Direction-controllable catheter

Abstract

The invention relates to the field of medical instruments, in particular to a direction-controllable catheter. The circular magnet is mounted at the tail end of the conduit body, and the at least two strip-shaped metal components are parallel in pairs and are placed in the hollow interior of the conduit body at equal intervals; a power-on wire in the current control circuit is wound on each strip-shaped metal component; the current control circuit is connected with the direction control assembly, and the generator host supplies power to the current control circuit; the direction control assembly changes the current magnitude and current direction in the current control circuit, and then the magnetic field direction and magnetic field intensity of a second magnetic field generated by the electromagnet are changed. Based on the attractive force and the repulsive force between the first magnetic field and the second magnetic field generated by the circular magnet, the stress magnitude and the stress direction of each electromagnet are changed, and the direction of the tail end of the catheter body is changed according to the stress direction and the stress magnitude of each electromagnet. The direction of the tail end of the catheter body can be flexibly and accurately changed.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and particularly to a directionally controllable catheter. Background Art

[0002] During the use of ablation catheters used in existing intravascular interventional surgeries, since most existing catheters are directionally uncontrollable and a single fixed ablation head is used for ablation work, it is inconvenient to operate, extend, and adjust the direction in the patient's body, thus causing troubles for medical staff that multiple adjustments are required to perform the surgery normally. This not only increases the work difficulty of medical staff but also increases the pain of patients.

[0003] The working principle of existing directionally controllable catheters is mainly achieved through a shapeable guide wire (usually made of stainless steel wire or nitinol alloy) at the distal end of the catheter. The most common type is the wire-pulling type, where the handle is connected to wires made of different materials, and mechanical or other forces cause the distal end of the catheter to bend, and the distal end returns to its original shape through natural springback after being released. It has a certain degree of maneuverability. The control structure of the wire-pulling catheter is relatively simple, but the problem is that the structure is relatively bulky, the size cannot be too small, and in addition, the friction between the wire itself and the guiding channel, as well as the existence of gaps, may make the catheter difficult to control, especially after repeated operations.

[0004] In the above technologies, the large bending angle of the catheter cannot adapt to the complex in-vivo environment of patients during the operation, and the large change in the operation angle of the catheter cannot accurately and quantitatively complete the change in angle. Summary of the Invention

[0005] In view of this, the present invention provides a directionally controllable catheter to solve the problems in the prior art that the large bending angle of the catheter cannot adapt to the complex in-vivo environment of patients during the operation, and the large change in the operation angle of the catheter cannot accurately and quantitatively complete the change in angle.

[0006] In a first aspect, the present invention provides a directionally controllable catheter, which includes: a catheter body, a radially magnetized circular magnet, at least two strip-shaped metal components, a current control circuit, a direction control component, and a generator host; wherein, the catheter body is a hollow cylinder, the circular magnet is installed at the end of the catheter body, the diameter of the circular magnet is the same as the outer diameter of the catheter body, at least two strip-shaped metal components are parallel to each other in pairs and are placed at equal intervals in the hollow interior of the catheter body at a preset distance from the end of the catheter body; the energized wires in the current control circuit are wound around each strip-shaped metal component so that each strip-shaped metal component is magnetized by the magnetic field generated by the energized wires and becomes an electromagnet; the current control circuit is connected to the direction control component, and the generator host is installed at the other end of the catheter body to provide power for the current control circuit; wherein: The circular magnet is used to generate a first magnetic field; A direction control component, which is used to change the magnitude and direction of the current in the current control circuit; based on the magnitude and direction of the current in the current control circuit, change the magnetic field direction and magnetic field strength of the second magnetic field generated by the electromagnet; Based on the attraction and repulsion between the first magnetic field and the second magnetic field, change the magnitude and direction of the force on each electromagnet, so as to change the direction of the end of the catheter body according to the magnitude and direction of the force on each electromagnet.

[0007] The directionally controllable catheter provided by the embodiment of the present application, the catheter body is a hollow cylinder, and a circular magnet is installed at the end of the catheter body. The diameter of the circular magnet is the same as the outer diameter of the catheter body, so as to generate a magnetic field at the end of the catheter body. At least two strip-shaped metal components are parallel to each other in pairs and are arranged at equal intervals in the hollow interior of the catheter body, at a preset distance from the end of the catheter body, so as to ensure that after the strip-shaped metal components generate a magnetic field, they attract or repel the magnetic field generated by the circular magnet, so as to facilitate controlling the direction of the end of the catheter body. If the strip-shaped metal components are too close or too far from the end of the catheter body, it is not convenient to control the direction of the end of the catheter body. The energized wire in the current control circuit is wound around each strip-shaped metal component, so that each strip-shaped metal component is magnetized by the magnetic field generated by the energized wire and becomes an electromagnet; the current control circuit is connected to the direction control component, and the generator host is installed at the other end of the catheter body to provide power for the current control circuit; wherein: A circular magnet, which is used to generate a first magnetic field; a direction control component, which is used to change the magnitude and direction of the current in the current control circuit, can accurately and quickly control the magnitude and direction of the current in the current control circuit, and then can control the direction of the end of the catheter body according to the magnitude and direction of the current in the current control circuit. Based on the magnitude and direction of the current in the current control circuit, change the magnetic field direction and magnetic field strength of the second magnetic field generated by the electromagnet; based on the attraction and repulsion between the first magnetic field and the second magnetic field, change the magnitude and direction of the force on each electromagnet, so as to change the direction of the end of the catheter body according to the magnitude and direction of the force on each electromagnet. The above-mentioned directionally controllable catheter can flexibly and accurately change the direction of the end of the catheter body by changing the magnitude and direction of the current in the current control circuit, and there will be no problem that the catheter bending angle is too large to adapt to the complex in-vivo environment of the patient during the operation, nor will there be a problem that the catheter operation angle changes greatly and the angle change cannot be accurately quantified. In an alternative embodiment, the direction controllable catheter includes: four bar-shaped metal components, the four bar-shaped metal components are parallel to each other in pairs and are placed at equal intervals in the hollow interior of the catheter body, at a preset distance from the end of the catheter body; two mutually parallel and opposite bar-shaped metal components are a group, and the energized wires in the current control circuit are wound in opposite directions on the two bar-shaped metal components of each group, so that each bar-shaped metal component is magnetized by the magnetic field generated by the energized wire to become an electromagnet, and the magnetic field directions generated by the two electromagnets in each group are the same.

[0008] The direction controllable catheter provided by the embodiment of the present application includes: four bar-shaped metal components, the four bar-shaped metal components are parallel to each other in pairs and are placed at equal intervals in the hollow interior of the catheter body, at a preset distance from the end of the catheter body. Therefore, magnetic fields in multiple directions can be generated in the hollow interior of the catheter body, so that changes in multiple directions at the end of the catheter body can be realized. Among them, two mutually parallel and opposite bar-shaped metal components are a group, and the energized wires in the current control circuit are wound in opposite directions on the two bar-shaped metal components of each group, so that each bar-shaped metal component is magnetized by the magnetic field generated by the energized wire to become an electromagnet, and the magnetic field directions generated by the two electromagnets in each group are the same. Under the action of the circular magnet, the two electromagnets in a group of electromagnets are subjected to forces in opposite directions, so that the end of the catheter body can be controlled to bend. Two groups of bar-shaped metal components are placed in the hollow interior of the catheter body, and the combination of the two groups of bar-shaped metal components can control the changes in multiple directions at the end of the catheter body. In an alternative embodiment, the current control circuit includes a master control circuit, a first current circuit, and a second current circuit, where: the first current circuit and the second current circuit are connected in parallel to the master control circuit; the master control circuit includes a first sliding rheostat, a second sliding rheostat, and a main controller; the direction control component is connected to the first sliding rheostat and the second sliding rheostat; the first sliding rheostat and the second sliding rheostat are connected in parallel to the main controller, and the other end of the main controller is respectively connected to the first current circuit and the second current circuit; among them, the energized wires in the first current circuit are wound in opposite directions on the two bar-shaped metal components of one group to form a first target electromagnet group; the first current circuit also includes four first MOS transistors, and the four first MOS transistors are connected in series in pairs and are respectively located on both sides of the first target electromagnet group; similarly, the energized wires in the second current circuit are wound in opposite directions on the two bar-shaped metal components of the other group to form a second target electromagnet group; the second current circuit also includes four second MOS transistors, and the four second MOS transistors are connected in series in pairs and are respectively located on both sides of the second target electromagnet group.

[0009] The direction-controllable catheter provided by the embodiment of the present application, the current control circuit includes a master control circuit, a first current circuit, and a second current circuit, where: the first current circuit and the second current circuit are connected in parallel to the master control circuit, so that the master control circuit can control the first current circuit and the second current circuit at the same time, and ensure that the first current in the first current circuit and the second current in the second current circuit do not interfere with each other. The master control circuit includes a first sliding rheostat, a second sliding rheostat, and a main controller; the direction control component is connected to the first sliding rheostat and the second sliding rheostat; the first sliding rheostat and the second sliding rheostat are connected in parallel to the main controller. Thus, it can be realized that the resistance values of the first sliding rheostat and the second sliding rheostat connected to the circuit are simultaneously controlled by the direction control component, and further, the main controller controls the first current in the first current circuit and the second current in the second current circuit respectively according to the resistance values of the first sliding rheostat and the second sliding rheostat connected to the circuit. The other end of the main controller is respectively connected to the first current circuit and the second current circuit; wherein, the energized wire in the first current circuit is wound in opposite directions on two bar-shaped metal components in one group to form a first target electromagnet group; the first current circuit further includes four first MOS transistors, and the four first MOS transistors are connected in series in pairs and are respectively located on both sides of the first target electromagnet group; similarly, the energized wire in the second current circuit is wound in opposite directions on two bar-shaped metal components in the other group to form a second target electromagnet group; the second current circuit further includes four second MOS transistors, and the four second MOS transistors are connected in series in pairs and are respectively located on both sides of the second target electromagnet group. Thus, the main controller can control the direction of the first current in the first current circuit by controlling the on and off of the four first MOS transistors in the first current circuit; similarly, the main controller can control the direction of the second current in the second current circuit by controlling the on and off of the four second MOS transistors in the second current circuit. In an alternative embodiment, the direction control component is used to change the resistance values of the first sliding rheostat and the second sliding rheostat connected to the circuit; The main controller is used to obtain the first voltage corresponding to the first sliding rheostat; and control the magnitude of the first current in the first current circuit according to the magnitude of the voltage value of the first voltage, and control the on and off of the four first MOS transistors in the first current circuit to control the direction of the first current; Similarly; the main controller is used to obtain the second voltage corresponding to the second sliding rheostat; and control the magnitude of the second current in the second current circuit according to the magnitude of the voltage value of the second voltage, and control the on and off of the four second MOS transistors in the second current circuit to control the direction of the second current.

[0010] The direction-controllable catheter provided by the embodiment of the present application, the direction control assembly is used to change the resistance values of the first sliding rheostat and the second sliding rheostat connected to the circuit; ensuring the accuracy, flexibility and convenience of changing the resistance values of the first sliding rheostat and the second sliding rheostat connected to the circuit. The main controller is used to obtain the first voltage corresponding to the first sliding rheostat; and according to the magnitude of the voltage value of the first voltage, control the magnitude of the first current in the first current circuit, and control the switching on and off of the four first MOS transistors in the first current circuit to control the direction of the first current; ensuring the accuracy and flexibility of controlling the magnitude and direction of the first current. Similarly, the main controller is used to obtain the second voltage corresponding to the second sliding rheostat; and according to the magnitude of the voltage value of the second voltage, control the magnitude of the second current in the second current circuit, and control the conduction and cutoff of the four second MOS transistors in the second current circuit to control the direction of the second current. Ensuring the accuracy and flexibility of controlling the magnitude and direction of the second current. In an alternative embodiment, the first MOS transistor A and the first MOS transistor B in the first current circuit are connected in series, the first MOS transistor C and the first MOS transistor D are connected in series, the first MOS transistor A and the first MOS transistor B are located on one side of the first target electromagnet group, and the first MOS transistor C and the first MOS transistor D are located on the other side of the first target electromagnet group; The main controller is used to when the first resistance value of the first sliding rheostat connected to the circuit is greater than the initial set resistance value of the first sliding rheostat; when the first voltage corresponding to the first sliding rheostat is greater than the initial set voltage of the first sliding rheostat, control the first MOS transistor A and the first MOS transistor D in the first current circuit to conduct, and the first MOS transistor B and the first MOS transistor C to turn off, so that the first current flows in the first direction; When the first current flows in the first direction, the N pole of the magnetic field corresponding to the first target electromagnet group faces the end of the catheter body, wherein the A target electromagnet in the first target electromagnet group generates an attractive force with the circular magnet; the B target electromagnet in the first target electromagnet group generates a repulsive force with the circular magnet; control the end of the catheter body to change direction according to the attractive force and the repulsive force.

[0011] The direction - controllable catheter provided by the embodiment of the present application has a first current circuit in which the first MOS transistor A and the first MOS transistor B are connected in series, and the first MOS transistor C and the first MOS transistor D are connected in series. The first MOS transistor A and the first MOS transistor B are located on one side of the first target electromagnet group, and the first MOS transistor C and the first MOS transistor D are located on the other side of the first target electromagnet group. The main controller is configured to control the first MOS transistor A and the first MOS transistor D in the first current circuit to conduct and the first MOS transistor B and the first MOS transistor C to turn off when the first resistance value of the first sliding rheostat connected to the circuit is greater than the initial set resistance value of the first sliding rheostat, and the first voltage corresponding to the first sliding rheostat is greater than the initial set voltage of the first sliding rheostat, so that the first current flows in the first direction, ensuring the accuracy of controlling the direction of the first current. When the first current flows in the first direction, the N - pole of the magnetic field corresponding to the first target electromagnet group faces the end of the catheter body, where the A - target electromagnet in the first target electromagnet group generates an attractive force with the circular magnet, and the B - target electromagnet in the first target electromagnet group generates a repulsive force with the circular magnet. The direction change of the end of the catheter body is controlled according to the attractive force and the repulsive force, ensuring the accuracy of controlling the direction of the end of the catheter body. In an alternative embodiment, the main controller is further configured to control the first MOS transistor B and the first MOS transistor C in the first current circuit to conduct and the first MOS transistor A and the first MOS transistor D to turn off when the first resistance value of the first sliding rheostat connected to the circuit is less than the initial set resistance value of the first sliding rheostat, and the first voltage corresponding to the first sliding rheostat is less than the initial set voltage of the first sliding rheostat, so that the first current flows in the second direction, where the first direction and the second direction are opposite to each other. When the first current flows in the second direction, the S - pole of the magnetic field corresponding to the first target electromagnet group faces the end of the catheter body, the A - target electromagnet generates a repulsive force with the circular magnet, and the B - target electromagnet generates an attractive force with the circular magnet. The direction change of the end of the catheter body is controlled according to the attractive force and the repulsive force.

[0012] The direction - controllable catheter provided by the embodiment of the present application, the main controller is further configured to: when the first resistance value of the first sliding rheostat connected to the circuit is less than the initially set resistance value of the first sliding rheostat; and the first voltage corresponding to the first sliding rheostat is less than the initially set voltage of the first sliding rheostat, control the first MOS transistor B and the first MOS transistor C in the first current circuit to conduct, and the first MOS transistor A and the first MOS transistor D to turn off, so that the first current flows in the second direction; ensuring the accuracy of controlling the direction of the first current. When the first current flows in the second direction, the S - pole of the magnetic field corresponding to the first target electromagnet group faces the end of the catheter body, the A - target electromagnet generates a repulsive force with the circular magnet; the B - target electromagnet generates an attractive force with the circular magnet; controlling the end of the catheter body to change the direction according to the attractive force and the repulsive force, ensuring the accuracy of controlling the direction of the end of the catheter body. In an alternative embodiment, the main controller is further configured to compare the first voltage with the initially set voltage, calculate the absolute value of the difference between the first voltage and the preset voltage; and control the magnitude of the first current according to the magnitude of the absolute value.

[0013] The direction - controllable catheter provided by the embodiment of the present application, the main controller is further configured to compare the first voltage with the initially set voltage, calculate the absolute value of the difference between the first voltage and the preset voltage; and control the magnitude of the first current according to the magnitude of the absolute value, ensuring the accuracy of controlling the magnitude of the first current, so that the force on the bar - shaped metal component can be accurately controlled, and further ensuring the accuracy of controlling the direction of the end of the catheter body. In an alternative embodiment, the material of the bar - shaped metal component is silicon steel.

[0014] For the direction - controllable catheter provided by the embodiment of the present application, the material of the bar - shaped metal component is silicon steel. Silicon steel is a magnetic material with strong magnetic conductivity. In the energized target electromagnet group, it can generate a relatively large magnetic induction intensity, which is convenient for rapid magnetization and demagnetization. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0016] Figure 1 is a schematic structural diagram of a direction - controllable catheter according to an embodiment of the present invention; Figure 2 is a schematic structural diagram of a radially magnetized circular magnet in a direction - controllable catheter according to an embodiment of the present invention; Figure 3 are a sectional view corresponding to the catheter body according to an embodiment of the present invention, a schematic diagram of a circular magnet with radial magnetization, and a schematic diagram of the arrangement of a strip-shaped metal component; Figure 4 is a schematic diagram of a current-carrying wire wound in opposite directions on a group of strip-shaped metal components according to an embodiment of the present invention; Figure 5 is a schematic diagram of a current control circuit according to an embodiment of the present invention; Figure 6 are a schematic diagram of a first current circuit according to an embodiment of the present invention and a schematic diagram of the current flow direction in the first current circuit Figure 7 is a schematic diagram of the end of the catheter body being bent after the strip-shaped magnet is stressed according to an embodiment of the present invention; Figure 8 is a schematic diagram of controlling the current directions in the first current circuit and the second current circuit through a rocker component when the direction control component according to an embodiment of the present invention is a rocker component; Figure 9 is a control flow chart of a direction-controllable catheter according to an embodiment of the present invention. Embodiment

[0017] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts fall within the scope of protection of the present invention.

[0018] The serial numbers assigned to the components herein, such as "first", "second", etc., are only used to distinguish the described objects and do not have any sequential or technical meanings. The "connection" and "coupling" mentioned in the present invention, unless otherwise specified, both include direct and indirect connections (couplings). In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0019] In the present invention, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may mean that the first feature is directly above or obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "below" and "beneath" the second feature may mean that the first feature is directly below or obliquely below the second feature, or merely indicates that the horizontal height of the first feature is lower than that of the second feature. During the use of the ablation catheter used in the existing endovascular interventional surgery, since most of the existing catheters have uncontrollable directions and a single fixed ablation head is used for ablation work, it is not convenient to operate, extend, adjust the direction, etc. inside the patient's body, thus causing trouble to medical staff that multiple adjustments are required to perform the operation normally. This not only increases the working difficulty of medical staff, but also increases the pain of the patient.

[0020] The working principle of the existing direction-controllable catheter is mainly achieved through a shapeable guide wire (usually made of stainless steel wire or nitinol alloy) at the distal end of the catheter. The most common type is the wire-pulling type, where the handle is connected to wires made of different materials, and mechanical or other forces cause the distal end of the catheter to bend, and it returns to its original shape through natural springback after being released. It has a certain degree of maneuverability. The control structure of the wire-pulling catheter is relatively simple. However, the problem is that the structure is relatively bulky and the size cannot be too small. In addition, the friction between the wire itself and the guiding channel, as well as the existence of gaps, may make the catheter difficult to control, especially after repeated operations.

[0021] In the above technologies, the large bending angle of the catheter cannot adapt to the complex internal environment of the patient during the operation, and the large change in the operation angle of the catheter cannot accurately and quantitatively complete the angle change. In addition, the operation of the interventional catheter surgery is complex and requires professional doctors to be proficient in it after long-term training. At the same time, in the interventional catheter surgery, doctors need to manually control the catheter for accurate positioning and operation according to the conditions and requirements of the lesion, which requires high skills and experience of doctors. Moreover, the operation time is relatively long, bringing greater pain to the patient. Based on this, the embodiments of the present application provide a direction-controllable catheter. As Figure 1As shown, the direction - controllable catheter includes: a catheter body 1, a radially magnetized circular magnet 2, at least two strip - shaped metal components 3, a current - control circuit 4, a direction - control component 5, and a generator host 6; wherein, the catheter body 1 is a hollow cylinder, the circular magnet 2 is installed at the end of the catheter body 1, the diameter of the circular magnet 2 is the same as the outer diameter of the catheter body 1, at least two strip - shaped metal components 3 are parallel to each other in pairs and are placed at equal intervals in the hollow interior of the catheter body 1, at a preset distance from the end of the catheter body 1; the energized wires in the current - control circuit 4 are wound around each strip - shaped metal component 3 so that each strip - shaped metal component 3 is magnetized by the magnetic field generated by the energized wires and becomes an electromagnet; the current - control circuit 4 is connected to the direction - control component 5, and the generator host 6 is installed at the other end of the catheter body 1 to provide power for the current - control circuit 4; where: The circular magnet 2 is used to generate a first magnetic field; The direction - control component 5 is used to change the magnitude and direction of the current in the current - control circuit 4; based on the magnitude and direction of the current in the current - control circuit 4, change the direction and intensity of the second magnetic field generated by the electromagnet; Based on the attraction and repulsion between the first magnetic field and the second magnetic field, change the magnitude and direction of the force on each electromagnet, and realize changing the direction of the end of the catheter body 1 according to the direction and magnitude of the force on each electromagnet.

[0022] Specifically, the radially magnetized circular magnet 2 is installed at the end of the catheter body 1, at least two strip - shaped metal components 3 are parallel to each other in pairs and are placed at equal intervals in the hollow interior of the catheter body 1, at a preset distance from the end of the catheter body 1. Among them, the preset distance can be 10 mm, or 15 mm, or other values. This embodiment does not make a specific limitation on the preset distance. Exemplarily, the schematic diagram of the radially magnetized circular magnet 2 is as Figure 2 shown.

[0023] The generator host 6 is connected to the current - control circuit 4 to provide power for the current - control circuit 4. The energized wires in the current - control circuit 4 are wound around each strip - shaped metal component 3, and the energized wires can generate a magnetic field, and the strip - shaped metal component 3 is magnetized by the magnetic field and becomes an electromagnet.

[0024] The direction - control component 5 is connected to the current - control circuit 4, and the magnitude and direction of the current in the current - control circuit 4 can be changed through the direction - control component 5. When the magnitude and direction of the current in the current - control circuit 4 change, the strength and direction of the magnetic field generated by the electromagnet will also change, resulting in changes in the magnitude and direction of the magnetic force between the electromagnet and the circular magnet 2, and further enabling control of the change in the direction of the end of the catheter body 1.

[0025] The direction-controllable catheter provided by the embodiment of the present application, the catheter body 1 is a hollow cylinder, and the circular magnet 2 is installed at the end of the catheter body 1. The diameter of the circular magnet 2 is the same as the outer diameter of the catheter body 1, so as to generate a magnetic field at the end of the catheter body 1. At least two strip-shaped metal components 3 are parallel to each other in pairs and are arranged at equal intervals in the hollow interior of the catheter body 1, at a preset distance from the end of the catheter body 1, so as to ensure that after the strip-shaped metal components 3 generate a magnetic field, they attract or repel the magnetic field generated by the circular magnet 2, so as to facilitate controlling the direction of the end of the catheter body 1. If the strip-shaped metal components 3 are too close to or too far from the end of the catheter body 1, it is not convenient to control the direction of the end of the catheter body 1. The energized wire in the current control circuit 4 is wound around each strip-shaped metal component 3, so that each strip-shaped metal component 3 is magnetized by the magnetic field generated by the energized wire and becomes an electromagnet; the current control circuit 4 is connected to the direction control component 5, and the generator host 6 is installed at the other end of the catheter body 1 to provide power for the current control circuit 4; wherein: The circular magnet 2 is used to generate a first magnetic field; the direction control component 5 is used to change the magnitude and direction of the current in the current control circuit 4, and can accurately and quickly control the magnitude and direction of the current in the current control circuit 4. Furthermore, based on the magnitude and direction of the current in the current control circuit 4, the direction and intensity of the second magnetic field generated by the electromagnet can be controlled; based on the attraction and repulsion between the first magnetic field and the second magnetic field, the magnitude and direction of the force on each electromagnet can be changed, so as to change the direction of the end of the catheter body 1 according to the direction and magnitude of the force on each electromagnet. The above-mentioned direction-controllable catheter can flexibly and accurately change the direction of the end of the catheter body 1 by changing the magnitude and direction of the current in the current control circuit 4, and will not have the problem that the catheter bending angle is too large to adapt to the complex in-vivo environment of the patient during the operation, nor will there be the problem that the catheter operation angle changes too much to accurately complete the angle change quantitatively. In an alternative embodiment of the present application, the direction-controllable catheter includes: four strip-shaped metal components 3, the four strip-shaped metal components 3 are parallel to each other in pairs and are arranged at equal intervals in the hollow interior of the catheter body 1, at a preset distance from the end of the catheter body 1; two strip-shaped metal components 3 that are parallel and opposite to each other are a group, and the energized wire in the current control circuit 4 is wound around the two strip-shaped metal components 3 in each group in opposite directions, so that each strip-shaped metal component 3 is magnetized by the magnetic field generated by the energized wire and becomes an electromagnet, and the magnetic field directions of the two electromagnets in each group are the same.

[0026] Exemplarily, as Figure 3 shown, Figure 3On the right side is the sectional view corresponding to the catheter body 1, and in the upper left figure is the schematic diagram of the circular magnet 2 with radial magnetization, and in the lower left figure is the schematic diagram of the placement of the strip metal components 3. The four strip metal components 3 are pairwise parallel and are placed at equal intervals in the hollow interior of the catheter body 1, at a preset distance from the end of the catheter body 1. Two mutually parallel and opposite strip metal components 3 form a group, and the energized wires in the current control circuit 4 are wound in opposite directions on the two strip metal components 3 of each group, so that each strip metal component 3 is magnetized by the magnetic field generated by the energized wire to become an electromagnet, and the magnetic fields generated by the two electromagnets in each group have the same direction. That is to say Figure 3 The strip metal component X1 and the strip metal component X2 in it form a group, and the energized wires in the current control circuit 4 are wound in opposite directions on the strip metal component X1 and the strip metal component X2 to generate the electromagnet X1 and the electromagnet X2. Among them, the magnetic fields of the electromagnet X1 and the electromagnet X2 have the same direction. Similarly, the electromagnet Y1 and the electromagnet Y2 are generated, and the magnetic fields of the electromagnet Y1 and the electromagnet Y2 have the same direction.

[0027] Exemplarily, Figure 4 is the schematic diagram of the energized wire wound in opposite directions on the strip metal component X1 and the strip metal component X2.

[0028] Among them, the material of the strip metal component 3 is silicon steel material, and silicon steel material is a magnetic substance with strong magnetic conductivity. In the energized target electromagnet group, it can generate a large magnetic induction intensity for rapid magnetization and demagnetization.

[0029] The direction-controllable catheter provided by the embodiment of the present application includes: four strip metal components 3, the four strip metal components 3 are pairwise parallel and are placed at equal intervals in the hollow interior of the catheter body 1, at a preset distance from the end of the catheter body 1. Therefore, magnetic fields in multiple directions can be generated in the hollow interior of the catheter body 1, so that multiple-direction changes at the end of the catheter body 1 can be realized. Among them, two mutually parallel and opposite strip metal components 3 form a group, and the energized wires in the current control circuit 4 are wound in opposite directions on the two strip metal components 3 of each group, so that each strip metal component 3 is magnetized by the magnetic field generated by the energized wire to become an electromagnet, and the magnetic fields generated by the two electromagnets in each group have the same direction. So that under the action of the circular magnet 2, the two electromagnets in a group of electromagnets are subjected to forces in opposite directions, so that the end of the catheter body 1 can be controlled to bend. Two groups of strip metal components 3 are placed in the hollow interior of the catheter body 1, and the combination of the two groups of strip metal components 3 can control multiple-direction changes at the end of the catheter body 1. In an optional implementation manner of the present application, such as Figure 5As shown, the current control circuit 4 includes a master control circuit 41, a first current circuit 42, and a second current circuit 43, where: the first current circuit 42 and the second current circuit 43 are connected in parallel to the master control circuit 41; the master control circuit 41 includes a first sliding rheostat 411, a second sliding rheostat 412, and a main controller 413; the direction control component 5 is connected to the first sliding rheostat 411 and the second sliding rheostat 412; the first sliding rheostat 411 and the second sliding rheostat 412 are connected in parallel to the main controller 413, and the other ends of the main controller 413 are respectively connected to the first current circuit 42 and the second current circuit 43; among them, the energized wire in the first current circuit 42 is wound in opposite directions on two bar-shaped metal components 3 in one group to form a first target electromagnet group; the first current circuit 42 also includes four first MOS transistors 421, and the four first MOS transistors 421 are connected in series in pairs and are respectively located on both sides of the first target electromagnet group; similarly, the energized wire in the second current circuit 43 is wound in opposite directions on two bar-shaped metal components 3 in the other group to form a second target electromagnet group; the second current circuit 43 also includes four second MOS transistors 431, and the four second MOS transistors 431 are connected in series in pairs and are respectively located on both sides of the second target electromagnet group.

[0030] Specifically, the generator host 6 is connected to the master control circuit 41 in the current control circuit 4 for providing voltage to the current control circuit 4. The first sliding rheostat 411 and the second sliding rheostat 412 in the master control circuit 41 are connected in parallel, and both the first sliding rheostat 411 and the second sliding rheostat 412 are connected to the generator host 6 at one end and to the main controller 413 at the other end. The direction control component 5 is connected to the first sliding rheostat 411 and the second sliding rheostat 412. The other ends of the main controller 413 are respectively connected to the first current circuit 42 and the second current circuit 43.

[0031] Exemplarily, as Figure 6 shown, it should be noted that Figure 6 only the first current circuit 42 is drawn in. The energized wire in the first current circuit 42 is wound in opposite directions on two bar-shaped metal components 3 in one group to form a first target electromagnet group; the first current circuit 42 also includes four first MOS transistors 421, Q1, Q2, Q3, Q4, where Q1 and Q4 are connected in series and are located on one side of the first target electromagnet group, and Q2 and Q3 are connected in series and are located on the other side of the first target electromagnet group. Similarly, the energized wire in the second current circuit 43 is wound in opposite directions on two bar-shaped metal components 3 in the other group to form a second target electromagnet group; the second current circuit 43 also includes four second MOS transistors 431, and the four second MOS transistors 431 are connected in series in pairs and are respectively located on both sides of the second target electromagnet group.

[0032] AsFigure 6 As shown, the current in the first current circuit 42 has two flowing directions. One is from Q3 to Q2, and the other is from Q1 to Q4.

[0033] The direction-controlled catheter provided by the embodiment of the present application. The current control circuit 4 includes a master control circuit 41, a first current circuit 42, and a second current circuit 43, where: the first current circuit 42 and the second current circuit 43 are connected in parallel to the master control circuit 41, so that the master control circuit 41 can control the first current circuit 42 and the second current circuit 43 simultaneously, and ensure that the first current in the first current circuit 42 and the second current in the second current circuit 43 do not interfere with each other. The master control circuit 41 includes a first sliding rheostat 411, a second sliding rheostat 412, and a main controller 413; the direction control component 5 is connected to the first sliding rheostat 411 and the second sliding rheostat 412; the first sliding rheostat 411 and the second sliding rheostat 412 are connected in parallel to the main controller 413. Thus, it can be realized that the resistance values of the first sliding rheostat 411 and the second sliding rheostat 412 connected to the circuit are controlled simultaneously through the direction control component 5, and further the main controller 413 controls the first current in the first current circuit 42 and the second current in the second current circuit 43 respectively according to the resistance values of the first sliding rheostat 411 and the second sliding rheostat 412 connected to the circuit. The other end of the main controller 413 is respectively connected to the first current circuit 42 and the second current circuit 43; among them, the energized wire in the first current circuit 42 is wound in opposite directions on two strip-shaped metal components 3 in one group to form a first target electromagnet group; the first current circuit 42 also includes four first MOS transistors 421, and the four first MOS transistors 421 are connected in series in pairs and are respectively located on both sides of the first target electromagnet group; similarly, the energized wire in the second current circuit 43 is wound in opposite directions on two strip-shaped metal components 3 in the other group to form a second target electromagnet group; the second current circuit 43 also includes four second MOS transistors 431, and the four second MOS transistors 431 are connected in series in pairs and are respectively located on both sides of the second target electromagnet group. Thus, the main controller 413 can control the direction of the first current in the first current circuit 42 by controlling the on and off of the four first MOS transistors 421 in the first current circuit 42; similarly, the main controller 413 can control the direction of the second current in the second current circuit 43 by controlling the on and off of the four second MOS transistors 431 in the second current circuit 43. In an alternative embodiment of the present application, the direction control component 5 is used to change the resistance values of the first sliding rheostat 411 and the second sliding rheostat 412 connected to the circuit; The main controller 413 is configured to obtain the first voltage corresponding to the first sliding rheostat 411; and control the magnitude of the first current in the first current circuit 42 according to the magnitude of the voltage value of the first voltage, and control the switching on and off of the four first MOS transistors 421 in the first current circuit 42 to control the direction of the first current. Similarly, the main controller 413 is configured to obtain the second voltage corresponding to the second sliding rheostat 412; and control the magnitude of the second current in the second current circuit 43 according to the magnitude of the voltage value of the second voltage, and control the conduction and cutoff of the four second MOS transistors 431 in the second current circuit 43 to control the direction of the second current.

[0034] Specifically, in the first current circuit 42, the first MOS transistor 421A and the first MOS transistor 421B are connected in series, the first MOS transistor 421C and the first MOS transistor 421D are connected in series, the first MOS transistor 421A and the first MOS transistor 421B are located on one side of the first target electromagnet group, and the first MOS transistor 421C and the first MOS transistor 421D are located on the other side of the first target electromagnet group. The main controller 413 is configured to, when the first resistance value of the first sliding rheostat 411 connected to the circuit is greater than the initial resistance value of the first sliding rheostat 411; and the first voltage corresponding to the first sliding rheostat 411 is greater than the initial voltage of the first sliding rheostat 411, control the first MOS transistor 421A and the first MOS transistor 421D in the first current circuit 42 to conduct, and the first MOS transistor 421B and the first MOS transistor 421C to turn off, so that the first current flows in the first direction. When the first current flows in the first direction, the N pole of the magnetic field corresponding to the first target electromagnet group faces the end of the catheter body 1. Among them, the A target electromagnet in the first target electromagnet group generates an attractive force with the circular magnet 2; the B target electromagnet in the first target electromagnet group generates a repulsive force with the circular magnet 2; the end of the catheter body 1 is controlled to change direction according to the attractive force and the repulsive force.

[0035] In an alternative embodiment of the present application, the main controller 413 is further configured to, when the first resistance value of the first sliding rheostat 411 connected to the circuit is less than the initial resistance value of the first sliding rheostat 411; and the first voltage corresponding to the first sliding rheostat 411 is less than the initial voltage of the first sliding rheostat 411, control the first MOS transistor 421B and the first MOS transistor 421C in the first current circuit 42 to conduct, and the first MOS transistor 421A and the first MOS transistor 421D to turn off, so that the first current flows in the second direction; where the first direction and the second direction are opposite to each other. When the first current flows in the second direction, the S pole of the magnetic field corresponding to the first target electromagnet group faces the end of the catheter body 1, the A target electromagnet generates a repulsive force with the circular magnet 2; the B target electromagnet generates an attractive force with the circular magnet 2; the end of the catheter body 1 is controlled to change its direction according to the attractive force and the repulsive force.

[0036] The main controller 413 is further configured to compare the first voltage with the initially set voltage, and calculate the absolute value of the difference between the first voltage and the preset voltage; control the magnitude of the first current according to the magnitude of the absolute value.

[0037] Exemplarily, please refer to Figure 6 . Taking the first current circuit 42 as an example, the four first MOS transistors 421, Q1, Q2, Q3, and Q4 included in the first current circuit 42, where Q1 and Q4 are connected in series and located on one side of the first target electromagnet group, and Q2 and Q3 are connected in series and located on the other side of the first target electromagnet group.

[0038] After the user changes the first resistance value of the first sliding rheostat 411 connected to the circuit based on the direction control component 5, when the first resistance value of the first sliding rheostat 411 connected to the circuit is greater than the initially set resistance value of the first sliding rheostat 411; and the first voltage corresponding to the first sliding rheostat 411 is greater than the initially set voltage of the first sliding rheostat 411, control the first MOS transistors 421A and 421D in the first current circuit 42 to conduct, and the first MOS transistors 421B and 421C to turn off, so that the first current flows in the first direction.

[0039] When the first resistance value of the first sliding rheostat 411 connected to the circuit is less than the initially set resistance value of the first sliding rheostat 411; and the first voltage corresponding to the first sliding rheostat 411 is less than the initially set voltage of the first sliding rheostat 411, control the first MOS transistors 421B and 421C in the first current circuit 42 to conduct, and the first MOS transistors 421A and 421D to turn off, so that the first current flows in the second direction.

[0040] Exemplarily, as Figure 7 shown, when the first current flows in the first direction, the N pole of the magnetic field corresponding to the first target electromagnet group faces the end of the catheter body 1, where the A target electromagnet in the first target electromagnet group generates an attractive force with the circular magnet 2; the B target electromagnet in the first target electromagnet group generates a repulsive force with the circular magnet 2; the end of the catheter body 1 is controlled to change its direction according to the attractive force and the repulsive force. When the first current flows in the second direction, the S pole of the magnetic field corresponding to the first target electromagnet group faces the end of the catheter body 1, the A target electromagnet generates a repulsive force with the circular magnet 2; the B target electromagnet generates an attractive force with the circular magnet 2; the end of the catheter body 1 is controlled to change its direction according to the attractive force and the repulsive force.

[0041] In an alternative embodiment of the present application, the direction control component 5 may be a rocker component. When the direction control component 5 is a rocker component, the first sliding rheostat 411 and the second sliding rheostat 412 may be vertically installed, and the direction control component 5 is installed at the intersection of the first sliding rheostat 411 and the second sliding rheostat 412, so as to change the resistance values of the first sliding rheostat 411 and the second sliding rheostat 412 connected to the circuit by rocking the rocker component.

[0042] Exemplarily, please refer to Figure 8 , when the rocker component is rocked to the right, the first resistance value corresponding to the first sliding rheostat 411 becomes larger. At this time, the first current flows in the first direction; when the rocker component is rocked to the left, the first resistance value corresponding to the first sliding rheostat 411 becomes smaller. At this time, the first current flows in the second direction; when the rocker component is rocked upward, the second resistance value corresponding to the second sliding rheostat 412 becomes larger. At this time, the second current flows in the first direction; when the rocker component is rocked downward, the second resistance value corresponding to the second sliding rheostat 412 becomes smaller. At this time, the second current flows in the second direction; similarly, when the rocker component is rocked to the upper right, the first resistance value corresponding to the first sliding rheostat 411 becomes larger, and the second resistance value corresponding to the second sliding rheostat 412 becomes larger. At this time, the first current flows in the first direction, and the second current flows in the first direction; when the rocker component is rocked to the lower right, the first resistance value corresponding to the first sliding rheostat 411 becomes larger, and the second resistance value corresponding to the second sliding rheostat 412 becomes smaller. At this time, the first current flows in the first direction, and the second current flows in the second direction; when the rocker component is rocked to the upper left, the first resistance value corresponding to the first sliding rheostat 411 becomes smaller, and the second resistance value corresponding to the second sliding rheostat 412 becomes larger. At this time, the first current flows in the second direction, and the second current flows in the first direction; when the rocker component is rocked to the lower left, the first resistance value corresponding to the first sliding rheostat 411 becomes smaller, and the second resistance value corresponding to the second sliding rheostat 412 becomes smaller. At this time, the first current flows in the second direction, and the second current flows in the second direction.

[0043] Among them, when the first current in the first current circuit 42 flows in the first direction, it can be regarded as flowing in the positive direction of the X axis; when the first current flows in the second direction, it can be regarded as flowing in the negative direction of the X axis; when the second current in the second current circuit 43 flows in the first direction, it can be regarded as flowing in the positive direction of the Y axis; when the second current flows in the second direction, it can be regarded as flowing in the negative direction of the Y axis.

[0044] In addition, the main controller 413 also needs to compare the first voltage with the initial set voltage and calculate the absolute value of the difference between the first voltage and the preset voltage; control the magnitude of the first current according to the magnitude of the absolute value.

[0045] Similarly, the main controller 413 also compares the second voltage with the initially set voltage, calculates the absolute value of the difference between the second voltage and the preset voltage, and controls the magnitude of the second current according to the magnitude of the absolute value.

[0046] To better introduce the directionally controllable catheter provided by the embodiments of the present application, as Figure 9 shown, the embodiments of the present application provide a control flowchart of a directionally controllable catheter.

[0047] The first resistance value of the first sliding rheostat 411 connected to the circuit and the second resistance value of the second sliding rheostat 412 connected to the circuit are respectively controlled by the rocker switch. The main controller 413 controls the magnitude of the current in the X-axis coil, that is, the magnitude of the current in the first current circuit 42, according to the first resistance value, and controls the deflection direction of the X-axis electromagnet through the H-bridge drive circuit 1 according to the first resistance value, that is, controls the current direction of the first current in the first current circuit 42 according to the first resistance value to control the deflection direction of the electromagnet. Similarly, the main controller 413 controls the magnitude of the current in the Y-axis coil, that is, the magnitude of the current in the second current circuit 43, according to the second resistance value, and controls the deflection direction of the Y-axis electromagnet through the H-bridge drive circuit 2 according to the second resistance value, that is, controls the current direction of the second current in the second current circuit 43 according to the second resistance value to control the deflection direction of the electromagnet. Then, according to the deflection direction of the electromagnet, stepless control of the catheter direction is achieved.

[0048] The direction - controllable catheter provided by the embodiment of the present application. In the first current circuit 42, the first MOS transistor 421A and the first MOS transistor 421B are connected in series, and the first MOS transistor 421C and the first MOS transistor 421D are connected in series. The first MOS transistor 421A and the first MOS transistor 421B are located on one side of the first target electromagnet group, and the first MOS transistor 421C and the first MOS transistor 421D are located on the other side of the first target electromagnet group; The direction - control component 5 is used to change the resistance values of the first rheostat 411 and the second rheostat 412 connected to the circuit, ensuring the accuracy, flexibility, and convenience of changing the resistance values of the first rheostat 411 and the second rheostat 412 connected to the circuit. The main controller 413 is used to obtain the first voltage corresponding to the first rheostat 411. When the first resistance value of the first rheostat 411 connected to the circuit is greater than the initial set resistance value of the first rheostat 411, and the first voltage corresponding to the first rheostat 411 is greater than the initial set voltage of the first rheostat 411, it controls the first MOS transistor 421A and the first MOS transistor 421D in the first current circuit 42 to conduct, and the first MOS transistor 421B and the first MOS transistor 421C to turn off, so that the first current flows in the first direction, ensuring the accuracy of controlling the direction of the first current. When the first current flows in the first direction, the N - pole of the magnetic field corresponding to the first target electromagnet group faces the end of the catheter body 1. Among them, the A - target electromagnet in the first target electromagnet group generates an attractive force with the circular magnet 2, and the B - target electromagnet in the first target electromagnet group generates a repulsive force with the circular magnet 2. The direction of the end of the catheter body 1 is controlled according to the attractive force and the repulsive force, ensuring the accuracy of controlling the direction of the end of the catheter body 1.

[0049] When the first resistance value of the first rheostat 411 connected to the circuit is less than the initial set resistance value of the first rheostat 411, and the first voltage corresponding to the first rheostat 411 is less than the initial set voltage of the first rheostat 411, it controls the first MOS transistor 421B and the first MOS transistor 421C in the first current circuit 42 to conduct, and the first MOS transistor 421A and the first MOS transistor 421D to turn off, so that the first current flows in the second direction, ensuring the accuracy of controlling the direction of the first current. When the first current flows in the second direction, the S - pole of the magnetic field corresponding to the first target electromagnet group faces the end of the catheter body 1. The A - target electromagnet generates a repulsive force with the circular magnet 2, and the B - target electromagnet generates an attractive force with the circular magnet 2. The direction of the end of the catheter body 1 is controlled according to the attractive force and the repulsive force, ensuring the accuracy of controlling the direction of the end of the catheter body 1.

[0050] Similarly, the main controller 413 is configured to obtain the second voltage corresponding to the second sliding rheostat 412; and control the magnitude of the second current in the second current circuit 43 according to the magnitude of the second voltage value, and control the conduction and cutoff of the four second MOS transistors 431 in the second current circuit 43 to control the direction of the second current. This ensures the accuracy and flexibility in controlling the magnitude and direction of the second current.

[0051] The main controller 413 is further configured to compare the first voltage with the initially set voltage, and calculate the absolute value of the difference between the first voltage and the preset voltage; control the magnitude of the first current according to the magnitude of the absolute value, ensuring the accuracy in controlling the magnitude of the first current, thereby enabling accurate control of the force applied to the strip-shaped metal component 3, and further ensuring the accuracy in controlling the direction of the end of the catheter body 1. Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A directionally controllable catheter, characterized in that, The direction controllable catheter includes: a catheter body, a circular magnet with radial magnetization, at least two strip-shaped metal components, a current control circuit, a direction control component, and a generator host; wherein, the catheter body is a hollow cylinder, the circular magnet is installed at the end of the catheter body, the diameter of the circular magnet is the same as the outer diameter of the catheter body, the at least two strip-shaped metal components are parallel to each other in pairs and are arranged at equal intervals in the hollow interior of the catheter body at a preset distance from the end of the catheter body; the energized wires in the current control circuit are wound around each of the strip-shaped metal components so that each of the strip-shaped metal components is magnetized by the magnetic field generated by the energized wires to become an electromagnet; the current control circuit is connected to the direction control component, and the generator host is installed at the other end of the catheter body to provide power for the current control circuit; wherein: The circular magnet is used to generate a first magnetic field; The direction control component is used to change the magnitude and direction of the current in the current control circuit; based on the magnitude and direction of the current in the current control circuit, change the magnetic field direction and magnetic field intensity of the second magnetic field generated by the electromagnet; Based on the attraction and repulsion between the first magnetic field and the second magnetic field, change the magnitude and direction of the force on each electromagnet, and realize changing the direction of the end of the catheter body according to the direction and magnitude of the force on each electromagnet.

2. The direction-controllable catheter according to claim 1, characterized in that, The direction controllable catheter includes: four strip-shaped metal components, the four strip-shaped metal components are parallel to each other in pairs and are arranged at equal intervals in the hollow interior of the catheter body at a preset distance from the end of the catheter body; two strip-shaped metal components that are parallel and opposite to each other are a group, and the energized wires in the current control circuit are wound around the two strip-shaped metal components in each group in opposite directions so that each of the strip-shaped metal components is magnetized by the magnetic field generated by the energized wires to become the electromagnet, and the magnetic field directions generated by the two electromagnets in each group are the same.

3. The direction-controllable catheter according to claim 2, characterized in that, The current control circuit includes a master control circuit, a first current circuit, and a second current circuit, where: the first current circuit and the second current circuit are connected in parallel to the master control circuit; the master control circuit includes a first sliding rheostat, a second sliding rheostat, and a main controller; the direction control component is connected to the first sliding rheostat and the second sliding rheostat; the first sliding rheostat and the second sliding rheostat are connected in parallel to the main controller, and the other end of the main controller is respectively connected to the first current circuit and the second current circuit; wherein, the energized wire in the first current circuit is wound in opposite directions on two of the bar-shaped metal components in one group to form a first target electromagnet group; the first current circuit also includes four first MOS transistors, and the four first MOS transistors are connected in series in pairs and are respectively located on both sides of the first target electromagnet group; similarly, the energized wire in the second current circuit is wound in opposite directions on two of the bar-shaped metal components in the other group to form a second target electromagnet group; the second current circuit also includes four second MOS transistors, and the four second MOS transistors are connected in series in pairs and are respectively located on both sides of the second target electromagnet group.

4. The direction-controllable catheter according to claim 3, wherein, The direction control component is used to change the resistance values of the first sliding rheostat and the second sliding rheostat connected to the circuit; The main controller is used to obtain the first voltage corresponding to the first sliding rheostat; and according to the magnitude of the voltage value of the first voltage, control the magnitude of the first current in the first current circuit, and control the on-off conduction of the four first MOS transistors in the first current circuit to control the direction of the first current; Similarly; the main controller is used to obtain the second voltage corresponding to the second sliding rheostat; and according to the magnitude of the voltage value of the second voltage, control the magnitude of the second current in the second current circuit, and control the conduction and cut-off of the four second MOS transistors in the second current circuit to control the direction of the second current.

5. The direction-controllable catheter according to claim 4, characterized in that, In the first current circuit, the first MOS transistor A and the first MOS transistor B are connected in series, and the first MOS transistor C and the first MOS transistor D are connected in series. The first MOS transistor A and the first MOS transistor B are located on one side of the first target electromagnet group, and the first MOS transistor C and the first MOS transistor D are located on the other side of the first target electromagnet group; The main controller is used to control the first MOS transistor A and the first MOS transistor D in the first current circuit to conduct and the first MOS transistor B and the first MOS transistor C to turn off when the first resistance value of the first sliding rheostat connected to the circuit is greater than the initial set resistance value of the first sliding rheostat; and the first voltage corresponding to the first sliding rheostat is greater than the initial set voltage of the first sliding rheostat, so that the first current flows in the first direction; When the first current flows in the first direction, the N pole of the magnetic field corresponding to the first target electromagnet group faces the end of the catheter body. Among them, the A target electromagnet in the first target electromagnet group generates an attractive force with the circular magnet; the B target electromagnet in the first target electromagnet group generates a repulsive force with the circular magnet; the end of the catheter body is controlled to change its direction according to the attractive force and the repulsive force.

6. The direction-controllable catheter according to claim 5, characterized in that, The main controller is further configured to control the first MOS transistor B and the first MOS transistor C in the first current circuit to conduct and the first MOS transistor A and the first MOS transistor D to turn off when the first resistance value of the first sliding rheostat connected to the circuit is less than the initial set resistance value of the first sliding rheostat; the first voltage corresponding to the first sliding rheostat is less than the initial set voltage of the first sliding rheostat, so that the first current flows in the second direction; wherein, the directions corresponding to the first direction and the second direction are opposite; When the first current flows in the second direction, the S pole of the magnetic field corresponding to the first target electromagnet group faces the end of the catheter body, the A target electromagnet generates a repulsive force with the circular magnet; the B target electromagnet generates an attractive force with the circular magnet; the end of the catheter body is controlled to change its direction according to the attractive force and the repulsive force.

7. The directionally controllable catheter according to any one of claims 5 or 6, characterized in that, The main controller is further configured to compare the first voltage with the initial set voltage, calculate the absolute value of the difference between the first voltage and the preset voltage; control the magnitude of the first current according to the magnitude of the absolute value.

8. The directionally controllable catheter according to any one of claims 1-3, characterized in that, The material of the strip-shaped metal component is silicon steel.

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