfaces of the magnetic driving parts 30 are smoothly connected, the outer surface of the robot is smooth and has no protrusion, and the irregular outer surface is prevented from scratching the inner wall of the blood vessel.

In the embodiment of the present application, as shown in fig. 2, the tail 20 generates a pushing force to push the robot to advance, the rotation of the head 10 and the magnetic micro-cutter 40 generates a shear force on thrombus, and the external alternating magnetic field drives the magnetic driving assembly and controls the steering of the robot. The head part 10 and the tail part 20 are of a split design, and are movably connected through the first connecting piece 110 and the second connecting piece 210, so that the turnover does not interfere with each other. Therefore, when the vascular robot cleaning end or one of the cutters at the cleaning end can not work normally, the rest cutters at the cleaning end can still keep rotating, and the driving end can still keep driving force to push the cleaning end to perform rotary cutting cleaning of multiple cutters, so that the cleaning effect of thrombus is improved to perform thrombus cleaning.

With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.

The aspects of the present application have been described in detail hereinabove with reference to the accompanying drawings. In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments. Those skilled in the art should also appreciate that the acts and modules referred to in the specification are not necessarily required in the present application. In addition, it can be understood that the steps in the method of the embodiment of the present application may be sequentially adjusted, combined, and deleted according to actual needs, and the modules in the device of the embodiment of the present application may be combined, divided, and deleted according to actual needs.

Furthermore, the method according to the present application may also be implemented as a computer program or computer program product comprising computer program code instructions for performing some or all of the steps of the above-described method of the present application.

Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the applications disclosed herein may be implemented as electronic hardware, computer software, or combinations of both.

Having described embodiments of the present application, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. An external magnetic field controlled vascular interventional robot, characterized by comprising a head (10) and a tail (20):

the tail part (20) and the head part (10) are both provided with a magnetic driving part (30), and the magnetic driving part (30) provides an excitation magnetic field;

one end of the head part (10) is provided with N magnetic micro cutters (40), and the other end of the head part is movably connected with the tail part (20); n is an integer greater than zero;

the magnetic micro-cutter (40) provides an excitation magnetic field; and a thread groove (201) is formed in one end side surface of the tail part (20) along the length direction of the whole robot.

2. An external magnetic field controlled robot vessel intervention according to claim 1, wherein one end of the head portion (10) is movably connected to the second connecting member (210) at one end of the tail portion through a first connecting member (110).

3. An external magnetic field controlled robot vessel intervention according to claim 2, wherein the first connector (110) is provided with a first groove (111) and a first protrusion (112); the second connecting piece (210) is provided with a second groove (211) and a second bulge (212);

the second protrusion (212) is fitted into the first groove (111), and the first protrusion (112) is fitted into the second groove (211).

4. An external magnetic field controlled robot interventional into blood vessels according to claim 1, characterized in that the head (10) is provided with N receiving holes, in which the magnetic micro-cutter (40) is placed.

5. An external magnetic field controlled robot as claimed in claim 4, wherein the magnetic micro-cutter (40) is provided with a groove on the side along the length direction, the groove surrounds the magnetic micro-cutter (40) for a circle, and the width of the groove in the length direction matches with the length of the accommodating hole.

6. An external magnetic field controlled robot vessel intervention according to claim 5, wherein the magnetic micro-knife (40) comprises at least one knife edge.

7. An external magnetic field controlled robot interventional into blood vessels according to claim 3, characterized in that the second groove (211) is further provided with a lubrication pad arranged in a contact plane of the first protrusion (112) and the second groove (211), the contact plane being perpendicular to the length direction.

8. An external magnetic field controlled robot as claimed in claim 1, wherein the magnetic driving members (30) are respectively provided on the sides of the head portion (10) and the tail portion (20) in the length direction.

9. An external magnetic field controlled robot as claimed in claim 1, wherein the tail portion (20) is provided with a through hole along the length direction, and the thread groove (201) is provided on the inner wall of the through hole;

the head (10) is provided with a hollowed-out space along the side face in the length direction, and the hollowed-out space is communicated with the through hole space.