Movable lower limb blood vessel magnetic control device based on linear guide rail and with three-degree-of-freedom fine adjustment

Abstract

The invention relates to the field of medical instruments, and discloses a movable lower limb blood vessel magnetic control device based on a linear guide rail and with a three-degree-of-freedom fine adjustment, which comprises a support moving platform, a sliding base is arranged at the top end of the support moving platform, and an annular magnetic control unit is arranged at the top end of the sliding base; the pitching adjusting mechanism and the yawing adjusting mechanism are located between the sliding base and the annular magnetic control unit and used for adjusting pitching and yawing of the annular magnetic control unit; the vertical adjusting mechanism is located in the sliding base, connected with the yaw adjusting mechanism and used for adjusting the annular magnetic control unit in the vertical direction; and the composite damping structure is located in the sliding base. An original fixed annular magnetic field is converted into a dynamic scanning magnetic field capable of accurately moving in the axial direction of the blood vessel, long-distance directional migration of particles can be achieved through the dynamic scanning mechanism, and the targeted enrichment efficiency is remarkably improved compared with that of a fixed magnetic field.

Description

A mobile lower limb vascular magnetic control device based on linear guide rails and with three degrees of freedom fine adjustment. Technical Field

[0001] This invention relates to the field of medical devices, and more specifically, to a mobile lower limb vascular magnetic control device based on a linear guide rail and equipped with three degrees of freedom fine-tuning. Background Technology

[0002] Drug-loaded magnetic nanoparticle targeted therapy is at the forefront of precision medicine in the field of vascular diseases in recent years. This technology utilizes an external magnetic field to guide magnetic drug-loaded particles enriched in the blood to migrate directionally to the lesion site, achieving targeted drug delivery. This significantly increases drug concentration in the lesion area and reduces systemic toxicity. It has important application value in the treatment of long-segment vascular lesions such as lower extremity arteriosclerosis and deep vein thrombosis.

[0003] Existing magnetically controlled devices primarily employ a ring-shaped fixed structure, consisting of multiple electromagnets forming a ring-shaped magnetic field application device, which is then fitted around the patient's limb to generate a radial magnetic field. These devices suffer from the following technical limitations: First, the magnetic field's effective area only covers a local vascular segment, failing to achieve long-range directional delivery of magnetic particles along the vascular axis; second, they lack multi-degree-of-freedom posture adjustment capabilities, making it difficult to maintain optimal contact with the skin for patients in bent lower limb positions or special body postures; third, they lack dynamic magnetic field control capabilities, failing to optimize particle migration paths based on hemodynamic characteristics.

[0004] Some existing technologies attempt to move the magnetic field using a conveyor belt structure. However, such structures require patients to remain standing or sitting, which can easily lead to patient fatigue during prolonged treatment. Furthermore, the distance between the conveyor belt-driven magnetic control device and the patient's lower limb skin cannot be precisely adjusted according to individual differences, resulting in an inconsistent magnetic field distance and affecting the efficiency of targeted therapy, thus failing to meet the requirements of precision medicine. Another technical solution proposes using a robotic arm to move the magnet, but this system is highly complex and expensive, and the robotic arm's movement trajectory does not match the anatomy of the human lower limb, limiting its clinical applicability.

[0005] No effective solutions have yet been proposed to address the problems in the relevant technologies. Summary of the Invention

[0006] To address the problems in related technologies, this invention proposes a mobile lower limb vascular magnetic control device based on a linear guide rail and equipped with three degrees of freedom fine-tuning, in order to overcome the aforementioned technical problems existing in the prior art.

[0007] Therefore, the specific technical solution adopted by the present invention is as follows:

[0008] A mobile lower limb vascular magnetic control device based on a linear guide rail and featuring three degrees of freedom fine-tuning includes: a supporting mobile platform with a sliding base at its top and a ring-shaped magnetic control unit at its top; the supporting mobile platform supports the patient's lower limb and carries the ring-shaped magnetic control unit to move along the lower limb axis; the ring-shaped magnetic control unit is fitted around the patient's lower limb and generates a radially controllable magnetic field; a pitch adjustment mechanism and a yaw adjustment mechanism are located between the sliding base and the ring-shaped magnetic control unit for adjusting the pitch and yaw of the ring-shaped magnetic control unit; a vertical adjustment mechanism is located inside the sliding base and connected to the yaw adjustment mechanism for adjusting the vertical direction of the ring-shaped magnetic control unit; and a composite vibration damping structure is located inside the sliding base for suppressing radial micro-vibrations, absorbing end impacts, and buffering residual vibrations.

[0009] Furthermore, to support the patient's lower limbs, the support platform includes a lower limb support frame. A horizontal linear guide rail assembly and a drive unit are sequentially arranged in the middle of the lower limb support frame, and a lower limb semi-circular support plate is provided at the top of the lower limb support frame. The lower limb support frame includes a bottom frame, with universal wheels with braking function and height-adjustable feet at the bottom end. A column assembly is provided at the top of the bottom frame, and a hinge mechanism is provided between the top of the column assembly and the lower limb semi-circular support plate. The horizontal linear guide rail assembly includes a guide rail mounting base located between several column assemblies, and several linear guide rails are provided on the guide rail mounting base.

[0010] Furthermore, to adjust the horizontal position of the annular magnetic control unit, the sliding base includes a guide base plate positioned above the linear guide rail, a bearing base plate positioned above the guide base plate, a slider that mates with the linear guide rail, and a nut seat that mates with the drive unit at the bottom of the guide base plate; fluororubber flexible sealing and damping strips are provided on both sides of the slider, a polyurethane elastic damping and limiting block is provided at the end of the linear guide rail, and a vibration isolation layer is provided at the contact surface between the guide base plate and the bearing base plate; a magnetic scale is provided on the side of the linear guide rail, and a reading head is provided on the side of the guide base plate.

[0011] Furthermore, to adjust to a size suitable for the patient's lower limb circumference and improve the magnetic field strength and uniformity, the annular magnetic control unit includes several arc-shaped fastening plates positioned above the sliding base. An adjustable movable plate is positioned between adjacent arc-shaped fastening plates. An arc-shaped magnetic carrier plate is positioned within each arc-shaped fastening plate, and a magnetic induction component array is positioned on the arc-shaped magnetic carrier plate. The magnetic field direction of the magnetic induction component array is oriented towards the encircling center, and the magnetic field strength is independently controllable. An arc-shaped insert groove is formed within the arc-shaped fastening plate, with one end of the groove forming a through hole with the plate body. The arc-shaped magnetic carrier plate is embedded within the arc-shaped insert groove. An arc-shaped guide groove is formed on the adjustable movable plate, and an arc-shaped guide groove is formed within the guide groove. Several knob fasteners are inserted, and these knob fasteners are screwed into the threaded holes at the ends of two adjacent arc-shaped fastening plates. The top two ends of the arc-shaped magnetic carrier plate extend outward to form positioning wing plates. Several countersunk mounting holes are opened on the positioning wing plates, and fixing bolts are inserted into the countersunk mounting holes and screwed into the arc-shaped fastening plates for fixation. The magnetic induction assembly array includes several magnetic induction mounting holes set on the arc-shaped magnetic carrier plate. The central axis of the magnetic induction mounting holes points to the enclosed center along the radial direction of the arc-shaped fastening plate. Electromagnetic units are set in the magnetic induction mounting holes. The coils of the electromagnet units on adjacent arc-shaped fastening plates are wound in opposite directions to form a closed magnetic circuit. The outer wall of the arc-shaped magnetic carrier plate is provided with a wiring interface.

[0012] Furthermore, in order to make fine adjustments in the vertical direction, the vertical adjustment mechanism includes a diamond-shaped lifting frame disposed between the guide base plate and the bearing base plate. The upper and lower diagonal points of the diamond-shaped lifting frame are connected to the bearing base plate and the guide base plate respectively. The left and right diagonal points of the diamond-shaped lifting frame are connected to the nuts of a horizontally fixed lead screw. The lead screw is connected to the output shaft of the lifting drive motor. A lifting magnetic scale and a lifting reading head are also disposed between the guide base plate and the bearing base plate in sequence.

[0013] Furthermore, to enable fine-tuning in the pitch direction, the pitch adjustment mechanism includes a connecting rod positioned between the support base plate and the annular magnetic control unit. The top of the connecting rod is hinged to the bottom of the annular magnetic control unit via a pitch rotation shaft. A pitch drive motor and a pitch reducer are sequentially installed inside the connecting rod to drive the real-time annular magnetic control unit to adjust the pitch angle. A pitch bearing is also installed inside the connecting rod to support the pitch rotation shaft and ensure smooth rotation. An arc-shaped pitch magnetic scale and a pitch reading head are also sequentially installed on the connecting rod.

[0014] Furthermore, to fine-tune the yaw, the yaw adjustment mechanism includes a yaw base positioned between the vertical adjustment mechanism and the pitch adjustment mechanism. A yaw disc gear is located in the center of the yaw base, and a yaw bearing is located in the center of the yaw disc gear. A yaw drive motor is located on the side of the yaw disc gear, and the output shaft of the yaw drive motor is connected to a yaw worm. The yaw worm meshes with the yaw disc gear to form a worm gear transmission pair. A connecting short rod is connected to the yaw disc gear through a transition connecting plate. A yaw magnetic scale and a yaw reading head are also sequentially arranged on one side of the transition connecting plate and located on the yaw base.

[0015] Furthermore, in order to improve the damping capacity, the composite damping structure includes a pre-compressed buckling beam and a positive stiffness support spring arranged in parallel between the guide base plate and the bearing base plate, and viscous dampers and vertical guide limiters are symmetrically arranged around the guide base plate and the bearing base plate.

[0016] The beneficial effects of this invention are as follows:

[0017] 1. Innovative Axial Dynamic Scanning of Magnetic Fields: This invention is the first to combine high-precision linear guide rail transmission technology with a ring-shaped magnetic control unit, transforming the originally fixed ring-shaped magnetic field into a dynamic scanning magnetic field that can move precisely along the axial direction of the blood vessel. This dynamic scanning mechanism enables long-distance directional migration of particles, significantly improving the targeted enrichment efficiency compared to fixed magnetic fields.

[0018] 2. Three-DOF Posture Fine-Tuning Function: This invention is the first to integrate a three-DOF precision fine-tuning mechanism (vertical, pitch, and yaw) into a magnetic control device. Vertical fine-tuning precisely adjusts the distance between the annular magnetic control unit and the skin according to the patient's lower limb thickness, maintaining a constant magnetic field distance. Pitch fine-tuning optimizes the magnetic field axis angle based on blood vessel direction, improving the directional migration efficiency of magnetic particles. Yaw fine-tuning precisely aligns with the target blood vessel area in the horizontal plane. The synergistic effect of these three mechanisms allows the annular magnetic control unit to perfectly conform to the patient's lower limb, enhancing the targeted treatment effect.

[0019] 3. Ergonomic design conforming to clinical operation: The patient is positioned supine with lower limbs horizontal, conforming to clinical operating habits for vascular interventional therapy, allowing the patient to maintain a comfortable position for extended periods. Compared to conveyor belt or robotic arm structures, this invention is simpler in structure, occupies less space, and is easier to operate, making it more suitable for clinical application.

[0020] 4. High-precision motion control and magnetic field coordination: Utilizing a combination of precision ball screws and linear guides, along with a fully closed-loop position feedback system, precise control of the annular magnetic control unit's movement speed (0.1-5 cm / s) and positioning accuracy (±0.1 mm) is achieved. The intelligent control system enables real-time coordinated regulation of magnetic field strength and movement speed, allowing for complex motion modes such as uniform speed, variable speed, and reciprocating scanning according to treatment needs.

[0021] 5. Modular Design and Clinical Adaptability: The ring-shaped magnetic control unit adopts an adjustable enclosure structure with an adjustable inner diameter range of 120-200mm, adaptable to patients of different body types. The dual-ring collaborative design enhances the device's clinical applicability, enabling it to handle treatment scenarios with magnetic particles of different sizes and blood flow velocities. Each functional module uses standardized interfaces for easy maintenance and upgrades.

[0022] 6. Technical feasibility and cost controllability: The core components of this invention (precision linear guide, ball screw, stepper / servo motor, electromagnet assembly) are all mature industrial standard parts. The arc-shaped fastening plate of the ring magnetic control unit can be molded using carbon fiber composite material. The overall manufacturing cost is controllable and the technical implementation difficulty is moderate, making it very suitable for promotion and application in the fields of medical equipment and biomedical engineering.

[0023] 7. Composite damping structure achieves a synergistic unity of high-precision motion and low vibration: Through the split design of the sliding base, a quasi-zero stiffness vibration isolation system composed of a pre-compressed buckling beam and a positive stiffness support spring is integrated, effectively offsetting the micron-level vibration caused by guide rail waviness and rolling friction; combined with the multi-level flexible buffer of the vibration isolation layer, fluororubber flexible sealing damping strip, and polyurethane elastic damping limit block, multiple effects of radial micro-vibration suppression, end impact absorption, and residual vibration buffering are achieved, while also having a dustproof sealing function; the cooperation of the vertical guide limiter and the viscous damper not only ensures the displacement direction of the vibration isolation system, but also suppresses the vibration amplitude, completely avoiding the magnetic field inhomogeneity caused by vibration, further improving the stability of magnetic particle targeted guidance, and all damping components are modularly designed, without affecting the original positioning accuracy (±0.1mm) and motion performance of the device.

[0024] 8. Multi-loop intelligent control: Each fine-tuning mechanism integrates a high-precision position feedback module, forming a multi-loop control with the intelligent control system to achieve automated and precise fine-tuning actions. Clinical operators can set target posture parameters through the human-machine interface, and the system automatically completes the fine-tuning process, reducing the difficulty of operation. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 is a three-dimensional schematic diagram of the overall structure of a mobile lower limb vascular magnetic control device based on a linear guide rail and with three degrees of freedom fine adjustment according to an embodiment of the present invention.

[0027] Figure 2 is a schematic diagram of the positions of the supporting structures of a mobile lower limb vascular magnetic control device based on a linear guide rail and with three degrees of freedom fine adjustment according to an embodiment of the present invention.

[0028] Figure 3 is a schematic diagram of the structural positions of the lower limb support bracket in a mobile lower limb vascular magnetic control device based on a linear guide rail and with three degrees of freedom fine adjustment according to an embodiment of the present invention.

[0029] Figure 4 is a schematic diagram of the connection structure between the sliding base and the horizontal linear guide rail assembly in a mobile lower limb vascular magnetic control device based on a linear guide rail and with three degrees of freedom fine adjustment according to an embodiment of the present invention.

[0030] Figure 5 is an exploded view of the structure of the annular magnetic control unit and the arc-shaped magnetic carrier plate in a mobile lower limb vascular magnetic control device based on a linear guide rail and with three degrees of freedom fine adjustment according to an embodiment of the present invention.

[0031] Figure 6 is a schematic diagram of the vertical adjustment mechanism in a mobile lower limb vascular magnetic control device based on a linear guide rail and with three degrees of freedom fine adjustment according to an embodiment of the present invention.

[0032] Figure 7 is a schematic diagram of the pitch adjustment mechanism in a mobile lower limb vascular magnetic control device based on a linear guide rail and with three degrees of freedom fine adjustment according to an embodiment of the present invention.

[0033] Figure 8 is a schematic diagram of the yaw adjustment mechanism in a mobile lower limb vascular magnetic control device based on a linear guide rail and with three degrees of freedom fine adjustment according to an embodiment of the present invention.

[0034] Figure 9 is a schematic diagram of the sliding base in a mobile lower limb vascular magnetic control device based on a linear guide rail and with three degrees of freedom fine adjustment according to an embodiment of the present invention.

[0035] Figure 10 is a schematic diagram of the composite shock absorption structure in a mobile lower limb vascular magnetic control device based on a linear guide rail and with three degrees of freedom fine adjustment according to an embodiment of the present invention.

[0036] Figure 11 is a schematic block diagram of an intelligent control system according to an embodiment of the present invention;

[0037] Figure 12 is a structural schematic diagram of an embodiment of the dual-ring cooperative traction according to the present invention;

[0038] Figure 13 is a schematic diagram of the inner diameter adjustment principle of the magnetic control unit according to the present invention;

[0039] Figure 14 is a schematic diagram illustrating the working principle of magnetic particle migration guided by dynamic magnetic field scanning according to the present invention.

[0040] In the picture:

[0041] 1. Support for the mobile platform; 11. Lower limb support bracket; 111. Bottom frame; 112. Casters; 113. Height-adjustable feet; 114. Column assembly; 115. Hinge mechanism; 116. Height locking mechanism; 12. Horizontal linear guide rail assembly; 121. Guide rail mounting base; 122. Linear guide rail; 13. Drive unit; 131. Motor; 132. Precision ball screw; 133. Flexible coupling; 14. Lower limb semi-circular support plate; 2. Sliding base; 201. Guide... 202. Base plate; 203. Slider; 204. Nut seat; 205. Fluororubber flexible sealing and shock-absorbing strip; 206. Polyurethane elastic shock-absorbing and limiting block; 207. Vibration isolation layer; 208. Magnetic scale; 209. Reading head; 3. Annular magnetic control unit; 301. Arc-shaped fastening plate; 302. Adjustable movable plate; 303. Arc-shaped magnetic plate; 304. Magnetic induction component array; 3041. Magnetic induction mounting hole; 3042. Electromagnet unit; 3043. Cable interface; 305. Arc-shaped mounting groove; 306. Through hole; 307. Arc-shaped guide groove; 308. Knob fastener; 309. Positioning wing plate; 310. Countersunk mounting hole; 4. Pitch adjustment mechanism; 401. Connecting short bar; 402. Pitch rotation shaft; 403. Pitch drive motor; 404. Pitch reducer; 405. Pitch bearing; 406. Arc-shaped pitch magnetic scale; 407. Pitch reading head; 5. Yaw adjustment mechanism; 501. Yaw base; 502. Yaw disc gear; 5 03. Yaw bearing; 504. Yaw drive motor; 505. Yaw worm gear; 506. Transition connecting plate; 507. Yaw magnetic scale; 508. Yaw reading head; 6. Vertical adjustment mechanism; 601. Diamond-shaped lifting frame; 602. Lead screw; 603. Lifting drive motor; 604. Lifting magnetic scale; 605. Lifting reading head; 7. Composite damping structure; 701. Preloaded buckling beam; 702. Positive stiffness support spring; 703. Viscous damper; 704. Vertical guide limiter. Detailed Implementation

[0042] To further illustrate the various embodiments, the present invention provides accompanying drawings, which are part of the disclosure of the present invention. These drawings are mainly used to illustrate the embodiments and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these drawings, those skilled in the art should be able to understand other possible implementation methods and the advantages of the present invention. The components in the drawings are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0043] According to an embodiment of the present invention, a mobile lower limb vascular magnetic control device based on a linear guide rail and with three degrees of freedom fine adjustment is provided.

[0044] The present invention will now be further described with reference to the accompanying drawings and specific embodiments. As shown in Figures 1 and 9, the mobile lower limb vascular magnetic control device based on a linear guide rail and with three degrees of freedom fine adjustment according to an embodiment of the present invention includes: a supporting mobile platform 1, a sliding base 2 disposed at the top of the supporting mobile platform 1, and an annular magnetic control unit 3 disposed at the top of the sliding base 2; the supporting mobile platform 1 is used to support the patient's lower limb and carry the annular magnetic control unit 3 to move along the lower limb axis, the annular magnetic control unit 3 is used to be sleeved on the outer periphery of the patient's lower limb and generate a radially controllable magnetic field; a pitch adjustment mechanism 4 and a yaw adjustment mechanism 5 are located between the sliding base 2 and the annular magnetic control unit 3, and are used to adjust the pitch and yaw of the annular magnetic control unit 3; a vertical adjustment mechanism 6 is located inside the sliding base 2 and connected to the yaw adjustment mechanism 5, and is used to adjust the vertical aspect of the annular magnetic control unit 3; a composite shock absorption structure 7 is located inside the sliding base 2, and is used to realize radial micro-vibration suppression, end impact absorption and residual vibration buffering.

[0045] By means of the above scheme, the present invention transforms the originally fixed annular magnetic field into a dynamic scanning magnetic field that can move precisely along the vascular axis. This dynamic scanning mechanism enables long-distance directional migration of particles, and the targeted enrichment efficiency is significantly improved compared with the fixed magnetic field.

[0046] As shown in Figures 2 and 3, in one embodiment, the supporting mobile platform 1 includes a lower limb support bracket 11. A horizontal linear guide rail assembly 12 and a drive unit 13 are sequentially arranged in the middle of the lower limb support bracket 11, and a lower limb semi-circular support plate 14 is arranged at the top of the lower limb support bracket 11. The lower limb support bracket 11 includes a bottom frame 111, and a universal wheel 112 with braking function and a height-adjustable support leg 113 are arranged at the bottom end of the bottom frame 111. A column assembly 114 is arranged at the top of the bottom frame 111, and a hinge mechanism 115 is arranged between the top of the column assembly 114 and the lower limb semi-circular support plate 14. The horizontal linear guide rail assembly 12 includes a guide rail mounting seat 121 located between several column assemblies 114, and several linear guide rails 122 are arranged on the guide rail mounting seat 121.

[0047] Specifically, the support mobile platform 1 is used to support the patient's lower limbs and carry the annular magnetic control unit 3 to move along the lower limb axis. The support mobile platform 1 includes two identical lower limb support brackets 11 at the front and back (the front is the knee or thigh and the back is the ankle), a horizontal linear guide rail assembly 12 fixed on the lower limb support brackets 11, and a drive unit 13. The lower limb support brackets 11 have a height-adjustable lower limb semi-circular support plate 14.

[0048] The lower limb support bracket 11 includes a bottom frame 111, upright column assemblies 114 vertically installed at the four corners of the bottom frame 111, and a lower limb semi-circular support plate 14 installed at the top of the upright column assembly 114. The bottom of the bottom frame 111 is equipped with universal wheels 112 with braking function and height-adjustable support legs 113 to facilitate the movement, positioning, and stable support of the device. The upright column assembly 114 is a sleeve-type telescopic structure and is equipped with a height locking mechanism 116. The height locking mechanism 116 is a simple existing buckle structure, which will not be described in detail in this invention. Its adjustability... The column assembly 114 is positioned at a certain height, enabling stepless adjustment of the height of the lower limb semi-circular support plate 14. The tilt angle of the lower limb semi-circular support plate 14 is adjustable from 0° to 30° via the hinge mechanism 115 to adapt to the treatment position requirements of different patients. The lower limb semi-circular support plate 14 is semi-circular. The horizontal linear guide rail assembly 12 is fixed in the middle of the two lower limb semi-circular support plates 14 via the guide rail mounting seat 121. The extension direction of the linear guide rail 122 is parallel to the long axis of the patient's lower limb, ensuring that the magnetic field movement trajectory is consistent with the direction of blood vessels.

[0049] The horizontal linear guide assembly 12 includes two parallel linear guides 122 (precision linear guides). The length of the linear guides 122 is 800mm to 1200mm to match the length of the human lower limb. The linear guides 122 adopt ball linear guides or roller linear guides with a precision grade of not less than P5. The slider 203 (precision slider) is a square slider. The slider 203 and the linear guide 122 are a rolling friction pair with a friction coefficient of not more than 0.005 to ensure smooth movement and low noise. Fluororubber flexible sealing damping strips 205 are snapped between the sides of slider 203 and the guide groove of linear guide 122. They have a semi-circular cross-section structure, are in flexible contact with the guide groove, and have a contact pressure ≤10N, thus achieving radial micro-vibration suppression and dustproof sealing. Polyurethane elastic damping limit blocks 206 are embedded in the end of linear guide 122. They have an arc-shaped end face honeycomb microporous structure, a compression amount of 5-8mm, and a buffer force of 50-80N, absorbing the impact kinetic energy at the end of slider. The vibration isolation layer 207 is a medical-grade silicone composite aramid fiber layer with a thickness of 1-2mm. Circular pressure-reducing holes are opened on the surface and arranged on the mating surface between guide base plate 201 and bearing base plate 202.

[0050] The drive unit 13 includes a servo or stepper motor 131, a precision ball screw 132 driven by the motor 131, and an elastic coupling 133 connecting the output shaft of the motor 131 and the precision ball screw 132. The nut of the precision ball screw 132 is fixedly connected to the nut seat 204. The lead of the precision ball screw 132 is 5mm to 10mm, and the positioning accuracy is no greater than ±0.05mm. The motor 131 drives the sliding base 2 to move the annular magnetron control unit 3 at a speed of 0.1cm / s to 5cm / s, with a speed fluctuation rate of no greater than ±2%, meeting the speed requirements for the directional migration of magnetic particles. The motor 131 drives the precision ball screw 132 to rotate through the elastic coupling 133, converting the rotational motion into linear motion of the sliding base 2, which in turn drives the annular magnetron control unit 3 to move along the linear guide rail 122. The use of the precision ball screw 132 can achieve high-precision, low-friction, and backlash-free transmission, ensuring the smooth movement and positioning accuracy of the annular magnetron control unit 3. In Figure 14, A represents magnetic nanoparticles, B represents the direction of the magnetic field, C represents blood vessels, and D represents the lesion site.

[0051] As shown in Figures 4 and 9, in one embodiment, the sliding base 2 includes a guide base plate 201 disposed above the linear guide rail 122, a bearing base plate 202 disposed above the guide base plate 201, a slider 203 cooperating with the linear guide rail 122 and a nut seat 204 cooperating with the drive unit 13 at the bottom end of the guide base plate 201; fluororubber flexible sealing and damping strips 205 are disposed on both sides of the slider 203, a polyurethane elastic damping and limiting block 206 is disposed at the end of the linear guide rail 122, and a vibration isolation layer 207 is disposed at the contact surface between the guide base plate 201 and the bearing base plate 202; a magnetic grating ruler 208 is disposed on the side of the linear guide rail 122, and a reading head 209 is disposed on the side of the guide base plate 201.

[0052] Specifically, the sliding base 2 is fixedly connected to the bottom of the annular magnetic control unit 3. The sliding base 2 includes a supporting base plate 202 and a guide base plate 201. The bottom of the guide base plate 201 is fixed with a slider 203 that cooperates with the linear guide rail 122 of the horizontal linear guide rail assembly 12 and a nut seat 204 that cooperates with the drive unit 13. A vibration isolation layer 207 and a composite damping structure 7 are provided between the guide base plate 201 and the supporting base plate 202. Fluororubber flexible sealing damping strips 205 are provided on both sides of the slider 203. A polyurethane elastic damping limit block 206 is provided at the end of the linear guide rail 122 of the horizontal linear guide rail assembly 12. The guide base plate 201 is connected to the linear guide rail 122 of the horizontal linear guide rail assembly 12 through the slider 203 to form a sliding pair. The supporting base plate 202 is fixedly connected to the annular magnetic control unit 3.

[0053] The position feedback module includes a magnetic scale 208 and a reading head 209 mounted on the sliding base 2. The magnetic scale 208 is arranged parallel to the linear guide rail 122 and has a resolution of no more than 0.01 mm. The main control module adjusts the speed of the motor 131 in real time according to the position signal fed back by the position feedback module to achieve accurate positioning of the annular magnetic control unit 3 at the target position with a positioning error of no more than ±0.1 mm.

[0054] As shown in Figure 12, two annular magnetic control units 3 are arranged back and forth along the moving direction on the sliding base 2, forming a double-ring cooperative traction structure. Their postures are adjusted by independent fine-tuning mechanisms. They are a front-stage magnetic control unit 3a and a rear-stage magnetic control unit 3b, respectively. The distance between the front-stage magnetic control unit 3a and the rear-stage magnetic control unit 3b is 80mm to 150mm. The intelligent control system of the present invention can independently control the on / off timing and intensity of the magnetic field of the front-stage magnetic control unit 3a and the rear-stage magnetic control unit 3b, forming a push-pull cooperative magnetic field gradient or an alternating scanning magnetic field wavefront to enhance the directional driving force of magnetic particles in blood vessels and improve the particle migration efficiency in complex blood flow environments.

[0055] As shown in Figures 5 and 13, in one embodiment, the annular magnetic control unit 3 includes several arc-shaped fastening plates 301 disposed above the sliding base 2. An adjustable movable plate 302 is disposed between adjacent arc-shaped fastening plates 301. An arc-shaped magnetic carrier plate 303 is disposed within the arc-shaped fastening plate 301, and a magnetic induction component array 304 is disposed on the arc-shaped magnetic carrier plate 303. The magnetic field direction of the magnetic induction component array 304 is towards the encircling center, and the magnetic field strength is independently controllable. An arc-shaped embedding groove 305 is formed within the arc-shaped fastening plate 301. One end of the arc-shaped embedding groove 305 forms a through hole 306 with the plate body of the arc-shaped fastening plate 301, and the arc-shaped magnetic carrier plate 303 is embedded within the arc-shaped embedding groove 305. An arc-shaped guide groove 307 is formed on the adjustable movable plate 302, and several [missing information - likely related to magnetic components] are inserted into the arc-shaped guide groove 307. Knob fasteners 308 are screwed into the threaded holes at the ends of two adjacent arc-shaped fastening plates 301. The top two ends of the arc-shaped magnetic plate 303 extend outward to form positioning wing plates 309. The positioning wing plates 309 are provided with a plurality of countersunk mounting holes 310. Fixing bolts are inserted into the countersunk mounting holes 310 and screwed into the arc-shaped fastening plates 301 for fixation. The magnetic induction assembly array 304 includes a plurality of magnetic induction mounting holes 3041 provided on the arc-shaped magnetic plate 303. The central axis of the magnetic induction mounting holes 3041 points to the encircling center along the radial direction of the arc-shaped fastening plates 301. Electromagnetic units 3042 are provided in the magnetic induction mounting holes 3041. The coils of the electromagnet units 3042 on adjacent arc-shaped fastening plates 301 are wound in opposite directions to form a closed magnetic circuit. The outer wall of the arc-shaped magnetic plate 303 is provided with a wiring interface 3043.

[0056] Specifically, the three ring-shaped magnetic control units are set around the patient's lower limbs and generate a radially controllable magnetic field. They adopt a modular design to form an enclosed structure with an adjustable inner diameter to accommodate different patients' lower limb sizes. The annular magnetic control unit 3 includes four arc-shaped fastening plates 301, an adjustable movable plate 302 connecting adjacent arc-shaped fastening plates 301, an arc-shaped magnetic carrier plate 303 installed inside the arc-shaped fastening plates 301, and a magnetic sensing component array 304 arranged on the arc-shaped magnetic carrier plate 303. The magnetic field direction of the magnetic sensing component array 304 is towards the encircling center, and the magnetic field strength is independently controllable. The arc-shaped fastening plate 301 is a lightweight arc-shaped plate made of carbon fiber composite material. The arc-shaped fastening plate 301 has an arc-shaped insert groove 305, and the bottom of the arc-shaped insert groove 305 and the plate body of the arc-shaped fastening plate 301 form a through hole 306. The arc-shaped magnetic carrier plate 303 is embedded in the arc-shaped insert groove 305, and 16 (4×4) magnetic carrier plates are formed on the arc-shaped magnetic carrier plate 303. The magnetic mounting hole 3041 has its central axis pointing towards the center of the arc-shaped fastening plate 301 along the radial direction. The magnetic component array 304 includes 16 (4×4) electromagnet units 3042, which are installed in the magnetic mounting hole 3041. The coils of the electromagnet units 3042 on adjacent arc-shaped fastening plates 301 are wound in opposite directions to form a closed magnetic circuit and enhance the uniformity of the magnetic field. The energizing state and current intensity of each electromagnet unit 3042 are independently controllable, and the gradient adjustment of the magnetic field intensity can be realized. The outer wall of the arc-shaped magnetic carrier plate 303 is provided with a cable interface 3043, which extends through the through hole 306 to the outside of the arc-shaped fastening plate 301 and is electrically connected to the magnetic field control module.

[0057] The adjustable movable plate 302 is an elastic metal connecting plate. An arc-shaped guide groove 307 is provided on the adjustable movable plate 302. Two knob fasteners 308 are inserted in the arc-shaped guide groove 307. The two knob fasteners 308 are screwed into the threaded holes at the ends of two adjacent arc-shaped fastening plates 301 respectively. The inner diameter of the annular magnetic control unit 3 can be continuously adjusted by adjusting the position of the knob fasteners 308 in the arc-shaped guide groove 307. During adjustment, first loosen the knob fastener 308 to release the fixed constraint on the arc-shaped fastening plate 301 and the adjustable movable plate 302, allowing the arc-shaped fastening plate 301 to slide freely along the extension direction of the arc-shaped guide groove 307. Medical personnel can adjust the encirclement distance between adjacent plates by pushing or pulling the arc-shaped fastening plate 301 according to the actual circumference of the patient's lower limb lesion, thereby achieving continuous adjustment of the inner diameter of the annular magnetic control unit 3. After adjusting to a size that matches the circumference of the patient's lower limb, and ensuring that the inner diameter fits tightly against the outer periphery of the patient's lower limb without any squeezing sensation, tighten the knob fastener 308 to relock and fix it. The adjustment range is 120mm to 200mm. This ensures that the inner diameter of the annular magnetic control unit 3 does not shift during device operation, and that the magnetic induction component array 304 always maintains a radial layout facing the center of the encirclement after adjustment, without affecting the uniformity of the magnetic field.

[0058] The top two ends of the arc-shaped magnetic carrier plate 303 extend outward to form positioning wing plates 309. The positioning wing plates 309 have countersunk mounting holes 310. Fixing bolts are inserted into the countersunk mounting holes 310 and screwed to the arc-shaped fastening plate 301 for fixation. The arc-shaped magnetic carrier plate 303 is made of soft magnetic material with high magnetic permeability, which is used to enhance the magnetic field focusing effect of the electromagnet unit 3042 and improve the magnetic field strength and uniformity.

[0059] As shown in Figure 6, in one embodiment, the vertical adjustment mechanism 6 includes a diamond-shaped lifting frame 601 disposed between the guide base plate 201 and the bearing base plate 202. The upper and lower diagonal points of the diamond-shaped lifting frame 601 are connected to the bearing base plate 202 and the guide base plate 201, respectively. The left and right diagonal points of the diamond-shaped lifting frame 601 are connected to the nuts of the horizontally fixed lead screw 602. The lead screw 602 is connected to the output shaft of the lifting drive motor 603. A lifting magnetic grating ruler 604 and a lifting reading head 605 are also sequentially disposed between the guide base plate 201 and the bearing base plate 202.

[0060] Specifically, the vertical adjustment mechanism 6 is located inside the sliding base 2. The rhomboid lifting frame 601 in the vertical adjustment mechanism 6 is a rhomboid frame composed of four hinged rods. The output shaft of the lifting drive motor 603 is connected to the lead screw 602 (precision lead screw), which drives the rhomboid lifting frame 601 to deform, thereby realizing the vertical lifting of the bearing base plate 202 relative to the guide base plate 201. A lifting position feedback module is also provided between the bearing base plate 202 and the guide base plate 201, including a lifting magnetic scale 604 and a lifting reading head 605, which are used to detect the vertical displacement in real time and feed it back to the intelligent control system. The adjustment accuracy can reach ±0.05mm.

[0061] As shown in Figure 7, in one embodiment, the pitch adjustment mechanism 4 includes a connecting rod 401 disposed between the support base plate 202 and the annular magnetic control unit 3. The top end of the connecting rod 401 is hinged to the bottom end of the annular magnetic control unit 3 via a pitch rotation shaft 402. A pitch drive motor 403 and a pitch reducer 404 are sequentially disposed inside the connecting rod 401 to drive the real-time annular magnetic control unit 3 to adjust the pitch angle. A pitch bearing 405 is disposed inside the connecting rod 401 to support the pitch rotation shaft 402 and ensure smooth rotation. An arc-shaped pitch magnetic scale 406 and a pitch reading head 407 are also sequentially disposed on the connecting rod 65.

[0062] Specifically, in the pitch adjustment mechanism 4, the lower end of the connecting short rod 401 is fixed to the supporting base plate 202, and the upper end is hinged to the bottom of the annular magnetic control unit 3 through the pitch rotation shaft 402. The axis of the pitch rotation shaft 402 is perpendicular to the moving direction of the annular magnetic control unit 3. The pitch drive motor 403 and the pitch reducer 404 are installed inside the connecting short rod 401. The pitch drive motor 403 drives the pitch rotation shaft 402 to rotate through the pitch reducer 404, thereby driving the annular magnetic control unit 3 to achieve fine adjustment of the pitch angle. The pitch bearing 405 supports the pitch rotation shaft 402 to ensure smooth rotation. The connecting short rod 401 is also equipped with a pitch position feedback module, including an arc-shaped pitch magnetic scale 406 and a pitch reading head 407, which is used to detect the pitch angle in real time and feed it back to the intelligent control system. The adjustment accuracy can reach ±0.1°.

[0063] As shown in Figure 8, in one embodiment, the yaw adjustment mechanism 5 includes a yaw base 501 disposed between the vertical adjustment mechanism 6 and the pitch adjustment mechanism 4. A yaw disc gear 502 is disposed in the middle of the yaw base 501, a yaw bearing 503 is disposed in the middle of the yaw disc gear 502, and a yaw drive motor 504 is disposed on the side of the yaw disc gear 502. The output shaft of the yaw drive motor 504 is connected to a yaw worm 505, and the yaw worm 505 meshes with the yaw disc gear 502 to form a worm gear transmission pair. A connecting short rod 401 is connected to the yaw disc gear 502 through a transition connecting plate 506. A yaw magnetic scale 507 and a yaw reading head 508 are also disposed sequentially on one side of the transition connecting plate 506 and on the yaw base 501.

[0064] Specifically, in the yaw adjustment mechanism 5, the yaw base 501 is fixed to the upper end of the bearing base plate 202; the yaw disc gear 502 is rotatably mounted on the yaw base 501 through the yaw bearing 503; the yaw drive motor 504 is fixed to the side of the yaw base 501, and its output shaft is connected to the yaw worm 505, which meshes with the yaw disc gear 502 to form a worm gear transmission pair; the connecting short rod 401 of the pitch adjustment mechanism 4 is connected to the yaw disc through the transition connecting plate 506. Gear 502 is fixedly connected; yaw drive motor 504 drives yaw disc gear 502 to rotate around the vertical axis, thereby driving pitch adjustment mechanism 4 and annular magnetic control unit 3 to achieve fine adjustment of yaw angle. The worm gear transmission has self-locking characteristics to ensure the stability of the position after adjustment; yaw base 501 is also equipped with yaw position feedback module, including annular yaw magnetic scale 507 and yaw reading head 508, which is used to detect yaw angle in real time and feed it back to intelligent control system. The adjustment accuracy can reach ±0.1°.

[0065] As shown in Figure 10, in one embodiment, the composite damping structure 7 includes a pre-stressed buckling beam 701 and a positive stiffness support spring 702 arranged in parallel between the guide base plate 201 and the bearing base plate 202. Viscous dampers 703 and vertical guide limiters 704 are symmetrically arranged around the guide base plate 201 and the bearing base plate 202. The vertical guide limiters 704 restrict the relative displacement between the two only in the vertical direction.

[0066] Among them, the pre-compression buckling beam 701 is an Euler buckling beam made of titanium alloy, which is hinged at both ends to the guide base plate 201 and the bearing base plate 202 and is in a pre-compression equilibrium state; the pre-compression buckling beam 701 generates a downward contraction auxiliary force above the equilibrium position and an upward pushing auxiliary force below the equilibrium position, which cancels out the restoring force of the positive stiffness support spring 702 and reduces the dynamic stiffness of the vibration isolation system; the viscous damper 703 is used to suppress the relative vibration amplitude between the guide base plate 201 and the bearing base plate 202, and works with the pre-compression buckling beam 701 to achieve quasi-zero stiffness vibration isolation.

[0067] As shown in Figure 11, the intelligent control system of the present invention includes a main control module, a motor drive module, a magnetic field control module, and a position feedback module. The main control module is used to receive control commands and coordinate the motion parameters of the drive unit 13 and the magnetic field parameters of the magnetic induction component array 304, as well as coordinate the fine-tuning actions of the lifting drive motor 603, the pitch drive motor 403, and the yaw drive motor 504. The position feedback module includes a guide rail position feedback submodule, a lifting position feedback submodule, a pitch position feedback submodule, and a yaw position feedback submodule, which are used to detect the linear position of the sliding base 2, the vertical position of the supporting base plate 202, and the pitch and yaw angles of the annular magnetic control unit 3 in real time, respectively, and feed them back to the main control module to form a multi-closed-loop control. The intelligent control system also includes a human-machine interface, which can be a touchscreen or a host computer software interface, used to input movement path parameters, velocity curve parameters, and magnetic field strength parameters. The main control module has a built-in motion control algorithm that can execute preset movement programs, including uniform movement, variable speed movement, reciprocating scanning movement, and stationary dwell mode. The amplitude and frequency of the reciprocating scanning movement are adjustable to adapt to the treatment needs of different lesion areas. As the core of the system, the main control module receives control commands from the human-machine interface.

[0068] To facilitate understanding of the above technical solutions of the present invention, the working principle or operation method of the present invention in actual process will be described in detail below.

[0069] This invention relates to intravascular magnetic particle targeted navigation therapy, enabling dynamic movement of a toroidal magnetic field along the patient's lower limb axis with three degrees of freedom (vertical, pitch, and yaw) fine-tuning capabilities. The device provided by this invention combines the advantages of a toroidal structure generating a uniform radial magnetic field with precise movement of the magnetic field along the lower limb axis and multi-degree-of-freedom posture fine-tuning. It also features patient comfort, a simple structure, precise control, and controllable cost, thus meeting the clinical needs of magnetic particle targeted therapy. The device includes a toroidal magnetic control unit 3, a supporting moving platform 1, a drive unit 13, an intelligent control system, and a three-degree-of-freedom fine-tuning mechanism. The annular magnetic control unit has a built-in electromagnet that generates a controllable magnetic field when fitted onto the lesion site on the lower limb. The supporting mobile platform 1 includes a lower limb support bracket 11 and a horizontal linear guide rail assembly 12. The drive unit 13 moves the annular magnetic control unit 3 along the lower limb axis. The three-degree-of-freedom fine-tuning mechanism includes a vertical adjustment mechanism 6, a pitch adjustment mechanism 4, and a yaw adjustment mechanism 5, enabling precise fine-tuning of the magnetic control unit in three directions. These three mechanisms are integrated in series between the sliding base 2 and the annular magnetic control unit 3. Each fine-tuning mechanism integrates a position feedback module for closed-loop control with the intelligent control system. This invention, through a mobile magnetic field combined with three-degree-of-freedom fine-tuning, allows the magnetic control unit to precisely conform to the skin at the lesion site, enabling efficient directional migration of magnetic particles. It solves the problems of long-distance targeted delivery and magnetic field direction optimization, offering advantages such as high targeted enrichment efficiency, precise control, comfortable positioning, and strong clinical applicability.

[0070] Example 1:

[0071] As shown in Figures 1-11, this embodiment includes:

[0072] The ring-shaped magnetic control unit 3 is formed by four arc-shaped carbon fiber fastening plates 301. Each arc-shaped fastening plate 301 has a central angle of 90°, a thickness of 5mm, and a width of 60mm. Arc-shaped mounting slots 305 are formed on the arc-shaped fastening plates 301, and arc-shaped magnetic carrier plates 303 are embedded within these slots. The arc-shaped magnetic carrier plates 303 are made of high-permeability silicon steel sheets, with a thickness of 8mm. Each arc-shaped magnetic carrier plate 303 has 16 4×4 magnetic mounting holes 3041, and electromagnet units 3042 are installed within these holes. The core diameter of the electromagnet unit 3042 is 25mm, its length is 30mm, and its coil is wound with 0.5mm diameter enameled wire, with 300 turns and a rated operating current of 2A. The coils of the electromagnet units 3042 on adjacent arc-shaped fastening plates 301 are wound in opposite directions, forming a radial magnetic field pointing towards the center of the ring when energized. The four arc-shaped fastening plates 301 are connected by four adjustable movable plates 302. The adjustable movable plates 302 are stainless steel elastic plates with a thickness of 2mm and have arc-shaped guide grooves 307. They are connected to the threaded holes at the ends of the arc-shaped fastening plates 301 by knob fasteners 308. In actual adjustment, the knob fasteners 308 are loosened to allow the arc-shaped fastening plates 301 to slide along the arc-shaped guide grooves 307. The circumference of the four arc-shaped fastening plates 301 is adjusted according to the actual circumference of the patient's lower leg, so that the inner diameter of the annular magnetic control unit 3 can be continuously adjusted within the range of 130mm to 180mm. After fitting, the knob fasteners 308 are tightened to complete the fixation, ensuring that the arc-shaped surface of the arc-shaped fastening plates 301 fits the outer periphery of the patient's lower limb and that the radial direction of the magnetic sensing component array 304 does not shift.

[0073] Supporting mobile platform 1: The bottom frame 111 of the lower limb support bracket 11 is welded from 40mm×40mm square steel pipes, with dimensions of 800mm×500mm. Braked casters 112 and height-adjustable legs 113 are installed at the four corners of the bottom frame 111. The column assembly 114 adopts a circular steel pipe sleeve structure, with an outer tube diameter of 50mm and an inner tube diameter of 40mm. The height adjustment range is 300mm to 500mm, and it is fixed by a height locking mechanism. The lower limb semi-circular support plate 14 is made of engineering plastic, covered with a medical-grade silicone pad, and has a length of 700mm and a width of 200mm. The lower limb semi-circular support plate 14 is connected to the top of the column assembly 114 via a hinge mechanism 115, and the tilt angle can be adjusted from 0° to 30°; in this embodiment, it is set to 15°.

[0074] Horizontal linear guide assembly 12: Two HGH15CA type linear guides 122 (precision ball linear guides) are used. The linear guides 122 are 1000mm long and have a precision grade of P5. The linear guides 122 are fixed to the upper sides of the lower limb semi-circular support plate 14 by aluminum alloy guide rail mounting bases 121. The installation height ensures that the center of the annular magnetic control unit 3 is aligned with the center of the supporting surface of the lower limb semi-circular support plate 14.

[0075] Sliding base 2: The sliding base 2 and vertical adjustment mechanism 6 are made of 6061-T6 aluminum alloy plate, forming two separate plates: a load-bearing base plate 202 and a guide base plate 201. Each plate is 10mm thick, and the overall dimensions are 200mm × 150mm × 20mm. The bottom of the guide base plate 201 is connected to the linear guide rail 122 via four HGW15CC precision sliders 203. A vertical adjustment mechanism 6 is installed between the guide base plate 201 and the load-bearing base plate 202: The rhomboid lifting frame 601 consists of four hinged rods forming a rhomboid frame. The rods are made of aluminum alloy and are 80mm long. The lifting drive motor 603 is a 20mm diameter, 30mm long micro stepper motor. The lead screw 602 is a precision micro ball screw with a 1mm lead. The lifting magnetic scale 604 has a resolution of 0.001mm, and the lifting reading head 605 is fixed to the load-bearing base plate 202. Vertical adjustment range: ±5mm, adjustment accuracy: ±0.05mm.

[0076] Pitch adjustment mechanism 4: The connecting short rod 401 is a hollow aluminum alloy rod, 30mm in diameter and 60mm in length, internally housing the pitch drive motor 403, pitch reducer 404, and pitch rotation shaft 402. The pitch drive motor 403 is a micro stepper motor, coupled with a harmonic reducer with a reduction ratio of 50:1, outputting a torque of 1.5 N·m. The pitch rotation shaft 402 has a diameter of 8mm and is supported at both ends by micro bearings. The arc-shaped pitch magnetic scale 406 is arc-shaped, with a radius of 50mm and an arc length of 30mm, corresponding to an adjustment range of ±15° and a resolution of 0.01°. Pitch adjustment range: -10°~+10°, adjustment accuracy ±0.1°.

[0077] Yaw adjustment mechanism 5: The yaw base 501 is fixed to the upper end of the bearing base plate 202 and is made of aluminum alloy. The yaw disc gear 502 has a diameter of 80mm, a module of 0.5, and 160 teeth. The yaw drive motor 504 is a micro stepper motor, and its output shaft is connected to a single-ended yaw worm gear 505 with a module of 0.5. It meshes with the yaw disc gear 502 to form a worm gear transmission pair with a reduction ratio of 160:1 and self-locking characteristics. The yaw bearing 503 uses a crossed roller bearing to ensure smooth rotation and load-bearing capacity. The yaw magnetic scale 507 is annular with a diameter of 70mm and a resolution of 0.01°. Yaw adjustment range: continuously adjustable from 0° to 360° or limited to ±30° as needed, with an adjustment accuracy of ±0.1°.

[0078] Drive unit 13: Employs a type 57 two-phase hybrid stepper motor with a rated torque of 1.2 N·m. Motor 131 is connected to a precision ball screw 132 with a diameter of 16 mm and a lead of 5 mm via a flexible coupling 133. The precision ball screw 132 is mounted on screw bearing seats at both ends using a fixed-support method. Motor 131, controlled by a microstepping driver, can achieve a theoretical resolution of 0.001 mm / pulse.

[0079] Intelligent Control System: The main control module uses an STM32F407 microcontroller with an operating frequency of 168MHz. The motor drive module uses a multi-axis stepper motor driver, which can simultaneously control the guide rail drive motor, the lifting drive motor 603, the pitch drive motor 403, and the yaw drive motor 504. The magnetic field control module uses a multi-channel PWM voltage regulation circuit, which can independently control the voltage of 24 electromagnet units 3042, adjustable from 0-24V. The position feedback module integrates the magnetic scale ruler 208 of the guide rail with a resolution of 0.01mm, the lifting magnetic scale ruler 604 with a resolution of 0.001mm, the arc-shaped pitch magnetic scale ruler 406 with a resolution of 0.01°, and the yaw magnetic scale ruler 507 with a resolution of 0.01°. The human-machine interface uses a 7-inch color touch screen, which can input movement parameters and attitude parameters.

[0080] Working Process: The patient lies supine on the treatment bed, with the affected lower limb placed on the semi-circular support plate 14. The inner diameter of the annular magnetic control unit 3 is adjusted according to the patient's lower limb circumference to ensure it fits loosely above the diseased blood vessel segment in the calf. Target posture parameters are set through the human-machine interface: vertical height to maintain a distance of 10-20mm between the annular magnetic control unit 3 and the skin; pitch angle set according to the blood vessel direction; and yaw angle to align the magnetic field axis with the blood vessel. The system automatically drives the three-degree-of-freedom fine-tuning mechanism for precise adjustment. After adjustment, the movement parameters are set: speed 0.5cm / s, moving 20cm from the proximal end to the distal end. The device is started, and the main control module controls the stepper motor (motor 131) to rotate, driving the sliding base 2 and the annular magnetic control unit 3 to move smoothly along the linear guide rail 122 via the precision ball screw 132. During movement, the magnetic field control module controls the electromagnet unit 3042 to generate a radial magnetic field of a set intensity, dynamically guiding the magnetic particles in the blood vessel to migrate with the magnetic field direction, accumulating towards the distal lesion area. Each position feedback module monitors position and posture in real time to ensure motion accuracy and posture stability. Experimental verification data: A simulated blood vessel testing platform was built, using a transparent silicone tube with an inner diameter of 3mm and a length of 30cm to simulate lower limb blood vessels. A simulated blood:glycerol-water mixture containing Fe3O4 magnetic nanoparticles with a particle size of 200nm and a concentration of 1mg / mL circulated within the tube, with a viscosity of 3mPa·s and a flow rate of 5cm / s. A comparison was made between the particle delivery efficiency in the no-fine-tuning mode and the three-degree-of-freedom fine-tuning mode: In the no-fine-tuning mode, the annular magnetic control unit had a fixed posture and uneven spacing with the skin, resulting in an exit particle collection rate of 15.2%; in the three-degree-of-freedom fine-tuning mode, the posture was optimized so that the magnetic field axis was parallel to the blood vessel and the spacing was uniform, achieving an exit particle collection rate of 22.8%, an improvement of 50%, verifying the significant effect of posture fine-tuning on improving targeting efficiency.

[0081] Example 2:

[0082] Referring to Figure 10, based on Embodiment 1, this embodiment adopts a dual-ring cooperative traction structure, and two ring-shaped magnetic control units 3 are arranged in front and behind on the sliding base 2. Each unit is equipped with an independent three-degree-of-freedom fine-tuning mechanism to realize independent adjustment of the dual-ring attitude.

[0083] Structural Improvement: Two identical annular magnetic control units 3 are arranged front-to-back along the direction of movement on the sliding base 2, namely the front-stage magnetic control unit 3a and the rear-stage magnetic control unit 3b, with a spacing of 100mm between the two units. Each annular magnetic control unit 3 is connected to the sliding base 2 through an independent vertical adjustment mechanism 6, a pitch adjustment mechanism 4, and a yaw adjustment mechanism 5. Each fine-tuning mechanism is controlled by an independent drive motor and a position feedback module.

[0084] Cooperative Control Strategy - The intelligent control system incorporates a multi-loop cooperative attitude optimization algorithm:

[0085] a) Vascular tracking mode: Based on the anatomical curve of the lower limb blood vessels, the pitch angle of the two annular magnetic control units 3 is adjusted in real time to ensure that the magnetic field axis is always tangent to the direction of the blood vessels; b) Focusing enhancement mode: The yaw angle of the two annular magnetic control units 3 is adjusted to make the magnetic field superimposed and enhanced in the target area; c) Adaptive fitting mode: Based on the contour of the patient's lower limb, the vertical height of each unit is automatically adjusted to maintain the optimal distance between each unit and the skin.

[0086] Experimental verification data: On a test platform simulating curved blood vessels (curvature radius 30cm), the particle delivery efficiency was 10.5% in the single-ring fixed posture mode; in the dual-ring independent posture adjustment mode, using a blood vessel tracking strategy, the particle delivery efficiency reached 26.3%, an improvement of 150%, demonstrating the significant advantages of multi-ring independent posture adjustment in complex vascular anatomy.

[0087] Compared to traditional fixed magnetic control devices and devices without fine-tuning adjustment mechanisms:

[0088] To fully demonstrate the technical advantages of the three-degree-of-freedom fine-tuning structure of this invention, a comparative experiment was conducted using a comparative example.

[0089] Comparative Example 1 (Fixed): The same annular magnetic control unit 3 as in Example 1 is used, but the movement and fine-tuning functions are removed, and it is fixedly installed in the middle of the lower limb semi-circular support plate. Comparative Example 2 (Movement without Fine-tuning): The movement platform of Example 1 is used, but the three-degree-of-freedom fine-tuning mechanism is removed, and the annular magnetic control unit is fixedly mounted on the sliding base.

[0090] Experimental conditions: The simulated blood vessel testing platform was the same as in Example 1, with consistent magnetic particle parameters, fluid parameters, and magnetic field strength parameters. Particle delivery efficiency was tested on simulated lower limb models of different patients (different thicknesses and degrees of curvature). Experimental results are shown in Table 1.

[0091] Table 1 Experimental Results

[0092] Experimental results: The movement function is fundamental to achieving long-range particle delivery (Comparative Example 2 shows an improvement of approximately 7 times compared to Comparative Example 1); the three-degree-of-freedom fine-tuning function further enhances delivery efficiency, especially in complex anatomical structures (Example 1 shows an 80% improvement compared to Comparative Example 2 in a tortuous blood vessel model); the dual-ring independent fine-tuning function achieves the best results (Example 2 shows an average efficiency improvement of 96% compared to Comparative Example 2). This comparison clearly demonstrates the innovative value and clinical significance of the three-degree-of-freedom fine-tuning structure of this invention.

[0093] This invention combines innovative mechanical structure design with an intelligent control system, enabling a ring-shaped magnetic field to perform high-precision dynamic scanning along the patient's lower limb axis. Simultaneously, it can be precisely fine-tuned in three directions: vertical, pitch, and yaw, so that the magnetic field axis perfectly matches the direction of the blood vessels in the patient's lower limb. This actively guides the magnetic particles in the blood vessels to migrate long distances in a directional manner and accumulate in the target lesion area, thereby significantly improving the efficiency of targeted therapy.

[0094] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "setting," "connection," "fixing," "screw connection," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components or the interaction between two components. Unless otherwise explicitly limited, those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0095] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A mobile lower limb vascular magnetic control device based on a linear guide rail and equipped with three degrees of freedom fine-tuning, characterized in that, include: A supporting mobile platform (1) is provided with a sliding base (2) at the top of the supporting mobile platform (1), and a ring-shaped magnetic control unit (3) is provided at the top of the sliding base (2); the supporting mobile platform (1) is used to support the patient's lower limb and carry the ring-shaped magnetic control unit (3) to move along the lower limb axis, and the ring-shaped magnetic control unit (3) is used to be fitted around the patient's lower limb and generate a radially controllable magnetic field; a pitch adjustment mechanism (4) and a yaw adjustment mechanism (5) are located between the sliding base (2) and the ring-shaped magnetic control unit (3) and are used to adjust the pitch and yaw of the ring-shaped magnetic control unit (3); a vertical adjustment mechanism (6) is located inside the sliding base (2) and is connected to the yaw adjustment mechanism (5) and is used to adjust the verticality of the ring-shaped magnetic control unit (3); a composite shock absorption structure (7) is located inside the sliding base (2) and is used to achieve radial micro-vibration suppression, end impact absorption and residual vibration buffering.

2. The mobile lower limb vascular magnetic control device based on a linear guide rail and with three degrees of freedom fine-tuning as described in claim 1, characterized in that, The supporting mobile platform (1) includes a lower limb support bracket (11), a horizontal linear guide rail assembly (12) and a drive unit (13) are arranged in sequence in the middle of the lower limb support bracket (11), and a lower limb semi-arc support plate (14) is arranged at the top of the lower limb support bracket (11).

3. A mobile lower limb vascular magnetic control device based on a linear guide rail and with three degrees of freedom fine-tuning, as described in claim 2, is characterized in that... The lower limb support bracket (11) includes a bottom frame (111), the bottom end of which is provided with a universal wheel (112) with braking function and a height-adjustable support leg (113); the top end of the bottom frame (111) is provided with a column assembly (114), and a hinge mechanism (115) is provided between the top end of the column assembly (114) and the lower limb semi-circular support plate (14); the horizontal linear guide rail assembly (12) includes a guide rail mounting seat (121) located between several column assemblies (114), and several linear guide rails (122) are provided on the guide rail mounting seat (121).

4. A mobile lower limb vascular magnetic control device based on a linear guide rail and with three degrees of freedom fine-tuning, as described in claim 3, is characterized in that... The sliding base (2) includes a guide base plate (201) disposed above the linear guide rail (122), a bearing base plate (202) disposed above the guide base plate (201), a slider (203) cooperating with the linear guide rail (122) and a nut seat (204) cooperating with the drive unit (13) at the bottom end of the guide base plate (201); fluororubber flexible sealing damping strips (205) are disposed on both sides of the slider (203), a polyurethane elastic damping limit block (206) is disposed at the end of the linear guide rail (122), and a vibration isolation layer (207) is disposed at the contact surface between the guide base plate (201) and the bearing base plate (202); a magnetic grating ruler (208) is disposed on the side of the linear guide rail (122), and a reading head (209) is disposed on the side of the guide base plate (201).

5. A mobile lower limb vascular magnetic control device based on a linear guide rail and with three degrees of freedom fine-tuning, as described in claim 1, is characterized in that... The annular magnetic control unit (3) includes several arc-shaped fastening plates (301) disposed above the sliding base (2). An adjustable movable plate (302) is disposed between adjacent arc-shaped fastening plates (301). An arc-shaped magnetic carrier plate (303) is disposed inside the arc-shaped fastening plate (301). A magnetic induction component array (304) is disposed on the arc-shaped magnetic carrier plate (303), and the magnetic field direction of the magnetic induction component array (304) is oriented towards the encircling center and the magnetic field strength is independently controllable. An arc-shaped insert groove (305) is opened in the arc-shaped fastening plate (301). One end of the arc-shaped insert groove (305) forms a through hole (306) with the plate body of the arc-shaped fastening plate (301). The arc-shaped magnetic carrier plate (303) is embedded in the arc-shaped mounting groove (305); the adjustable movable plate (302) is provided with an arc-shaped guide groove (307), and a number of knob fasteners (308) are inserted in the arc-shaped guide groove (307). The knob fasteners (308) are respectively screwed to the threaded holes at the ends of two adjacent arc-shaped fastening plates (301); the top two ends of the arc-shaped magnetic carrier plate (303) extend outward to form positioning wing plates (309). The positioning wing plates (309) are provided with a number of countersunk mounting holes (310). Fixing bolts are inserted in the countersunk mounting holes (310) and screwed to the arc-shaped fastening plates (301).

6. A mobile lower limb vascular magnetic control device based on a linear guide rail and with three degrees of freedom fine-tuning, as described in claim 5, is characterized in that... The magnetic induction component array (304) includes a plurality of magnetic induction mounting holes (3041) disposed on the arc-shaped magnetic carrier plate (303). The central axis of the magnetic induction mounting holes (3041) points to the enclosing center along the radial direction of the arc-shaped fastening plate (301). An electromagnet unit (3042) is disposed in the magnetic induction mounting hole (3041). The coils of the electromagnet units (3042) on adjacent arc-shaped fastening plates (301) are wound in opposite directions to form a closed magnetic circuit. The outer side wall of the arc-shaped magnetic carrier plate (303) is provided with a wiring interface (3043).

7. A mobile lower limb vascular magnetic control device based on a linear guide rail and with three degrees of freedom fine-tuning, as described in claim 4, is characterized in that... The vertical adjustment mechanism (6) includes a diamond-shaped lifting frame (601) disposed between the guide base plate (201) and the bearing base plate (202). The upper and lower diagonal points of the diamond-shaped lifting frame (601) are respectively connected to the bearing base plate (202) and the guide base plate (201). The left and right diagonal points of the diamond-shaped lifting frame (601) are connected to the nuts of a horizontally fixed lead screw (602). The lead screw (602) is connected to the output shaft of a lifting drive motor (603). A lifting magnetic grating ruler (604) and a lifting reading head (605) are also sequentially disposed between the guide base plate (201) and the bearing base plate (202).

8. A mobile lower limb vascular magnetic control device based on a linear guide rail and with three degrees of freedom fine-tuning, as described in claim 7, is characterized in that... The pitch adjustment mechanism (4) includes a connecting rod (401) disposed between the bearing base plate (202) and the annular magnetic control unit (3). The top end of the connecting rod (401) is hinged to the bottom of the annular magnetic control unit (3) via a pitch rotation shaft (402). A pitch drive motor (403) and a pitch reducer (404) are sequentially disposed inside the connecting rod (401) to drive the real-time annular magnetic control unit (3) to adjust the pitch angle. A pitch bearing (405) is disposed inside the connecting rod (401) to support the pitch rotation shaft (402) and ensure smooth rotation. An arc-shaped pitch magnetic scale (406) and a pitch reading head (407) are also sequentially disposed on the connecting rod (65).

9. A mobile lower limb vascular magnetic control device based on a linear guide rail and with three degrees of freedom fine-tuning, as described in claim 8, is characterized in that... The yaw adjustment mechanism (5) includes a yaw base (501) disposed between the vertical adjustment mechanism (6) and the pitch adjustment mechanism (4). A yaw disc gear (502) is disposed in the middle of the yaw base (501). A yaw bearing (503) is disposed in the middle of the yaw disc gear (502). A yaw drive motor (504) is disposed on the side of the yaw disc gear (502). The output shaft of the yaw drive motor (504) is connected to a yaw worm (505). The yaw worm (505) meshes with the yaw disc gear (502) to form a worm gear transmission pair. The connecting short rod (401) is connected to the yaw disc gear (502) through a transition connecting plate (506). A yaw magnetic scale (507) and a yaw reading head (508) are also disposed sequentially on one side of the transition connecting plate (506) and on the yaw base (501).

10. A mobile lower limb vascular magnetic control device based on a linear guide rail and with three degrees of freedom fine-tuning, as described in claim 4, is characterized in that... The composite damping structure (7) includes a pre-compression buckling beam (701) and a positive stiffness support spring (702) arranged in parallel between the guide base plate (201) and the bearing base plate (202). Viscous dampers (703) and vertical guide limiters (704) are symmetrically arranged around the guide base plate (201) and the bearing base plate (202).

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