A variable caliber magnetically controlled inner helical vascular robot

A robot and internal spiral technology, applied in the field of vascular robots, can solve the problems of unstable movement process, slow progress of micro-robots, insufficient power, etc., and achieve the effects of improving flexibility, increasing pressure difference, and increasing movement speed.

Active Publication Date: 2022-03-22
GUANGZHOU UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] 2. By driving the elastic bellows shell to expand and contract axially, the micro-robot is driven to creep forward. This method makes the micro-robot move forward slowly, which is likely to cause insufficient power, and the movement process is very unstable, so it cannot drive the micro-robot to do continuous movement.

Method used

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  • A variable caliber magnetically controlled inner helical vascular robot
  • A variable caliber magnetically controlled inner helical vascular robot
  • A variable caliber magnetically controlled inner helical vascular robot

Examples

Experimental program
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Effect test

Embodiment 1

[0036] see Figure 1-Figure 5 , this embodiment discloses a magnetically controlled inner helical vascular robot with variable caliber, including a robot main body 1, a permanent magnet (not shown in the figure), a magnetic field generating device (not shown in the figure) and an execution device (not shown in the figure). shown), the robot main body 1 is a tubular body, and the robot main body 1 has a hollow cavity 1-1 passing through the robot main body 1 and an annular inner cavity 1 coaxially arranged with the hollow cavity 1-1 -2. Both the permanent magnet and the actuator are installed in the annular inner cavity 1-2. The hollow cavity 1-1 includes a drive cavity 1-11 in the middle and a drive cavity 1-11. The installation cavities 1-12 at the front and rear ends, the inner wall of the drive cavity 1-11 is provided with a spiral groove 2, wherein, each of the installation cavities 1-12 is fixed with an elastic ring belt-shaped film 3, the The elastic ring-shaped film 3 ...

Embodiment 2

[0059] see Figure 6-Figure 7 , the other specific structures in this embodiment are the same as in Embodiment 1, the difference is that the movable connection structure includes a hinge seat 4-6 arranged on the inner wall of the installation cavity 1-12, and the adjustment blade 4-1 is One end close to the end of the hollow cavity 1-1 is hinged on the hinge seat 4-6, and the material of the regulating blade 4-1 is magnetic material. With the above-mentioned structure, the axial magnetic field generates a magnetic moment on the adjusting blade 4-1, and under the joint action of the blood impact and the magnetic moment, the adjusting blade 4-1 is made to swing, and the elastic ring belt-shaped film 3 is continuously squeezed during the swinging process, so that The caliber of the elastic ring belt-shaped film 3 changes, thereby controlling the size of the openings at both ends of the robot main body 1 .

[0060] see Figure 6-Figure 7 , one end of the regulating vane 4-1 hing...

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Abstract

The invention discloses a magnetically controlled internal helical blood vessel robot with variable caliber, which includes a robot body and a permanent magnet. The robot body has a hollow cavity and an annular inner cavity, and the permanent magnet is installed in the annular inner cavity. The hollow cavity includes a drive cavity located in the middle and installation cavities located at the front and rear ends of the drive cavity. The inner wall of the drive cavity is provided with a spiral groove, and each of the installation cavities is provided with an elastic ring belt film. An adjustment control mechanism is provided between the elastic ring belt-shaped film and the inner wall of the installation cavity. The adjustment control mechanism includes multiple sets of adjustment components, and each set of adjustment components includes adjustment blades and connections between the adjustment blades and the inner wall of the installation cavity. Active connection structure between. The blood vessel robot can move forward and backward, perform bidirectional movement, and the movement mode is flexible. In addition, the movement process of the blood vessel robot is stable, the movement speed is fast, and it can continue to move in the blood vessel.

Description

technical field [0001] The invention relates to the technical field of blood vessel robots, in particular to a magnetically controlled internal helical blood vessel robot with variable caliber. Background technique [0002] Vascular robot is a micro-robot that can enter blood vessels and move freely in blood vessels. It can complete tasks such as removing thrombus, resecting tumors, and administering drugs in blood vessels. It is of great significance to the prevention and treatment of cardiovascular and cerebrovascular diseases. Hotspots in the field of micro-robot research at home and abroad. Researchers have conducted extensive research on vascular robots, involving the shape, movement mode, updating of manufacturing materials and upgrading of processing technology of vascular robots. [0003] Traditional vascular robots are generally divided into three types according to the movement mode, including swing type, spiral type and push type. The swing robot swings forward ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B34/30
CPCA61B34/30A61B2034/303
Inventor 江帆刘晨曦祝韬谢智铭
Owner GUANGZHOU UNIVERSITY
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