Anisotropic magnetization magnetic control guide wire design method, magnetic control guide wire and preparation method

Abstract

The invention discloses an incongruously magnetized magnetic control guide wire design method, a magnetic control guide wire and a preparation method, and belongs to the field of medical instruments. The magnetic control guide wire design method comprises the steps that a deformation calculation model is established for the deformation condition of the magnetic tip of a magnetic control guide wire in a magnetic field based on the classical elastic rod theory, the magnetic tip of the magnetic control guide wire is segmented to obtain N segments with the same length, and the N segments are selected under the preset magnetic field amplitude and the preset magnetic field direction; calculating a target working space of the magnetic tip according to the deformation calculation model; and by taking the magnetization direction included angle delta1-deltaN of the N sections of the magnetic tip as an optimization parameter and the target working space as an optimization target, optimizing through an optimization algorithm to obtain the corresponding magnetization direction included angle of the N sections when the target working space is maximum. The maximum bending angle of the magnetic control guide wire is improved, and the manipulation performance of the working space is normalized.

Description

Technical Field

[0001] The present invention belongs to the field of medical devices, and more specifically, relates to a design method for anisotropically magnetized magnetically controlled guide wire, a magnetically controlled guide wire and a preparation method thereof. Background Art

[0002] Medical guidewires are key medical devices in minimally invasive cardiovascular and cerebrovascular interventional surgeries. Common medical guidewires are usually composed of four parts: a core, a tip, a sheath, and a coating. The tip is the main working part, and there are two main types: a preformed tip and a deformable tip. Medical guidewires have outstanding advantages such as minimally invasive intervention, small size, and a wide range of indications. However, the manipulation of medical guidewires is usually performed manually by doctors and is highly dependent on the doctors' clinical experience, which usually makes the operation time long and is very unfavorable for doctors and patients exposed to harmful rays such as CT; secondly, commonly used medical materials such as stainless steel wires and nickel-titanium memory alloys have strong rigidity and have the potential risk of causing trauma during surgery.

[0003] The magnetically controlled guidewire robot adds a guidewire made of magnetic material to the tip of the existing traditional medical guidewire. Compared with traditional guidewires, the magnetically controlled guidewire made of magnetic soft materials has the characteristics of soft texture and flexible deformation, and is driven by a magnetic field and has strong controllability. It can solve the problems caused by the single guidewire control method and strong material rigidity in existing minimally invasive interventional surgeries. It is a new interventional surgical technology with great prospects and application value.

[0004] The magnetized tip of the existing magnetically controlled guidewire robot is usually magnetized uniformly in the axial direction. This magnetization method does not fully utilize the controllability of the magnetically controlled guidewire, and cannot achieve the best function in cardiac radiofrequency ablation surgery and thrombus removal surgery. At present, some studies have proposed using multiple sections of guidewire magnetic tips with different magnetic contents, bonding several sections with different magnetic particle volume fractions, and utilizing the different magnetic response properties of magnetic materials with different magnetic particle volume fractions to achieve a larger workspace and controllability.

[0005] The existing magnetically controlled guidewire technology for cardiovascular interventional surgery has the following problems: (1) It is difficult to achieve large-angle deformation of the magnetic tip, and the required magnetic field strength is relatively high; (2) Under the control of the magnetic field, the area that the magnetic tip can reach is relatively small, which cannot meet the requirements of the guidewire for the area that can be reached by the large-area lesion area in cardiac ablation surgery. Summary of the invention

[0006] In view of the defects of the related art, the purpose of the present invention is to provide a design method of a magnetically controlled guidewire with anisotropic magnetization, a magnetically controlled guidewire and a preparation method, aiming to solve the problems that the magnetic tip of the existing guidewire is difficult to achieve large-angle deformation and has a limited working space range.

[0007] To achieve the above object, in a first aspect, the present invention provides a design method for a magnetically controlled wire with anisotropic magnetization, including:

[0008] Based on the classical elastic rod theory, a deformation calculation model is established for the deformation of the magnetic tip of the magnetically controlled wire under a magnetic field. The magnetic tip of the magnetically controlled wire is segmented into N segments with equal lengths. Under a preset magnetic field amplitude and a preset magnetic field direction, the target working space of the magnetic tip is calculated according to the deformation calculation model;

[0009] Taking the included angle δ1 - δ between the magnetization directions of the N segments of the magnetic tip as the optimization parameter, and taking the target working space as the optimization objective, through an optimization algorithm, the included angle of the magnetization directions of the N segments corresponding to the maximum target working space is optimized. N When the target working space is maximized, the included angle of the magnetization directions of the corresponding N segments is obtained.

[0010] Optionally, the expression of the deformation calculation model is:

[0011] EI(s)k(s) = Γ(s)

[0012] where EI is the flexural rigidity, k is the curvature of the axis of the deformed wire, s is the position of a certain point on the wire, the value range from the fixed end to the free end of the magnetic tip is [0, L], L is the total length of the magnetic tip, the fixed end is the end where the magnetic tip is connected to the traditional wire, and the free end is the end of the magnetic tip far from the traditional wire; k(s) = dθ / ds, and θ is the included angle between the axis of the wire after deformation and the initial axis.

[0013] Optionally, calculating the target working space of the magnetic tip according to the solution result of the deformation calculation model includes:

[0014] Transform the deformation calculation model into a difference form:

[0015]

[0016] where A is the cross-sectional area of the wire, B is the amplitude of the external magnetic field, is the included angle between the external magnetic field direction and the initial axis of the wire, M is the amplitude of the magnetization intensity of the wire, δ is the included angle between the magnetization intensity and the axis of the wire, N is the number of segments of the magnetic tip, and i, i - 1, q respectively represent the i-th, i - 1-th, and q-th segments starting from the fixed end of the magnetic tip; Δs = L / N;

[0017] Use a numerical method to iteratively solve the difference form of the deformation calculation model to obtain the values of θ1 - θ N ;

[0018] According to the values of θ1 - θ N , calculate the Cartesian coordinates of each segment of the magnetic tip:

[0019]

[0020] Normalize the Cartesian coordinates of each segment of the magnetic tip to obtain the target workspace of the magnetic tip.

[0021] Optionally, the optimization parameter is discrete;

[0022] The optimization algorithm uses a genetic algorithm or a particle swarm algorithm.

[0023] Optionally, the value range of the preset magnetic field amplitude is 0 - 40 mT;

[0024] The included angle between the preset magnetic field direction and the initial axis of the guide wire has a value range of 0° - 180°.

[0025] In a second aspect, the present invention also provides a magnetically controlled guide wire designed by using the magnetically controlled guide wire design method with anisotropic magnetization described in any one of the first aspects.

[0026] In a third aspect, the present invention also provides a preparation method of a magnetically controlled guide wire for preparing the magnetically controlled guide wire described in the second aspect, including:

[0027] S1. Mix magnetic particles with a flexible material matrix;

[0028] S2. Inject the uniformly mixed mixture into a magnetic soft mold, and let it stand or heat the mixture at a preset temperature until the mixture solidifies;

[0029] S3. Demold the solidified mixture and segment it to obtain N magnetic soft bodies;

[0030] S4. Place the magnetic soft body into a magnetization mold for fixation, use the magnetic soft body as the magnetic tip of the guide wire, and make the angle between each segment of the magnetic tip and the magnetization magnetic field direction a preset value;

[0031] S5. Place the magnetization mold into a magnetization magnetic field to magnetize the magnetic soft body therein;

[0032] S6. Bond each segment of the magnetized magnetic tip with an adhesive.

[0033] In a fourth aspect, the present invention also provides a magnetically controlled guide wire robot system, including: a magnetically controlled guide wire robot, an external magnetic field generating device, a guide wire propulsion device, a medical imaging device, and a remote control device;

[0034] The end of the robotic arm of the magnetically controlled guide wire robot uses the magnetically controlled guide wire described in the second aspect;

[0035] The external magnetic field generating device is used to apply an external magnetic field to the magnetically controlled guide wire to cause a preset deformation;

[0036] The wire advancing device is a wire pusher, which is used to advance the magnetically controlled wire to move it back and forth;

[0037] The medical imaging device is used to obtain medical images during the advancement of the magnetically controlled wire, and display the position and morphological information of the magnetically controlled wire in the human blood vessel;

[0038] The remote control device is used to control the spatial position and angle of the end of the robotic arm, regulate the magnitude and direction of the magnetic field generated by the external magnetic field generating device, and control the distance that the wire advancing device drives the magnetic wire to move.

[0039] Through the above technical solutions conceived by the present invention, compared with the prior art, the following beneficial effects can be achieved:

[0040] 1. A design method of a magnetically controlled wire with anisotropic magnetization provided by the present invention, by equally dividing the magnetic tip of the wire into several segments with different magnetization directions, and respectively designing and optimizing the magnetization directions of each segment, with the target working space of the magnetic tip as the optimization target, to determine the optimal parameters (magnetization direction angle) of each segment under a preset magnetic field, so that the deformation direction of the magnetically controlled wire can be freely adjusted and the deformation degree can be controlled under the action of an external magnetic field. It solves the problems that it is difficult for the magnetic tip of the existing wire to achieve large-angle deformation and the working space range is limited. It can improve the manipulation performance such as the maximum bending angle and normalized working space of the designed magnetically controlled wire, so that it can better adapt to the processes of vascular magnetic navigation and ablation of large areas in the heart in minimally invasive cardiovascular interventional surgery.

[0041] 2. A magnetically controlled wire robot system provided by the present invention uses a magnetically controlled wire at the end of the robotic arm of the magnetically controlled wire robot, and uses magnetic navigation through an external magnetic field to accelerate the surgical process and reduce the surgical time, so as to reduce the time that doctors and patients are exposed to harmful rays such as CT. Further, remote control of the magnetic field can be realized through the remote control device, providing a technical basis for future realization of doctor's remote medical treatment. Description of the Drawings

[0042] Figure 1 It is a schematic diagram of the anisotropic magnetization wire design strategy in a design method of a magnetically controlled wire with anisotropic magnetization provided by the present invention;

[0043] Figure 2 It is the basic process of the algorithm optimization design model of the magnetization direction parameters of the magnetically controlled wire in a design method of a magnetically controlled wire with anisotropic magnetization provided by the present invention;

[0044] Figure 3 It is the distribution of the magnetization direction angles of each segment of the optimized anisotropic magnetization wire in a design method of a magnetically controlled wire with anisotropic magnetization provided by the present invention;

[0045] Figure 4 It is the working space of the optimized anisotropic magnetization guide wire in a method for designing an anisotropic magnetization magnetic control guide wire provided by the present invention;

[0046] Figure 5 It is a comparison of the working spaces of five types of guide wires generated by a method for designing an anisotropic magnetization magnetic control guide wire provided by the present invention;

[0047] Figure 6 It is a schematic diagram of a method for preparing a magnetic control guide wire provided by the present invention;

[0048] Figure 7 It is the experimental verification of the anisotropic magnetization guide wire in the present invention;

[0049] In the above-mentioned drawings, each reference numeral refers to the following things respectively: 1 - magnetic tip; 2 - traditional guide wire; 3 - magnetic particles. Specific Embodiments

[0050] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0051] The following describes the content involved in the above embodiments in combination with a preferred embodiment.

[0052] Embodiment 1

[0053] As Figure 1 shown, the present invention provides a method for designing an anisotropic magnetization magnetic control guide wire, which is characterized by including:

[0054] Based on the classical elastic rod theory, a deformation calculation model is established for the deformation of the magnetic tip of the magnetic control guide wire under the magnetic field. The magnetic tip of the magnetic control guide wire is segmented into N segments with equal lengths. Under a preset magnetic field amplitude and a preset magnetic field direction, the target working space of the magnetic tip is calculated according to the deformation calculation model;

[0055] Taking the included angle δ1 - δ N of the magnetization directions of the N segments of the magnetic tip as the optimization parameter and the target working space as the optimization objective, the included angle of the magnetization directions of the corresponding N segments when the target working space is maximized is obtained through an optimization algorithm.

[0056] Refer to Figure 1, in this embodiment, a magnetically controlled guidewire is provided at one end of the traditional guidewire 2. The magnetic tip 1 of the magnetically controlled guidewire is the end far from the traditional guidewire 2, which is not restricted by the traditional guidewire and is called the free end. The end of the magnetically controlled guidewire fixedly connected to the traditional guidewire 2 is called the fixed end. A deformation calculation model is established for the deformation of the magnetic tip of the magnetically controlled guidewire under the magnetic field based on the classical elastic rod theory; the magnetic tip 1 of the magnetically controlled guidewire is segmented. After segmentation, each segment has multiple magnetic particles 3. Then, an algorithm optimization design model for the magnetization parameters of the magnetically controlled guidewire is established based on the deformation calculation model of the magnetically controlled guidewire under the magnetic field, which is used to optimize and calculate the deformation of each part of the magnetic tip; among them, the simulation model under the physical model of the guidewire deformation takes the magnetic-related parameters of the guidewire, the externally applied magnetic field parameters, etc. as variables. After determining the design scheme of the magnetically controlled guidewire robot using the algorithm optimization design model, the guidewire is prepared according to the determined scheme. The obtained magnetically controlled guidewire can have the performance of adjustable included angles of magnetization directions in multiple segments, and the shape, angle, and target working space of the magnetically controlled guidewire can be changed by applying an external magnetic field according to actual needs. Among them, in the segmented magnetic tip 1, the included angle between the external magnetic field direction of multiple magnetic particles 3 in each segment and the initial axis of the guidewire is the same.

[0057] The above deformation calculation model of the magnetically controlled guidewire under the magnetic field can be established based on the classical elastic rod theory. For example, the Euler-Bernoulli beam model makes the following three assumptions:

[0058] (1) The magnetic tip of the guidewire is only affected by the magnetic moment and not by the magnetic gradient force, and the guidewire cannot be stretched;

[0059] (2) The length and radius of curvature of the magnetic tip of the guidewire are much larger than the cross-sectional dimensions, and the guidewire is in the shape of a slender rod;

[0060] (3) The cross-section of the guidewire is a rigid plane.

[0061] According to the Euler-Bernoulli beam equation, the magnetic moment Γ(s) acting on each segment of the guidewire should be balanced with the internal bending moment EI(s)k(s). The expression of the deformation calculation model is:

[0062] EI(s)k(s) = Γ(s) (1)

[0063] where EI is the flexural rigidity, k is the curvature of the axis of the deformed guidewire, s is the position of a certain point on the guidewire, the value range of the fixed end to the free end of the magnetic tip is [0, L], L is the total length of the magnetic tip, the fixed end is the end where the magnetic tip is connected to the traditional guidewire, and the free end is the end of the magnetic tip far from the traditional guidewire; k(s) = dθ / ds, and θ is the included angle between the axis of the deformed guidewire and its initial axis.

[0064] The calculation formula for the magnetic torque Γ(s) received by each section of the guide wire is as follows:

[0065]

[0066] Among them, A is the cross-sectional area of the guide wire, B is the amplitude of the external magnetic field, is the angle between the direction of the external magnetic field and the initial axis of the guide wire, M is the amplitude of the magnetization intensity of the guide wire, δ is the angle between the magnetization intensity and the axis of the guide wire, and L is the total length of the magnetic tip of the guide wire.

[0067] Due to the different stiffness and magnetization structures of each section of the guide wire, when s takes different values, the flexural rigidity EI, magnetization intensity M, and magnetization direction δ are also different. Therefore, the above formula cannot be directly solved. Calculating the target working space of the magnetic tip according to the solution result of the deformation calculation model includes: discretizing the guide wire into several sections, and the beam balance equation in formula (1) can be rewritten into the following difference form:

[0068]

[0069] Among them, N is the number of sections of the magnetic tip, i, i - 1, and q respectively represent the i-th, i - 1-th, and q-th sections starting from the fixed end of the magnetic tip; Δs = L / N.

[0070] N equilibrium equations for the segments can be derived from formula (3), as shown below:

[0071]

[0072] In the equilibrium state, the value of θ1 - θ 100 should be such that the value of the above equilibrium equation F1 - F 100 is 0.

[0073] Using a numerical method to iteratively solve the system of equations of the deformation calculation model in formula (4) to obtain the value of θ1 - θ N ; According to the value of θ1 - θ N , calculate the Cartesian coordinates of each section of the magnetic tip:

[0074]

[0075] In this embodiment, N is taken as 100.

[0076] Normalize the Cartesian coordinates of each section of the magnetic tip to obtain the target working space of the magnetic tip. The above is the relevant content of the deformation calculation model of the magnetically controlled guide wire under the magnetic field.

[0077] The algorithm optimization design model of the magnetization direction parameters of the magnetically controlled guide wire is an optimization design model that uses an algorithm to optimize the included angle parameters of the magnetization directions of each segment of the magnetic tip of the guide wire to maximize the optimization goal. Taking the magnetization direction parameters to be optimized as the optimization variables and the desired target performance (maximum target working space) as the optimization goal, the algorithm optimizes the optimization variables of the magnetization direction parameters to maximize the target performance.

[0078] Specifically, taking the included angle of the magnetization direction of the magnetic tip of the guide wire as the optimization variable, the optimization parameters can be continuous or discrete. In this embodiment, the optimization parameters are set as discrete; taking the target working space of the guide wire and the bending angle of the guide wire tip as the optimization goals; the optimization algorithm selects optimization algorithms such as genetic algorithm or particle swarm algorithm. The result of the optimization output is the numerical value of the optimization variable of each segment of the magnetic tip of the guide wire.

[0079] The above is the relevant content of the algorithm optimization design model of the magnetization direction parameters of the magnetically controlled guide wire.

[0080] In a specific embodiment, as Figure 1 shown, the magnetic tip of the guide wire is divided into n segments, and each segment has an independent magnetization direction. The guide wire is divided into 7 segments with independent magnetization directions, that is, n = 7. During the calculation of the deformation of the guide wire, the deformation calculation model discretizes the guide wire into 70 segments, that is, N = 70, and every 10 small segments have the same magnetization direction. The number of magnetization directions of the guide wire is 6, that is, M = 6, and the included angles of the magnetization directions of the guide wire take 6 discrete values, 0°, 60°, 120°, 180°, 240°, 300°.

[0081] In medical applications, since the distance between the set magnetic field source and the magnetically controlled guide wire is usually greater than 15 cm, at this distance, the maximum magnetic field amplitude is usually set to 40 mT. Therefore, in this embodiment, the working space of the guide wire is defined as: the value range of the preset magnetic field amplitude is 0 - 40 mT; the included angle between the preset magnetic field direction and the initial axis of the guide wire Figure 2 takes the value range of 0° - 180°, and the area that the head of the magnetic tip of the guide wire can reach. Among them, the area is normalized. The algorithm optimization design model of the magnetization parameters of the magnetically controlled guide wire uses a discrete genetic algorithm to optimize the included angle of the magnetization direction of each segment to achieve the maximum target working space of the guide wire, and the basic process is as Figure 3 shown. The included angle of each segment of the magnetization direction output is as Figure 4 shown, and the working space that can be achieved is as Figure 3 shown. As Figure 4 known, the included angles of the 7 segments of the magnetization direction are 120°, 120°, 120°, 0°, 0°, 300°, 180° respectively; as

[0082] Figure 5 The working space of the segmented multi-directional magnetization guide wire is compared with that of the traditional magnetic soft body guide wire. The working space of the segmented multi-directional magnetization guide wire provided in this embodiment is increased by 316% compared with the traditional magnetic soft body guide wire.

[0083] Furthermore, an embodiment of the present invention also provides a magnetically controlled guide wire designed by using the magnetically controlled guide wire design method described in any one of the above contents.

[0084] In the embodiment of the present invention, a segmented design method is adopted, and the target working space of the magnetic tip is used as the optimization target to determine the optimal parameters (magnetization direction angle) of each segment under a preset magnetic field, so that the deformation direction of the magnetically controlled guide wire can be freely adjusted and the deformation degree can be controlled under the action of an external magnetic field. It solves the technical problems that the magnetic tip of the guide wire has poor maneuverability at large bending angles and a limited working space range, and realizes the improvement of the maneuverability such as the maximum bending angle and the normalized working space of the designed magnetically controlled guide wire, so that it can better adapt to the processes such as vascular magnetic navigation and ablation of large areas in the heart during minimally invasive cardiovascular interventional surgery.

[0085] Embodiment Two

[0086] The present invention also provides a preparation method of a magnetically controlled guide wire for preparing the magnetically controlled guide wire described in Embodiment One, including:

[0087] S1. Mix magnetic particles with a flexible material matrix;

[0088] S2. Inject the uniformly mixed mixture into a magnetic soft body mold, and let the mixture stand or heat the mixture at a preset temperature until the mixture solidifies;

[0089] S3. Demold the solidified mixture and segment it to obtain N magnetic soft bodies;

[0090] S4. Place the magnetic soft body into a magnetization mold for fixation. The magnetic soft body serves as the magnetic tip of the guide wire, and the angle between each segment of the magnetic tip and the magnetization magnetic field direction is a preset value;

[0091] S5. Place the magnetization mold into a magnetization magnetic field to magnetize the magnetic soft body therein;

[0092] S6. Bond each segment of the magnetized magnetic tip with an adhesive.

[0093] Place Figure 3 The shown optimization results are prepared according to the described preparation process, and the specific operation process is as Figure 6 shown. Apply a magnetic field to the external space of the prepared segmented multi-directional magnetization guide wire to verify the accuracy of the optimization results. The verification experimental results are as Figure 7As shown, the actual deformation of the guide wire is the same as the simulation result. Therefore, it has the beneficial effects of the first embodiment described above.

[0094] Embodiment III

[0095] The present invention also provides a magnetically controlled guide wire robot system, including: a magnetically controlled guide wire robot, an external magnetic field generating device, a guide wire propulsion device, a medical imaging device, and a remote control device;

[0096] The end of the robotic arm of the magnetically controlled guide wire robot uses the magnetically controlled guide wire as described in Embodiment II;

[0097] The external magnetic field generating device is used to apply an external magnetic field to the magnetically controlled guide wire to cause it to produce a preset deformation;

[0098] The guide wire propulsion device is a guide wire pusher, which is used to push the magnetically controlled guide wire to move back and forth;

[0099] The medical imaging device is used to obtain medical images during the movement of the magnetically controlled guide wire and display the position and morphological information of the magnetically controlled guide wire in the human blood vessel;

[0100] The remote control device is used to control the spatial position and angle of the end of the robotic arm, adjust the magnitude and direction of the magnetic field generated by the external magnetic field generating device, and control the distance that the guide wire propulsion device drives the magnetic guide wire to move.

[0101] Among them, the medical imaging device can be a medical imaging device such as a CT or an X-ray.

[0102] The magnetically controlled guide wire robot system provided by the embodiment of the present invention uses a magnetically controlled guide wire at the end of the robotic arm of the magnetically controlled guide wire robot, and performs magnetic navigation through an external magnetic field to accelerate the surgical process and reduce the surgical time, so as to reduce the time for doctors and patients to be exposed to harmful rays such as CT. Through the remote control device, remote control of the magnetic field can be realized, providing a technical basis for future realization of doctor's remote medical treatment.

[0103] Those skilled in the art can easily understand that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for designing a magnetically controlled guide wire with anisotropic magnetization, characterized in that: include: A deformation calculation model is established for the deformation of the magnetic tip of the magnetically controlled guide wire under a magnetic field based on the classical elastic rod theory, the magnetic tip of the magnetically controlled guide wire is segmented to obtain N segments of equal length, and the target working space of the magnetic tip is calculated according to the deformation calculation model under a preset magnetic field amplitude and a preset magnetic field direction; The magnetization direction angle of the N segments of the magnetic tip is δ1-δ N To optimize the parameters, the target working space is taken as the optimization target, and the magnetization direction angles of the corresponding N segments when the target working space is the largest are obtained by optimizing the optimization algorithm.

2. The magnetically controlled guide wire design method according to claim 1, characterized in that: The expression of the deformation calculation model is: EI(s)k(s)=Γ(s) Wherein, EI is the bending stiffness, k is the curvature of the guidewire axis after deformation, s is the position of a certain point on the guidewire, the value range from the fixed end to the free end of the magnetic tip is [0, L], L is the total length of the magnetic tip, the fixed end is the end where the magnetic tip is connected to the traditional guidewire, and the free end is the end of the magnetic tip away from the traditional guidewire; k(s) = dθ / ds, θ is the angle between the axis of the guidewire after deformation and the initial axis.

3. The magnetically controlled guide wire design method according to claim 2, characterized in that: Calculating the target working space of the magnetic tip according to the solution result of the deformation calculation model includes: Transform the deformation calculation model into a differential form: Where A is the cross-sectional area of ​​the guidewire, B is the amplitude of the external magnetic field, is the angle between the direction of the external magnetic field and the initial axis of the guidewire, M is the amplitude of the magnetization intensity of the guidewire, δ is the angle between the magnetization intensity and the axis of the guidewire, N is the number of segments of the magnetic tip, i, i-1, q represent the i-th, i-1, q-th segments from the fixed end of the magnetic tip, respectively; Δs = L / N; The numerical method is used to iteratively solve the deformation calculation model in differential form to obtain θ1-θ N The value of According to θ1-θ N The Cartesian coordinates of each segment of the magnetic tip are calculated: The Cartesian coordinates of each segment of the magnetic tip are normalized to obtain the target working space of the magnetic tip.

4. The magnetically controlled guide wire design method according to claim 1, characterized in that: The optimization parameters are discrete; The optimization algorithm adopts a genetic algorithm or a particle swarm algorithm.

5. The magnetically controlled guide wire design method according to claim 1, characterized in that: The preset magnetic field amplitude has a value range of 0-40 mT; The angle between the preset magnetic field direction and the initial axis of the guide wire The value range is 0°-180°.

6. A magnetically controlled guide wire, characterized in that: The method for designing a magnetically controlled guide wire with anisotropic magnetization as described in any one of claims 1 to 5 is used for designing the guide wire.

7. A method for preparing a magnetically controlled guide wire, for preparing the magnetically controlled guide wire as claimed in claim 6, characterized in that: include: S1, mixing magnetic particles with a flexible material matrix; S2, injecting the uniformly mixed mixture into a magnetic soft mold, and leaving the mixture to stand or heating the mixture at a preset temperature until the mixture solidifies; S3, demoulding the solidified mixture and segmenting it to obtain N segments of magnetic soft bodies; S4, placing the magnetic soft body into the magnetizing film and fixing it, the magnetic soft body serving as the magnetic tip of the guide wire, and making the angle between each segment of the magnetic tip and the direction of the magnetizing magnetic field be a preset value; S5, placing the magnetized film tool into a magnetized magnetic field to magnetize the magnetic soft body therein; S6. Bond the magnetized magnetic tip sections with adhesive.

8. A magnetically controlled wire guide robot system, characterized in that: include: Magnetically controlled wire guide robots, external magnetic field generating devices, wire guide propulsion devices, medical imaging devices and remote control devices; The end of the mechanical arm of the magnetically controlled wire guide robot adopts the magnetically controlled wire guide as claimed in claim 6; The external magnetic field generating device is used to apply an external magnetic field to the magnetically controlled guide wire to cause it to produce a preset deformation; The guidewire advancing device is a guidewire advancer, which is used to advance the magnetically controlled guidewire to move forward and backward; The medical imaging device is used to obtain medical images during the travel of the magnetically controlled guide wire and to display the position and morphological information of the magnetically controlled guide wire in the human blood vessel; The remote control device is used to control the spatial position and angle of the end of the robotic arm, adjust the size and direction of the magnetic field generated by the external magnetic field generating device, and control the distance that the guidewire propulsion device drives the magnetic guidewire to move.

Images