Multifunctional magnetic conduit robot with three-axis force sensing capability

Abstract

The invention relates to a multifunctional magnetic catheter robot with three-axis force sensing capability, which is characterized in that a magnetic catheter tip is connected to the extension end of a flexible catheter main body, and the magnetic catheter tip is provided with a magnetic channel, a sensor channel and a working channel which are arranged in parallel along the length direction of the magnetic catheter tip. The magnetic catheter robot not only can actively steer and navigate under the driving of an external magnetic field, but also can obtain force feedback in real time through a force sensor integrated at the tip of the magnetic catheter. In addition, an in-vivo surgical instrument unit integrated in the working channel further enhances the operating capacity and the application range of the magnetic control catheter, and the magnetic control catheter has the potential to achieve wider application of minimally invasive surgery after sensing and integrating more functional instruments with the help of force of the magnetic control catheter. Compared with the prior art, the multifunctional magnetic catheter robot with the three-axis force sensing capacity can achieve the purposes that a magnetic guide wire / catheter has the force sensing capacity, meanwhile, the magnetic guide wire / catheter has multiple functions, and clinical application is widened.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a multifunctional magnetic catheter robot with three-axis force sensing capability. Background Art

[0002] Minimally invasive surgery is widely used in interventional treatment of various diseases, including cardiovascular and cerebrovascular diseases, digestive system diseases, lung diseases, etc. Compared with traditional open surgery, minimally invasive surgery has the advantages of less trauma, faster postoperative recovery, and lower risk of complications.

[0003] Magnetic fields are safe and radiation-free and have been widely used in the biomedical field. Compared with traditional guidewires / catheters, magnetic continuum robots (MCRs) with active steering capabilities can change their posture under the drive of external magnetic sources due to their flexibility and controllability. They have reliable potential in clinical applications and can improve traditional interventional surgeries.

[0004] Although great progress has been made in improving traditional interventional surgery through magnetic continuum robots, there are still some problems when magnetic continuum robots work in patients. In fact, due to factors such as disturbances in tissues / blood vessels, narrow channels, and soft and deformable catheter tips, it is not easy to control the magnetic catheter robot to move along the desired trajectory. At the same time, the catheter often contacts the blood vessel wall. If there is no force sensing and force control, it is very easy to cause tissue puncture and damage.

[0005] The existing magnetic guidewires / catheters generally lack force sensing capabilities, which hinders their intelligent development. At the same time, most of them only have steering capabilities, resulting in single functions and limited clinical applications. Summary of the invention

[0006] In order to solve the defects that existing magnetic guidewires / catheters generally lack force sensing capability, which hinders their intelligent development, and most of them only have steering capability, resulting in single function and limited clinical application, the present invention proposes a multifunctional magnetic catheter robot with three-axis force sensing capability.

[0007] The technical solution adopted by the present invention is a multifunctional magnetic catheter robot with three-axis force sensing capability, comprising a magnetic catheter tip, the magnetic catheter tip being connected to the insertion end of the flexible catheter body, the magnetic catheter tip comprising a magnet channel, a sensor channel and a working channel arranged in parallel along the length direction thereof, the magnet channel being integrated with a plurality of sections of magnets arranged along the length direction, the sensor channel being equipped with a force sensor, and at least one in vivo surgical instrument unit being arranged in one of the working channels;

[0008] Or at least two surgical instrument units are respectively arranged in the multiple working channels, and the number of the surgical instrument units is the same as the number of the working channels.

[0009] Preferably, the force sensor is a three-axis force sensor.

[0010] Preferably, the shape of the three-axis force sensor is a strip, and the shape and size of the cross section of the three-axis force sensor matches the shape and size of the cross section of the sensor channel.

[0011] Preferably, the three-axis force sensor is a FBG force sensor, and the arrangement direction and length direction of the fiber grating in the FBG force sensor are consistent.

[0012] Preferably, the magnet channel, the sensor channel and the working channel are at the same distance from the edge in the cross section of the magnetic catheter tip.

[0013] Preferably, the intracorporeal surgical instrument unit is one or more of a biopsy forceps, an endoscope or a fiber optic laser.

[0014] Preferably, the flexible catheter body has a docking channel opened along the length direction, and the force sensor and / or the intracorporeal surgical instrument unit is inserted into the tip of the magnetic catheter through the docking channel.

[0015] Preferably, a fastening groove is provided at one end of the tip of the magnetic catheter along the length direction, and the insertion end of the flexible catheter body is inserted and fixed in the fastening groove.

[0016] Preferably, the shape and size of the cross section of the magnet matches the shape and size of the cross section of the magnet channel.

[0017] Preferably, the magnetic catheter tip comprises a flexible tube and a silicone support, the silicone support is fixed in the flexible tube, and the magnet channel, the sensor channel and the working channel are opened on the silicone support.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] The present application discloses a multifunctional magnetic catheter robot with three-axis force sensing capability, wherein a magnetic catheter tip is connected to the insertion end of the flexible catheter body, and the magnetic catheter tip has a magnetic channel and a sensor channel arranged in parallel along its length direction, and the magnetic channel is integrated with multiple segments of magnets arranged in the length direction, and the sensor channel is equipped with a force sensor. The multiple segments of magnets arranged in the magnetic channel will bend under the action of an external magnetic source, thereby driving the magnetic catheter tip to change its posture, and the force sensor in the parallel sensor channel can obtain the resistance value encountered by the magnetic catheter tip. When encountering obstruction of blood vessels or tissues, the resistance value received by the force sensor will change significantly, and the operator can judge whether there is an obstruction in the patient's body according to the size of the resistance value, thereby avoiding puncture and tissue damage during surgery.

[0020] In view of the main shortcomings of the prior art, the present invention independently designs and integrates a multifunctional magnetic catheter robot with three-axis force sensing capability to improve minimally invasive interventional surgery. The proposed magnetic catheter robot can not only actively steer and navigate under the drive of an external magnetic field, but also obtain real-time force feedback through the force sensor integrated at the tip of the magnetic catheter. In addition, the in vivo surgical instrument unit integrated in the working channel further enhances the operation capability and application scope of the magnetically controlled catheter. With the help of its own force sensing and the integration of more functional instruments, it has the potential to achieve a wider application of minimally invasive surgery.

[0021] Compared with the prior art, the present application discloses a multifunctional magnetic catheter robot with three-axis force sensing capability, which can enable the magnetic guidewire / catheter to have force sensing capability and at the same time have multiple functions, thereby broadening the purpose of clinical application. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present invention is described in detail below with reference to the embodiments and accompanying drawings, wherein:

[0023] Figure 1 A schematic structural diagram of a multifunctional magnetic catheter robot with three-axis force sensing capability provided in accordance with an embodiment of the present invention is shown;

[0024] Figure 2 A schematic diagram of steering and force sensing of a multifunctional magnetic catheter robot with three-axis force sensing capability provided in accordance with an embodiment of the present invention is shown;

[0025] Figure 3 A manufacturing flow chart of a multifunctional magnetic catheter robot with three-axis force sensing capability provided in accordance with an embodiment of the present invention is shown;

[0026] Figure 4 A magnetic catheter robot prototype of an integrated functional instrument of a multifunctional magnetic catheter robot with three-axis force sensing capability provided by an embodiment of the present invention is shown;

[0027] Figure 5 A schematic diagram showing the steering angle and three-axis force characterization results of a multifunctional magnetic catheter robot with three-axis force sensing capability provided according to an embodiment of the present invention is shown;

[0028] Figure 6 The present invention shows an experiment of imaging and palpation of lung nodules in a bronchial model using a multifunctional magnetic catheter robot with three-axis force sensing capability provided in an embodiment of the present invention;

[0029] Figure 7 A polyp biopsy sampling experiment in a stomach model with a three-axis force sensing capability provided according to an embodiment of the present invention is shown.

[0030] Description of labels:

[0031] 1. Magnet channel; 2. Sensor channel; 3. Working channel; 4. Flexible catheter body; 5. Magnetic catheter tip; 6. Magnet; 7. FBG force sensor; 8. Silicone tube; 9. Flexible support. DETAILED DESCRIPTION

[0032] 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.

[0033] The present invention discloses a multifunctional magnetic catheter robot with three-axis force sensing capability. Figure 1 , including a magnetic catheter tip 5, which is connected to the insertion end of the flexible catheter body 4. The magnetic catheter tip 5 includes a magnet channel 1 and a sensor channel 2 which are arranged in parallel along its length direction. The magnet channel 1 is integrated with multiple sections of magnets 6 arranged along the length direction, and the sensor channel 2 is equipped with a force sensor.

[0034] A magnetic catheter tip 5 is connected to the insertion end of the flexible catheter body 4. The magnetic catheter tip 5 has a magnetic channel and a sensor channel 2 arranged in parallel along its length. The magnetic channel is integrated with a multi-segment magnet 6 arranged in the length direction, and the sensor channel 2 is equipped with a force sensor. The multi-segment magnet 6 arranged in the magnetic channel will bend under the action of an external magnetic source, thereby driving the magnetic catheter tip 5 to change its posture, and the force sensor in the parallel sensor channel 2 can obtain the resistance value of the magnetic catheter tip 5. When encountering obstruction of blood vessels or tissues, the resistance value received by the force sensor will change significantly. The operator can judge whether there is an obstruction in the patient's body according to the size of the resistance value, thereby avoiding puncture and tissue damage during surgery. Compared with the prior art, the multifunctional magnetic catheter robot with three-axis force sensing capability disclosed in the present application can achieve the purpose of avoiding puncture or tissue damage during surgery and improving the safety level in surgical operations.

[0035] It should be noted that based on the reasons why intraoperative puncture or tissue damage is prone to occur when using a magnetic continuum robot, the author believes that the reason for the above situation is the lack of direct feeling of the guidewire catheter when it is delivered in the human body. Compared with the manual delivery method through the traditional guidewire catheter, when the traditional guidewire catheter encounters an obstacle, the surgeon can often intuitively feel the resistance from the traditional guidewire catheter through the human hand, so as to adjust the delivery angle and deliver it again, but the existing magnetic continuum robot cannot do this. Therefore, by making the multifunctional magnetic catheter robot with three-axis force sensing capability have force sensing capability, so that it can accurately sense the contact force between the catheter tip and the surrounding tissue, the surgeon can avoid the risk of insufficient or excessive force control, thereby preventing intraoperative puncture or tissue damage.

[0036] The magnetic channel and the sensor channel 2 are opened side by side, which means that the magnetic channel is opened beside the sensor channel 2, and the opening directions of the magnetic channel and the sensor channel 2 are along the length direction of the magnetic catheter tip 5. This means that in the length direction, the sensor channel 2 is neither completely located before the magnetic channel nor completely located after the magnetic channel, and there is a partially or completely parallel position between the sensor channel 2 and the magnetic channel.

[0037] The present application does not limit the position of the force sensor. The force sensor can be set at the front end position of the magnetic catheter tip 5 or at the rear end position of the magnetic catheter tip 5, but there is a slight difference when it is set at the front end position and the rear end position of the magnetic catheter tip 5. When set at the front end position, since the magnetic source often acts on the front end position of the multi-segment magnet 6 to control the bending of the multi-segment magnet 6, the force sensor is often subjected to large stress and strain changes when it is set at the front end position. At this time, the force sensor set at the front end position can very keenly capture the resistance data during the operation. When set at the rear end position, the stress and strain changes to which the force sensor is subjected are relatively small, so more uniform resistance data can be obtained.

[0038] The position where the force sensor is set can be used in conjunction with the positional relationship characteristics between the sensor channel 2 and the magnetic channel, so as to obtain more sensitive resistance data or more uniform resistance data, thereby obtaining better results.

[0039] It should be explained that the present application does not limit the specific setting posture of the force sensor. This is because theoretically, the curved magnetic catheter tip 5 has stress in any direction in the sensor channel 2. The stress acts on the force sensor to detect the resistance data. There is only a difference in the magnitude of stress in different directions. At the same time, the magnetic catheter tip 5 is also a catheter used for surgical treatment, so it has the characteristic of flexibility.

[0040] In the present application, the force sensor may be a resistive strain sensor, a piezoelectric sensor, a capacitive sensor, an inductive sensor, or the like.

[0041] In some embodiments, the magnetic catheter tip 5 includes a magnet channel 1, a sensor channel 2, and a working channel 3 arranged in parallel along the length direction, and at least one in-vivo surgical instrument unit is arranged in one working channel 3;

[0042] Or at least two surgical instrument units are respectively arranged in multiple working channels 3, and the number of surgical instrument units is the same as the number of working channels 3.

[0043] Specifically, in addition to the magnet channel 1 and the sensor channel 2, the magnetic catheter tip 5 also has a working channel 3. The working channel 3 may be provided with one or more. The working channel 3 is used to set the in-vivo surgical instrument unit. One working channel 3 may be provided with one or more in-vivo surgical instrument units, or one in-vivo surgical instrument unit may be provided in each working channel 3. The setting of the working channel 3 and the in-vivo surgical instrument unit enables the magnetic catheter robot to perform multiple operations in the patient's body and realize more functions. In addition, since the in-vivo surgical instrument unit is integrated on the magnetic catheter tip 5, it can be used in a smaller in-vivo operating space, and can also be inserted into narrower blood vessels to avoid trauma to blood vessels and tissues. When performing minimally invasive surgery, there is no need to open a large wound for the in-vivo surgical instrument unit and the magnetic catheter to be inserted. On the other hand, since the magnet channel 1 and the working channel 3 are both concentrated on the magnetic catheter tip 5, when the magnetic catheter tip 5 moves to the target position, it is also the position where the in-vivo surgical instrument unit needs to be operated, so that the target working position of the in-vivo surgical instrument unit can be accurately located to obtain a more accurate operation.

[0044] Among them, the in-vivo surgical instrument unit can be biopsy and grasping instruments such as lobe forceps, long-jaw grasping forceps, and fetal scraping forceps; it can also be endoscopic instruments such as flexible endoscopes, esophagoscopes, and bladder lithotripsy; it can also be laser and energy instruments such as electric needles, electric hooks, and bipolar electrocoagulation; in addition, it can be in-vivo surgical instruments such as water injection tubes, flushing tubes, and puncture needles.

[0045] It should be noted that the intracorporeal surgical instrument unit can be arranged in the working channel 3 in an extended or hidden manner. The extended intracorporeal surgical instrument unit can be extended from the tip 5 of the magnetic catheter, while the hidden intracorporeal surgical instrument does not extend from the tip 5 of the magnetic catheter.

[0046] In addition, the connection between the intracorporeal surgical instrument unit and the working channel 3 can be achieved by bonding using an adhesive that is harmless to the human body and does not react with the human body, or by interference fit. For some intracorporeal surgical instrument units that need to slide inside the working channel 3, the intracorporeal surgical instrument unit can be directly inserted into the working channel 3 for use, or can be connected by sliding fit through a sliding fit structure.

[0047] In some specific embodiments, the force sensor is a three-axis force sensor.

[0048] Specifically, the use of a three-axis force sensor has the following advantages: first, the three-axis force sensor can simultaneously measure forces in three directions, that is, forces in the three coordinate axis directions in space, and can output force data in three directions, providing more comprehensive mechanical information; second, for the complex mechanical environment of the magnetic catheter tip 5, the three-axis force sensor can provide more comprehensive mechanical information, which helps the system to operate more stably. Third, the three-axis force sensor can accurately measure the bending force generated by the magnetic catheter tip 5 during the force process, including the bending direction and degree of bending. Compared with force sensors that can only perform mechanical detection in a single direction, its detection accuracy is greatly improved.

[0049] In some more specific embodiments, the shape of the three-axis force sensor is a strip, and the shape and size of the cross section of the three-axis force sensor matches the shape and size of the cross section of the sensor channel 2 .

[0050] Specifically, the cross-sectional shape and size of the three-axis force sensor match the cross-sectional shape and size of the sensor. The strip-shaped shape of the three-axis force sensor not only enables the three-axis force sensor and the sensor channel 2 to obtain a larger contact area to improve its own detection accuracy, but also can prevent the internal space of the sensor channel 2 from collapsing and deforming when the magnetic catheter tip 5 bends, thereby causing abnormal deformation and affecting the normal posture of the magnetic catheter tip 5, and at the same time affecting the force perception of the three-axis force sensor.

[0051] In some more specific embodiments, the three-axis force sensor is a FBG force sensor 7, and the arrangement direction and length direction of the fiber grating in the FBG force sensor 7 are consistent.

[0052] The Chinese name of the FBG force sensor 7 is fiber Bragg grating force sensor. When the FBG is subjected to external stress and strain, the period of the fiber grating and the effective refractive index of the core mode will change, resulting in a shift in the Bragg wavelength. The change in external stress and strain can be determined by measuring the shift in the Bragg wavelength. It should be noted that the present application uses the FBG force sensor 7 for the following reasons: first, the detection accuracy of the FBG force sensor 7 is much higher than that of the traditional mechanical sensor, and its measurement accuracy can reach the level of micro-strain; second, since the magnetic catheter robot is often used in the operating room, there are various surgical instruments in the operating room, which have strong electromagnetic interference. However, since the FBG force sensor 7 uses optical signals as carriers, it has strong anti-interference ability; third, since the FBG force sensor 7 has a fiber grating inside, the structure of the FBG force sensor 7 is generally long and strip-shaped, and the longer the fiber grating is, the higher its accuracy is. When the FBG force sensor 7 is set in the sensor channel 2 and when the tip 5 of the magnetic catheter is bent, the fiber grating will also bend to a certain extent. At this time, the fiber grating reflects the overall stress of a section of the setting area, rather than just the single-point stress at a certain point, and the reliability is higher.

[0053] Figure 2 This is the steering and force sensing principle of the magnetic catheter robot of the present invention. The two important capabilities of the magnetic catheter robot are magnetically driven steering and three-axis force sensing. A strategy based on an external mobile permanent magnet 6 is adopted to achieve magnetic manipulation of the catheter tip. Driven by the magnetic field generated by the external magnet 6, the magnetic tip can be flexibly and actively deflected by the magnetic force, which helps to quickly select the target path during intracavitary intervention and improve the efficiency of the operation; and the FBG three-axis force sensor can sense the external magnetic force and the contact force with the environment in real time, which will provide force feedback information for the robot's navigation, so that doctors can more safely control the catheter robot to complete the operation.

[0054] Figure 3The construction process and functional integration of the magnetic catheter robot of the present invention are divided into the following six steps. Step 1 is to inject and cure Ecoflex (Ecoflex, full name Ecological Flexibility, is a special type of biodegradable polyester commercially produced by BASF, Germany), insert a silicone tube 8 with an inner diameter of 4mm and an outer diameter of 5mm into a 3D printed mold, and then inject the Ecoflex mixture into the mold, wherein Ecoflex is used as a flexible support 9 to support the silicone tube 8, and at the same time facilitate the subsequent channel opening step, and cure at 25°C for 2 hours. Step 2 is demoulding and cutting. After the material is cured, the three-channel catheter tip is obtained by removing the mold and cutting the excess tube. The cross section AA of the tip is divided into a working channel 3, a magnet channel 1 and a sensor channel 2. Step 3 is to insert a multi-segment magnet 6. A multi-segment N52-grade NdFeB magnet 6 (with a size of 1mm in diameter and 2mm in length) is inserted into the magnet channel 1 of the catheter tip, and the tip magnetic moment faces forward, so that the tip obtains magnetic steering ability under an external magnetic field. Step 4 is to insert the FBG force sensor 7, insert the FBG force sensor 7 into the corresponding channel of the catheter tip, and use silicone adhesive to bond the interface between the sensor cap and the silicone tube 8. Step 5 is the integration of functional instruments. In the working channel 3 of the catheter tip, various sizes of compatible medical instruments can be inserted, such as inserting a magnetic endoscope with a ring magnet 6 to obtain a magnetic catheter with endoscopic diagnosis function, or inserting a biopsy forceps to obtain a magnetic catheter with tissue biopsy function. Step 6 is to connect the flexible catheter body 4, insert the flexible catheter body 4 with an inner diameter of 2mm and an outer diameter of 3mm into the tail cavity of the catheter tip and ensure reliable connection, and finally obtain a magnetic multifunctional catheter robot with a tip outer diameter of 5mm and a main body outer diameter of 3mm, which has three-axis force sensing and magnetic drive steering capabilities.

[0055] Figure 4 It is a prototype of a magnetic catheter robot with integrated functional equipment according to the present invention. Figure 3 The present invention firstly manufactures a magnetic catheter prototype integrating a magnetic endoscope and a FBG force sensor. Figure 4 As shown in (a), the prototype has endoscopic imaging and force sensing capabilities. The length and diameter of the catheter tip are 46mm and 5mm respectively, and the diameter of the catheter body is 3mm. It will be used for functional applications in the examination of lung nodules in bronchial models. Subsequently, a magnetic catheter prototype with integrated biopsy forceps and FBG force sensors was manufactured. Figure 4 As shown in (b), the catheter has tissue biopsy and force sensing capabilities. The length and diameter of the catheter tip are 46mm and 5mm respectively, the catheter body is 3mm in diameter, and the biopsy forceps has a diameter of 1.8mm. It will be used for palpation and biopsy applications in gastric disease examinations.

[0056] Figure 5 It is the characterization result of the steering angle and three-axis force of the magnetic catheter robot of the present invention. During the test, a magnetic catheter with only an FBG force sensor 7 but no functional equipment is used to characterize the relationship between the steering angle of the magnetic catheter and the three-axis steering force it receives as the working distance changes. Experiments are carried out in sequence for three groups of tip lengths. The rigid part of the tip is marked to facilitate the measurement of the deflection angle with a camera. A cylindrical magnet 6 (with a diameter of 60mm and a thickness of 60mm) is installed on the end of the UR10 robot (a type of robotic arm) through a clamp. The magnet 6 is controlled to slowly approach from a position of 200mm from the initial position of the catheter to 100mm. During the process, the working distance, the tip steering angle, and the three-axis steering force data of the tip are measured and saved, and finally a curve of changes between the three is drawn. Figure 5 In (a), at a distance of 100 mm, the steering angle of the catheter with a tip length of L1 is 67°, while the catheters corresponding to L2 and L3 can reach 90°, which shows that the magnetic catheter has a good steering ability. Figure 5 It can be seen from (b) that Figure 5 The lines in (b) are the Z axis, Y axis, and X axis from top to bottom. The catheter tip is mainly affected by the magnetic force in the YZ plane, so the forces on the Y and Z axes are larger, and the X-axis force is the smallest. As the working distance shortens, the steering forces of each axis gradually increase. At the same time, the longer the tip is, the greater the combined force of the three axes is.

[0057] Figure 6 In order to conduct imaging and palpation experiments on lung nodules in a bronchial model while carrying an endoscope, when there is abnormal palpation, the force value received by the magnetic catheter robot will change significantly, reaching an abnormal force peak of 0.29N during the test. Figure 7 This is a biopsy sampling experiment of polyps in a gastric model according to the present invention.

[0058] In some specific embodiments, the magnet channel 1 , the sensor channel 2 , and the working channel 3 are at the same distance from the edge on the cross section of the magnetic catheter tip 5 .

[0059] Specifically, since the tip of the magnetic catheter 5 is made of a flexible material, after a channel is set inside it, it is easy to collapse at the channel position when bending, resulting in excessive bending. Therefore, in order to ensure that the difficulty of each channel when bending and deforming is the same, the present application makes the distance between each channel and the edge on the cross section of the tip of the magnetic catheter 5 equal, so as to prevent the magnet channel 1 or the working channel 3 from being excessively bent, but the sensor channel 2 is not excessively bent. At this time, the force sensor in the sensor channel 2 cannot recognize that the excessive bending has occurred.

[0060] In some specific embodiments, the intracorporeal surgical instrument unit is one or more of a biopsy forceps, an endoscope, or a fiber optic laser.

[0061] It should be noted that working channel 3 is used to integrate a variety of functional in-vivo surgical instrument units, such as biopsy forceps, flexible endoscopes, and laser optical fibers. After integrating a variety of functional in-vivo surgical instrument units, the proposed magnetic catheter robot will have the potential to realize a variety of intracavitary interventional surgical applications, including pulmonary nodule palpation, atrial fibrillation tissue ablation, aortic valve replacement assistance, kidney tumor palpation, gastric polyp biopsy, and drug delivery for colon cancer. For the magnetic catheter with integrated endoscope, a pulmonary nodule palpation experiment in a bronchial phantom was carried out to verify the imaging and palpation functions of the magnetic catheter for pulmonary nodules. Subsequently, for the magnetic catheter with integrated biopsy forceps, a simulated polyp palpation and biopsy experiment was carried out in a gastric phantom to verify the palpation and tissue biopsy functions of the magnetic catheter for polyps. In addition, discrete palpation and continuous palpation experiments of various hard masses were carried out on pig kidneys, and the results verified that the proposed magnetic catheter can stably detect abnormal hard masses in tissues. In the future, the magnetic catheter robot proposed in the present invention has the potential to achieve wider application in minimally invasive surgery by relying on its own force perception and integrating more functional instruments.

[0062] In some specific embodiments, the flexible catheter body 4 has a docking channel opened along the length direction, and the force sensor and / or the intracorporeal surgical instrument unit is inserted into the magnetic catheter tip 5 through the docking channel.

[0063] It should be noted that the extended end of the force sensor and / or the in-vivo surgical instrument unit can be loaded into the docking channel opened in the flexible catheter body 4. When the end of the force sensor and / or the in-vivo surgical instrument unit does not extend out of the tip of the flexible catheter, it is not necessary to load it into the docking channel. For the force sensor, the structure that can be set in the docking channel can be a connecting line; for the FBG force sensor 7, the structure set in the docking channel is an optical fiber line; for the in-vivo surgical instrument unit, the structure that can be set in the docking channel can be a transmission structure. The setting of the docking channel can reduce the area of ​​contact between the magnetic catheter robot and the human body during operation, facilitate disinfection work, and help prevent the exposed part from hindering normal work. At the same time, the docking channel has a protective effect on the force sensor and the in-vivo surgical instrument unit, which is conducive to extending their service life.

[0064] In some more specific embodiments, a fastening groove is provided at one end of the magnetic catheter tip 5 along the length direction, and the extending end of the flexible catheter body 4 is inserted and fixed in the fastening groove.

[0065] Specifically, the catheter tip is a cylinder with a diameter of 5 mm and a length of 46 mm. The cylinder is provided with a magnet channel 1, a sensor channel 2 and a working channel 3 along its height direction. The catheter body is 3 mm long and a fastening groove is provided at the catheter tip. The catheter body is inserted into the fastening groove and can be fixed by interference fit or by adhesive.

[0066] In some embodiments, the shape and size of the cross section of the magnet 6 matches the shape and size of the cross section of the magnet channel 1 .

[0067] It should be noted that, in order to ensure that when the magnetic source drives the multi-segment magnet 6 to bend, the bending of the multi-segment magnet 6 is accurately reflected in the change of the posture of the catheter tip, so that the shape and size of the cross section of the magnet 6 matches the shape and size of the cross section of the magnet channel 1. In other embodiments, the size of the cross section of the magnet 6 may also be smaller than the size of the cross section of the magnet channel 1. In this case, the posture of the catheter tip can be changed only when the multi-segment magnet 6 is bent to a certain extent.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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 multifunctional magnetic catheter robot with three-axis force sensing capability, characterized in that: The invention comprises a magnetic catheter tip, which is connected to the insertion end of the flexible catheter body, and comprises a magnet channel, a sensor channel and a working channel arranged in parallel along the length direction thereof, wherein the magnet channel is integrated with a plurality of segments of magnets arranged along the length direction, the sensor channel is equipped with a force sensor, and at least one in-vivo surgical instrument unit is arranged in one of the working channels; Or at least two surgical instrument units are respectively arranged in the multiple working channels, and the number of the surgical instrument units is the same as the number of the working channels.

2. A multifunctional magnetic catheter robot with three-axis force sensing capability according to claim 1, characterized in that: The force sensor is a three-axis force sensor.

3. A multifunctional magnetic catheter robot with three-axis force sensing capability according to claim 2, characterized in that: The three-axis force sensor is in the shape of a strip, and the shape and size of the cross section of the three-axis force sensor matches the shape and size of the cross section of the sensor channel.

4. A multifunctional magnetic catheter robot with three-axis force sensing capability according to claim 3, characterized in that: The three-axis force sensor is a FBG force sensor, and the arrangement direction of the fiber grating in the FBG force sensor is consistent with the length direction.

5. The multifunctional magnetic catheter robot with three-axis force sensing capability according to claim 1, characterized in that: The magnet channel, the sensor channel and the working channel are all at the same distance from the edge in the cross section of the magnetic catheter tip.

6. The multifunctional magnetic catheter robot with three-axis force sensing capability according to claim 1, characterized in that: The intracorporeal surgical instrument unit is one or more of a biopsy forceps, an endoscope or a fiber laser.

7. The multifunctional magnetic catheter robot with three-axis force sensing capability according to claim 1, characterized in that: The flexible catheter body has a docking channel opened along the length direction, and the force sensor and / or the intracorporeal surgical instrument unit is inserted into the magnetic catheter tip through the docking channel.

8. The multifunctional magnetic catheter robot with three-axis force sensing capability according to claim 7, characterized in that: One end of the tip of the magnetic catheter is provided with a fastening groove along the length direction, and the extending end of the flexible catheter body is inserted and fixed in the fastening groove.

9. A multifunctional magnetic catheter robot with three-axis force sensing capability according to any one of claims 1 to 8, characterized in that: The shape and size of the cross section of the magnet matches the shape and size of the cross section of the magnet channel.

10. A multifunctional magnetic catheter robot with three-axis force sensing capability according to any one of claims 1 to 8, characterized in that: The magnetic catheter tip comprises a flexible tube and a silicone support, wherein the silicone support is fixed in the flexible tube, and the magnet channel, the sensor channel and the working channel are opened on the silicone support.

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