Thrombus rotary grinding tool and magnetic control micro robot

Abstract

This invention relates to the field of minimally invasive interventional device technology, and particularly to a thrombectomy head and a magnetically controlled microrobot. The thrombectomy head includes a drilling section at the front end and a milling cutting edge connected to the rear end of the drilling section. The milling cutting edge includes at least two milling cutting edge structures, with a chip removal groove between adjacent milling cutting edge structures. This invention achieves graded thrombolysis by combining the drilling section and the milling cutting edge, first breaking up the fragments and then finely grinding them. Combined with the chip removal groove as a chip removal and guiding structure, this improves thrombus removal efficiency while allowing the finely milled small-molecule thrombus fragments to be quickly guided outwards along the chip removal groove with the blood flow. This effectively prevents fragments from accumulating and adhering at the cutting edge, causing head blockage and jamming, and continuously ensuring smooth fluid flow in the cutting area. This further reduces the risk of thrombus fragments re-aggregating and adhering to the blood vessel wall, leading to recurrent embolism, significantly improving thrombolysis smoothness and overall removal efficiency, and further enhancing safety.

Description

Technical Field

[0001] This invention relates to the field of minimally invasive interventional device technology, and in particular to a thrombus burr cutter head and a magnetically controlled microrobot. Background Technology

[0002] Intravascular obstruction and its resulting ischemic complications are among the leading causes of death and disability in modern society. While advancements in medical technology have enabled the treatment of thrombi in large vessels via catheter-directed thrombolysis, this method may adversely affect hemostasis. Furthermore, due to the physical limitations of current equipment, effective methods for removing thrombi in microvessels remain lacking.

[0003] Meanwhile, the use of magnetically controlled microrobots for thrombus removal offers higher safety compared to traditional treatment methods. Magnetically controlled microrobots have advantages such as low risk of vascular perforation and low risk of hemolysis, and can enter microvessels for precise treatment. Furthermore, the learning curve for doctors is relatively short, making them a promising application. However, current magnetically controlled thrombolytic microrobots suffer from low thrombus removal efficiency, limiting their widespread application. Summary of the Invention

[0004] To address the issue of low thrombus removal efficiency in existing magnetically controlled microrobots, this invention provides a thrombus regrinding head. This thrombus regrinding head enables a staged thrombolysis method that first breaks up the thrombus and then finely grinds it, thereby improving thrombus removal efficiency and solving the problem of low thrombus removal efficiency in existing magnetically controlled thrombolysis microrobots.

[0005] The technical solution adopted by this invention to solve its technical problem is: A thrombus regrinding head includes a drilling section at the front end and a milling cutting section connected to the rear end of the drilling section; wherein the milling cutting section includes at least two milling cutting edge structures, and a chip removal groove is provided between two adjacent milling cutting edge structures.

[0006] Optionally, the chip removal groove is an axially continuous flow channel.

[0007] Optionally, the rear end of the milling cutting edge is provided with a connecting part, which is used to connect to the machine body.

[0008] Optionally, the drilling section includes a drilling connection end and a drilling end connected to the front end of the drilling connection end; the drilling end has a pyramidal structure.

[0009] Optionally, the drilling connection end is a cylindrical structure.

[0010] Another object of the present invention is to provide a magnetically controlled microrobot, including the thrombus burr cutter head as described above.

[0011] Optionally, it also includes a body connected to the thrombus reamer head.

[0012] Optionally, the fuselage has a spiral structure.

[0013] Optionally, the fuselage has a hollow spiral structure.

[0014] Optionally, it also includes a permanent magnet disposed within the housing.

[0015] The beneficial effects of this invention are: The thrombus reaming head provided by this invention achieves graded thrombolysis by combining a drilling section and a milling cutting section, which involves "breaking up the fragments first and then fine grinding". Combined with a chip removal groove as a chip removal and flow guiding structure, it not only improves the efficiency of thrombus removal, but also allows the small molecule thrombus fragments refined by milling to be quickly guided outward along the blood flow through the chip removal groove. This effectively avoids the accumulation and adhesion of fragments at the cutting edge, which can cause the head to become blocked or stuck. It continuously ensures smooth fluid flow in the cutting area, further reducing the risk of thrombus fragments re-aggregating and adhering to the blood vessel wall, causing recurrent embolism. This significantly improves the smoothness of thrombolysis and the overall removal efficiency, and further enhances safety. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0017] Figure 1 The structure of the magnetically controlled microrobot in this invention is simplified. Figure 1 ; Figure 2 The structure of the magnetically controlled microrobot in this invention is simplified. Figure 2 .

[0018] In the figure: 1-Drilling section; 11-Drilling connection end; 12-Drilling end; 2-Milling cutting edge; 21-Milling cutting edge structure; 22-Chip removal groove; 23-Connecting part; 3-Machine body. Detailed Implementation

[0019] The present invention will now be described in further detail. The embodiments described below are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0020] In the description of this invention, it should be understood that the terms "first" and "second" are used only for simplification and should not be construed as indicating or implying relative importance, or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0021] In this invention, unless otherwise explicitly specified and limited, "above" or "below" a first feature may include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of a first feature above a second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" of a first feature below a second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0022] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0023] To address the low thrombus removal efficiency of existing magnetically controlled microrobots, this invention provides a thrombus regrinding head, see [link to relevant documentation]. Figure 1 , Figure 2 As shown, the thrombus regrinding head includes a drilling section 1 at the front end and a milling cutting edge 2 connected to the rear end of the drilling section 1. It should be noted that the front end in this article refers to the end located in front of the microrobot along its running direction. During the operation of the thrombus regrinding head, the drilling section 1 at the front end can first drill through the dense thrombus surface, cutting and decomposing the entire solid thrombus into large molecular thrombus fragments. The milling cutting edge 2 at the rear end performs secondary fine rotary cutting on the large molecular fragments pre-treated by the drilling section 1, further breaking them into small-particle-size small molecular fragments. Through the synergistic action of the drilling section 1 and the milling cutting edge 2, the thrombus is broken up in stages, improving the clearance efficiency.

[0024] The milling cutting edge 2 includes at least two milling cutting edge structures 21, and a chip removal groove 22 is provided between two adjacent milling cutting edge structures 21. Preferably, the chip removal groove 22 is an axially through structure, that is, the chip removal groove 22 is an axially through flow channel, so as to quickly guide the refined small molecule debris through the chip removal groove 22, further improving the thrombus removal efficiency; and the chip removal groove 22 promptly removes the debris from the cutting area, avoiding the accumulation of debris that jams the cutting head, and at the same time preventing local debris accumulation from causing secondary embolism.

[0025] During the operation of this thrombus reamer, in the first step, the front drilling section 1 rotates at high speed to drill through the dense thrombus, breaking and peeling off the entire thrombus to form large particles and large molecular debris; in the second step, the rear milling blade structure 21 rotates synchronously to perform fine secondary milling on the large particles and debris, turning them into small molecular micro-debris; in the third step, the refined debris is quickly guided out by the blood flow through the chip removal groove 22 to prevent the accumulated debris from re-adhering to the local area, thus realizing continuous drilling-milling-chip removal operation, and ultimately achieving complete unblocking of the vascular occlusion area.

[0026] The thrombus reaming head provided by this invention achieves graded thrombolysis by cooperating between the drilling part 1 and the milling cutting edge 2, which involves "breaking up the fragments first and then fine grinding". Combined with the chip removal groove 22 as a chip removal and guiding structure, it not only improves the efficiency of thrombus removal, but also allows the small molecule thrombus fragments refined by milling to be quickly guided outward along the chip removal groove 22 with the blood flow. This effectively avoids the accumulation and adhesion of fragments at the cutting edge, which can cause the head to become blocked or stuck. It continuously ensures smooth fluid flow in the cutting area, further reducing the risk of thrombus fragments re-aggregating and adhering to the blood vessel wall, causing recurrent embolism. This significantly improves the smoothness of thrombolysis and the overall removal efficiency, and further enhances safety.

[0027] The present invention preferably has four milling cutting edge structures 21, which are evenly distributed around each other.

[0028] The milling cutting edge structure 21 is coaxially set on the rear side of the drilling part 1 and rotates synchronously with the machine body at high speed. It can perform secondary shearing and fine grinding on the large molecular and large particle debris generated by primary crushing, and refine it into small molecular debris with extremely small particle size, thereby avoiding the large particle debris from drifting with the blood flow and causing secondary vascular embolism.

[0029] Preferably, the rear end of the milling cutting edge 2 is provided with a connecting part 23, which is used to connect with the machine body 3.

[0030] The preferred embodiment of the present invention includes a drilling connection end 11 and a drilling end 12 connected to the front end of the drilling connection end 11; the drilling part 1 is connected to the milling cutting edge 2 through the drilling connection end 11; the drilling end 12 has a pyramidal structure.

[0031] The pyramidal drilling end 12 concentrates stress at a specific point on the thrombus, rapidly penetrating its hard surface. Compared to cylindrical or other structures, the pyramidal drilling end 12, under axial pressure, can penetrate deeper into the thrombus more effectively, improving drilling efficiency, and is particularly suitable for removing old, hard thrombi. Furthermore, during drilling, an external magnetic field acts on a permanent magnet within the machine body, adjusting the drilling direction and ensuring a straight drilling path. When the drilling end 12 encounters unevenly hardened areas within the thrombus, the inclined surface of the pyramid generates a lateral force, guiding the drilling end 12 to maintain its forward direction, preventing deviation during drilling and ensuring the accuracy of subsequent milling operations.

[0032] The drilling connection end 11 makes the connection between the drilling part 1 and the milling cutting edge 2 more stable. The drilling connection end 11 can provide a larger contact area, enhance the overall structural strength of the tool head, and prevent the drilling part 1 and the milling cutting edge 2 from separating during drilling and milling, thereby improving the reliability of the tool head.

[0033] The pyramidal toothed drilling section 1 is located at the front end of the cutter head. Under high-speed rotation, it can preferentially puncture the dense thrombus shell, drill and fracture the overall thrombus structure, and peel and decompose the solid thrombus into large particles and macromolecules of thrombus fragments, completing the first-level fragmentation process and providing a foundation for subsequent fine milling.

[0034] The preferred embodiment of this invention is a cylindrical drilling connection end 11. The connection surface between the cylindrical drilling connection end 11 and the milling cutting edge 2 is an annular plane, with a uniform and large contact area. This effectively disperses the stress generated during drilling and milling, preventing stress concentration that could lead to breakage at the connection point. Compared to other irregular structures, the cylindrical connection method is more stable and can withstand greater axial and circumferential forces, ensuring the structural integrity of the cutting head under high-intensity operation.

[0035] Another object of the present invention is to provide a magnetically controlled microrobot, which includes the thrombus burr cutter head as described above.

[0036] The magnetically controlled microrobot provided by this invention features a thrombus regrinding cutter head that uses a drilling section 1 and a milling cutting edge 2 to achieve graded thrombolysis by "breaking up the fragments first and then finely grinding." Combined with a chip removal groove 22 as a chip removal and guiding structure, this improves thrombus removal efficiency while allowing the small molecule thrombus fragments refined by milling to be quickly guided outward along the blood flow through the chip removal groove 22. This effectively prevents fragments from accumulating and adhering at the cutting edge, causing the cutter head to become stuck, and continuously ensures smooth fluid flow in the cutting area. This further reduces the risk of thrombus fragments re-aggregating and adhering to the blood vessel wall, leading to recurrent embolism, significantly improving the smoothness of thrombolysis and overall clearance efficiency, and further enhancing safety.

[0037] In this invention, the connecting part 23 is preferably a cylindrical structure. The connecting surfaces of the front end of the cylindrical connecting part 23 with the rear end of the milling cutting edge 2 and the rear end with the hollow spiral machine body are both annular planes. The contact area is uniform and large, effectively dispersing the axial feed force and circumferential rotational force generated during milling, chip removal, and magnetic drive, preventing stress concentration that could lead to loosening or breakage of the connecting parts. Compared to other irregular structures, the cylindrical structure provides higher coaxiality and more balanced force distribution, capable of withstanding high-speed rotation and complex fluid loads within blood vessels, ensuring the structural integrity and motion stability of the cutter head and machine body under continuous high-intensity operation. The preferred magnetically controlled microrobot of the present invention also includes a body 3 connected to the thrombus burr head.

[0038] The body 3, as the main structure of the magnetically controlled microrobot, provides stable support for the thrombus erosion cutter head, ensuring its position remains fixed during the cutting process. The structural strength of the body 3 can withstand the reaction force generated during cutting, preventing the cutter head from wobbling or shifting, and ensuring cutting accuracy.

[0039] The magnetically controlled microrobot provided by the present invention may include a thrombus reamer head, which is located at one end of the body 3; preferably, the magnetically controlled microrobot provided by the present invention includes two thrombus reamer heads, which are respectively connected to the two ends of the body 3, so as to further improve the flexibility of operation.

[0040] The preferred embodiment of the present invention is a spiral structure for the fuselage 3.

[0041] The spiral-shaped body 3 generates axial propulsion when rotating, similar to the action of a propeller, propelling the magnetically controlled microrobot forward within the blood vessel. The spiral body has high propulsion efficiency, maintaining a stable speed in the flowing blood environment, facilitating precise delivery to the lesion site. Furthermore, during rotation, the spiral body agitates surrounding thrombus debris, which, combined with the debris removal groove 22, promotes the removal of debris with the blood flow.

[0042] The present invention further preferably uses a hollow spiral structure for the fuselage 3.

[0043] The hollow structure significantly reduces the overall weight of the magnetically controlled microrobot, minimizing the gravitational impact of gravity within the blood vessel and making the robot more flexible. The lighter weight reduces pressure on the blood vessel walls, lowering the risk of vascular damage, and also facilitates control with external magnetic fields. Furthermore, the hollow spiral structure of the body 3 does not completely block blood flow within the blood vessel; blood can continue to flow through the internal cavity, reducing the robot's impact on blood perfusion. Especially in small blood vessels, the hollow structure prevents localized ischemia caused by the robot occupying space within the vessel, improving surgical safety.

[0044] The preferred magnetically controlled microrobot of the present invention also includes a permanent magnet, which is disposed inside the body 3.

[0045] Specifically, the hollow spiral body 3 is an integrated hollow structure, and a miniature permanent magnet can be installed inside the cavity; an external three-dimensional Helmholtz coil magnetic field drive system is set up, which drives the overall cutter head to achieve axial propulsion and high-speed rotary grinding through a controllable alternating magnetic field and a rotating magnetic field, so as to complete the directional unblocking of thrombi inside blood vessels.

[0046] Permanent magnets can interact with external magnetic fields to generate rotational and propulsive forces, driving the movement of magnetically controlled microrobots. This eliminates the need for additional motor drive systems, simplifying the robot's structure and reducing energy consumption. The external magnetic field's intensity and direction can be adjusted to precisely control the robot's rotational speed, direction of travel, and position, achieving high-precision control.

[0047] The permanent magnets are installed inside the body 3, serving as an integral part of the body 3 and enhancing its structural strength. Simultaneously, the uniform weight distribution of the permanent magnets helps maintain the robot's center of gravity, preventing tilting or tipping during movement and improving the robot's operational stability.

[0048] The magnetically controlled microrobot provided by this invention utilizes an embedded permanent magnet and an external magnetic field drive system constructed with a three-dimensional Helmholtz coil to achieve directional rotational ablation and thrombolysis. Furthermore, its integrated, miniaturized structure allows for precise insertion into microvessels, significantly improving thrombus removal efficiency and reducing the risk of secondary embolism caused by large debris detachment. Simultaneously, the use of the microrobot reduces complications such as vessel wall scratches, hemolysis, and perforation, greatly enhancing safety and practicality.

[0049] In summary, to address the shortcomings of existing technologies, this invention combines the principle of thrombus drilling with a dedicated chip removal and guiding structure to provide a magnetically controlled microrobot drilling and milling composite thrombus grinding head. This aims to achieve graded thrombus fragmentation, improve clearance efficiency, avoid secondary embolism, reduce the risk of vascular damage, and meet the clinical needs of precise and minimally invasive thrombolysis in microvessels.

[0050] The magnetically controlled microrobot provided by this invention relies on an external three-dimensional Helmholtz coil magnetic field control system to adjust the magnetic field direction, rotation speed and torque, drive the blade head to rotate and advance, and fit the thrombus lesion.

[0051] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A thrombus reaming head, characterized in that, It includes a drilling section (1) located at the front end and a milling cutting section (2) connected to the rear end of the drilling section (1); wherein the milling cutting section (2) includes at least two milling cutting edge structures (21), and a chip removal groove (22) is provided between two adjacent milling cutting edge structures (21).

2. The thrombus reaming head as described in claim 1, characterized in that, The chip removal groove (22) is an axially continuous flow channel.

3. The thrombus reaming head as described in claim 1, characterized in that, The milling cutting edge (2) has a connecting part (23) at its rear end, which is used to connect with the machine body (3).

4. The thrombus burr head as described in any one of claims 1-3, characterized in that, The drilling section (1) includes a drilling connection end (11) and a drilling end (12) connected to the front end of the drilling connection end (11); the drilling end (12) is a pyramidal structure.

5. The thrombus reaming head as described in claim 4, characterized in that, The drilling connection end (11) is a cylindrical structure.

6. A magnetically controlled microrobot, characterized in that, Including the thrombus burr as described in any one of claims 1-5.

7. The magnetically controlled microrobot as described in claim 6, characterized in that, It also includes the body (3) connected to the thrombus burr head.

8. The magnetically controlled microrobot as described in claim 7, characterized in that, The fuselage (3) has a spiral structure.

9. The magnetically controlled microrobot as described in claim 8, characterized in that, The fuselage (3) has a hollow spiral structure.

10. The magnetically controlled microrobot as described in claim 9, characterized in that, It also includes a permanent magnet, which is disposed inside the body (3).

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