Multistage magnetic drive robot system and method for tumor treatment

Abstract

The invention provides a multi-stage magnetic drive robot system for tumor treatment and a control method, and the system comprises a mother-stage conduit which is a centimeter or subcentimeter-stage magnetic control conduit; the child-level robot is a millimeter-level magnetic control variant robot, is loaded in the mother-level catheter in a contraction state, and is switched into an expansion state under the action of a magnetic field so as to realize physical embolism of the blood vessel; the sub-sub-level micro-cluster robot is a micro-nano-level functional robot, is loaded in the sub-level robot in advance, and releases treatment substances under the action of a magnetic field; and the external magnetic field control system is used for generating a driving magnetic field and a triggering magnetic field, and controlling the mother catheter, the child robot and the sub-child micro-cluster robot to carry out three-stage relay delivery to tumor deep microvessels. The micro blood vessel can be delivered in a long distance, embolism is stable and reliable, and the operation safety of doctors is improved.

Description

Technical Field

[0001] This invention relates to the field of robotics technology for the treatment of solid tumors, and particularly to a multi-stage magnetic drive robot system and control method for tumor treatment. Background Technology

[0002] Currently, the commonly used radiotherapy and chemotherapy methods in cancer treatment have certain limitations. Radiation therapy is a method of treating malignant tumors using radiation such as alpha, beta, and gamma rays produced by radioactive isotopes, and X-rays, electron beams, proton beams, and other particle beams produced by various X-ray therapy machines or accelerators. Chemotherapy, on the other hand, is a treatment strategy that uses systemic or local administration of chemical drugs to inhibit tumor growth or eliminate tumors. Chemotherapy drugs can act on all cells in the body, including tumor cells and normal cells, and therefore have a certain degree of toxicity, potentially damaging both normal and tumor cells and causing various side effects.

[0003] To overcome the above problems, transcatheter arterial chemoembolization (TACE) is often used clinically to combine chemotherapy with embolization, such as... Figure 2 As shown, TACE delivers drugs directly to the tumor's feeding arteries via interventional procedures, achieving local targeted therapy and reducing systemic toxicity. TACE utilizes the Seldinger technique for percutaneous arterial puncture, inserting a catheter sheath using a short guidewire under X-ray fluoroscopy. After selectively inserting the catheter into the tumor's feeding arteries, arteriography is performed to clarify the distribution of the feeding arteries and tumor vessels. Subsequently, chemotherapy drugs or embolization drugs are infused through the catheter.

[0004] However, the above-mentioned TACE technology still has the following drawbacks in clinical applications: 1. Poor accessibility to microvessels. Traditional catheters are limited by size and rigidity, making it difficult to reach the complex, multi-branched blood vessels supplying micro-tumors. This makes superselective intervention difficult and can easily cause damage to normal blood vessels or non-targeted embolization.

[0005] 2. Difficulty in long-distance delivery. Miniature magnetically driven robots are easily dispersed in the high-speed blood flow of the main blood vessels of the human body, making it difficult to achieve stable long-distance reverse or forward delivery from the puncture point to the lesion.

[0006] 3. Insufficient embolization stability and treatment depth. Existing liquid embolic agents or microspheres are prone to reflux or ectopic embolization.

[0007] 4. Severe radiation exposure for doctors. Current superselective interventional and embolization techniques heavily rely on doctors performing long and delicate procedures under X-ray imaging guidance. These procedures are lengthy and complex, resulting in long-term exposure to radiation and significant occupational health risks for doctors. Summary of the Invention

[0008] To address the aforementioned problems in the prior art, this invention provides a multi-level magnetic drive robot system and control method for tumor treatment, enabling access to microvascular structures, long-distance delivery, stable and reliable embolization, and improved operational safety for physicians.

[0009] To achieve the above objectives, the technical solution adopted by the present invention is as follows: In a first aspect, the present invention provides a multi-level magnetically driven robotic system for tumor treatment, comprising: Mother-level catheters are magnetically controlled catheters with centimeter or sub-centimeter scales; The sub-robot, a millimeter-scale magnetically controlled variant robot, is loaded inside the parent catheter in a contracted state and switches to an expanded state under the action of a magnetic field to achieve physical embolization of the blood vessel; Sub-level micro-swarm robots are functional robots at the micro-nano scale, pre-loaded inside the sub-level robots, and release therapeutic substances under the action of a magnetic field; An external magnetic field control system is used to generate a driving magnetic field and a triggering magnetic field. First, the driving magnetic field guides the parent catheter into the target branch vessel. Then, the driving magnetic field releases the child robot, which moves in a contracted state to the target embolization location. Next, the triggering magnetic field switches the child robot to an expanded state to achieve physical embolization. Finally, the driving magnetic field controls the child robot to release the sub-child micro-cluster robot and guides it to penetrate into the deep microvessels of the tumor.

[0010] The beneficial effects of this invention are as follows: This invention employs a three-tiered nested magnetic drive system comprising a mother-level catheter, a daughter-level robot, and a sub-daughter-level micro-cluster robot. The mother-level catheter serves as the carrier for long-distance delivery, ensuring stability over long distances. The daughter-level robots, released from the mother-level catheter, are driven by a magnetic field to move in a contracted state to the target embolization location. Then, a triggering magnetic field causes the daughter-level robots to switch to an expanded state to achieve physical embolization, providing stable and reliable embolization. Finally, the driving magnetic field controls the daughter-level robots to release the sub-daughter-level micro-cluster robots and guide them to penetrate deep into the tumor's microvessels, thus achieving accessibility to microvessels. Furthermore, using a magnetic control scheme instead of the traditional manual catheter manipulation significantly reduces the required stiffness of the mother-level catheter, avoiding damage to blood vessels during delivery. Moreover, the use of remote magnetic field control allows doctors to operate in a radiation-proof isolation room, avoiding the health risks of long-term X-ray exposure and improving operational safety.

[0011] Optionally, the sub-robot includes an origami structure made of a magnetically programmable material, which transitions between an expanded state and a contracted state under a triggering magnetic field.

[0012] Optionally, the origami structure is a water-bomb origami structure, which is hollow in the middle and closed at both ends, and the sub-level micro-swarm robot is housed in the hollow part of the origami structure.

[0013] Optionally, the magnetically programmable material is an elastomer material doped with magnetic particles.

[0014] Optionally, the parent conduit is a magnetically controlled continuum conduit.

[0015] Optionally, after being released from the parent duct, the child robot can move by spiral propulsion or swimming motion.

[0016] Optionally, after the sub-level micro-cluster robot completes the embolization, the sub-level micro-cluster robot generates a specific pattern of periodic deformation through the sub-level robot, causing its end sealing structure to open controllably, thereby releasing the sub-level micro-cluster robot.

[0017] In a second aspect, the present invention provides a control method for a multi-level magnetically driven robotic system for tumor treatment as described in the first aspect, comprising the following: Step S1: Insert the parent catheter loaded with the sub-level robot and the sub-sub-level micro-swarm robot into the blood vessel, and control the tip of the parent catheter to deflect by the driving magnetic field so that it enters the target branch blood vessel; Step S2: Apply a driving magnetic field to release the sub-robot from the parent conduit and drive the sub-robot to move in a contracted state to the target embolization location; Step S3: Change to a triggering magnetic field to trigger the sub-robot to switch from a contracted state to an expanded state, so that it forms a physical anchor with the inner wall of the blood vessel, thereby achieving physical embolization; Step S4: After the sub-level robot completes the embolization, the sub-level micro-cluster robot loaded inside is released through the driving magnetic field, and the sub-level micro-cluster robot is guided to penetrate into the deep microvessels of the tumor through the driving magnetic field.

[0018] Optionally, the release of the sub-level micro-swarm robot loaded inside in step S4 includes: The driving magnetic field controls the sub-robot to produce periodic deformations in a specific pattern, thereby controllably opening the end cap structure of the sub-robot and releasing the sub-sub-level micro-cluster robot.

[0019] Optionally, the periodic deformation of the specific pattern includes: An external magnetic field control system alternately applies rotating magnetic fields in opposite directions, causing the sub-robot to generate torsional oscillations, and its end sealing structure can be opened controllably under periodic stress.

[0020] The technical effects of the control method provided in the second aspect are described in the relevant description of the multi-level magnetic drive robot system for tumor treatment provided in the first aspect. Attached Figure Description

[0021] Figure 1 This is a schematic diagram illustrating the application of a multi-stage magnetic drive robot system for tumor treatment according to an embodiment of the present invention. Figure 2 This is a schematic diagram of the hepatic artery chemoembolization procedure according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the contracted state of the sub-robot involved in an embodiment of the present invention; Figure 4 This is a schematic diagram showing the unfolding of a sub-level robot according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the expanded state of the sub-robot involved in an embodiment of the present invention; Figure 6 This is a flowchart illustrating a control method according to an embodiment of the present invention.

[0022] Explanation of reference numerals in the attached figures: 1. Mother catheter; 2. Sub-level robots; 3. Sub-level micro-swarm robots; 100. Liver; 101. Terminal part of blood vessels; 102. Tumor. Detailed Implementation

[0023] To better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present invention can be understood more clearly and thoroughly, and that the scope of the present invention can be fully conveyed to those skilled in the art.

[0024] Please refer to Figure 1 A multi-level magnetic drive robotic system for tumor treatment, comprising: Master-level catheters are magnetically controlled catheters with centimeter or subcentimeter scales, used to establish channels within blood vessels and deliver them to target branch vessels, defining the working area and safety boundaries; The sub-robot is a magnetically controlled variant robot with a millimeter-scale design. It is loaded inside the parent catheter in a contracted state and switches to an expanded state under the influence of a magnetic field to achieve physical embolization of blood vessels. Sub-level micro-swarm robots are functional robots at the micro-nano scale, pre-loaded inside the sub-level robots, and release therapeutic substances under the action of a magnetic field; An external magnetic field control system is used to generate driving and triggering magnetic fields. First, the driving magnetic field guides the parent catheter into the target branch vessel. Then, the driving magnetic field releases the daughter robot, which moves in a contracted state to the target embolization location. Next, the triggering magnetic field switches the daughter robot to an expanded state to achieve physical embolization. Finally, the driving magnetic field controls the daughter robot to release the sub-daughter micro-cluster robot and guides it to penetrate into the deep microvessels of the tumor.

[0025] Among them, the parent catheter is a magnetically controlled continuum catheter. By applying a directional magnetic field to the parent catheter through a driving magnetic field, the tip of the parent catheter is actively bent and deflected, so that it can accurately enter the main branch vessels such as the hepatic artery.

[0026] The sub-robot includes an origami structure made of magnetically programmable material, which transitions between an expanded and contracted state under a triggering magnetic field. The magnetically programmable material is an elastomer doped with magnetic particles, made from biocompatible magnetizable materials. Figures 3 to 5 As can be seen, the origami structure is a water-gel origami structure, composed of the peaks and valleys mentioned in origami, hollow in the middle and closed at both ends, with the sub-scale micro-swarm robot housed in the hollow part of the origami structure. The origami structure in this embodiment consists of... Figure 4 The unfolded state of the fold Figure 3 The cylindrical shape, in a contracted state, expands in the middle under the influence of a triggering magnetic field, causing it to contract vertically. Figure 5 In the expanded state, after being released from the parent catheter, the sub-robot, guided by a rotating magnetic field, can move in a spiral propulsion or swimming motion, thereby crossing tortuous blood vessels and reaching the end of the tumor-supplying artery. In the expanded state, the outer wall of the sub-robot is tightly attached to the inner wall of the blood vessel, using structural rigidity and friction to achieve self-locking anchoring and block blood flow.

[0027] In this system, after the sub-level robot completes the embolization, the sub-level micro-swarm robot releases itself by generating a specific pattern of periodic deformation, causing its end-capped structure to open controllably. Specifically, the sub-level robot is released by repeatedly deforming its structure under magnetic field control, causing the end caps to fatigue open.

[0028] After the sub-robot is stably anchored, a far-field excitation mechanism causes the sub-sub-scale micro-clusters carried by the sub-robot to desorb or release. Then, a magnetic field is used to guide the sub-sub-scale micro-clusters through the gaps in the blood vessel wall or into the finer capillary network to encapsulate tumor tissue and release drugs.

[0029] Please refer to Figure 6 The present invention provides a control method for a multi-stage magnetic drive robot system for tumor treatment according to the above embodiments, comprising the following: Step S1: Insert the parent catheter, which is equipped with the sub-level robot and the sub-level micro-cluster robot, into the blood vessel, and control the tip of the parent catheter to deflect by the driving magnetic field, so that it enters the target branch blood vessel.

[0030] like Figure 1 As shown, the parent catheter is used to safely guide the child-level robot and sub-child-level micro-swarm robot to the target branch blood vessel.

[0031] Step S2: Apply a driving magnetic field to release the sub-robot from the parent conduit and drive the sub-robot to move in a contracted state to the target embolization location.

[0032] Upon reaching the target branch blood vessel, a driving magnetic field is applied to move the sub-robot to the target embolism location. Figure 1 The distal end of the blood vessel.

[0033] Step S3: Change to a trigger magnetic field to trigger the sub-robot to switch from a contracted state to an expanded state, so that it forms a physical anchor with the inner wall of the blood vessel and achieves physical embolization.

[0034] Step S4: After the sub-level robot completes the embolization, the sub-level micro-cluster robot loaded inside is released by driving the magnetic field, and the sub-level micro-cluster robot is guided to penetrate into the deep microvessels of the tumor by driving the magnetic field.

[0035] In step S4, releasing the sub-level micro-swarm robots loaded inside includes: By driving a magnetic field to control the sub-robot to produce periodic deformations in a specific pattern, the end cap structure of the sub-robot can be opened in a controllable manner, releasing the sub-sub-level micro-swarm robot.

[0036] In this embodiment, the periodic deformation of a specific pattern in step S4 includes: An external magnetic field control system alternately applies rotating magnetic fields in opposite directions, causing the sub-robot to generate torsional oscillations, and its end sealing structure can be opened controllably under periodic stress.

[0037] Therefore, the above embodiments of the present invention, by constructing a three-level nested magnetic drive system consisting of a mother-level conduit, a daughter-level robot, and a sub-daughter-level micro-swarm robot, achieve the following effects: (1) Accessible to microvessels. Through a three-stage relay delivery, the micro-nano-scale sub-level cluster robots can penetrate into the terminal microvessels of tumors that the sub-level robots cannot access, achieving precise micro-radiotherapy and chemotherapy. Moreover, the use of a magnetic control scheme instead of the traditional manual catheter manipulation scheme can significantly reduce the stiffness required by the parent catheter and avoid damage to blood vessels during the delivery process.

[0038] (2) Long-distance delivery. Using the parent catheter as a carrier, it can protect the sub-robots and sub-sub-robots from the impact of high-speed blood flow in large blood vessels, thus achieving long-distance delivery.

[0039] (3) Stable and reliable embolization. The sub-robot adopts a far-field response variable diameter structure, which can be triggered by a specific magnetic field signal to become an expanded state that matches the diameter of the blood vessel. It uses the structural support force to form an interference fit with the blood vessel wall to achieve physical embolization, effectively preventing embolic agent backflow or displacement and reducing the risk of complications. Moreover, there is no need to re-establish a complex cannulation path, reducing the difficulty and risk of repeated interventional operations.

[0040] (4) Improve the safety of doctors' operations. With the use of magnetic field remote control, doctors can operate in a radiation-proof compartment, avoiding the health risks of long-term exposure to X-rays.

[0041] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0042] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," 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 communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0043] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that they are in indirect contact through an intermediate medium. Furthermore, "above," "over," or "on top" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," or "beneath" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0044] In the description of this specification, the terms "one embodiment," "some embodiments," "embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0045] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make modifications, alterations, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A multi-stage magnetic drive robot system for tumor treatment, characterized in that, include: Mother-level catheters are magnetically controlled catheters with centimeter or sub-centimeter scales; The sub-robot, a millimeter-scale magnetically controlled variant robot, is loaded inside the parent catheter in a contracted state and switches to an expanded state under the action of a magnetic field to achieve physical embolization of the blood vessel; Sub-level micro-swarm robots are functional robots at the micro-nano scale, pre-loaded inside the sub-level robots, and release therapeutic substances under the action of a magnetic field; An external magnetic field control system is used to generate a driving magnetic field and a triggering magnetic field. First, the driving magnetic field guides the parent catheter into the target branch vessel. Then, the driving magnetic field releases the daughter robot, which moves in a contracted state to the target embolization location. Next, the triggering magnetic field switches the daughter robot to an expanded state to achieve physical embolization. Finally, the driving magnetic field controls the daughter robot to release the sub-daughter micro-cluster robot and guides it to penetrate into the deep microvessels of the tumor.

2. The multi-stage magnetic drive robot system for tumor treatment according to claim 1, characterized in that, The sub-robot includes an origami structure made of a magnetically programmable material, which can switch between an expanded state and a contracted state under a triggering magnetic field.

3. A multi-stage magnetic drive robot system for tumor treatment according to claim 2, characterized in that, The origami structure is a water-bomb origami structure, which is hollow in the middle and closed at both ends. The sub-level micro-swarm robot is housed in the hollow part of the origami structure.

4. A multi-stage magnetic drive robot system for tumor treatment according to claim 2, characterized in that, The magnetically programmable material is an elastomer material doped with magnetic particles.

5. A multi-stage magnetic drive robot system for tumor treatment according to claim 1, characterized in that, The parent conduit is a magnetically controlled continuum conduit.

6. A multi-stage magnetic drive robot system for tumor treatment according to claim 1, characterized in that, After being released from the parent duct, the sub-robot is able to move by spiral propulsion or swimming motion.

7. A multi-stage magnetic drive robot system for tumor treatment according to claim 1, characterized in that, After the sub-level robot completes the embolization, the sub-level micro-cluster robot generates a specific pattern of periodic deformation through the sub-level robot, causing its end sealing structure to open controllably, thereby releasing the sub-level micro-cluster robot.

8. A control method for a multi-stage magnetic drive robot system for tumor treatment as described in any one of claims 1 to 7, characterized in that, Including the following: Step S1: Insert the parent catheter loaded with the sub-level robot and the sub-sub-level micro-swarm robot into the blood vessel, and control the tip of the parent catheter to deflect by the driving magnetic field so that it enters the target branch blood vessel; Step S2: Apply a driving magnetic field to release the sub-robot from the parent conduit and drive the sub-robot to move in a contracted state to the target embolization location; Step S3: Change to a triggering magnetic field to trigger the sub-robot to switch from a contracted state to an expanded state, so that it forms a physical anchor with the inner wall of the blood vessel, thereby achieving physical embolization; Step S4: After the sub-level robot completes the embolization, the sub-level micro-cluster robot loaded inside is released through the driving magnetic field, and the sub-level micro-cluster robot is guided to penetrate into the deep microvessels of the tumor through the driving magnetic field.

9. The control method according to claim 8, characterized in that, The step S4, which involves releasing the sub-level micro-swarm robot loaded inside, includes: The driving magnetic field controls the sub-robot to produce periodic deformations in a specific pattern, thereby controllably opening the end cap structure of the sub-robot and releasing the sub-sub-level micro-cluster robot.

10. The control method according to claim 9, characterized in that, The periodic deformations of the specific pattern include: An external magnetic field control system alternately applies rotating magnetic fields in opposite directions, causing the sub-robot to generate torsional oscillations, and its end sealing structure can be opened controllably under periodic stress.

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