An in vivo miniature robot for nerve traction

Abstract

This invention discloses an in vivo microrobot for nerve traction, comprising a channel, a movable part located in the channel, and a fixed part. The movable part is configured to move along the channel and is sleeved on the fixed part to drive the fixed part to move along the channel. The fixed part is connected to the nerve to be tractioned. The in vivo microrobot is surgically implanted into the patient's body, tractioning the nerve to accelerate and elongate in a timed and quantitative manner, effectively solving the problems of low nerve self-repair probability and long recovery period in traditional nerve bridging surgery.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology and relates to an in vivo microrobot for nerve traction. Background Technology

[0002] Traditional treatments for nerve ruptures caused by open cuts, penetrating bullet wounds, and severe traction injuries require nerve bridging surgery. Bridging typically involves constructing a biodegradable tubular scaffold and mixing it with various nerve-growth-promoting factors to repair and reconstruct the nerve defect. However, this method relies on allowing the nerve to grow naturally, resulting in a long growth cycle and a risk of failure.

[0003] Existing research indicates that mechanical traction on nerves during nerve repair can accelerate the repair process. Furthermore, supplementing this with growth factors to promote tissue growth can compensate for the shortcomings of traditional nerve bridging surgery. Patent CN104178422B discloses a nerve axon traction and growth device, consisting of a culture and traction control system and a mechanical device. Electrode contacts can be plated onto the traction membrane and the base membrane, connecting to a multi-channel nerve signal recording and stimulation system for recording axonal nerve signals and selectively stimulating different sites. From the perspectives of traction time and safety, implanting a microrobot within the patient's body is more suitable than traction using external instruments.

[0004] Therefore, there is an urgent need to design an in vivo microrobot for neural traction to solve the existing technical problems. Summary of the Invention

[0005] The purpose of this invention is to address the aforementioned technical problems by providing an in vivo microrobot for nerve traction. This robot has a reasonable structure and is surgically implanted into the patient's body. The mechanical traction can be combined with growth factors to promote growth, thereby accelerating and quantitatively elongating the nerve. This effectively solves the problems of low nerve self-repair rate and long recovery period in traditional nerve bridging surgery.

[0006] To address the aforementioned technical problems, this invention provides an in vivo microrobot for nerve traction, comprising a channel, a movable portion located in the channel, and a fixed portion. The movable portion is configured to move along the channel and is sleeved on the fixed portion to drive the fixed portion to move along the channel. The fixed portion is connected to the nerve to be tractioned.

[0007] In a preferred embodiment, an adjustment portion is also included, which is connected to the fixed portion and located at the front end of the movable portion to limit the displacement of the movable portion.

[0008] In a preferred embodiment, the movable part is provided with an electromagnet, the fixed part is provided with a permanent magnet, and the movable part and the fixed part are connected by a spring assembly.

[0009] In a preferred embodiment, the inner wall of the channel is provided with a sliding groove, a wedge-shaped platform is disposed in the sliding groove, and an abutment plate is provided on the movable part and the fixed part, the abutment plate abutting against the wedge-shaped platform.

[0010] In a preferred embodiment, the fixing part includes a spindle, a rear baffle of the spring assembly, a permanent magnet, a rear support, a tail, and a stitching ring;

[0011] The mandrel is concentrically arranged in the channel; the rear end of the mandrel is sequentially fitted with a rear baffle of the spring assembly, a permanent magnet, a rear support and a tail, the rear baffle, permanent magnet, rear support and tail of the spring assembly are interference fit with the mandrel, the suture ring is connected to the tail, and the nerve to be pulled is connected to the suture ring.

[0012] In a preferred embodiment, the movable part includes a front support, an electromagnet, a front baffle of a spring assembly, and a spring; the electromagnet includes a coil and an iron core;

[0013] The front support is connected to the front end of the iron core, the iron core is sleeved on the mandrel and located on the rear side of the front support, and a coil is provided on the outer periphery of the iron core; the front baffle of the spring assembly and the spring are sleeved on the outer periphery of the iron core, the front baffle of the spring assembly is fixedly connected to the iron core, and the front support and the iron core are clearance-fitted with the mandrel.

[0014] In a preferred embodiment, the adjusting part includes an adjusting ring, which is integrally connected to the front end of the mandrel via a thread.

[0015] In a preferred embodiment, the outer periphery of the front and rear supports is provided with abutment plates, the inner wall of the channel is provided with a sliding groove, the magnetic field generated by the coil being energized is mutually excluded from the permanent magnet, and the abutment plate of the front support is pushed forward along the sliding groove to pull the nerve.

[0016] In a preferred embodiment, the abutment plate extends from the front end to the rear end along the mandrel and is inclined outward.

[0017] In a preferred embodiment, when the electromagnet is energized, the movable part moves forward along the channel, causing the spring of the spring assembly to extend; when the electromagnet is de-energized, the spring of the spring assembly returns to its original position, causing the fixed part to move forward along the channel.

[0018] In a preferred embodiment, a limiting sleeve is also included, which is sleeved on the outer periphery of the mandrel and located between the front baffle and the rear baffle of the spring assembly.

[0019] In a preferred embodiment, the number of grooves in the channel matches the number of abutment plates of the front and rear supports, and a wedge-shaped platform is provided in the groove, the wedge-shaped platform being arranged along the length direction of the groove.

[0020] In a preferred embodiment, the tail portion includes a connector and a snap-fit ​​component, both of which are tubular structures and integrally formed. The inner sidewall of the snap-fit ​​component is provided with a snap-fit ​​groove, and the snap-fit ​​component is also provided with a pressing hole, which is arranged along the radial direction of the snap-fit ​​component and located in the snap-fit ​​groove.

[0021] In a preferred embodiment, the suture ring includes a ring portion and a connecting portion. The connecting portion is disposed on one side of the ring portion and has a protrusion. The connecting portion is inserted into the snap-fit ​​groove, and the protrusion is snapped into the pressing hole.

[0022] In a preferred embodiment, the protrusion is disposed on the outer side of the connecting portion, and the connecting portion is also provided with a notch, which is disposed near the connection between the connecting portion and the ring portion and located on the inner side of the connecting portion.

[0023] In a preferred embodiment, the mandrel is internally configured with a chamber, and a control unit is provided in the chamber to realize the on / off control of the coil; a power source is also provided in the chamber to provide electrical energy to the coil and the control unit.

[0024] In a preferred embodiment, the power supply and the control unit can be designed in two forms: hollow and solid. The hollow form is used to reserve space for nerve self-growth.

[0025] In a preferred embodiment, the control unit includes a microcontroller, an electromagnetic circuit, and a protection circuit. The microcontroller controls the on / off frequency and time of the electromagnetic circuit, and the protection circuit is used to ensure the normal operation of the control unit.

[0026] In a preferred embodiment, the adjusting ring thread can adjust the displacement step of the movable part within a range of 0-1.5mm.

[0027] In a preferred embodiment, the iron core is connected to the front support by rivets.

[0028] In a preferred embodiment, the front and rear supports are made of polytetrafluoroethylene or other biocompatible materials.

[0029] Beneficial effects of this invention:

[0030] This invention provides an in vivo microrobot for nerve traction, which has a reasonable structure. The robot is surgically implanted into the patient's body. This mechanical traction can be combined with growth factors to promote growth, so that the nerve can be accelerated and quantitatively elongated. This effectively solves the problems of low nerve self-repair probability and long recovery period in traditional nerve bridging surgery. Attached Figure Description

[0031] The advantages of the present invention will become clearer and more readily understood through the following detailed description in conjunction with the accompanying drawings, which are merely illustrative and do not limit the invention, wherein:

[0032] Figure 1 This is a cross-sectional view of an in vivo microrobot for nerve traction as described in this invention; Figure 2 This is a component disassembly diagram of the in vivo microrobot described in this invention;

[0033] Figure 3 This is a schematic diagram of the structure of the spring assembly described in this invention;

[0034] Figure 4 This is a schematic diagram of the tail section as described in this invention;

[0035] Figure 5 This is a schematic diagram of the structure of the suture ring described in this invention;

[0036] Figure 6 This is a schematic diagram of the front support structure described in this invention;

[0037] Figure 7 This is a schematic diagram of the rear support structure described in this invention;

[0038] Figure 8 This is a schematic diagram of the structure of the channelless in vivo microrobot described in this invention;

[0039] Figure 9 This is a schematic diagram of the in vivo microrobot with the channel transparently displayed according to the present invention;

[0040] Figure 10 This is an electrical block diagram of the control unit described in this invention;

[0041] Figure 11 This is a schematic diagram of an embodiment of the control unit described in this invention.

[0042] Figure 12 This is a cross-sectional view of the hollow arrangement of the power supply and control unit according to the present invention;

[0043] In the attached diagram, the components represented by each number are as follows:

[0044] 1. Front support; 2. Spring assembly; 2a-1. Front baffle; 2a-2. Rear baffle; 2b. Spring; 3. Iron core; 4. Coil; 5. Permanent magnet; 6. Rear support; 7. Tail; 7a. Connector; 7b. Snap-fit; 7c. Snap-fit ​​groove; 7d. Pressing hole; 8. Stitching ring; 8a. Ring; 8b. Connector; 8c. Protrusion; 8d. Notch; 9. Adjusting ring; 10. Channel; 10a. Slide groove; 10b. Wedge platform; 11. Nerve; 12. Spindle; 12-1. Hollow spindle; 13. Limiting sleeve; 14. Control unit; 14-1. Hollow control unit; 15. Power supply; 15-1. Hollow power supply; 16. Abutment plate. Detailed Implementation

[0045] The present invention will now be described in detail with reference to specific embodiments and accompanying drawings.

[0046] The embodiments described herein are specific implementations of the present invention, used to illustrate the concept of the invention, and are illustrative and exemplary, and should not be construed as limiting the implementation or scope of the invention. In addition to the embodiments described herein, those skilled in the art can employ other obvious technical solutions based on the content disclosed in the claims and specification of this application. These technical solutions include those that make any obvious substitutions and modifications to the embodiments described herein.

[0047] The accompanying drawings in this specification are schematic diagrams used to illustrate the concept of the invention, and schematically show the shapes of the various parts and their interrelationships. Please note that, in order to clearly show the structure of the components in the embodiments of the invention, the drawings are not drawn to the same scale. The same reference numerals are used to indicate the same parts.

[0048] A schematic diagram of the structure of an in vivo microrobot for neural traction described in this application is shown below. Figures 1 to 2 As shown, it includes a channel 10, a movable part located in the channel 10, and a fixed part. The movable part is configured to move along the channel, and the movable part is sleeved on the fixed part to drive the fixed part to move along the channel 10. The fixed part is connected to the nerve to be tractioned.

[0049] Furthermore, the in vivo microrobot also includes an adjustment section, which is connected to the fixed section and located at the front end of the movable section to limit the displacement of the movable section.

[0050] Figure 1In the embodiment shown, the fixing part includes a spindle 12, a rear baffle 2a-2 of the spring assembly 2, a permanent magnet 5, a rear support 6, a tail 7, and a suture ring 8. The spindle 12 is concentrically arranged in the channel 10. The rear end of the spindle 12 is provided with a suture ring 8, which is connected to the spindle 12 through the tail 7. The nerve to be pulled is connected to the suture ring 8.

[0051] In a preferred embodiment, the movable part includes a front support 1, a coil 4, a front baffle 2a-1 of a spring assembly 2, a spring 2b, and an iron core 3; the coil 4 and the iron core 3 constitute part of an electromagnet.

[0052] The front support 1 is connected to the front end of the iron core 3. The iron core 3 is sleeved on the spindle 12 and located on the rear side of the front support 1. A coil 4 is provided on the outer periphery of the iron core 3. The front baffle 2a-1 of the spring assembly 2 is fixedly connected to the iron core 3. The front support 1 and the iron core 3 can slide on the spindle 12.

[0053] In a preferred embodiment, the adjustment part includes an adjustment ring 9, which is integrally connected to the front end of the mandrel 12 via a thread.

[0054] In a preferred embodiment, the outer periphery of the front support 1 and the rear support 6 is provided with abutment plates 16, and the inner sidewall of the channel 10 is provided with a sliding groove 10a. The magnetic field formed by the energized coil 4 is mutually excluded from the permanent magnet 5, pushing the abutment plate 16 of the front support 1 to move forward along the sliding groove 10a to pull the nerve.

[0055] Specifically, when the coil 4 is energized, the front support 1 moves forward, causing the spring 2b to extend; when the coil 4 is de-energized, the spring 2b returns to its original position, causing the rear support 6 to move forward.

[0056] Furthermore, the permanent magnet 5 can be a rubidium magnet, or other types of magnets.

[0057] Figure 3 This is a schematic diagram of the spring assembly of the present invention. The spring assembly 2 includes a front baffle 2a-1, a rear baffle 2a-2, and a spring 2b. The spring 2b is connected between the front baffle 2a-1 and the rear baffle 2a-2. When the coil 4 is energized, the front support 1 moves forward, causing the spring 2b to extend. When the coil 4 is de-energized, the spring 2b returns to its original position, causing the rear support 6 to move forward.

[0058] As an embodiment of the present invention, the in vivo microrobot further includes a limiting sleeve 13, which is sleeved on the outer periphery of the spindle 12 and located between the front baffle 2a-1 and the rear baffle 2a-2. The limiting sleeve 13 can limit the extension and retraction of the spring 2b, thereby controlling the amount of movement of the in vivo microrobot.

[0059] In this invention, the number of grooves 10a within the channel 10 matches the number of abutment plates 16 of the front support 1 and the rear support 6. Each groove 10a contains a wedge-shaped platform 10b, the cross-section of which is a right triangle. The inclined surface of the wedge-shaped platform 10b faces the tail 7. Multiple wedge-shaped platforms 10b form a tooth-like structure. The abutment plates 16 of the front support 1 and the rear support 6 abut against these teeth. Figure 1 , Figure 9 As shown, the wedge-shaped platform 10b is arranged along the length direction of the slide groove 10a.

[0060] In another embodiment of the present invention, the tail portion 7 includes a connector 7a and a snap-fit ​​member 7b, such as Figure 4 As shown, both are tubular structures and integrally formed. The inner sidewall of the snap-fit ​​component 7b is provided with a snap-fit ​​groove 7c. The snap-fit ​​component 7b is also provided with a pressing hole 7d. The pressing hole 7d is arranged along the radial direction of the snap-fit ​​component 7b and is located in the snap-fit ​​groove 7c.

[0061] Furthermore, the suture ring 8 includes a loop portion 8a and a connecting portion 8b, such as... Figure 5 As shown, the connecting part 8b is disposed on one side of the ring part 8a, the connecting part 8b is provided with a protrusion 8c, the connecting part 8b is inserted into the snap-fit ​​groove 7c, and the protrusion 8c is snapped into the pressing hole 7d.

[0062] The protrusion 8c is located on the outer side of the connecting portion 8b. The connecting portion 8b also has a notch 8d, which is located near the connection between the connecting portion 8b and the ring portion 8a and on the inner side of the connecting portion 8b. The notch 8d enhances the flexibility of the connecting portion 8b, allowing the operator to bend the connecting portion 8b by pressing the protrusion 8c, thereby separating the stitching ring 8 from the tail portion 7.

[0063] Figure 1 In the illustrated embodiment, the spindle 12 has a chamber inside, and a control unit 14 is disposed within the chamber to control the on / off state of the coil 4. A power supply 15 is also disposed within the chamber to provide power to the coil 4 and the control unit 14. The control unit 14 can control the energizing time and frequency to achieve the purpose of artificially controlling the nerve elongation length. The control unit 14 can be a PI C10F series microcontroller, and the power supply 15 is a button battery, model SR416SW.

[0064] Figure 10 This is an electrical block diagram of the control unit of the present invention. The control unit includes a microcontroller, an electromagnetic circuit, and a protection circuit. The microcontroller controls the on / off frequency and time of the electromagnetic circuit, and the protection circuit is used to ensure the normal operation of the control unit.

[0065] Figure 11 This is an electrical control diagram of an embodiment of the control unit described in this invention. U1 is a microcontroller, L1 is an electromagnet (represented by the inductor symbol in the circuit), resistors R1 and R3 are used to control the current magnitude and protect the circuit, and R2 and D1 constitute a discharge circuit protection circuit. This discharge circuit protection circuit uses a microcontroller to control the on / off state of the relay, thereby controlling the energization state of the electromagnet L1. Specifically, when the switch at the working end of the relay RL1 is in the open state, a high level is applied to the relay control terminal through GP0, the relay working end switch closes, and the electromagnet conducts; when the working end of the relay RL1 is in the closed state, a low level is applied to the relay through GP0, the relay RL1 working end switch opens, and the electromagnet L1 loses its magnetism.

[0066] Figure 12 The power supply and control unit of the present invention are arranged in a hollow configuration, which includes a hollow power supply 15-1, a hollow control unit 14-1, and a hollow spindle 12-1, for providing the space required for nerve self-growth.

[0067] Furthermore, the adjusting ring 9 is threaded to the front end of the spindle 12, and it can adjust the distance between itself and the front support by rotation, thereby adjusting the step size of the front support's displacement along the channel within 0-1.5mm.

[0068] To reliably control the movement of the microrobot within the body, the rear baffle 2a-2, permanent magnet 5, rear support 6, and tail 7 of the spring assembly are interference-fitted with the spindle, while the front support 1 and iron core 3 are clearance-fitted with the spindle 12, with the clearance between the iron core 3 and the spindle 12 being 0.1mm-2mm.

[0069] In this invention, the iron core 3 is connected to the front support 1 by rivets. The iron core 3 is provided with mounting holes along its length, and the front support 1 is provided with fixing holes so that the rivets can connect the front support 1 and the iron core 3 into one unit through the fixing holes of the front support 1 and the mounting holes of the iron core 3.

[0070] The front support 1 and the rear support 6 are made of biocompatible materials, such as... Figure 6 and Figure 7 As shown, the abutment plate 16 extends from the front end to the rear end along the mandrel and is inclined outward. The main body plates corresponding to the front support 1 and the rear support 6 are annular plates, and the abutment plates 16 are evenly distributed along the center of the annular plate to ensure that the front support 1 and the rear support 6 can move stably along the axial direction of the channel 10.

[0071] Working principle: The robot is surgically implanted into the patient's body. Nerve 11 is sutured to suture ring 8. The magnetic field generated by the energized coil 4 on the iron core 3 repels the permanent magnet 5, thus generating a forward repulsive force. This pushes the front support 1 forward by one unit length (controlled by the adjustment part, which can be the length of n wedges, where n is an integer greater than or equal to 1). The abutment plate 16 of the front support abuts against the next wedge 10b. After the energization stops, the repulsive force disappears, the spring pulls the fixed part forward, the rear support 6 advances by one unit length, and at the same time, the suture ring 8 pulls nerve 11 forward. Thus, the nerve is pulled forward by one unit length ((which can be the length of n wedges, where n is an integer greater than or equal to 1)). The microcontroller controls the energization time and number of times the electromagnet is energized, thus achieving the purpose of artificially controlling the nerve elongation length. While the nerve is growing under long-term traction, it will also grow spontaneously. By arranging the robot hollowly, space can be reserved for the nerve's self-growth.

[0072] Compared with the shortcomings and deficiencies of existing technologies, the present invention provides an in vivo microrobot for nerve traction with a reasonable structure. The robot is surgically implanted into the patient's body. This mechanical traction can be combined with growth factors to promote growth, so that the nerve can be accelerated and quantitatively elongated. This effectively solves the problems of low probability of nerve self-repair and long recovery period in traditional nerve bridging surgery.

[0073] This invention is not limited to the above-described embodiments. Anyone can derive other products in various forms under the guidance of this invention. However, regardless of any changes in shape or structure, any technical solution that is the same as or similar to this application falls within the protection scope of this invention.

Claims

1. An in vivo microrobot for neural traction, characterized in that, It includes a channel, a movable part located in the channel, and a fixed part. The movable part is configured to move along the channel. The movable part is sleeved on the fixed part to drive the fixed part to move along the channel. The fixed part is connected to the nerve to be tractioned. The fixing part includes a mandrel, a rear baffle of a spring assembly, a permanent magnet, a rear support, a tail, and a suture ring; the mandrel is concentrically arranged in the channel; the rear end of the mandrel is sequentially fitted with the rear baffle of the spring assembly, the permanent magnet, the rear support, and the tail, and the suture ring is connected to the tail, and the nerve to be pulled is connected to the suture ring; The movable part includes a front support, an electromagnet, a front baffle of a spring assembly, and a spring; the electromagnet includes a coil and an iron core; the front support is connected to the front end of the iron core, the iron core is sleeved on the spindle and located on the rear side of the front support, and a coil is provided on the outer periphery of the iron core; the front baffle of the spring assembly and the spring are sleeved on the outer periphery of the iron core, and the front baffle of the spring assembly is fixedly connected to the iron core. When the electromagnet is energized, the movable part moves forward along the channel, causing the spring of the spring assembly to extend; when the electromagnet is de-energized, the spring of the spring assembly returns to its original position, causing the fixed part to move forward along the channel.

2. The in vivo microrobot according to claim 1, characterized in that, It also includes an adjustment section, which is connected to the fixed section and located at the front end of the movable section to limit the displacement of the movable section.

3. The in vivo microrobot according to claim 1, characterized in that, The inner wall of the channel is provided with a sliding groove, and a wedge-shaped platform is disposed in the sliding groove. Abutment plates are provided on the movable part and the fixed part, and the abutment plates abut against the wedge-shaped platform.

4. The in vivo microrobot according to claim 1, characterized in that, The rear baffle, permanent magnet, rear support, and tail of the spring assembly are interference-fitted with the spindle.

5. The in vivo microrobot according to claim 1, characterized in that, The front support and iron core are fitted with the mandrel with clearance.

6. The in vivo microrobot according to claim 2, characterized in that, The adjustment part includes an adjustment ring, which is integrally connected to the front end of the mandrel via a thread.

7. The in vivo microrobot according to claim 1, characterized in that, The outer periphery of the front and rear supports is provided with abutment plates, and the inner wall of the channel is provided with a sliding groove. The magnetic field generated by the coil being energized is mutually excluded from the permanent magnet, pushing the abutment plate of the front support to move forward along the sliding groove to pull the nerve.

8. The in vivo microrobot according to claim 7, characterized in that, The abutment plate extends from the front end to the rear end along the mandrel and is inclined outward. The abutment plate can undergo elastic deformation under the force of the sliding groove moving forward.

9. The in vivo microrobot according to claim 1, characterized in that, It also includes a limiting sleeve, which is sleeved on the outer periphery of the mandrel and located between the front baffle and the rear baffle of the spring assembly.

10. The in vivo microrobot according to claim 7, characterized in that, The number of grooves in the channel matches the number of abutment plates of the front and rear supports. A wedge-shaped platform is provided in the groove, and the wedge-shaped platform is arranged along the length direction of the groove.

11. The in vivo microrobot according to claim 1, characterized in that, The tail section includes a connector and a snap-fit ​​component, both of which are tubular structures and integrally formed. The inner sidewall of the snap-fit ​​component is provided with a snap-fit ​​groove, and the snap-fit ​​component is also provided with a pressing hole. The pressing hole is arranged along the radial direction of the snap-fit ​​component and located in the snap-fit ​​groove.

12. The in vivo microrobot according to claim 11, characterized in that, The suture ring includes a ring portion and a connecting portion. The connecting portion is disposed on one side of the ring portion and has a protrusion. The connecting portion is inserted into the snap-fit ​​groove, and the protrusion is snapped into the pressing hole.

13. The in vivo microrobot according to claim 12, characterized in that, The protrusion is provided on the outer side of the connecting part, and the connecting part is also provided with a notch, which is provided near the connection between the connecting part and the ring part and is located on the inner side of the connecting part.

14. The in vivo microrobot according to claim 1, characterized in that, The mandrel has a chamber inside, and a control unit is installed in the chamber to control the on / off state of the coil; the chamber is also equipped with a power source to provide power to the coil and the control unit.

15. The in vivo microrobot according to claim 14, characterized in that, The control unit, spindle, and power supply can be configured as hollow structures to reserve space for nerve self-growth.

16. The in vivo microrobot according to claim 14 or 15, characterized in that, The control unit includes a microcontroller, an electromagnetic circuit, and a protection circuit. The microcontroller controls the on / off frequency and time of the electromagnetic circuit, and the protection circuit is used to ensure the normal operation of the control unit.

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