Soft robot thrombus removing device

Abstract

The invention belongs to the field of medical devices, and particularly relates to a soft robot thrombus removing device which comprises a robot body, a minimally invasive thrombus taking head, an external magnetic field control device and an imaging display device. The minimally invasive thrombectomy head comprises a front section thrombectomy part, a middle section positioning part and a tail section control part; a plurality of through hole structures are arranged in the thrombus extraction component; a rotating structure, a suction component and a clamping structure are respectively arranged in a plurality of through hole structures arranged in the thrombus extraction component; a magnetic navigation sensor is arranged in a middle section positioning component of the minimally invasive thrombus extraction head; a control unit electrically connected with the rotating structure, the suction part and the clamping structure is arranged in the control part at the tail section of the minimally invasive thrombus extraction head; the robot body is transported to the position close to the diseased region through the catheter and the puncture needle sheath. The device has the advantages that the device is specially designed for treating vascular embolism, is particularly suitable for removing thrombus of small blood vessels such as cerebral vessels, and has extremely high flexibility and operation precision.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a soft robot thrombectomy device. BACKGROUND

[0002] Thrombosis is an important cause of cardiovascular diseases, stroke and pulmonary embolism, etc. The formation of thrombus in the blood vessel hinders normal blood flow, and in severe cases can cause life-threatening. Traditional thrombectomy methods include drug thrombolysis, mechanical thrombectomy, stent thrombectomy and laser thrombolysis, etc. However, these methods have the following defects: high risk of vascular injury: traditional mechanical thrombectomy devices may generate a large friction in the blood vessel, especially when improperly operated, which can cause endothelial injury in the blood vessel, increasing the risk of postoperative complications. Limited operation precision: current thrombectomy devices mostly rely on rigid structures, especially when dealing with curved and narrow blood vessels, they lack sufficient flexibility and are difficult to reach specific thrombus locations. Poor adaptability: existing thrombectomy tools are often designed for larger blood vessels and cannot handle embolism problems in small blood vessels, especially small thrombi in cerebral blood vessels or coronary arteries.

[0003] For example, the stent in patent document CN201811338404.6. When the stent gradually expands in the blood vessel, trying to cover and capture the thrombus, its hard mesh structure is easy to rub and collide with the blood vessel wall, like a rough brush scraping on soft silk, inevitably causing damage to the blood vessel wall. Such damage can cause blood vessel wall rupture, bleeding, and even induce severe problems such as blood vessel spasm, further aggravating the patient's condition and increasing the complexity and risk of treatment. Especially in some blood vessels with more tortuous and narrow parts, the difficulty of stent expansion is greater, and the risk of damage to the blood vessel wall is also higher, bringing great challenges to surgical operation.

[0004] Although existing thrombectomy stents have shown some effectiveness in capturing large thrombi, they are not up to the task when it comes to small particulate thrombi. Small particulate thrombi are like a group of cunning "thieves" that can easily pass through the mesh gaps of the stent and escape in the blood vessel, causing thrombus residue. These small particulate thrombi can re-aggregate with the blood flow, forming new thrombi, thus causing re-thrombosis and re-occlusion of the blood vessel, greatly reducing the treatment effect. For example, a soft robot thrombectomy device and thrombectomy system in patent document CN202211662064.9. In addition, the composition and properties of thrombus are complex and diverse, some thrombi have a relatively loose texture and are easy to break into small particles, which further increases the difficulty of capturing thrombus by existing stents, reducing the success rate and reliability of treatment.

[0005] Therefore, there is an urgent need for a thrombectomy device with higher flexibility, more accurate operation and adaptability to different complex vascular environments to solve the problems in the prior art. SUMMARY

[0006] The purpose of the present application is to provide a soft robot thrombectomy device to solve the problems of high risk of vascular injury, limited operation precision and poor adaptability of the existing thrombectomy device.

[0007] To achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0008] A soft robot thrombectomy device, comprising: a robot main body, a minimally invasive thrombectomy head, an external magnetic field control device, and an imaging display device; the minimally invasive thrombectomy head comprises a front segment thrombectomy component, a middle segment positioning component, and a tail segment control component; the thrombectomy component is internally provided with a plurality of through-hole structures; the plurality of through-hole structures internally provided with the thrombectomy component are respectively provided with a rotating structure, a suction component, and a clamping structure; the middle segment positioning component of the minimally invasive thrombectomy head is internally provided with a magnetic navigation sensor; the tail segment control component of the minimally invasive thrombectomy head is internally provided with a control unit electrically connected with the rotating structure, the suction component, and the clamping structure; the front end surface of the thrombectomy component is further provided with a miniature perception camera; the robot main body is transported to the lesion site through a catheter and a puncture needle sheath.

[0009] Preferably, the robot main body is composed of a flexible ferromagnetic liquid, which is composed of high-flexibility Fe3O4 nanoparticles and dimethyl silicone oil, and is manufactured in a sub-millimeter size through 3D printing or injection molding.

[0010] Preferably, the minimally invasive thrombectomy head has a cylindrical structure as a whole.

[0011] Preferably, the rotating structure comprises a rotating control base, an extension rod, and a rotating tool bit; the rotating control base is arranged at the bottom of one of the through-hole structures, the top and the end of the extension rod are respectively connected with the rotating control base and the rotating tool bit, and the rotating control base can control the extension and retraction of the extension rod, so as to control the extension or hiding of the rotating tool bit into the through-hole structure.

[0012] Preferably, the suction component comprises a negative pressure control base, a telescopic tube, and a suction head; the negative pressure control base is arranged in another through-hole structure, the top and the end of the telescopic tube are respectively connected with the negative pressure control base and the suction head, and the telescopic tube can control the extension or hiding of the suction head into the through-hole structure.

[0013] Preferably, the clamping structure comprises a clamping control base, an extension arm, and a clamping jaw; the clamping control base is arranged in another through-hole structure, the top and the end of the extension arm are respectively connected with the clamping control base and the clamping jaw, and the extension arm can control the extension or hiding of the clamping jaw into the through-hole structure.

[0014] Preferably, the minimally invasive thrombus extraction head is connected to the front end of the robot body through the tail section control component.

[0015] Preferably, the external magnetic field control device is a multi-degree-of-freedom mechanical arm structure, and the end of the mechanical arm is provided with a magnetic field controller.

[0016] Preferably, the imaging display device is an X-ray imaging system device.

[0017] Preferably, the catheter has a multi-section flexible design, and the outer layer of the catheter is coated with a biocompatible coating.

[0018] The beneficial effects of the present application are:

[0019] 1. Minimally invasive and safety: Traditional thrombectomy methods may involve more invasive surgery, with higher risk and complications. Soft robots, due to their soft and flexible characteristics, can perform minimally invasive operations in blood vessels, reducing damage to surrounding tissues and improving surgical safety.

[0020] 2. Flexibility and adaptability: Soft robots are usually made of soft materials and can adapt to the curvature and shape of blood vessels. This flexibility allows them to navigate complex and narrow vascular networks, enabling thrombectomy in hard-to-reach areas.

[0021] 3. Precision and effectiveness: Due to the controllability of soft robots, they can perform precise operations in blood vessels, making them more effective in removing thrombus. Image-guided technology can be combined to improve the accuracy of the operation, further improving treatment effectiveness.

[0022] 4. Reduced recovery time: The minimally invasive nature and higher operation precision of soft robots can reduce patient recovery time after surgery, reducing hospitalization time and medical costs.

[0023] 5. Controllability and remote operation: Soft robots can be operated through external magnetic fields or other remote control methods, allowing doctors to make real-time adjustments during surgery, increasing the flexibility and safety of the operation. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 The external magnetic field control device and imaging display device structure schematic diagram of the soft robot thrombectomy device proposed in the present application.

[0025] Figure 2 The robot body and minimally invasive thrombus extraction head structure schematic diagram of the soft robot thrombectomy device proposed in the present application.

[0026] Figure 3A micro-invasive thrombectomy head structure schematic diagram of a soft robot thrombectomy device proposed in the present application.

[0027] Figure 4 A control component (a), a rotating structure (b) and a rotating control base (c) schematic diagram of a soft robot thrombectomy device proposed in the present application.

[0028] Figure 5 A robot main body component structure schematic diagram of a soft robot thrombectomy device proposed in the present application.

[0029] Figure 6 A robot main body operation and use schematic diagram of a soft robot thrombectomy device proposed in the present application.

[0030] In the figure: 1, robot main body; 2, micro-invasive thrombectomy head; 21, thrombectomy component; 211, through-hole structure; 22, positioning component; 23, control component; 24, rotating structure; 241, rotating control base; 242, telescopic rod; 243, rotating cutter head; 25, suction component; 251, negative pressure control base; 252, telescopic tube; 253, suction head; 26, clamping structure; 261, clamping control base, 262, clamping arm; 263, clamping jaw; 27, miniature sensing camera; 28, magnetic navigation sensor; 3, external magnetic field control device; 31, magnetic field controller; 4, imaging display device. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments.

[0032] Embodiment one

[0033] Reference Figures 1-6The application relates to a soft robot thrombus removing device which is applied in the field of medical devices and comprises a robot main body 1, a minimally invasive thrombus removing head 2, an external magnetic field control device 3 and an imaging display device 4; the main body 1 is composed of a flexible ferromagnetic liquid and is designed by using bionics; the flexible movement is realized by external magnetic attraction; the minimally invasive thrombus removing head 2 comprises a front segment thrombus removing component 21, a middle segment positioning component 22 and a tail segment control component 23; the minimally invasive thrombus removing head 2 is in a cylindrical structure as a whole, the thrombus removing component 21 is internally provided with a plurality of through hole structures 211; the plurality of through hole structures 211 are internally respectively provided with rotating structures 24, suction components 25 and clamping structures 26; a micro perception camera 27 is further arranged around the front end surface of the thrombus removing component 21; the middle segment positioning component 22 of the minimally invasive thrombus removing head 2 is internally provided with a magnetic navigation sensor 28; the tail segment control component 23 of the minimally invasive thrombus removing head 2 is internally provided with a control unit (not shown in the figure) which is electrically connected with the rotating structures 24, the suction components 25 and the clamping structures 26; the minimally invasive thrombus removing head 2 is connected with the front end of the robot main body 1 through the tail segment control component 23; the external magnetic field control device 3 is preferably a multi-degree-of-freedom mechanical arm type structure, and a magnetic field controller 31 is arranged at the tail end of the mechanical arm; the imaging display device 4 can be an X-ray imaging system device.

[0034] It should be noted that the robot main body 1 is composed of high-flexibility Fe3O4 nanoparticles and dimethyl silicone oil (see Figure 5 ), wherein the magnetized or magnetizable microparticles are uniformly distributed in a soft polymer matrix, and submillimeter miniaturization manufacturing is realized through 3D printing or injection molding. Meanwhile, the external magnetic field can be used for accurately controlling the soft robot, so that the soft robot can serpentine crawl in blood vessels.

[0035] The robot can keep flexibility in a body temperature environment, can conform to the bending and narrow structure of blood vessels, can accurately reach the target thrombus position under the control of the external magnetic field control device 3 and the auxiliary display of the imaging device 4 and has certain strength, and can ensure safe work in blood vessels;

[0036] The design that the micro-invasive thrombectomy head 2 middle section positioning component 2 is internally provided with a magnetic navigation sensor 28 facilitates real-time tracking of the real-time position of the robot main body 1 in the blood vessel through the external magnetic field control device 3, and ensures accurate arrival at the target area; the control unit 29 internally provided in the micro-invasive thrombectomy head 2 tail section control component 23 is built-in with an adaptive algorithm, which can adjust the motion state of the soft robot main body 1 and freely switch the various thrombectomy modes inside the thrombectomy component 21 according to the real-time feedback of the micro perception camera 27 provided around the front end surface of the thrombectomy component 21 front section; the rotating structure 24, suction component 25 and clamping structure 26 provided inside the thrombectomy component 21 can detect the contact condition of the thrombus and the blood vessel wall through the micro perception camera 27, so as to control different thrombus removal modes through the control unit 29, specifically, when the thrombus is large, the rotating structure 24 is controlled to work, and the rotating structure is used to reduce and roll up the thrombus, when the thrombus is small or fragile, the suction component 25 is controlled to work, and the thrombus is adsorbed into the through-hole structure 211 through negative pressure, when the thrombus structure is complex, the clamping structure 26 is controlled to work, and the thrombus is clamped and pulled out through the clamping structure; the soft robot of the present application is controlled through an adaptive control algorithm, and the system will adjust the motion state of the robot and the working mode of the thrombectomy head in real time according to the information fed back by the sensor, for example, when it is detected that the hardness of the thrombus is large, the system will increase the rotating speed of the thrombectomy head; when the thrombus is relatively fragile, the system automatically reduces the adsorption strength to avoid secondary embolization caused by broken thrombus;

[0037] The external magnetic field control device 3 and the imaging display device 4 position the soft robot main body 1 in the blood vessel through a magnetic navigation system, and can guide the soft robot 1 to advance in the blood vessel, and through the imaging display device 4, such as an X-ray imaging system, more accurate guidance can be provided in a complex environment;

[0038] The robot main body 1 is transported to the wide blood vessel section near the lesion site through the catheter and puncture needle sheath, and in the absence of an external magnetic field, the internal magnetic particles in the soft robot exhibit random distribution without magnetic orientation, and once the soft robot is released from the catheter, the external magnetic control device 3 can guide it to the position of the thrombus formation lesion; the catheter has a multi-section flexible design and can deform along with the curvature of the blood vessel, and a biocompatible coating is coated on the outer layer of the catheter to reduce friction.

[0039] The soft robot thrombus removal device of the present application comprises the following process steps (see Figure 6 ) when in operation:

[0040] 1. Preoperative preparation:

[0041] ① Imaging Examination: First, determine the location and size of the thrombus, as well as the condition of the blood vessels, through imaging techniques such as CT or MRI.

[0042] ② Preoperative Planning: Based on the results of imaging examination, develop a detailed surgical plan, including the access path and operation strategy.

[0043] 2. Device insertion:

[0044] ① Catheter delivery: Insert the catheter containing the soft robot into the patient's blood vessel through a small incision in the skin, usually through an artery such as the femoral artery.

[0045] ② Navigation to the target area: Use fluoroscopy and navigation technology to transport the soft robot along the blood vessel to the location of the thrombus.

[0046] 3. Robot (FMLR) activation and operation:

[0047] ① Flexible control: Once at the target area, activate the soft robot using an external magnetic field to change its shape and move to contact and wrap around the thrombus.

[0048] ② Thrombus removal: The robot can use various mechanisms to remove the thrombus, such as grabbing, cutting, grinding, or using vibration to break down the thrombus.

[0049] 4. Thrombus removal:

[0050] ① Collection and recovery: The removed thrombus fragments can be recovered by the robot itself or the attached collection device into the catheter, preventing them from floating and causing blockage.

[0051] ② Evaluation of removal effect: Monitor the removal process in real time through imaging equipment to ensure that the thrombus is completely removed and assess the recovery of blood flow.

[0052] 5. Remove the device:

[0053] ① Withdraw the robot: After confirming the thrombus removal effect, carefully withdraw the soft robot and catheter together from the body.

[0054] ② Close the entry: After removing the device, perform necessary treatment to close the skin incision.

[0055] 6. Postoperative observation and care:

[0056] ① Immediate evaluation: Perform immediate examination after catheter removal to ensure there are no complications and blood flow has returned to normal.

[0057] ② Follow-up monitoring: Continue to monitor the patient's recovery after surgery and perform necessary anticoagulant therapy to prevent thrombus reformation.

[0058] Example two,

[0059] Please refer to the attached Figure 4 , Figure 4 A soft robot thrombus removal device control component (a), a rotating structure (b) and a rotating control base (c) schematic diagram is proposed in the present application. The embodiment is basically the same as embodiment one, the difference is that the thrombus removal component 21 in the embodiment is provided with a plurality of through hole structures 211; a plurality of through hole structures 211 are provided inside the thrombus removal component 21, respectively provided with rotating structure 24, suction component 25 and clamping structure 26; wherein, the rotating structure 24 includes rotating control base 241, telescopic rod 242, rotating tool head 242; the rotating control base 241 is arranged inside the bottom of one of the through hole structures 211, the top and the end of the telescopic rod 242 are connected with the rotating control base 241 and the rotating tool head 242 respectively, the rotating control base 41 can control the telescopic rod 242 to stretch or retract, so as to control the rotating tool head 242 to stretch out or hide inside the through hole structure 211; the suction component 25 includes negative pressure control base 251, telescopic pipe 252 and suction head 253; the negative pressure control base 251 is arranged inside another through hole structure 211, the top and the end of the telescopic pipe 252 are connected with the negative pressure control base 251 and the suction head 253 respectively, the suction head 253 can be controlled to stretch out or hide inside the through hole structure 211 through the telescopic pipe 252; the clamping structure 26 includes clamping control base 261, telescopic arm 262 and clamping jaw 263, the clamping control base 261 is arranged inside the other through hole structure 211, the top and the end of the telescopic arm 262 are connected with the clamping control base 261 and the clamping jaw 263 respectively, the clamping jaw 263 can be controlled to stretch out or hide inside the through hole structure 211 through the telescopic arm 262;

[0060] The rotating control base 241, the negative pressure control base 251 and the clamping control base 261 are respectively connected with the control unit 29, the type of thrombus is detected and judged through the micro camera sensor 27 arranged on the front end surface of the thrombus removal component 21, so as to control the corresponding thrombus removal mode to start through the control unit 29, that is, the rotating structure 24, the suction component 25 or the clamping structure 26 can be automatically controlled to switch freely and then perform the thrombus removal work; when the thrombus is large, the rotating structure 24 is controlled to work, the rotating control base 241 controls the telescopic rod 242 to drive the rotating tool head 243 to stretch out of the through hole structure 211, and the rotating tool head 243 is used to reduce and roll up the thrombus; when the thrombus is small or fragile, the suction component 25 is controlled to work, and the thrombus is adsorbed into the through hole structure 211 through the negative pressure control base 251; when the thrombus structure is complex, the clamping structure 26 is controlled to work, and the clamping jaw 263 is controlled to stretch out of the through hole structure 211 to clamp and pull out the thrombus through the clamping control base 261.

[0061] The soft robot thrombectomy device of the present application first applies soft robot technology to thrombectomy surgery, has high flexibility and high adaptability, can conform to the complex structure inside the blood vessel, and greatly reduces the risk of blood vessel injury; the thrombus head can automatically adjust the operation mode according to the position and shape of the thrombus, and ensure that the thrombus can be completely removed without causing damage to the blood vessel wall; through the combination of magnetic navigation, ultrasonic imaging and optical imaging, the soft robot can accurately position in the blood vessel, greatly improving the success rate of the operation; the built-in adaptive control algorithm can adjust the operation according to the real-time data in the operation process, and ensure the accuracy and safety in the operation process.

[0062] The drawings in the specification of the present application are only of a schematic nature, and the size and shape of each component shown are not actual limitations, but only a schematic representation. In the actual implementation process, each component can be reasonably configured and adjusted according to specific needs and actual conditions.

[0063] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can make equivalent replacements or changes to the technical range disclosed in the present application according to the technical solution and inventive concept of the present application, which should be covered within the protection scope of the present application.

Claims

1. A soft robotic thrombectomy device, comprising: The application relates to a robot body (1), a minimally invasive thrombus extraction head (2), an external magnetic field control device (3) and an imaging display device (4); the minimally invasive thrombus extraction head (2) comprises a front segment thrombus extraction component (21), a middle segment positioning component (22) and a tail segment control component (23); a plurality of through hole structures (211) are arranged in the thrombus extraction component (21); a rotating structure (24), a suction component (25) and a clamping structure (26) are arranged in the plurality of through hole structures (211) in the thrombus extraction component (21) respectively; a magnetic navigation sensor (28) is arranged in the middle segment positioning component (22) of the minimally invasive thrombus extraction head (2); a control unit (29) electrically connected with the rotating structure (24), the suction component (25) and the clamping structure (26) is arranged in the tail segment control component (23) of the minimally invasive thrombus extraction head (2); a miniature perception camera (27) is further arranged around the front end surface of the thrombus extraction component (21); and the robot body (1) is transported to the vicinity of a lesion site through a catheter and a puncture needle sheath. The robot body (1) is composed of a flexible ferromagnetic liquid, high-flexibility Fe3O4 nanoparticles and dimethyl silicone oil, and is manufactured in a sub-millimeter miniaturization mode through 3D printing or injection molding.

2. The soft robotic thrombectomy device of claim 1, wherein, The minimally invasive thrombus extraction head (2) has a cylindrical structure as a whole.

3. The soft robotic thrombectomy device of claim 1, wherein, The rotating structure (24) comprises a rotating control base (241), an extension rod (242) and a rotating cutter head (243); the rotating control base (241) is arranged at the inner bottom of one of the through hole structures (211), the top and the tail end of the extension rod (242) are connected with the rotating control base (242) and the rotating cutter head (243) respectively, the rotating control base (241) can control the extension rod (242) to extend or retract, so as to control the rotating cutter head (242) to extend out of or hide into the through hole structure (211).

4. The soft robotic thrombectomy device of claim 1, wherein, The suction component (25) comprises a negative pressure control base (251), a telescopic pipe (252) and a suction head (253); the negative pressure control base (251) is arranged in another through hole structure (211), the top and the tail end of the telescopic pipe (252) are connected with the negative pressure control base (251) and the suction head (253) respectively, and the suction head (253) can be controlled to extend out of or hide into the through hole structure (211) through the telescopic pipe (252).

5. The soft robotic thrombectomy device of claim 1, wherein, The clamping structure (26) comprises a clamping control base (261), an extension arm (262) and a clamping jaw (263); the clamping control base (261) is arranged in still another through hole structure (211), the top and the tail end of the extension arm (262) are connected with the clamping control base (261) and the clamping jaw (263) respectively, and the clamping jaw (263) can be controlled to extend out of or hide into the through hole structure (211) through the extension arm (262).

6. The soft robotic thrombectomy device of claim 1, wherein, The minimally invasive thrombus extraction head (2) is connected with the front end of the robot body (1) through the tail segment control component (23).

7. The soft robotic thrombectomy device of claim 1, wherein, The external magnetic field control device (3) has a multi-degree-of-freedom mechanical arm structure, and a magnetic field controller (31) is arranged at the tail end of the mechanical arm.

8. The soft robotic thrombectomy device of claim 1, wherein, The imaging display device (4) is an X-ray imaging system device.

9. The soft robotic thrombectomy device of claim 1, wherein, ​ 10. The soft robotic thrombectomy device of claim 1, wherein, The catheter has a multi-segment flexible design with a biocompatible coating on the outer layer of the catheter.

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