CN115715845B - Vascular intervention robot system - Google Patents

Abstract

The present application discloses a vascular interventional robotic system. The vascular interventional robotic system includes a magnetic field generating device and a drug transport device. The magnetic field generating device is used to generate a magnetic field, and the drug transport device is used to load drugs and transport the drugs into a blood vessel. The drug transport device is provided with a magnetic drive member, which drives the drug transport device to move under the action of a magnetic field to control the position of the drug transport device in the blood vessel. The vascular interventional robotic system of the present application adjusts the offset position of the drug transport device in the blood vessel based on the magnetic field, and can achieve a large deflection.

Description

Vascular interventional robotic system

Technical Field

The present application relates to the field of medical device technology, and in particular to a vascular intervention robot system.

Background technique

Interventional minimally invasive surgery is a minimally invasive surgery that uses tiny trauma to guide instruments or drugs to the lesions and treat the lesions. It has the characteristics of causing little trauma to patients, quick recovery time, and leaving no scars.

Chinese patent publication No. 103584918B discloses a remote-controlled interventional robot system, which guides the interventional catheter into the initial direction of the human blood vessel through the puncture sheath fixed by the puncture sheath fixing module, and adjusts the direction of the interventional catheter through the airbag steering module. The airbag steering module controls the steering adjustment of the guide wire by the way of airbag expansion, and then controls the direction of the interventional catheter. It cannot achieve a large deflection of the guide wire, and the expansion of the airbag will squeeze the blood vessel, causing discomfort to the patient.

Chinese patent announcement No. 107847712B discloses a vascular interventional surgery robot and a vascular interventional surgery system, wherein the vascular interventional surgery robot includes a catheter rotating part, a guide wire rotating supply part, a transfer part and a telescopic part. The catheter rotating part is used to rotate the catheter with the length direction of the catheter as the axis. The guide wire rotating supply part is arranged on one side of the catheter rotating part. When the guide wire is inserted into the catheter, the guide wire is transferred along the length direction of the guide wire, and the guide wire is rotated with the length direction of the guide wire as the axis. The transfer part transfers the catheter rotating part and the guide wire rotating supply part along the length direction of the catheter. The telescopic part is arranged on the other side of the catheter rotating part, and is used to support the catheter. When the transfer part transfers the catheter rotating part and the guide wire rotating supply part along the length direction of the catheter, the telescopic part can be telescoped along the length direction of the catheter. However, the design of the vascular interventional surgery robot is too complicated. Four rollers are designed for the robot guidance alone, and the four rollers are on the same straight line, which cannot achieve a large deflection in the blood vessel.

Summary of the invention

The main technical problem solved by the present application is to provide a vascular intervention robot system that can meet the requirements of large-scale displacement of the vascular intervention robot in the blood vessel.

In order to solve the technical problem, a technical solution adopted in the present application is: to provide a vascular intervention robot system, comprising a magnetic field generating device and a drug transporting device, wherein the magnetic field generating device is used to generate a magnetic field, and the drug transporting device is used to load drugs and transport the drugs into a blood vessel;

Wherein, the drug transport device is provided with a magnetic driving component, and the magnetic driving component drives the drug transport device to move under the action of the magnetic field to control the position of the drug transport device in the blood vessel.

The beneficial effects of the present application are as follows: Different from the prior art, the vascular interventional robot system of the present application includes a magnetic field generating device and a drug transport device, the magnetic field generating device can generate a magnetic field, and the drug transport device is provided with a magnetic drive. The drug transport device can be transported into the blood vessel, and the magnetic drive deflects in the blood vessel under the influence of the magnetic field generating device, so that the drug transport device can be accurately transported to the diseased tissue. In the present application, the vascular interventional robot system uses magnetic force to control the offset position of the magnetic drive in the blood vessel, which can realize a large angle deflection of the drug transport device in the blood vessel, and the magnetic drive has a fast response speed, so that the drug transport device can quickly move to the correct blood vessel branch. At the same time, the magnetic field is harmless to the organism and will not affect the health of the organism.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic structural diagram of an embodiment of a vascular intervention robot system of the present application;

FIG2 is a schematic diagram of the side structure of a magnetic field generating device in one embodiment of the vascular intervention robot system of the present application;

3 is a schematic structural diagram of a first transmission mechanism and a first magnetic member in an embodiment of a vascular intervention robot system of the present application;

4 is a schematic structural diagram of a second transmission mechanism and a second magnetic member in an embodiment of a vascular intervention robot system of the present application;

FIG5 is a schematic structural diagram of another embodiment of the vascular intervention robot system of the present application.

Detailed ways

The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

In the description of the present application, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, mechanisms, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, mechanisms, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradicting each other.

Please refer to FIG. 1 , which is a schematic diagram of the structure of an embodiment of a vascular intervention robot system of the present application. In this embodiment, the vascular intervention robot system may include a magnetic field generating device 10 and a drug transport device 20 .

The drug transport device 20 is used to load drugs and transport the drugs to the diseased tissue to treat the diseased tissue. For example, in this embodiment, the drug transport device 20 can be inserted into a blood vessel of a living body and transport the loaded drugs to the diseased tissue in the blood vessel.

In this embodiment, the drug transport device 20 includes a magnetic driving member 210 having magnetism and a guide wire 220 connected to the driving member 210. The guide wire 220 is used to be inserted into a blood vessel, and the magnetic driving member 210 is connected to the head of the guide wire 220 to guide the guide wire 220 to adjust the deviation direction in the blood vessel. Optionally, the drug used for treatment can be loaded on the guide wire 220, and the drug can be directly transported to the diseased tissue through the guide wire 220, or the catheter can be transported into the blood vessel through the guide wire 220, and the drug can be transported to the diseased tissue by the catheter.

Optionally, the outer layer of the magnetic driving component 210 may be coated with a silicone layer on one side, so that when the magnetic driving component 210 touches a blood vessel, it will not cause discomfort to the patient.

In this embodiment, the magnetic field generating device 10 is used to generate a magnetic field. When the vascular intervention robot system of the present application is used to perform minimally invasive surgery, the biological body and the drug transport device 20 are located in the magnetic field generated by the magnetic field generating device 10. Since the magnetic driving member 210 provided in the drug transport device 20 is magnetic, it will be affected by magnetic force.

In the magnetic field, the force and torque on the magnetic drive member 210 are as follows:

T＝M×B

in:

M is the magnetization curve of the magnetic driving member 210. According to the magnetization mode of the magnetic driving member 210, its formula is:

Among them, m and ω represent The magnetization intensity and angular frequency of the magnetic drive member 210 are shown in FIG. 5 . s is a finite element of the magnetic drive member 210 , and δ is an angle related to the magnetization posture of the magnetic drive member 210 , which is determined by the magnetization posture.

When the drug transport device 20 encounters a curved or bifurcated blood vessel, the magnetic driver 210 is affected by the magnetic field with a magnetic induction intensity of B and can change its posture. For example, the magnetic driver 210 is affected by the magnetic field to produce rotation and displacement. Based on this, the magnetic driver 210 can guide the guide wire 220 to the correct direction under the action of the magnetic field. The time for the magnetic driver 210 to change its posture in response to the magnetic field is extremely short, and it can achieve displacement in any direction. Therefore, the drug transport device 20 under this embodiment can also quickly adjust its position in the blood vessel, reduce the time of interventional surgery, and will not squeeze the blood vessel. The magnetic field is harmless to the organism and will not affect the health of the patient.

In this embodiment, the magnetic field generating device 10 is used to control the direction of deflection of the drug transport device 20. In order to enable the drug transport device 20 to advance in the blood vessel, the vascular intervention robot system may further include an advancing device (not shown). The advancing device is connected to the drug transport device 20 and is used to push the drug transport device 20 forward in the blood vessel. The advancing device may be a stepping motor. In other embodiments, the drug transport device 20 may also be manually pushed forward in the blood vessel.

Optionally, the vascular interventional robot system may further include a support 30 and a platform 40. The platform 40 is an operating platform for performing interventional surgery. A model sample box is placed on the platform 40 as shown in FIG1 . In other embodiments, a biological body may also be placed thereon for performing interventional surgery on the biological body. The support 30 is used to install the magnetic field generating device 10 and the platform 40. The magnetic field generating device 10 is located on both sides of the platform 40. The magnetic field generated by the magnetic field generating device 10 passes through the platform 40. When performing interventional surgery on the platform 40, the magnetic field can act on the magnetic drive member 210 of the drug transport device 20 to guide the direction of the drug transport device 20 in the blood vessel.

Optionally, the working space of the vascular intervention robot system in this embodiment is about 700mm*500mm*500mm, so the vascular intervention robot system has enough space for interventional surgery. Those skilled in the art can also adjust the working space of the vascular intervention robot system based on actual conditions, and only need to generate a magnetic field in the three-dimensional space.

Please refer to FIG. 2 , which is a schematic diagram of the side structure of a magnetic field generating device in an embodiment of a vascular intervention robot system of the present application.

In the description of the present application, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

Specifically, the magnetic field generating device 10 may include a first magnetic member 110 and a second magnetic member 120, and the first magnetic member 110 and the second magnetic member 120 are used to generate a magnetic field. The first magnetic member 110 and the second magnetic member 120 are installed on both sides of the platform 40, so that the magnetic field generated by the first magnetic member 110 and the second magnetic member 120 can pass through the platform 40. When performing an interventional surgery on the platform 40, the drug transport device 20 is located between the first magnetic member 110 and the second magnetic member 120, so that the magnetic driving member 210 can be affected by the magnetic field generated by the first magnetic member 110 and the second magnetic member 120 to produce a posture change.

In other embodiments, the magnetic field generating device 10 may further include a third magnetic component or more magnetic components, which is not limited herein.

Optionally, the first magnetic member 110 and the second magnetic member 120 may be permanent magnets or non-permanent magnets such as electromagnets.

In actual interventional surgery, the distribution of different blood vessels of different organisms varies greatly. In order to enable the drug delivery device 20 to be accurately guided to the diseased tissue in different blood vessels, in this embodiment, the magnetic field generating device 10 can control the magnetic field change so that the drug delivery device 20 can respond to different magnetic fields and accurately guide the drug delivery device 20 to the diseased tissue.

Specifically, the magnetic field generating device 10 further includes a first transmission mechanism 130 and a second transmission mechanism 140 . The first transmission mechanism 130 is connected to the first magnetic member 110 , and the second transmission mechanism 140 is connected to the second magnetic member 120 .

The first transmission mechanism 130 is used to control the first magnetic member 110 to move on one side of the magnetic driving member 210, and the second transmission mechanism 140 is used to control the second magnetic member 120 to move on the other side of the magnetic driving member 210. Under the control of the first transmission mechanism 130 and the second transmission mechanism 140, the first magnetic member 110 and the second magnetic member 120 change their spatial positions on both sides of the magnetic driving member 210, so that the magnetic field position and magnetic induction intensity generated by the first magnetic member 110 and the second magnetic member 120 change. The magnetic fields generated by the first magnetic member 110 and the second magnetic member 120 at different positions can act on the magnetic driving member 210, drive the magnetic driving member 210 to move, and enable the magnetic driving member 210 to change to any posture.

Further referring to Figures 2, 3 and 4, Figure 3 is a structural schematic diagram of the first transmission mechanism and the first magnetic component in an embodiment of the vascular intervention robot system of the present application, and Figure 4 is a structural schematic diagram of the second transmission mechanism and the second magnetic component in an embodiment of the vascular intervention robot system of the present application.

In this embodiment, the first transmission mechanism 130 may include a first motion component 131, a second motion component 132 and a third motion component 133. The first motion component 131 may be mounted on the bracket 30 shown in FIG. 1 , the second motion component 132 is connected to the first motion component 131 , the third motion component 133 is connected to the second motion component 132 , and the first magnetic member 110 is connected to the third motion component 133 .

The first moving component 131 is used to drive the second moving component 132 to move in the first direction, the second moving component 132 is used to drive the third moving component 133 to move in the second direction, and the third moving component is used to drive the first magnetic member 110 to move in the third direction.

That is, the first moving component 131 can drive the first magnetic component 110 to move in the first direction, the second moving component 132 can drive the first magnetic component 110 to move in the second direction, and the third moving component 133 can drive the first magnetic component 110 to move in the third direction. When the first direction, the second direction and the third direction are different from each other, the first magnetic component 110 can be controlled to move in three different directions on one side of the magnetic driving component 210 by moving the first moving component 131, the second moving component 132 and the third moving component 133.

In an exemplary embodiment, the first direction, the second direction, and the third direction are perpendicular to each other, that is, the first direction, the second direction, and the third direction can constitute the x-y-z axis in a three-dimensional space coordinate system. The first magnetic component 110 can be moved to any point in the three-dimensional space under the drive of the first transmission mechanism 130, and the coordinates of the first magnetic component 110 before and after the movement are the superposition of vectors of three different movements.

Optionally, in other embodiments, the first transmission mechanism 130 may further include more motion components, and each motion component may drive the first magnetic member 110 to move in a corresponding direction.

Further, the first motion assembly 131 may include a first sliding member 1311 and a first sliding shaft 1312. The second motion assembly 132 may include a second sliding member 1321 and a second sliding shaft 1322. The third motion assembly 133 may include a third sliding member 1331 and a third sliding shaft 1332.

The first sliding shaft 1312 is fixedly mounted on the bracket 30 , and the first sliding member 1311 is mounted on the first sliding shaft 1312 and can slide along the first sliding shaft 1312 in a first direction.

Optionally, the number of the first sliding shafts 1312 and the first sliding members 1311 is two, the two first sliding shafts 1312 are arranged in parallel, and the two first sliding members 1311 are respectively installed on the two first sliding shafts 1312 and can slide in the same direction.

The second sliding shaft 1322 is fixed on the first sliding shaft 1312 , and the second sliding shaft 1322 can move in the first direction driven by the first sliding member 1311 .

The second sliding member 1321 is installed on the second sliding shaft 1322 . The second sliding member 1321 moves in the first direction driven by the first sliding member 1311 and can slide in the second direction on the second sliding shaft 1322 .

The third sliding shaft 1332 is fixed on the second sliding member 1321 , that is, the third sliding shaft 1332 can move in the second direction driven by the second sliding member 1321 , and can move in the first direction driven by the first sliding member 1311 .

The third sliding member 1331 is installed on the third sliding shaft 1332 . The third sliding member 1331 can move in the second direction driven by the second sliding member 1321 , move in the first direction driven by the first sliding member 1311 , and can slide in the third direction on the third sliding shaft 1332 .

The first magnetic member 110 is fixed on the third sliding member 1331. When the third sliding member 1331 slides, the third sliding member 1331 drives the first magnetic member 110 to move in the third direction; when the second sliding member 1321 slides, the second sliding member 1321 drives the first magnetic member 110 to move in the second direction; when the first sliding member 1311 slides, the first sliding member 1311 drives the first magnetic member 110 to move in the first direction. In this way, the first moving component 131, the second moving component 132 and the third moving component 133 are used to control the first magnetic member 110 to move in three different directions.

Similarly, the principle of the second transmission mechanism 140 is similar to that of the first transmission mechanism 130. The second transmission mechanism 140 may include a fourth motion component 141, a fifth motion component 142, and a sixth motion component 143. The fourth motion component 141 may be mounted on the bracket 30, the fifth motion component 142 is connected to the fourth motion component 141, the sixth motion component 143 is connected to the fifth motion component 142, and the second magnetic member 120 is connected to the sixth motion component 143.

The fourth moving component 141 is used to drive the fifth moving component 142 to move in the fourth direction. The fifth moving component 142 is used to drive the sixth moving component 143 to move in the fifth direction. The third moving component is used to drive the second magnetic component 120 to move in the sixth direction.

That is, the fourth moving component 141 can drive the second magnetic component 120 to move in the fourth direction, the fifth moving component 142 can drive the second magnetic component 120 to move in the fifth direction, and the sixth moving component 143 can drive the second magnetic component 120 to move in the sixth direction. When the fourth direction, the fifth direction and the sixth direction are different from each other, the second magnetic component 120 can be controlled to move in three different directions on one side of the magnetic driving component 210 by moving the fourth moving component 141, the fifth moving component 142 and the sixth moving component 143.

In an exemplary embodiment, the fourth direction, the fifth direction and the sixth direction are perpendicular to each other, that is, the fourth direction, the fifth direction and the sixth direction can constitute the x-y-z axis in the three-dimensional space coordinate system. The second magnetic part 120 can move to any point in the three-dimensional space under the drive of the second transmission mechanism 140, and the coordinates of the second magnetic part 120 before and after the movement are the superposition of the vectors of three different movements.

Optionally, in other embodiments, the second transmission mechanism 140 may further include more motion components, and each motion component may drive the second magnetic member 120 to move in a corresponding direction.

Further, the fourth motion assembly 141 may include a fourth sliding member 1411 and a fourth sliding shaft 1412. The fifth motion assembly 142 may include a fifth sliding member 1421 and a fifth sliding shaft 1422. The sixth motion assembly 143 may include a sixth sliding member 1431 and a sixth sliding shaft 1432.

The fourth sliding shaft 1412 is fixedly mounted on the bracket 30 , and the fourth sliding member 1411 is mounted on the fourth sliding shaft 1412 and can slide along the fourth sliding shaft 1412 in a fourth direction.

Optionally, the number of the fourth sliding shafts 1412 and the fourth sliding members 1411 is two, the two fourth sliding shafts 1412 are arranged in parallel, and the two fourth sliding members 1411 are respectively installed on the two fourth sliding shafts 1412 and can slide in the same direction.

The fifth sliding shaft 1422 is fixed on the fourth sliding shaft 1412 , and the fifth sliding shaft 1422 can move in the fourth direction driven by the fourth sliding member 1411 .

The fifth sliding member 1421 is installed on the fifth sliding shaft 1422 . The fifth sliding member 1421 moves in the fourth direction driven by the fourth sliding member 1411 and can slide in the fifth direction on the fifth sliding shaft 1422 .

The sixth sliding shaft 1432 is fixed on the fifth sliding member 1421 , that is, the sixth sliding shaft 1432 can move in the fifth direction driven by the fifth sliding member 1421 , and can move in the fourth direction driven by the fourth sliding member 1411 .

The sixth sliding member 1431 is installed on the sixth sliding shaft 1432 . The sixth sliding member 1431 can move in the fifth direction driven by the fifth sliding member 1421 , move in the fourth direction driven by the fourth sliding member 1411 , and can slide in the sixth direction on the sixth sliding shaft 1432 .

The second magnetic member 120 is fixed on the sixth sliding member 1431. When the sixth sliding member 1431 slides, the sixth sliding member 1431 drives the second magnetic member 120 to move in the sixth direction; when the fifth sliding member 1421 slides, the fifth sliding member 1421 drives the second magnetic member 120 to move in the fifth direction; when the fourth sliding member 1411 slides, the fourth sliding member 1411 drives the second magnetic member 120 to move in the fourth direction. In this way, the fourth motion component 141, the fifth motion component 142 and the sixth motion component 143 are used to control the second magnetic member 120 to move in three different directions.

Therefore, based on the above structure, the sliding of the first sliding member 1311, the second sliding member 1321, the third sliding member 1331, the fourth sliding member 1411, the fifth sliding member 1421, and the sixth sliding member 1431 can be controlled respectively to change the spatial position of the first magnetic member 110 and the second magnetic member 120, thereby changing the position of the magnetic field and the magnetic induction intensity.

Optionally, the first transmission mechanism 130 and the second transmission mechanism 140 can be manually controlled by an operator, such as manually adjusting the position on the sliding axis of the sliding member; they can also be mechanically controlled, such as shown in Figure 5. Based on the above embodiment of the vascular interventional robot in the present application, the vascular interventional robot system further includes a control center 50.

The control center 50 is connected to the magnetic field generating device 10 and is used to control the magnetic field generated by the magnetic field generating device 10 so that the drug transport device 20 can be accurately transported to the diseased tissue under the action of the magnetic field.

The control center 50 may include a driver 510 , a motion control card 520 , a limit protector 530 , and a power switch 540 . The power switch 540 is used to control the startup of the control center 50 .

Among them, the driver 510 can be connected to the first motion component 131, the second motion component 132, the third motion component 133, the fourth motion component 141, the fifth motion component 142 and the sixth motion component 143 respectively to drive the first motion component 131, the second motion component 132, the third motion component 133, the fourth motion component 141, the fifth motion component 142 and the sixth motion component 143 to move.

For example, the driver 510 is connected to the first sliding member 1311 and drives the first sliding member 1311 to slide on the first sliding shaft 1312, so that the first magnetic member 110 moves in the first direction under the influence of the first moving component 131. The driver 510 can be a motor.

The motion control card 520 is connected to the driver 510 and is a programmable, high-performance stepper motor motion control card that can realize multi-axis coordinated control of multiple servo motors. It is used to control the motion logic of the driver 510 to drive the first motion component 131, the second motion component 132, the third motion component 133, the fourth motion component 141, the fifth motion component 142 and the sixth motion component 143.

The motion control card 520 can be selected as an eci3080 model motion control card, which can support 8 axes, satisfying the at least 6 axes required for the first direction, second direction, third direction, fourth direction, fifth direction and sixth direction generated by the first motion component 131, the second motion component 132, the third motion component 133, the fourth motion component 141, the fifth motion component 142 and the sixth motion component 143 of this application.

The limit protector 530 is connected to the driver 510, and the driver 510 drives the first sliding member 1311, the second sliding member 1321, the third sliding member 1331, the fourth sliding member 1411, the fifth sliding member 1421 and the sixth sliding member 1431 to slide off from the corresponding sliding shafts respectively.

Therefore, in this embodiment, the control center 50 can control the magnetic field generated by the magnetic field generating device 10, so that the drug transport device 20 can move in the blood vessel to the diseased tissue without the need for manual operation by medical staff, thereby improving the accuracy and success rate of the operation. At the same time, medical staff can remotely control the control center 50 to perform surgery without being exposed to the X-ray operating environment, thereby protecting the health of medical staff.

In an exemplary embodiment of an interventional surgery using the vascular interventional robot system of the present application, the drug transport device 20 is first inserted into the blood vessel, and then the position information and posture information of the magnetic drive member 210 of the drug transport device 20 are obtained through a depth camera, and the expected position of the first magnetic member 110 and the second magnetic member 120 required to move is calculated based on the current position information, posture information and the expected deflection direction of the magnetic drive member 210. The control center 50 controls the first transmission mechanism 130 and the second transmission mechanism 140 to move the first magnetic member 110 and the second magnetic member 120 to the expected position, so that the magnetic drive member 210 changes its position or posture under the action of the magnetic field, and guides the guide wire 220 to the diseased tissue in combination with the force that pushes the guide wire 220 forward.

In summary, the present application provides a vascular interventional robot system that can be used in interventional surgery. The vascular interventional robot system of the present application adjusts the direction of the drug transport device in the blood vessel based on the magnetic field, which can meet the requirements of the drug transport device to achieve large-angle deflection in complex and tortuous blood vessels. And the vascular interventional robot system of the present application can shorten the time of interventional surgery and improve the efficiency of the surgery.

The above description is only an embodiment of the present application and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims (6)

1. A vascular interventional robot system comprising magnetic field generating means for generating a magnetic field and drug transporting means for loading a drug and transporting the drug into a blood vessel;

the drug delivery device is provided with a magnetic driving piece, and the magnetic driving piece drives the drug delivery device to move under the action of the magnetic field so as to control the position of the drug delivery device in a blood vessel; wherein, the outer layer of the magnetic driving piece is coated with a silica gel layer;

The drug delivery device comprises a guide wire, the magnetic driving piece is arranged at the head part of the guide wire, the guide wire is used for loading drugs, and the guide wire deflects in a blood vessel under the drive of the magnetic driving piece;

the magnetic field generating device comprises a first magnetic piece and a second magnetic piece, wherein the first magnetic piece and the second magnetic piece are used for generating the magnetic field, and the magnetic driving piece is positioned between the first magnetic piece and the second magnetic piece;

The magnetic field generating device comprises a first transmission mechanism and a second transmission mechanism, the first transmission mechanism is connected with the first magnetic piece, the second transmission mechanism is connected with the second magnetic piece, the first transmission mechanism is used for controlling the first magnetic piece to move, the second transmission mechanism is used for controlling the second magnetic piece to move so as to change the positions of the first magnetic piece and the second magnetic piece and further control the position and the magnetic induction intensity of the magnetic field and further drive the magnetic driving piece to move;

the first transmission mechanism comprises a first motion assembly, a second motion assembly and a third motion assembly, wherein the second motion assembly is connected to the first motion assembly, the third motion assembly is connected to the second motion assembly, the first motion assembly drives the second motion assembly to move along a first direction, the second motion assembly drives the third motion assembly to move along a second direction, the first magnetic piece is connected to the third motion assembly, and the third motion assembly drives the first magnetic piece to move towards a third direction;

The second transmission mechanism comprises a fourth motion assembly, a fifth motion assembly and a sixth motion assembly, wherein the fifth motion assembly is connected to the fourth motion assembly, the sixth motion assembly is connected to the fifth motion assembly, the fourth motion assembly drives the fifth motion assembly to move along a fourth direction, the fifth motion assembly drives the sixth motion assembly to move along a fifth direction, the first magnetic piece is connected to the sixth motion assembly, and the sixth motion assembly drives the first magnetic piece to move along a sixth direction;

Wherein the first direction, the second direction, and the third direction are different from each other, and the fourth direction, the fifth direction, and the sixth direction are different from each other.

2. The vascular interventional robot system of claim 1, wherein,

The first motion assembly comprises a first sliding shaft and a first sliding piece, and the first sliding piece is mounted on the first sliding shaft and can slide on the first sliding shaft;

The second motion assembly comprises a second sliding shaft and a second sliding piece, the second sliding shaft is fixed on the first sliding piece, and the second sliding piece is arranged on the second sliding shaft and can slide on the second sliding shaft;

the third motion assembly comprises a third sliding shaft and a third sliding piece, the third sliding shaft is fixed on the second sliding piece, the third sliding piece is installed on the third sliding shaft and can slide on the third sliding shaft, and the first magnetic piece is on the third sliding piece;

the fourth motion assembly comprises a fourth sliding shaft and a fourth sliding piece, and the fourth sliding piece is installed on the fourth sliding shaft and can slide on the fourth sliding shaft;

the fifth motion assembly comprises a fifth sliding shaft and a fifth sliding piece, the fifth sliding shaft is fixed on the fourth sliding piece, and the fifth sliding piece is installed on the fifth sliding shaft and can slide on the fifth sliding shaft;

The sixth motion assembly comprises a sixth sliding shaft and a sixth sliding piece, the sixth sliding shaft is fixed on the fifth sliding piece, the sixth sliding piece is installed on the sixth sliding shaft and can slide on the sixth sliding shaft, and the second magnetic piece is on the sixth sliding piece.

3. The vascular interventional robot system of claim 2, further comprising:

The driver is connected with the first motion assembly, the second motion assembly, the third motion assembly, the fourth motion assembly, the fifth motion assembly and the sixth motion assembly;

A motion control card connected with the driver to control the driver; and

And the limit protector is connected with the driver and used for preventing the first sliding piece, the second sliding piece, the third sliding piece, the fourth sliding piece, the fifth sliding piece and the sixth sliding piece from sliding off.

4. The vascular interventional robot system of claim 1, wherein,

The first direction, the second direction and the third direction are in a two-by-two vertical state, and the fourth direction, the fifth direction and the sixth direction are in a two-by-two vertical state.

5. The vascular interventional robot system of claim 1, further comprising a frame and a platform mounted to the frame, the magnetic field generating device being located on either side of the platform, the magnetic field passing through the platform.

6. The vascular interventional robot system of claim 1, wherein,

The vascular interventional robot system further comprises an advancing device connected with the drug delivery device to drive the drug delivery device to advance in the blood vessel.