Guide wire, magnetic positioning device and vascular intervention surgical robot

Abstract

The utility model provides a guide wire, a magnetic positioning device and a vascular intervention surgical robot, and relates to the technical field of medical instruments. The guide wire comprises a guide wire body, a magnetic sensor and a coating layer. The guide wire body comprises a core and a guide wire end part, and the guide wire end part is arranged at one end of the core; the magnetic sensor comprises a sensor body and a sensor connecting line, and the sensor body is embedded into the end part of the guide wire; the sensor connecting line extends along the length direction of the guide wire body, one end of the sensor connecting line is connected to the sensor body, and the other end is connected to the far-end signal processing unit; and the coating layer at least covers the surfaces of the guide wire body and the sensor connecting line. According to the guide wire, the magnetic positioning device and the vascular intervention surgical robot, in the process that a doctor pushes the guide wire to intervene in the blood vessel of a patient, the specific condition of the guide wire advancing in the blood vessel can be accurately judged.

Description

Technical Field

[0001] The present disclosure relates to the technical field of medical devices, and in particular to a guide wire, a magnetic positioning device and a vascular interventional surgery robot. Background Art

[0002] During the process of vascular interventional surgical robot treatment, the vascular interventional surgical robot is connected to a catheter, in which a guidewire is provided for intervention into the patient's blood vessels. The movement of the guidewire is controlled by the vascular interventional surgical robot to achieve precise treatment of the patient.

[0003] The relevant guidewire includes a core, a head end, a shield and a coating. Specifically, the core is the basic structure of the guidewire, which is functionally divided into a shaping section, a transition section and a supporting section. The material of the core determines the strength, durability and flexibility of the guidewire. The head end, as the end of the guidewire, is the determining factor in determining the controllability and flexibility of the guidewire end. It is easy to manipulate and has good pushing properties. As a protective structure of the head end, the shield can avoid damage to the patient's blood vessels during the process of the guidewire intervening in the patient's blood vessels. The coating can reduce the resistance encountered by the core and the head end in the blood vessels, so that the guidewire can move normally in the blood vessels.

[0004] However, when pushing a guidewire to intervene in a patient's blood vessels, doctors rely on the images taken during the operation to make assessments and judge the position and direction of the guidewire in the blood vessels through feeling and experience. They are unable to confirm the specific situation of the guidewire's movement in the blood vessels. Utility Model Content

[0005] The purpose of the present disclosure is to overcome at least one of the deficiencies of the above-mentioned related technologies and to provide a guidewire, a magnetic positioning device and a vascular interventional surgical robot, which can accurately determine the specific situation of the guidewire moving in the blood vessel when the doctor pushes the guidewire to intervene in the patient's blood vessel.

[0006] Additional aspects and advantages of the disclosure will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the disclosure.

[0007] According to one aspect of the present disclosure, there is provided a guide wire, comprising:

[0008] Guidewire body;

[0009] The guide wire body comprises a core and a guide wire end, and the guide wire end is arranged at one end of the core;

[0010] Magnetic sensor;

[0011] The magnetic sensor comprises a sensor body and a sensor connecting wire, wherein the sensor body is embedded in the end of the guide wire;

[0012] The sensor connecting line extends along the length direction of the guide wire body, one end of the sensor connecting line is connected to the sensor body, and the other end is connected to the signal processing unit at the far end;

[0013] The coating layer at least covers the surface of the guide wire body and the sensor connecting wire.

[0014] In an exemplary embodiment of the present disclosure, a through hole is disposed inside the core, the through hole extends along the length direction of the guidewire body, and the sensor connecting line is disposed in the through hole.

[0015] In an exemplary embodiment of the present disclosure, when the diameter of the sensor connecting wire is less than or equal to 1 / 5 of the diameter of the core, the outer side wall of the core is provided with a groove, the groove extends along the length direction of the guide wire body, and the sensor connecting wire is entirely provided in the groove;

[0016] Wherein, in the projection direction of the length of the guide wire body, the projections of the sensor connecting wires are all located within the projection of the groove.

[0017] In an exemplary embodiment of the present disclosure, when the diameter of the sensor connecting wire is greater than 1 / 5 of the diameter of the core, the outer side wall of the core is provided with a groove, the groove extends along the length direction of the guide wire body, and part of the sensor connecting wire is provided in the groove;

[0018] Wherein, in the projection direction of the length of the guidewire body, the projection of part of the sensor connecting line is located within the projection of the groove;

[0019] Alternatively, when the diameter of the sensor connecting wire is greater than 1 / 5 of the diameter of the core, all of the sensor connecting wires are arranged outside the core;

[0020] Among them, in the projection direction of the guide wire body, the projections of the sensor connecting lines are all located outside the projection of the core.

[0021] In an exemplary embodiment of the present disclosure, the sensor connection wire is arranged outside the core along the length direction of the guidewire body;

[0022] Alternatively, the sensor connection wire is spirally wound around the outside of the core.

[0023] In an exemplary embodiment of the present disclosure, the guidewire further comprises:

[0024] The protective cover at least partially wraps the side of the guide wire end away from the core.

[0025] In an exemplary embodiment of the present disclosure, the flexibility of the guidewire tip is greater than the flexibility of the core.

[0026] According to one aspect of the present disclosure, a magnetic positioning device is provided, including a magnetic field generator and a guide wire, wherein the magnetic field generator is used to emit a magnetic field to the guide wire to determine the position of a sensor body.

[0027] In an exemplary embodiment of the present disclosure, the magnetic positioning device further includes:

[0028] The signal processing unit is electrically connected to one end of the sensor connection line away from the sensor body, and is used to collect data signals from the sensor body and calculate the position and direction of the sensor body.

[0029] In an exemplary embodiment of the present disclosure, the magnetic positioning device further includes:

[0030] The sensor interface unit is connected between the sensor connection line and the signal processing unit and is used to amplify the data signal of the sensor body.

[0031] According to one aspect of the present disclosure, there is provided a vascular interventional surgery robot, comprising a master-end control device and a slave-end operating device, wherein the master-end control device is used to control the operation of the slave-end operating device and the magnetic positioning device;

[0032] The main end control device is electrically connected to the magnetic field generator and is used to control the magnetic field generator to determine the position of the sensor body.

[0033] The guidewire, magnetic positioning device and vascular interventional surgery robot disclosed in the present invention, the guidewire includes a guidewire body, a magnetic sensor and a coating layer. The guidewire body includes a core and a guidewire end, and the guidewire end is arranged at one end of the core; the magnetic sensor includes a sensor body and a sensor connecting wire, and the sensor body is embedded in the guidewire end; the sensor connecting wire extends along the length direction of the guidewire body, one end of the sensor connecting wire is connected to the sensor body, and the other end is connected to the signal processing unit at the far end; the coating layer at least covers the surface of the guidewire body and the sensor connecting wire. The guidewire, magnetic positioning device and vascular interventional surgery robot disclosed in the present invention can accurately judge the specific situation of the guidewire moving in the blood vessel when the doctor pushes the guidewire to intervene in the patient's blood vessel.

[0034] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification are used to explain the principles of the present disclosure. Obviously, the accompanying drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0036] Figure 1 It is a schematic diagram of the structure of the guide wire disclosed in the present invention.

[0037] Figure 2 It is a second structural schematic diagram of the guidewire disclosed in the present invention.

[0038] Figure 3 yes Figure 2 Top view of the .

[0039] Figure 4 It is a third structural schematic diagram of the guidewire disclosed in the present invention.

[0040] Figure 5 yes Figure 4 Top view of the .

[0041] Figure 6 This is a fourth structural schematic diagram of the guidewire disclosed in the present invention.

[0042] Figure 7 yes Figure 6 Side view of.

[0043] Figure 8 It is a schematic diagram of the connection structure of the guide wire and the magnetic positioning device disclosed in the present invention.

[0044] The main components in the figure are described as follows:

[0045] 1. Guide wire;

[0046] 2. Magnetic positioning device; 21. Signal processing unit; 22. Sensor interface unit; 23. Magnetic field generator;

[0047] 11. Guidewire body; 12. Magnetic sensor; 13. Coating layer; 14. Protective cover;

[0048] 111, core; 112, guide wire end;

[0049] 121. Sensor body; 122. Sensor connecting wire. DETAILED DESCRIPTION

[0050] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in a variety of forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that the present disclosure will be comprehensive and complete and fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar structures, and thus their detailed description will be omitted. In addition, the drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale.

[0051] Although relative terms such as "upper" and "lower" are used in this specification to describe the relative relationship of one component of the diagram to another component, these terms are used in this specification only for convenience, such as according to the direction of the examples in the drawings. It is understood that if the device of the diagram is turned upside down, the component described as "upper" will become the component "lower". When a structure is "on" other structures, it may mean that the structure is formed integrally on the other structure, or that the structure is "directly" disposed on the other structure, or that the structure is "indirectly" disposed on the other structure through another structure.

[0052] The terms "a", "an", "the", "" and "at least one" are used to indicate the presence of one or more elements / components / etc.; the terms "including" and "having" are used to express an open-ended inclusive meaning and mean that additional elements / components / etc. may exist in addition to the listed elements / components / etc.; the terms "first" and "second" are used merely as labels and are not intended to limit the quantity of their objects.

[0053] The embodiments of the present disclosure provide a guidewire, a magnetic positioning device, and a vascular interventional surgery robot, wherein the guidewire includes a guidewire body, a magnetic sensor, and a coating layer. The guidewire body includes a core and a guidewire end, wherein the guidewire end is disposed at one end of the core; the magnetic sensor includes a sensor body and a sensor connecting wire, wherein the sensor body is embedded in the guidewire end; the sensor connecting wire extends along the length direction of the guidewire body, wherein one end of the sensor connecting wire is connected to the sensor body, and the other end is connected to a signal processing unit at a remote end; the coating layer at least covers the surface of the guidewire body and the sensor connecting wire. The guidewire, the magnetic positioning device, and the vascular interventional surgery robot disclosed in the present disclosure can accurately determine the specific situation of the guidewire moving in the blood vessel when the doctor pushes the guidewire to intervene in the patient's blood vessel.

[0054] In vascular intervention surgery, the guidewire 1 is an indispensable medical device and plays a vital role in vascular intervention and neurointervention surgery. Specifically, the guidewire 1 plays the role of introduction, support, opening, exchange, etc. in vascular intervention surgery. The guidewire 1 can guide and support the catheter through soft tissues such as subcutaneous tissue and blood vessels, enter the blood vessels through the puncture hole, and guide the catheter through tortuous and hardened blood vessels to selectively enter the blood vessel branches for inspection. It can also enhance the hardness of the catheter to facilitate the manipulation of the catheter.

[0055] Since the guide wire 1 is an indispensable medical device during the vascular interventional surgery, the doctor will be exposed to radiation from other medical devices when directly using the guide wire 1. At the same time, the doctor will be invaded by a large number of bacteria and viruses when directly using the guide wire 1 to treat the patient's treatment site, which will affect the doctor's health. In addition, the doctor will consume a lot of energy when operating the medical device to operate the patient's treatment site. Therefore, during the doctor's operation, a vascular interventional surgery robot is set up, and a vascular interventional surgery robot operating device is set up on the side of the vascular interventional surgery robot away from the patient's treatment site. The doctor operates the vascular interventional surgery robot operating device to perform surgery on the patient's treatment site. This can achieve that the doctor does not touch the patient's treatment site, and the vascular interventional surgery robot operates the guide wire 1, thereby performing surgery on the patient.

[0056] Since the doctor does not need to touch the patient's treatment part, he can treat the patient's treatment part by manipulating the vascular interventional surgery robot's operating device. On the one hand, it can prevent the doctor from being exposed to radiation from some medical devices during the operation, reducing the damage caused to the doctor by the radiation generated by the medical devices. On the other hand, the doctor does not need to directly operate the guide wire 1, but only needs to control the vascular interventional surgery robot by manipulating the vascular interventional surgery robot's operating device to operate the guide wire 1, which can reduce the doctor's physical labor and work intensity, and enable the doctor to maintain sufficient spirit and physical strength during the operation on the patient, so that the doctor can concentrate more on the treatment of the patient, thereby improving the effect of the treatment on the patient.

[0057] In addition, slight differences in the patient's treatment area will affect various aspects such as the treatment effect of the patient's treatment area, the patient's perception of pain, and the time required for the treatment area to recover after surgery. Traditionally, doctors directly operate medical devices to perform surgical operations on the patient's treatment area. Due to the delicate guide wire 1 and the randomness of the patient's treatment area, the doctor will be affected by many factors during the operation of the guide wire 1, such as the doctor's concentration, mental state, and shaking of the hand holding the guide wire 1, which will affect the accuracy of the doctor's operation of the guide wire 1 on the patient's treatment area.

[0058] According to one aspect of the present disclosure, a guide wire 1 is provided, comprising a guide wire body 11, a magnetic sensor 12 and a coating layer 13. Figure 1As shown, the guidewire body 11 is used as the core structure of the guidewire 1 to intervene in the patient's blood vessels to achieve various operations of intervention in the patient's blood vessels. The magnetic sensor 12 is used as the information sensing structure of the guidewire 1 to sense the specific situation of the guidewire body 11 intervening in the patient's blood vessels, so as to accurately judge the situation of the guidewire body 11 intervening in the patient's blood vessels and achieve precise control of the guidewire body 11. The coating layer 13 serves as a protective structure for the guidewire body 11 and the magnetic sensor 12. On the one hand, it can protect the guidewire body 11 and the magnetic sensor 12 from being contaminated by bacteria and viruses in the patient's treatment area. Similarly, the patient's treatment area can be protected from damage such as collision and friction of the guidewire body 11 and the magnetic sensor 12, so as to avoid secondary damage to the patient.

[0059] Specifically, the guidewire body 11 includes a core 111 and a guidewire end 112, and the guidewire end 112 is arranged at one end of the core 111. The core 111 is the basic structure of the guidewire body 11, and is functionally divided into a shaping section, a transition section, and a supporting section. The material of the core 111 determines the strength, durability, and flexibility of the guidewire body 11. The guidewire end 112, as the first part to intervene in the patient's blood vessels, is a key structure that determines the controllability and flexibility of the guidewire body 11, and has good flexibility and controllability.

[0060] It should be noted that the larger the diameter of the core 111, the better the support force, torque transmission and pushing performance of the core 111, and the smaller the diameter of the core 111, the better the flexibility and tracking performance of the core 111. The diameter of the core 111 disclosed herein is not specifically limited, and the core 111 of the guidewire 1 of a suitable size can be selected according to different application scenarios. Among them, the support force is the force perpendicular to the guidewire 1 to bend the guidewire 1. Flexibility is the ability of the guidewire 1 itself to change with the degree of completeness of the blood vessel. Tracking is the ability of the guidewire 1 to move along the blood vessel.

[0061] Furthermore, the magnetic sensor 12 includes a sensor body 121 and a sensor connecting line 122. The sensor body 121 is the core sensing and information feedback structure of the magnetic sensor 12, and is used to provide feedback on the specific situation of the guidewire 1 intervening in the patient's blood vessel, thereby assisting the doctor in completing the navigation of the position of the guidewire 1 intervening in the patient's blood vessel during the operation, so that the doctor can accurately control the movement of the guidewire 1 in the patient's blood vessel. The sensor body 121 is embedded in the guidewire end 112, and the sensor connecting line 122 extends along the length direction of the guidewire body 11, with one end of the sensor connecting line 122 connected to the sensor body 121, and the other end connected to the signal processing unit 21 at the far end.

[0062] It should be noted that the length direction of the guide wire body is Figure 1The X direction in the diagram is the direction in which the core 111 is away from the sensor body 121. The sensor is a magnetic sensor 12, and the size of the sensor body is smaller than the size of the end of the guide wire. Among them, the magnetic sensor 12 is a device that converts the change in the magnetic properties of the sensitive element caused by external factors such as magnetic field, current, stress strain, temperature, light, etc. into an electrical signal, and detects the corresponding physical quantity in this way. The magnetic sensor 12 is used in all aspects of life, for example, a compass, a magnetic field sensor, and a position magnetic sensor 12. Compass: The earth will produce a magnetic field. If you can measure the magnetic field on the surface of the earth, you can make a compass. Current magnetic sensor 12: Current magnetic sensor 12 is also a magnetic field magnetic sensor 12. Current magnetic sensor 12 can be used in household appliances, smart grids, electric vehicles, wind power generation, etc. Position magnetic sensor 12: If a magnet and a magnetic sensor 12 have a position change relative to each other, this position change is linear, then it is a linear magnetic sensor 12, and if it is rotating, then it is a rotating magnetic sensor 12.

[0063] Specifically, since the sensor is a magnetic sensor 12, on the one hand, since the magnetic field can penetrate many non-metallic materials, the exchange process can be triggered without direct contact with the target object. By using the magnetic sensor 12, the magnetic field can be transmitted to a longer distance, and the signal can be transmitted from the area with higher temperature, which can facilitate the magnetic sensor 12 to sense and feedback the specific position, direction, force and other information of the guide wire 1 in the patient's blood vessels. On the other hand, the magnetic sensor 12 has a high sensitivity, which can improve the accuracy of the feedback of specific information of the guide wire 1 in the patient's blood vessels.

[0064] At the same time, the magnetic sensor 12 has good anti-interference performance. Since various instruments and equipment are used during the doctor's vascular intervention on the patient, and there is no shielding of the magnetic sensor 12 in the use environment, the magnetic sensor 12 has good anti-interference performance, which can prevent the magnetic sensor 12 from being affected by other electronic devices, etc., and can improve the accuracy of information feedback during the interventional surgery.

[0065] Specifically, the sensor body 121 is embedded in the guidewire end 112 and is arranged on the side of the guidewire end 112 away from the core 111. Since the guidewire end 112 in the guidewire 1 is preferentially inserted into the patient's blood vessel during the process of inserting the guidewire 1 into the patient's blood vessel, by arranging the sensor body 121 on the side of the guidewire end 112 away from the core 111, the position, direction, force and other information of the guidewire end 112 inserted into the patient's blood vessel can be accurately sensed by the sensor body 121, and the information sensed by the sensor body 121 is fed back to the signal processing unit 21 at the far end through the sensor connecting line 122, so that when the doctor pushes the guidewire 1 to insert into the patient's blood vessel, the specific situation of the guidewire 1 moving in the blood vessel can be accurately judged.

[0066] In addition, the coating layer 13 in the guidewire 1 at least covers the surface of the guidewire body 11 and the sensor connecting wire 122. On the one hand, the guidewire body 11 and the sensor connecting wire 122 covered by the coating layer 13 can be protected from infection by bacteria and viruses in the intervention patient's part, and at the same time, the intervention patient's blood vessels are protected from friction and damage by the guidewire body 11 and the sensor connecting wire 122. On the other hand, the coating layer 13 uses a special coating material, which can reduce the friction of the guidewire 1 in the patient's blood vessels and increase the tracking performance of the guidewire 1 in the patient's blood vessels.

[0067] Optionally, coating 13 is a hydrophilic coating or a hydrophobic coating. The hydrophilic coating is a material such as polyoxymethylene, hardened coating and silicone rubber, which can attract water molecules to form a smooth gel on the surface of guide wire 1, increase lubricity and reduce friction. The hydrophobic coating is a material such as polytetrafluoroethylene, dihydrofluorescein and silicone resin, which is not combined with water, and is waxy on the surface of guide wire 1 to reduce friction. Meanwhile, hydrophilic coating and hydrophobic coating have the characteristics of stable chemical properties, good biocompatibility and anti-thrombosis, which can facilitate the advancement of guide wire 1 interventional patient's blood vessels.

[0068] When operating the guidewire 1 to intervene in the part of the patient that needs treatment, the doctor controls the guidewire end 112 of the guidewire 1 to the direction of the patient's blood vessel through the operation of the vascular intervention surgery robot, and gradually inserts the guidewire 1 into the patient's blood vessel to clear the blood vessel. Since the side of the guidewire end 112 away from the core 111 is provided with a magnetic sensor 12, the magnetic sensor 12 can be used to feedback the position, direction, force and other information of the guidewire 1 intervened in the patient's blood vessel, thereby preventing the guidewire 1 from touching the blood vessel wall or even puncturing the patient's blood vessel, thereby avoiding secondary injury to the patient. In the process of pushing the guidewire 1 to intervene in the patient's blood vessel, the doctor can accurately judge the specific situation of the guidewire 1 moving in the blood vessel, thereby improving the safety of the doctor's operation process for the patient.

[0069] Similarly, when the doctor operates the guide wire 1 to intervene in the part of the patient that needs treatment, he does not need to rely on his sense and experience to judge the position and direction of the guide wire 1 in the blood vessel. He only needs to use the remote signal processing unit 21 connected to the sensor connecting line 122 to realize the judgment of the position, direction and other information of the guide wire 1 involved in the patient's blood vessel, which can make the doctor's operation of operating the guide wire 1 to intervene in the patient's blood vessel easier and simplify the doctor's operation.

[0070] In addition, the doctor manipulates the vascular interventional surgery robot to control the guide wire 1 to intervene in the patient's blood vessels to clear the patient's blocked blood vessels, which can reduce the radiation of other medical devices to the doctor and the patient during the operation, thereby improving the safety of the doctor and the patient during the operation.

[0071] It should be noted that the perception of the situation of the guidewire end 112 intervening in the patient's blood vessels is sensed by analyzing the data of the magnetic sensor 12, including but not limited to information such as position, direction, and force. The specific information sensed and fed back by the magnetic sensor 12 will not be repeated here.

[0072] Optionally, the material of the core 111 of the present invention is stainless steel, nickel-titanium alloy or high-tension stainless steel. Among them, stainless steel is the earliest and currently most commonly used material for manufacturing the core 111 of the guidewire 1. It has the advantages of strong hardness, good support, pushing and torque conductivity, but poor flexibility and easy to entangle. Similarly, the core 111 of the present invention can be made of nickel-titanium memory alloy or new stainless steel. Compared with materials such as stainless steel, nickel-titanium alloy or high-tension stainless steel, it has the advantages of flexibility, controllability and good intravascular tracking, the head end is not easy to sag and has strong anti-entanglement ability, but poor torque conductivity. The core 111 of the present invention is selected accordingly according to actual use requirements, and the specific material of the core 111 is not limited here.

[0073] The following is a detailed description of the guide wire 1, the magnetic positioning device 2 and each part of the vascular interventional surgery robot:

[0074] In an exemplary embodiment of the present disclosure, a through hole is provided inside the core 111, and the through hole extends along the length direction of the guide wire body 11, and the sensor connecting wire 122 is provided in the through hole. Specifically, since the sensor connecting wire 122 is provided with a through hole inside, on the one hand, the sensor connecting wire 122 can be protected from damage by the external environment, and the through hole can provide a safe passage for the sensor connecting wire 122 to prevent the sensor connecting wire 122 from breaking or being damaged; on the other hand, the sensor connecting wire 122 is provided in the through hole, which can avoid being affected by the magnetic interference of the sensor body 121, thereby shielding and isolating the magnetic field, reducing the influence on the magnetic sensor 12 signal, and improving the accuracy of the measurement. When the diameter (or cross-sectional dimension) of the sensor connecting wire 122 is smaller than the diameter (or cross-sectional dimension) of the core 111, the sensor connecting wire 122 can be placed in the through hole of the guide wire body 11, which can reduce the space occupied by the sensor connecting wire 122, making the guide wire 1 more compact, and the diameter of the guide wire 1 will not be large, and will not affect the normal function of the guide wire.

[0075] In an exemplary embodiment of the present disclosure, when the diameter of the sensor connecting wire 122 is less than or equal to 1 / 5 of the diameter of the core 111, the outer wall of the core 111 is provided with a groove, the groove extends along the length direction of the guidewire body 11, and the sensor connecting wire 122 is entirely arranged in the groove.

[0076] like Figure 2 and Figure 3As shown, when the diameter of the sensor connecting wire 122 is less than or equal to 1 / 5 of the diameter of the core 111, the diameter of the sensor connecting wire 122 is much smaller than the diameter of the core 111, and the sensor connecting wire 122 will not affect the strength, flexibility and other properties of the core 111. By setting a groove on the outside of the core 111 and setting the sensor connecting wire 122 in the groove, on the one hand, the space occupied by the sensor connecting wire 122 can be reduced, the diameter of the guide wire 1 is prevented from increasing, and the overall space utilization of the guide wire 1 is improved. On the other hand, setting the sensor connecting wire 122 in the groove can facilitate the fixation and arrangement of the sensor connecting wire 122, and at the same time simplify the fixed installation of the sensor connecting wire 122 and the core 111. In addition, since the outer side of the sensor connecting wire 122 needs to be wrapped with the coating layer 13, the sensor connecting wire 122 is completely set in the groove, so that the sensor connecting wire 122 is not affected by the wrapping effect of the coating layer 13. When the magnetic sensor 12 needs to be removed, there is no need to change the internal structure of the guide wire 1. The sensor connecting wire 122 can be directly removed through the groove, which is more convenient for the use of the magnetic sensor 12.

[0077] Optionally, the sensor connecting wire 122 and the side wall of the groove are bonded and connected, which can facilitate the fixation of the sensor connecting wire 122 and simplify the installation process of the sensor connecting wire 122 and the core 111. Of course, the sensor connecting wire 122 and the groove can also be fixedly connected by snapping, inlaying, etc., and the installation and fixing method of the sensor connecting wire 122 and the core 111 will not be repeated here.

[0078] In an exemplary embodiment of the present disclosure, when the diameter of the sensor connecting wire 122 is greater than 1 / 5 of the diameter of the core 111, the outer wall of the core 111 is provided with a groove, the groove extends along the length direction of the guidewire body 11, and part of the sensor connecting wire 122 is arranged in the groove; wherein, in the projection direction of the length of the guidewire body 11, the projection of part of the sensor connecting wire 122 is located within the projection of the groove.

[0079] Specifically, since the outer wall of the core 111 is provided with a groove, the groove extends along the length direction of the guidewire body 11, and part of the sensor connecting wire 122 is arranged in the groove, on the one hand, the overall lateral size (or guidewire diameter) of the guidewire after the sensor connecting wire 122 is added can be reduced, and the overall space utilization of the guidewire 1 can be improved. On the other hand, by arranging part of the sensor connecting wire 122 in the groove, the fixing and arrangement of the sensor connecting wire 122 can be facilitated, and the fixing and installation of the sensor connecting wire 122 and the core 111 can be simplified. At the same time, the large size of the sensor connecting wire 122 can be avoided to affect the various performances of the core 111.

[0080] As an optional embodiment, when the diameter of the sensor connecting wire 122 is greater than 1 / 5 of the diameter of the core 111, the sensor connecting wire 122 is entirely arranged on the outside of the core 111; wherein, in the projection direction of the guidewire body 11, the projection of the sensor connecting wire 122 is entirely located outside the projection of the core 111.

[0081] like Figure 4 and Figure 5 As shown, when the diameter of the sensor connecting wire 122 is greater than 1 / 5 of the diameter of the core 111, the diameter of the sensor connecting wire 122 has a greater impact on the strength, flexibility and other properties of the core 111. The sensor connecting wire 122 is completely set on the outside of the core 111. On the one hand, it can avoid the large size of the sensor connecting wire 122 affecting the various properties of the core 111, thereby affecting the accuracy of the guide wire 1 in the patient's blood vessels, so that the guide wire 1 can accurately intervene in the patient's blood vessels. On the other hand, in the process of making the guide wire 1, it is only necessary to set the sensor connecting wire 122 on the outside of the core 111, and there is no need to perform additional processing on the core 111, which can simplify the manufacturing process of the core 111, and then simplify the manufacturing process of the guide wire 1. Similarly, since the manufacturing process of the guide wire 1 is simplified, the cost loss in the guide wire 1 manufacturing project can be saved, and the cost of the guide wire 1 manufacturing process can be saved.

[0082] Optionally, the sensor connecting wire 122 and the outer side of the core 111 are bonded and connected, which can facilitate the fixation of the sensor connecting wire 122 and the installation process of the sensor connecting wire 122 and the core 111. Of course, the sensor connecting wire 122 and the outer side of the core 111 can also be fixedly connected by other methods such as snap-on, and the installation method of the sensor connecting wire 122 and the core 111 will not be repeated here.

[0083] In an exemplary embodiment of the present disclosure, the sensor connection line 122 is arranged outside the core 111 along the length direction of the guide wire body 11. Figure 4 and Figure 5 As shown, since the sensor connection line 122 is arranged on the outside of the core 111 along the length direction of the guidewire body 11, there is no need to impose additional restrictions on the arrangement of the sensor connection line 122. It is only necessary to arrange the sensor connection line 122 along the length direction of the guidewire body 11, which can simplify the arrangement of the sensor connection line 122.

[0084] At the same time, since the sensor connecting wire 122 is arranged outside the core 111 along the length direction of the guide wire body 11, the sensor connecting wire 122 does not bend, tangle, etc., so that the fiber core inside the sensor connecting wire 122 can be in a natural state, avoiding the damage of the core inside the sensor connecting wire 122 when it is bent or entangled for a long time, which affects the normal signal receiving and transmitting function of the sensor connecting wire 122, so that the sensor connecting wire 122 can still have a good signal transmission function after long-term use, thereby improving the service life of the sensor connecting wire 122. In addition, since the sensor connecting wire 122 is arranged outside the core 111 along the length direction of the guide wire body 11, the sensor connecting wire 122 is in a natural state, and the signal transmitted by the sensor connecting wire 122 is in a smooth state, so that the signal sensed and fed back by the sensor body 121 can be accurately transmitted to the remote signal processing unit 21.

[0085] As an optional implementation, the sensor connection line 122 is spirally wound around the outer side of the core 111. Figure 6 and Figure 7 As shown, since the sensor connecting wire 122 is spirally wound on the outside of the core 111, on the one hand, the sensor connecting wire 122 can be tightly attached to the outside of the core 111 by winding, so that the connection between the sensor connecting wire 122 and the core 111 inside the guidewire 1 is tighter, so as to prevent the sensor connecting wire 122 and the core 111 from falling off. On the other hand, since the length of the sensor connecting wire 122 after unfolding will be significantly greater than the length arranged in a certain direction by spiral winding, when the length of the sensor connecting wire 122 is long, it can be avoided that the sensor connecting wire 122 is piled up and thus entangled. By adjusting the number of turns of the sensor connecting wire 122 wound on the core 111, the length of the sensor connecting wire 122 and the core 111 can be matched with each other, so as to avoid excessive accumulation of the sensor connecting wire 122, which affects the normal operation of the guidewire 1, and further ensures the completeness of the guidewire 1 inserted into the patient's blood vessels.

[0086] When the sensor connecting wire 122 is in the form of a flat sheet, the thickness of the sensor connecting wire 122 is much smaller than the diameter of the core 111, and the length of the sensor connecting wire 122 is not much different from that of the core 111. Preferably, the sensor connecting wire 122 is tightly wrapped around the outer periphery of the core 111, so that the diameter of the guide wire body is the sum of the diameter of the core 111 and the thickness of the sensor connecting wire 122. Since the thickness of the sensor connecting wire 122 is much smaller than the diameter of the core 111, the diameter of the guide wire body does not change much. Further, in order to reduce the diameter of the guide wire body, the diameter of the core 111 can be appropriately reduced, thereby compensating for the change in the diameter of the guide wire body caused by adding the sensor connecting wire 122.

[0087] Specifically, there are two ways to wrap the sensor connection line 122 around the outer periphery of the core 111. One is to arrange the sensor connection line 122 on the outer side of the core along the length direction of the guidewire body; that is, the sensor connection line is appropriately bent into an arc in the width direction, and the length direction of the sensor connection line is consistent with the length direction of the core. Alternatively, the sensor connection line is spirally wound on the outer side of the core, and the length direction of the sensor connection line is spiral, which is inconsistent with the length direction of the core.

[0088] As an optional embodiment, there are multiple sensor connecting wires 122. Specifically, due to the complex internal structure of the guidewire 1, the installation and connection process of the sensor body 121, the core 111, the guidewire end 112 and the sensor connecting wire 122 is complicated, and the sensor connecting wire 122 itself is relatively fragile. When the sensor connecting wire 122 fails, the magnetic sensor 12 will not be able to feedback various information of the guidewire 1 intervening in the patient's blood vessels, and the guidewire 1 needs to be disassembled and reinstalled, which is complicated to repair. Since there are multiple sensor connecting wires 122, when some of the sensor connecting wires 122 fail, the data signal sensed by the sensor body 121 can still be transmitted through other normal sensor connecting wires 122, thereby improving the service life and maintenance cost of the sensor connecting wire 122.

[0089] In an exemplary embodiment of the present disclosure, the guide wire 1 further includes a protective cover 14. Figure 1 , Figure 2 , Figure 4 and Figure 6 As shown, the protective cover 14 at least partially wraps the side of the guidewire end 112 away from the core 111. The protective cover 14 serves as a protective structure of the guidewire body 11, and at least partially wraps the side of the guidewire end 112 away from the core 111. During the process of the guidewire 1 intervening in the patient's blood vessels, the guidewire end 112 is preferentially inserted into the patient's blood vessels, and the human blood vessels are very thin and can be easily punctured after being rubbed by external sharp objects. In view of the irregularity of the shape of the sensor body 121 and the sharpness of the guidewire end 112, by providing the protective cover 14 on the side of the sensor body 121 away from the guidewire end 112, it is possible to prevent the guidewire end 112 or the sensor body 121 and other structures from causing damage to the patient's blood vessels, so that the doctor can operate the guidewire 1 to intervene in the patient's blood vessels normally and safely.

[0090] As an optional embodiment, the end of the protective cover 14 facing the patient's blood vessel is arc-shaped. Specifically, since the end of the protective cover 14 facing the patient's blood vessel is arc-shaped, the damage to the blood vessel caused by the protective cover 14 during the process of the guide wire 1 intervening in the patient's blood vessel can be reduced, and the damage to the patient's blood vessel can be further reduced. In addition, since the end of the protective cover 14 facing the patient's blood vessel is arc-shaped, the resistance encountered by the guide wire 1 during the process of intervening in the patient's blood vessel can be reduced, thereby making the process of the guide wire 1 in the patient's blood vessel smoother.

[0091] Optionally, the protective cover 14 is a spring coil protective cover 14, a plastic protective cover 14, a polymer protective cover 14, etc. The spring coil protective cover 14 allows the guide wire 1 to have better tactile feedback and visibility, but increases friction, and is usually a platinum alloy. The plastic or polymer protective cover 14 increases the smoothness of the guide wire 1, but reduces tactile feedback, and the polymer usually contains tungsten. It is understandable that the protective cover 14 can also be a combination of a spring coil protective cover 14, a plastic protective cover 14, and a polymer protective cover 14, so as to achieve the effect of taking advantage of each other's strengths and making up for each other's weaknesses and maximizing performance.

[0092] As an optional embodiment, the sensor body 121 is bonded to the protective cover 14. Since the sensor body 121 is bonded to the protective cover 14, on the one hand, the connection and installation process of the sensor body 121 and the protective cover 14 can be simplified, and the manufacturing process of the guidewire 1 can be simplified. On the other hand, since one end of the sensor body 121 facing away from the protective cover 14 is connected to the guidewire end 112, and the other end of the sensor body 121 is directly bonded to the protective cover 14, it is easy to determine the distance between the guidewire end 112 and the protective cover 14, and then it is easy to determine the position information of the guidewire end 112, which facilitates the sensor body 121 to determine the position, direction and other information of the guidewire end 112 relative to the patient's blood vessel.

[0093] As an optional embodiment, the magnetic sensor 12 is an electromagnetic sensor 12. The magnetic sensor 12 is an electromagnetic sensor 12, which is a magnetic sensor 12 that converts the measured physical quantity into an induced electromotive force, and uses the principle of electromagnetic induction to achieve the purpose of speed measurement. When the magnetic gap changes due to the rotation of the speed measuring gear, an induced electromotive force is generated in the probe coil, and its amplitude is related to the rotation speed. The higher the speed, the higher the output voltage. The output frequency is proportional to the speed. The speed further increases, the magnetic circuit loss increases, and the output potential has been saturated. When the speed is too high, the magnetic circuit loss increases and the potential drops sharply.

[0094] Specifically, since the magnetic sensor 12 is an electromagnetic sensor 12, on the one hand, the electromagnetic sensor 12 is low-cost and high-performance. Since the electromagnetic sensor 12 is simple in technology and simple in working mechanism, it can obtain higher sensing accuracy and reliability by using common low-cost sensing elements, which can improve the overall measurement accuracy of the guidewire 1 and reduce the overall manufacturing cost. On the other hand, since the electromagnetic sensor 12 can integrate the magnetic sensor 12 with the signal amplification and processing module, its stability is much better than that of the external sensing module and processing circuit, and its service life can reach a longer service life, which can reduce the cost of later maintenance and upkeep.

[0095] In addition, since the electromagnetic sensor 12 is small in size and light in weight, a large amount of space inside the guidewire 1 can be saved, and the connection between the core 111 inside the guidewire 1, the guidewire end 112 and the magnetic sensor 12 can be made more compact, thereby improving the ease of installation of the guidewire 1. At the same time, the electromagnetic sensor 12 can also integrate the magnetic sensor 12 with the electronic control system, thereby reducing the complexity of the system and its anti-interference performance.

[0096] In an exemplary embodiment of the present disclosure, the flexibility of the guidewire end 112 is greater than the flexibility of the core 111. Specifically, since the flexibility of the guidewire end 112 is greater than the flexibility of the core 111, on the one hand, since the guidewire end 112 is the front end of the patient's blood vessel, during the intervention of the patient's blood vessel, it is necessary to make corresponding position and angle adjustments according to the specific conditions in the patient's blood vessel. Since the flexibility of the guidewire end 112 is greater than the flexibility of the core 111, the movement of the guidewire end 112 can be made more flexible, and the position and angle of the guidewire end 112 can be adjusted conveniently, thereby improving the spatial positioning function of the guidewire end 112. On the other hand, since the flexibility of the guidewire end 112 is greater than the flexibility of the core 111, the material of the guidewire end 112 is different from the material of the core 111. In the process of the magnetic sensor 12 positioning the guidewire end 112, the guidewire end 112 can be better distinguished from the core 111, and the guidewire end 112 can be marked as an additional mark, thereby improving the recognition of the guidewire end 112.

[0097] As an optional embodiment, the diameter of the guide wire end 112 is smaller than the diameter of the core 111. Figure 1 , Figure 2 , Figure 4 and Figure 6As shown, since the smaller the diameter of the component, the more operable the component will be than the component with a larger diameter, the structure in which the diameter of the guidewire end 112 is smaller than the diameter of the core 111 can achieve control of the flexibility of the guidewire end 112 without increasing additional material costs, and the guidewire end 112 adopts a smaller diameter, which can reduce the manufacturing cost of the guidewire end 112, thereby reducing the overall manufacturing cost of the guidewire 1, and at the same time, can make the guidewire 1 as a whole lighter. In addition, by changing the structure of the guidewire end 112, and the guidewire end 112 and the core 111 adopt the same material, the guidewire end 112 and the core 111 can maintain better stability during use.

[0098] As an optional embodiment, the guide wire end 112 is made of a flexible material. Since the guide wire end 112 is made of a flexible material, the performance of the guide wire end 112 can be changed without changing the structure of the guide wire end 112, which can facilitate the design and production process of the internal structure of the guide wire 1.

[0099] According to one aspect of the present disclosure, a magnetic positioning device 2 is provided, comprising a magnetic field generator 23 and a guide wire 1. Figure 8 As shown, the magnetic field generator 23 is used to emit a magnetic field to the guide wire 1 to determine the position of the sensor body 121.

[0100] It should be noted that the magnetic positioning device 2 may adopt permanent magnet positioning technology or electromagnet positioning technology, and the specific technology adopted by the magnetic positioning device 2 is not limited herein.

[0101] Since the magnetic positioning device 2 also includes a magnetic field generator 23, the magnetic field generator 23 uses the principle of electromagnetic induction to pass a current of a certain frequency and strength through the coil to generate a corresponding magnetic field strength between the corresponding plates. It is widely used in the fields of element analyzers, nuclear magnetic resonance, environmental detectors, etc. Specifically, in the process of the doctor using the guide wire 1 to intervene in the patient's blood vessels, the magnetic sensor 12 can sense and feedback the position, direction, force and other information of the guide wire end 112 intervening in the patient's blood vessels, which can facilitate the doctor's accuracy of the guide wire 1 intervening in the patient's blood vessels. At the same time, the magnetic field generator 23 can emit a magnetic field, so that the position of the sensor body 121 can be determined, and then the position of the sensor body 121 determined by the magnetic field generator 23 can be indirectly verified to see whether the position information of the guide wire end 112 sensed by the magnetic sensor 12 is wrong. If there is a deviation in the position information fed back twice, other means can be used to verify the correct position, direction and force of the guide wire end 112 to avoid wrong operation on the patient. If the position information fed back twice is consistent, it can be determined that the position, direction, force and other information of the guidewire end 112 inserted into the patient's blood vessel are correct, thereby improving the accuracy of the doctor's operation of the guidewire 1.

[0102] In an exemplary embodiment of the present disclosure, the magnetic positioning device 2 further includes a signal processing unit 21. The signal processing unit 21 is electrically connected to one end of the sensor connection line 122 away from the sensor body 121, and is used to collect data signals from the sensor body 121 and calculate the position and direction of the sensor body 121.

[0103] Among them, the magnetic positioning device 2 is used to collect and process various information sensed and fed back by the guide wire 1 when it intervenes in the patient's blood vessel, so as to convert the electronic information collected by the magnetic sensor 12 into image information that can be recognized by the doctor, thereby serving as the basis for the doctor's operation, so that the doctor can accurately understand the specific position, direction, force and other information of the guide wire 1 when it intervenes in the patient's blood vessel, thereby improving the accuracy of the operation on the patient.

[0104] Specifically, the signal processing unit 21 serves as the core signal processing structure in the magnetic positioning device 2 and is electrically connected to one end of the sensor connecting line 122 away from the sensor body 121. When the doctor operates the guidewire 1 to intervene in the patient's blood vessels, the guidewire end 112 clears the blocked position in the patient's blood vessels, and the sensor body 121 collects the specific position, direction, force and other information of the guidewire end 112, and transmits the collected various information signals to the signal processing unit 21 in the magnetic positioning device 2 through the sensor connecting line 122. Under the processing and calculation of the signal processing unit 21, the position, direction, force and other information sensed by the sensor body 121 is converted into image information that can be recognized by the doctor to facilitate the doctor's operation.

[0105] In an exemplary embodiment of the present disclosure, the magnetic positioning device 2 further includes a sensor interface unit 22. The sensor interface unit 22 is connected between the sensor connection line 122 and the signal processing unit 21, and is used to amplify the data signal of the sensor body 121.

[0106] Specifically, the sensor interface unit 22 is connected between the sensor connecting line 122 and the signal processing unit 21, and serves as a signal amplifying unit of the sensor body 121. It amplifies the position, direction, force and other information sensed and fed back by the sensor body 121, and then transmits the amplified information sensed and fed back by the sensor body 121 to the signal processing unit 21 through the sensor connecting line 122, thereby improving the accuracy of the processing of the signal processing unit 21, and further improving the accuracy of the magnetic sensor 12 in sensing various information of the guidewire end 112 intervening in the patient's blood vessels.

[0107] According to one aspect of the present disclosure, a vascular interventional surgical robot is provided, comprising a master-end control device and a slave-end operating device, wherein the master-end control device is used to control the operation of the slave-end operating device and the magnetic positioning device 2; wherein the master-end control device is electrically connected to the magnetic field generator 23, and is used to control the magnetic field generator 23 to determine the position of the sensor body 121.

[0108] By setting up a vascular interventional surgery robot, the doctor manipulates the vascular interventional surgery robot manipulation device to treat the patient's treatment site. The doctor only needs to send corresponding control instructions to the vascular interventional surgery robot to set the vascular interventional surgery robot to the treatment site that the patient needs to treat, and then perform corresponding surgical operations on the treatment site that the patient needs to treat. The vascular interventional surgery robot can be controlled to accurately align the guide wire 1 set on the vascular interventional surgery robot with the treatment site that the patient needs to treat, thereby achieving precise treatment of the patient. At the same time, the vascular interventional surgery robot can be controlled to accurately align the guide wire 1 with the treatment site that is difficult for the doctor to align when operating the medical device, which facilitates the doctor's surgical operation.

[0109] Specifically, since the main-end control device is electrically connected to the magnetic field generator 23 and is used to control the magnetic field generator 23 to determine the position of the sensor body 121, the data and control system intercommunication between the vascular interventional surgery robot and the magnetic positioning device 2 can be achieved through the electrical connection between the main-end control device of the vascular interventional surgery robot and the magnetic field generator 23, which can facilitate the doctor to control the magnetic positioning device 2 while operating the main-end control device. On the one hand, it is convenient for the doctor to operate the doctor only needs to control the main-end control device to control the slave-end operating device of the vascular interventional surgery robot and the magnetic positioning device 2 at the same time; on the other hand, it can reduce the time and errors of data input and conversion, reduce the doctor's repeated operations, and improve the doctor's operating efficiency during vascular interventional surgery.

[0110] The connection process of the guidewire 1 and the magnetic positioning device 2 of the present disclosure is as follows: the guidewire 1 includes a guidewire body 11, a magnetic sensor 12, a coating layer 13, and a protective cover 14. The magnetic positioning device 2 includes a signal processing unit 21, a sensor interface unit 22, and a magnetic field generator 23.

[0111] The guidewire body 11 includes a core 111 and a guidewire end 112, and the magnetic sensor 12 includes a sensor body 121 and a sensor connecting wire 122. The guidewire end 112 is arranged at one end of the core 111, and the sensor body 121 is embedded in the guidewire end 112. The sensor connecting wire 122 extends along the length direction of the guidewire body 121, and one end of the sensor connecting wire 122 is connected to the sensor body 121, and the other end extends along the length direction of the guidewire body 11, and is connected to the signal processing unit 21 at the far end. The coating layer 13 at least covers the surface of the guidewire body 11 and the sensor connecting wire 122. The signal processing unit 21 is electrically connected to one end of the sensor connecting wire 122 away from the sensor body 121, and is used to collect the data signal of the sensor body 121 and calculate the position and direction of the sensor body 121. The sensor interface unit 22 is connected between the sensor connecting wire 122 and the signal processing unit 21, and is used to amplify the data signal of the sensor body 121. The magnetic field generator 23 is used to emit a magnetic field to determine the position of the sensor body 121.

[0112] Specifically, when the doctor uses the guidewire 1 to intervene in the patient's blood vessels, the guidewire end 112 preferentially intervenes in the patient's blood vessels, and the sensor body 121 senses and feeds back the position, direction, force and other information of the guidewire end 112 relative to the blood vessel, and then transmits the various information sensed by the sensor body 121 to the sensor interface unit 22 through the sensor connecting line 122, so as to amplify the signal sensed by the sensor body 121, and then transmit it to the signal processing unit 21, and process and calculate the signal amplified by the sensor interface unit 22, and finally convert it into image information for the doctor to identify. At the same time, the position of the sensor body 121 can be determined by the magnetic field generator 23, so as to combine the position information sensed by the sensor body 121 to judge the specific information of the guidewire end 112 intervening in the patient's blood vessels.

[0113] When the doctor operates the guide wire 1 to intervene in the part of the patient that needs treatment, he does not need to rely on his sense and experience to judge the position and direction of the guide wire 1 in the blood vessel. He only needs to use the remote signal processing unit 21 connected to the sensor connecting line 122 to realize the judgment of the position, direction and other information of the guide wire 1 involved in the patient's blood vessel. In the process of the doctor pushing the guide wire 1 to intervene in the patient's blood vessel, the specific situation of the guide wire 1 moving in the blood vessel can be accurately judged.

[0114] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the utility model disclosed herein. The utility model is intended to cover any variation, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the art that are not disclosed in the present disclosure. The specification and examples are to be regarded as exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

Claims

1. A guide wire, characterized in that: include: Guidewire body; The guide wire body comprises a core and a guide wire end, and the guide wire end is arranged at one end of the core; Magnetic sensor; The magnetic sensor comprises a sensor body and a sensor connecting wire, wherein the sensor body is embedded in the end of the guide wire; The sensor connecting line extends along the length direction of the guidewire body, one end of the sensor connecting line is connected to the sensor body, and the other end is connected to a signal processing unit at a remote end; The coating layer at least covers the surface of the guide wire body and the sensor connecting wire.

2. The guide wire according to claim 1, characterized in that A through hole is arranged inside the core, the through hole extends along the length direction of the guide wire body, and the sensor connecting wire is arranged in the through hole.

3. The guide wire according to claim 1, characterized in that When the diameter of the sensor connecting wire is less than or equal to 1 / 5 of the diameter of the core, the outer wall of the core is provided with a groove, the groove extends along the length direction of the guide wire body, and the sensor connecting wire is entirely arranged in the groove; Wherein, in the projection direction of the length of the guidewire body, the projections of the sensor connecting wires are all located within the projection of the groove.

4. The guide wire according to claim 1, characterized in that When the diameter of the sensor connecting wire is greater than 1 / 5 of the diameter of the core, the outer wall of the core is provided with a groove, the groove extends along the length direction of the guide wire body, and part of the sensor connecting wire is provided in the groove; Wherein, in the projection direction of the length of the guidewire body, the projection of part of the sensor connecting line is located within the projection of the groove; Alternatively, when the diameter of the sensor connecting wire is greater than 1 / 5 of the diameter of the core, all of the sensor connecting wires are arranged outside the core; Wherein, in the projection direction of the guidewire body, the projections of the sensor connecting wires are all located outside the projection of the core.

5. The guide wire according to claim 1, characterized in that The sensor connecting wire is arranged outside the core along the length direction of the guidewire body; Alternatively, the sensor connecting wire is spirally wound around the outer side of the core.

6. The guide wire according to claim 1, characterized in that The guide wire also includes: The protective cover at least partially wraps the side of the guide wire end away from the core.

7. A magnetic positioning device, characterized in that: It comprises a magnetic field generator and the guide wire according to any one of claims 1 to 6, wherein the magnetic field generator is used to emit a magnetic field to the guide wire to determine the position of the sensor body.

8. The magnetic positioning device according to claim 7, characterized in that: The magnetic positioning device also includes: The signal processing unit is electrically connected to one end of the sensor connection line away from the sensor body, and is used to collect the data signal of the sensor body and calculate the position and direction of the sensor body.

9. The magnetic positioning device according to claim 8, characterized in that: The magnetic positioning device also includes: The sensor interface unit is connected between the sensor connection line and the signal processing unit and is used to amplify the data signal of the sensor body.

10. A vascular interventional surgery robot, comprising a master-end control device and a slave-end operating device, wherein the master-end control device is used to control the operation of the slave-end operating device and the magnetic positioning device according to any one of claims 7 to 9; in, The main end control device is electrically connected to the magnetic field generator, and is used to control the magnetic field generator to determine the position of the sensor body.

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