Magnetic positioning hollow sensor and preparation method thereof

Abstract

The application provides a magnetic positioning hollow sensor and a preparation method thereof, and belongs to the technical field of high-precision magnetic sensor development. The magnetic positioning hollow sensor comprises a magnetic conducting core and an electronic wire wound on the surface of the magnetic conducting core, and forms a 5-degree-of-freedom magnetic positioning sensor. The magnetic conducting core comprises a metal pipe, the inner surface of the metal pipe is provided with a first insulating film, the outer surface of the metal pipe is provided with an etching groove, the etching groove is along the axial direction of the metal pipe, the etching groove is filled with epoxy resin glue, the filling height of the epoxy resin glue is equal to that of the unetched part, and the surface of the epoxy resin glue and the unetched part is provided with a second insulating film. The application provides an axial annular magnetic positioning sensor, which is suitable for tubular instruments such as interventional catheters or the like. The annular sensor can fully utilize partial space structure, and can realize 5-degree-of-freedom parameter measurement, and can meet the requirements of compact structure of medical instruments.

Description

Technical Field

[0001] This invention relates to the field of high-precision magnetic sensor development technology, and in particular to a magnetic positioning hollow sensor and its fabrication method. Background Technology

[0002] A magnetic positioning sensor, placed at the end of a positioning guide, detects the strength of a spatial magnetic field to create a three-dimensional medical image, visually displaying the position and orientation of the medical device. This allows for real-time positioning and guidance within the body, enabling accurate lesion localization and facilitating biopsies, punctures, or ablation treatments. Clinically, it allows for procedures without obstructed vision. Minimally invasive interventional surgery is increasingly used in cardiac and pulmonary ablation, puncture biopsies, and tumor ablation, showing broad application prospects in the medical field.

[0003] The magnetic field signal intensity acquired by the magnetic sensor directly affects the determination of position and attitude in electromagnetic navigation. In interventional medical devices, magnetic positioning sensors are needed to help detect the position and attitude of sheath instruments. Traditional 5-DOF sensors are solid sensors and are not suitable for use with interventional catheters or similar tubular instruments. Summary of the Invention

[0004] In view of this, the purpose of this invention is to provide a magnetic positioning hollow sensor and its fabrication method. This invention provides a five-degree-of-freedom magnetic sensor with a ring structure, suitable for use with interventional catheters or similar tubular instruments. It can fully utilize part of the spatial structure while simultaneously achieving five-degree-of-freedom parameter measurement, meeting the requirements of compact medical device structures.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solution:

[0006] The present invention provides a magnetic positioning hollow sensor, comprising a magnetic core and electronic wires wound on the surface of the magnetic core, forming a 5-degree-of-freedom magnetic positioning sensor;

[0007] The magnetic core includes a metal tube, the inner surface of which is provided with a first insulating film, and the outer surface of which is provided with an etching groove. The etching groove is along the axial direction of the metal tube and is filled with epoxy resin. The filling height of the epoxy resin is equal to that of the unetched part. The surfaces of the epoxy resin and the unetched part are provided with a second insulating film.

[0008] Preferably, the width of the etching groove is 0.5 to 10 μm, the depth is 0 to 30 μm and not zero, and the length is equal to the length of the metal tube.

[0009] Preferably, the metal tube is made of Co. a Fe b M cAlloy or Fe d Ni e A f An alloy, wherein M comprises one or more of Ni, B, Si, Cr, Nb, Mo and V, with 52% ≤ a ≤ 75%, 0.5% ≤ b ≤ 12%, and 10% ≤ c ≤ 48%, and wherein A comprises one or more of C, Si, Mn and Mo, with 12% ≤ d ≤ 18%, 78% ≤ e ≤ 82%, and 3.5% ≤ f ≤ 7.5%.

[0010] Preferably, the first insulating film and the second insulating film are independently made of xylene dimer, silicon dioxide or polyimide.

[0011] Preferably, the thickness of the first insulating film and the second insulating film is independently 0.5 to 10 μm.

[0012] Preferably, the electronic wire is enameled copper wire.

[0013] Preferably, the diameter of the electron wire is 0.007 to 0.030 mm.

[0014] Preferably, the number of turns of the electronic wire is 50 to 3000, and the number of layers is ≥1.

[0015] Preferably, the magnetic positioning hollow sensor further includes leads.

[0016] This invention also provides a method for preparing the magnetic positioning hollow sensor described in the above technical solution, comprising the following steps:

[0017] Laser etching is performed on the outer surface of the metal tube to form etching grooves;

[0018] After filling the etching groove with epoxy resin, a second insulating film is formed on the surface of the epoxy resin and on the surface of the unetched area.

[0019] A first insulating film is formed on the inner surface of the metal tube to obtain the magnetic core.

[0020] Electronic wires are wound around the surface of the magnetic core to obtain the magnetic positioning hollow sensor.

[0021] This invention provides a magnetic positioning hollow sensor, comprising a magnetic core and electronic wires wound around the surface of the magnetic core to form a 5-DOF magnetic positioning sensor; the magnetic core comprises a metal tube, the inner surface of the metal tube is provided with a first insulating film, the outer surface of the metal tube is provided with an etching groove, the etching groove is along the axial direction of the metal tube, the etching groove is filled with epoxy resin, the filling height of the epoxy resin is equal to the height of the unetched part, and the surfaces of the epoxy resin and the unetched part are provided with a second insulating film.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0023] This invention provides an axial ring magnetic positioning sensor suitable for use with interventional catheters or similar tubular instruments. This ring sensor can make full use of part of the spatial structure while achieving 5-DOF parameter measurement, and also meets the requirements of compact medical device structure. Within the range of the magnetic field emitted by the axial ring magnetic positioning sensor, magnetic lines of force generate an induced voltage through electron wires. The magnetic core has strong magnetic permeability, and the magnetic lines of force are guided to a path with strong magnetic permeability, thus changing the uniform magnetic flux distribution within the ring tube, thereby improving the quality factor Q.

[0024] The present invention also provides a method for preparing the magnetic positioning hollow sensor described in the above technical solution. The preparation method of the present invention is simple to operate and easy to realize industrial application. Attached Figure Description

[0025] Figure 1 This is a structural diagram of the magnetic positioning hollow sensor provided by the present invention;

[0026] Figure 2 This is a schematic diagram of the structure of a metal tube after laser etching, provided by the present invention.

[0027] Figure 3 A schematic diagram of the structure for forming a first insulating film and a second insulating film in a metal tube provided by the present invention;

[0028] Figure 4 The hollow inductance parameters of the magnetic positioning hollow sensor in this embodiment of the invention;

[0029] In the diagram: electronic wire-1, metal tube-2, epoxy resin adhesive-3, insulating film-4, lead wire-5. Detailed Implementation

[0030] The present invention provides a magnetic positioning hollow sensor, comprising a magnetic core and electronic wires wound on the surface of the magnetic core, forming a 5-degree-of-freedom magnetic positioning sensor;

[0031] The magnetic core includes a metal tube, the inner surface of which is provided with a first insulating film, and the outer surface of which is provided with an etching groove. The etching groove is along the axial direction of the metal tube and is filled with epoxy resin. The filling height of the epoxy resin is equal to that of the unetched part. The surfaces of the epoxy resin and the unetched part are provided with a second insulating film.

[0032] Unless otherwise specified, all raw materials used in this invention are commercially available products in the field.

[0033] Figure 1This is a structural diagram of the magnetic positioning hollow sensor provided by the present invention. The following is in conjunction with… Figure 1 The magnetic positioning hollow sensor of the present invention will be described.

[0034] The magnetic positioning hollow sensor provided by the present invention includes a magnetic core, the magnetic core including a metal tube, the inner surface of the metal tube being provided with a first insulating film, the outer surface of the metal tube being provided with an etching groove, the etching groove being along the axial direction of the metal tube, the etching groove being filled with epoxy resin, the filling height of the epoxy resin being equal to the height of the unetched part, and the surfaces of the epoxy resin and the unetched part being provided with a second insulating film.

[0035] In this invention, the width of the etching groove is preferably 0.5 to 10 μm, more preferably 1 to 5 μm, the depth is preferably 0 to 30 μm and not 0, more preferably 17 to 25 μm, and the length is preferably equal to the length of the metal tube.

[0036] The present invention does not have any particular limitation on the type of epoxy resin adhesive, and any type well known to those skilled in the art can be used.

[0037] In this invention, the metal tube is preferably made of Co. a Fe b M c Alloy or Fe d Ni e A f The alloy, wherein M preferably includes one or more of Ni, B, Si, Cr, Nb, Mo, and V, with 52% ≤ a ≤ 75%, 0.5% ≤ b ≤ 12%, and 10% ≤ c ≤ 48%, wherein A preferably includes one or more of C, Si, Mn, and Mo, with 12% ≤ d ≤ 18%, 78% ≤ e ≤ 82%, and 3.5% ≤ f ≤ 7.5%; in a specific embodiment of the present invention, the metal tube is made of Fe. 15 Ni 80 Mo5 alloy, Fe 20 Ni 80 Mo5 alloy or Co 69.3 Fe 4.5 Si 12.7 B 11.5 Mo2 alloy.

[0038] In this invention, the materials of the first insulating film and the second insulating film are independently preferred to be xylene dimer, silicon dioxide or polyimide.

[0039] In this invention, the thickness of the first insulating film and the second insulating film is preferably 0.5 to 10 μm independently.

[0040] In this invention, the densities of the first insulating film and the second insulating film are preferably independently 1 to 1.3 g / cm³. 3 .

[0041] The magnetic positioning hollow sensor of the present invention includes electronic wires wound around the surface of the magnetic core, wherein the winding is preferably along the circumferential direction of the magnetic core.

[0042] In this invention, the electronic wire is preferably enameled copper wire.

[0043] In this invention, the diameter of the electronic wire is preferably 0.007 to 0.030 mm, more preferably 0.01 to 0.025 mm.

[0044] In this invention, the number of turns of the electronic wire is preferably 50 to 3000, more preferably 100 to 2000, and the number of layers is preferably ≥1, more preferably multiple layers. The electronic wire is preferably tightly wound in layers on the magnetic core.

[0045] In this invention, the magnetic positioning hollow sensor preferably further includes leads, and the number of leads is preferably 2.

[0046] This invention also provides a method for preparing the magnetic positioning hollow sensor described in the above technical solution, comprising the following steps:

[0047] Laser etching is performed on the outer surface of the metal tube to form etching grooves;

[0048] After filling the etching groove with epoxy resin, a second insulating film is formed on the surface of the epoxy resin and on the surface of the unetched area.

[0049] A first insulating film is formed on the inner surface of the metal tube to obtain the magnetic core.

[0050] Electronic wires are wound around the surface of the magnetic core to obtain the magnetic positioning hollow sensor.

[0051] The present invention performs laser etching on the outer surface of a metal tube to form an etching groove. Figure 2 This is a schematic diagram of the metal tube structure after laser etching, provided by the present invention.

[0052] The present invention does not impose any special limitations on the specific parameters of the laser etching; parameters well known to those skilled in the art can be used.

[0053] After forming the etching groove, the present invention fills the etching groove with epoxy resin adhesive, and then forms a second insulating film on the surface of the epoxy resin adhesive and the surface of the unetched part.

[0054] In this invention, the method of forming the second insulating film is preferably vacuum phase deposition. This invention does not have any special limitations on the specific parameters of the vacuum phase deposition, and any method known to those skilled in the art can be used.

[0055] The present invention forms a first insulating film on the inner surface of the metal tube to obtain the magnetic core.

[0056] Figure 3 This is a schematic diagram of the structure of the metal tube forming the first insulating film and the second insulating film provided by the present invention. Figure 3 4 is an insulating film, including a first insulating film and a second insulating film.

[0057] In this invention, the preferred method for forming the first insulating film is coating. This invention does not impose any special limitations on the specific parameters of the coating, and any method known to those skilled in the art can be used.

[0058] After obtaining the magnetic core, the present invention winds electronic wires around the surface of the magnetic core to obtain the magnetic positioning hollow sensor.

[0059] The present invention does not impose any specific limitations on the winding method.

[0060] The technical solutions of this invention will be clearly and completely described below with reference to the embodiments thereof. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0061] Example 1

[0062] The ring-shaped 5-DOF magnetic positioning sensor includes: a metal tube 2, an electronic wire 1, and a lead wire 5. The metal tube 2 is made of Fe. 15 Ni 80 Mo5 alloy, Fe 15 Ni 80 The Mo5 alloy metal tube 2 is manufactured using an integral molding technology. Its surface is laser-etched with a depth of 25 μm and a width of 5 μm. The etching groove is filled with epoxy resin with a filling height of 25 μm. The inner layer of the metal tube 2 is coated with a polyimide film, and the outer layer is coated with a xylene dimer coating using a vacuum phase deposition process. The electronic wire 1 is an enameled copper wire, which is tightly wound into a coil.

[0063] Example 2

[0064] The ring-shaped 5-DOF magnetic positioning sensor includes: a metal tube 2, an electronic wire 1, and a lead wire 5. The ring-shaped tube is made of Fe. 15 Ni 80Mo5 alloy, Fe 15 Ni 80 The Mo5 alloy is prepared using a one-piece molding technology. The surface of the metal tube 2 is not etched. The inner layer is coated with a polyimide film, and the outer layer is coated with a xylene dimer coating using a vacuum phase deposition process. The electronic wire is enameled copper wire, and the enameled copper wire is tightly wound into a coil.

[0065] Example 3

[0066] The ring-shaped 5-DOF magnetic positioning sensor includes: a metal tube 2, an electronic wire 1, and a lead wire 5. The metal tube 2 is made of Co. 69.3 Fe 4.5 Si 12.7 B 11.5 Mo2 alloy, Co 69.3 Fe 4.5 Si 12.7 B 11.5 The Mo2 alloy metal tube 2 is manufactured using an integral molding technology. Its surface is laser-etched with a depth of 17μm and a width of 5μm. The etching groove is filled with epoxy resin with a filling height of 17μm. The inner layer of the metal tube 2 is coated with a polyimide film, and the outer layer is coated with a xylene dimer coating using a vacuum phase deposition process. The electronic wire 1 is an enameled copper wire, which is tightly wound into a coil.

[0067] Example 4

[0068] The ring-shaped 5-DOF magnetic positioning sensor includes: a metal tube 2, an electronic wire 1, and a lead wire 5. The metal tube 2 is made of Co. 69.3 Fe 4.5 Si 12.7 B 11.5 Mo2 alloy, Co 69.3 Fe 4.5 Si 12.7 B 11.5 The Mo2 alloy metal tube 2 is manufactured using an integral molding technology. The outer surface of the metal tube 2 is not etched. The inner layer of the metal tube 2 is coated with a polyimide film, and the outer layer is coated with a xylene dimer coating using a vacuum phase deposition process. The electronic wire 1 is an enameled copper wire, and the enameled copper wire is tightly wound into a coil.

[0069] Example 5

[0070] The ring-shaped 5-DOF magnetic positioning sensor includes: electronic wire 1 and lead wire 5. An air-core coil with the same inner diameter and number of turns as in Example 1 is wound onto the inner lining fixture using the electronic wire, and the lead wires of the air-core coil are soldered to the lead wires.

[0071] Within the range of the magnetic field emitted by the ring sensor, magnetic field lines generate an induced voltage through electron wires. The magnetic core has strong magnetic permeability, guiding the magnetic field lines to paths with higher magnetic permeability. This alters the uniform magnetic flux distribution within the ring tube, resulting in an induced signal (EMF). coil The amplitude can be used to calculate the corresponding position parameters. In different implementation cases, the acquisition effect of weak magnetic field signals varies, and the difference in the acquired induced signal can be seen through the quality factor Q. The hollow inductance parameters of the magnetic positioning sensors in Examples 1-4 are as follows: Figure 4 As shown, Examples 1 and 3 have significant quality advantages.

[0072] The voltage signal EMF generated in the coil coil The calculation formula is:

[0073]

[0074] Where k is the correction coefficient for different magnetic field excitation signals;

[0075] N is the number of turns in the coil;

[0076] μ is the magnetic permeability;

[0077] A e This is the cross-sectional area of ​​the coil;

[0078] H is the magnetic field strength;

[0079] ω is the angular frequency;

[0080] The phase angle;

[0081] t represents time;

[0082] The formula for calculating the quality factor Q of an air-core inductor is:

[0083]

[0084] Where ω is the angular frequency, L is the inductance, and R is the total resistance.

[0085] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A magnetic positioning hollow sensor, characterized in that, It includes a magnetic core and electronic wires wound around the surface of the magnetic core, forming a 5-DOF magnetic positioning sensor; The magnetic core comprises a metal tube, the inner surface of which is provided with a first insulating film, and the outer surface of which is provided with an etching groove along the axial direction of the metal tube. The etching groove is filled with epoxy resin, and the filling height of the epoxy resin is equal to that of the unetched area. The surfaces of the epoxy resin and the unetched area are provided with a second insulating film. The etching groove has a width of 5μm, a depth of 17μm, and a length equal to the length of the metal tube. The metal tube is made of Co. 69.3 Fe 4.5 Si 12.7 B 11.5 Mo2 alloy; The first insulating film is made of polyimide; The second insulating film is made of xylene dimer.

2. The magnetic positioning hollow sensor according to claim 1, characterized in that, The thicknesses of the first insulating film and the second insulating film are independently 0.5 to 10 μm.

3. The magnetic positioning hollow sensor according to claim 1, characterized in that, The electronic wire is an enameled copper wire.

4. The magnetic positioning hollow sensor according to claim 1 or 3, characterized in that, The diameter of the electron wire is 0.007 to 0.030 mm.

5. The magnetic positioning hollow sensor according to claim 1 or 3, characterized in that, The number of turns of the electron wire is 50 to 3000, and the number of layers is ≥1.

6. The magnetic positioning hollow sensor according to claim 1, characterized in that, The magnetic positioning hollow sensor also includes leads.

7. The method for preparing the magnetic positioning hollow sensor according to any one of claims 1 to 6, characterized in that, Includes the following steps: Laser etching is performed on the outer surface of the metal tube to form etching grooves; After filling the etching groove with epoxy resin, a second insulating film is formed on the surface of the epoxy resin and on the surface of the unetched area. A first insulating film is formed on the inner surface of the metal tube to obtain the magnetic core. Electronic wires are wound around the surface of the magnetic core to obtain the magnetic positioning hollow sensor.

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