Magnetic control immune targeting bispecific navigator and navigation method

Abstract

The application relates to the technical field of navigators, in particular to a magnetic control immune-targeting double-specific navigator, which comprises a guide cap, an impeller, a pipeline assembly and a drug storage cavity, the surface of the guide cap is provided with micropores and a flow guide groove, the impeller is arranged on one side of the flow guide groove, a permanent magnet on one side of the impeller is in transmission connection, the drug storage cavity is filled with micro-sized permanent magnetic particles, the inside of the drug storage cavity is coaxially arranged with the impeller, the pipeline assembly comprises a flushing channel and a back suction channel, and the flushing channel and the back suction channel are wrapped with a heat insulation layer. In actual use, the guide cap 1 moves in the blood vessel together with the whole navigator, the circular structure makes it easier to pass through the blood vessel, and the scratch damage to the blood vessel wall is reduced; when the drug in the drug storage cavity is pushed to the guide cap area, the drug is dispersed along the direction of the flow guide groove, and finally released to the blood vessel lesion site through the micropores, so that stable and accurate positioning drug delivery is realized.

Description

Technical Field

[0001] This invention relates to the field of navigation technology, specifically to a magnetically controlled immune-targeting dual-specific navigation device and navigation method. Background Technology

[0002] In the clinical treatment of cardiovascular, cerebrovascular, and peripheral vascular diseases, local precision drug delivery is a core means to improve treatment efficacy and reduce systemic drug side effects. This is especially true for lesion types such as vulnerable plaques in atherosclerosis, micro-stenosis of coronary arteries, ultra-early thrombolysis for cerebral infarction, preoperative drug preparation for cerebrovascular malformations, diabetic foot, and lower extremity arteriosclerosis obliterans. The lesions are mostly located inside the lumen of blood vessels and are often accompanied by characteristics such as narrowing of the vessel diameter, tortuous course, and complex branching. This places stringent requirements on the targeting, mobility, and precision of drug delivery devices.

[0003] Existing intravascular drug delivery devices and technologies have many limitations. Some devices use biological ligand-mediated targeting, which relies on the specific binding of ligands to target cells to achieve localization. However, biological ligands are prone to degradation and adsorption failure in blood vessels, and their targeting binding efficiency fluctuates greatly due to the influence of the microenvironment of the lesion site, making it difficult to achieve stable and precise localization. At the same time, the temperature transfer between external devices and the inside of blood vessels can easily damage the physicochemical properties of drugs and may also stimulate the normal physiological environment of blood vessels, affecting the safety and effectiveness of drug delivery.

[0004] In addition, traditional intravascular drug delivery mostly adopts passive drug delivery methods, relying on intravascular hydrodynamics to achieve drug diffusion. This has problems such as insufficient drug delivery power and uneven release, which can easily lead to drug diffusion in non-lesion areas, not only reducing the drug concentration at the lesion site, but also causing systemic side effects. Some magnetically controlled guiding devices have complex structural designs and poor adaptability to blood vessel diameters. They are prone to slipping and deviating in small or tortuous blood vessels, making it impossible to accurately reach the lesion site. Furthermore, the frictional wear between device components is large, and the device is not minimally invasive enough, which can easily cause scratch damage to the blood vessel wall.

[0005] To address the aforementioned clinical challenges, there is an urgent need to develop a minimally invasive intravascular drug delivery device that is purely mechanically and magnetically guided, thereby improving the device's adaptability, targeting, safety, and ease of operation. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a magnetically controlled immune-targeted dual-specific navigation instrument and navigation method, solving the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a magnetically controlled immune-targeting dual-specific navigation device, comprising: The guide cap has micropores and flow channels on its surface; An impeller is disposed on one side of the guide channel, and a permanent magnet is connected to one side of the impeller for transmission. A drug storage chamber, the interior of which is filled with micro permanent magnet particles, and the interior of the drug storage chamber is coaxially arranged with the impeller; A piping assembly, comprising a flushing channel and a backflow channel, wherein the flushing channel and the backflow channel are externally wrapped with a heat insulation layer; The guide cap has a frustum-shaped structure, the guide grooves are radially distributed on the inner surface of the guide cap, the impeller has a turbine structure, and there is a gap between the blades of the impeller and the inner wall of the drug storage cavity. A drive mechanism is provided at one end of the inner side of the guide cap, and a control mechanism is provided on the inner wall of the guide cap.

[0008] The drive mechanism includes several movable slots at one end of the guide cap, a fixed shaft inside the guide cap, a device frame at the middle and front end of the fixed shaft, several first protective shells on the outside of the device frame, several first telescopic springs inside the first protective shells, a first push rod fixedly connected to the top of the first telescopic springs, a first pressing shell fixedly connected to the top of the first push rod, and an electric transverse roller fixedly connected to one end of the first pressing shell. A triangular seat is fixedly connected to the other end of the fixed shaft. A second protective shell is fixedly connected to the outside of the triangular seat. A second telescopic spring is provided inside the second protective shell. A second push rod is fixedly connected to the top of the second telescopic spring. A fixed rod is provided at the top of the second push rod. Electric longitudinal rollers are provided at both ends of the fixed rod.

[0009] The control mechanism includes a mounting plate, a wireless signal receiving module fixedly connected to the top of the mounting plate, a signal transmission module on one side of the wireless signal receiving module, a controller on one side of the signal transmission module, a data storage module on one side of the controller, a data analysis module on one side of the data storage module, and a GPS positioning module on the side of the data analysis module.

[0010] The surface of the micro permanent magnet particles is coated with an immune-targeting dual-specific molecular layer, which can specifically bind to target cells. A sealing joint is provided between the pipeline assembly and the drug storage cavity.

[0011] A navigation method for a magnetically controlled immune-targeted dual-specific navigation system includes the following steps: Step 1: Complete the sealed connection between the navigator and the flushing and aspiration channels, ensuring the integrity of the insulation layer. The control mechanism performs a power-on self-test, establishes a wireless communication link, the GPS positioning module calibrates the initial spatial coordinates, the drive mechanism rollers are pre-tightened, the guide cap is introduced through the vascular sheath, a slight negative pressure is applied to the aspiration channel, and the initial position data is recorded, completing the preparation for introduction. Step 2: The controller generates a movement path based on the lesion coordinates and positioning data. The electric longitudinal and transverse rollers adaptively conform to the vessel wall via telescopic springs, achieving forward movement, turning, and posture adjustment. An external magnetic field assists the permanent magnet in propulsion. The data analysis module compares the path in real time, corrects commands, and records movement parameters to ensure precise arrival at the lesion site. Step 3: The external rotating magnetic field drives the impeller to rotate at high speed, pushing the drug and micro-permanent magnet particle mixture to the guide cap. The mixture is evenly dispersed through the guide groove and released through the micropores. The immune molecules on the surface of the micro-permanent magnet particles specifically bind to the target cells, and the gradient magnetic field assists in enrichment, achieving precise drug delivery through both immune targeting and magnetic control, preventing systemic drug diffusion. Step 4: The flushing channel delivers flushing fluid to the lesion area, clearing thrombi and impurities and exposing the target tissue; the aspiration channel simultaneously aspirates waste fluid and tissue debris, creating a locally isolated fluid environment. The aspirated fluid is analyzed in real-time and fed back to the controller, dynamically adjusting the drug delivery strategy. A heat insulation layer isolates temperature conduction, ensuring drug stability and vascular safety. Step 5: During the exit process, the complete three-dimensional movement trajectory, drug delivery parameters, and aspiration analysis data are recorded, stored in the data storage module, and synchronized to the external system. The drive mechanism rollers retract and reset, the impeller stops rotating, and after the flushing and aspiration channels perform terminal cleaning, the communication link is closed, completing the system safety reset and operational data archiving.

[0012] Compared with the prior art, the beneficial effects of the present invention are: This invention provides a magnetically controlled immune-targeting dual-specific navigation device and navigation method: 1. The micropores on the outer surface of the guide cap provide a channel for drug delivery. The radially distributed flow channels on the surface can guide the fluid in the blood vessel, reducing the fluid resistance when the navigator moves in the blood vessel, and also provide a suitable fluid environment for the rotation of the impeller. At the same time, the flow channels can help guide the drug to be released evenly from the micropores. In actual use, the guide cap 1 moves in the blood vessel with the entire navigator. The circular structure makes it easier to pass through the blood vessel and reduce the scratch damage to the blood vessel wall. When the drug in the drug storage chamber is pushed to the guide cap area, the drug will be dispersed along the direction of the flow channels and finally accurately released to the lesion site of the blood vessel through the micropores, achieving stable and accurate positioning and drug delivery. 2. A gap exists between the impeller blades and the inner wall of the drug storage chamber. This gap ensures that the impeller can rotate freely while avoiding friction with the inner wall of the drug storage chamber during rotation, which could cause wear on the components. An external rotating magnetic field is applied, and the magnetic field and the permanent magnet generate a magnetic coupling effect, causing the permanent magnet to rotate synchronously. This, in turn, drives the turbine impeller to rotate at high speed. The rotation of the impeller generates a pushing effect, and the rotational thrust of the blades forms a continuous pushing force on the drug in the drug storage chamber. This steadily pushes the drug in the direction of the guide cap, providing power for the drug to be ejected from the micropores. This achieves active pumping output of the drug, replacing the traditional passive drug delivery method and improving the accuracy and efficiency of drug delivery. 3. The drug storage chamber is filled with micro-permanent magnetic particles with an immune-targeting dual-specific molecular layer on their surface, and is coaxially arranged with the impeller to provide a stable cavity space for the impeller to deliver the drug. The drug storage chamber is pre-filled with a mixture of the therapeutic drug to be delivered and the micro-permanent magnetic particles. On the one hand, with the assistance of an external magnetic field, the micro-permanent magnetic particles can move slightly with the direction of the magnetic field, helping to agitate the drug in the drug storage chamber, preventing drug precipitation and stratification, and ensuring uniform drug concentration. On the other hand, the immune-targeting dual-specific molecular layer on their surface can specifically bind to the target cells at the vascular lesion site. When the drug is pushed to the lesion area with the permanent magnetic particles, it can achieve precise binding between the drug and the target cells, allowing the drug to act on the lesion site in a concentrated manner, avoiding the drug diffusion in the blood vessels and causing systemic side effects, thus achieving a dual combination of immune targeting and magnetic control. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is one of the structural schematic diagrams of the present invention; Figure 3 This is a schematic diagram of the guide channel structure of the present invention; Figure 4 This is a schematic diagram of the permanent magnet structure of the present invention; Figure 5 This is a schematic diagram of the pipeline assembly structure of the present invention; Figure 6 This is a schematic diagram of the control mechanism structure of the present invention; Figure 7 This is a schematic diagram of the drive mechanism structure of the present invention; Figure 8 This is a schematic diagram of the first protective shell structure of the present invention; Figure 9 This is a schematic diagram of the second protective shell structure of the present invention.

[0014] In the diagram: 1. Guide cap; 101. Micropore; 102. Guide channel; 2. Impeller; 201. Permanent magnet; 3. Drug storage chamber; 301. Micro permanent magnet particles; 4. Piping assembly; 401. Flushing channel; 402. Backflow channel; 403. Heat insulation layer; 5. Drive mechanism; 501. Moving slot; 502. Fixed shaft; 503. Electric longitudinal roller; 504. Device frame; 505. First protective shell; 506. First telescopic spring; 507. First top 508. Rod; 509. First pressing shell; 5010. Electric horizontal roller; 5011. Triangular seat; 5012. Second protective shell; 5013. Second telescopic spring; 5014. Second top rod; 5015. Fixing rod; 6. Control mechanism; 601. Mounting plate; 602. Wireless signal receiving module; 603. Signal transmission module; 604. Controller; 605. Data storage module; 606. Data analysis module; 607. GPS positioning module. Detailed Implementation

[0015] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0016] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0017] In the description of this invention, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0018] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "configuration" should be interpreted broadly. For example, they can refer to a fixed connection or configuration, a detachable connection or configuration, or an integral connection or configuration. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0019] like Figures 1-9 As shown, the present invention proposes a magnetically controlled immune-targeting dual-specific navigation device, comprising: Guide cap 1, the surface of guide cap 1 is provided with micropores 101 and flow guide grooves 102; Impeller 2 is disposed on one side of the guide groove 102, and one side of the impeller 2 is connected to the permanent magnet 201 for transmission. The drug storage chamber 3 is filled with micro permanent magnet particles 301, and the interior of the drug storage chamber 3 is coaxially arranged with the impeller 2. Piping assembly 4 includes a flushing channel 401 and a back suction channel 402, and the flushing channel 401 and the back suction channel 402 are wrapped with a heat insulation layer 403. The guide cap 1 has a frustum-shaped structure, and the guide grooves 102 are radially distributed on the inner surface of the guide cap 1. The impeller 2 has a turbine structure, and there is a gap between the blades of the impeller 2 and the inner wall of the drug storage cavity 3. A drive mechanism 5 is provided on one inner end of the guide cap 1, and a control mechanism 6 is provided on the inner wall of the guide cap 1.

[0020] In practical use, the micropores 101 on the outer surface of the guide cap 1 provide a channel for drug output. The radially distributed guide grooves 102 on the surface can guide the fluid in the blood vessel, reduce the fluid resistance when the navigator moves in the blood vessel, and provide a suitable fluid environment for the rotation of the impeller 2. At the same time, the guide grooves 102 can help guide the drug to be released evenly from the micropores 101. In actual use, the guide cap 1 moves in the blood vessel with the entire navigator. The circular structure makes it easier to pass through the blood vessel and reduce the scratch damage to the blood vessel wall. When the drug in the drug storage chamber 3 is pushed to the area of ​​the guide cap 1, the drug will be dispersed along the direction of the guide grooves 102 and finally accurately released to the vascular lesion site through the micropores 101, realizing the basic structural support for local drug delivery. Impeller 2 is connected to permanent magnet 201 and is coaxially arranged on one side of drug storage cavity 3. There is a gap between the blades of impeller 2 and the inner wall of drug storage cavity 3. This gap ensures that impeller 2 can rotate freely and avoids friction with the inner wall of drug storage cavity 3 during rotation, which would cause wear on the parts. During use, an external rotating magnetic field is applied. The magnetic field and permanent magnet 201 are magnetically coupled, causing permanent magnet 201 to rotate synchronously. This drives turbine impeller 2 to rotate at high speed. When impeller 2 rotates, it generates a pushing effect. The rotational thrust of the blades forms a continuous pushing force on the drug in drug storage cavity 3, steadily pushing the drug in drug storage cavity 3 towards guide cap 1. This provides power for the drug to be pushed out of micropore 101, realizing active pumping output of the drug, replacing the traditional passive drug delivery method, and improving the accuracy and efficiency of drug delivery. The drug storage chamber 3 is filled with micro-permanent magnetic particles 301 with an immune-targeting dual-specific molecular layer on the surface, and is coaxially arranged with the impeller 2 to provide a stable cavity space for the impeller 2 to deliver drugs. During use, the drug storage chamber 3 is pre-filled with a mixture of the therapeutic drug to be delivered and the micro-permanent magnetic particles 301. On the one hand, the micro-permanent magnetic particles 301 can move slightly with the direction of the magnetic field under the assistance of an external magnetic field, which helps to stir the drug in the drug storage chamber 3, prevents drug precipitation and stratification, and ensures uniform drug concentration. On the other hand, the immune-targeting dual-specific molecular layer on its surface can specifically bind to the target cells at the vascular lesion site. When the drug is pushed to the lesion area with the micro-permanent magnetic particles 301, the precise binding of the drug and the target cells can be achieved, allowing the drug to act on the lesion site in a concentrated manner, avoiding the drug to diffuse in the blood vessels and cause systemic side effects. This achieves a dual combination of immune targeting and magnetic control. At the same time, the sealing design of the drug storage chamber 3, together with the subsequent sealing connector, can prevent the drug from leaking during the pumping process. The tubing assembly 4 includes a flushing channel 401 and a suction channel 402, both of which are externally wrapped with a heat insulation layer 403. Serving as a connection between the navigator and external devices, it integrates multiple functions including flushing, suction, and heat insulation. It also provides auxiliary support for the navigator's operation within blood vessels. During use, the flushing channel 401 can be connected to external flushing solutions such as saline, delivering flushing solution into the blood vessel or onto the surface of the navigator components. This flushes away thrombi and impurities within the blood vessel, clearing the drug delivery environment at the lesion site. It also flushes internal components such as the guide cap 1 and impeller 2, preventing drug residue or biological impurities from adhering. The suction channel 402 can use external negative pressure equipment to flush out thrombi and impurities within the blood vessel. Waste liquid, excess medication, fluid accumulation at the lesion site, or tissue debris are drawn back to the outside, achieving cleanliness of the drug delivery area. At the same time, the environmental conditions of the lesion site can be monitored in real time by detecting the drawn-back liquid. The external heat insulation layer 403 can isolate the temperature transfer between the external equipment and the inside of the blood vessel, preventing the temperature changes of the external equipment from stimulating the normal physiological environment inside the blood vessel, and avoiding the influence of the body temperature inside the blood vessel on the stability of the drug in the tubing, ensuring the stability of the physicochemical properties of the drug during delivery. In addition, the sealing joint set between the tubing assembly 4 and the drug storage chamber 3 can achieve a seamless connection between the two, completely preventing the drug from leaking from the connection point during pumping, ensuring the accuracy of drug delivery.

[0021] The drive mechanism 5 includes several movable slots 501 at one end of the guide cap 1. A fixed shaft 502 is provided inside the guide cap 1. A device frame 504 is provided at the middle and front end of the fixed shaft 502. Several first protective shells 505 are provided on the outside of the device frame 504. Several first telescopic springs 506 are provided inside the first protective shells 505. A first push rod 507 is fixedly connected to the top of the first telescopic spring 506. A first pressing shell 508 is fixedly connected to the top of the first push rod 507. An electric transverse roller 509 is fixedly connected to one end of the first pressing shell 508. The other end of the fixed shaft 502 is fixedly connected to a triangular seat 5010. The outer side of the triangular seat 5010 is fixedly connected to a second protective shell 5011. The inside of the second protective shell 5011 is provided with a second telescopic spring 5012. The top of the second telescopic spring 5012 is fixedly connected to a second push rod 5013. The top of the second push rod 5013 is provided with a fixed rod 5014. Both ends of the fixed rod 5014 are provided with electric longitudinal rollers 503.

[0022] In practical use, the drive mechanism 5 adapts to blood vessel environments of different thicknesses and shapes. During use, the movable slot 501 on the guide cap 1 provides space for the extension and movement of the rollers. The first protective shell 505 on the outside of the device frame 504 protects the first telescopic spring 506 inside. The first telescopic spring 506 has elastic extension and contraction characteristics and can drive the first push rod 507 to move up and down through its own extension and contraction, thereby pushing the first pressing shell 508 and the electric transverse roller 509 to achieve position adjustment. The electric transverse roller 509 mainly realizes the lateral movement and positioning of the navigator in the blood vessel, adapting to changes in the transverse diameter of the blood vessel. The triangular seat 5010 at the other end of the fixed shaft 502 provides a stable triangular support for the installation of the electric longitudinal roller 503. The structure includes a second protective shell 5011 that protects the internal second telescopic spring 5012. The second telescopic spring 5012, through telescopic movement, drives the second top rod 5013 and the fixed rod 5014 to move up and down, thereby adjusting the position of the electric longitudinal roller 503. The electric longitudinal roller 503 provides the navigator with the power to move forward and backward in the blood vessel. The elastic adjustment function of the first telescopic spring 506 and the second telescopic spring 5012 ensures that the electric transverse roller 509 and the electric longitudinal roller 503 always keep in contact with the blood vessel wall. Even if the blood vessel diameter changes, it can ensure effective contact between the roller and the blood vessel wall, preventing the navigator from slipping or deviating in the blood vessel. This enables the navigator to move flexibly and stably in different types of blood vessels, providing power to accurately reach the lesion site.

[0023] The control mechanism 6 includes a mounting plate 601, a wireless signal receiving module 602 fixedly connected to the top of the mounting plate 601, a signal transmission module 603 disposed on one side of the wireless signal receiving module 602, a controller 604 disposed on one side of the signal transmission module 603, a data storage module 605 disposed on one side of the controller 604, a data analysis module 606 disposed on one side of the data storage module 605, and a GPS positioning module 607 disposed on the side of the data analysis module 606.

[0024] In practical use, the mounting plate 601 provides a stable mounting foundation for all electronic modules of the control mechanism 6, ensuring that the modules do not loosen or shift during the movement of the navigator and the rotation of the impeller 2. The GPS positioning module 607 can collect the location information of the navigator in the blood vessel in real time and transmit the location data to the data analysis module 606. The data analysis module 606 performs real-time analysis and processing on the positioning data and the information on the vascular lesion site fed back from the outside, and generates navigation control commands. The controller 604, as the core control unit, receives the commands from the data analysis module 606 and sends action commands to the electric transverse roller 509 and electric longitudinal roller 503 of the drive mechanism 5, as well as the permanent magnet 201 of the impeller 2, to precisely control the moving speed and direction of the rollers and the rotation speed of the impeller 2. This allows for the control of the navigation system's movement path and drug delivery speed. The wireless signal receiving module 602 can receive manual control commands from external operators, combining manual intervention with automatic control. When automatic control needs adjustment, external commands are transmitted to the controller 604 via the wireless signal receiving module 602, which then readjusts the actions of each component. The signal transmission module 603 enables bidirectional information transmission between modules within the control mechanism 6 and between the control mechanism 6 and external devices, ensuring real-time and accurate transmission of data commands. The data storage module 605 can store information such as the navigation system's movement path, drug dosage, lesion location data, and operating parameters of each component in real time, facilitating subsequent operation review and data analysis, and providing data reference for the treatment of similar lesions.

[0025] The surface of the micro permanent magnet particle 301 is coated with an immune-targeting dual-specific molecular layer, which can specifically bind to the target cells. A sealing joint is provided between the pipeline assembly 4 and the drug storage chamber 3.

[0026] A navigation method for a magnetically controlled immune-targeted dual-specific navigation system includes the following steps: Step 1: Complete the sealed connection between the navigator and the flushing channel 401 and the suction channel 402, ensure the integrity of the heat insulation layer 403, power on the control mechanism 6 for self-test, establish a wireless communication link, calibrate the initial spatial coordinates using the GPS positioning module 607, pre-tighten the rollers of the drive mechanism 5, introduce the guide cap 1 through the vascular sheath, apply a slight negative pressure to the suction channel 402, record the initial position data, and complete the introduction preparation; Step 2: The controller 604 generates a movement path based on the lesion site coordinates and positioning data. The electric longitudinal roller 503 and the electric transverse roller 509 adaptively conform to the blood vessel wall through the telescopic spring, realizing forward movement, turning, and posture adjustment. The external magnetic field assists the permanent magnet 201 in propulsion. The data analysis module 606 compares the path in real time, corrects the instructions, and records the movement parameters to ensure accurate arrival at the lesion site; Step 3: An external rotating magnetic field drives the impeller 2 to rotate at high speed, pushing the mixture of drug and micro permanent magnet particles 301 to the guide cap 1. After being evenly dispersed through the guide groove 102, the mixture is released through the micropore 101. The immune molecules on the surface of the micro permanent magnet particles 301 specifically bind to the target cells, and the gradient magnetic field assists in enrichment, achieving precise drug delivery through both immune targeting and magnetic control, preventing systemic drug diffusion. Step 4: The flushing channel 401 delivers flushing fluid to the lesion area to clear thrombi and impurities and expose the target tissue. The back suction channel 402 simultaneously suctions waste fluid and tissue debris, forming a local isolated fluid environment. The back suction fluid is analyzed in real time and fed back to the controller 604 to dynamically adjust the drug delivery strategy. The heat insulation layer 403 isolates temperature conduction, ensuring drug stability and vascular safety; Step 5: During the exit process, record the complete three-dimensional movement trajectory, drug administration parameters and backflow analysis data, store them in the data storage module 605 and synchronize them to the external system, drive mechanism 5 roller retracts and resets, impeller 2 stops rotating, flushing channel 401 and backflow channel 402 perform terminal cleaning and then close the communication link, completing the system safety reset and operation data archiving.

[0027] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0028] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A magnetically controlled immunotargeting bispecific homing device, characterized in that, include: The guide cap (1) has micropores (101) and flow channels (102) on its surface. Impeller (2), the impeller (2) is disposed on one side of the guide groove (102), and one side of the impeller (2) is connected to the permanent magnet (201) for transmission; The drug storage chamber (3) is filled with micro permanent magnet particles (301), and the interior of the drug storage chamber (3) is coaxially arranged with the impeller (2); Piping assembly (4), the piping assembly (4) includes a flushing channel (401) and a back suction channel (402), the flushing channel (401) and the back suction channel (402) are wrapped with a heat insulation layer (403). The guide cap (1) has a frustum-shaped structure, the guide groove (102) is radially distributed on the inner surface of the guide cap (1), the impeller (2) has a turbine structure, and there is a gap between the blades of the impeller (2) and the inner wall of the drug storage cavity (3). A drive mechanism (5) is provided on one end of the inner side of the guide cap (1), and a control mechanism (6) is provided on the inner wall of the guide cap (1).

2. The magnetically controlled immunotargeting bispecific homing device according to claim 1, characterized in that The drive mechanism (5) includes a plurality of movable slots (501) at one end connected to the guide cap (1). A fixed shaft (502) is provided inside the guide cap (1). A device frame (504) is provided at the middle and front end of the fixed shaft (502). A plurality of first protective shells (505) are provided on the outside of the device frame (504). A plurality of first telescopic springs (506) are provided inside the first protective shells (505). A first push rod (507) is fixedly connected to the top of the first telescopic spring (506). A first pressing shell (508) is fixedly connected to the top of the first push rod (507). An electric transverse roller (509) is fixedly connected to one end of the first pressing shell (508).

3. The magnetically controlled immunotargeting bispecific homing device according to claim 2, characterized in that The other end of the fixed shaft (502) is fixedly connected to a triangular seat (5010). A second protective shell (5011) is fixedly connected to the outside of the triangular seat (5010). A second telescopic spring (5012) is provided inside the second protective shell (5011). A second push rod (5013) is fixedly connected to the top of the second telescopic spring (5012). A fixed rod (5014) is provided at the top of the second push rod (5013). Electric longitudinal rollers (503) are provided at both ends of the fixed rod (5014).

4. The magnetically controlled immunotargeting bispecific navigator of claim 1, wherein: The control mechanism (6) includes a mounting plate (601), a wireless signal receiving module (602) is fixedly connected to the top of the mounting plate (601), a signal transmission module (603) is provided on one side of the wireless signal receiving module (602), a controller (604) is provided on one side of the signal transmission module (603), a data storage module (605) is provided on one side of the controller (604), a data analysis module (606) is provided on one side of the data storage module (605), and a GPS positioning module (607) is provided on the side of the data analysis module (606).

5. The magnetically controlled immune-targeting dual-specific navigation device according to claim 1, characterized in that: The surface of the micro permanent magnet particle (301) is coated with an immune-targeting dual-specific molecular layer, which can specifically bind to the target cells. A sealing joint is provided between the pipeline assembly (4) and the drug storage cavity (3).

6. A method for navigation of a magnetically controlled immunotargeting bispecific homing device, using a magnetically controlled immunotargeting bispecific homing device according to any of claims 1 to 5, characterized in that, Includes the following steps: Step 1: Complete the sealed connection between the navigator and the flushing channel (401) and the suction channel (402), ensure the integrity of the heat insulation layer (403), power on the control mechanism (6) for self-test, establish a wireless communication link, calibrate the initial spatial coordinates using the GPS positioning module (607), pre-tighten the rollers of the drive mechanism (5), introduce the guide cap (1) through the vascular sheath, apply a slight negative pressure to the suction channel (402), record the initial position data, and complete the preparation for introduction; Step 2: The controller (604) generates a movement path based on the coordinates of the lesion site and the positioning data. The electric longitudinal roller (503) and the electric transverse roller (509) adaptively conform to the vascular wall through the telescopic spring, realizing forward movement, turning and posture adjustment. The external magnetic field assists the permanent magnet (201) for propulsion. The data analysis module (606) compares the path in real time, corrects the instructions and records the movement parameters to ensure accurate arrival at the lesion site; Step 3: The external rotating magnetic field drives the impeller (2) to rotate at high speed, pushing the mixture of drug and micro permanent magnet particles (301) to the guide cap (1). The mixture is evenly dispersed through the guide groove (102) and released through the micropore (101). The immune molecules on the surface of the micro permanent magnet particles (301) specifically bind to the target cells. The gradient magnetic field assists in enrichment, realizing dual precise drug delivery through immune targeting and magnetic control, and preventing the drug from spreading throughout the body. Step 4: The flushing channel (401) delivers flushing fluid to the lesion area to clean up thrombi and impurities and expose the target tissue. The back suction channel (402) simultaneously suctions waste fluid and tissue debris to form a local isolated fluid environment. The back suction fluid is analyzed and fed back to the controller (604) in real time to dynamically adjust the drug delivery strategy. The heat insulation layer (403) isolates the temperature conduction to ensure drug stability and vascular safety. Step 5: During the exit process, record the complete three-dimensional movement trajectory, drug administration parameters and backflow analysis data, store them in the data storage module (605) and synchronize them to the external system. Drive mechanism (5) roller retracts and resets, impeller (2) stops rotating, flushing channel (401) and backflow channel (402) perform terminal cleaning and then close the communication link to complete system safety reset and operation data archiving.

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