CN120154802A - Magnetic wire guide control system - Google Patents

Abstract

The invention provides a magnetic guide wire control system which comprises a guide wire, a propelling device for propelling the guide wire, a magnetic driving source for generating a magnetic field, a moving mechanism for driving the magnetic driving source to move, a positioning signal emitter for emitting electromagnetic positioning signals and a control device, wherein the guide wire comprises a positioning part for receiving the electromagnetic positioning signals and a magnetic driving part driven by the magnetic driving source, and the positioning part and the magnetic driving part are both arranged at the far end of the guide wire. In the implementation process of vascular interventional operation, after the position and the posture of the distal end of the guide wire are acquired according to the positioning signal emitter and the guide wire positioning part, three-dimensional wandering display can be performed by combining a vascular 3D road map acquired by preoperative CT, the magnetic driving part of the distal end of the guide wire is controlled through the magnetic driving source under the view angle of an imitation endoscope, the operation difficulty is reduced, the operation efficiency is improved, DSA imaging is not needed, and a patient does not need to bear X-Ray radiation.

Description

Magnetic guide wire control system

Technical Field

The invention belongs to the technical field of medical instruments, and particularly relates to a magnetic guide wire control system.

Background

The vascular intervention operation is an important means for treating cardiovascular and cerebrovascular diseases such as coronary heart disease, cerebral apoplexy, arrhythmia and the like, and has the advantages of small wound, quick postoperative recovery and the like. The accurate delivery of the interventional guide wire plays an extremely important role in the vascular interventional operation process, and is the basis for the follow-up accurate guiding of the micro-catheter, the balloon, the stent and other instruments to the lesion vascular position along the guide wire for treatment operation. In the traditional interventional operation, digital subtraction angiography imaging (Digital subtraction angiography, abbreviated as DSA imaging) is used as an auxiliary, and a doctor adopts pushing, pulling, rotating, twisting and other operation skills to control the pre-bent guide wire to advance along the blood vessel of a patient until reaching the vicinity of a focus. However, in an extremely narrow and complex working environment such as a human blood vessel, the conventional interventional guidewire delivery scheme described above presents a number of challenges. For example, in a surgical scenario where a blood vessel such as a cerebral blood vessel has a very small diameter and a complex shape, the distal end of a conventional pre-bent guide wire has a fixed bending degree, and it is difficult to adapt to a complex shape of the blood vessel path to reach a lesion position, and there is a risk of damaging the blood vessel. The higher guide wire delivery difficulty makes the operation highly depend on the operation skills and experience of doctors, which greatly increases the learning cost of the operation and is not beneficial to the popularization of the operation. In addition, the traditional Chinese medicine in the operation process needs to wear heavy lead protective clothing for a long time to work in the radiation environment, which has great influence on the physical health of doctors. In order to solve the problems, researchers have designed vascular intervention robots of various different configurations based on the principle of mechanical propulsion. The vascular intervention robot can help doctors to realize remote delivery of the guide wire, and solves the problem of radiation exposure of the doctors. However, such robots still deliver traditional fixed curved guidewires, which cannot solve the problems of difficult guidewire delivery and high risk of vascular injury in a narrow tortuous vascular environment.

The magnetic control guide wire system is one of potential schemes for solving the pain point problem of the vascular intervention operation. The system generally comprises a DSA imaging system, a magnetic adjustable bending guide wire, a magnetic control guide wire direction guiding system, a guide wire propelling system and a control system. The magnetic control direction guiding system can actively control the far-end bending direction of the magnetic adjustable bending guide wire according to different requirements of blood vessel shape, so that the problem that the far-end bending degree of the traditional pre-bending guide wire is fixed is well solved, and the risk of blood vessel damage in the operation process and the operation difficulty of the operation are greatly reduced. Using a magnetically controlled guidewire system, a physician can simply and accurately deliver a magnetically adjustable curved guidewire to a tortuous stenotic vascular lesion site. However, the current guide wire positioning in the magnetic control guide wire system mainly depends on the DSA imaging system, and some inherent problems of the classical guide wire positioning mode are not solved, so that the wide popularization and application of the system are affected. On the one hand, guide wire guidance using DSA imaging systems requires frequent X-Ray exposure, and still requires exposure to a dose of X-Ray radiation for the patient. On the other hand, most DSAs can only acquire 2D superimposed images in real time, and the image information acquired in real time does not contain blood vessel shape. In complex vascular environments, this lost information can cause confusion for the surgeon and increase the difficulty of the surgeon's surgery. Angiography can be performed to obtain a static vascular map as a reference for the physician, but this procedure can severely reduce the efficiency of the procedure and can also place additional physical burden on the patient.

Disclosure of Invention

The embodiment of the invention aims to provide a magnetic guide wire control system so as to solve the technical problems that the guide wire positioning in the existing magnetic control guide wire technology depends on DSA imaging, has certain radiation to the body of a patient and has lower operation efficiency.

The technical scheme includes that the magnetic guide wire control system comprises a guide wire, a propelling device for propelling the guide wire, a magnetic driving source for generating a magnetic field, a moving mechanism for driving the magnetic driving source to move, a positioning signal emitter for emitting positioning signals and a control device, wherein the guide wire comprises a positioning part for receiving the positioning signals and a magnetic driving part driven by the magnetic driving source, the positioning part and the magnetic driving part are arranged at the far end of the guide wire, and the control device is in communication connection with the propelling device, the moving mechanism, the positioning signal emitter and the positioning part.

In the above-mentioned scheme, magnetism seal wire control system includes seal wire, advancing device, magnetic drive source, mobile mechanism and location signal transmitter, through set up the signal that the location signal transmitter launched in the seal wire portion receipt to carry out the position gesture of back solution acquisition seal wire to the signal, mobile mechanism can drive the magnetic drive source and remove, through set up magnetic drive portion in the seal wire, makes the removal of magnetic drive source can drive the seal wire and turn to in the blood vessel, advancing device then can make the seal wire advance in the blood vessel. In the implementation process of vascular interventional operation, after the position and the posture of the distal end of the guide wire are acquired according to the positioning signal emitter and the guide wire positioning part, three-dimensional wandering display can be performed by combining a preoperative CT vascular 3D road map, the magnetic driving part of the distal end of the guide wire is controlled through the magnetic driving source under the view angle of an imitation endoscope, the operation difficulty is reduced, the operation efficiency is improved, DSA imaging is not needed, and a patient does not need to bear X-Ray radiation.

Optionally, the magnetic driving source is fixedly connected with the positioning signal emitter.

In the scheme, the position and the posture between the magnetic drive source and the positioning signal transmitter are always kept the same, the coordinate system between the magnetic drive source and the positioning signal transmitter only needs to be registered once when leaving the factory, and the relative position between the coordinate system of the magnetic drive source and the coordinate system of the positioning signal transmitter is always kept unchanged in the vascular interventional operation process. Moreover, when the magnetic drive source drives the distal end of the guide wire to turn, the magnetic drive source needs to be close to the distal end of the guide wire, so that the positioning signal emitter is brought close to the positioning part of the guide wire, the positioning performance is enabled to be optimal, namely, the positioning signal emitter is always in a better working space, and the problem that the working range of a fixed magnetic positioning system is small is solved.

Optionally, the positioning signal transmitter includes a plurality of transmitting coils, and the transmitting coils are fixed outside the magnetic drive source.

In the above scheme, the positioning signal transmitter can be a magnetic field transmitting source, can emit electromagnetic waves, generates a positioning magnetic field, and is realized by a plurality of groups of transmitting coils. The magnetic drive source is generally of an integral structure, and the transmitting coil is fixed outside the magnetic drive source, so that the assembly of the positioning signal transmitter and the magnetic drive source is facilitated.

Optionally, the magnetic driving source is spherical, the transmitting coil is wound along the periphery of the magnetic driving source, and the center of the transmitting coil coincides with the center of the magnetic driving source.

In the above scheme, the transmitting coil is wound on the periphery of the magnetic driving source, and when the magnetic driving source is spherical, the transmitting coil is also in a circular ring shape. The center of the transmitting coil coincides with the center of the magnetic drive source, so that the inverse solution algorithm can be simplified when the positioning inverse solution is performed.

Optionally, the magnetic driving source is spherical, the transmitting coil is a cake-shaped coil distributed outside the magnetic driving source, and a central shaft of the cake-shaped coil passes through a spherical center of the magnetic driving source.

In the scheme, the center of the transmitting coil is positioned outside the magnetic drive source, and the transmitting coil is in a plane spiral line shape. It should be noted that, the transmitting coil is not necessarily in an absolute planar shape, and the transmitting coil may be attached to the surface of the magnetic driving source, and one side of the transmitting coil facing the magnetic driving source is a partial spherical surface, that is, a spherical surface. The central axis of the transmitting coil passes through the sphere center of the magnetic drive source, so that the inverse solution algorithm can be simplified when the positioning inverse solution is performed.

Optionally, the magnetic driving source is a permanent magnet or an electromagnet.

In the above-described aspect, the electromagnet means a magnet capable of generating a magnetic field in an energized state and eliminating the magnetic field in a de-energized state. When the magnetic driving source is an electromagnet, the magnetic field intensity and the magnetic field direction can be adjusted, so that the magnetic driving part can be controlled more conveniently.

Optionally, the advancing device is capable of outputting a linear motion to advance the guidewire.

In the above scheme, the direction of the distal end of the guide wire is realized by the magnetic driving part controlled by the magnetic driving source, and the propulsion device only needs to realize linear propulsion, such as forward, backward and the like, so that the structure of the propulsion device is relatively simple. The propelling device can comprise a friction wheel propeller, the friction wheel propeller comprises two friction wheels which are arranged at intervals, the two friction wheels can rotate, the rotation directions of the two friction wheels are opposite and the rotation speeds are the same, the guide wire is clamped between the two friction wheels, and when the two friction wheels rotate simultaneously, the guide wire can be driven to advance or retreat through friction force.

Optionally, the guide wire includes a main body portion, a positioning portion, and the magnetic driving portion, where the main body portion, the positioning portion, and the magnetic driving portion are sequentially connected, or the main body portion, the magnetic driving portion, and the positioning portion are sequentially connected.

In the above scheme, the main body part is the main structure of seal wire, and the one end of main body part is located the outside of human body, and this end is the proximal end of seal wire, and the other end of main body part stretches into the inside of human body, is connected with location portion or magnetic drive portion, and location portion and magnetic drive portion then interconnect constitutes the distal end of seal wire jointly. The positioning part is a positioning part of the guide wire and is matched with the positioning signal emitter for positioning. The magnetic driving part can be influenced by a magnetic driving source to change the direction, and at least comprises a magnetic substance which can be influenced by a driving magnetic field. Specifically, after the magnetic drive part is magnetized, the magnetic drive part has permanent magnetism and is subjected to the moment action of a magnetic field under an external magnetic field, so that the magnetic drive part tends to bend along the direction of the external magnetic field to change the direction.

Optionally, the positioning part includes a soft magnetic core and a receiving coil, and the receiving coil is disposed on an outer periphery of the soft magnetic core.

In the scheme, due to the existence of the rigid soft magnetic iron core, the positioning part can be subjected to the action of magnetic force under the influence of an external magnetic field so as to generate certain deflection, and a certain auxiliary effect is realized on the steering of the distal end of the guide wire.

Optionally, the magnetic driving part comprises a matrix and magnetic particles uniformly dispersed in the matrix.

In the scheme, the matrix is a basic structure of the magnetic driving part, can be formed by mixing high-molecular polymers and has enough flexibility. The magnetic particles are dispersed in the matrix, and can be acted by an external magnetic field to make the magnetic drive part integrally bend and turn.

Optionally, the main body part includes a transmission line and a reinforcing wire for increasing the strength of the main body part, and the transmission line is electrically connected with the receiving coil.

In the scheme, the reinforcing wires and the transmission lines are arranged in a linear mode and extend along the length direction of the main body part, so that the reinforcing wires and the transmission lines are arranged side by side. The reinforcing wire is used for increasing the structural strength of the main body part, so that the guide wire can deform to a certain extent and is not too soft to be blocked in a blood vessel. The reinforcing wire may be a metal wire, such as a nitinol wire. The transmission line is used for transmitting signals, specifically, one end of the transmission line is connected with the positioning part, and the other end of the transmission line extends to the proximal end of the guide wire and can be connected with the control device.

Optionally, the positioning portion includes a magnetic sensor.

In the scheme, the magnetic sensor can acquire magnetic field changes in three axial directions, so that pose calculation with six degrees of freedom is performed. The magnetic sensor has the characteristics of wide range, high precision and high response speed, and is suitable for being used in the invention.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a magnetic guidewire control system according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a first assembly structure of a magnetic drive source and a positioning signal transmitter according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a second assembly structure of a magnetic drive source and a positioning signal transmitter according to an embodiment of the present invention;

FIG. 4 is a schematic view of the distal end of a first guidewire according to an embodiment of the present invention;

FIG. 5 is a schematic structural view of a main body section according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a positioning segment according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of a magnetic drive segment according to an embodiment of the present invention;

FIG. 8 is a schematic view of the distal end of a second guidewire according to an embodiment of the present invention;

fig. 9 is a schematic view of the distal end of a third guidewire according to an embodiment of the present invention.

Wherein, each reference sign in the figure:

1-moving mechanism, 2-magnetic drive source, 201-driving magnetic field, 21-driving shell, 3-positioning signal emitter, 301-positioning magnetic field, 4-guide wire, 401-far end, 41-main body portion, 411-reinforcing wire, 412-transmission line, 413-outer surface layer, 42-positioning portion, 421-receiving coil, 422-soft magnetic iron core, 423-wrapping layer, 43-magnetic drive portion, 431-magnetic particles, 432-base body and 5-propelling device.

Detailed Description

In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

The vascular intervention operation is the first choice of treatment mode for treating the vascular disease at present, and has the advantages of small damage, quick recovery and good effect. The vascular intervention operation treatment method is characterized in that an access blood vessel is punctured, the access blood vessel is generally selected at a shallow part, and common parts are the radial artery and the brachial artery of the upper limb, and the femoral artery and the dorsum manus pedis artery of the lower limb. After puncture is successful, a vascular sheath is implanted, a guide wire is implanted, the guide wire is guided to a lesion site, the lesion site is opened, then the balloon is inflated, and then a stent is implanted.

In the traditional interventional operation, digital subtraction angiography imaging (DSA imaging for short) is used as an auxiliary, and a doctor adopts operation skills such as pushing, pulling, rotating, twisting and the like to control the pre-bent guide wire to advance along the blood vessel of a patient until reaching the vicinity of a focus. However, in an extremely narrow and complex working environment such as a human blood vessel, the conventional interventional guidewire delivery scheme described above presents a number of challenges. For example, in a surgical scenario where a blood vessel such as a cerebral blood vessel has a very small diameter and a complex shape, the distal end of a conventional pre-bent guide wire has a fixed bending degree, and it is difficult to adapt to a complex shape of the blood vessel path to reach a lesion position, and there is a risk of damaging the blood vessel. The higher guide wire delivery difficulty makes the operation highly depend on the operation skills and experience of doctors, which greatly increases the learning cost of the operation and is not beneficial to the popularization of the operation. In addition, the traditional Chinese medicine in the operation process needs to wear heavy lead protective clothing for a long time to work in the radiation environment, which has great influence on the physical health of doctors.

The magnetic control guide wire system can actively control the far-end bending direction of the magnetic adjustable bending guide wire according to different requirements of blood vessel shape, so that the problem that the far-end bending degree of the traditional pre-bending guide wire is fixed is well solved, and the risk of blood vessel damage in the operation process and the operation difficulty of the operation are greatly reduced. However, the current guide wire positioning in the magnetic control guide wire system mainly depends on the DSA imaging system, and some inherent problems of the classical guide wire positioning mode are not solved, so that the wide popularization and application of the system are affected. On the one hand, guide wire guidance using DSA imaging systems requires frequent X-Ray exposure, and still requires exposure to a dose of X-Ray radiation for the patient. On the other hand, most DSAs can only acquire 2D superimposed images in real time, and the image information acquired in real time does not contain blood vessel shape. In complex vascular environments, this lost information can cause confusion for the surgeon and increase the difficulty of the surgeon's surgery. Angiography can be performed to obtain a static vascular map as a reference for the physician, but this procedure can severely reduce the efficiency of the procedure and can also place additional physical burden on the patient. In order to solve the technical problems, the invention provides a novel magnetic guide wire control system.

The magnetic guide wire control system provided by the embodiment of the invention is described.

Referring to fig. 1 and 4, the magnetic guide wire control system includes a guide wire 4, a propulsion device 5, a magnetic drive source 2, a moving mechanism 1, a positioning signal emitter 3 and a control device.

The guide wire 4 is a wire-shaped structure which enters the blood vessel of the human body through a percutaneous puncture mode and can reach the lesion position under the control of driving force. The guide wire 4 is used for reaching a target through tortuosity, calcification, stenosis, collateral circulation in application scenes such as coronary artery, peripheral blood vessel and nerve blood vessel, and is used for establishing a channel so as to convey therapeutic instruments such as a saccule, a bracket and the like. Wherein the end of the guide wire 4 extending into the human body is called the distal end 401 of the guide wire 4, and the end of the guide wire 4 located outside the human body is called the proximal end of the guide wire 4.

The guide wire 4 includes a positioning portion 42 and a magnetic driving portion 43, and the positioning portion 42 and the magnetic driving portion 43 are both disposed at the distal end 401 of the guide wire 4. The positioning part 42 is used for receiving the positioning signal emitted by the positioning signal emitter 3 and obtaining the position and the posture of the distal end 401 of the guide wire 4. The magnetic drive portion 43 may be driven by a magnetic field, thereby changing the orientation of the magnetic drive portion 43, i.e., changing the direction in which the guidewire 4 is advanced within the blood vessel.

The magnetic drive source 2 is made of a magnetic substance, and the magnetic drive source 2 can generate a magnetic field in the working space, the magnetic field can be called a driving magnetic field 201, and the magnetic drive part 43 in the working space can be acted by the driving magnetic field 201 to generate an attitude change, specifically, the direction of the distal end 401 of the guide wire 4 can be changed, and then the direction of the distal end 401 of the guide wire 4 can be changed according to the trend of a blood vessel.

The moving mechanism 1 is used for driving the magnetic drive source 2 to change the pose, so that the magnetic drive source 2 can generate a driving magnetic field 201 with target size and direction at the position of the distal end 401 of the guide wire. The movement mechanism 1 enables the magnetic drive source 2 to vary with the position of the distal end 401 of the guidewire 4, keeping the distal end 401 of the guidewire 4 always within the coverage area of the drive magnetic field 201.

The positioning signal emitter 3 is used for emitting positioning signals, the positioning part 42 of the guide wire 4 is used for receiving the emitted positioning signals, and after the positioning part 42 of the guide wire 4 receives the positioning signals, the positioning signals can be calculated by a control device and the like to obtain the position and the gesture of the positioning part 42.

The pushing device 5 is used for pushing the guide wire 4 forward, and the contact position of the pushing device 5 and the guide wire 4 is located at the proximal end of the guide wire 4. The magnetic drive source 2 changes the direction of the magnetic drive unit 43 by the drive magnetic field 201, and the pusher 5 gradually pushes the guide wire 4 into the target blood vessel when the advancing direction of the guide wire 4 is correct.

The control device is in communication with the propulsion device 5, the movement mechanism 1, the positioning signal emitter 3, and the guidewire positioning section 42. The control device has the capabilities of receiving data, transmitting data, storing and calculating data and the like. The control device can comprise an upper computer and a lower computer. The control device can be a main board installed in the computer and the like. The control device is electrically connected with at least the propulsion device 5, the moving mechanism 1, the positioning signal emitter 3 and the positioning part 42, and when the magnetic drive source 2 is an electromagnet, the control device is also electrically connected with the magnetic drive source 2.

In the process of vascular interventional operation, the distal end 401 of the guide wire 4 firstly stretches into a blood vessel, the guide wire 4 needs to be gradually pushed forward along the trend of the blood vessel, the positioning signal transmitter 3 transmits a positioning signal, the positioning part 42 in the blood vessel receives the positioning signal, and the position and the posture of the positioning part 42 are obtained according to inverse solution of the positioning signal. According to the position and the posture of the positioning part 42 and the 3D route map of the preoperative CT blood vessel, the magnetic driving part 43 can be controlled by the magnetic driving source 2 under the view angle of the simulated endoscope, so that the direction of the distal end 401 of the guide wire 4 is always consistent with the trend of the blood vessel, and the operation difficulty is greatly reduced.

The magnetic guide wire control system in the above embodiment comprises a guide wire 4, a propelling device 5, a magnetic drive source 2, a moving mechanism 1 and a positioning signal emitter 3, wherein the positioning part 42 is arranged in the guide wire 4to receive a signal emitted by the positioning signal emitter 3 and to reversely analyze the signal to obtain the position and the posture of the guide wire 4, the moving mechanism 1 can drive the magnetic drive source 2 to move, and the magnetic drive part 43 is arranged in the guide wire 4to enable the movement of the magnetic drive source 2 to drive the guide wire 4to turn in a blood vessel, and the propelling device 5 can enable the guide wire 4to advance in the blood vessel. In the process of vascular interventional operation implementation, after the position and the posture of the distal end 401 of the guide wire 4 are acquired according to the positioning signal emitter 3 and the positioning part 42, three-dimensional wandering display can be performed by combining a preoperative CT vascular 3D road map, the magnetic driving part 43 at the end part of the guide wire 4 is subjected to steering operation through the magnetic driving source 2 under the view angle of an endoscope, the operation difficulty is reduced, the operation efficiency is improved, DSA imaging is not required, and a patient does not need to bear X-Ray radiation.

When the magnetic guide wire control system provided by the invention is used for vascular interventional operation, a positioning signal emitted by the positioning signal emitter 3 is received by the positioning part 42 and transmitted to the control device, the control device calculates the position and the posture of the positioning part 42 through a six-degree-of-freedom, five-degree-of-freedom and other positioning algorithms, the control device is combined with a preoperative CT vascular 3D road map to obtain the subsequent steering of the guide wire 4 and the displacement required to advance the guide wire 4, the steering signal displacement signals are respectively transmitted to the moving mechanism 1 and the pushing device 5, the moving mechanism 1 moves the magnetic drive source 2 to the corresponding position to steer the distal end 401 of the guide wire 4, and the pushing device 5 pushes the guide wire 4 to move forward by a preset displacement.

In some embodiments of the present invention, the control device includes a storage processing module for receiving signals and processing signals, and further includes a remote control module, where the remote control module is communicatively connected to the storage processing module, and may transmit the execution signals to the storage processing module, and the storage processing module sends the signals to the moving mechanism 1, the propulsion device 5, the magnetic drive source 2, and so on, so that the relevant operations are executed. The arrangement of the remote control module enables doctors to remotely operate the remote control moving mechanism 1, the propelling device 5, the magnetic drive source 2 and the like, and further movement of the guide wire 4 is achieved. The remote control module comprises a signal input device such as a handle, a keyboard, a mouse and the like.

In the magnetic guide wire control system provided by the invention, the direction change of the distal end 401 of the guide wire 4 is realized by controlling the magnetic driving part 43 by the magnetic driving source 2, and the pushing device 5 only needs to realize linear pushing, such as advancing, retreating and the like, so that the structure of the pushing device 5 is relatively simple.

In some embodiments, the propulsion device 5 includes a friction wheel propeller, where the friction wheel propeller includes two friction wheels disposed at intervals, the two friction wheels can both rotate, and the rotation directions of the two friction wheels are opposite and the rotation speeds are the same, the guide wire 4 is clamped between the two friction wheels, and when the two friction wheels rotate simultaneously, the guide wire 4 can be driven to advance or retract by friction force.

In some embodiments of the present invention, referring to fig. 2 and 3, the magnetic driving source 2 and the positioning signal emitter 3 are fixedly connected, and the magnetic driving source 2 and the positioning signal emitter 3 can move synchronously under the action of the moving mechanism 1. Because the magnetic drive source 2 and the positioning signal emitter 3 are fixedly connected, the position and the posture between the magnetic drive source 2 and the positioning signal emitter 3 are always kept the same, the coordinate system between the two is only required to be registered once when leaving the factory, and the relative position between the two coordinate systems is always kept unchanged in the process of vascular intervention operation. Moreover, when the magnetic drive source 2 drives the distal end 401 of the guide wire 4 to turn, the magnetic drive source 2 needs to be close to the distal end 401 of the guide wire 4, so that the positioning signal emitter 3 is brought close to the positioning part 42 of the guide wire 4, the positioning performance is enabled to be optimal, namely, the positioning signal emitter 3 is always in a better working space, and the problem that the working range of a fixed magnetic positioning system is small is solved. The position of the positioning signal emitter 3 in the fixed magnetic positioning system is relatively fixed, and cannot move along with the movement of the guide wire 4, so that the working range of the positioning signal emitter is a fixed working range, and the working range is relatively small.

In some embodiments, the magnetic drive source 2 and the positioning signal emitter 3 are fixed to each other by means of adhesion. Or the magnetic drive source 2 and the positioning signal emitter 3 are mutually fixed in a pressing mode. Or the magnetic drive source 2 and the positioning signal emitter 3 are fixedly connected with each other through screw members and the like.

In some embodiments, the positioning signal transmitter 3 comprises a plurality of transmitting coils, which are fixed outside the magnetic drive source 2. The positioning signal transmitter 3 may be a magnetic field emission source capable of emitting electromagnetic waves, generating a positioning magnetic field 301, implemented by a plurality of sets of emission coils. The magnetic drive source 2 is generally of an integral structure, and the transmitting coil is fixed outside the magnetic drive source 2, so that the assembly of the positioning signal transmitter and the magnetic drive source 2 is facilitated.

In some embodiments, the number of transmit coils is three, five, eight, etc., the number of which is not limited herein. The axial direction of each transmitting coil is different, and the set positions are different. During positioning, each group of transmitting coils can conduct pulse square wave current in a time-sharing mode or continuously conduct sine wave currents with different frequencies, and the positioning part 42 can conduct inverse solution according to received signals, so that six-degree-of-freedom or five-degree-of-freedom positioning can be conducted. Wherein the movements of the positioning part 42 in each degree of freedom (3 orthogonal directions of movement, 3 orthogonal directions of rotational movement) can be detected and tracked, and can be used for determining the positions and attitudes of the robot actuator and the sensor, in the present invention, the precise positioning and navigation of the distal end 401 of the guide wire 4 is realized through measurement and modeling. The five-degree-of-freedom positioning is substantially the same as the six-degree-of-freedom positioning, and will not be described again here.

In some embodiments, the positioning signal emitter 3 is directly fixed to the outer wall of the magnetic drive source 2.

In some embodiments, the driving housing 21 is wrapped outside the magnetic driving source 2, the driving housing 21 may be a non-metal housing, and the positioning signal emitter 3 is fixed on the non-metal housing, where the non-metal housing does not shield electromagnetic waves emitted by the magnetic driving source 2, and is suitable for this embodiment. In particular, the positioning signal emitter 3 may be fixed to the outer wall or the inner wall of the nonmetallic housing.

In some embodiments of the present invention, referring to fig. 2, the magnetic drive source 2 is spherical. The transmitting coil is wound along the periphery of the magnetic drive source 2, and the center of the transmitting coil coincides with the spherical center of the magnetic drive source 2. The transmitting coil is wound on the periphery of the magnetic drive source 2, and when the magnetic drive source 2 is spherical, the transmitting coil is also in a circular ring shape. When the center of the transmitting coil is coincident with the spherical center of the magnetic drive source 2, modeling is convenient, and when positioning inverse solution is performed, an inverse solution algorithm can be simplified. In other embodiments, the transmitting coil may have other shapes such as square. In other embodiments, the magnetic driving source 2 may also have a cubic structure, a flat structure, etc., and the specific shape of the magnetic driving source 2 is not limited herein. In other embodiments, the center of the transmit coil may not coincide with the center of the sphere of the magnetic drive source 2.

The number of the transmitting coils is multiple, and the positions of the transmitting coils are different. For example, when the number of the transmitting coils is three, the three transmitting coils are disposed in the outer periphery of the magnetic drive source 2 in a pair orthogonal to each other.

In some embodiments of the present invention, referring to fig. 3, the magnetic driving source 2 is spherical, the transmitting coils are pancake coils distributed outside the magnetic driving source 2, and a central axis of the transmitting coils passes through a center of the magnetic driving source 2. In this embodiment, the center of the transmitting coil is located outside the magnetic drive source 2, and the transmitting coil is in a cake shape, so that the transmitting coil is conveniently fixed outside the magnetic drive source 2. It should be noted that, the transmitting coil is not necessarily in an absolute planar shape, and the transmitting coil may be attached to the surface of the magnetic driving source 2, and one side of the transmitting coil facing the magnetic driving source 2 is a partial spherical surface, that is, a spherical surface. The central axis of the transmitting coil passes through the sphere center of the magnetic drive source 2, so that modeling can be facilitated, and an inverse solution algorithm can be simplified when positioning inverse solution is performed.

The number of the transmitting coils is multiple, and the transmitting coils are uniformly arranged on the periphery of the magnetic drive source 2.

In some embodiments of the invention, the magnetic drive source 2 is a permanent magnet. The permanent magnet refers to a magnet which can retain higher remanence for a long time in an open state, and can generate a constant magnetic field.

In some embodiments of the invention, the magnetic drive source 2 is an electromagnet. The electromagnet is a magnet capable of generating a magnetic field in an energized state and eliminating the magnetic field in a de-energized state. When the magnetic drive source 2 is an electromagnet, the magnetic field strength and the magnetic field direction can be adjusted, so that the magnetic drive portion 43 can be controlled more conveniently.

In some embodiments of the present invention, the moving mechanism 1 is used to move the magnetic drive source 2. The moving mechanism 1 may comprise a multi-axis mechanical arm or other multi-degree of freedom moving device, so that the magnetic drive source 2 can change the position and the posture of the magnetic drive source. The multi-axis robot arm may include a plurality of rotary joints and linear joints to realize movement of the magnetic drive source 2 in three directions of an x axis, a y axis and a z axis and rotation in three directions of the x axis, the y axis and the z axis.

In some embodiments of the present invention, the magnetic drive source 2 can generate a strong driving magnetic field 201, such as 20-100 mt, in the working space, and acts on the magnetic drive portion 43 of the guide wire 4, so as to adjust the direction of the distal end 401 of the guide wire 4.

In some embodiments of the present invention, referring to fig. 4, the guide wire 4 includes a main body 41, a positioning portion 42 and a magnetic driving portion 43, and the length directions of the main body 41, the positioning portion 42 and the magnetic driving portion 43 are all along the length direction of the guide wire 4.

The main body 41 is a main structure of the guide wire 4, one end of the main body 41 is located outside the human body, the end is a proximal end of the guide wire 4, the other end of the main body 41 extends into the human body and is connected with the positioning part 42 or the magnetic driving part 43, and the positioning part 42 and the magnetic driving part 43 are connected with each other to jointly form a distal end 401 of the guide wire 4.

The positioning part 42 is a positioning part of the guide wire 4 and is matched with the positioning signal emitter 3 for positioning.

The magnetic drive unit 43 is capable of being changed in direction by the magnetic drive source 2, and the magnetic drive unit 43 includes at least a magnetic substance capable of being acted upon by the driving magnetic field 201. Specifically, after magnetizing the magnetic driving portion 43, the magnetic driving portion 43 has permanent magnetism, and receives a moment of a magnetic field under an applied magnetic field, and tends to bend along the direction of the external magnetic field to change direction.

In some embodiments, the body portion 41, the positioning portion 42, and the magnetic drive portion 43 are connected in sequence. The magnetic driving part 43 is positioned at the forefront end of the guide wire 4 and is directly connected with the positioning part 42, so that the steering capability of the guide wire 4 can be improved, but the actual pose of the magnetic driving part 43 is positioned without a direct method. However, the length of the magnetic drive portion 43 is generally short, not more than 10mm, and tends to move in the direction of the externally applied magnetic field, so that the position and posture of the positioning portion 42 can be estimated from the posture of the positioning portion and the magnetic field of the magnetic drive source 2 in the vicinity of the magnetic drive portion 43.

In some embodiments, the body portion 41, the magnetic drive portion 43, and the positioning portion 42 are connected in sequence. The positioning portion 42 is located at the forefront end of the guide wire 4, and the positioning portion 42 is not only a positioning area of the guide wire 4, but also a steering area of the guide wire 4, so that the forefront end of the guide wire 4 can be directly positioned, but the positioning portion 42 is generally higher in rigidity, and the steering capability of the positioning portion 42 may be weakened.

In some embodiments of the present invention, referring to fig. 6, the positioning portion 42 includes a receiving coil 421 and a soft magnetic core 422, the receiving coil 421 is configured to receive a positioning signal emitted by the transmitting coil, and the receiving coil 421 is disposed on an outer periphery of the soft magnetic core 422. Due to the existence of the rigid soft magnetic core 422, the positioning part 42 is subjected to the action of magnetic force under the influence of an external magnetic field, so that certain deflection occurs, and a certain auxiliary effect is provided for steering the distal end 401 of the guide wire 4.

In some embodiments of the present invention, the positioning portion 42 includes a receiving coil 421 and a soft magnetic core 422, and can collect a magnetic flux change (magnetic field change) in a uniaxial direction, thereby performing pose resolution (lack of angle information of rotation around the axis) in five degrees of freedom.

In some embodiments of the present invention, the positioning portion 42 includes a magnetic sensor, and with the development of MEMS (Micro-Electro-MECHANICAL SYSTEM, micro Electro-mechanical system) technology, the performance of the Micro (with a side length of less than 1mm, or even less than 0.5 mm) magnetic sensor is continuously improved, where many magnetic sensors have characteristics of wide range, high precision, and high response speed, and are suitable for use in the present invention.

The magnetic sensor has the following advantages:

First, the magnetic sensor is a three-axis sensor. Compared with a uniaxial receiving coil, the magnetic sensor can sense magnetic fields in three orthogonal directions in a limited space, so that the number of the transmitting coils can be reduced, and only three groups of transmitting coils (without eight groups of transmitting coils) are needed.

And secondly, the integration level is higher. The current commercial magnetic sensor can directly output digital signals, so that the signal processing complexity of the back end is reduced. The guide wire 4 may be directly connected to the advancing means 5 and then transmitted to the control means.

Third, the magnetic sensor is shorter and does not require signal enhancement by the soft magnetic core 422, so the length of the distal end 401 of the guide wire 4 is shorter, and the steering interference to the magnetic drive part 43 is smaller (the sensor diameter formed by the existing receiving coil is less than 0.5mm, but the length is usually more than or equal to 10mm; whereas the width of the magnetic sensor is about 1mm, calculated circuit board, length is less than 5 mm).

In some embodiments, referring to fig. 8 and 9, the positioning portion 42 includes a hall sensor, where the hall sensor meets the requirements of the present invention for measuring range (in order of 100 mT) and accuracy (in order of 1 μt), and the hall sensor is in order of 1mm, which is larger than the existing guide wire 4 (in order of 0.5mm diameter), so that if such a sensor is used, the positioning section must be thickened. However, the hall sensor has a smaller length and causes less disturbance to the steering of the magnetic drive unit 43.

In some embodiments of the present invention, referring to fig. 6, a wrapping layer 423 is wrapped around the outer periphery of the positioning portion 42, and the wrapping layer 423 wraps the receiving coil 421 or the magnetic sensor, so that the inner structure of the positioning portion 42 can be protected, and the outer layers of the main body portion 41 and the magnetic driving portion 43 can be connected through the wrapping layer 423. Specifically, when the guide wire 4 is processed, stable connection of the main body 41, the positioning portion 42, and the magnetic drive portion 43 can be achieved by high-temperature fusion welding.

In some embodiments, the wrapping layer 423 is a high molecular polymer layer and may be made of at least one of PDMS, ecoflex, TPU.

In some embodiments of the present invention, referring to fig. 7, the magnetic driving part 43 includes a matrix 432 and magnetic particles 431 uniformly dispersed inside the matrix 432.

The base 432 is a basic structure of the magnetic drive portion 43, and the base 432 may be formed by mixing high molecular polymers, and has sufficient flexibility.

In some embodiments, the base 432 may be made of at least one of PDMS, ecoflex, TPU, in which embodiment the base 432 has some flexibility to facilitate bending and steering of the magnetic drive portion 43 while also being less likely to damage the blood vessel.

The magnetic particles 431 are disposed inside the matrix 432, and the magnetic particles 431 can receive the force of the external magnetic field to bend and turn the magnetic drive unit 43 as a whole.

In some embodiments, the magnetic particles 431 comprise NdFeB magnetic powder. After magnetizing the magnetic particles 431, the magnetic driving part 43 has permanent magnetism, and is subjected to moment of a magnetic field under an external magnetic field, so that the magnetic driving part tends to bend along the direction of the external magnetic field.

In some embodiments of the present invention, referring to fig. 5, the main body 41 includes a transmission line 412 and a reinforcing wire 411 for increasing the strength of the main body 41, and the transmission line 412 is electrically connected to the positioning portion 42, so that the main body 41 provides a certain structural strength and a transmission channel for the guide wire 4.

The reinforcing wire 411 and the transmission line 412 are disposed in a linear shape, and extend along the longitudinal direction of the main body 41, so that the reinforcing wire 411 and the transmission line 412 are disposed side by side. The reinforcing wire 411 serves to increase the structural strength of the main body 41, so that the guide wire 4 can be deformed to some extent and is not too soft to be blocked in a blood vessel. The reinforcing wire 411 may be a metal wire such as a nitinol wire. The transmission line 412 is used for transmitting signals, specifically, one end of the transmission line 412 is connected to the positioning portion 42, and the other end of the transmission line 412 extends to the proximal end of the guide wire 4 and can be connected to a control device.

In some embodiments, the body portion 41 is provided with an outer skin 413, and both the reinforcing filaments 411 and the transmission lines 412 are disposed inside the outer skin 413. The outer skin 413 may be made of at least one of PDMS, ecoflex, TPU.

In some embodiments of the present invention, the substrate 432 of the magnetic driving portion 43, the wrapping layer 423 of the positioning portion 42, and the outer surface 413 of the main body portion 41 may be polymer layers, so as to facilitate interconnection of the magnetic driving portion 43, the positioning portion 42, and the main body portion 41. Specifically, the base 432 of the magnetic drive unit 43, the coating 423 of the positioning unit 42, and the outer surface 413 of the main body 41 may be connected to each other by high-temperature fusion welding.

In some embodiments of the present invention, the outer surfaces of the magnetic drive portion 43, the positioning portion 42 and the main body portion 41 are each provided with a hydrophilic coating to ensure the ultra-slip property of the entire outer surface of the guide wire 4, so that the guide wire 4 is more easily introduced deep into a blood vessel.

The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.

Claims (11)

1. The magnetic guide wire control system is characterized by comprising a guide wire (4), a propelling device (5) for propelling the guide wire (4), a magnetic driving source (2) for generating a magnetic field, a moving mechanism (1) for driving the magnetic driving source (2) to move, a positioning signal emitter (3) for emitting positioning signals and a control device, wherein the guide wire (4) comprises a positioning part (42) for receiving the positioning signals and a magnetic driving part (43) driven by the magnetic driving source (2), the positioning part (42) and the magnetic driving part (43) are arranged at the far end of the guide wire (4), and the control device is in communication connection with the propelling device (5), the moving mechanism (1), the positioning signal emitter (3) and the positioning part (42).

2. The magnetic guide wire control system according to claim 1, wherein the magnetic drive source (2) is fixedly connected with the positioning signal emitter (3).

3. The magnetic guidewire control system as claimed in claim 2, characterized in that the positioning signal transmitter (3) comprises a plurality of transmitting coils, which are fixed outside the magnetic drive source (2).

4. The magnetic guide wire control system according to claim 3, wherein the magnetic drive source (2) is spherical, the transmitting coil is wound around the periphery of the magnetic drive source (2), and the center of the transmitting coil coincides with the center of the sphere of the magnetic drive source (2), or

The magnetic drive source (2) is spherical, the transmitting coils are pancake coils distributed outside the magnetic drive source (2), and the central shaft of each pancake coil penetrates through the spherical center of the magnetic drive source (2).

5. A magnetic wire control system according to claim 1, characterized in that the magnetic drive source (2) is a permanent magnet or an electromagnet.

6. The magnetic guidewire control system according to claim 1, characterized in that the advancing means (5) are capable of outputting a linear movement for advancing the guidewire (4).

7. The magnetic wire control system according to claim 1, wherein the guide wire (4) includes a main body portion (41), the positioning portion (42), and the magnetic driving portion (43), the main body portion (41), the positioning portion (42), and the magnetic driving portion (43) are sequentially connected, or the main body portion (41), the magnetic driving portion (43), and the positioning portion (42) are sequentially connected.

8. The magnetic wire control system according to claim 7, wherein the positioning portion (42) includes a soft magnetic core (422) and a receiving coil (421), and the receiving coil (421) is provided on an outer periphery of the soft magnetic core (422).

9. The magnetic wire control system of claim 7, wherein the magnetic drive (43) includes a matrix (432) and magnetic particles (431) uniformly dispersed within the matrix (432).

10. The magnetic wire control system according to claim 7, wherein the main body portion (41) includes a transmission line (412) provided side by side and a reinforcing wire (411) for increasing the strength of the main body portion (41), the transmission line (412) being electrically connected to the positioning portion (42).

11. The magnetic guidewire control system of claim 7, wherein the positioning portion (42) comprises a magnetic sensor.