A magnetically controlled interventional guidewire robot based on mobile ultrasound imaging

Abstract

The application relates to a magnetic control interventional 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 has a magnetic structure, the magnetic structure can be deflected under the magnetic action of a magnetic driving module, and the magnetic driving module does not contact the magnetic guide wire in the process. An ultrasonic tracking module can move together with the top end of the magnetic guide wire, and synchronously scans and images on the moving path of the magnetic guide wire in the process to obtain real-time ultrasonic images. A control terminal receives the synchronously scanned and imaged signals in real time, and is connected 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 normally work. Compared with the prior art, the magnetic control interventional guide wire robot based on mobile ultrasonic imaging can realize the purpose of enabling the instrument to obtain accurate three-dimensional real-time positioning and automatic navigation and avoiding radiation damage.

Description

Technical Field

[0001] This invention relates to the field of vascular interventional surgical robot technology, and in particular to a magnetically controlled interventional guidewire robot based on mobile ultrasound imaging. Background Technology

[0002] Cardiovascular and cerebrovascular diseases have become a major cause of global disease burden, with high morbidity and mortality rates. According to data from my country's seventh national census, there are currently over 330 million people suffering from these diseases. Compared to traditional open surgery, the commonly used interventional vascular surgery offers numerous advantages, including smaller incisions, higher success rates, faster recovery, and the elimination of the need for general anesthesia. It is widely used to treat various cardiovascular and cerebrovascular diseases. Guided by medical imaging equipment, it utilizes guidewires, catheters, balloons, stents, and other instruments to revascularize narrowed arteries and improve local blood supply, thus serving as a crucial treatment method for various cardiovascular and cerebrovascular diseases.

[0003] However, existing vascular interventional surgeries present challenges such as high radiation exposure, long operation times, and high requirements for surgeon experience. Therefore, domestic and international companies and institutions have begun developing master-slave vascular interventional surgical robot systems to address these challenges. In recent years, several commercially available vascular interventional surgical robots have been developed, with a few obtaining FDA and CE certifications and being marketed abroad, beginning to be used in clinical practice to assist physicians in better performing interventional treatments. However, existing interventional surgical robots are still limited to passively manipulating pre-shaped guidewires / catheters, and cannot achieve active instrument steering and autonomous navigation.

[0004] Furthermore, achieving real-time three-dimensional localization and automated navigation of master-slave interventional guidewires / catheters in multi-branched blood vessels remains a challenge. While current technologies have made significant progress in improving interventional procedures and have been applied in medicine, they generally rely on fluorescence imaging for intraoperative guidance. The X-rays produced pose a potential radiation hazard to the human body, and fluorescence imaging struggles to achieve precise three-dimensional localization of interventional instruments within the body. Moreover, few technologies have achieved real-time localization, tracking, and autonomous navigation of interventional guidewires / catheters in simulated tissues or within the body; therefore, the autonomy of robots still needs improvement.

[0005] Therefore, in response to the main shortcomings of existing technologies, this invention independently designed and integrated a magnetically controlled interventional guidewire robot based on mobile ultrasound imaging, providing an automated, radiation-free interventional surgery solution. This allows doctors to achieve real-time tracking and automatic navigation of the interventional guidewire in simulated tissues or within the body without relying on X-rays, thereby greatly improving the navigation efficiency of the interventional guidewire, shortening the interventional operation time, and keeping doctors away from radiation damage and reducing fatigue, ultimately realizing radiation-free vascular interventional surgery in the future. Summary of the Invention

[0006] To address the shortcomings of existing technologies that rely on intraoperative guidance through fluorescence imaging, which cannot achieve precise three-dimensional real-time positioning and automatic navigation of instruments and can cause radiation damage, this invention proposes a magnetically controlled interventional guidewire robot based on mobile ultrasound imaging.

[0007] The technical solution adopted in this invention is a magnetically controlled interventional guidewire robot based on mobile ultrasound imaging, comprising:

[0008] The push module drives the magnetic guide wire with a magnetic structure at its tip to move.

[0009] The magnetic drive module does not contact the magnetic guide wire, and the magnetic control causes the tip of the magnetic guide wire to deflect.

[0010] The ultrasonic tracking module follows the movement of the tip of the magnetic guidewire and performs synchronous scanning imaging along the movement path of the magnetic guidewire.

[0011] The control terminal receives synchronous scanning imaging signals from the ultrasound tracking module in real time, and the control terminal is connected to the push module, magnetic drive module and ultrasound tracking module.

[0012] Preferably, the magnetic drive module includes a first movable base, a first articulated robotic arm, and a permanent magnet. One end of the first articulated robotic arm is mounted on the first movable base, and the other end is mounted with a permanent magnet. The permanent magnet controls the deflection of the tip of the magnetic guide wire.

[0013] Preferably, 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 equipped with an ultrasonic probe. The ultrasonic probe performs synchronous scanning imaging along the moving path of the magnetic guide wire.

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

[0015] Preferably, the pushing module includes a delivery unit and a rotating unit, wherein the delivery unit drives the magnetic guide wire to move in its axial direction, and the rotating unit drives the magnetic guide wire to rotate.

[0016] Preferably, the magnetic guide wire includes interconnected commercial guide wires and magnetic structures, the magnetic structure including at least one magnet arranged along the direction of the commercial guide wire.

[0017] Preferably, the magnetic structure further includes a silicone tube and a silicone polymer, with the silicone polymer filling the middle of the silicone tube, the magnet being fitted inside the silicone tube on one side of the silicone polymer, and a commercial guide wire being fitted inside the silicone tube on the other side of the silicone polymer.

[0018] Preferably, the synchronous scanning imaging signals include the positional imaging signal of the magnetic guidewire and the delivery environment imaging signal of the magnetic guidewire.

[0019] Preferably, the magnetic drive module and the ultrasound tracking module are located on both sides of the patient.

[0020] Preferably, the magnetically controlled interventional guidewire robot also includes an operating table, which is movable relative to the ground, and a 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] This application discloses a magnetically controlled interventional guidewire robot based on mobile ultrasound imaging. A pushing module drives the magnetic guidewire to move. The magnetic guidewire has a magnetic structure that can deflect under the magnetic influence of the magnetic driving module, without the magnetic driving module contacting the magnetic guidewire. An ultrasound tracking module moves along with the tip of the magnetic guidewire and performs synchronous scanning imaging along its path to acquire real-time ultrasound images. A control terminal receives the synchronous scanning imaging signal in real time and connects with the pushing module, magnetic driving module, and ultrasound tracking module to control their normal operation. The magnetic guidewire is a master-slave interventional guidewire, capable of automatic steering and autonomous navigation under the action of the magnetic driving module. The pushing module further improves the controllability of the magnetic guidewire's movement and achieves more accurate operating precision. Simultaneously, the real-time ultrasound tracking method of the ultrasound tracking module can achieve precise three-dimensional positioning within the body to the greatest extent possible, avoiding the poor results of fluorescence imaging. Furthermore, ultrasound tracking is a radiation-free imaging method, and acquiring three-dimensional position signals does not pose a potential radiation hazard to the human body. Predictive control strategies can achieve closed-loop control in real time based on the position information of the magnetic guide wire, thereby correcting the magnetic guide wire in real time and significantly improving the delivery accuracy of the magnetic guide wire.

[0023] Compared with existing technologies, 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, while avoiding radiation damage. Attached Figure Description

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

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

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

[0027] Figure 3 It shows that according to Figure 1 A schematic diagram of the pushing module in a magnetically controlled interventional guidewire robot based on mobile ultrasound imaging is provided.

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

[0029] Figure 5 It shows that according to Figure 1 A schematic diagram of the ultrasonic tracking module in a magnetically controlled interventional guidewire robot based on mobile ultrasonic imaging is provided. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Examples of embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0031] This invention discloses a magnetically controlled interventional guidewire robot based on mobile ultrasound imaging, comprising:

[0032] The push module drives the magnetic guide wire with a magnetic structure at its tip to move.

[0033] The magnetic drive module does not contact the magnetic guide wire, and the magnetic control causes the tip of the magnetic guide wire to deflect.

[0034] The ultrasonic tracking module follows the movement of the tip of the magnetic guidewire and performs synchronous scanning imaging along the movement path of the magnetic guidewire.

[0035] The control terminal receives synchronous scanning imaging signals from the ultrasound tracking module in real time, and the control terminal is connected to the push module, magnetic drive module and ultrasound tracking module.

[0036] The push module drives the magnetic guidewire. The magnetic guidewire has a magnetic structure that deflects under the magnetic influence of the magnetic drive module, without contact between the module and the guidewire. The ultrasound tracking module moves with the tip of the magnetic guidewire, simultaneously scanning and imaging along its path to acquire real-time ultrasound images. The control terminal receives the synchronous scanning and imaging signals in real time and connects with the push module, magnetic drive module, and ultrasound tracking module to control their normal operation. The magnetic guidewire is a master-slave interventional guidewire, capable of automatic steering and autonomous navigation under the action of the magnetic drive module. Combined with the push module, this further enhances the controllability of the guidewire's movement and achieves more accurate operating precision. Simultaneously, the real-time ultrasound tracking of the ultrasound tracking module maximizes precise three-dimensional positioning within the body, avoiding the poor results of fluorescence imaging. Furthermore, ultrasound tracking is a radiation-free imaging method, posing no potential radiation damage to the human body when acquiring three-dimensional position signals. By employing predictive control strategies, closed-loop control can be achieved in real time based on the position information of the magnetic guidewire, thereby correcting the magnetic guidewire in real time and significantly improving its delivery accuracy. Compared with existing technologies, the magnetically controlled interventional guidewire robot based on mobile ultrasound imaging disclosed in this application can achieve precise three-dimensional real-time positioning and automatic navigation of the instrument while avoiding radiation damage.

[0037] This invention provides a magnetically controlled interventional guidewire robot based on mobile ultrasound imaging. The system mainly includes the following components: a magnetic drive module 1, a pushing module 2, a magnetic guidewire 3, an ultrasound tracking module 4, an ultrasound imaging terminal 5, a data processing workstation 6, a control terminal 7, and an operating table 8, where the patient is shown as number 9. This invention combines ultrasound imaging technology and magnetic drive technology to independently design and integrate an ultrasound-guided magnetically controlled interventional guidewire robot system. This enables real-time tracking and automatic navigation of the magnetic guidewire in simulated tissues or within the body, allowing doctors to achieve real-time tracking and automatic navigation of the magnetic guidewire in simulated tissues or within the body without relying on X-rays. This greatly improves the magnetic navigation efficiency of the magnetic guidewire, shortens the interventional operation time, and keeps doctors away from radiation damage and fatigue, thereby achieving the goal of automated, radiation-free interventional surgery.

[0038] The principle of its application is that, during interventional surgery, the mobile ultrasound tracking module transmits the vascular structure and the position of the magnetic guidewire in real time to the ultrasound imaging terminal, and acquires ultrasound images 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. Then, the surgeon makes control decisions and sends control commands to various motion modules in the operating room for execution. Finally, the magnetic guidewire is controlled to automatically navigate to the target lesion area, thereby establishing the target pathway to complete the subsequent surgical treatment.

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

[0040] Specifically, the magnetic drive module includes a first movable base, which can move relative to the ground, allowing the entire magnetic drive module to move simultaneously under its influence. This enables the first movable base to be positioned appropriately, allowing the first articulated robotic arm to respond with a better path and faster speed. The first articulated robotic arm can control the permanent magnet mounted on it to move to any position within its stroke range, maximizing control over the permanent magnet's position to ensure accurate deflection of the magnetic guide wire, thus increasing the controllability of the magnetically controlled guide wire robot. Furthermore, the simultaneous coordinated movement of the first movable base and the first articulated robotic arm allows the permanent magnet to perform more movements and increases its range of motion. Using a permanent magnet also facilitates the creation of a magnetic drive model, and the magnetic field it generates is more stable. In other embodiments, an electromagnetic source can be used instead of a permanent magnet.

[0041] Figure 2 This is a schematic diagram of the movable magnetic drive module of the present invention. The entire magnetic drive module includes: a first movable base 11, a first articulated robotic arm 12, and a magnet mounting assembly 13. The first movable base 11 can be moved or locked to the ground by bottom wheels. The first articulated robotic arm 12 is bolted to the top panel of the first movable base 11. The magnet mounting assembly 13 consists of 3D printed connectors and internal cylindrical permanent magnets, and is bolted to the end flange of the first articulated robotic arm 12. The working principle of this module is as follows: by controlling the movement of each joint of the first articulated robotic arm 12, the magnet mounting assembly 13 held at the end is moved, thereby changing the position and orientation of the internal magnets, and further changing the magnitude and direction of the generated magnetic field. Ultimately, the magnetic guide wire 3 is deflected to the desired state under the action of the external magnetic field, realizing arbitrary magnetic manipulation within a large workspace.

[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 equipped with an ultrasonic probe. The ultrasonic probe performs synchronous scanning imaging along the movement path of the magnetic guide wire.

[0043] Specifically, the ultrasonic tracking module includes a second movable base, which can move relative to the ground. This allows the entire ultrasonic tracking module to move simultaneously under the action of the second movable base, enabling it to be positioned appropriately and allowing the second articulated robotic arm to respond with a better path and faster speed. The second articulated robotic arm can control the ultrasonic probe mounted on it to move to any position within its stroke range, thereby maximizing the control of the ultrasonic probe's position to achieve real-time tracking and scanning of the magnetic guidewire, thus increasing the controllability of the magnetically controlled interventional guidewire robot. Furthermore, the simultaneous movement of the second movable base and the second articulated robotic arm allows the ultrasonic probe to perform more movements and increases its range of motion. The second movable base and the second articulated robotic arm can work in synergy with the first movable base and the first articulated robotic arm.

[0044] Figure 5 This is a schematic diagram of the movable ultrasonic tracking module of the present invention. The entire module includes: a second movable base 41, a second articulated robotic arm 42, an ultrasonic probe connector 43, and an ultrasonic probe 44. The second movable base 41 can be moved or locked to the ground by its bottom wheels. The second articulated robotic arm 42 is bolted to the top panel of the second movable base 41. The ultrasonic probe connector 43 is designed according to the outer contour and size of the ultrasonic probe 44 and is 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 onto the end flange of the second articulated robotic arm 42 by bolts. Then, the ultrasonic probe 44 is installed into the inner cavity of the ultrasonic probe connector 43 by four bolts, so that the probe is tightly attached to the connector and does not loosen. The module works by controlling the movement of each joint of the second joint robotic arm 42 to control the ultrasound probe 44 at the end to follow the intervention path of the magnetic guidewire 3 and scan synchronously against the surface of the patient 9. It can move flexibly in a large workspace to complete real-time imaging and tracking of the magnetic guidewire 3.

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

[0046] It should be noted that, in order to further improve the safety performance of the magnetically controlled interventional guidewire robot and to 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 rotating unit, wherein the delivery unit drives the magnetic guide wire to move in its axial direction, and the rotating unit drives the magnetic guide wire to rotate.

[0048] It should be noted that, in addition to the most basic forward delivery, the push module disclosed in this application also has the functions of retraction, stationary and rotation. When facing complex internal environments, the high magnetic control interventional guide wire robot has a greater scope of application and can be used in more scenarios.

[0049] Figure 3 This is a schematic diagram of the push module of the present invention. Based on the principle of continuous push, this module enables linear push and rotational motion of the magnetic guide wire 3. The entire module includes: a rotary stepper motor 21, a motor mounting base 22, a bottom mounting plate 23, a driving pinion 24, a rear support base 25, a rotary motion connector 26, a linear stepper motor 27, a motor mounting base 28, a front support base 29, a front mounting base 210, a driven wheel 211, a driving wheel 212, a clamping adjustment spring 213, a rear mounting base 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 fixing clamp 220, and the magnetic guide wire 3 as the object of the push. Parts 21 to 215 in the module are the actual push components, connected to each other with screws. Their function is to provide the magnetic guide wire 3 with the power for forward, backward, and rotation, achieved through 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 by hinges to achieve rotation and locking. They are installed on the side of the operating table 8 and their function is to adjust the position of the fixed push module.

[0050] In some embodiments, the magnetic guide wire includes interconnected commercial guide wires and magnetic structures, the magnetic structure including at least one section of magnet arranged along the direction of the commercial guide wire.

[0051] Specifically, the commercial guidewire is a normal guidewire without magnetism, while the magnetic structure includes at least one magnet. When the magnetic structure has only one magnet, a material that is easily deformable or a thinner material can be used for fabrication. When the magnetic structure has multiple magnets, these magnets are arranged along the direction of the commercial guidewire to achieve 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, with the silicone polymer filling the middle of the silicone tube, a magnet being fitted inside the silicone tube on one side of the silicone polymer, and a commercial guide wire being fitted inside the silicone tube on the other side of the silicone polymer.

[0053] The silicone tubing, made of silicone polymer, is stable within the human body and possesses a degree of flexibility, allowing it to bend. The silicone polymer is located in the middle of the tubing; one end houses a magnet, and the other end is used for inserting a commercial guidewire, thus forming a stable connection. During connection, an interference fit can be used, or silicone adhesive can be injected to achieve a more robust connection.

[0054] Figure 4 This is a schematic diagram of the structure and principle of the magnetic guide wire of the present invention, wherein... Figure 4 (a) is a structural composition diagram. Figure 4 (b) is a schematic diagram of the working principle. Figure 4 In (a), the magnetic guide wire 3 consists of a commercially available guide wire 31, a hollow silicone tube 32, a silicone polymer 33, and multiple 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 using a syringe and allow it to cool and solidify naturally. Next, insert multiple small magnets 34 into the top of the hollow silicone tube 32, and insert a straight commercially available guide wire 31 into the bottom. Finally, use medical-grade silicone adhesive to firmly bond the joint between the commercially available guide wire 31 and the hollow silicone tube 32, resulting in a complete magnetic guide wire 3. Figure 4 In (b), under the driving action of the magnetic field generated by the external magnet, the magnetic wire 3 is attracted by the magnetic force and magnetic torque of the magnet's S pole and can deflect in the direction of the magnetic field B.

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

[0056] It should be noted that the position and state imaging signal of the magnetic guide wire is determined by the magnetic drive module and the properties of the magnetic guide wire, while the delivery environment imaging signal of the magnetic guide wire is determined by the push module. Both signals are transmitted to the control terminal, and the control signal generated after processing by the control terminal can then 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 either side of the patient.

[0058] It should be noted that in actual operation, when the magnetic drive module and the ultrasound tracking module are placed on the same side of the patient, they may interfere with each other during operation, thus affecting the normal progress of the interventional procedure, especially when the magnetic drive module and the ultrasound tracking module are mounted on the same articular arm. Therefore, this problem can be solved by separating the magnetic drive module and the ultrasound tracking module and placing them on opposite 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 that is movable relative to the ground, and a pushing module is mounted on the operating table and moves with the operating table.

[0060] In a particularly detailed embodiment, such as Figure 1 As shown, the various modules are arranged around the operating table 8 in the operating room. Except for the magnetic guidewire and the ultrasound probe of the moving ultrasound tracking module 4, which need to contact the patient's body surface, the other modules must not touch the patient's body 9 to ensure safety. Regarding functionality, the magnetic drive module 1 provides an external magnetic field to drive the magnetic guidewire 3 to deflect at the vascular bifurcation and enter the target pathway; the pushing module 2 provides the magnetic guidewire 3 with the power to advance, retract, and rotate, thus completing the operation of the magnetic guidewire 3; the ultrasound tracking module 4 controls the probe to follow the intervention path of the magnetic guidewire and perform synchronous scanning close to the body surface, completing real-time imaging and tracking of the magnetic guidewire 3; the ultrasound imaging terminal 5 is responsible for receiving and transmitting ultrasound images. The working principle of this invention is as follows: the ultrasound tracking module 4 transmits the vascular structure and the position of the magnetic guidewire in the human body to the ultrasound imaging terminal 5 in real time, and further transmits the ultrasound images 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. Then, the surgeon makes control decisions and sends control commands to various motion modules in the operating room for execution. Finally, the magnetic guidewire is controlled to automatically navigate to the target lesion area, thereby establishing the target pathway to complete the subsequent surgical treatment.

[0061] In the description of this specification, the use of terms such as "Embodiment 1," "this embodiment," or "in one embodiment" indicates that the specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example; moreover, the specific features, structures, materials, or characteristics described may be combined in any appropriate manner in one or more embodiments or examples.

[0062] In the description of this specification, the terms "connection," "installation," "fixing," "setting," and "having" are interpreted broadly. 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 an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0063] In the description of this specification, relational terms such as “first” and “second” are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase “comprising one…” does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0064] The above description of the embodiments is intended to enable those skilled in the art to understand and apply the technology of this invention. Those skilled in the art can easily make various modifications to these examples and apply the general principles described herein to other embodiments without creative effort. Therefore, this invention is not limited to the above embodiments. Modifications in the following situations should be within the scope of protection of this invention: ① New technical solutions implemented based on the technical solution of this invention and combined with existing common knowledge, where the technical effects of the new technical solution do not exceed the technical effects of this invention; ② Equivalent substitutions of some features of the technical solution of this invention using known technology, resulting in the same technical effects as those of this invention; ③ Extendable technical solutions based on the technical solution of this invention, where the substantive content of the extended technical solution does not exceed the technical solution of this invention; ④ Equivalent transformations made using the content of this specification and drawings, 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, The application relates to a magnetic control interventional guide wire robot. The push module drives a magnetic guide wire with a magnetic structure at the top end to move. The magnetic drive module does not contact the magnetic guide wire and magnetically controls the top end of the magnetic guide wire to deflect. The ultrasonic tracking module follows the movement of the top end of the magnetic guide wire and synchronously scans and images on the moving path of the magnetic guide wire, and the ultrasonic tracking module comprises a second moving base, a second joint mechanical arm and an ultrasonic probe, one end of the second joint mechanical arm is installed on the second moving base, and the other end is provided with the ultrasonic probe, and the ultrasonic probe synchronously scans and images on the moving path of the magnetic guide wire. The control terminal receives the synchronous scanning and imaging signals of the ultrasonic tracking module in real time, and is connected with the push module, the magnetic drive module and the ultrasonic tracking module to control the normal work of the push module, the magnetic drive module and the ultrasonic tracking module.

2. The magnetic steering interventional guidewire robot based on mobile ultrasound imaging of claim 1, wherein, The magnetic drive module comprises a first moving base, a first joint mechanical arm and a permanent magnet, one end of the first joint mechanical arm is installed on the first moving base, and the other end is provided with the permanent magnet, and the permanent magnet controls the top end of the magnetic guide wire to deflect.

3. The magnetic steering interventional guidewire robot based on mobile ultrasound imaging of claim 1, wherein, When the patient lies down, only the ultrasonic probe and the magnetic guide wire of the magnetic control interventional guide wire robot are in contact with the patient.

4. The magnetic steering interventional guidewire robot based on mobile ultrasound imaging of claim 1, wherein, The push module comprises a delivery unit and a rotating unit, the delivery unit drives the magnetic guide wire to move in the axial direction, and the rotating unit drives the magnetic guide wire to rotate.

5. The magnetic steering interventional guidewire robot based on mobile ultrasound imaging of claim 1, wherein, The magnetic guide wire comprises a commercial guide wire and a magnetic structure connected with each other, the magnetic structure comprises at least one magnet, and the magnet is arranged along the direction of the commercial guide wire.

6. The magnetic steering interventional guidewire robot based on mobile ultrasound imaging of claim 5, wherein, The magnetic structure further comprises a silica gel tube and a silica gel polymer, the silica gel polymer is filled in the middle part of the silica gel tube, the magnet is sleeved in the silica gel tube on one side of the silica gel polymer, and the commercial guide wire is sleeved in the silica gel tube on the other side of the silica gel polymer.

7. The magnetic steering interventional guidewire robot based on mobile ultrasound imaging of claim 1, wherein, The magnetic drive module and the ultrasonic tracking module are respectively located on the two sides of the patient.

8. The magnetic steering interventional guidewire robot based on mobile ultrasound imaging of any one of claims 1 to 7, wherein, The magnetic control interventional guide wire robot further comprises a surgical bed, the surgical bed can move relative to the ground, the push module is installed on the surgical bed and moves together with the surgical bed.

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