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CN112451835B - Electromagnetic guiding auxiliary traction system - Google Patents

Electromagnetic guiding auxiliary traction system Download PDF

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Publication number
CN112451835B
CN112451835B CN202011422269.0A CN202011422269A CN112451835B CN 112451835 B CN112451835 B CN 112451835B CN 202011422269 A CN202011422269 A CN 202011422269A CN 112451835 B CN112451835 B CN 112451835B
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China
Prior art keywords
main body
magnetic element
embedded
traction
guiding
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CN202011422269.0A
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Chinese (zh)
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CN112451835A (en
Inventor
张柱华
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Changzhou Dsb Medical Co ltd
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Changzhou Dsb Medical Co ltd
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Priority to CN202011422269.0A priority Critical patent/CN112451835B/en
Publication of CN112451835A publication Critical patent/CN112451835A/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0113—Mechanical advancing means, e.g. catheter dispensers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0116—Steering means as part of the catheter or advancing means; Markers for positioning self-propelled, e.g. autonomous robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0127—Magnetic means; Magnetic markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0133—Tip steering devices
    • A61M25/0147—Tip steering devices with movable mechanical means, e.g. pull wires
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0133—Tip steering devices
    • A61M25/0158—Tip steering devices with magnetic or electrical means, e.g. by using piezo materials, electroactive polymers, magnetic materials or by heating of shape memory materials
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/09—Guide wires
    • A61M25/09041—Mechanisms for insertion of guide wires
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M2025/0177—Introducing, guiding, advancing, emplacing or holding catheters having external means for receiving guide wires, wires or stiffening members, e.g. loops, clamps or lateral tubes

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Hematology (AREA)
  • Pulmonology (AREA)
  • Anesthesiology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biophysics (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Media Introduction/Drainage Providing Device (AREA)

Abstract

The utility model discloses an electromagnetic guiding auxiliary traction system, which comprises: the interventional device comprises a main body and steering magnetic elements, wherein the front end of the main body is of a streamline structure, the steering magnetic elements are two groups, one group of the steering magnetic elements are arranged at the front end of the main body, the other group of the steering magnetic elements are arranged at the tail end of the main body, and traction magnetic elements are arranged in the guiding device and used for guiding the interventional device to steer, so that the interventional device has the following beneficial effects: 1. the vascular intervention device has better steering effect. 2. Simple structure, convenient operation.

Description

Electromagnetic guiding auxiliary traction system
Technical Field
The utility model relates to the field of medical instruments, in particular to an electromagnetic guiding auxiliary traction system instrument.
Background
At present, an electromagnetic guiding auxiliary traction system in the prior art is used for penetrating a blood vessel by using a puncture needle under the guidance of CT (computed tomography) developing equipment, then the electromagnetic guiding auxiliary traction system with a guide wire penetrates into the blood vessel through a needle head, and the guide wire is pushed by a manual or semi-mechanical method to push an instrument in the blood vessel to reach a specified position along the blood vessel. The utility model in patent number CN201520791312.9 of China provides an electromagnetic guiding auxiliary traction system which comprises a needle body and a needle handle, wherein the needle body is connected with the needle handle, the tail end of the needle handle is closed, the needle handle is provided with a thread guide hole, a flexible hemispherical bag is coaxially and movably sleeved outside the needle body, the opening end of the hemispherical bag faces the needle handle, and a capillary pipeline is arranged on the outer surface of the hemispherical bag.
Disclosure of Invention
In order to solve the problems, the utility model provides a novel design, namely an electromagnetic guiding auxiliary traction system, which comprises an intervention device and a guiding device, wherein the intervention device comprises a main body and magnets, the front end of the main body is of a streamline structure, two groups of steering magnetic elements are arranged, one group of steering magnetic elements is arranged at the front end of the main body, the other group of steering magnetic elements is arranged at the tail end of the main body, and the guiding device is internally provided with magnets for guiding the intervention device to steer.
Preferably, the magnet in the guiding device is a magnet.
Preferably, the magnet in the guiding device is an electromagnet.
Preferably, the wire is connected to the rear end of the main body, and is made of soft metal with certain rigidity.
Preferably, the guiding device comprises a movement mechanism capable of adjusting the position of the traction magnetic element relative to the interventional device and a direction adjustment mechanism capable of adjusting the magnetic field strength of the traction magnetic element.
Preferably, the guiding device further comprises a guiding rod, one end of the magnet is embedded in the bottom of the guiding rod, the other end of the magnet is exposed outside, a magnetism isolating material is arranged around the magnet embedded guiding rod, and the magnetism isolating material wraps the periphery of the magnet embedded part.
Preferably, the motion mechanism comprises a shell, a motor and a connecting rod, the direction adjusting mechanism comprises a rotary bracket, a driving device and a C-shaped arm, the motor is arranged in the shell and can move up and down in the shell, one end of the connecting rod is connected with the motor, the other end of the connecting rod is connected with the rotary bracket, the rotary bracket is connected with the middle part of the C-shaped arm, the connecting part is provided with the driving device, the driving device comprises a small motor, two rotating wheels and a conveyor belt, one rotating wheel is arranged in the rotary bracket, the other rotating wheel is arranged in the C-shaped arm, the two rotating wheels are connected through the conveyor belt, and the guide rod is arranged at the upper end of the C-shaped arm.
Preferably, the sensing device comprises a sensing part, a processor chip and a wireless signal transmitter, wherein the sensing part is jelly, is easy to deform when being subjected to pressure and is covered at the front end of the main body, and the processor chip and the wireless signal transmitter chip are electrically connected with the sensing part.
Preferably, the steering magnetic element is a ring-shaped magnet with two magnetic poles distributed transversely, one is embedded in the front end of the main body, the other is embedded in the tail end of the main body, and the magnetic poles on the outer sides of the two ring-shaped magnets are opposite magnetic poles.
Preferably, the three magnets are embedded at the front end of the main body, the other two magnets are respectively embedded at the upper parts of the left side wall and the right side wall of the main body, magnetic isolation materials are arranged around the embedded main body parts of the three magnets, the magnetic isolation materials wrap the periphery of the embedded part of the magnetic element, the lengths of the three magnet protruding parts are one half to one third of the total length, and the magnetic poles of the magnet protruding parts embedded at the front end of the main body and the magnetic poles of the magnet protruding parts embedded at the upper parts of the left side wall and the right side wall are opposite magnetic poles.
The beneficial effects brought by the utility model are as follows: 1. the vascular intervention device has better steering effect. 2. Simple structure, convenient operation.
Drawings
The utility model will be further described with reference to the drawings and examples.
Fig. 1 is a structural view of a steering magnet element provided as three magnets.
Fig. 2 is a structural view of the steering magnet member provided as two ring magnets.
Fig. 3 is a schematic view of the front end of the magnet embedded in the body.
Fig. 4 is a schematic view of a magnet embedded in the left side wall of the body.
Fig. 5 is a schematic view of a magnet embedded in the right side wall of the body.
Fig. 6 is a schematic view of a guide bar.
Fig. 7 is a schematic view of a portion of a magnet embedded guide bar.
Fig. 8 is a schematic diagram of a main structure with threads.
Fig. 9 is a schematic diagram of a main structure with a sensing device.
FIG. 10 is a schematic diagram of a sensing device.
Fig. 11 is a schematic view of the structure of the guide device.
Fig. 12 is a schematic illustration of the intervention device force upon initial traction of the guiding device.
Fig. 13 is a schematic view of the interventional device upon completion of a steering maneuver.
Turning to magnetic element, 2, main body, 3, traction magnetic element, 4, wire, 5, inductor, 6, magnetically isolated material, 7, processor chip, 8, signal emitter chip, 9, guide rod, 10, housing, 11, motor, 12, connecting rod, 13, swivel bracket, 14. C-arm, 15, drive arrangement.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
Example 1
1-13, an electromagnetic guiding auxiliary traction system comprises a main body 2 and a steering magnetic element 1, wherein the front end of the main body 2 is of a streamline structure, and the steering magnetic element 1 is arranged on the main body 2. The steering magnetic elements 2 are two groups, one group is arranged at the front end of the main body 2, the other group is arranged at the tail end of the main body 2, as shown in fig. 2, the two groups of magnetic elements 1 are preferably arranged as circular ring magnets with two magnetic poles distributed transversely, one 1-a is embedded at the front end of the main body 2, one 1-b is embedded at the tail end of the main body 2, the magnetic poles outside the two circular ring magnets are opposite magnetic poles, the guide rod 9 is cylindrical at the upper part and square at the lower part, the bottom of the square part is embedded with the traction magnetic element 3, half of the traction magnetic element 3 is embedded in the square part, the half of the traction magnetic element 3 is exposed outside, as shown in fig. 7, the periphery of the traction magnetic element 3 embedded in the main body part 2 is provided with a magnetism isolating material 6, the magnetism isolating material 6 is wrapped at the periphery of the embedded part of the traction magnetic element 3, the traction magnetic element 3 in the guide device can be a common magnet, the turning amplitude and direction of the interventional device main body 2 are changed by changing the distance between the traction magnetic element 3 on the guide rod 9 and the interventional device main body 2, the interventional device further comprises a wire 4, the wire 4 is connected with the rear end of the main body and made of soft metal with certain rigidity, thus not only providing power for the main body 2 in a vascular straight channel, but also providing partial power when the main body 2 is in a turning state, the interventional device further comprises a sensing device, the sensing device comprises a sensing part 5, a processor chip 7 and a wireless signal transmitter 8, the sensing part 5 is jelly and covers the front end of the main body, the processor chip 7 and the wireless signal transmitter chip 8 are electrically connected with the sensing part 5, deformation is easy to generate when the sensing part 5 is stressed, when the sensing part is deformed somewhere, the processing receives the signal, the analog signal is converted into a digital signal and is transmitted to the wireless signal transmitter, the wireless signal transmitter transmits the information to an external receiving device (not shown in the figure), the sensing device is used for testing whether the pressure of the device to the vessel wall is excessive when the vessel device moves and turns, the wireless signal transmitter further comprises a guiding device, the guiding device comprises a shell 10, a connecting rod 12, a rotary bracket 13 and a C-shaped arm 14, a motor 11 is arranged in the shell 10, one end of the connecting rod 12 is connected with the motor 11, the other end is connected with the rotary bracket 13, the rotary bracket 13 is connected with the middle part of the C-shaped arm 14, a driving device 15 is arranged at the connecting part, the driving device 15 comprises a small motor (not shown in the figure), two rotating wheels and a conveyor belt, one rotating wheel is arranged in the rotary bracket 1, the other rotating wheel is arranged in the C-shaped arm 14, the two rotating wheels are connected through the conveyor belt, the motor 11 in the shell can drive the connecting rod 13 to rotate, the connecting rod 13 drives the rotary bracket 13 to rotate, the rotary bracket 13 drives the C-shaped arm 14 to rotate forward and backward by 360 degrees, the driving device is controlled, the small motor (not shown in the figure) is driven to drive the rotary wheel in the rotary bracket 13 to drive the rotary wheel in the C-shaped arm 14 to rotate through the conveying belt, the rotary wheel in the C-shaped arm 14 drives the C-shaped arm 14 to rotate clockwise or anticlockwise, so that the guide rod 9 can rotate and move forward, backward, left and right by 360 degrees during guiding, and the traction work is better completed, the operating principle of the scheme is that the intervention device is pushed to a vascular bifurcation by pushing the wire 4, the intervention device is moved to the periphery of the intervention device, the shell 10 is moved according to the required steering direction, the rotary bracket 13 is rotated to enable the guide rod 9 to be arranged right above or right below the intervention device, if the intervention device is required to turn upwards, the guide rod 9 is arranged right above the intervention device, then the height of the motor 11 in the shell 10 is reduced, the magnetic field between the traction magnetic element and the steering magnetic element is enhanced, the traction magnetic element 3 can generate attractive force G on the magnet 11a at the front end of the intervention device and generate repulsive force F on the magnet 11b at the tail end of the intervention device, so that the intervention device is inclined upwards, the inclination amplitude is changed by controlling the distance between the traction magnetic element 3 and the steering magnetic element 1, and the downward inclination only needs to set the guide rod 9 under the intervention device or change the magnetic pole magnetism in the traction magnetic element 3, after the steering amplitude is determined, the motor 10 and the small motor drive the rotary bracket 13 and the C-shaped arm 14, so that the traction magnetic element 3 moves to the front of the intervention device to provide partial power for the intervention device to advance and push the linear object 4 to finish the steering work of the intervention device.
Example 2
Fig. 1, 3 to 11 show an electromagnetic guiding auxiliary traction system, which comprises a main body 2 and a magnet 1, wherein the front end of the main body 2 is of a streamline structure, and the magnet 1 is arranged on the main body 2. At least one magnet 1, preferably 3 magnets, is embedded at the front end of the main body 2 to play a role in the main guiding direction, in order to achieve the best effect, the magnet 1a is embedded at the top position of the front end of the main body 2, the other two magnets 1b and 1c are respectively embedded at the upper parts of the left side wall and the right side wall of the main body 2 to play a role in auxiliary guiding, in order to optimize the effect, the other two magnets 1b and 1c are preferably embedded on the side walls close to the tail of the main body, in order to lead one end of the magnet not to be interfered by the other end, one end is completely embedded in the main body when being embedded, the protruding length of the other end only occupies one half to one third of the whole length, in order to better offset the interference of one end to the other end when being guided, as shown in figures 4, 5 and 6, a magnetism isolating material 6 is arranged around one end of the embedded part, in order to ensure safety, a medical organic compound is generally adopted to serve as a magnetism isolating material 6, such as cellulose, the protruding part 1a-1 of the magnet 1a embedded at the front end can be either an S pole or an N pole, the protruding parts 1b-1 and 1c-1 of the magnet 1b and 1c embedded on the side wall can also be an N pole or an S pole, the main body 2 of the device can have a steering effect by matching with an external guiding device, the steering effect is best, the two protruding parts 1b-1 and 1c-1 of the magnet on the side wall are preferably arranged to be like magnetic poles for use convenience, the protruding part 1a-1 of the magnet embedded at the front end is opposite magnetic poles, the guiding rod 9 is cylindrical at the upper part, the lower part is square, the bottom of the square part is embedded with the traction magnetic element 3, half of the traction magnetic element 3 is embedded in the square part, and half of the traction magnetic element is exposed to the outside, the traction magnetic element 3 is embedded around the main body part 2, the magnetic isolation material 6 is arranged around the embedded part of the traction magnetic element 3, the traction magnetic element 3 in the guiding device can be an electromagnet, the turning amplitude and direction of the main body 2 of the intervention device are realized by changing the current and the direction, partial power is provided, the traction magnetic element also comprises a wire 4, the wire 4 is connected with the rear end of the main body and is made of soft metal with certain rigidity, thus the traction magnetic element can not only provide power for the main body 2 in a vascular straight channel, but also provide partial power when the main body 2 is in a turning state, the traction magnetic element further comprises a sensing device, the sensing device comprises a sensing part 5, a processor chip 7 and a wireless signal transmitter 8, the sensing part 5 is jelly and covers the front end of the main body, the processor chip 7 and the wireless signal transmitter chip 8 are electrically connected with the sensing part 5, the sensing part 7 is easy to deform when being pressed, when the sensing part is deformed somewhere, the processing receives the signal, the analog signal is converted into a digital signal to be transmitted to the wireless signal transmitter, the wireless signal transmitter transmits the information to the external receiving device (not shown in the figure), the sensing device is used for testing whether the pressure of the device to the vascular wall is overlarge when the vascular device moves and turns, the sensing device further comprises a guiding device, the guiding device comprises a shell 10, a connecting rod 12, a rotary bracket 13 and a C-shaped arm 14, a motor 11 is arranged in the shell 10, one end of the connecting rod 12 is connected with the motor 11, the other end is connected with the rotary bracket 13, the rotary bracket 13 is connected with the middle part of the C-shaped arm 14, a driving device 15 is arranged at the connecting part, and the driving device 15 comprises a small motor (not shown in the figure), two rotating wheels, the transmission belt, one runner is arranged in the rotary bracket 1, the other runner is arranged in the C-shaped arm 14, the two runners are connected through the transmission belt, a motor 11 in the shell can drive a connecting rod 13 to rotate, the connecting rod 13 drives the rotary bracket 13 to rotate, the rotary bracket 13 drives the C-shaped arm 14 to rotate forward and backward by 360 degrees, a driving device is controlled, a small motor (not shown in the figure) is driven to drive the runner in the rotary bracket 13 to rotate through the transmission belt, the runner in the C-shaped arm 14 drives the C-shaped arm 14 to rotate clockwise or anticlockwise, so that the guiding rod 9 can rotate forward and backward by 360 degrees during guiding, and thus the traction work is completed better, the operation principle of the scheme is that the guiding device is moved to the periphery of the intervention device by pushing the wire 4 to push the intervention device to the vascular bifurcation, the guiding device is moved by the moving shell 10, the guide bar 9 is moved to a desired position by moving the housing and the driving motor 11 and the small motor to rotate the swing bracket 14 and the C-arm, for example, to turn the interventional device to the upper portion, the guide bar 9 is moved to the position right above the interventional device, then the traction magnetic element 3 is electrified, so that a magnetic field is generated between the traction magnetic element 3 and the steering magnetic element 1, the traction magnetic element 3 generates attractive force G on the steering magnetic element 1a, repulsive force F is generated on the magnets 1b and 1C, the magnetic field is enhanced by increasing current, the interventional device is tilted upward, the magnitude of tilting of the interventional device is controlled by changing the magnitude of current in the traction magnetic element 3, after the magnitude of tilting is determined, the current in the traction magnetic element 3 is turned off, so that the acting force is no longer generated on the steering magnetic element 1, the driving motor 11 and the small motor rotate the rotary bracket 14 and the C-shaped arm to move the rotary bracket to the right front of the intervention device, then electrifies the traction magnetic element 3 to enable the traction magnetic element 3 to generate attraction force to the rotary magnet 1a, provides partial power for the turning advance of the intervention device, pushes the linear object 3 to provide another part of power for the turning advance of the intervention device, enables the intervention device to complete the upward turning work, and only needs to move the guide rod 9 to the right lower side of the intervention device or change the direction of current in the traction magnetic element 3 if the intervention device wants to turn downwards.

Claims (4)

1. An electromagnetic guiding auxiliary traction system, which is characterized in that: the magnetic device comprises an intervention device and a guiding device, wherein the intervention device comprises a main body (2) and a steering magnetic element (1), the front end of the main body (2) is of a streamline structure, the steering magnetic element (1) is of two groups, one group is arranged at the front end of the main body (2), the other group is arranged at the tail end of the main body (2), the guiding device is internally provided with a traction magnetic element (3) for guiding the intervention device to steer, the steering magnetic element (1) is of three magnets, one (1 a) is embedded at the front end of the main body, the other two (1 b) and (1 c) are respectively embedded at the upper parts of the left side wall and the right side wall of the main body (2), the circumference of the three magnet embedded body parts is provided with a magnetism isolating material (6), the magnetism isolating material (6) is wrapped at the periphery of the embedded part of the steering magnetic element (1), the three magnet protruding parts are of one half to one third of the total length, the magnet (1 a-1) embedded at the front end of the main body (2) is connected with the magnetic poles (1 a-1) embedded at the upper parts of the left side wall and the right side wall of the protruding side wall, the intervention device is provided with a magnetic pole (4) and the magnetic pole (1-4) is provided with a certain magnetic pole, the magnetic pole adjusting mechanism is arranged at the opposite movement direction, and the linear mechanism (4) is arranged at the opposite side of the magnetic pole adjusting device, the direction adjustment mechanism can adjust the magnetic field intensity of the traction magnetic element (3), the guiding device further comprises a guiding rod (9), one end of the traction magnetic element (3) is embedded in the bottom of the guiding rod (9), the other end of the traction magnetic element is exposed outside, a magnetism isolating material (6) is also arranged around the embedded guiding rod (9), the magnetism isolating material (6) wraps the periphery of the embedded part of the traction magnetic element (3), the guiding device comprises a shell (10), a motor (11), a connecting rod (12), a rotary bracket (13), a driving device (15) and a C-shaped arm (14), the motor (11) is arranged in the shell (10), the motor (11) can move up and down in the shell, one end of the connecting rod (12) is connected with the motor (11), the other end of the connecting rod is connected with the rotary bracket (13), the middle of the rotary bracket (13) is connected with the C-shaped arm (14), the driving device (15) comprises a small motor, two rotating wheels and a conveying belt, one rotating wheel is arranged in the rotary bracket (13), the other rotating wheel is arranged in the rotary bracket (14), and the other rotating wheel is arranged in the C-shaped arm (14) and is connected with the C-shaped arm (14) through the two rotating wheels.
2. An electromagnetic pilot assisted traction system according to claim 1, wherein: the traction magnetic element (3) in the guiding device is a magnet.
3. An electromagnetic pilot assisted traction system according to claim 1, wherein: the traction magnetic element (3) in the guiding device is an electromagnet.
4. An electromagnetic pilot assisted traction system according to claim 1, wherein: the sensing device comprises a sensing part (5), a processor chip (7) and a wireless signal transmitter (8), wherein the sensing part (5) is jelly, the front end of the main body (2) is covered with the jelly, and the processor chip (7) and the wireless signal transmitter chip (8) are electrically connected with the sensing part (7).
CN202011422269.0A 2020-12-08 2020-12-08 Electromagnetic guiding auxiliary traction system Active CN112451835B (en)

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CN113332565B (en) * 2021-06-01 2022-10-11 浙江大学 Flexible catheter based on ampere force and control method thereof
CN115253023B (en) * 2022-07-19 2024-04-09 清华大学 Magnetic soft navigation robot and preparation method and control method thereof
CN117481810A (en) * 2023-11-01 2024-02-02 深圳先进技术研究院 Magnetic navigation system for cerebrovascular intervention

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