Pace-making surgical robot based on telescopic rotation and magnetic drive guiding sheath tube

Abstract

The invention relates to the field of medical instruments, in particular to a pace-making surgical robot based on a telescopic rotation and magnetic drive guide sheath tube. By combining the three-dimensional moving mechanical arm and the precise magnetic field control technology, precise control over the catheter and the pace-making wire is achieved. Compared with a traditional operation mode, shaking and instability in the operation process of a doctor can be effectively reduced, and risks such as wire perforation and inaccurate positioning in the catheter delivery process are reduced. In addition, by means of a non-contact operation mode controlled by a magnetic field, wounds to a patient are reduced, and operation precision and safety are improved. Meanwhile, an automatic control system and a non-radiation surgical operation mode are adopted, so that the radiation exposure risk of doctors is reduced, the cognitive burden is relieved, and the surgical efficiency is remarkably improved. The whole operation process is safer and more efficient, and improvement of the treatment effect of the cardiac pacing operation is facilitated.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and in particular to a pacing surgical robot based on a retractable, rotating and magnetically driven guide sheath. Background Art

[0002] A pacemaker is an electronic therapeutic device implanted in the human body. It emits battery-powered electrical pulses through a pulse generator, which are conducted through wire electrodes to stimulate the contacted myocardium, promote heart contraction, and treat heart dysfunction caused by arrhythmia.

[0003] During existing pacemaker implantation, jitter and instability during operation often reduce catheter delivery accuracy and stability, making lead rotation difficult to control and the distal end position and posture unpredictable, increasing the risk of damage to septal arterial branches or free wall myocardium. Optimizing the delivery process and improving accuracy through technological means remains an urgent challenge. Summary of the Invention

[0004] In view of this, the object of the present invention is to provide a pacing surgical robot based on a retractable rotating and magnetically driven guide sheath.

[0005] The present invention adopts the following specific technical solutions:

[0006] A pacing surgical robot based on a retractable, rotating, and magnetically driven guide sheath, the surgical robot comprising a three-dimensional mobile robotic arm, a magnetic field generator assembly, a manipulator, a catheter, and a guide wire;

[0007] The lead is a helical-tip pacemaker lead;

[0008] The catheter is a magnetically driven guide sheath;

[0009] The wire is located inside the catheter;

[0010] The manipulator is used to deliver the catheter with the guidewire and to rotate the guidewire;

[0011] The magnetic field generator assembly is used to change the direction of the catheter during the delivery of the catheter by the manipulator, thereby changing the direction of the guidewire;

[0012] The magnetic field generator assembly is connected to the end of a three-dimensional mobile robotic arm, and the three-dimensional mobile robotic arm can drive the magnetic field generator assembly to move in six degrees of freedom.

[0013] The three-dimensional mobile robotic arm is used to adjust the position and posture of the magnetic field generator assembly, so that the magnetic field generator assembly can accurately control the distribution and direction of the magnetic field, ensuring the accuracy and stability of the catheter during the operation.

[0014] The magnetic field generator assembly includes a flange, a motor, a bracket, a transmission mechanism and a magnetic field generator body;

[0015] The flange is connected to the top of the bracket;

[0016] The upper part of the bracket is the motor compartment, which is used to fix the motor, and the output shaft of the motor extends out of the bracket;

[0017] The lower part of the bracket is used to fix the magnetic field generator body, and the shaft of the magnetic field generator body extends out of the bracket;

[0018] The transmission mechanism is used to connect the output shaft of the motor located outside the bracket and the shaft of the magnetic field generator body, so that the motor and the magnetic field generator body are in transmission connection.

[0019] The magnetic field generator assembly is mounted on the end of the three-dimensional moving robot arm through a flange.

[0020] The motor is used to drive the magnetic field generator body to rotate, thereby generating a controllable rotating magnetic field and gradient magnetic field in three-dimensional space. By adjusting the speed and rotation direction of the motor, the change of the magnetic field is controlled, and then the direction of the magnetic pole at the end of the catheter is adjusted.

[0021] The magnetic field generator body is a ring-shaped permanent magnet magnetized along the axial direction, which can generate a strong magnetic field and exert torque on the magnetic poles at the end of the catheter, driving the rotation and movement of the catheter.

[0022] The catheter includes a catheter body and a magnetic pole. The catheter is covered with an insulating layer. The magnetic pole is a ring-shaped permanent magnet fixed to the output end of the catheter body.

[0023] The magnetic field generated by the magnetic field generator body of the magnetic field generator assembly controls the direction of the magnetic pole at the end of the catheter, thereby achieving precise control and positioning of the catheter.

[0024] The output end of the wire has a spiral head electrode, and the input end of the wire has an electrode;

[0025] The output end of the wire is connected to the heart to be operated on;

[0026] The input end of the lead is connected to the pacemaker and is driven by the manipulator to achieve delivery and rotation.

[0027] The operator includes a first motor, a second motor, a third motor, a fourth motor, a fifth motor, a first guide pulley set, a second guide pulley set, a transmission gear set, a first clamping mechanism, a second clamping mechanism and a fixed support;

[0028] The first motor, the second motor, the third motor, the fourth motor, the fifth motor, the first guide pulley set, the second guide pulley set, the transmission gear set, the first clamping mechanism, and the second clamping mechanism are all mounted and fixed on the fixed support;

[0029] The first motor output shaft is connected to the first clamping mechanism, and is used to drive the first clamping mechanism to control the clamping and release of the catheter;

[0030] The output shaft of the third motor is connected to the first guide pulley assembly;

[0031] After the first clamping mechanism is clamped, the third motor drives the first guide pulley assembly to rotate and thereby drives the guide tube forward;

[0032] The second motor output shaft is connected to the second clamping mechanism, and is used to drive the second clamping mechanism to control the clamping and release of the wire;

[0033] The fourth motor output shaft is connected to the second guide pulley assembly;

[0034] After the second clamping mechanism is clamped, the fourth motor drives the second guide pulley assembly to rotate and thereby drives the catheter forward;

[0035] The fifth motor output shaft is connected to the transmission gear set;

[0036] The fifth motor drives the transmission gear set to drive the wire to rotate, and the output end of the wire is implanted in the cardiac pacing area to be operated on through the rotation.

[0037] A method for performing surgery using a pacing surgical robot based on a retractable, rotating, and magnetically driven guide sheath, the method comprising:

[0038] Step 1: Use a three-dimensional mobile robotic arm to adjust the position and posture of the magnetic field generator assembly to drive and control the direction of the catheter. Use a manipulator to drive the catheter to the set position and posture and insert it into the patient's body. Position it to the target area through the intravenous route, ensuring that the magnetic field generator assembly is above the target area. The catheter position is monitored in real time to ensure that the magnetic pacing catheter accurately reaches the target area.

[0039] Step 2: The guidewire is gradually advanced to the target area along the delivery path inside the catheter by the manipulator. When the output end of the guidewire passes through the interior of the catheter and reaches the target position, the manipulator is controlled to rotate the guidewire to drive the electrode at the output end of the guidewire into the target area.

[0040] Step 3: When the helical tip of the wire enters the target area, the magnetic field generator assembly continues to adjust the magnetic field strength and direction to control the positioning of the wire, ensuring that the output end of the wire is perpendicular to the surface of the target area. At this time, the feedback electrical signal collected in real time is used to determine whether the implant depth is appropriate and make corresponding adjustments;

[0041] Step 4: After the pacemaker lead is implanted, the catheter is removed from the body, leaving the lead and pacemaker in the patient's body. Feedback signals are continuously monitored to ensure the lead is in good condition. Finally, confirmation is made as to whether the implant position has reached the set target.

[0042] Step 5: After the operation, real-time electrophysiological monitoring is used to confirm that the lead is functioning properly, ensuring that the implantation process is correct and that the patient's heart pacing function is effectively improved.

[0043] The present invention has the following beneficial effects:

[0044] Compared with traditional manual operation, the indirectly controllable magnetically guided pacing surgical robot system of the present invention fixes the magnetic field control platform on the end of a three-dimensional mobile robotic arm, and uses the three-dimensional mobile robotic arm to adjust the position and posture of the magnetic field control platform; the control magnetic field generated by the magnetic field control platform can stimulate the movement of the permanent magnet at the end of the magnetic pacing catheter, and combined with the delivery manipulator, it can achieve precise position and posture control of the catheter in space; because the magnetic field has a strong ability to penetrate human tissue, the control of the magnetic catheter is a non-contact operation, which greatly reduces the potential risk of affecting the vitality of biological life; by changing the delivery manipulator, the delivery of the magnetic catheter and pacemaker wire can be accurately driven, and the number of rotations of the wire spiral head can be accurately controlled; therefore, the above-mentioned robotic system can achieve precise control of the position of the left bundle branch pacing wire, and can be strictly perpendicular to the pacing target area, so as to achieve the purpose of accurate and safe implementation of the pacemaker wire implantation, which can reduce the number of trial and error times of the doctor's pacemaker wire implantation, greatly reduce the risks of wire perforation, wire failure to reach the bundle branch area, and septal artery damage in traditional left bundle branch pacing surgery, and reduce patient trauma. In addition, the surgeon does not need to stay in the operating room during the entire pacemaker lead implantation process, reducing the risk of X-ray-related injuries and improving surgical efficiency and quality.

[0045] The magnetically guided pacing surgical robot of the present invention achieves precise control of the catheter and pacing wire by combining a three-dimensional mobile robotic arm and precise magnetic field control technology. Compared with traditional surgical methods, it can effectively reduce the jitter and instability during the doctor's operation, and reduce the risks during catheter delivery, such as wire perforation and inaccurate positioning. In addition, the non-contact operation method controlled by the magnetic field reduces trauma to the patient and improves surgical accuracy and safety. At the same time, the use of an automated control system and a non-radiative surgical operation method reduces the doctor's radiation exposure risk, reduces the cognitive burden, and significantly improves surgical efficiency. The overall surgical process is safer and more efficient, which helps to improve the therapeutic effect of cardiac pacing surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 Schematic diagram of the composition of the robot of the present invention;

[0047] Figure 2 Schematic diagram of the structure of the magnetic field generator assembly of the present invention;

[0048] Figure 3 Schematic diagram of the composition of the magnetic pacing catheter of the present invention;

[0049] Figure 4 Schematic diagram of the structure of the operator of the present invention. DETAILED DESCRIPTION

[0050] The working principle of the indirectly controllable magnetically guided pacing surgical robot system of the present invention is mainly based on the control and regulation of the magnetic field. The magnetic field drives the magnetic pacing catheter to provide a channel for the spiral head pacemaker wire, thereby realizing the precise control and implantation of the pacemaker wire.

[0051] A pacing surgical robot based on a retractable, rotating, and magnetically driven guide sheath, comprising a three-dimensional mobile robotic arm, a magnetic field control platform, a catheter / wire delivery manipulator, a magnetic pacing catheter, and a spiral-tipped pacemaker wire;

[0052] The three-dimensional mobile robotic arm is used to adjust the position and posture of the magnetic field control platform, and the end is connected to the magnetic field control platform through a flange mechanism.

[0053] The magnetic field control platform is installed at the end of the three-dimensional mobile robotic arm and consists of a bracket, a motor, a transmission mechanism and a magnetic field generator. The motor is installed in the motor compartment of the bracket and controls the magnetic generator to rotate through the transmission mechanism, thereby precisely controlling the magnetic field generator to generate a rotating magnetic field and a gradient magnetic field, providing a variable magnetic field source for controlling the magnetic pacemaker catheter.

[0054] The catheter / lead delivery manipulator, mounted on the operating table, is used to advance the magnetic catheter and advance and rotate the helical-tipped pacemaker lead. The manipulator comprises five motors, two sets of guide pulleys, a set of transmission gears, and a fixed support. Two motors cooperate with a clamping mechanism to control the clamping and release of the lead and catheter. After clamping, two motors control the rotation of the two sets of guide pulleys to control the advancement of the lead and catheter. One motor controls the rotation of the helical pacemaker lead to complete implantation of the lead's helical tip into the cardiac pacing area.

[0055] The magnetic pacemaker catheter consists of a catheter and a head-end magnetic pole, which is used to provide a delivery path for the spiral electrode pacemaker lead. The catheter is covered with an insulating layer, and the magnetic pole is a permanent magnet that is magnetized in an annular shape along the axial direction. The magnetic pole is fixed to the end of the catheter. The magnetic field is controlled by the magnetic field generator of the magnetic control platform, thereby controlling the direction of the magnetic pole at the end of the catheter. The spiral head pacemaker lead consists of a wire, an insulating layer, and a spiral head electrode. The wire is covered with an insulating layer, one end of which is connected to the pacemaker and the other end is fixed to the spiral head electrode. After receiving the delivery propulsion force and rotational torque provided by the wire delivery manipulator, it is rotated and implanted into the cardiac pacing area. After the surgical implantation is completed, the magnetic pacing catheter is withdrawn, and the spiral head pacemaker lead and pacemaker are left in the human body.

[0056] The robot includes: a three-dimensional mobile manipulator arm for adjusting the position and posture of the magnetic field control platform. The end of the three-dimensional mobile manipulator arm is connected to the magnetic field control platform through a flange mechanism and can perform precise motion control in three-dimensional space;

[0057] A magnetic field control platform is installed at the end of the three-dimensional mobile manipulator. The magnetic field control platform consists of a bracket, a motor, a transmission mechanism, and a magnetic field generator. The motor controls the rotation of the magnetic field generator through the transmission mechanism, thereby generating a rotating magnetic field and a gradient magnetic field.

[0058] A magnetic field generator, which is a permanent magnet, electromagnet, or electromagnetic coil array, capable of generating an adjustable magnetic field in three dimensions to precisely control the direction of the magnetic pole at the output end of the magnetic pacing guide sheath;

[0059] A guide sheath / lead delivery manipulator, mounted on an operating table, is used to drive the forward and rotational movement of the magnetic pacing guide sheath and the spiral-tipped pacemaker lead. The delivery manipulator includes multiple motors, guide pulleys, a clamping mechanism, and a transmission gear.

[0060] The magnetic pacing guide sheath consists of a guide sheath body and a head end magnetic pole. The head end magnetic pole is a ring-shaped permanent magnet magnetized along the axial direction or other magnetic material magnetized along the axial direction. The magnetic pole is fixed to the end of the guide sheath and can control the movement and posture of the guide sheath end through the magnetic field control platform.

[0061] A spiral head pacemaker lead comprises a lead, an insulating layer and a spiral head electrode. One end of the lead is connected to the pacemaker, and the other end is connected to the spiral head electrode. The electrode is used to achieve cardiac pacing in a target area.

[0062] The three-dimensional mobile robotic arm includes at least three rotation axes, which can realize the free movement of the guide sheath / wire delivery manipulator in three-dimensional space.

[0063] The magnetic field generator of the magnetic field control platform includes at least one annular permanent magnet, electromagnet or electromagnetic coil array. The magnetic field generator controls the intensity and direction of the magnetic field by adjusting its rotation speed and rotation angle.

[0064] The guide sheath / wire delivery operator controls the clamping and releasing of the guide sheath and the wire through a guide pulley and a clamping mechanism driven by a motor, and realizes the forward and backward movement of the guide sheath and the wire.

[0065] The guide sheath / wire delivery manipulator includes at least five motors, two of which are used to clamp and release the wire and the guide sheath, and the other three motors are used to control the advancement, rotation and pushing of the guide sheath and the wire.

[0066] The spiral head pacemaker wire is driven by the motor of the guide sheath delivery operator to perform forward and rotational movements to complete the precise implantation of the wire spiral head.

[0067] The guide sheath body of the magnetic pacing guide sheath is coated with an insulating layer to ensure electrical safety during operation.

[0068] The rotating magnetic field and gradient magnetic field of the magnetic field generator can generate directional magnetic force, thereby driving the magnetic pole at the end of the magnetic pacing guide sheath to rotate, thereby achieving precise control of the end of the guide sheath.

[0069] The magnetic field control platform can accurately control the direction and posture of the magnetic pacing guide sheath and the spiral head pacemaker wire in the body by adjusting the intensity and direction of the magnetic field, ensuring that the wire reaches the target area accurately.

[0070] The propulsion force of the guide sheath / wire delivery manipulator is controlled by multiple motors, and the delivery propulsion speed and rotation speed can be precisely adjusted according to the real-time feedback of the guide sheath and wire status.

[0071] The magnetic field generator can generate magnetic fields with different local intensities as needed to achieve simultaneous control of multiple magnetic guide sheaths.

[0072] The spiral head portion of the spiral head pacemaker lead can spin in the target area, and the final positioning of the pacing lead can be achieved by controlling the rotation speed and direction.

[0073] The system includes an image guidance system for providing real-time image feedback during surgery to assist doctors in locating the positions of the magnetic pacing guide sheath and the spiral-headed pacemaker wire.

[0074] The design of the magnetic pacing guide sheath and the spiral head pacemaker wire enables the guide sheath and the wire to be accurately implanted under the action of a magnetic field without relying on contact operation.

[0075] The system can adjust the implantation depth of the lead and confirm the implantation position in real time through image guidance and electrophysiological feedback signals.

[0076] The system can reduce the use of X-rays during surgery, reduce radiation exposure to doctors, and improve the safety and efficiency of surgery.

[0077] The guide sheath delivery manipulator can accurately control the advancement and rotation angles of the guide sheath and the guide wire, ensuring the accuracy of the guide wire during implantation.

[0078] Example

[0079] like Figure 1As shown, a pacing surgical robot based on a retractable rotation and magnetically driven guide sheath comprises a three-dimensional mobile robotic arm 1, a magnetic field generator assembly 2, a manipulator 4, a catheter 3 and a guide wire;

[0080] The lead is a helical-tip pacemaker lead;

[0081] The catheter is a magnetically driven guide sheath;

[0082] The guide wire is located in the catheter 3;

[0083] The manipulator 4 is used to deliver and rotate the catheter 3 with the guide wire;

[0084] The magnetic field generator assembly 2 is used to change the direction of the catheter 3 during the delivery process of the catheter 3 by the manipulator 4, thereby changing the direction of the guidewire;

[0085] The magnetic field generator assembly 2 is connected to the end of the three-dimensional mobile robotic arm 1. The three-dimensional mobile robotic arm 1 can drive the magnetic field generator assembly 2 to move with six degrees of freedom. That is, the three-dimensional mobile robotic arm 1 is used to adjust the position and posture of the magnetic field generator assembly 2, so that the magnetic field generator assembly 2 can accurately control the distribution and direction of the magnetic field, ensuring the accuracy and stability of the catheter 3 during the operation.

[0086] like Figure 2 As shown, the magnetic field generator assembly 2 includes a flange 21, a motor 22, a bracket 23, a transmission mechanism 24 and a magnetic field generator body 25;

[0087] The flange 21 is connected to the top of the bracket 23;

[0088] The upper portion of the bracket 23 is a motor compartment, which is used to fix the motor 22, and the output shaft of the motor 22 extends out of the bracket 23;

[0089] The lower portion of the bracket 23 is used to fix the magnetic field generator body 25, and the shaft of the magnetic field generator body 25 extends out of the bracket 23;

[0090] The transmission mechanism 24 is located outside the bracket 23 and is used to connect the output shaft of the motor 22 and the shaft of the magnetic field generator body 25, so that the motor 22 and the magnetic field generator body 25 are in transmission connection;

[0091] The magnetic field generator assembly 2 is mounted on the end of the three-dimensional mobile robot arm 1 through the flange 21;

[0092] The motor 22 is used to drive the magnetic field generator body 25 to rotate, thereby generating a controllable rotating magnetic field and gradient magnetic field in three-dimensional space. By precisely adjusting the speed and rotation direction of the motor 22, the change of the magnetic field can be precisely controlled, thereby adjusting the direction of the magnetic pole at the end of the catheter 3;

[0093] In this embodiment, the magnetic field generator body 25 is a ring-shaped, axially magnetized permanent magnet that generates a strong magnetic field and applies torque to the magnetic poles at the end of the catheter 3, driving the rotation and movement of the catheter 3. The design of this magnetic field generator ensures its stability and precision in a medical environment. The manipulator 4 is mounted on the operating table and is primarily used to control the delivery and rotation of the catheter 3 and the guidewire.

[0094] like Figure 3 As shown, the catheter 3 includes a catheter body 32 and a magnetic pole 31. The catheter 3 is covered with an insulating layer. The magnetic pole 31 is a ring-shaped permanent magnet fixed to the output end of the catheter body 32.

[0095] The magnetic field generated by the magnetic field generator body 25 of the magnetic field generator assembly 2 controls the direction of the magnetic pole 31 at the end of the catheter, thereby achieving precise control and positioning of the catheter.

[0096] The output end of the wire has a spiral head electrode, and the input end of the wire has an electrode;

[0097] The output end of the wire is connected to the heart to be operated on;

[0098] The input end of the lead is connected to the pacemaker, and delivery and rotation are achieved through the drive of the manipulator 4;

[0099] like Figure 4 As shown, the operator 4 includes a first motor 41, a second motor 42, a third motor 43, a fourth motor 44, a fifth motor 45, a first guide pulley set 46, a second guide pulley set 47, a transmission gear set 48, a first clamping mechanism 49, a second clamping mechanism 410 and a fixed support 411;

[0100] The first motor 41, the second motor 42, the third motor 43, the fourth motor 44, the fifth motor 45, the first guide pulley set 46, the second guide pulley set 47, the transmission gear set 48, the first clamping mechanism 49, and the second clamping mechanism 410 are all mounted and fixed on the fixed support 411;

[0101] The output shaft of the first motor 41 is connected to the first clamping mechanism 49, and is used to drive the first clamping mechanism 49 to control the clamping and release of the catheter;

[0102] The output shaft of the third motor 43 is connected to the first guide pulley assembly 46;

[0103] After the first clamping mechanism 49 is clamped, the third motor 43 drives the first guide pulley assembly 46 to rotate and thus drives the catheter forward;

[0104] The output shaft of the second motor 42 is connected to the second clamping mechanism 410, and is used to drive the second clamping mechanism 410 to control the clamping and release of the wire;

[0105] The output shaft of the fourth motor 44 is connected to the second guide pulley assembly 47;

[0106] After the second clamping mechanism 410 is clamped, the fourth motor 44 drives the second guide pulley assembly 47 to rotate and thereby drives the catheter forward;

[0107] The output shaft of the fifth motor 45 is connected to the transmission gear set 48;

[0108] The fifth motor 45 drives the transmission gear set 48 to drive the wire to rotate, and the output end of the wire is implanted in the cardiac pacing area to be operated on by the rotation;

[0109] Magnetic fields have remarkable penetration capabilities through human tissue and operate over long distances. By adjusting the intensity and direction of the magnetic field, they can flexibly and precisely drive the movement of tiny objects without requiring direct contact with the organism, significantly reducing potential risks to biological vitality. They have found widespread application in medicine and biology. In recent years, experimental and clinical studies, such as magnetically controlled endoscopic capsules, magnetically controlled targeted drug delivery, and minimally invasive surgery using magnetically controlled guidewires, have fully demonstrated the enormous potential of magnetic actuation technology. In the area of action of magnetic materials such as permanent magnets, a nonuniform magnetic gradient field can be generated. In this nonuniform magnetic field, the magnetic field gradient exerts a magnetic force on the magnetic material, causing it to move toward areas of higher magnetic flux density, thereby enabling precise directional control of the magnetic catheter. Combined with a manipulator, the catheter and guidewire can be delivered and the guidewire can be rotated for implantation in the cardiac pacing area, thus meeting the demand for precise control of pacemaker therapy devices.

[0110] In addition, an embodiment of the present invention further provides an operation control method of the magnetically driven pacing surgical robot, which applies the magnetically driven pacing surgical robot to cardiac pacemaker treatment, comprising the following steps:

[0111] Specific implementation steps:

[0112] Step 1: During the operation, the doctor uses the three-dimensional mobile robotic arm 1 to adjust the position and posture of the magnetic field generator assembly 2 to drive and control the direction of the catheter 3. The manipulator 4 drives the catheter 3 to the appropriate position and posture and inserts it into the patient's body. The catheter is positioned to the target area (cardiac pacing area) via the intravenous route, ensuring that the magnetic field generator assembly 2 is above the target area. The doctor uses imaging methods (such as X-rays or real-time electrophysiological monitoring) to observe the position of the catheter 3 in real time to ensure that the magnetic pacing catheter accurately reaches the target area.

[0113] Step 2: The guidewire is gradually advanced to the target area along the delivery path inside the catheter 3 by the manipulator 4. When the lead output end passes through the catheter 3 and reaches the target position, the manipulator 4 is controlled to rotate the guidewire to drive the motor at the lead output end into the pacing area of the heart.

[0114] Step 3: When the helical tip of the lead enters the target area, the magnetic field generator assembly 2 continues to adjust the magnetic field strength and direction to precisely control the positioning of the lead, ensuring that the output end of the lead is strictly perpendicular to the surface of the cardiac pacing area. At this time, the doctor determines whether the implant depth is appropriate based on the real-time feedback electrical signals (such as electrocardiogram signals) collected and makes corresponding adjustments.

[0115] Step 4: After the pacemaker lead is implanted, the doctor removes the catheter from the body, leaving the lead and pacemaker inside the patient. The doctor continues to monitor the feedback signal to ensure the lead is in good condition and finally confirms whether the implant position has reached the desired target.

[0116] Step 5. After the operation, the doctor confirms that the wire is working properly through real-time electrophysiological monitoring to ensure that the implantation process is correct and the patient's heart pacing function is effectively improved.

[0117] Obviously, those skilled in the art may make various changes and modifications to the embodiments of the present invention without departing from the spirit and scope of the present invention. As long as such changes and modifications fall within the scope of the claims of the present invention and their equivalents, the present invention is intended to include such changes and modifications.

[0118] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A pacing surgical robot based on a retractable, rotating, and magnetically driven guide sheath, characterized by: The surgical robot includes a three-dimensional mobile robotic arm, a magnetic field generator assembly, a manipulator, a catheter and a guide wire; The lead is a helical-tip pacemaker lead; The catheter is a magnetically driven guide sheath; The wire is located inside the catheter; The manipulator is used to deliver the catheter with the guidewire and to rotate the guidewire; The magnetic field generator assembly is used to change the direction of the catheter during the delivery of the catheter by the manipulator, thereby changing the direction of the guidewire; The magnetic field generator assembly is connected to the end of a three-dimensional mobile robotic arm, and the three-dimensional mobile robotic arm can drive the magnetic field generator assembly to move in six degrees of freedom.

2. The pacing surgical robot based on a retractable, rotating, and magnetically driven guide sheath according to claim 1, characterized in that: The three-dimensional mobile robotic arm 1 is used to adjust the position and posture of the magnetic field generator assembly, so that the magnetic field generator assembly can accurately control the distribution and direction of the magnetic field, ensuring the accuracy and stability of the catheter during the operation.

3. A pacing surgical robot based on a retractable, rotatable and magnetically driven guide sheath according to claim 1 or 2, characterized in that: The magnetic field generator assembly includes a flange, a motor, a bracket, a transmission mechanism and a magnetic field generator body; The flange is connected to the top of the bracket; The upper part of the bracket is the motor compartment, which is used to fix the motor, and the output shaft of the motor extends out of the bracket; The lower part of the bracket is used to fix the magnetic field generator body, and the shaft of the magnetic field generator body extends out of the bracket; The transmission mechanism is used to connect the output shaft of the motor located outside the bracket and the shaft of the magnetic field generator body, so that the motor and the magnetic field generator body are in transmission connection.

4. The pacing surgical robot based on a retractable, rotatable and magnetically driven guide sheath according to claim 3, characterized in that: The magnetic field generator assembly is mounted on the end of the three-dimensional moving robot arm through a flange.

5. The pacing surgical robot based on a retractable, rotatable and magnetically driven guide sheath according to claim 1, characterized in that: The motor is used to drive the magnetic field generator body to rotate, thereby generating a controllable rotating magnetic field and gradient magnetic field in three-dimensional space. By adjusting the speed and rotation direction of the motor, the change of the magnetic field is controlled, and then the direction of the magnetic pole at the end of the catheter is adjusted.

6. The pacing surgical robot based on a retractable, rotatable and magnetically driven guide sheath according to claim 1, characterized in that: The magnetic field generator body is a ring-shaped permanent magnet magnetized along the axial direction, which can generate a strong magnetic field and exert torque on the magnetic poles at the end of the catheter, driving the rotation and movement of the catheter.

7. The pacing surgical robot based on a retractable, rotatable and magnetically driven guide sheath according to claim 1, characterized in that: The catheter includes a catheter body and a magnetic pole. The catheter is covered with an insulating layer. The magnetic pole is a ring-shaped permanent magnet fixed to the output end of the catheter body. The magnetic field generated by the magnetic field generator body of the magnetic field generator assembly controls the direction of the magnetic pole at the end of the catheter, thereby achieving precise control and positioning of the catheter.

8. The pacing surgical robot based on a retractable, rotatable and magnetically driven guide sheath according to claim 1, characterized in that: The output end of the wire has a spiral head electrode, and the input end of the wire has an electrode; The output end of the wire is connected to the heart to be operated on; The input end of the lead is connected to the pacemaker and is driven by the manipulator to achieve delivery and rotation.

9. The pacing surgical robot based on a retractable, rotatable and magnetically driven guide sheath according to claim 1, characterized in that: The operator includes a first motor, a second motor, a third motor, a fourth motor, a fifth motor, a first guide pulley set, a second guide pulley set, a transmission gear set, a first clamping mechanism, a second clamping mechanism and a fixed support; The first motor, the second motor, the third motor, the fourth motor, the fifth motor, the first guide pulley set, the second guide pulley set, the transmission gear set, the first clamping mechanism, and the second clamping mechanism are all mounted and fixed on the fixed support; The first motor output shaft is connected to the first clamping mechanism, and is used to drive the first clamping mechanism to control the clamping and release of the catheter; The output shaft of the third motor is connected to the first guide pulley assembly; After the first clamping mechanism is clamped, the third motor drives the first guide pulley assembly to rotate and thereby drives the guide tube forward; The second motor output shaft is connected to the second clamping mechanism, and is used to drive the second clamping mechanism to control the clamping and release of the wire; The fourth motor output shaft is connected to the second guide pulley assembly; After the second clamping mechanism is clamped, the fourth motor drives the second guide pulley assembly to rotate and thereby drives the catheter forward; The fifth motor output shaft is connected to the transmission gear set; The fifth motor drives the transmission gear set to drive the wire to rotate, and the output end of the wire is implanted in the cardiac pacing area to be operated on through the rotation.

10. A method for performing surgery using a pacing surgical robot based on a retractable, rotating and magnetically driven guide sheath, characterized in that The steps of the method include: Step 1: Use a three-dimensional mobile robotic arm to adjust the position and posture of the magnetic field generator assembly to drive and control the direction of the catheter. Use a manipulator to drive the catheter to the set position and posture and insert it into the patient's body. Position it to the target area through the intravenous route, ensuring that the magnetic field generator assembly is above the target area. The catheter position is monitored in real time to ensure that the magnetic pacing catheter accurately reaches the target area. Step 2: The guidewire is gradually advanced to the target area along the delivery path inside the catheter by the manipulator. When the output end of the guidewire passes through the interior of the catheter and reaches the target position, the manipulator is controlled to rotate the guidewire to drive the electrode at the output end of the guidewire into the target area. Step 3: When the helical tip of the wire enters the target area, the magnetic field generator assembly continues to adjust the magnetic field strength and direction to control the positioning of the wire, ensuring that the output end of the wire is perpendicular to the surface of the target area. At this time, the feedback electrical signal collected in real time is used to determine whether the implant depth is appropriate and make corresponding adjustments; Step 4: After the pacemaker lead is implanted, the catheter is removed from the body, leaving the lead and pacemaker in the patient's body. Feedback signals are continuously monitored to ensure the lead is in good condition. Finally, confirmation is made as to whether the implant position has reached the set target. Step 5: After the operation, real-time electrophysiological monitoring is used to confirm that the lead is functioning properly, ensuring that the implantation process is correct and that the patient's heart pacing function is effectively improved.

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