Magnetic control intervention guide wire robot based on mobile ultrasonic imaging

Abstract

The invention relates to a magnetic control intervention guide wire robot based on mobile ultrasonic imaging, a pushing module is used for driving a magnetic guide wire to move, the magnetic guide wire is provided with a magnetic structure, the magnetic structure can deflect under the magnetic effect of a magnetic driving module, and the magnetic driving module is not in contact with the magnetic guide wire in the process. The ultrasonic tracking module can move along with the top end of the magnetic guide wire, and synchronous scanning imaging is carried out on the moving path of the magnetic guide wire in the process, so that a real-time ultrasonic image is obtained. The control terminal receives synchronous scanning imaging signals in real time and is in signal connection with the pushing module, the magnetic driving module and the ultrasonic tracking module, so that the pushing module, the magnetic driving module and the ultrasonic tracking module can be controlled to work normally. Compared with the prior art, the magnetic control intervention guide wire robot based on mobile ultrasonic imaging can achieve the purposes that an instrument can obtain accurate three-dimensional real-time positioning and automatic navigation, and radiation damage is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of vascular interventional surgery robots, and in particular to a magnetically controlled interventional guidewire robot based on mobile ultrasonic imaging. Background Art

[0002] Cardiovascular and cerebrovascular diseases have become the main cause of the world's disease burden, with high morbidity and mortality. According to the data of my country's seventh census, there are more than 330 million patients with cardiovascular and cerebrovascular diseases. Compared with traditional open surgery, the currently commonly used vascular intervention surgery has many advantages such as small incision, high success rate, fast recovery, and no need for general anesthesia. It is widely used to treat various types of cardiovascular and cerebrovascular diseases. It is guided by medical imaging equipment and uses guide wires, catheters, balloons, stents and other devices to achieve blood circulation reconstruction by dilating narrowed arteries and improving local blood supply. It is an important means to treat various types of cardiovascular and cerebrovascular diseases.

[0003] However, existing vascular interventional surgeries have challenges such as high radiation damage, long operation time, and high requirements for doctor experience. Therefore, domestic and foreign companies and institutions have begun to develop master-slave vascular interventional surgical robot systems to meet the challenges in existing vascular interventional surgeries. In recent years, some commercial vascular interventional surgical robots have been developed one after another. A few have obtained FDA and CE certification and have been listed abroad, and have begun to be used in clinical practice to assist doctors in better completing interventional treatments. However, existing interventional surgical robots are still limited to operating passive pre-shaped guidewires / catheters, and cannot achieve active steering and autonomous navigation of the instrument.

[0004] Furthermore, it is still a challenge to achieve three-dimensional real-time positioning and automatic navigation of master-slave interventional guidewires / catheters in multi-branched blood vessels in the body. At present, although existing technologies have made great progress in improving interventional surgery and have been applied in medicine, they generally rely on fluorescent imaging as intraoperative guidance. The X-rays generated have potential radiation damage to the human body, and fluorescent imaging is difficult to achieve accurate three-dimensional positioning of interventional devices in the body. In addition, few technologies have achieved real-time positioning tracking and autonomous navigation of interventional guidewires / catheters in simulated tissues or in vivo, so the autonomy of the robot still needs to be improved.

[0005] Therefore, in view of the main shortcomings of the prior art, the present invention independently designs and integrates a magnetically controlled interventional guidewire robot based on mobile ultrasonic imaging, providing a set of automated radiation-free interventional surgery solutions, allowing doctors to achieve real-time tracking and automatic navigation of interventional guidewires in simulated tissues or in the body without relying on X-rays, thereby greatly improving the navigation efficiency of interventional guidewires, shortening the interventional operation time, and keeping doctors away from radiation damage, reducing fatigue damage, and realizing radiation-free vascular interventional surgery in the future. Summary of the invention

[0006] In order to solve the defects of the prior art that intraoperative guidance through fluorescence imaging cannot achieve accurate three-dimensional real-time positioning and automatic navigation of the instrument and may cause radiation damage, the present invention proposes a magnetically controlled interventional guidewire robot based on mobile ultrasound imaging.

[0007] The technical solution adopted by the present invention is a magnetically controlled interventional guidewire robot based on mobile ultrasonic imaging, comprising:

[0008] A pushing module drives the magnetic guide wire with a magnetic structure at the top to move;

[0009] A magnetic drive module, wherein the magnetic drive module does not contact the magnetic guide wire and the top end of the magnetic guide wire is deflected by magnetic control;

[0010] An ultrasonic tracking module follows the movement of the top end of the magnetic guide wire and performs synchronous scanning imaging on the moving path of the magnetic guide wire;

[0011] The control terminal receives the synchronous scanning imaging signal of the ultrasonic tracking module in real time, and the control terminal is connected with the pushing module, the magnetic driving module and the ultrasonic tracking module signal.

[0012] Preferably, the magnetic drive module includes a first movable seat, a first joint mechanical arm and a permanent magnet, one end of the first joint mechanical arm is mounted on the first movable seat, and the other end is mounted with a permanent magnet, and the permanent magnet controls the top end of the magnetic guide wire to deflect.

[0013] Preferably, the ultrasonic tracking module includes a second movable seat, a second articulated robotic arm and an ultrasonic probe, one end of the second articulated robotic arm is mounted on the second movable seat, and the other end is mounted with the ultrasonic probe, and the ultrasonic probe performs synchronous scanning imaging on the moving path of the magnetic guide wire.

[0014] Preferably, when the patient is sitting or lying down, only the ultrasound probe and the magnetic guidewire of the magnetically controlled interventional guidewire robot are in contact with the patient.

[0015] Preferably, the pushing module comprises a delivery unit and a rotation unit, the delivery unit drives the magnetic guide wire to move in the axial direction thereof, and the rotation unit drives the magnetic guide wire to rotate.

[0016] Preferably, the magnetic guidewire comprises a commercial guidewire and a magnetic structure connected to each other, the magnetic structure comprises at least one section of magnet, and the magnet is arranged along the direction of the commercial guidewire.

[0017] Preferably, the magnetic structure also includes a silicone tube and a silicone polymer, the silicone polymer is filled in the middle of the silicone tube, the magnet is sleeved in the silicone tube on one side of the silicone polymer, and a commercial guide wire is sleeved in the silicone tube on the other side of the silicone polymer.

[0018] Preferably, the synchronous scanning imaging signal includes a position state imaging signal of the magnetic guidewire and a delivery environment imaging signal of the magnetic guidewire.

[0019] Preferably, the magnetic driving module and the ultrasonic tracking module are respectively located on both sides of the patient.

[0020] Preferably, the magnetically controlled interventional guidewire robot also includes an operating table, which can move relative to the ground, and the pushing module is installed on the operating table and moves with the operating table.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] The present application discloses a magnetically controlled interventional guidewire robot based on mobile ultrasonic imaging, wherein a push module is used to drive the magnetic guidewire to move, and the magnetic guidewire has a magnetic structure, and the magnetic structure can be deflected under the magnetic action of the magnetic drive module, and the magnetic drive module does not contact the magnetic guidewire during this process. The ultrasonic tracking module can move with the top of the magnetic guidewire, and synchronously scan and image on the moving path of the magnetic guidewire during this process to obtain a real-time ultrasonic image. The control terminal receives the synchronous scanning imaging signal in real time, and is connected to the push module, the magnetic drive module and the ultrasonic tracking module signal, so that the push module, the magnetic drive module and the ultrasonic tracking module can be controlled to work normally. The magnetic guidewire is a master-slave interventional guidewire, and its magnetic guidewire can realize automatic steering and autonomous navigation functions under the action of the magnetic drive module. The push module can further improve the controllability of the magnetic guidewire movement and obtain more accurate operation accuracy. At the same time, the ultrasonic real-time tracking method of the ultrasonic tracking module can also realize accurate three-dimensional positioning in the body to the greatest extent, avoiding the situation where the fluorescence imaging effect is poor. In addition, the ultrasonic tracking method is a radiation-free imaging method, and does not cause potential radiation damage to the human body when obtaining the three-dimensional position signal. The predictive control strategy can realize closed-loop control based on the position information of the magnetic guidewire in real time, thereby making real-time corrections to the magnetic guidewire and greatly improving the delivery accuracy of the magnetic guidewire.

[0023] Compared with the prior art, the magnetically controlled interventional guidewire robot based on mobile ultrasonic imaging disclosed in the present application can achieve the purpose of enabling the instrument to obtain accurate three-dimensional real-time positioning and automatic navigation while avoiding radiation damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention is described in detail below with reference to the embodiments and accompanying drawings, wherein:

[0025] Figure 1 A schematic structural diagram of a magnetically controlled interventional guidewire robot based on mobile ultrasonic imaging according to an embodiment of the present invention is shown;

[0026] Figure 2 Shown according to Figure 1 A schematic diagram of the structure of a magnetic drive module in a magnetically controlled interventional guidewire robot based on mobile ultrasound imaging is provided;

[0027] Figure 3 Shown according to Figure 1 A schematic structural diagram of a push module in a magnetically controlled interventional guidewire robot based on mobile ultrasound imaging is provided;

[0028] Figure 4 Shown according to Figure 1 A schematic diagram of the structure of a magnetic guidewire in a magnetically controlled interventional guidewire robot based on mobile ultrasound imaging is provided;

[0029] Figure 5 Shown according to Figure 1 A schematic structural diagram of an ultrasonic tracking module in a magnetically controlled interventional guidewire robot based on mobile ultrasonic imaging is provided. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical scheme and advantages of the present invention clearer, the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings. Examples of embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar components or components with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be interpreted as limiting the present invention.

[0031] The present invention discloses a magnetically controlled interventional guidewire robot based on mobile ultrasonic imaging, comprising:

[0032] A pushing module drives the magnetic guide wire with a magnetic structure at the top to move;

[0033] A magnetic drive module, wherein the magnetic drive module does not contact the magnetic guide wire and the top end of the magnetic guide wire is deflected by magnetic control;

[0034] An ultrasonic tracking module follows the movement of the top end of the magnetic guide wire and performs synchronous scanning imaging on the moving path of the magnetic guide wire;

[0035] The control terminal receives the synchronous scanning imaging signal of the ultrasonic tracking module in real time, and the control terminal is connected with the pushing module, the magnetic driving module and the ultrasonic tracking module signal.

[0036] The push module is used to drive the magnetic guide wire to move. The magnetic guide wire has a magnetic structure. The magnetic structure can be deflected under the magnetic action of the magnetic drive module. During this process, the magnetic drive module does not contact the magnetic guide wire. The ultrasonic tracking module can move with the top of the magnetic guide wire, and during this process, synchronous scanning imaging is performed on the moving path of the magnetic guide wire to obtain real-time ultrasonic images. The control terminal receives the synchronous scanning imaging signal in real time, and is connected to the push module, the magnetic drive module and the ultrasonic tracking module signal, so that the push module, the magnetic drive module and the ultrasonic tracking module can be controlled to work normally. The magnetic guide wire is a master-slave interventional guide wire. The magnetic guide wire can realize automatic steering and autonomous navigation functions under the action of the magnetic drive module. The push module can further improve the controllability of the magnetic guide wire movement and obtain more accurate operation accuracy. At the same time, the ultrasonic real-time tracking method of the ultrasonic tracking module can also realize accurate three-dimensional positioning in the body to the greatest extent, avoiding the situation of poor fluorescence imaging effect. In addition, the ultrasonic tracking method is a radiation-free imaging method, which does not cause potential radiation damage to the human body when obtaining three-dimensional position signals. The predictive control strategy can realize closed-loop control in real time according to the position information of the magnetic guidewire, thereby making real-time corrections to the magnetic guidewire, and thus greatly improving the delivery accuracy of the magnetic guidewire. Compared with the prior art, the magnetically controlled interventional guidewire robot based on mobile ultrasound imaging disclosed in this application can achieve the purpose of enabling the instrument to obtain accurate three-dimensional real-time positioning and automatic navigation, and avoid radiation damage.

[0037] The present invention provides a magnetically controlled interventional guidewire robot based on mobile ultrasonic imaging, the system mainly comprising the following components: a magnetic drive module 1, a push module 2, a magnetic guidewire 3, an ultrasonic tracking module 4, an ultrasonic imaging terminal 5, a data processing workstation 6, a control terminal 7 and an operating table 8, wherein the patient is shown as number 9. The present invention combines ultrasonic imaging technology with magnetic drive technology, independently designs and integrates a set of ultrasonic-guided magnetically controlled interventional guidewire robot systems to achieve real-time tracking and automatic navigation of magnetic guidewires in simulated tissues or in vivo, so that doctors can achieve real-time tracking and automatic navigation of magnetic guidewires in simulated tissues or in vivo without relying on X-rays, thereby greatly improving the magnetic navigation efficiency of magnetic guidewires, shortening the intervention operation time, and keeping doctors away from radiation damage and reducing fatigue damage, thereby achieving the goal of automated radiation-free interventional surgery.

[0038] The application principle is that during interventional surgery, the vascular structure and position status of the magnetic guidewire in the body are transmitted to the ultrasound imaging terminal in real time through the mobile ultrasound tracking module, and the ultrasound image is collected for a series of image processing. After completing the positioning and tracking of the magnetic guidewire, the guidewire position is fed back to the control terminal, and then the surgeon makes a control decision and sends the control command to each motion module in the operating room for execution. Finally, the magnetic guidewire is controlled to automatically navigate to the target lesion area, thereby establishing a target pathway to complete subsequent surgical treatment.

[0039] In some embodiments, the magnetic drive module includes a first movable seat, a first joint robotic arm and a permanent magnet. One end of the first joint robotic arm is installed on the first movable seat, and the other end is installed with a permanent magnet. The permanent magnet controls the deflection of the top end of the magnetic guide wire.

[0040] Specifically, the magnetic drive module includes a first mobile seat, which can move relative to the ground, so that the entire magnetic drive module can move simultaneously under the action of the first mobile seat, so that the first mobile seat can be controlled to be placed in a suitable position, so that the first joint mechanical arm can respond with a better path and a faster speed. The first joint mechanical arm can control the permanent magnet mounted thereon to move to any position within the range of travel of the first joint mechanical arm, so as to maximize the control of the position of the permanent magnet to accurately deflect the magnetic guide wire, so that the controllability of the magnetic control interventional guide wire robot is higher. In addition, when the first mobile seat and the first joint mechanical arm move together at the same time, the permanent magnet can also achieve more movement actions, and the range of motion of the permanent magnet can also be increased. The selection of permanent magnets can more conveniently establish a magnetic drive model for them, and the magnetic field generated by them is also more stable. In other embodiments, an electromagnetic magnetic source can be used to replace the permanent magnet for use.

[0041] Figure 2 It is a schematic diagram of the composition of the movable magnetic drive module of the present invention. The entire magnetic drive module includes: a first movable seat 11, a first joint mechanical arm 12, and a magnet mounting assembly 13. The first movable seat 11 can be moved or locked and fixed on the ground through the bottom wheels. The first joint mechanical arm 12 is installed on the top panel of the first movable seat 11 by bolts. The magnet mounting assembly 13 is composed of a 3D printed connector and an internal cylindrical permanent magnet, and is installed on the end flange of the first joint mechanical arm 12 by bolts. The working principle of this module is: by controlling the movement of each joint of the first joint mechanical arm 12, the magnet mounting assembly 13 clamped at the end is moved, thereby changing the position and posture of the internal magnet, and further changing the size and direction of the generated magnetic field, and finally making the magnetic guide wire 3 deflect to the desired state under the action of the external magnetic field, realizing arbitrary magnetic manipulation in a large working space.

[0042] In some embodiments, the ultrasonic tracking module includes a second movable base, a second articulated robotic arm and an ultrasonic probe. One end of the second articulated robotic arm is mounted on the second movable base, and the other end is mounted with the ultrasonic probe. The ultrasonic probe performs synchronous scanning imaging on the moving path of the magnetic guide wire.

[0043] Specifically, the ultrasonic tracking module includes a second mobile seat, which can move relative to the ground, so that the entire ultrasonic tracking module can move simultaneously under the action of the second mobile seat, so that the second mobile seat can be controlled to be placed in a suitable position, so that the second joint mechanical arm can respond with a better path and faster speed. The second joint mechanical arm can control the ultrasonic probe installed thereon to move to any position within the travel range of the second joint mechanical arm, so as to maximize the control of the position of the ultrasonic probe to achieve real-time tracking scanning of the magnetic guide wire, so that the magnetic control interventional guide wire robot is more controllable. In addition, when the second mobile seat and the second joint mechanical arm move together at the same time, the ultrasonic probe can also achieve more movement movements and increase the range of motion of the ultrasonic probe. Among them, the second mobile seat and the second joint mechanical arm can form a coordinated cooperation with the first mobile seat and the first joint mechanical arm.

[0044] Figure 5 It is a schematic diagram of the composition of the movable ultrasonic tracking module of the present invention. The whole module includes: a second movable seat 41, a second joint mechanical arm 42, an ultrasonic probe connector 43, and an ultrasonic probe 44. The second movable seat 41 can be moved or locked and fixed on the ground by the bottom wheels, and the second joint mechanical arm 42 is installed on the top panel of the second movable seat 41 by bolts. The ultrasonic probe connector 43 is designed according to the outer contour and size of the ultrasonic probe 44 and obtained by 3D printing. Its cavity is symmetrical with respect to the center line. This design facilitates coordinate transformation and motion control of the ultrasonic probe 44. The ultrasonic probe connector 43 is installed on the end flange of the second joint mechanical arm 42 by bolts, and then the ultrasonic probe 44 is installed in the inner cavity of the ultrasonic probe connector 43 with four bolts, so that the probe is close to the connector without loosening. The working principle of this module is: by controlling the movement of each joint of the second joint robotic arm 42, the ultrasonic probe 44 at the end is controlled to follow the intervention path of the magnetic guide wire 3 and perform synchronous scanning along the body surface of the patient 9. It can move flexibly in a large working space to complete real-time imaging and tracking of the magnetic guide wire 3.

[0045] In some specific embodiments, when the patient is sitting or lying down, only the ultrasound probe and the magnetic guidewire of the magnetically controlled interventional guidewire robot are in contact with the patient.

[0046] It should be noted that in order to further improve the safety performance of the magnetically controlled interventional guidewire robot and eliminate interference from other factors, such as electromagnetic interference and mechanical shaking, only the ultrasound probe and the magnetic guidewire are in contact with the patient when the patient is sitting or lying down.

[0047] In some embodiments, the pushing module includes a delivery unit and a rotation unit, the delivery unit drives the magnetic guide wire to move in the axial direction thereof, and the rotation unit drives the magnetic guide wire to rotate.

[0048] It should be noted that, in addition to the most basic forward delivery, the pushing module disclosed in the present application also has the movements of retreat, stationary and rotating. When faced with a complex in vivo environment, the high magnetic control interventional guidewire robot has a larger room for maneuver and can be used in more scenarios.

[0049] Figure 3 It is a schematic diagram of the push module of the present invention. The push module can realize linear push motion and rotation motion of the magnetic guide wire 3 based on the continuous push principle. The whole module includes: a rotation motion stepper motor 21, a motor mounting seat 22, a bottom mounting plate 23, a driving pinion 24, a rear support seat 25, a rotation motion connector 26, a linear motion stepper motor 27, a motor mounting seat 28, a front support seat 29, a front mounting seat 210, a driven wheel 211, a driving wheel 212, a clamping adjustment spring 213, a rear mounting seat 214, a driven large gear 215, a positioning mounting plate 216, a positioning connecting rod 217, a positioning connecting rod 218, a self-locking spherical hinge 219, a fixed clamp plate 220, and an object of action, the magnetic guide wire 3. Parts 21 to 215 in the module are actual push components, which are connected to each other by screws. The function is to provide the magnetic guide wire 3 with power for advancing, retreating and rotating, which is achieved by the principle of double friction wheel clamping rotation and double gear meshing rotation. The remaining parts 216 to 220 are positioning components, which are connected to each other through hinges to achieve rotation and locking. They are installed on the side of the operating bed 8 and their function is to adjust the position of the fixed pushing module.

[0050] In some embodiments, the magnetic guidewire includes a commercial guidewire and a magnetic structure connected to each other, wherein the magnetic structure includes at least one section of magnets, and the magnets are arranged along the direction of the commercial guidewire.

[0051] Specifically, the commercial guide wire is a normal guide wire without magnetism, and the magnetic structure includes at least one segment of magnet. When the magnetic structure has only one segment of magnet, a material that is easy to deform or a thinner material can be selected for production. When the magnetic structure has multiple segments of magnet, the multiple segments of magnet are arranged along the direction of the commercial guide wire, so as to achieve the purpose of deflection under the action of the magnetic drive module.

[0052] In some specific embodiments, the magnetic structure also includes a silicone tube and a silicone polymer, the silicone polymer is filled in the middle of the silicone tube, the magnet is sleeved in the silicone tube on one side of the silicone polymer, and a commercial guide wire is sleeved in the silicone tube on the other side of the silicone polymer.

[0053] Among them, the silicone tube is a silicone polymer that can exist stably in the human body. At the same time, it has a certain flexibility and can bend. The silicone polymer is located in the middle of the silicone tube, one end is used to place the magnet, and the other end is used for the commercial guide wire to be inserted, thereby forming a stable connection relationship. When connecting, it can be made to have an interference fit, or a silicone adhesive can be injected to obtain a more stable connection.

[0054] Figure 4 The structure and principle diagram of the magnetic guide wire of the present invention are shown in FIG. Figure 4 (a) is the structural composition diagram, Figure 4 (b) is the working principle diagram. Figure 4 In (a), the magnetic guidewire 3 is composed of a commercial guidewire 31, a hollow silicone tube 32, a silicone polymer 33 and a plurality of small magnets 34. The construction process is as follows: first prepare a hollow silicone tube 32 of suitable length, then inject the silicone polymer 33 into the inner cavity of the hollow silicone tube 32 through a syringe, and wait for natural cooling and solidification, then insert a plurality of small magnets 34 into the top of the hollow silicone tube 32, and then insert a straight commercial guidewire 31 into the bottom, and finally use medical-grade silicone adhesive to firmly bond the joint between the commercial guidewire 31 and the hollow silicone tube 32 to obtain a complete magnetic guidewire 3. Figure 4 In (b), driven by the magnetic field generated by the external magnet, the magnetic guide wire 3 is subjected to the magnetic force and magnetic torque in the magnet's S pole attraction mode and can be deflected in the direction of the magnetic field B.

[0055] In some embodiments, the synchronous scanning imaging signal includes a position status imaging signal of the magnetic guidewire and a delivery environment imaging signal of the magnetic guidewire.

[0056] It should be noted that the position status imaging signal of the magnetic guide wire is determined by the magnetic drive module and the properties of the magnetic guide wire, and the delivery environment imaging signal of the magnetic guide wire is determined by the push module. Both signals are transmitted to the control terminal. The control signal generated after processing by the control terminal can correct the push module and the magnetic drive module to achieve closed-loop control.

[0057] In some embodiments, the magnetic drive module and the ultrasound tracking module are located on both sides of the patient.

[0058] It should be noted that in actual operation, when the magnetic drive module and the ultrasonic tracking module are placed on the same side of the patient, they will interfere with each other during operation, thus affecting the normal progress of the interventional surgery, especially when the magnetic drive module and the ultrasonic tracking module are set on the same joint arm. Therefore, this problem can be solved by setting the magnetic drive module and the ultrasonic tracking module separately and placing them on both sides of the patient, thereby improving the stability of the magnetically controlled interventional guidewire robot.

[0059] In some embodiments, the magnetically controlled interventional guidewire robot also includes an operating table, which can move relative to the ground. The pushing module is installed on the operating table and moves with the operating table.

[0060] In a particularly detailed embodiment, Figure 1 As shown, each module is reasonably arranged around the operating table 8 in the operating room. Except for the magnetic guide wire and the ultrasonic probe of the mobile ultrasonic tracking module 4, which need to contact the patient's body surface, other modules cannot touch the patient 9's body to ensure safety. Regarding the functions, the magnetic drive module 1 can provide an external magnetic field to drive the magnetic guide wire 3 to deflect into the target pathway at the bifurcation of the blood vessel; the pushing module 2 provides the magnetic guide wire 3 with the power to advance, retreat and rotate, so as to complete the operation of the magnetic guide wire 3; the ultrasonic tracking module 4 can control the probe to follow the intervention path of the magnetic guide wire and perform synchronous scanning close to the body surface, so as to complete the real-time imaging and tracking of the magnetic guide wire 3; the ultrasonic imaging terminal 5 is responsible for receiving and transmitting ultrasonic images. The working principle of the present invention is: the vascular structure and the position status of the magnetic guidewire in the human body are transmitted to the ultrasonic imaging terminal 5 in real time through the ultrasonic tracking module 4, and the ultrasonic image is further transmitted to the data processing workstation 6 in the control room through the video acquisition card. After completing the positioning and tracking of the magnetic guidewire, the position of the magnetic guidewire is fed back to the control terminal 7, and then the surgeon makes a control decision and sends the control command to each motion module in the operating room for execution, and finally controls the magnetic guidewire to automatically navigate to the target lesion area, thereby establishing a target pathway to complete subsequent surgical treatment.

[0061] In the description of this specification, if the terms "embodiment one", "this embodiment", "in an embodiment" and the like appear, it means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in the invention or at least one embodiment or example of the invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example; moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in an appropriate manner.

[0062] In the description of this specification, the terms "connect", "install", "fix", "set", "have", etc. are all understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0063] In the description of this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0064] The above description of the embodiments is to facilitate ordinary technicians in the technical field to understand and apply the technology of this case. People familiar with the technology in this field can obviously easily make various modifications to these examples and apply the general principles described here to other embodiments without creative work. Therefore, this case is not limited to the above embodiments. Modifications to the following situations should all be within the scope of protection of this case: ① A new technical solution implemented based on the technical solution of the present invention and combined with existing common knowledge, the technical effect produced by the new technical solution does not exceed the technical effect of the present invention; ② The equivalent replacement of some features of the technical solution of the present invention by using known technology, the technical effect produced is the same as the technical effect of the present invention; ③ The technical solution of the present invention can be expanded, and the substantive content of the expanded technical solution does not exceed the technical solution of the present invention; ④ The equivalent transformation made by using the contents of the description and drawings of the present invention is directly or indirectly applied to other related technical fields.

Claims

1. A magnetically controlled interventional guidewire robot based on mobile ultrasound imaging, characterized in that: include: A pushing module, wherein the pushing module drives the magnetic guide wire with a magnetic structure at the top to move; A magnetic drive module, wherein the magnetic drive module does not contact the magnetic guide wire and magnetically controls the top end of the magnetic guide wire to deflect; An ultrasonic tracking module follows the movement of the top end of the magnetic guide wire and performs synchronous scanning imaging on the moving path of the magnetic guide wire; The control terminal receives the synchronous scanning imaging signal of the ultrasonic tracking module in real time, and the control terminal is connected with the pushing module, the magnetic driving module and the ultrasonic tracking module signal.

2. The magnetically controlled interventional guidewire robot based on mobile ultrasound imaging according to claim 1, characterized in that: The magnetic drive module includes a first moving seat, a first joint mechanical arm and a permanent magnet. One end of the first joint mechanical arm is installed on the first moving seat, and the other end is installed with the permanent magnet. The permanent magnet controls the top end of the magnetic guide wire to deflect.

3. The magnetically controlled interventional guidewire robot based on mobile ultrasound imaging according to claim 1, characterized in that: The ultrasonic tracking module includes a second movable seat, a second joint mechanical arm and an ultrasonic probe. One end of the second joint mechanical arm is installed on the second movable seat, and the other end is installed with the ultrasonic probe. The ultrasonic probe performs synchronous scanning imaging on the moving path of the magnetic guide wire.

4. The magnetically controlled interventional guidewire robot based on mobile ultrasonic imaging according to claim 3, characterized in that: When the patient is sitting or lying down, only the ultrasound probe and the magnetic guidewire of the magnetically controlled interventional guidewire robot are in contact with the patient.

5. The magnetically controlled interventional guidewire robot based on mobile ultrasound imaging according to claim 1, characterized in that: The pushing module includes a delivery unit and a rotation unit. The delivery unit drives the magnetic guide wire to move in the axial direction thereof, and the rotation unit drives the magnetic guide wire to rotate.

6. The magnetically controlled interventional guidewire robot based on mobile ultrasound imaging according to claim 1, characterized in that: The magnetic guide wire comprises a commercial guide wire and a magnetic structure connected to each other. The magnetic structure comprises at least one section of magnets, and the magnets are arranged along the direction of the commercial guide wire.

7. The magnetically controlled interventional guidewire robot based on mobile ultrasonic imaging according to claim 6, characterized in that: The magnetic structure also includes a silicone tube and a silicone polymer, the silicone polymer is filled in the middle of the silicone tube, the magnet is sleeved in the silicone tube on one side of the silicone polymer, and the commercial guide wire is sleeved in the silicone tube on the other side of the silicone polymer.

8. The magnetically controlled interventional guidewire robot based on mobile ultrasound imaging according to claim 1, characterized in that: The synchronous scanning imaging signal includes a position state imaging signal of the magnetic guide wire and a delivery environment imaging signal of the magnetic guide wire.

9. The magnetically controlled interventional guidewire robot based on mobile ultrasound imaging according to claim 1, characterized in that: The magnetic driving module and the ultrasonic tracking module are respectively located on two sides of the patient.

10. A magnetically controlled interventional guidewire robot based on mobile ultrasound imaging according to any one of claims 1 to 9, characterized in that: The magnetically controlled interventional guidewire robot also includes an operating table, which can move relative to the ground. The pushing module is installed on the operating table and moves with the operating table.

Images