Magnetic navigation system for cerebrovascular interventions

Abstract

The application discloses a magnetic navigation system for cerebral vascular intervention and relates to the technical field of interventional operation medical equipment. The system can not only control the deflection of a catheter guide wire to a desired direction when encountering a blood vessel branch or a large curve of a blood vessel, so as to realize the functions of large-angle turning or entering a target blood vessel, but also can produce a rotating magnetic field to drive the rotation of the catheter guide wire when drilling tissue or removing a thrombus is needed. The system comprises a linear guide rail, a catheter guide wire end turning navigation device and a catheter guide wire end rotation driving device which are slidably connected to the linear guide rail. The catheter guide wire end turning navigation device comprises an annular guide rail and a first magnetic element mounting sliding block which is slidably connected to the annular guide rail. The first magnetic element mounting sliding block can slide along the circumference of the annular guide rail. The first magnetic element mounting sliding block is provided with a first magnetic element. The catheter guide wire end rotation driving device can produce a rotating magnetic field and drive the rotation of the catheter guide wire end.

Description

Technical Field

[0001] This application relates to the field of interventional surgical medical equipment technology, and in particular to a magnetic navigation system for cerebrovascular intervention. Background Technology

[0002] Because of its advantages such as being unconstrained, having a rapid response, being low-cost, and relatively biosafe, magnetic fields have been widely used in the design of surgical instruments in recent years. Due to the strong penetrating power of magnetic fields, magnetic surgical instruments located in the limited space within the body can be manipulated.

[0003] For vascular interventional surgery, mechanical interventional instruments are currently the most commonly used for guidewire deflection, advancement, and retraction. Guidewire deflection relies on its own structure to transmit torque from the distal end to control the direction of the guidewire within the blood vessel. This is easily achieved in larger arteries and veins, but for cerebrovascular interventional treatment, the lesion location is far from the puncture point; cerebral blood vessels are also much smaller, requiring smaller guidewires. This makes mechanical torsion for directional control more difficult. Furthermore, due to the more complex structure and thinner walls of cerebral blood vessels, mechanical torsion can easily damage the vessel wall and cause bleeding.

[0004] In summary, for cerebrovascular interventional surgery, using a magnetic control system for guiding the interventional guidewire can improve the control precision and surgical efficiency of the instrument tip, and reduce the damage to cerebral blood vessels caused by surgical instruments. This invention is a magnetic navigation system proposed with this goal in mind. Summary of the Invention

[0005] The embodiments of this application provide a magnetic navigation system for cerebrovascular intervention. It can not only control the catheter guidewire to deflect in the desired direction when encountering vascular branches or large bends in the blood vessels, thus achieving large-angle turning or entering the target blood vessel, but also generate a rotating magnetic field to drive the catheter guidewire to rotate when it is necessary to drill for tissue or remove thrombi.

[0006] To achieve the above objectives, embodiments of this application provide a magnetic navigation system for cerebrovascular intervention, including a linear guide rail and a catheter guidewire end steering navigation device and a catheter guidewire end rotation drive device slidably connected to the linear guide rail; the catheter guidewire end steering navigation device includes an annular guide rail and a first magnetic component mounting slider slidably connected to the annular guide rail; the first magnetic component mounting slider is capable of sliding along the circumference of the annular guide rail; the first magnetic component mounting slider is provided with a first magnetic component; the catheter guidewire end rotation drive device is capable of generating a rotating magnetic field and driving the catheter guidewire end to rotate.

[0007] Furthermore, the inner side of the annular guide rail is provided with an annular groove, and the first magnetic component mounting slider is slidably connected in the annular groove and extends out of the annular guide rail.

[0008] Furthermore, a stepper motor is provided inside the first magnetic component mounting slider; a first rotating base is provided on the output shaft of the stepper motor; the first rotating base is located at the front end of the first magnetic component mounting slider; a gimbal is provided on the front end surface of the first rotating base, and the first magnetic component is connected to the gimbal.

[0009] Furthermore, the catheter guidewire end rotation drive device includes a robotic arm and a second magnetic component; the robotic arm is slidably connected to the linear guide rail via a robotic arm mounting slider; a motor is provided inside the robotic arm, and a second rotating base is provided on the output shaft of the motor; the second rotating base is located at the end of the robotic arm; the second magnetic component is connected to the front end face of the second rotating base.

[0010] Furthermore, the robotic arm is a six-degree-of-freedom robotic arm.

[0011] Furthermore, both the first magnetic component and the second magnetic component are permanent magnets or electromagnets.

[0012] Furthermore, both the first magnetic component and the second magnetic component are cylindrical or cuboid.

[0013] Furthermore, both the lower end of the annular guide rail and the lower end of the robotic arm mounting slider are provided with linear grooves that are adapted to the linear guide rail.

[0014] Furthermore, the first magnetic component mounting slider, the annular guide rail, and the robotic arm mounting slider are all driven by motors.

[0015] Furthermore, the catheter guidewire end rotation drive device is located behind the catheter guidewire end steering navigation device.

[0016] This application has the following advantages over the prior art:

[0017] 1. The magnetic navigation system for cerebrovascular intervention in this application embodiment uses a linear guide rail, an annular guide rail slidably connected to the linear guide rail, and a first magnetic component slidably connected to the annular guide rail. When encountering vascular branches or large bends in the blood vessel, the system controls the sliding of the first magnetic component on the annular guide rail and the sliding of the annular guide rail on the linear guide rail, thereby controlling the catheter guidewire to deflect in the desired direction, achieving the function of large-angle turning or entering the target blood vessel. Furthermore, by using a robotic arm set on the linear guide rail and a second magnetic component rotatably connected to the end of the robotic arm, the system can drive the second magnetic component to rotate and generate a rotating magnetic field when it is necessary to drill for tissue or remove thrombi, thereby driving the catheter guidewire to rotate.

[0018] 2. The magnetic navigation system for cerebrovascular intervention in this application uses a gimbal and a stepper motor to rotatably connect the first magnetic component to the slider of the first magnetic component, so that the position of the first magnetic component can be finely adjusted by controlling the deflection angle of the gimbal. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a front view of a magnetic navigation system for cerebrovascular intervention according to an embodiment of this application;

[0021] Figure 2 This is a side view of a magnetic navigation system for cerebrovascular intervention according to an embodiment of this application;

[0022] Figure 3 This is a top view of a magnetic navigation system for cerebrovascular intervention according to an embodiment of this application. Detailed Implementation

[0023] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0024] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0025] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation", "connection" and "joining" should be interpreted broadly, for example, as fixed connection, detachable connection, or integral connection; those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0026] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0027] Reference Figures 1 to 3 This application provides a magnetic navigation system for cerebrovascular intervention, including a linear guide rail 1, a catheter guidewire tip steering navigation device 2, and a catheter guidewire tip rotation drive device 3. The linear guide rail 1 is mounted on an external platform. Both the catheter guidewire tip steering navigation device 2 and the catheter guidewire tip rotation drive device 3 are slidably connected to the linear guide rail 1, with the catheter guidewire tip rotation drive device 3 located behind the catheter guidewire tip steering navigation device 2. The catheter guidewire tip rotation drive device 3 can drive the catheter guidewire tip to deflect in a preset direction, achieving large-angle steering or entry into the target blood vessel. The catheter guidewire tip rotation drive device 3 can generate a rotating magnetic field and drive the catheter guidewire tip to rotate to cooperate with the micro-drill structure at the guidewire tip to drill and remove thrombi or complete sampling.

[0028] Specifically, the catheter guidewire end steering navigation device 2 includes an annular guide rail 21, a first magnetic component mounting slider 22, a first rotating base 23, and a first magnetic component 24. The bottom of the annular guide rail 21 has a rectangular mounting portion 211, and the lower end surface of the rectangular mounting portion 211 has a linear groove 212 adapted to the linear guide rail. A motor is housed within the rectangular mounting portion 211. Therefore, by controlling the start and stop of the motor, the annular guide rail 21 can be driven to slide on the linear guide rail 1.

[0029] The inner ring surface of the annular guide rail 21 is provided with an annular groove (not shown in the figure). The first magnetic component mounting slider 22 is slidably connected in the annular groove, and multiple motors are also provided in the first magnetic component mounting slider 22. Thus, by controlling the start and stop of the motors, the first magnetic component mounting slider 22 can be driven to move along the inner ring surface of the annular guide rail 21.

[0030] A first rotating base 23 is fixedly connected to the front end face of the first magnetic component mounting slider 22. The first rotating base 23 is connected to the first magnetic component 24 via a gimbal (not shown in the figure), and the first magnetic component 24 extends out of the annular guide rail 21. Specifically, the first magnetic component 24 is a permanent magnet or electromagnet, and is cylindrical or cuboid. A stepper motor (not shown in the figure) is provided inside the first magnetic component mounting slider 22, and a gimbal (not shown in the figure) is provided on the first rotating base 23, which is connected to the stepper motor. The first magnetic component 24 is connected to the gimbal via a hinge (not shown in the figure). Thus, by controlling the start and stop of the motor inside the first magnetic component mounting slider 22, the first magnetic component 24 can be controlled to rotate 360 ​​degrees around the patient's head to change the direction of the magnetic field lines. By controlling the start and stop of the stepper motor, the deflection of the first magnetic component 24 can be controlled, thereby fine-tuning the position of the first magnetic component 24.

[0031] The guide wire end rotation drive device 3 includes a robotic arm mounting slider 31, a robotic arm 32, a second rotating base 33, and a second magnetic component 34. The lower end face of the robotic arm mounting slider 31 is also provided with a linear groove adapted to the linear guide rail 1, and a motor is installed inside the robotic arm mounting slider 31. Therefore, by controlling the start and stop of the motor, the robotic arm mounting slider 31 can be driven to slide on the linear guide rail 1.

[0032] The robotic arm 32 is a six-degree-of-freedom robotic arm, with its lower end fixed to the robotic arm mounting slider 31. Motors are located both inside the lower end and inside the end of the robotic arm. A second rotating base 33 is connected to the output shaft of the motor located inside the end of the robotic arm 32. The front end face of the second rotating base 33 is connected to a second magnetic element 34 via a hinge (not shown). Specifically, the second magnetic element 34 is a permanent magnet or electromagnet, and is cylindrical or cuboid. Therefore, by controlling the start and stop of the motor inside the robotic arm 32, the second magnetic element 34 can be rotated to generate a rotating magnetic field.

[0033] The working principle of the magnetic navigation system for cerebrovascular intervention in this application embodiment is as follows:

[0034] The advancement and retraction of interventional surgical instruments within the blood vessel are still accomplished by a traditional propulsion mechanism, while the tracking of the instrument's position within the body is performed by medical imaging equipment. During system operation, the patient lies on the operating table, and the surgeon performs vascular puncture to insert a magnetic guidewire into the blood vessel. Subsequently, with the assistance of medical imaging equipment, the propulsion mechanism pushes the guidewire to the neck vessel. When encountering a vascular branch or a large bend in the vessel, the annular guide rail 21 is controlled to reach the position of the catheter guidewire tip (magnetic tip), and the position of the first magnetic element 24 on the annular guide rail 21 is adjusted to regulate the direction of the catheter guidewire tip. Then, as the catheter guidewire advances forward, the annular guide rail 21 moves synchronously along the linear guide rail 1. Simultaneously, with the assistance of medical imaging equipment, the position of the first magnetic element 24 is finely adjusted by the first magnetic element mounting slider 22 and the first rotating base 23, ensuring that the catheter guidewire tip reaches the designated position and is aligned with the lesion.

[0035] For the treatment of endovascular embolism, a micro-drill structure that can rotate relative to the guidewire is required at the end of the catheter. First, the position of the second magnetic component 34 is controlled by the slider 31 and the robotic arm 32 to align it with the end of the catheter guidewire. Then, the second rotating base 33 at the end of the robotic arm 32 is controlled to rotate the second magnetic component 34 to generate a rotating magnetic field, which drives the micro-drill structure to rotate and drill out the thrombus. Finally, the blood vessel is cleared under the action of the propulsion mechanism and the guidewire end steering navigation device 2.

[0036] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A magnetic navigation system for cerebrovascular intervention, characterized in that, The device includes a linear guide rail and a guidewire end steering and navigation device and a guidewire end rotation drive device slidably connected to the linear guide rail. The guidewire end steering and navigation device includes an annular guide rail and a first magnetic component mounting slider slidably connected to the annular guide rail. The first magnetic component mounting slider is slidable along the circumference of the annular guide rail. The first magnetic component mounting slider is provided with a first magnetic component. The guidewire end rotation drive device is capable of generating a rotating magnetic field and driving the guidewire end to rotate. The inner side of the annular guide rail is provided with an annular groove, and the first magnetic component mounting slider is slidably connected in the annular groove and extends out of the annular guide rail. The first magnetic component mounting slider contains a stepper motor; the output shaft of the stepper motor is equipped with a first rotating base; the first rotating base is located at the front end of the first magnetic component mounting slider; a gimbal is provided on the front end face of the first rotating base, and the first magnetic component is connected to the gimbal; the guide wire end rotation drive device includes a robotic arm and a second magnetic component; the robotic arm is slidably connected to the linear guide rail via a robotic arm mounting slider; the robotic arm contains a motor, and the output shaft of the motor is equipped with a second rotating base; the second rotating base is located at the end of the robotic arm; the second magnetic component is connected to the front end face of the second rotating base.

2. The magnetic navigation system for cerebrovascular intervention according to claim 1, characterized in that, The robotic arm is a six-degree-of-freedom robotic arm.

3. The magnetic navigation system for cerebrovascular intervention according to claim 2, characterized in that, Both the first magnetic component and the second magnetic component are permanent magnets or electromagnets.

4. The magnetic navigation system for cerebrovascular intervention according to claim 3, characterized in that, Both the first magnetic component and the second magnetic component are cylinders or cuboids.

5. The magnetic navigation system for cerebrovascular intervention according to claim 4, characterized in that, The lower end of the annular guide rail and the lower end of the robotic arm mounting slider are both provided with linear grooves that are adapted to the linear guide rail.

6. The magnetic navigation system for cerebrovascular intervention according to claim 5, characterized in that, The first magnetic component mounting slider, the annular guide rail, and the robotic arm mounting slider are all driven by motors.

7. The magnetic navigation system for cerebrovascular intervention according to claim 6, characterized in that, The catheter guidewire end rotation drive device is located behind the catheter guidewire end steering navigation device.

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