CN112754598B - A miniature thrombus removal robot based on chemical reaction technology - Google Patents

Abstract

The invention belongs to the field of medical instruments, and particularly relates to a micro thrombus removal robot based on a chemical reaction technology, which comprises a detectable head shell, a core driving shell and a medicine storage and release shell, wherein a monitoring device, a wireless communication module and a processor module are arranged on the detectable head shell, the front and the back of an inner cavity of the core driving shell are divided into a first reaction chamber, a control chamber and a second reaction chamber, a chemical energy release reaction raw material module and a chemical energy release reaction excitation module are arranged in the control chamber, a first piston push plate is matched in the first reaction chamber in a sliding manner, a second piston push plate is matched in the second reaction chamber in a sliding manner, the first piston push plate and the second piston push plate are respectively matched and connected with a water scratching mechanism, and a medicine spray system is used for releasing medicines. The invention has the advantages of higher movement speed, larger driving force, stronger environmental adaptability, simple structure and the like, and is beneficial to solving the defects of low driving speed and small driving force of the medical micro-robot in vivo.

Description

A miniature thrombus removal robot based on chemical reaction technology

technical field

The invention belongs to the field of medical devices, in particular to a miniature thrombus removal robot based on chemical reaction technology.

Background technique

According to statistics, the number of deaths caused by blood clots can reach 51% of the global total every year. Therefore, blood clots in blood vessels have become the number one killer that threatens human health. Intravascular thrombus mainly includes large thrombus and small thrombus. Small thrombus can be completely dissolved and absorbed, while large thrombus cannot be dissolved and absorbed. Therefore, it needs to be treated with drugs or microtechnology. With the development of micro-robot manufacturing technology and integrated circuit technology, medical micro-robots have been applied to the medical field, and are promoting the development of modern medical technology with a strong thrust. The Chinese Patent Publication No. CN110327098A discloses a vascular robot and its use method, including a robot body, a guide hole, a fan blade, a vibrating assembly, a control circuit board, a fixing frame, a vibrating rod, a cam disc, and a first micromotor , an arc-shaped panel, a rotating cushion, a second micromotor and a rolling cortex, the guide hole is opened at the tail of the robot body, and the second micromotor is fixed at one end of the inner cavity of the robot body. Set inside the robot body, no vortex flow will be formed, and damage to blood vessels will be avoided. At the same time, there are four groups, which can control the robot to move according to the set direction. The front end of the robot body is provided with a vibration terminal and a drug release device. , when the dredging and breaking the wall, at the same time, the drug is released to assist the dredging to achieve the purpose of better dredging; by setting a camshaft at the middle end, it can vibrate and clean the residual blood clots on the side of the blood vessel wall after cleaning, and can better clean up. The problem with this vascular robot is that it uses nano-motors to provide power for walking, and the power is not large enough, which causes the vascular robot to walk slowly, and the operation is very time-consuming.

Therefore, based on the above shortcomings, the inventor team proposed a micro-medical robot driven by chemical exothermic reaction, which can generate violent energy in a short time, so that the micro-medical robot can be generated in a very short time. The driving force is at least 10 times higher than that of other soft robot driving methods.

SUMMARY OF THE INVENTION

In order to make up for the deficiencies of the prior art, the present invention provides a technical solution for a miniature thrombus removal robot based on chemical reaction technology.

The described miniature thrombus removal robot based on chemical reaction technology is characterized by comprising:

A detectable head casing, a monitoring device, a wireless communication module and a processor module are arranged on the detectable head casing, the monitoring device is used to detect the position of the vascular lesions, and the wireless communication module is used to realize the personnel's detection of the The wireless control of the robot, the processor module is used for sending and receiving instructions and information processing;

The core drive shell is divided into a first reaction chamber, a control chamber and a second reaction chamber before and after the core drive shell. The exothermic reaction raw material module is used to transport chemical exothermic reaction raw materials for the first reaction chamber and the second reaction chamber, and the chemical exothermic reaction excitation module is used to excite the chemical exothermic reaction raw materials in the first reaction chamber and the second reaction chamber to carry out Chemical energy release reaction, the first reaction chamber slides back and forth to fit the first piston push plate, the second reaction chamber slides back and forth to fit the second piston push plate, the first piston push plate is connected with the second piston push plate, and the first piston push plate is connected with the second piston push plate. A piston push plate and a second piston push plate are respectively matched and connected to the paddling mechanism, and when the piston push plate moves back and forth, the corresponding paddle mechanism can be driven to paddle, so as to drive the robot to move; and

The storage and release drug housing is provided with a drug spray system, and the drug spray system is used to release the drug.

The miniature thrombus removal robot based on chemical reaction technology is characterized in that the stroke mechanism includes a connecting rod that rotates with the piston push plate and a paddle that rotates with the shell wall of the reaction chamber. In order to cooperate with the rotation of the paddle and support the paddle, when the piston push plate moves back and forth, it can drive the connecting rod to rotate, and the connecting rod can drive the paddle to row water.

The miniature thrombus removal robot based on chemical reaction technology is characterized in that the side wall of the reaction chamber is provided with an opening for the movement of the connecting rod and the paddle.

The miniature thrombus removal robot based on chemical reaction technology is characterized in that 2-8 paddle mechanisms are arranged around the sides of the reaction chamber.

The miniature thrombus removal robot based on chemical reaction technology is characterized in that the medicine spray system includes a medicine bottle, a piston rod, a medicine outlet tube, a first electronically controlled valve and a spring, and one end of the piston rod is slidably inserted. It is equipped with a medicine bottle, and the other end is connected with the medicine bottle through a spring. The medicine discharge pipes are all connected with the medicine bottle and extend out of the storage and release medicine shell. The first electric control valve is arranged on the medicine discharge pipe. When the electric control valve is opened, the spring and the piston rod can squeeze the medicine in the medicine bottle, so that the medicine is released to the lesion through the medicine discharge tube.

The miniature thrombus removal robot based on chemical reaction technology is characterized in that the inner cavity of the drug storage and release shell is used to store drugs, and the drug spray system further comprises a drug adding tube, and the drug adding tube An electronically controlled pump and a second electronically controlled valve are arranged on the top, and the electronically controlled pump is used to transport the medicine in the inner cavity of the housing for storing and releasing the medicine into the medicine bottle.

The miniature thrombus removal robot based on chemical reaction technology is characterized in that the spring is sleeved on one end of the piston rod outside the medicine bottle, one end of the spring is connected with the medicine bottle, and the other end is connected with the boss on the piston rod. connect.

The miniature thrombus removal robot based on chemical reaction technology is characterized in that the monitoring device is a camera; the detectable head shell contains a contrast imaging agent.

The miniature thrombus removal robot based on chemical reaction technology is characterized in that a connecting column is fixedly connected between the first piston push plate and the second piston push plate, and the connecting column passes through the first reaction chamber, the control chamber and the second piston push plate. Shell walls between the second reaction chambers.

The invention proposes a miniature thrombus removal robot based on chemical reaction technology, which can directly inject the robot into human blood vessels through a syringe. The present invention uses chemical exothermic reaction as the driving source, and converts the instantaneous high-energy chemical exothermic reaction into mechanical motion, that is, the motion of the piston push plate, and then promotes the paddle motion to achieve the purpose of instantaneous acceleration of the present invention. The invention has the advantages of higher movement speed, larger driving force, stronger environmental adaptability, simple structure, etc., and can control the size of its movement speed based on different chemical expulsive reaction degrees. The degree of energy release can realize the removal and treatment of thrombus of different sizes. The invention of this design helps to solve the shortcomings in the field of slow driving speed and small driving force of in vivo medical micro-robots.

Description of drawings

Fig. 1 is the structural representation of the present invention;

Fig. 2 is the internal structure schematic diagram of the present invention;

Figure 3 is a schematic diagram of the structure of the drug spray system in the present invention.

Detailed ways

In the description of the present invention, it should be understood that the terms "one end", "the other end", "outside", "upper", "inside", "horizontal", "coaxial", "central", "end" ", "length", "outer end" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying the indicated device or Elements must have a particular orientation, be constructed and operate in a particular orientation and are therefore not to be construed as limitations of the invention.

The present invention will be further described below in conjunction with the accompanying drawings.

As shown in the figure, a miniature thrombus removal robot based on chemical reaction technology, including

A detectable head casing 1 is provided with a monitoring device 101, a wireless communication module 104 and a processor module 102 on the detectable head casing 1. The monitoring device 101 is used to detect the position of vascular lesions, and the wireless communication module 104 is used to realize the wireless control of the robot by personnel, and the processor module 102 is used to send and receive instructions and information processing;

The core drive housing 2, the inner cavity of the core drive housing 2 is divided into a first reaction chamber 201, a control chamber 213 and a second reaction chamber 205, and the chambers are separated by partitions, and the control chamber 213 is provided with The chemical exothermic reaction raw material module 204 and the chemical exothermic reaction excitation module 203, the chemical exothermic reaction raw material module 204 is used to transport the chemical exothermic reaction raw materials for the first reaction chamber 201 and the second reaction chamber 205, the chemical exothermic reaction The reaction excitation module 203 is used to excite the chemically exothermic reaction raw materials in the first reaction chamber 201 and the second reaction chamber 205 to perform chemically exothermic reaction. The second reaction chamber 205 slides back and forth to fit the second piston push plate 208, the first piston push plate 202 is connected with the second piston push plate 208, and the first piston push plate 202 and the second piston push plate 208 are respectively matched and connected. a water mechanism, when the piston push plate moves back and forth, it can drive the corresponding paddle mechanism to paddle, so as to drive the robot to move; and

The storage and release drug housing 3 is provided with a drug spray system 303 in the storage and release drug housing 3, and the drug spray system 303 is used to release the drug.

Wherein, the chemical exothermic reaction raw material module 204 can be two gas cylinders containing methane and oxygen respectively, or one gas cylinder containing methane and oxygen premix, the gas cylinder is provided with a flow valve, and the gas cylinder passes through The pipeline is ventilated into the reaction chamber, and the gas is discharged through the flow valve. The chemical discharge reaction excitation module 203 can be a pulse signal transmitter and an electric spark transmitter. Spark launcher, an electric spark will detonate the raw gas, producing power.

As an optimization: the water rowing mechanism includes a connecting rod 207 that is rotatably matched with the piston push plate and a paddle 206 that is rotatably matched with the shell wall of the reaction chamber. For support, when the piston push plate moves back and forth, it can drive the connecting rod 207 to rotate, and the connecting rod 207 can drive the paddle 206 to row water.

Further, an opening for the connecting rod 207 and the paddle 206 is opened on the side wall of the reaction chamber.

As an optimization: 2-8 paddle mechanisms are arranged around the sides of the reaction chamber.

As an optimization: the medicine spray system 303 includes a medicine bottle 307, a piston rod 304, a medicine outlet pipe 311, a first electronically controlled valve 310 and a spring 305. One end of the piston rod 304 is slidably fitted to the medicine bottle 307, and the other end is slidably fitted to the medicine bottle 307. The medicine bottle 307 is connected with the medicine bottle 307 by the spring 305. The medicine outlet pipe 311 is connected with the medicine bottle 307 and extends out of the storage and release medicine housing 3. The first electric control valve 310 is arranged on the medicine outlet pipe 311. When an electronically controlled valve 310 is opened, the spring 305 and the piston rod 304 can squeeze the medicine in the medicine bottle 307 so that the medicine is released to the lesion through the medicine outlet tube 311 .

Further, the inner cavity of the drug storage and release housing 3 is used to store drugs, and the stored drugs include lesion healing drugs and contrast imaging agents. An electronically controlled pump 301 and a second electronically controlled valve 308 are arranged on the tube 309 , and the electronically controlled pump 301 is used to deliver the medicine in the inner cavity of the housing 3 for storing and releasing the medicine into the medicine bottle 307 .

Further, one end of the piston rod 304 located in the medicine bottle 307 is slidably matched with the medicine bottle 307 through the provided piston pad 306 .

Further, the spring 305 is sleeved on the end of the piston rod 304 outside the medicine bottle 307 , one end of the spring 305 is connected with the medicine bottle 307 , and the other end is connected with the boss on the piston rod 304 .

Further, the monitoring device 101 is a camera.

Further, a connection post 212 is fixedly connected between the first piston push plate 202 and the second piston push plate 208 , and the connection post 212 passes through the shell between the first reaction chamber 201 , the control chamber 213 and the second reaction chamber 205 wall.

As an optimization: the outer surfaces of the robot of the present invention are all made of human tissue substitute materials, which can achieve good compatibility with human tissue.

As an optimization: the detectable head housing 1 also contains a contrast imaging agent, and the presence of the contrast imaging agent can realize the tracking and positioning of the present invention.

As an optimization: the present invention is in the shape of a capsule as a whole, and can be injected into the human body.

As an optimization: the present invention is additionally equipped with a battery to provide power for each component.

The circuit connection relationship of the present invention is as follows: the processor module 102 is respectively connected with the monitoring device 101, the wireless communication module 104, the chemical exothermic reaction raw material module 204, the chemical expulsive reaction excitation module 203, the first electronically controlled valve 310, the second electronically controlled The valve 308 and the electronically controlled pump 301 are electrically connected.

In the treatment process of the present invention, firstly, the robot turns on the wireless communication module 104 to interact with the outside operator, the monitoring device 101 is activated to search for conditions around the lesion, determine the size of the driving force according to the size of the thrombus lesion, and pass the driving material through The chemical exothermic reaction raw material module 204 is injected into the first reaction chamber 201, the chemical exothermic reaction excitation module 203 is activated, the first piston push plate 202 is pressed to move forward, and drives the connecting rod 207 to move, and the connecting rod 207 is connected to the paddle 206, and the stroke The paddle 206 starts to move, and the micro-robot generates a forward motion to impact the thrombus, injects the driving material into the second reaction chamber 205 through the chemical exothermic reaction material module 204, activates the chemical exothermic reaction excitation module 203, and the second piston push plate 208 is subjected to The micro-robot returns to the initial state when the pressure is pressed backward, and the storage and release drug shell 3 provides a large resistance to ensure that the initial state will not be moved backwards, and so on and so forth until it breaks through the thrombus lesion, and finally reaches the location of the lesion. The therapeutic drug is sprayed to the lesion position through the drug spray system 303 for precise treatment. The detectable head housing 1 and the storage-release drug housing 3 also store a contrast imaging agent to determine the location of the present invention in the body.

The working process of the drug spray system 303 is as follows: the first electronically controlled valve 310 is opened, the spring 305 pulls the piston rod 304 to push backward, the piston pad 306 pushes the drug out of the drug bottle 307 , and the drug is sprayed on the lesion through the pipeline 311 . Wherein, when the medicine in the medicine bottle 307 is insufficient, the second electronically controlled valve 308 is opened, the electronically controlled pump 301 is turned on, and the medicine stored in the storage and release medicine housing 3 is introduced into the medicine bottle through the electronically controlled pump 301 and through the medicine feeding pipe 309 307.

Compared with the prior art: the present invention can generate larger driving force and higher movement speed, and its movement speed and driving force are far 10 times higher than the traditional medical micro-robot. Specifically, the micro medical robot can perform high-speed motion, has a large penetrating force, and can effectively remove the thrombus accumulated in the blood vessel.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention. scope.

Claims (7)

1. A micro thrombus removal robot based on a chemical reaction technology is characterized by comprising

The robot head detection device comprises a detectable head shell (1), wherein a monitoring device (101), a wireless communication module (104) and a processor module (102) are arranged on the detectable head shell (1), the monitoring device (101) is used for detecting the position of a blood vessel lesion, the wireless communication module (104) is used for realizing wireless control of personnel on the robot, and the processor module (102) is used for receiving and sending instructions and processing information;

the core driving shell (2), the inner cavity of the core driving shell (2) is divided into a first reaction chamber (201), a control chamber (213) and a second reaction chamber (205) from front to back, a chemical energy release reaction raw material module (204) and a chemical energy release reaction excitation module (203) are arranged in the control chamber (213), the chemical energy release reaction raw material module (204) is used for conveying chemical energy release reaction raw materials for the first reaction chamber (201) and the second reaction chamber (205), the chemical energy release reaction excitation module (203) is used for exciting the chemical energy release reaction raw materials in the first reaction chamber (201) and the second reaction chamber (205) to carry out chemical energy release reaction, the first piston push plate (202) is in front-back sliding fit in the first reaction chamber (201), the second piston push plate (208) is in front-back sliding fit in the second reaction chamber (205), and the first piston push plate (202) is connected with the second piston push plate (208), the first piston push plate (202) and the second piston push plate (208) are respectively connected with a paddling mechanism in a matching manner, and when the piston push plates move forwards and backwards, the corresponding paddling mechanisms can be driven to paddle so as to drive the robot to move; and

a storage-release drug housing (3), a drug spray system (303) disposed within the storage-release drug housing (3), the drug spray system (303) being configured to release a drug;

the paddle mechanism comprises a connecting rod (207) in rotating fit with the piston push plate and a paddle (206) in rotating fit with the wall of the reaction chamber shell, the connecting rod (207) is used for rotating fit with the paddle (206) and supporting the paddle (206), the connecting rod (207) can be driven to rotate when the piston push plate moves back and forth, and the connecting rod (207) can drive the paddle (206) to paddle;

the side wall of the reaction chamber is provided with an opening for the connecting rod (207) and the paddle (206) to move;

a connecting column (212) is fixedly connected between the first piston push plate (202) and the second piston push plate (208), and the connecting column (212) penetrates through the wall of the shell among the first reaction chamber (201), the control chamber (213) and the second reaction chamber (205).

2. The micro thrombus removal robot based on the chemical reaction technology according to claim 1, wherein 2-8 water-scraping mechanisms are annularly distributed around the side surface of the reaction chamber.

3. The micro thrombus cleaning robot based on the chemical reaction technology as claimed in claim 1, wherein the drug spray system (303) comprises a drug bottle (307), a piston rod (304), a drug outlet tube (311), a first electric control valve (310) and a spring (305), one end of the piston rod (304) is slidably inserted into the drug bottle (307), the other end of the piston rod is connected with the drug bottle (307) through the spring (305), the drug outlet tube (311) is connected with the drug bottle (307) in a matched manner and extends out of the storage and release drug housing (3), the first electric control valve (310) is arranged on the drug outlet tube (311), and when the first electric control valve (310) is opened, the spring (305) and the piston rod (304) can extrude the drug in the drug bottle (307) so that the drug is released to the lesion site through the drug outlet tube (311).

4. The micro thrombus cleaning robot based on the chemical reaction technology as claimed in claim 3, wherein the inner cavity of the drug storage and release housing (3) is used for storing the drug, the drug spray system (303) further comprises a drug feeding tube (309), the drug feeding tube (309) is provided with an electrically controlled pump (301) and a second electrically controlled valve (308), and the electrically controlled pump (301) is used for delivering the drug in the inner cavity of the drug storage and release housing (3) into the drug bottle (307).

5. The robot for removing thrombus based on chemical reaction technique as claimed in claim 3, wherein the end of the piston rod (304) located inside the medicine bottle (307) is slidably engaged with the medicine bottle (307) through a piston pad (306).

6. The micro thrombus cleaning robot based on the chemical reaction technology according to claim 3, wherein the spring (305) is sleeved on one end of the piston rod (304) outside the medicine bottle (307), one end of the spring (305) is connected with the medicine bottle (307), and the other end is connected with a boss on the piston rod (304).

7. The micro thrombus removal robot based on the chemical reaction technology according to claim 1, wherein the monitoring device (101) is a camera; the shell (1) of the detectable head contains contrast imaging agent.

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