Micro-wire robot and preparation method and application method thereof

Abstract

The application discloses a micro guide wire robot and a preparation method and application method thereof. The micro guide wire robot comprises a mounting part (1), a guide wire (2) and a gripping executor (3). The guide wire can deflect and bend under the action of a magnetic field. The gripping executor has two gripping fingers and can perform gripping and releasing actions under the action of a magnetic field. The mounting part and the gripping executor are arranged at two ends of the guide wire respectively. A preparation method of the micro guide wire robot is provided. A method for removing an intravascular foreign matter by using the micro guide wire robot is provided. A method for delivering a drug sampling liquid in a blood vessel by using the micro guide wire robot is provided. In the micro guide wire robot, the gripping executor is arranged at the tail end, and the gripping and releasing actions of the gripping executor can be controlled by controlling a magnetic field. The micro guide wire robot can perform an interventional operation at a specified position in a small cavity, and the operation process is simple and convenient and easy to implement.

Description

Technical Field

[0001] This invention relates to a medical robot, and more particularly to a microguidewire robot and its preparation and application methods. Background Technology

[0002] With breakthroughs in medical equipment and computer technology, minimally invasive surgery has undergone comprehensive development, offering significant advantages such as reduced trauma, shorter hospital stays, and improved treatment outcomes. Micro-guidewire robots have been widely adopted in minimally invasive surgery.

[0003] The current problem is:

[0004] Current magnetically driven microwire robots with specific functions usually require the installation of complex mechanisms, such as mechanical grippers, which results in a larger diameter guidewire. However, if the guidewire is to be made thinner, the functional mechanisms in the guidewire must be removed, which would cause the microwire robot to lose its functions and can only achieve its functions by introducing an external catheter. This would increase the size of the interventional tool and make it impossible to perform interventional operations in small cavities. Summary of the Invention

[0005] The purpose of this invention is to provide a microguidewire robot equipped with a gripper that can perform gripping and releasing actions under magnetic field control, which is beneficial for interventional surgical procedures in the human body.

[0006] The present invention also aims to provide a method for preparing and applying the microguidewire robot.

[0007] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution:

[0008] A microwire robot includes an mounting section, a guidewire, and a gripping actuator;

[0009] The guide wire can deflect and bend under the action of a magnetic field;

[0010] The gripping actuator has two gripping fingers, and the gripping actuator can perform gripping and releasing actions under the influence of a magnetic field.

[0011] The mounting section and the gripping actuator are respectively located at both ends of the guide wire.

[0012] Furthermore, the gripper is made of a magnetized soft material, and the magnetization direction of the gripper is towards or away from the area between the gripping fingers.

[0013] Furthermore, the magnetization direction of the gripper is toward or away from the midpoint between the gripping fingers.

[0014] Furthermore, the guide wire includes an outer body and a core wire, wherein the outer body is a magnetic soft material and the core wire has a supporting function.

[0015] Furthermore, the core wire is a capillary tube, and its two ends are respectively connected to the two ends of the guide wire.

[0016] Furthermore, the core wire is an optical fiber, and the two ends of the core wire are respectively connected to the two ends of the guide wire.

[0017] A method for fabricating a microwire robot, comprising:

[0018] After mixing the silicone material prepolymer, silicone material curing agent and magnetic material, the mixture was placed in a vacuum drying oven for 15±5 minutes to remove air bubbles, thus obtaining a magnetic silicone solution.

[0019] A magnetic silicone solution is spin-coated onto a pre-prepared cover glass substrate using a spin coater, forming a flexible magnetic silicone film on the cover glass substrate.

[0020] Functional three-dimensional structures were printed using a two-photon processing technique on flexible magnetic silicone films.

[0021] The flexible magnetic silicone film was cut into gripper structures and assembly structures to meet the needs of subsequent experimental processing.

[0022] The gripping part of the flexible magnetic silicone film is bent and placed in a magnetizer for the first magnetization treatment.

[0023] The flexible magnetic silicone film after the first magnetization is rotated and wrapped around a pre-prepared core wire. The flexible magnetic silicone film wrapped around the core wire constitutes the gripping actuator.

[0024] Seal the end of the core wire and insert it into the pre-prepared polytetrafluoroethylene tube, exposing the flexible magnetic silicone film.

[0025] Connect the PTFE tube with a flexible magnetic silicone film at one end to a pre-prepared air pump, and insert the other end of the PTFE tube into a pre-prepared magnetized magnetic silicone prepolymer.

[0026] A magnetic field is applied along the axial direction of the polytetrafluoroethylene tube, and an air pump is turned on at the same time to draw the magnetic silicone prepolymer into the polytetrafluoroethylene tube.

[0027] Remove the PTFE tube filled with magnetic silicone prepolymer and place it in an oven for curing.

[0028] After curing, the front section of the PTFE tube is peeled off according to the required length. The remaining PTFE tube is used as the mounting part. The seal at the end of the core wire is removed to obtain the outer body.

[0029] A method for removing intravascular foreign bodies using a microguidewire robot includes:

[0030] S201, the mounting part of the microwire robot is connected to the roller propulsion mechanism of the pre-equipped guide wire guiding device, and the end of the microwire robot is placed in the blood vessel;

[0031] S202, along the direction of blood vessel curvature, a changing gradient magnetic field is applied by controlling the permanent magnet on the guidewire guiding device to change the direction and magnitude of the magnetic field, thereby controlling the end of the microguidewire robot to deflect in the desired direction;

[0032] S203, the propulsion mechanism of the guidewire guiding device propels the microguidewire robot to move within the blood vessel;

[0033] S204, repeat steps S202 to S203 until the microguidewire robot reaches the designated foreign object location;

[0034] S205, apply a magnetic field to the gripper at the end of the microwire robot to control the gripper at the end of the microwire robot to keep it in an open state;

[0035] S206, a micro-guidewire robot, enables its end effector to cover foreign objects;

[0036] S207, adjust the magnetic field direction for the gripper at the end of the microwire robot to control the gripper at the end of the microwire robot to perform a gripping action to grasp foreign objects;

[0037] S208, the propulsion mechanism of the guidewire guiding device pulls out the microguidewire robot. During the pull-out, the gripper maintains the gripping actuator in a gripping state until the foreign object is pulled out of the blood vessel.

[0038] A method for delivering drug sampling fluid intravascularly using a microguidewire robot includes:

[0039] S301, Connect the core wire in the guide wire of the microguide wire robot to the syringe containing the drug and seal it.

[0040] S302, connect the mounting part of the microguidewire robot to the roller propulsion mechanism of the guidewire guiding device, and place the end of the microguidewire robot in the blood vessel;

[0041] S303, along the direction of blood vessel curvature, applies a changing gradient magnetic field by controlling the permanent magnet on the guidewire guiding device, changing the direction and magnitude of the magnetic field, and controlling the end of the microguidewire robot to deflect in the desired direction.

[0042] S304, the propulsion mechanism of the guidewire guiding device propels the microguidewire robot to move within the blood vessel;

[0043] S305, repeat steps S303 to S304 above until the microguidewire robot reaches the target injection position;

[0044] S306, apply a magnetic field to the gripper at the end of the microwire robot to control the gripper at the end of the microwire robot to keep it in an open state;

[0045] S307, pushes the syringe piston to inject the drug into the target location;

[0046] S308, pull out the syringe piston to draw liquid from the target location.

[0047] In the microwire robot of the present invention, a gripper is provided at the end of the device. The direction of the end of the device can be controlled by controlling the change of the magnetic field, and the gripping and releasing actions of the gripper can also be controlled. By placing the end of the microwire robot of the present invention into a small cavity within the human body, interventional surgical procedures can be performed at a designated location within the small cavity. Furthermore, the surgical procedure is simple, convenient, and easy to implement.

[0048] The advantages of the microguidewire robot of the present invention compared with the prior art are as follows:

[0049] 1) The microwire robot is equipped with a gripper, which can perform gripping and releasing actions under magnetic field control, which is beneficial for interventional surgical operations in the human body;

[0050] 2) The gripper is located at one end of the guidewire. The structure of the guidewire can be made very thin. The overall slender micro-guidewire robot moves more freely in small cavities, which is conducive to the smooth implementation of surgery in small cavities. Attached Figure Description

[0051] Figure 1 This is a schematic diagram of the microguidewire robot of the present invention;

[0052] Figure 2 This is a schematic diagram of the magnetization direction of the gripper actuator on the microwire robot of the present invention;

[0053] Figure 3 This is a schematic diagram illustrating the control of the end effector deflection of a microwire robot by controlling a magnetic field.

[0054] Figure 4 This is a schematic diagram illustrating how a gripper at the end of a microwire robot can be controlled to perform a gripping action by controlling a magnetic field.

[0055] Figure 5 This is a schematic diagram illustrating how a magnetic field is used to control the gripper at the end of a microwire robot to perform a releasing action. Detailed Implementation

[0056] The present invention will be further illustrated below with specific embodiments:

[0057] This embodiment provides a microguidewire robot for performing interventional surgical procedures on human blood vessels.

[0058] See Figure 1 The micro-guide wire robot of this embodiment is mainly composed of three parts: mounting part 1, guide wire 2, and gripping actuator 3.

[0059] The mounting part 1 is a sleeve-shaped structure. In this embodiment, the mounting part 1 is a polytetrafluoroethylene (PTFE) hose.

[0060] The function of the mounting part 1 is to connect and install with the existing guidewire guiding device, and the entire microguidewire robot is mounted on the guidewire guiding device based on the mounting part 1.

[0061] The gripper 3 is made of magnetized soft material and has two gripping fingers. Its overall configuration is like a fork with two prongs (the gripping fingers are equivalent to the prongs).

[0062] When a magnetic field of a specific direction is applied to the gripper 3, the two gripping fingers of the gripper 3 can cooperate to perform a gripping action; when a magnetic field of another specific direction is applied to the gripper 3 (usually a magnetic field opposite to the previously mentioned "magnetic field of a specific direction"), the two gripping fingers of the gripper 3 can perform a releasing action.

[0063] Specifically, in this embodiment...

[0064] See Figure 2 The magnetization direction inside the gripper 3 follows a certain pattern, which is the key to its ability to perform "grip" and "release" actions.

[0065] In summary, the magnetization direction inside the gripper 3 is arranged "towards the area between the gripper fingers," especially towards the "midpoint between the gripper fingers," such as... Figure 2 The point indicated by the middle arrow A.

[0066] The midpoint between the gripping fingers refers to a point between two gripping fingers that is equidistant from each other. The magnetization direction inside the gripping actuator 3 is arranged around this point.

[0067] In this way, when a magnetic field with the same direction as the gripper fingers is applied to the gripper 3, the two gripper fingers of the gripper 3 will deflect towards each other, thereby achieving the gripping action, such as... Figure 4As shown; when a magnetic field with the opposite direction to the gripper fingers is applied to the gripper actuator 3, the two gripper fingers of the gripper actuator 3 will deflect in opposite directions, thereby achieving the releasing action, as shown. Figure 5 As shown.

[0068] It should be noted that in other embodiments, the magnetization direction inside the gripper 3 can also be reversed, that is, the magnetization direction inside the gripper 3 is arranged "away from the area between the gripping fingers". In this way, the direction of the magnetic field required to control the gripper 3 to perform the gripping and releasing action is opposite. This is understandable to those skilled in the art.

[0069] See Figure 1 The guide wire 2 is an inner and outer composite configuration. The "inner and outer composite configuration" means that the guide wire 2 is composed of two parts: an outer body 21 and a core wire 22. The outer body 21 wraps the core wire 22 to form the guide wire 2, and the two are made of different materials.

[0070] Specifically

[0071] The outer body 21 of the guide wire 2 is made of magnetic soft material. The core wire 22 of the guide wire 2 is a thin wire with a certain strength and a certain supporting function. Therefore, the core wire 22 can also be called a support wire.

[0072] Without external force, the guide wire 2 can remain straight due to the support of the core wire 22. However, if a magnetic field of a certain direction is applied around the guide wire 2, the outer body 21 of the guide wire 2 will be subjected to a magnetic force, and the entire guide wire 2 will bend and deflect under the influence of the magnetic force. Figure 3 As shown.

[0073] In this embodiment, the core wire 22 is a capillary tube with a certain strength, thus providing support. In addition, the two ends of the capillary tube are respectively connected to the two ends of the guide wire 2. The capillary tube can also serve as a channel for dripping drugs and sampling liquids.

[0074] It should be noted that in other embodiments, other filamentary components with a certain strength can also be used as the core wire 22, which can achieve other special functions while providing support. For example, by setting the optical fiber as the core wire 22 in the guide wire 2, the optical fiber can not only provide support but also deliver laser light, which can be used in laser therapy scenarios.

[0075] The overall connection structure of the micro-guidewire robot is as follows:

[0076] The mounting part 1 and the gripping actuator 3 are respectively installed at both ends of the guide wire 2. Both the mounting part 1 and the gripping actuator 3 are oriented away from the guide wire 2. Furthermore, the installation method does not affect the unobstructed flow at both ends of the core wire 22 inside the guide wire 2. That is, the core wire 22 (capillary tube or optical fiber) is connected from one end of the guide wire 2 to the other end.

[0077] It should be noted that, in this embodiment, the end of the guidewire 2 with the gripping actuator 3 is referred to as the end of the microguidewire robot.

[0078] The microguidewire robot of this embodiment is mainly used for interventional procedures inside blood vessels. The microguidewire robot is assembled onto an existing guidewire guiding device, and its tip is inserted into the blood vessel. Then, the guidewire guiding device controls the movement of the microguidewire robot within the blood vessel and the turning of its tip (achieved by controlling a magnetic field). The grasping and releasing actions of the gripper 3 are also controlled (achieved by controlling a magnetic field), enabling surgical procedures to be performed at designated locations within the blood vessel. The surgical procedure is simple, convenient, and easy to implement. Furthermore, if a capillary tube is used as the core wire 22, it is also possible to release medication and sample fluid at designated locations within the blood vessel.

[0079] In the microguidewire robot of this embodiment, the gripper 3 is located at one end of the guidewire 2, unlike in the prior art where it is located inside the guidewire 2. In this way, the structure of the guidewire 2 does not need to take into account the presence of the actuator, and can be made very thin. The overall slender microguidewire robot will move more freely in the blood vessel, which will facilitate the smooth implementation of endovascular surgery.

[0080] This embodiment also provides a method for fabricating a microguidewire robot, including steps S101 to S110.

[0081] S101: After mixing the silicone material prepolymer, silicone material curing agent and magnetic material, place them in a vacuum drying oven for 15±5 minutes to remove air bubbles and obtain a magnetic silicone solution.

[0082] S102, the magnetic silicone solution obtained in step S101 is spin-coated onto a pre-prepared cover glass substrate using a spin coater to form a flexible magnetic silicone film on the cover glass substrate.

[0083] Two-photon processing technology is used to print three-dimensional structures with certain functions, such as sensing and friction enhancement, on flexible magnetic silicone films.

[0084] S103, the flexible magnetic silicone film obtained in step S102 is cut into a grasping structure and an assembly structure to meet the needs of subsequent experimental processing.

[0085] S104, The flexible magnetic silicone film obtained in step S103 is placed in a magnetizer for the first magnetization treatment.

[0086] S105, the flexible magnetic silicone film magnetized in step S104 is rotated and wrapped around the pre-prepared core wire 22. The flexible magnetic silicone film wrapped around the core wire 22 constitutes the gripping actuator 3.

[0087] S106, seal the end of the core wire 22 and insert it into the pre-prepared polytetrafluoroethylene tube, exposing the flexible magnetic silicone film.

[0088] S107, connect the PTFE tube with one end of the flexible magnetic silicone film to the pre-prepared air pump, and insert the other end of the PTFE tube into the pre-prepared magnetized magnetic silicone prepolymer.

[0089] S108, the prepared polytetrafluoroethylene tube is placed into the pre-prepared electromagnetic coil, a magnetic field is applied along the axial direction of the polytetrafluoroethylene tube, and the air pump is turned on at the same time to draw the magnetic silicone prepolymer into the polytetrafluoroethylene tube.

[0090] Step S108 is also known as the second magnetization process;

[0091] S109, Remove the polytetrafluoroethylene tube filled with magnetic silicone prepolymer and place it in an oven for curing.

[0092] S110, after curing, peel off the front section of the PTFE tube according to the required length, and use the remaining PTFE tube as the mounting part 1. Release the seal at the end of the core wire 22 to obtain the outer body 21.

[0093] During the first magnetization process described above, the intensity of the magnetizing magnetic field can be set in the range of 700 to 2000 mT.

[0094] During the second magnetization process described above, the intensity of the magnetizing magnetic field can be set in the range of 10 to 700 mT.

[0095] This embodiment also provides a method for removing foreign bodies from blood vessels using a microguidewire robot, including steps S201 to S208.

[0096] S201, the mounting part 1 of the microwire robot provided in this embodiment is connected to the roller propulsion mechanism of the pre-equipped guide wire guiding device, and the end of the microwire robot is placed in the blood vessel;

[0097] S202, along the direction of blood vessel curvature, a changing gradient magnetic field is applied by controlling the permanent magnet on the guidewire guiding device to change the direction and magnitude of the magnetic field, thereby controlling the end of the microguidewire robot to deflect in the desired direction;

[0098] S203, the propulsion mechanism of the guidewire guiding device propels the microguidewire robot to move within the blood vessel.

[0099] S204, repeat steps S202 to S203 above until the microguidewire robot reaches the designated foreign object location;

[0100] S205, apply a magnetic field (apply a magnetic field along the orientation of the gripper 3) to the gripper 3 at the end of the microwire robot. The magnetic field is a uniform magnetic field with an intensity of 15mT, and control the gripper 3 at the end of the microwire robot to keep it in an open state.

[0101] S206, propels the micro-guidewire robot so that its end-effector 3 can cover foreign objects;

[0102] S207, adjust the magnetic field direction of the gripper 3 at the end of the microwire robot (apply a reverse magnetic field along the orientation of the gripper 3) to control the gripper 3 at the end of the microwire robot to perform a gripping action to grasp the foreign object.

[0103] S208, the propulsion mechanism of the guide wire guiding device pulls out the micro guide wire robot. When pulling out, the magnetic field around the gripper 3 is kept along the axis of the gripper 3, so that the gripper 3 keeps gripping the foreign object until the foreign object is pulled out of the blood vessel.

[0104] It should be noted that the "end of the microwire robot" refers to the end of the microwire robot where the gripper 3 is installed.

[0105] This embodiment also provides a method for delivering drug sampling liquid intravascularly using a microguidewire robot, including steps S301 to S308.

[0106] S301, the core wire 22 in the guide wire 2 of the microguide wire robot provided in this embodiment is connected to the syringe containing the drug and sealed.

[0107] S302, connect the mounting part 1 of the microguidewire robot to the roller propulsion mechanism of the guidewire guiding device, and place the end of the microguidewire robot in the blood vessel;

[0108] S303, along the direction of blood vessel curvature, applies a changing gradient magnetic field by controlling the permanent magnet on the guidewire guiding device, changing the direction and magnitude of the magnetic field, and controlling the end of the microguidewire robot to deflect in the desired direction.

[0109] S304, the propulsion mechanism of the guidewire guiding device propels the microguidewire robot to move within the blood vessel.

[0110] S305, repeat steps S303 to S304 above until the microguidewire robot reaches the target injection position;

[0111] S306, Apply a magnetic field (apply a magnetic field along the orientation of the gripper 3) to the gripper 3 at the end of the microwire robot. The magnetic field is a uniform magnetic field with a strength of 15mT, and control the gripper 3 at the end of the microwire robot to keep it in an open state.

[0112] S307, pushes the syringe piston to inject the drug into the target location;

[0113] S308, pull out the syringe piston to draw liquid from the target location.

[0114] The above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A microwire robot, characterized in that: It includes an installation part (1), a guide wire (2), and a gripping actuator (3); The guide wire (2) can be deflected and bent under the action of a magnetic field; The gripping actuator (3) has two gripping fingers, and the gripping actuator (3) can perform gripping and releasing actions under the action of a magnetic field; The mounting part (1) and the gripping actuator (3) are respectively located at both ends of the guide wire (2).

2. The microwire robot according to claim 1, characterized in that: The gripper (3) is made of magnetized soft material, and the magnetization direction of the gripper (3) is towards or away from the area between the gripping fingers.

3. The microwire robot according to claim 2, characterized in that: The magnetization direction of the gripping actuator (3) is toward or away from the midpoint between the gripping fingers.

4. The microwire robot according to claim 1, characterized in that: The guide wire (2) includes an outer body (21) and a core wire (22). The outer body (21) is a magnetic soft material, and the core wire (22) has a supporting function.

5. The microwire robot according to claim 4, characterized in that: The core wire (22) is a capillary tube, and the two ends of the core wire (22) are respectively connected to the two ends of the guide wire (2).

6. The microwire robot according to claim 4, characterized in that: The core wire (22) is an optical fiber, and the two ends of the core wire (22) are respectively connected to the two ends of the guide wire (2).

7. A method for fabricating a microguidewire robot, characterized in that: include: After mixing the silicone material prepolymer, silicone material curing agent and magnetic material, the mixture was placed in a vacuum drying oven for 15±5 minutes to remove air bubbles, thus obtaining a magnetic silicone solution. A magnetic silicone solution is spin-coated onto a pre-prepared cover glass substrate using a spin coater, forming a flexible magnetic silicone film on the cover glass substrate. Functional three-dimensional structures were printed using a two-photon processing technique on flexible magnetic silicone films. The flexible magnetic silicone film was cut into gripper structures and assembly structures to meet the needs of subsequent experimental processing. The gripping part of the flexible magnetic silicone film is bent and placed in a magnetizer for the first magnetization treatment. The flexible magnetic silicone film after the first magnetization is rotated and wrapped around the pre-prepared core wire (22). The flexible magnetic silicone film wrapped around the core wire (22) constitutes the gripping actuator (3). Seal the end of the core wire (22) and insert it into the pre-prepared polytetrafluoroethylene tube, exposing the flexible magnetic silicone film; Connect the PTFE tube with a flexible magnetic silicone film at one end to a pre-prepared air pump, and insert the other end of the PTFE tube into a pre-prepared magnetized magnetic silicone prepolymer. A magnetic field is applied along the axial direction of the polytetrafluoroethylene tube, and an air pump is turned on at the same time to draw the magnetic silicone prepolymer into the polytetrafluoroethylene tube. Remove the PTFE tube filled with magnetic silicone prepolymer and place it in an oven for curing. After curing, the front section of the polytetrafluoroethylene tube is peeled off according to the required length. The remaining polytetrafluoroethylene tube is used as the installation part (1). The end seal of the core wire (22) is released to obtain the outer body (21).

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