Pci procedure catheter, its delivery system and control method

Abstract

The application discloses a PCI operation catheter, a delivery system and a control method thereof, directly drives the catheter head based on the non-polarity magnetic confinement effect, and forms a small head delivery system of the operation catheter with strong confinement, high precision and convenient operation. The operation catheter body head contains a magnetic confinement floating body which is flexibly confined by the catheter body head; the magnetic confinement floating body is a three-layer spherical structure, including a rigid non-metal outer spherical shell, a rigid non-metal inner spherical body with a free body with a dipole moment, and an interlayer filler between the outer spherical shell and the inner spherical body. The delivery system comprises the operation catheter and an electrically-controlled rotating dipole module which is operable outside the body; the electrically-controlled rotating dipole module drives the magnetic confinement floating body to move. The application has the advantages of strong confinement, high precision, miniaturization, more intuition, more convenience, easy learning, real-time force sense information feedback, low cost and more convenient operation for doctors.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent medical devices, and more particularly to a PCI surgery catheter, a delivery system thereof and a control method. BACKGROUND

[0002] Cardiovascular intervention (PCI) surgery is a technology of inserting a catheter from a peripheral blood vessel and sending it to various parts of the heart and large blood vessels, which can be used to achieve clinical electrophysiological examination and carry out minimally invasive surgery for certain heart diseases. The minimally invasive catheter operation is performed while the heart is beating, which requires very high technical requirements for doctors. When doctors perform in-vivo catheter delivery operations, especially when delivering in small blood vessels and large-angle turning, the delivery accuracy of the front end of the catheter is very high. The delivery of the front end of the catheter is very easy to cause the misoperation of the doctor, resulting in puncturing the blood vessel and even damaging the heart tissue. Moreover, the catheter delivery speed of the existing vascular intervention instrument is slow, which may cause the patient to miss the best treatment time, and also greatly prolongs the vascular intervention operation time, increasing the radiation intake of the patient and medical staff. More importantly, the existing catheter delivery has few ways to directly drive the catheter head, which makes the motion accuracy of the catheter head insufficient, and the control of the catheter head is relatively complex when delivering in large-angle turning, and the operation difficulty is very high.

[0003] Due to the particularity of the small volume of the PCI catheter (the length of the catheter is generally 15-20 cm, and the diameter is generally 0.70-0.90 mm), the components thereon are required to be small, low delay, high precision, and strong anti-interference ability, therefore, most of the existing technologies adopt wire driving and catheter pushing mode and cannot directly guide the catheter head to deliver the catheter. However, these delivery modes without directly guiding the catheter head make it very difficult to control the delivery path of the catheter. At present, there are few related technical solutions reported, which is a technical pain point to be solved. SUMMARY

[0004] In view of the above defects of the prior art, the present application provides a PCI surgery catheter, a delivery system thereof and a control method, which directly drives the catheter head based on the polarity free magnetic repulsion (PFR) to form a strong constraint, high precision, and convenient operation small catheter head delivery system of the surgery catheter.

[0005] To achieve the above object, in a first aspect, the application provides a PCI catheter, comprising a catheter body, characterized in that a magnetic constraint floating body is contained in the head of the catheter body; the magnetic constraint floating body is flexibly constrained by the head of the catheter body; the magnetic constraint floating body is a three-layer spherical structure, comprising a rigid non-metallic outer spherical shell, a rigid non-metallic inner spherical body in which a free body with a dipole moment is embedded, and an interlayer filler between the outer spherical shell and the inner spherical body.

[0006] The delivery of the catheter is based on the movement of the head of the catheter body pulled by the magnetic constraint floating body, and the control is more flexible and accurate, and the full freedom movement of the head of the catheter can be achieved. Compared with the traditional line constraint control, the magnetic constraint floating body as a delivery device does not occupy other space except the head of the catheter, leaving more space for the remaining catheter instruments required by the operation, facilitating the miniaturization of the catheter.

[0007] Preferably, the head of the catheter body comprises a smooth hemisphere with a diameter of 0.70-0.90 mm, and the magnetic constraint floating body is flexibly constrained in the hemisphere; the outer diameter of the outer spherical shell is 0.60-0.80 mm, which is smaller than the diameter of the hemisphere.

[0008] Preferably, the interlayer filler comprises spherical microbeads with high hardness and wear resistance and a small amount of lubricating oil; preferably, the microbeads are spherical zirconia microbeads with a diameter of less than 0.10 mm. The interlayer filler eliminates the rotation amount of the inner spherical body relative to the outer spherical shell, reduces the friction between the inner and outer spherical shells, makes the outer spherical shell not rotate with the inner spherical body and its vibration reduced, and makes the motion state more stable. The spherical zirconia microbeads have good wear resistance, smoothness and hardness, so they are not easily damaged in the process of buffering the rotation amount of the inner spherical body, and the force transmission between the inner and outer shells is smooth.

[0009] Preferably, the outer spherical shell is connected to the head of the catheter body by an elastomer or a soft wire, so that the relative position between the magnetic constraint floating body and the inner wall of the catheter body does not exceed the constraint range, thereby pulling the movement of the catheter body.

[0010] Preferably, the outer spherical shell is selected from a graphene or microcrystalline ceramic non-metallic spherical shell, which can block the rotation amount of the inner spherical body while transmitting the lateral force between the inner and outer shells. The inner spherical body is selected from a non-metallic spherical body with high hardness; preferably, the inner spherical body is selected from a high-hardness silicon nitride ceramic spherical body; the free body with a dipole moment is selected from a neodymium-iron-boron type strong magnetic dipole.

[0011] In a second aspect, the present application provides a delivery system of a PCI surgery catheter, characterized in that it comprises the PCI surgery catheter and an electrically-controlled rotating dipole module operable outside the body; the electrically-controlled rotating dipole module drives the magnetic confinement floating body to move based on the non-polar magnetic repulsion effect and keeps a certain distance from the magnetic confinement floating body.

[0012] Further, the electrically-controlled rotating dipole module comprises an operating rod, a piezoelectric negative feedback module, an electrically-controlled rotating dipole, a power line, a data line and an upper controller; the electrically-controlled rotating dipole is rotatable and has adjustable rotating speed, is fixed to the front end of the operating rod and is used to drive the magnetic confinement floating body to move; the piezoelectric negative feedback module comprises a force transmission pressure rod and a piezoelectric sensor fixed to the electrically-controlled rotating dipole; the force transmission pressure rod transmits the axial force of the electrically-controlled rotating dipole to the piezoelectric sensor, the piezoelectric sensor transmits piezoelectric signals to the upper controller through the data line for judgment and control; the power line supplies power to the electrically-controlled rotating dipole and the piezoelectric negative feedback module.

[0013] Preferably, the operating rod is a detachable pen-shaped operating rod comprising a fixable base and a pen-shaped handle; the detachable pen-shaped operating rod can be fixed to a mechanical arm through the fixable base and its movement is controlled by the intelligent mechanical arm, or the pen-shaped handle can be directly held by a doctor for operation.

[0014] In a third aspect, the present application provides a control method of a delivery system of a PCI surgery catheter, characterized in that the delivery system is controlled, comprising the following steps:

[0015] In step S11, before surgery, the electrically-controlled rotating dipole module is powered on to generate a rotating non-uniform field based on dipole moment; the distance between the electrically-controlled rotating dipole and the magnetic confinement floating body is adjusted to a suitable value by adjusting the electrically-controlled parameters of the electrically-controlled rotating dipole module, so that the magnetic confinement floating body is in a constrained state, and the setting parameters of the electrically-controlled rotating dipole module at this time are recorded and saved;

[0016] In step S12, after the catheter enters the human body, the doctor or the mechanical arm drags the magnetic confinement floating body through the electrically-controlled rotating dipole module, so as to control the movement of the PCI surgery catheter and implement surgery.

[0017] In a last aspect, the present application provides another control method of a delivery system of a PCI surgery catheter, characterized in that the delivery system is controlled, comprising the following steps:

[0018] Step S21, before surgery, the electric control rotating dipole module is powered on to generate a rotating non-uniform field based on the dipole moment; by adjusting the electric control parameters of the electric control rotating dipole module, the distance between the electric control rotating dipole and the magnetic confinement floating body is adjusted to a suitable value, so that the magnetic confinement floating body is in a constrained state, and the setting parameters of the electric control rotating dipole module at this time are recorded and saved;

[0019] Step S22, after the operation starts, the electric control rotating dipole module is set according to the parameters recorded in step S21, and the feedback threshold and feedback depth of the pressure sensor are set;

[0020] Step S23, after the catheter enters the human body, the doctor or mechanical arm pulls the magnetic confinement floating body through the electric control rotating dipole module, so as to control the movement of the PCI operation catheter and implement the operation; the upper controller guides and adjusts the electric control parameters of the electric control rotating dipole module according to the information output by the pressure sensor; when the information received by the upper controller has a threshold value, the upper controller starts braking in time and informs the surgeon to take measures.

[0021] Compared with the prior art, the above-mentioned application has the following advantages or beneficial effects:

[0022] (1) The present application adopts a follow-up control catheter, that is, the catheter head follows the movement of the PFR-based external electric control rotating dipole module, which is very close to the widely used handheld instrument operation, is more intuitive, more convenient and more convenient for the doctor to operate, greatly reduces the learning and using threshold of the doctor, is easy for the doctor to accept, and is beneficial to the popularization and use of the present application. When the catheter is controlled by hand, the force acting on the catheter head is directly provided by the operating rod, which enables the doctor to directly obtain the force sensation information of the catheter head, so that the "hand feeling experience" of the doctor can be fully used in the operation, thereby increasing the safety of the operation, and the force sensing device can be deployed externally, thereby saving the space in the catheter. In addition, the present application can also accelerate the delivery speed of the interventional catheter, thereby greatly shortening the time of vascular interventional surgery; the control of the catheter head is more flexible, and full freedom movement of the catheter head can be realized. The present application directly delivers and navigates the catheter head, so that the delivery of the catheter is more accurate, the bleeding rate of the delivery is greatly reduced, and the safety of the interventional surgery is greatly improved.

[0023] (2) The PFR used in the application is a larger net force acting on an inertial body with magnetic moment, which is subjected to a non-uniform cyclic field in the direction of the weak field regardless of its position and direction. The PFR has positive stiffness, and by combining it with an externally provided static force field or the components of the cyclic field itself, a very stable equilibrium can be achieved. Because the magnetic confinement floating body module based on the non-polar magnetic repulsion effect (PFR) of the application mostly uses materials with high density, its mass and moment of inertia are large, so it is not easy to be disturbed by external interference.

[0024] (3) The application only performs constraint navigation at the head, compared with the traditional line constraint control, the device does not need to occupy the space of the catheter except the head, leaving more space for the remaining catheter instruments required for surgery, which is conducive to the miniaturization of the catheter. BRIEF DESCRIPTION OF DRAWINGS

[0025] The present application and its features, shapes and advantages will become more apparent by reading the following detailed description of non-limiting embodiments with reference to the accompanying drawings. The same reference signs indicate the same parts throughout the drawings. The drawings are not drawn to scale, and some necessary components unrelated to the application are omitted, and the focus is only on showing the main idea of the application.

[0026] Figure 1 A cross-sectional structure diagram of a catheter according to an embodiment of the application;

[0027] Figure 2 A structure diagram of a magnetic confinement floating body according to an embodiment of the application;

[0028] Figure 3 A structure diagram of an electrically controlled rotating dipole module according to an embodiment of the application;

[0029] Figure 4 A control flowchart of a catheter delivery system according to an embodiment of the application;

[0030] Figure legend: 1, catheter body; 2, magnetic confinement floating body; 3, flexible connection part; 4, electrically controlled rotating dipole module; 21, outer spherical shell; 22, inner spherical body; 23, free body with dipole moment; 24, interlayer filler; 41, operating rod; 42, piezoelectric negative feedback module; 43, electrically controlled rotating dipole; 44, power supply line and data line; 411, fixable base; 412, pen-shaped handle. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments will be described clearly and completely below. Obviously, the following described embodiments are only a part of the embodiments of the application, not all the embodiments.

[0032] The terms "comprise", "comprising", "include", "including" and any variations thereof throughout the Examples and Comparative Examples are intended to cover a non-exclusive inclusion, such that a process, method, article or apparatus that comprises, includes or includes elements or steps not listed is not excluded from the scope of the process, method, article or apparatus.

[0033] In the description of the present application, the terms "upper", "lower", "front", "back" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and do not require the present application to be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0034] The materials, fillers, and lubricants used in the following examples and examples are commercially available.

[0035] Example 1

[0036] Referring to Figure 1 , the present embodiment provides a PCI surgery catheter, comprising a catheter body 1, and a magnetic confinement floating body 2 contained in the head of the catheter body 1; the magnetic confinement floating body 2 is flexibly confined by the head of the catheter body 1; referring to Figure 2 , the magnetic confinement floating body 2 is a three-layer spherical structure, comprising a rigid non-metallic outer spherical shell 21, a rigid non-metallic inner sphere 22 with a free body 23 with a dipole moment embedded in the inner sphere 22, and an interlayer filler 24 between the outer spherical shell and the inner sphere.

[0037] In the present embodiment, the free body 23 with a dipole moment can be produced in the inner sphere 22 during the production stage, or the inner sphere 22 can be produced in a split body, and the free body 23 with a dipole moment can be embedded in it when the spheres are spliced.

[0038] As a preferred technical solution, further: the head of the catheter body 1 includes a smooth hemisphere with a diameter of 0.70-0.90mm, and the magnetic confinement floating body 2 is flexibly confined in the hemisphere; the outer diameter of the outer spherical shell 21 is 0.60-0.80mm, which is smaller than the diameter of the hemisphere. As an example, the head of the catheter body 1 includes a smooth hemisphere with a diameter of 0.8mm, and the outer diameter of the outer spherical shell 21 is 0.7mm.

[0039] As a preferred technical solution, further: the interlayer filler 24 includes high-hardness, wear-resistant spherical microbeads and a small amount of lubricating oil. As an example, the microbeads are spherical zirconia microbeads with a diameter of less than 0.10mm. The spherical zirconia microbeads have a large density of 6.00g / cm 3Therefore, the mass of the rigid non-metallic ball in the catheter is increased to some extent, so that the farthest floating position of the rigid non-metallic ball is farther away from the external control device, so that the catheter can move in the blood vessel in the patient's body through thicker human tissues, and the operation requirements can be more easily met.

[0040] As a preferred technical solution, further: the outer spherical shell 21 is connected to the head of the catheter body 1 through the flexible connection part 3, so that the magnetic constraint floating body 2 and the inner wall of the catheter body 1 maintain a relative position within the constraint range, thereby dragging the movement of the catheter body 1. As an example, the flexible connection part 3 is an elastic body or a flexible wire, which can be made of materials such as springs, elastic polymers, and their composites.

[0041] As a preferred technical solution, further: the outer spherical shell 21 is selected from a graphene or microcrystalline ceramic non-metallic spherical shell; the inner ball 22 is selected from a high-hardness non-metallic ball. As an example, the inner ball 22 is selected from a high-hardness silicon nitride ceramic ball; the free body 23 with a dipole moment is selected from a neodymium iron boron type strong magnetic dipole.

[0042] The catheter body can be an existing balloon catheter, a guide catheter, or other surgical catheter with actual functionality. The catheter in this embodiment can be moved by an external electrically controlled rotating dipole based on the non-polar magnetic repulsion effect, so it usually needs to be matched with an external electrically controlled rotating dipole module that can be operated by a doctor or a robot for use.

[0043] Embodiment 2

[0044] The embodiment provides a delivery system of a PCI surgical catheter, which comprises the PCI surgical catheter described in Embodiment 1 and an external electrically controlled rotating dipole module 4; the electrically controlled rotating dipole module 4 drives the magnetic constraint floating body 2 to move based on the non-polar magnetic repulsion effect, and always maintains a certain distance from the magnetic constraint floating body 2.

[0045] Before the operation, the magnetic constraint floating body is flexibly fixed at the head of the PCI surgical catheter. The control method of the delivery system comprises the following steps:

[0046] Step S11, before the operation, the electrically controlled rotating dipole module 4 is powered on to generate a rotating non-uniform field based on the dipole moment; by adjusting the electric control parameters of the electrically controlled rotating dipole module 4, the distance between the electrically controlled rotating dipole 43 and the magnetic constraint floating body 2 is adjusted to a suitable value, so that the magnetic constraint floating body 2 is in a constrained state, and the setting parameters of the electrically controlled rotating dipole module 4 at this time are recorded and saved. As an example, the electric control parameters of the electrically controlled rotating dipole module 4 include that the rotation speed of the electrically controlled rotating dipole does not exceed a threshold value and the acceleration, the current size supplied to the rotating dipole does not exceed a threshold value and the frequency, etc.

[0047] Step S12, after the catheter enters the human body, the doctor or the mechanical arm pulls the magnetic constraint floating body 2 through the electrically controlled rotating dipole module 4, so as to control the movement of the PCI operation catheter and implement the operation.

[0048] Embodiment 3

[0049] The embodiment provides a delivery system of a PCI operation catheter, which comprises the PCI operation catheter described in Embodiment 1 and an electrically controlled rotating dipole module 4 operable outside the body. Referring to Figure 3 As a preferred technical solution, the electrically controlled rotating dipole module 4 comprises an operating rod 41, a piezoelectric negative feedback module 42, an electrically controlled rotating dipole 43, a power line and a data line 44, and an upper controller; the electrically controlled rotating dipole 43 is rotatable and has adjustable rotating speed, is fixed at the front end of the operating rod 41, and is used for driving the magnetic constraint floating body 2 to move; the piezoelectric negative feedback module 42 comprises a force transmission pressure rod and a piezoelectric sensor fixedly connected with the electrically controlled rotating dipole; the force transmission pressure rod transmits the axial force of the electrically controlled rotating dipole to the piezoelectric sensor, the piezoelectric sensor transmits a piezoelectric signal to the upper controller through the data line for judgment and control, and the power line supplies power for the electrically controlled rotating dipole and the piezoelectric negative feedback module.

[0050] Further, the operating rod is a detachable pen-shaped operating rod, which comprises a fixable base 411 and a pen-shaped handle 412; the detachable pen-shaped operating rod can be fixed to a mechanical arm through the fixable base 411 and be controlled to move by the intelligent mechanical arm, or can be directly operated by a doctor holding the pen-shaped handle 412.

[0051] Referring to Figure 4 The control of the delivery system comprises the following steps:

[0052] Step S21, before the operation, the electrically controlled rotating dipole module is powered on to generate a rotating non-uniform field based on a dipole moment; the distance between the electrically controlled rotating dipole and the magnetic constraint floating body is adjusted to a suitable value by adjusting the electrically controlled parameters of the electrically controlled rotating dipole module, so that the magnetic constraint floating body is in a constrained state, and the setting parameters of the electrically controlled rotating dipole module at this time are recorded and saved. Specifically, the electrically controlled rotating dipole is composed of an electromagnet, which is fixed on the head of the operating rod, the magnetism is controlled by the added current, and the rotation is controlled by the rotation of the head of the operating rod fixed thereon. The added current is controlled by the upper controller or the current adjusting button on the operating rod.

[0053] Step S22, after the operation starts, the electrically controlled rotating dipole module is set according to the parameters recorded in step S21, and the feedback threshold and feedback depth of the pressure sensor are set; specifically, after the operation starts, the parameters of the PFR-based extracorporeal electrically controlled rotating dipole module are set on the upper controller: the feedback threshold and feedback depth of the pressure sensor, the current threshold of the rotating dipole, the rotating speed threshold of the rotating head, and the acceleration and speed threshold (when the mechanical arm is controlled) of the PFR-based extracorporeal electrically controlled rotating dipole module.

[0054] Step S23, after the catheter enters the human body, the doctor or the mechanical arm drags the magnetic constraint floating body through the electrically controlled rotating dipole module, thereby controlling the movement of the PCI operation catheter and implementing the operation; the upper controller guides and adjusts the electrically controlled parameters of the electrically controlled rotating dipole module according to the information output by the pressure sensor; when the information received by the upper controller has a threshold exceeding situation, the upper controller timely starts braking and notifies the operation doctor to take measures. More specifically, after the catheter enters the human body, the doctor or the mechanical arm moves the PFR-based extracorporeal electrically controlled rotating dipole module to drag the PFR-based magnetic constraint floating body at a suitable speed and angle, or changes the rotating speed or current of the extracorporeal electrically controlled rotating dipole module through the operation lever button or the upper controller, so as to change the distance between the extracorporeal electrically controlled rotating dipole module and the floating body. The speed and acceleration sensors of the pressure sensor and the control mechanical arm will return the device information in real time. The upper controller adjusts the parameters of the rotating dipole according to the comprehensive information, thereby realizing the feedback control of the movement of the catheter head. When the information received by the upper controller has a threshold exceeding situation, the system will timely brake and notify the operation doctor to take measures in time.

[0055] In summary, the application discloses a PCI operation catheter, a delivery system thereof, and a control method, which directly drives the catheter head based on the non-polarity magnetic constraint effect, and forms a small-sized head delivery system of the operation catheter with strong constraint, high precision, and convenient operation. The head of the operation catheter body contains a magnetic constraint floating body which is flexibly constrained by the catheter body head; the magnetic constraint floating body is a three-layer spherical structure, which comprises a rigid non-metal outer spherical shell, a rigid non-metal inner spherical body in which a free body with a dipole moment is embedded, and an interlayer filler between the outer spherical shell and the inner spherical body. The delivery system comprises the operation catheter and an extracorporeal electrically controlled rotating dipole module; the electrically controlled rotating dipole module drives the magnetic constraint floating body to move. The application has the advantages of strong constraint, high precision, small size, more intuition, more convenience, easy learning, real-time force sensation information feedback, low cost, and more convenient operation for doctors.

[0056] Those skilled in the art should understand that the skilled in the art can realize the variants in combination with the prior art and the above-mentioned embodiments, which are not described here in detail. Such variants do not affect the essential content of the present application, which are not described here in detail.

[0057] The above describes the preferred embodiments of the present application. It should be understood that the present application is not limited to the above specific embodiments, and the devices and structures not described in detail should be understood as implemented in the ordinary way in the art; any person skilled in the art can make many possible changes and modifications to the present application or modify equivalent embodiments with the above disclosed methods and technical content without departing from the scope of the present application, which does not affect the essential content of the present application. Therefore, any simple modification, equivalent change and modification of the above embodiments made according to the technical essence of the present application without departing from the content of the present application still belongs to the protection scope of the present application.

Claims

1. A delivery system for a PCI catheter, comprising a catheter body (1), characterized in that, It also includes an electrically controlled rotating dipole module (4) operable in vitro; the catheter body (1) head contains a magnetic confinement floating body (2); the magnetic confinement floating body (2) is flexibly constrained by the catheter body (1) head; the magnetic confinement floating body (2) is a three-layer spherical structure, including a rigid non-metallic outer spherical shell (21), a rigid non-metallic inner sphere (22) with a free body (23) with a dipole moment, and an interlayer filler (24) between the outer spherical shell (21) and the inner sphere (22); the interlayer filler (24) includes high-hardness, wear-resistant spherical microbeads and trace lubricating oil. The outer spherical shell (21) is connected to the catheter body (1) head through a flexible connecting part (3), so that the magnetic confinement floating body (2) and the inner wall of the catheter body (1) maintain a relative position within the constraint range, thereby pulling the movement of the catheter body (1). The electrically controlled rotating dipole module (4) drives the magnetic confinement floating body (2) to move based on the non-polar magnetic repulsion effect, and always maintains a certain distance from the magnetic confinement floating body; the electrically controlled rotating dipole module (4) includes an operating rod (41), a piezoelectric negative feedback module (42), an electrically controlled rotating dipole (43), a power line and a data line (44), and an upper controller; the electrically controlled rotating dipole (43) is rotatable and has adjustable speed, is fixed to the front end of the operating rod (41), and is used to drive the magnetic confinement floating body (2) to move; the piezoelectric negative feedback module (42) includes a force transmission pressure rod and a piezoelectric sensor fixedly connected with the electrically controlled rotating dipole; the force transmission pressure rod transmits the axial force of the electrically controlled rotating dipole to the piezoelectric sensor, and the piezoelectric sensor transmits piezoelectric signals to the upper controller through the data line for judgment and control; the power line supplies power to the electrically controlled rotating dipole and the piezoelectric negative feedback module.

2. A delivery system for a PCI catheter according to claim 1, wherein, The catheter body (1) head includes a smooth hemisphere with a diameter of 0.70-0.90 mm, and the magnetic confinement floating body (2) is flexibly constrained in the hemisphere; the outer diameter of the outer spherical shell (21) is 0.60-0.80 mm, which is smaller than the diameter of the hemisphere.

3. A delivery system for a PCI catheter according to claim 1 or 2, wherein, The microbeads are spherical zirconia microbeads with a diameter of 0.10 mm or less.

4. A delivery system for a PCI catheter according to claim 1 or 2, wherein, The flexible connecting part (3) is an elastomer or a flexible wire.

5. A delivery system for a PCI catheter according to claim 1 or 2, wherein, The outer spherical shell (21) is selected from a graphene or microcrystalline ceramic non-metallic spherical shell; the inner sphere (22) is selected from a high-hardness silicon nitride ceramic sphere; the free body (23) with a dipole moment is selected from a neodymium-iron-boron type strong magnetic dipole.

6. The delivery system of a PCI catheter according to claim 1, wherein, The operating rod is a detachable pen-shaped operating rod, including a fixable base (411) and a pen-shaped handle (412); the detachable pen-shaped operating rod is fixed to a mechanical arm through the fixable base, and its movement is controlled by an intelligent mechanical arm, or the pen-shaped handle is directly held by a doctor for operation.

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