Outer-field driving and controlling swimming snake-like robot for vascular intervention

Abstract

An outer-field driving and controlling swimming snake-like robot for vascular intervention is mainly composed of an end latex sleeve, permanent magnets, a latex microtubule, a steel wire, a middle latex sleeve, a bearing, a bearing base, a yoke, a magnetic shoe, a lead screw nut, a stepping ball screw motor and a solenoid coil, wherein the steel wire sequentially connects the permanent magnets and the latex microtubule in series, the magnetic poles of the adjacent ends of two adjacent permanent magnets are the same, the end latex sleeve with round heads is used for performing membrane packaging on the first and last permanent magnets, the middle latex sleeve is used for conducting membrane packaging on the middle permanent magnet, so that a vascular intervention robot body is formed. The solenoid coil is wound in the middle of the yoke, two arms of the yoke are inserted into the magnetic shoe, the bearing base and a motor base of the stepping ball screw motor are fixed on the yoke through bolts, the tail end of a lead screw of the stepping ball screw motor is supported onto a bearing of the bearing base, the lead screw nut is connected with the magnetic shoe through a bolt, and an in-vitro magnetic field driving and controlling device is formed. The outer-field driving and controlling swimming robot for vascular intervention is simple in structure, easy to minimize and high in reliability.

Description

technical field [0001] The invention relates to a robot, in particular to a snake-shaped robot capable of swimming in a liquid environment. Background technique [0002] With the improvement of life science and medical diagnosis technology, higher requirements are put forward for the non-invasive interventional vascular diagnosis and treatment of MEMS, and there is an urgent need for a simple, reliable and effective micro-robot system that enters blood vessels for thrombus cleaning and dredging. [0003] At present, most of the technologies focus on the use of electromechanical control technology to effectively, reliably and safely operate the remote operation of catheters, guide wires and vascular stents during vascular interventional therapy. Controllable microrobots. Because the blood vessel itself is thin, the space is narrow, and the inside is full of blood, it is dangerous to enter. Therefore, some special requirements are put forward for the micro-robot that enters t...

AI Technical Summary

Problems solved by technology

[0004] Most of the existing driving methods are based on traditional methods, for example, the patent CN03232608.4 discloses a micro-robot driven by a micro-motor, and the micro-robot disclosed in the patent CN99113465.6 uses a reverse spiral to generate propulsion. Patent CN201010299445.6 discloses a jet-driven vascular robot, and CN201110103184.0 discloses a micro-robot for vascular intervention driven by an external field. This type of robot has a complex structure and is difficult to miniaturize

Small size, simple structure, controllable motion, and high reliability are the basic requirements for micro-robots for vascular intervention. It is difficult for the current technical design to meet these requirements at the same time.

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