A neural intervention magnetic field manipulation device and a neural intervention magnetic field manipulation system

Abstract

The application discloses a kind of nerve intervention magnetic field control device and nerve intervention magnetic field control system, it is related to magnetic control equipment technical field, including: support;Drive mechanism, in support;Electromagnet, connect in the output end of drive mechanism, drive mechanism is used to drive electromagnet to rotate around mutually perpendicular first direction and second direction, to change the position of electromagnet relative to support;Electric control mechanism, with electromagnet electric connection, for adjusting the drive current applied to electromagnet;Control mechanism, signal connection is in electric control mechanism and drive mechanism, for the magnetic field of electromagnet is regulated;Cooling assembly, the cooling channel of electromagnet and cooling assembly are communicated.The nerve intervention magnetic field control device described above, based on two degrees of freedom rotation single electromagnet realizes lightweight design.

Description

Technical Field

[0001] This invention relates to the field of magnetic control equipment technology, and more specifically, to a neural intervention magnetic field control device and a neural intervention magnetic field control system. Background Technology

[0002] In the field of robotics, especially medical robots and micro-nano robots, magnetic field manipulation technology has gained widespread attention in recent years compared to traditional motor-driven control technology, thanks to its non-contact manipulation, high precision, and dexterity. Among these, the use of electromagnetic systems to control interventional instruments offers advantages such as high response speed, precise control, low cost, and high controllability, leading to its widespread application.

[0003] In related technologies, in order to simultaneously ensure magnetic field strength and control freedom, electromagnetic systems employ multiple large electromagnets or movable large permanent magnets. The entire system is bulky and cumbersome, making integration in the operating room difficult. Especially in cerebrovascular and neurological intervention scenarios, where surgery requires the use of digital subtraction angiography equipment, the existing bulky electromagnetic systems are prone to spatial interference and imaging interference, making integration even more difficult.

[0004] In conclusion, how to provide a lightweight electromagnetic system is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the object of the present invention is to provide a neuro-interventional magnetic field manipulation device that meets the requirements of lightweight design while ensuring magnetic field strength. Another object of the present invention is to provide a neuro-interventional magnetic field manipulation system applied to the above-mentioned neuro-interventional magnetic field manipulation device.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A neural intervention magnetic field manipulation device, comprising: support; The drive mechanism is located on the bracket; An electromagnet is connected to the output end of the drive mechanism, which drives the electromagnet to rotate around a first direction and a second direction that are perpendicular to each other, so as to change the position of the electromagnet relative to the support. An electronic control mechanism, electrically connected to the electromagnet, is used to adjust the driving current applied to the electromagnet; A control mechanism, with signals connected to the electronic control mechanism and the drive mechanism, is used to regulate the magnetic field of the electromagnet; The cooling assembly is connected to the cooling channel of the electromagnet.

[0007] Preferably, the driving mechanism includes a first motor, which is connected to the adapter frame via a first transmission component. The first motor drives the first transmission component to drive the electromagnet to rotate around the first direction via the adapter frame.

[0008] Preferably, the first transmission component includes a first gear and a second gear meshing therewith, the first gear being connected to the drive end of the first motor, and the end face of the second gear being connected to the electromagnet via the adapter frame.

[0009] Preferably, the first motor is mounted on the bracket via a first connecting plate, and the first connecting plate covers the first gear.

[0010] Preferably, the driving mechanism includes a second motor disposed on the adapter frame, the second motor being connected to the electromagnet via a second transmission assembly to drive the electromagnet to rotate around the second direction.

[0011] Preferably, the second transmission component includes a third gear and a fourth gear meshing with it, the output end of the second motor is connected to the third gear, and the fourth gear is rotatably connected to the electromagnet via a rotating shaft, the axis of which is parallel to the second direction.

[0012] Preferably, the electromagnet is provided with a connecting frame on the side near the driving mechanism, and the rotating shaft passes through the connecting frame and the adapter frame.

[0013] Preferably, the second motor is mounted on the adapter frame via a second connecting plate, and the second connecting plate covers the third gear and at least part of the fourth gear.

[0014] Preferably, the system further includes a bottom support platform, which is connected to the bracket via a three-axis moving platform. The three-axis moving platform is used to move the bracket along the first direction, the second direction, and a third direction, wherein the third direction is perpendicular to the first direction and the second direction.

[0015] Preferably, the bottom support platform is further provided with a liquid tank and a power pump connected thereto, and the outlet of the power pump is connected to the cooling channel of the electromagnet so that coolant can be introduced into the cooling channel.

[0016] The present invention also provides a neuro-interventional magnetic field manipulation system, comprising a controller and the neuro-interventional magnetic field manipulation device described in any one of the above claims, wherein the controller comprises: The acquisition module is used to acquire distal target deflection information of the guidewire; and to acquire control joystick adjustment information corresponding to the target deflection information, wherein the control joystick adjustment information includes rotation direction information and rotation amplitude information; The control module is used to control the drive mechanism to adjust the rotation direction of the electromagnet according to the rotation direction information, and to control the electronic control mechanism to adjust the current of the electromagnet according to the rotation amplitude information, so that the electromagnet generates a target magnetic field in the target area corresponding to the target deflection information.

[0017] Preferably, the control module is further configured to: Based on the preset unit current output magnetic field strength function and the rotation direction adjustment information of the control joystick, the corresponding unit current output magnetic field strength is determined. Based on the unit current output magnetic field strength and the current value of the electromagnet corresponding to the rotation amplitude adjustment information of the control joystick, the output magnetic field strength of the region where the distal end of the guide wire is located is determined. The current value of the electromagnet is the product of a scaling factor and a maximum current value. The scaling factor is the ratio of the actual rotation amplitude of the control joystick to its maximum rotation amplitude.

[0018] The present invention provides a neurointerventional magnetic field manipulation device, comprising a support, a drive mechanism, an electromagnet, an electrical control mechanism, and a control mechanism. The drive mechanism is mounted on the support, and the electromagnet is connected to the output end of the drive mechanism. The drive mechanism drives the electromagnet to rotate around a first and a second mutually perpendicular direction to change the position of the electromagnet relative to the support, thereby controlling the rotation direction of the electromagnet. The electrical control mechanism is electrically connected to the electromagnet and is used to adjust the drive current applied to the electromagnet. The magnetic field strength is adjusted by adjusting the magnitude of the drive current. In addition, the cooling channel of the electromagnet is connected to a cooling component to dissipate the heat generated during operation, ensuring long-term stable and reliable operation of the electromagnet. By rotating the electromagnet at a certain angle and adjusting the magnitude of the drive current to change the magnetic field strength, the head of the magnetic interventional device can be deflected while the magnetic field direction remains unchanged.

[0019] The beneficial effects of this invention are: it increases the two mechanical rotational degrees of freedom corresponding to the two-dimensional rotational motion of the electromagnet, and combines the electromagnet driving current degree of freedom to achieve the control of the magnetic field. A single electromagnet can meet the magnetic control requirements and can meet the lightweight design requirements while ensuring the magnetic field strength. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the structure of the neuro-interventional magnetic field manipulation device provided by the present invention. Figure 2 for Figure 1 Top view; Figure 3 This is a partially enlarged schematic diagram of the neuro-interventional magnetic field manipulation device provided by the present invention. Figure 4 A schematic diagram illustrating magnetic field regulation using the neural intervention magnetic field manipulation device provided by the present invention. Figure 5 Another schematic diagram illustrating magnetic field modulation of the neural intervention magnetic field manipulation device provided by the present invention. Figure 6 This is a schematic diagram showing the angle between the centerline of the electromagnet in different adjustment states and the centerline of the electromagnet in the initial state, as provided by the present invention. Figure 7 This is a schematic diagram of the control flow of the neuro-interventional magnetic field manipulation system provided by the present invention. Figure 8 This is a schematic diagram illustrating a specific application of the neural intervention magnetic field manipulation system provided by the present invention. Figure 9 This is a schematic diagram illustrating the control parameter conversion of the joystick provided by the present invention. Figure 10 A front view of the electromagnet provided by the present invention in its initial state; Figure 11 This is a front view of the electromagnet after adjustment provided by the present invention; Figure 12 This is a top view of the electromagnet adjusted according to the present invention.

[0022] Figures 1-12 In the accompanying drawings, the reference numerals include: 1-Bracket; 2-Drive mechanism; 3-Electromagnet; 4-Electrical control mechanism; 5-Three-axis moving platform; 6-Bottom support platform; 7-Liquid tank; 8-Power pump; 9-First connecting plate; 10-Second connecting plate; 11-Connecting frame; 12-Flow port; 13-Slide rail; 14-Control joystick; 21-First motor; 22-Second motor; 23-First transmission assembly; 24-Second transmission assembly; 25-Rotating shaft; 26-Adapter frame; 231-First gear; 232-Second gear; 241-Third gear; 242-Fourth gear. Detailed Implementation

[0023] 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.

[0024] The core of this invention is to provide a neuro-interventional magnetic field manipulation device, in which a single electromagnet can meet the magnetic control requirements, and can meet the lightweight design requirements while ensuring magnetic field strength. Another core aspect of this invention is to provide a neuro-interventional magnetic field manipulation system applied to the aforementioned neuro-interventional magnetic field manipulation device.

[0025] The neuro-interventional magnetic field manipulation device provided by this invention includes a support 1, a drive mechanism 2, an electromagnet 3, an electronic control mechanism 4, and a cooling assembly. Please refer to [reference needed]. Figure 1 .

[0026] The bracket 1 is specifically a structure that can support the drive mechanism 2 and the electronic control mechanism 4. Its specific shape and size are not limited, and the design can be based on actual needs.

[0027] The drive mechanism 2 is mounted on the bracket 1; specifically, the drive mechanism 2 is reliably fixed by the bracket 1 so that it can have good reliability and stability when performing drive operations.

[0028] Electromagnet 3 is connected to the output end of drive mechanism 2. Drive mechanism 2 drives electromagnet 3 to rotate around a first direction and a second direction that are perpendicular to each other, thereby changing the position of electromagnet 3 relative to support 1. The first direction and the second direction are as follows: Figure 1 The z-axis and y-axis are shown in the diagram. The rotation of the electromagnet 3 around the first and second directions is used to achieve a small-range deflection of the electromagnet 3.

[0029] The electronic control mechanism 4 is electrically connected to the electromagnet 3 and is used to adjust the driving current applied to the electromagnet 3. Specifically, the electronic control mechanism 4 may include a driver, which adjusts the magnitude of the driving current output to the electromagnet 3 according to the output command of the control mechanism, so as to change the magnetic field strength generated by the electromagnet 3 and realize the control of the deflection of the interventional device.

[0030] The control mechanism signal is connected to the electronic control mechanism 4 and the drive mechanism 2 to regulate the magnetic field of the electromagnet 3. Specifically, this regulation refers to the deflection of the tip of the magnetic interventional device by coordinating two mechanical rotational degrees of freedom and one driving current degree of freedom, while keeping the magnetic field direction unchanged.

[0031] It should be noted that the neural intervention magnetic field manipulation device provided in this embodiment specifically includes a single electromagnet 3. Within the same fixed space, the magnetic field strength generated by a single large-sized electromagnet 3 is greater than the magnetic field strength generated by multiple small-sized electromagnets 3. The single electromagnet 3 provided in this embodiment, through the arrangement of the electronic control mechanism 4 and the drive mechanism 2, can meet the requirements of magnetic field regulation, reducing the system size while ensuring the magnetic field generation strength, thus meeting the requirements of lightweight design.

[0032] In this embodiment, by rotating the electromagnet 3 around the first and second directions, combined with the control of the magnitude of the driving current, this method will not cause the electromagnet 3 to move over a large range, while ensuring the controllability of the magnetically controlled interventional device.

[0033] In this embodiment, in order to dissipate the heat generated by the electromagnet 3 during the operation of the magnetic field control device, a cooling component is also provided. The heat is dissipated through the cooling channel of the electromagnet 3, so as to ensure the reliable stability of the electromagnet 3 during long-term operation.

[0034] The specific cooling components are located on the outside of the electromagnet 3. The electromagnet 3 can be cooled by air cooling or liquid cooling. In the case of liquid cooling, heat dissipation can be achieved through indirect contact or direct contact, as long as it meets the usage requirements, without any restrictions.

[0035] Based on the above embodiments, please refer to Figure 2 , Figure 3 The drive mechanism 2 includes a first motor 21, which is connected to the adapter frame 26 via a first transmission component 23. The first motor 21 drives the first transmission component 23 to drive the electromagnet 3 to rotate around a first direction via the adapter frame 26.

[0036] Specifically, the first motor 21 is fixed to the bracket 1 for support. The output end of the first motor 21 is connected to the first transmission assembly 23, which drives the adapter frame 26 to rotate. The adapter frame 26, connected to the electromagnet 3, can then drive the electromagnet 3 to rotate around a first direction, where the first direction corresponds to... Figure 1 The z-axis in the equation.

[0037] In this embodiment, the first transmission component 23 may be one or more rotating wheels that can drive the adapter frame 26 to rotate. The specific form of the rotating wheels is not limited.

[0038] The connection between the adapter 26 and the first transmission component 23 is a fixed connection. The connection position can be designed so as not to interfere with the rotation of the first transmission component 23, without too many restrictions.

[0039] In one specific embodiment, the first motor 21 is located on the lower side of the bracket 1 and its output end is connected to the rotating wheel. The end face of the rotating wheel is connected to the adapter 26. Thus, when the first motor 21 rotates, the rotating wheel rotates to drive the adapter 26 and the electromagnet 3 to rotate together around the first direction, and the adapter 26 and the first motor 21 will not interfere with each other.

[0040] In another specific embodiment, the first motor 21 is located on the upper side of the bracket 1, and its output end is connected to multiple rotating wheels with transmission connections. Thus, the rotating wheels at the end of the transmission path can be connected to the adapter frame 26 to achieve the effect of rotating and adjusting the electromagnet 3 around a first direction. The multiple rotating wheels with transmission connections are specifically designed to avoid interference between the adapter frame 26 and the first motor 21 on the upper side of the bracket 1; the specific number can be designed according to actual conditions.

[0041] Based on any of the above embodiments, please refer to Figure 3 The first transmission component 23 includes a first gear 231 and a second gear 232 meshing with it. The first gear 231 is connected to the drive end of the first motor 21, and the end face of the second gear 232 is connected to the electromagnet 3 through the adapter 26.

[0042] The axes of the first gear 231 and the second gear 232 are both parallel to the first direction. Both gears are rotatably mounted relative to the bracket 1. The first motor 21 drives the adapter 26 to rotate through the first gear 231 and the second gear 232, which in turn drives the electromagnet 3 connected to the adapter 26 to rotate. Thus, the effect of rotating and adjusting the electromagnet 3 around the first direction is achieved.

[0043] The first motor 21 is located on the upper side of the bracket 1 and can drive the adapter 26 and the electromagnet 3 to rotate around the first direction through the rotation of the first gear 231 and the second gear 232.

[0044] The end face of the second gear 232 is connected to the electromagnet 3 through the adapter 26. Specifically, the upper end face of the second gear 232 is connected to the adapter 26. The connection can be detachable or welded, depending on the actual requirements of the design.

[0045] Based on any of the above embodiments, please refer to Figure 3 The first motor 21 is mounted on the bracket 1 via the first connecting plate 9, and the first connecting plate 9 covers the first gear 231.

[0046] like Figure 3The first connecting plate 9 has an L-shaped structure so that the first motor 21 can be vertically supported on the bracket 1. The vertical part of the first connecting plate 9 is connected to the bracket 1, and the horizontal part is connected to the first motor 21. The output end of the first motor 21 passes through the horizontal part and is connected to the first gear 231. The first gear 231 does not contact the bracket 1 or the horizontal part.

[0047] The first connecting plate 9 is installed over the first gear 231. This "covering" specifically refers to providing protection for the first gear 231 and improving safety. As for the second gear 232, the adapter frame 26 connected to its end face can be designed in a form with a certain level of protection, such as a frame structure; there are no restrictions, and the design can be determined according to actual needs.

[0048] Based on any of the above embodiments, please refer to Figure 2 , Figure 3 The drive mechanism 2 includes a second motor 22 located on the adapter frame 26. The second motor 22 is connected to the electromagnet 3 through the second transmission assembly 24 to drive the electromagnet 3 to rotate around the second direction.

[0049] The second motor 22 is mounted on the adapter frame 26 for support. The output end of the second motor 22 is connected to the second transmission assembly 24, which directly drives the electromagnet 3 to rotate, i.e., drives the electromagnet 3 to rotate around a second direction, where the second direction corresponds to... Figure 1 The y-axis in the diagram.

[0050] In this embodiment, the second transmission component 24 may be one or more rotating wheels that can drive the adapter frame 26 to rotate, and the specific form of the rotating wheels is not limited.

[0051] While the electromagnet 3 rotates around the second direction, the position of the adapter 26 remains unchanged, and the electromagnet 3 rotates around the second direction relative to the adapter 26.

[0052] The specific rotation direction and angle of the first motor 21 and the second motor 22 can be determined according to the magnetic field control requirements. By setting the first motor 21 and the second motor 22, the entire device has two mechanical degrees of freedom in two directions. Combined with one driving current degree of freedom, it is possible to control the magnetic field generated by the electromagnet 3 and achieve the effect of deflecting the head of the interventional device.

[0053] Based on any of the above embodiments, please refer to Figure 3 The second transmission assembly 24 includes a third gear 241 and a fourth gear 242 meshing with it. The output end of the second motor 22 is connected to the third gear 241. The fourth gear 242 is rotatably connected to the electromagnet 3 through a rotating shaft 25. The axis of the rotating shaft 25 is parallel to the second direction.

[0054] like Figure 3 The fourth gear 242 is connected to the electromagnet 3 via a rotating shaft 25. When the fourth gear 242 rotates, the rotating shaft 25 drives the electromagnet 3 to rotate.

[0055] The axes of both the third gear 241 and the fourth gear 242 are parallel to the second direction, which is the y-axis. The electromagnet 3 rotates directly with the rotation of the fourth gear 242, thereby realizing the rotation of the electromagnet 3 around the second direction.

[0056] The second motor 22 is mounted on the support 1, the third gear 241 is directly mounted on its output end, and the fourth gear 242 is set to avoid interference between the position of the second motor 22 and the rotation of the electromagnet 3. This ensures the reliable rotation and adjustment of the electromagnet 3 while reducing the overall footprint of the device.

[0057] Based on any of the above embodiments, please refer to Figure 3 The electromagnet 3 is provided with a connecting frame 11 on the side near the drive mechanism 2, and the rotating shaft 25 is set through the connecting frame 11 and the adapter frame 26.

[0058] The connecting frame 11 is specifically located on the side of the electromagnet 3 where the magnetic yoke plate is located. Through the connection between the connecting frame 11 and the rotating shaft 25, the rotating shaft 25 can drive the connecting frame 11 and the electromagnet 3 to rotate synchronously when it rotates, so as to achieve the effect of rotating the electromagnet 3 around the second direction for adjustment.

[0059] The rotating shaft 25 passes through the connecting frame 11 and the adapter frame 26. The rotating shaft 25 is rotatably mounted relative to the adapter frame 26. When the second motor 22 is not in operation, the rotating shaft 25 does not move, that is, it does not rotate relative to the adapter frame 26. Only when the second motor 22 is in operation and the first motor 21 is not in operation, the rotating shaft 25 rotates relative to the adapter frame 26 to realize the rotation of the electromagnet 3 around the second direction.

[0060] In one specific embodiment, the second motor 22 may integrate an electromagnetic power-off brake. When the second motor 22 is powered on, the brake coil is energized, the spring is compressed, the brake is released, and the second motor 22 can drive the rotating shaft 25 to rotate. When the second motor 22 is de-energized or stops, the brake coil is de-energized, the spring pushes the friction plate to press the brake disc, and the output shaft of the motor is mechanically locked, so that the third gear 241 and the fourth gear 242 are completely locked, and the rotating shaft 25 is also locked and will not rotate around the adapter 26.

[0061] In another specific embodiment, the rotating shaft 25 is provided with a mechanical locking device. After the second motor 22 drives the rotating shaft 25 to the target angle, the mechanical locking device restricts the rotation of the rotating shaft 25 relative to the adapter frame 26. When the second motor 22 needs to rotate again, the mechanical locking device is released, restoring the rotational freedom of the rotating shaft 25.

[0062] Based on any of the above embodiments, please refer to Figure 2 , Figure 3 The second motor 22 is mounted on the adapter frame 26 via the second connecting plate 10. The second connecting plate 10 covers the third gear 241 and at least part of the fourth gear 242.

[0063] The second connecting plate 10 has an L-shaped structure. The second connecting plate 10 is placed horizontally, with one of its two corresponding connecting parts fixed to the adapter frame 26 and the other fixed to the second motor 22. The output shaft of the second motor 22 passes through the second connecting plate 10 and is connected to the third gear 241. Based on its fixation to the second connecting plate 10, the second motor 22 can reliably drive the third gear 241 to rotate, which in turn drives the fourth gear 242 and the rotating shaft 25 to rotate, thus realizing the rotation of the electromagnet 3 around the second direction.

[0064] The second connecting plate 10 is provided over the third gear 241 and at least part of the fourth gear 242 to provide protection. The specific coverage area can be determined according to the actual situation, as long as it can avoid interference between the various components.

[0065] In this embodiment, the second connecting plate 10 can be integrally formed with the adapter frame 26 to ensure the overall structural strength, or it can be connected to the adapter frame 26 in a detachable form to facilitate the installation and removal of the third gear 241. The specific method can be determined according to actual needs and is not limited.

[0066] Based on any of the above embodiments, please refer to Figure 1 It also includes a bottom support platform 6, which is connected to the bracket 1 via a three-axis moving platform 5. The three-axis moving platform 5 is used to realize the movement of the bracket 1 along a first direction, a second direction and a third direction, with the third direction being perpendicular to the first and second directions.

[0067] The bottom support platform 6 serves as the base frame of the entire device. Casters can be installed on the underside of the bottom support platform 6 to facilitate easy relocation of the entire device. After relocation, locking the casters will secure the entire device to the relocated position.

[0068] The three-axis moving platform 5 can specifically realize the movement of the support 1 along the three directions of x, y, and z, so that the electromagnet 3 can be adjusted according to specific movement requirements.

[0069] The three-axis moving platform 5 specifically includes a first platform, a second platform, and a straight column platform connected in sequence. The first platform is movably connected to the bottom support platform 6, and its movement direction is the third direction. The second platform can move relative to the first platform, and its movement direction is the second direction. The straight column platform can be extended and retracted along the height direction, and the extension and retraction direction is the first direction. This achieves three-way adjustment. Specific components for achieving movement, such as electric cylinders and motors, are sufficient to meet the requirements.

[0070] To ensure the accuracy and reliability of the three-way adjustment route, the first platform and the bottom support platform 6 are connected by a slide rail 13, and the first platform and the second platform are also connected by a slide rail 13. To prevent excessive sliding, mechanical limiters are set at both ends of the slide rail 13 for mechanical limiting. The specific settings can be flexibly configured according to requirements and are not restricted.

[0071] Based on any of the above embodiments, please refer to Figure 1 The bottom support platform 6 is also equipped with a liquid tank 7 and a power pump 8 connected thereto. The outlet of the power pump 8 is connected to the cooling channel of the electromagnet 3 so that coolant can be introduced into the cooling channel.

[0072] The outlet of the power pump 8 is connected to the inlet of the cooling channel via a pipeline. The coolant flowing out of the cooling channel can be connected to a separate recovery mechanism for processing, or it can be connected to the liquid tank 7 for processing. The processing here refers to lowering the temperature of the recovered coolant so that it can be recycled and reused later.

[0073] It should be noted that the cooling channel of electromagnet 3 specifically refers to the channel used to cool the electromagnetic coil. It can carry away the heat generated by the electromagnetic coil through the flow of coolant, avoiding the risk of the coil overheating.

[0074] More specifically, the magnetic yoke plate is provided with at least two flow ports 12, one flow port 12 for the inlet of coolant and the other flow port 12 for the outlet of coolant. Specifically, the flow ports 12 are connected to the cooling channel, thus satisfying the cooling requirements of the electromagnet 3.

[0075] In addition to the aforementioned neuro-interventional magnetic field manipulation device, this invention also provides a neuro-interventional magnetic field manipulation system including the aforementioned neuro-interventional magnetic field manipulation device. The neuro-interventional magnetic field manipulation system further includes a controller. The controller includes an acquisition module and a control module, wherein the acquisition module is used to acquire distal target deflection information of the guidewire and acquire control joystick adjustment information corresponding to the target deflection information; and the control module is the module that controls the adjustment based on the acquired information.

[0076] Specifically, please refer to the following when the controller is executing: Figure 7 The steps are as follows: S1: Obtain the deflection information of the distal target of the guidewire; S2: Obtain the joystick adjustment information corresponding to the target deflection information. The joystick adjustment information includes rotation direction information and rotation amplitude information. S3: Control the drive mechanism to adjust the rotation direction of the electromagnet according to the rotation direction information, and control the electric control mechanism to adjust the current of the electromagnet according to the rotation amplitude information, so that the electromagnet generates a target magnetic field in the target area that corresponds to the target deflection information.

[0077] The image information displayed on the specific imaging screen can be observed by medical staff to determine the required deflection information at the distal end of the specific guidewire. This required deflection information is the acquired distal target deflection information.

[0078] Once the deflection information of the distant target is determined, the corresponding joystick adjustment information can be obtained, that is, the rotation direction information and rotation amplitude information.

[0079] Subsequently, by manipulating the joystick 14, the rotation direction and amplitude information can be sent to the controller. The controller further processes the received information and generates corresponding control commands, which are then sent to the control mechanism. The control mechanism then adjusts the drive mechanism 2 and the electronic control mechanism 4 accordingly, thereby adjusting the rotation direction of the electromagnet 3 and the driving current applied to the electromagnet 3, so as to change the magnetic field state in the region where the guide wire is located, that is, to enable the electromagnet 3 to generate a target magnetic field in the target area corresponding to the target deflection information.

[0080] In this embodiment, the controller can be implemented by an industrial computer or by other electronic devices with data processing and command output functions. The control mechanism is an execution control unit located on the side of the neural intervention magnetic field manipulation device, used to receive control commands output by the controller and control the drive mechanism 2 and the electronic control mechanism 4 accordingly.

[0081] In one specific implementation, please refer to Figure 8 If the information displayed on the image display screen determines that the blood vessel is facing right and the initial direction of the distal end of the guidewire is forward, then it is determined that the distal end of the guidewire needs to be adjusted to the right (i.e., the distal end target deflection information of the guidewire). At this time, the joystick 14 is operated to deflect to the right to adjust the rotation amplitude. Based on this rotation amplitude information, the electronic control mechanism 4 is controlled to adjust the current of the electromagnet 3, thereby making the electromagnet 3 generate a target magnetic field in the target area corresponding to the target deflection information.

[0082] Specifically, to determine whether the adjustment was successful, the information displayed on the image display screen is used to determine whether the distal end of the guidewire has been deflected into place. If it has been deflected into place, the adjustment is complete. If it has not been deflected into place, the deflection adjustment can be continued by controlling the joystick 14.

[0083] Figure 4and Figure 5 As shown, R1 and R2 are schematic diagrams of two methods of magnetic field control. The direction of the magnetic field remains unchanged under both control methods. Here, the magnetic field direction refers to... Figure 4 Middle arrow and Figure 5 The middle arrow indicates the direction.

[0084] R1 corresponds to the joystick 14 turning to the right, with the rotation angle gradually increasing from left to right; R2 corresponds to the control joystick 14 turning to the left, with the rotation angle gradually increasing from left to right.

[0085] Furthermore, such as Figure 6 A represents the initial state, while B and C represent adjustment states. Rotating the joystick 14 corresponds to the rotation direction of the electromagnet 3 controlled by the drive mechanism 2. From B and C, the angle between the centerline of the electromagnet 3 in different adjustment states and the centerline of the electromagnet 3 in the initial state is... This angle That is, the azimuth angle remains constant, but the specific changes in the rotation of this control joystick 14 are as follows: Figure 11 The pitch angle θ of the electromagnet 3 shown is given in conjunction with... Figure 10 , Figure 12 Specifically, the relationship between the rotation angle α of the joystick 14 and the pitch angle θ of the electromagnet 3 is: θ = α - 180°. Furthermore, the rotation amplitude of the joystick 14 corresponds to the magnitude of the driving current of the electromagnet 3 controlled and adjusted by the electronic control mechanism 4, and the rotation amplitude of the joystick 14 is linearly related to the magnitude of the driving current.

[0086] After operating the joystick 14, the rotation direction and amplitude information are sent to the industrial control computer. The industrial control computer further transmits this information to the control mechanism, which then sends it to the drive mechanism 2 and the electrical control mechanism 4. The drive mechanism 2 then drives the electromagnet 3 to rotate around a first and / or second mutually perpendicular direction according to the adjustment action information, thereby adjusting the rotation direction of the electromagnet 3 and changing its pitch angle θ. Meanwhile, the electrical control mechanism 4 adjusts the driving current applied to the electromagnet 3 according to the adjustment action information. This adjustment of the driving current can adjust the magnetic field strength. As a result, the magnetic field state in the region where the guide wire is located changes.

[0087] In this embodiment, the driving mechanism drives the electromagnet 3 to rotate to a predetermined posture (posture adjustment), for example, rotating 30° relative to the initial state, and the driving current applied to the electromagnet 3 is adjusted by the electronic control mechanism. Through the coordinated adjustment of the posture of the electromagnet 3 and the driving current, the direction of the target magnetic field in the target area remains basically unchanged, and the strength of the target magnetic field is changed, so that the magnetic field state in the region where the guide wire is located changes, thereby achieving the deflection of its tip.

[0088] Based on the above embodiments, the control module is also used for: Based on the preset unit current output magnetic field strength function and the rotation direction information of the control joystick 14, the corresponding unit current output magnetic field strength is determined. Based on the magnetic field strength output per unit current and the current value of the electromagnet corresponding to the rotation amplitude information of the control joystick 14, the output magnetic field strength in the region where the guide wire is located is determined.

[0089] The current value of electromagnet 3 is the product of the scaling factor and the maximum current value. The scaling factor is the ratio of the rotation amplitude of the adjusted control joystick 14 to the maximum rotation amplitude.

[0090] Please refer to Figure 9 , Figure 10 , Figure 11 , Figure 12 The angle of the joystick 14 is α, the pitch angle of the electromagnet 3 is θ, and the azimuth angle of the electromagnet 3 is... The rotation amplitude of the control joystick 14 is γ, and the maximum rotation amplitude of the control joystick 14 is γ. max Where θ = α - 180° It is a fixed value.

[0091] Then, the output magnetic field strength per unit current is denoted as unit_B(θ, The pitch angle of electromagnet 3 is θ, and the azimuth angle of electromagnet 3 is... Related.

[0092] Furthermore, the current value of electromagnet 3 is I = γ / γ max I max ;γ / γ max That is, the scaling factor, and I max This is the maximum current value.

[0093] The output magnetic field strength unit_B(θ) per unit current is obtained. Based on the current value I of electromagnet 3, the formula for calculating the output magnetic field strength B in the region where the distal end of the guide wire is located is as follows: B=unit_B(θ, ) I.

[0094] Based on the above formula, the magnetic field strength in the region where the distal end of the modified guidewire is located can be determined, thereby determining the effect of the control.

[0095] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0096] The foregoing has provided a detailed description of the neuro-interventional magnetic field manipulation device and system provided by this invention. Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and core ideas of this invention. It should be noted that those skilled in the art can make various improvements and modifications to this invention without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of this invention.

Claims

1. A neural intervention magnetic field manipulation device, characterized in that, include: support; The drive mechanism is located on the bracket; An electromagnet is connected to the output end of the drive mechanism, which drives the electromagnet to rotate around a first direction and a second direction that are perpendicular to each other, so as to change the position of the electromagnet relative to the support. An electronic control mechanism, electrically connected to the electromagnet, is used to adjust the driving current applied to the electromagnet; A control mechanism, with signals connected to the electronic control mechanism and the drive mechanism, is used to regulate the magnetic field of the electromagnet; The cooling assembly is connected to the cooling channel of the electromagnet.

2. The neural intervention magnetic field manipulation device according to claim 1, characterized in that, The driving mechanism includes a first motor, which is connected to the adapter frame via a first transmission component. The first motor drives the first transmission component to drive the electromagnet to rotate around the first direction via the adapter frame.

3. The neural intervention magnetic field manipulation device according to claim 2, characterized in that, The first transmission assembly includes a first gear and a second gear meshing with it. The first gear is connected to the drive end of the first motor, and the end face of the second gear is connected to the electromagnet through the adapter frame.

4. The neural intervention magnetic field manipulation device according to claim 3, characterized in that, The first motor is mounted on the bracket via a first connecting plate, and the first connecting plate covers the first gear.

5. The neural intervention magnetic field manipulation device according to claim 2, characterized in that, The drive mechanism includes a second motor mounted on the adapter frame. The second motor is connected to the electromagnet via a second transmission assembly to drive the electromagnet to rotate around the second direction.

6. The neural intervention magnetic field manipulation device according to claim 5, characterized in that, The second transmission assembly includes a third gear and a fourth gear meshing with it. The output end of the second motor is connected to the third gear. The fourth gear is rotatably connected to the electromagnet via a rotating shaft. The axis of the rotating shaft is parallel to the second direction.

7. The neural intervention magnetic field manipulation device according to claim 6, characterized in that, The electromagnet has a connecting frame on the side near the drive mechanism, and the rotating shaft passes through the connecting frame and the adapter frame.

8. The neural intervention magnetic field manipulation device according to claim 6, characterized in that, The second motor is mounted on the adapter frame via a second connecting plate, which covers the third gear and at least part of the fourth gear.

9. The neural intervention magnetic field manipulation device according to any one of claims 1 to 8, characterized in that, It also includes a bottom support platform, which is connected to the bracket via a three-axis moving platform. The three-axis moving platform is used to move the bracket along the first direction, the second direction, and a third direction, wherein the third direction is perpendicular to the first direction and the second direction.

10. The neural intervention magnetic field manipulation device according to claim 9, characterized in that, The cooling assembly includes a liquid tank and a power pump located on the bottom support platform. The inlet of the power pump is connected to the liquid tank, and the outlet is connected to the cooling channel of the electromagnet, so that coolant can be introduced into the cooling channel.

11. A neural intervention magnetic field manipulation system, characterized in that, Includes a controller and a neural intervention magnetic field manipulation device according to any one of claims 1 to 10, wherein the controller comprises: The acquisition module is used to acquire distal target deflection information of the guidewire; and to acquire control joystick adjustment information corresponding to the target deflection information, wherein the control joystick adjustment information includes rotation direction information and rotation amplitude information; The control module is used to control the drive mechanism to adjust the rotation direction of the electromagnet according to the rotation direction information, and to control the electronic control mechanism to adjust the current of the electromagnet according to the rotation amplitude information, so that the electromagnet generates a target magnetic field in the target area corresponding to the target deflection information.

12. The neural intervention magnetic field manipulation system according to claim 11, characterized in that, The control module is also used for: Based on the preset unit current output magnetic field strength function and the rotation direction information, the corresponding unit current output magnetic field strength is determined. Based on the unit current output magnetic field strength and the current value of the electromagnet corresponding to the rotation amplitude information, the output magnetic field strength of the region where the distal end of the guide wire is located is determined. The current value of the electromagnet is the product of a scaling factor and a maximum current value. The scaling factor is the ratio of the actual rotation amplitude of the control joystick to its maximum rotation amplitude.

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