Wireless magnetic drive microsurgical instrument and preparation method thereof

Abstract

The application provides a wireless magnetic drive micro-surgical instrument and a preparation method thereof, and relates to the technical field of micro-surgical instruments.The magnetic drive unit with a specific magnetic moment direction is directly installed in a containing cavity on an execution component, and the magnetic force or magnetic moment generated by the external magnetic field acting on the magnetic drive unit can be efficiently converted into the torque for driving the opening and closing of the execution component with a very short force arm, so that the response speed and precision of the opening and closing action are significantly improved; meanwhile, the magnetic drive unit also serves as the torque source for driving the overall translation and rotation of the instrument. Through the precise control of the external magnetic field, the complex spatial movement of the wireless magnetic drive micro-surgical instrument as a whole can be realized, and finally a series of complex operations such as navigation, grabbing, moving and releasing can be accurately completed in a narrow space.

Description

Technical Field

[0001] This invention relates to the field of microsurgical instrument technology, and in particular to a wireless magnetically driven microsurgical instrument and its preparation method, magnetic drive unit, wireless magnetically driven microsurgical system, and method for controlling the wireless magnetically driven microsurgical instrument. Background Technology

[0002] In minimally invasive surgery and interventional therapy, it is often necessary to perform delicate operations such as grasping, moving, positioning, and releasing tiny targets (such as cells, micro-tissues, or drug carriers) within narrow and fragile cavities (such as blood vessels) or spaces. Traditional manipulation tools, such as mechanical micro-clamps or catheter-based instruments, usually rely on physical cables or push-pull rods for transmission, which has the following limitations: First, due to the extremely limited operating space, the size and degrees of freedom of movement of the instruments are strictly constrained, making it difficult to achieve precise and flexible multi-dimensional movements; second, the introduction and manipulation of the instruments themselves may cause mechanical damage to the surrounding fragile tissues or environment, such as scratches or perforations; third, the complex cavity structure makes stable delivery and precise positioning of the tools difficult.

[0003] To overcome these limitations, unconstrained magnetic actuation technology has emerged. Wireless magnetically driven microsurgical instruments can be remotely controlled wirelessly via an external magnetic field, enabling non-contact precision manipulation. However, existing magnetically driven micro-instruments still have room for improvement in terms of structural design, actuation efficiency, control precision, and biocompatibility. For example, how to efficiently and stably integrate magnetic actuation units into micro-actuators and achieve independent and precise overall instrument movement and actuator motion remains a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0004] In view of this, the technical problem to be solved by the present invention is: how to provide a wireless magnetically driven microsurgical instrument that can be operated efficiently, accurately and safely in a narrow space, so as to overcome the defects of existing wired instruments that have poor operational flexibility and are prone to tissue damage in narrow spaces.

[0005] On one hand, the present invention provides a wireless magnetically driven microsurgical instrument, comprising: an instrument body, which includes at least two actuators connected by a movable connection, wherein the actuators are provided with a receiving cavity; and a magnetic drive unit disposed in the receiving cavity, wherein the magnetic drive unit is composed of a biocompatible polymer matrix and magnetic particles, and its magnetic moment direction is configured to be along a predetermined direction, for generating a magnetic force or magnetic torque to drive the actuators to move under the action of an external magnetic field.

[0006] Optionally, the movable connecting part is a rotating shaft, and the actuating parts are two tweezer arms.

[0007] Optionally, the biocompatible polymer matrix is ​​polyethylene glycol diacrylate, and the magnetic particles are neodymium iron boron particles.

[0008] On one hand, the present invention provides a magnetic drive unit for use in wireless magnetically driven microsurgical instruments as described above. The magnetic drive unit is a sheet-like structure composed of a biocompatible polymer matrix and magnetic particles, and its magnetic moment direction is oriented along the normal of the sheet-like structure.

[0009] On one hand, the present invention provides a wireless magnetically driven microsurgical system, comprising: a wireless magnetically driven microsurgical instrument as described above; a magnetic field generator for generating a controllable three-dimensional gradient magnetic field and / or rotating magnetic field within a working area; and a control unit electrically connected to the magnetic field generator, the control unit including a processor and a memory, the memory storing a computer program, which, when executed by the processor, controls the magnetic field generator to generate a specific magnetic field sequence to drive the wireless magnetically driven microsurgical instrument to perform overall translational and rotational movements as well as opening and closing movements of the actuators.

[0010] On the other hand, the present invention provides a method for preparing the wireless magnetically driven microsurgical instrument as described above, comprising the following steps: S1, preparing an integrated instrument comprising an actuating component and a movable connecting part by 3D printing technology, wherein the actuating component has a pre-reserved receiving cavity; S2, preparing a magnetic driving unit, including mixing a biocompatible polymer matrix with magnetic particles to form a composite material, and curing it into a shape adapted to the receiving cavity; S3, placing the magnetic driving unit into and fixing it in the receiving cavity; S4, magnetizing the assembled instrument so that the magnetic moment direction of the magnetic driving unit is oriented along a predetermined direction.

[0011] Optionally, in step S2, the preparation of the magnetic drive unit includes: S21, mixing polyethylene glycol diacrylate, photoinitiator and neodymium iron boron particles to obtain a magnetic composite slurry; S22, spin-coating the magnetic composite slurry and curing it with ultraviolet light to form a magnetic composite film; S23, processing the cured magnetic composite film into a unit structure of a predetermined size.

[0012] Optionally, the spin coating step is performed at a speed of 1000 rpm to 1500 rpm for 30 seconds.

[0013] Optionally, the ultraviolet curing step uses ultraviolet light with a wavelength of 365 nm for irradiation, and the curing time is 40 to 60 seconds.

[0014] On the other hand, the present invention also provides a method for manipulating the wireless magnetically driven microsurgical instrument as described above, comprising: placing the wireless magnetically driven microsurgical instrument in the working area of ​​an external magnetic field generator; and controlling the magnetic field generator to generate a static magnetic moment opening and releasing magnetic field mode to drive the overall movement of the instrument, and / or to generate a dynamic rotational releasing magnetic field mode to drive at least two actuators to perform relative movement.

[0015] The present invention offers the following advantages: By directly mounting a magnetic drive unit with a specific magnetic moment direction into the receiving cavity of the actuator, the magnetic force or torque generated by the external magnetic field acting on the magnetic drive unit can be efficiently converted into torque to drive the actuator to open and close with an extremely short lever arm, thus significantly improving the response speed and accuracy of the opening and closing action. Simultaneously, the magnetic drive unit is driven by the external magnetic field, thereby driving the overall translation and rotation of the instrument. By precisely controlling the external magnetic field, complex spatial movements of the entire wireless magnetically driven microsurgical instrument can be achieved. Therefore, the magnetic drive unit enables a single drive source to independently and precisely control the overall movement of the instrument and the relative movement of the actuator through different magnetic field modes, ultimately achieving a series of complex operations such as navigation, grasping, moving, and releasing within a narrow space without the need for physical connection wires. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of a wireless magnetically driven microsurgical instrument in one embodiment; Figure 2 This is a side view of a wireless magnetically driven microsurgical instrument in one embodiment. Figure 3 This is a schematic diagram of the process of forming a magnetic drive unit in one embodiment; Figure 4 This is a schematic diagram of the rolling motion of a wireless magnetically driven microsurgical instrument under the control of an external magnetic field in one embodiment. Figure 5 This is a schematic diagram of the rotation of a wireless magnetically driven microsurgical instrument in a plane under the control of an external magnetic field, as shown in one embodiment.

[0017] In the picture: 1. Magnetic drive unit; 2. Actuation component. Detailed Implementation

[0018] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. The step numbers in the following embodiments are only for ease of explanation and do not limit the order of the steps. The execution order of each step in the embodiments can be adapted according to the understanding of those skilled in the art.

[0019] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to limit the embodiments of this application. The singular forms “a,” “the,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0020] In the following description, when referring to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims. In the description of this application, it should be understood that the terms "first," "second," "third," etc., are used only to distinguish similar objects and are not necessarily used to describe a specific order or sequence, nor should they be construed as indicating or implying relative importance. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0021] Furthermore, in the description of this application, unless otherwise stated, "multiple" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0022] Example 1 In this embodiment, as Figure 1 The wireless magnetically driven microsurgical instrument shown includes: The main body of the device includes at least two actuators 2 connected by a movable connecting part, and the actuators 2 have a receiving cavity on their side. A magnetic drive unit 1, disposed within the receiving cavity, is composed of a biocompatible polymer matrix and magnetic particles, with its magnetic moment direction configured along a predetermined direction. This allows it to generate magnetic force or torque to drive the actuator 2 under the influence of an external magnetic field. By arranging the magnetic drive unit 1 on the two movably connected actuators 2, the entire instrument body can be driven to move by adjusting the direction and intensity of the external magnetic field. Simultaneously, the two actuators 2 can also be driven to generate relative motion. Furthermore, the wireless magnetically driven microsurgical instrument of this invention comprises only a movable connection, actuators 2, and a magnetic drive unit, resulting in a simpler and more compact structure. Its wireless drive via a magnetic field overcomes the shortcomings of existing wired instruments, such as poor operational flexibility and susceptibility to tissue damage in confined spaces.

[0023] In one possible embodiment, the wireless magnetically driven microsurgical instrument is a micro forceps, the movable connecting part is a rotating shaft, and the actuating component 2 consists of two forceps arms. One end of each forceps arm has a through hole, allowing the forceps arm to be rotatably mounted on the rotating shaft. A receiving cavity is formed on the outer side of the other end of each forceps arm.

[0024] In this embodiment, the main body of the device is made of biocompatible photosensitive resin (such as ABS-like resin) and integrally formed by microscale photopolymerization 3D printing technology (such as surface projection micro-stereolithography technology).

[0025] In this embodiment, a side base is integrally printed at the center of the outer side of each tweezer arm. The receiving cavity is cylindrical and located at the center of the side base. To further ensure the stability of the magnetic drive unit 1 during dynamic operation, a ring array of micro-elastic sheets is integrally printed on the inner wall of the receiving cavity. When the magnetic composite disc is pressed in, these micro-elastic sheets undergo elastic deformation, providing additional radial clamping force, and their end structures also form a mechanical interlock, thereby effectively preventing the disc from falling off under alternating stress or impact.

[0026] In this embodiment, the shape of the magnetic drive unit 1 matches the receiving cavity, and the magnetic drive unit 1 is pressed into the receiving cavity by an interference fit.

[0027] In this embodiment, the magnetic drive unit 1 is uniformly composited from a biocompatible polymer matrix (such as polyethylene glycol diacrylate (PEGDA)) and high-energy-product hard magnetic particles (such as neodymium iron boron (NdFeB) with a particle size of approximately 5 μm). After assembly, the entire micro-tweezers needs to be directionally magnetized. During magnetization, the two tweezer arms are adjusted and fixed in a predetermined clamping state (e.g., fully closed or at a specific opening angle), and then the entire tweezers in this posture is placed in a strong, uniform magnetic field generated by a pulse magnetizer. This magnetizing magnetic field has a single, definite spatial orientation. During this process, all magnetic drive units 1 are simultaneously magnetized, so that each magnetic drive unit 1 acquires a strong remanence approximately along the direction of the external magnetizing magnetic field. Since magnetization is performed in a specific working posture of the tweezer arms, the remanence direction of all magnetic units has a definite and consistent spatial orientation relative to the overall structure of the tweezers on a macroscopic scale. After magnetization, the strong remanent magnetization distribution characteristics enable the external driving magnetic field to effectively apply synergistic magnetic force and magnetic torque to the tweezers arm, thereby achieving stable and controllable opening and closing drive.

[0028] In this embodiment, the interference fit between the receiving cavity and the magnetic drive unit 1, as well as the micro spring piece disposed in the receiving cavity, allows the magnetic drive unit 1 to be installed on the actuating component 2 without any other mounting structure, resulting in a more compact structure, which is beneficial for use in a compact space.

[0029] In this embodiment, the biocompatible polymer matrix is ​​polyethylene glycol diacrylate, and the magnetic particles are neodymium iron boron particles, which provides good biocompatibility and strong magnetic driving force, ensuring the effectiveness and safety of wireless magnetically driven microsurgical instruments in biomedical applications.

[0030] Example 2 This embodiment provides a magnetic drive unit based on Embodiment 1.

[0031] In this embodiment, the magnetic drive unit 1 is used in the wireless magnetically driven microsurgical instrument as described above. The magnetic drive unit 1 is a sheet-like structure composed of a biocompatible polymer matrix and magnetic particles, and its magnetic moment direction is oriented along the normal of the sheet-like structure.

[0032] Example 3 This embodiment provides a wireless magnetically driven microsurgical system based on the above embodiments.

[0033] In this embodiment, the wireless magnetically driven microsurgical system includes: Such as the wireless magnetically driven microsurgical instruments mentioned above; A magnetic field generator is used to generate a controllable three-dimensional gradient magnetic field and / or rotating magnetic field within a working area. The control unit is electrically connected to the magnetic field generator. The control unit includes a processor and a memory. The memory stores a computer program. When the computer program is executed by the processor, it is used to control the magnetic field generator to generate a specific magnetic field sequence to drive the wireless magnetic drive microsurgical instrument to perform overall translational and rotational movements as well as the opening and closing movements of the actuator 2.

[0034] Place the magnetically driven micro-tweezers in the working area at the center of the coil array (such as in a petri dish filled with liquid). Figure 4 In the diagram, B represents the direction of the external magnetic field.

[0035] In this embodiment, each of the two arms of the magnetically driven micro-tweezers is equipped with a magnetic drive unit 1, enabling the magnetically driven micro-tweezers to trigger precise and controllable manipulation tasks through simple global changes in the magnetic field of the coil array. The actively triggered object release mechanism of the magnetically driven micro-tweezers includes static magnetic moment opening release and dynamic rotation release.

[0036] In this embodiment, the static magnetic moment opening and release specifically refers to: Utilizing the inherent repulsive force between the two tweezer arms, an external magnetic field is applied during load transport to exert a magnetic force greater than the repulsive force between the arms, keeping them in a closed clamping state. When it is necessary to release the load, simply remove (or turn off) the applied external magnetic field. The inherent repulsive magnetic force between the two tweezer arms then becomes dominant, driving the arms to quickly return to their naturally open configuration, thus releasing the load from the tweezers' constraint.

[0037] In this embodiment, the dynamic rotation release is specifically as follows: The actuator 2 is driven to rotate continuously at high speed by a coil array, utilizing centrifugal effect to achieve load separation. The centrifugal force generated by the magnetically driven micro-tweezers, combined with fluid resistance, acts on the load, actively separating it from the tweezer arms. Its advantage lies in the fact that only a single, simple, and uniform rotating magnetic field is required to drive the magnetically driven micro-tweezers to perform various different and complex behaviors, such as vertical movements for mode switching, rolling movements for navigation, and planar rotation for tasks like stirring. Specifically, such as... Figure 4 As shown, when the rotating magnetic field acts only on the ZX plane, it can drive the tweezers to produce a rolling forward motion; as Figure 5 As shown, when the rotating magnetic field acts only on the XY plane, it can drive the magnetically driven micro tweezers to rotate in a plane around the axis of the magnetic drive unit 1 on it.

[0038] Example 4 Based on any of the above embodiments, this embodiment provides a method for preparing a wireless magnetically driven microsurgical instrument.

[0039] In this embodiment, the method for preparing the wireless magnetically driven microsurgical instrument as described above includes the following steps: S1. An integral molding process is used to prepare an actuating component 2 and a movable connecting part, wherein the actuating component 2 has a reserved receiving cavity; S2. Prepare the magnetic drive unit 1, including mixing a biocompatible polymer matrix with magnetic particles to form a composite material, and curing it into a shape that conforms to the receiving cavity; S3. Place the magnetic drive unit 1 into and fix it in the receiving cavity; S4. Magnetize the assembled device to make the magnetic moment direction of the magnetic drive unit 1 oriented in a predetermined direction.

[0040] In this embodiment, as Figure 3 As shown, in step S2, the fabrication of the magnetic drive unit 1 includes: S21. Polyethylene glycol diacrylate, photoinitiator and neodymium iron boron particles are mixed to obtain magnetic composite slurry; S22. Spin-coating the magnetic composite slurry and curing it with ultraviolet light to form a magnetic composite film; S23. The cured magnetic composite film is processed into a unit structure of a predetermined size.

[0041] Specifically, in step S22, forming the magnetic composite thin film includes: Spin coating: The silicon wafer is fixed on the spin coater platform. The magnetic composite paste is dropped onto the center of the silicon wafer, and then spin-coated at 1000-1500 rpm (revolutions per minute) for 30 seconds to form a uniform liquid film on the silicon wafer.

[0042] In this embodiment, controlling the spin coating speed at 1000-1500 rpm allows the magnetic composite paste to form a uniform coating of the required thickness under centrifugal force. Too low a speed will result in an excessively thick and uneven magnetic composite paste coating on the silicon wafer surface; too high a speed will cause excessive loss of magnetic composite paste, making it difficult to form a magnetic composite film with sufficient magnetic response strength subsequently.

[0043] In this embodiment, a spin coating time of 30 seconds is sufficient to allow the magnetic composite paste to be dynamically spread on the silicon wafer surface and achieve thickness balance, while allowing some of the diluent to initially evaporate, ensuring the morphology of the magnetic composite paste is stable before entering the next process.

[0044] UV curing: The spin-coated silicon wafer is placed under ultraviolet light for 15 seconds to allow the magnetic composite paste to cross-link and cure on the surface of the silicon wafer, forming a cured magnetic composite film.

[0045] In this embodiment, the photoinitiator in the magnetic composite slurry exhibits the highest absorption efficiency in the 365 nm wavelength band. This wavelength not only ensures high curing efficiency but also strong penetration into magnetic particles, ensuring sufficient cross-linking even in the deeper layers of the magnetic composite film. Irradiation for at least 15 seconds ensures that the magnetic composite film reaches the preset hardness and cross-linking density. Insufficient time leads to incomplete curing (sticky surface, low strength); excessive time may cause over-oxidation or brittleness of the biocompatible polymer matrix in the magnetic composite film, affecting the flexibility of the magnetic drive unit 1.

[0046] In this embodiment, step S23 specifically includes: The cured magnetic composite film is peeled off the silicon wafer. Using a precision punch, the magnetic composite film is cut into multiple pre-defined shapes to obtain the desired magnetic drive unit 1.

[0047] In this embodiment, the opening and closing angle between the two tweezer arms ranges from 0° to 180°.

[0048] In this embodiment, the photoinitiator is selected as phenylbis(2,4,6-trimethylbenzoyl)phosphine oxide.

[0049] In this embodiment, the mass ratio of polymer matrix (PEGDA) to magnetic particles (NdFeB) in the magnetic composite slurry ranges from 1:1 to 1:6.

[0050] In a preferred embodiment, the mass ratio of polymer matrix (PEGDA) to magnetic particles (NdFeB) in the magnetic composite slurry ranges from 1:2 to 1:5.

[0051] In the most preferred embodiment, the mass ratio of polymer matrix (PEGDA) to magnetic particles (NdFeB) in the magnetic composite slurry is 1:4.

[0052] In this embodiment, the magnetic drive unit 1 is a circular sheet. Therefore, in the step of punching the circular sheet, a precision puncher is used to punch the magnetic composite film into multiple small circular sheets.

[0053] In this embodiment, the inner diameter of the precision punch can be adaptively selected according to the required size of the magnetic drive unit 1.

[0054] In this embodiment, the ultraviolet curing step in step S22 uses ultraviolet light with a wavelength of 365 nm for irradiation, and the curing time is 40 to 60 seconds.

[0055] Example 5 Based on the above embodiments, this embodiment provides a method for controlling wireless magnetically driven microsurgical instruments as described above.

[0056] In this embodiment, the method for manipulating the wireless magnetically driven microsurgical instrument described above includes: Place the wireless magnetically driven microsurgical instrument within the working area of ​​the external magnetic field generator; By controlling the magnetic field generating device, a static magnetic moment opening and releasing magnetic field pattern is generated to drive the overall movement of the instrument, and / or a dynamic rotation releasing magnetic field pattern is generated to drive at least two actuators 2 to perform relative movement.

[0057] The above is a detailed description of the preferred embodiments of the present invention. However, the present invention is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A wireless magnetically driven microsurgical instrument, characterized in that, include: The instrument body includes at least two actuators (2) connected by a movable connection, and the actuators (2) are provided with receiving cavities; A magnetic drive unit (1) is disposed in the cavity. The magnetic drive unit (1) is composed of a biocompatible polymer matrix and magnetic particles, and its magnetic moment direction is configured to be along a predetermined direction, so as to generate a magnetic force or magnetic torque to drive the actuator (2) to move under the action of an external magnetic field.

2. The wireless magnetically driven microsurgical instrument as described in claim 1, characterized in that, The wireless magnetically driven microsurgical instrument is a micro forceps, the movable connecting part is a rotating shaft, and the actuating component (2) consists of two forceps arms.

3. The wireless magnetically driven microsurgical instrument as described in claim 1, characterized in that, The biocompatible polymer matrix is ​​polyethylene glycol diacrylate, and the magnetic particles are neodymium iron boron particles.

4. A magnetic drive unit for use in a wireless magnetically driven microsurgical instrument as described in any one of claims 1 to 3, characterized in that, The magnetic drive unit (1) is a sheet-like structure composed of a biocompatible polymer matrix and magnetic particles, and its magnetic moment direction is oriented along the normal of the sheet-like structure.

5. A wireless magnetically driven microsurgical system, characterized in that, include: Wireless magnetically driven microsurgical instrument as described in any one of claims 1 to 3; A magnetic field generator is used to generate a controllable three-dimensional gradient magnetic field and / or rotating magnetic field within a working area. The control unit is electrically connected to the magnetic field generating device. The control unit includes a processor and a memory. The memory stores a computer program. When the computer program is executed by the processor, it is used to control the magnetic field generating device to generate a specific magnetic field sequence to drive the wireless magnetic drive microsurgical instrument to perform overall translational and rotational movements as well as the opening and closing movements of the execution component (2).

6. A method for preparing the wireless magnetically driven microsurgical instrument according to claim 1, characterized in that, Includes the following steps: S1. The actuator (2) and the movable connecting part are integrally formed by 3D printing technology, wherein the actuator (2) has a reserved receiving cavity; S2. The preparation of the magnetic drive unit (1) includes mixing a biocompatible polymer matrix with magnetic particles to form a composite material, and curing it into a shape that conforms to the receiving cavity; S3. Place the magnetic drive unit (1) into and fix it in the receiving cavity; S4. Magnetize the assembled device so that the magnetic moment direction of the magnetic drive unit (1) is oriented along the predetermined direction.

7. The preparation method according to claim 6, characterized in that, In step S2, the fabrication of the magnetic drive unit (1) includes: S21. Polyethylene glycol diacrylate, photoinitiator and neodymium iron boron particles are mixed to obtain magnetic composite slurry; S22. Spin-coating the magnetic composite slurry and curing it with ultraviolet light to form a magnetic composite film; S23. The cured magnetic composite film is processed into a unit structure of a predetermined size.

8. The preparation method according to claim 7, characterized in that, The spin coating process involves a spin speed of 1000 rpm to 1500 rpm and a spin coating time of 30 seconds.

9. The preparation method according to claim 7, characterized in that, The ultraviolet curing step uses ultraviolet light with a wavelength of 365 nm for irradiation, and the curing time is 40 to 60 seconds.

10. A method for controlling a wireless magnetically driven microsurgical instrument as described in any one of claims 1 to 3, characterized in that, include: The wireless magnetically driven microsurgical instrument is placed within the working area of ​​the external magnetic field generator. By controlling the magnetic field generating device, a static magnetic moment opening and releasing magnetic field mode is generated to drive the overall movement of the instrument, and / or a dynamic rotation releasing magnetic field mode is generated to drive the at least two actuators (2) to perform relative movement.

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