Magnetic control guide device for vascular intervention surgery

Abstract

The utility model provides a blood vessel intervention operation is with magnetism control guide device relates to blood vessel intervention operation technical field, including C type intervention X -ray contrast device, contrast matching operating table, magnetism control operation robot module, magnetism control guide wire, guide wire catheter push and enter the operation robot module and remote workstation, the inside of magnetism control guide wire is equipped with optical fiber subassembly, and the optical fiber subassembly includes single mode optical fiber and optical fiber lens, and the optical fiber lens is established in the magnetism control guide wire distal end, and the magnetism control guide wire is close to the optical fiber lens proximal end face place and is covered with guide wire magnet, and the magnetism control operation robot module is by trolley and mechanical arm, and the one end of mechanical arm is away from trolley and is equipped with permanent magnet, the utility model discloses adopt the permanent magnet in the magnetism control operation robot module and the guide wire magnet between the magnetism control guide wire distal end covering and form the magnetic field, and through the mechanical arm adjustment permanent magnet barycenter position and magnetic field direction, to realize the timely correction of magnetism control guide wire position finally, reduce the probability of postoperative complication.

Description

Technical Field

[0001] This utility model relates to the field of vascular interventional surgery technology, and in particular to a magnetically controlled guidance device for vascular interventional surgery. Background Technology

[0002] Interventional vascular surgery is used for the surgical treatment of malignant trophoblastic tumors. Interventional vascular technology is an effective treatment method that has gradually emerged in the last 10 years. It is minimally invasive, easy to operate, and allows for accurate intervention. It has enabled some patients who cannot tolerate major surgery or who are drug resistant to drugs to be treated, and its use in the treatment of malignant trophoblastic tumors is also increasing.

[0003] In existing technologies, vascular interventional surgery uses traditional interventional guidewires and polymer catheters. During the procedure, DSA angiography is required to observe and monitor the real-time position of the guidewire or catheter as it advances. Due to the complexity of the human bloodstream, especially the neurovascular pathways, the process of advancing the interventional device to the target location takes too long. Both the patient and the medical staff performing the procedure are exposed to X-rays for an extended period. Therefore, most vascular interventional surgery robots are now used. Vascular interventional surgery robots advance the guidewire to the designated lesion by pushing and rotating the push module. This method can free up medical staff from on-site operations and reduce the risk of patient exposure. However, the control of vascular interventional surgery robots during the procedure still relies on real-time image information obtained from frequent intermittent DSA angiography. The interventional path of guidewire advancement is adjusted at the control panel. However, DSA angiography uses a large amount of iodine-based contrast agent, which can easily cause postoperative complications such as renal failure in patients, which are already common in clinical practice. At the same time, the guidewire advancement operation relies too much on the tactile feedback sensor of the advancement module, and damage to the blood vessel wall can still easily occur during the device advancement process. Utility Model Content

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing a magnetically controlled guidance device for vascular interventional surgery.

[0005] To achieve the above objectives, this utility model adopts the following technical solution: a magnetically controlled guide device for vascular interventional surgery, comprising a C-type interventional X-ray angiography device, an angiography-supporting operating table, a magnetically controlled surgical robot module, a magnetically controlled guidewire, a guidewire and catheter pushing interventional surgical robot module, and a remote workstation. The magnetically controlled guidewire is composed of one or more metallic materials such as nickel-titanium alloy, platinum-tungsten alloy, and stainless steel, with an outer layer of a polymer coating material, which may be a hydrophilic coating. An optical fiber assembly is provided inside the magnetically controlled guidewire, comprising a single-mode optical fiber and an optical fiber lens. The optical fiber lens is located at the distal end of the magnetically controlled guidewire. A guidewire magnet is wrapped around the proximal end face of the magnetically controlled guidewire near the optical fiber lens. The guidewire magnet consists of a guidewire magnet N pole and a guidewire magnet S pole. The magnetically controlled surgical robot module consists of a trolley and a robotic arm. A permanent magnet is provided at the end of the robotic arm away from the trolley. The permanent magnet is a cylinder with a thickness and diameter of 100 mm, and the magnetic field strength of the permanent magnet is 1.45 T.

[0006] Preferably, the bottom end of the C-type interventional X-ray angiography device is rotatably connected to the bottom of the angiography-matching operating table, which facilitates flexible adjustment of the device's angle and position according to the specific location of the magnetically controlled guidewire in the human blood vessel. This allows the X-ray angiography device to accurately locate the image of the magnetically controlled guidewire, thereby providing doctors with clearer and more accurate real-time image-assisted judgment, greatly improving the precision and safety of the surgery. In complex interventional surgeries, this flexible adjustment capability can effectively reduce the problems of unclear imaging or inconvenient operation caused by the fixed position of the device, further improving surgical efficiency.

[0007] Preferably, the bottom of the robotic arm is bolted to the trolley, which not only facilitates the quick installation and disassembly of the robotic arm, but also greatly simplifies the process of maintenance and replacement of the guide device. In actual use, this connection method can effectively improve the maintenance efficiency of the equipment, reduce surgical delays caused by equipment failure, and reduce maintenance costs.

[0008] Preferably, the robotic arm is a multi-degree-of-freedom robotic arm, typically a six-degree-of-freedom robotic arm, which can achieve multi-directional and high-precision adjustment, so that the permanent magnet can be accurately aligned with the magnet for the guide wire, thereby improving the accuracy of the magnetic field direction formed between the two, reducing the risk of misoperation, and improving the success rate of the surgery.

[0009] Preferably, the robotic arm is connected to the permanent magnet via a flange. This connection method is not only convenient for installation and disassembly, but also has higher stability and reliability. Compared with traditional connection methods, flange connections do not experience loosening, thereby effectively reducing bolt load and extending the service life of the equipment.

[0010] Preferably, the guide wire magnet is composed of PMDS fluid and magnetic powder. After the guide wire magnet is solidified by vulcanization at room temperature, it is magnetized using a magnetization device so that the distal end of the magnetically controlled guide wire becomes magnetic, and is tested under the magnetic field of a matching permanent magnet.

[0011] Preferably, the fiber optic lens end is provided with a flexible protective cover, and the flexible protective cover is made of Pebax material with a Shore hardness of 45A. The fiber optic lens end is divided into three bevels, and the grinding angle of the bevels is 45 degrees from the grinding angle of the fiber optic lens axis.

[0012] Beneficial effects

[0013] In existing technologies, vascular interventional surgery uses traditional guidewires and polymer catheters. During the procedure, DSA angiography is required to monitor the real-time position of the guidewire or catheter as it advances. Because the human bloodstream, especially the neurovascular pathways, is extremely complex, the process of advancing the interventional device to the target location is too time-consuming. Both the patient and the medical staff are exposed to X-rays for extended periods. Therefore, most vascular interventional surgeries now utilize robotic vascular interventional procedures. These robots advance the guidewire to the designated lesion through a pushing and rotating module. This method frees up medical staff from on-site operations and reduces... While reducing the risk of patient exposure, the control of the vascular interventional surgical robot during the procedure still relies on real-time image information obtained from frequent intermittent DSA angiography. The interventional path of the guidewire is adjusted at the control panel. However, the use of large amounts of iodine-based contrast agents in DSA angiography can easily cause postoperative complications such as renal failure, which are already common in clinical practice. To address this issue, this invention uses a permanent magnet within the magnetically controlled surgical robot module to form a magnetic field between the permanent magnet and the guidewire magnet covering the distal end of the magnetically controlled guidewire. The robotic arm adjusts the position of the permanent magnet's center of mass and the direction of the magnetic field to achieve timely correction of the magnetically controlled guidewire position, thereby reducing the probability of postoperative complications. Attached Figure Description

[0014] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0015] Figure 2 This is a three-dimensional structural diagram of the C-type interventional X-ray angiography device of this utility model;

[0016] Figure 3 This is a top view of the contrast-enhancing operating table of this utility model;

[0017] Figure 4 This is a three-dimensional structural diagram of the long-distance workstation of this utility model;

[0018] Figure 5 This is a three-dimensional structural diagram of the magnetically controlled guide wire in this utility model;

[0019] Figure 6 This is a cross-sectional view of the horizontal axial angle of the magnetically controlled guidewire deflection within the blood vessel in this utility model.

[0020] Figure 7 This is a cross-sectional view of the distance between the magnetically controlled guidewire and the deflection side of the blood vessel wall in this utility model;

[0021] Figure 8 This is a three-dimensional structural diagram of the optical fiber assembly in this utility model;

[0022] Figure 9 This is a three-dimensional structural diagram of the N and S poles of the magnet used for the guide wire in this utility model.

[0023] Legend:

[0024] 101. C-type interventional X-ray angiography device; 102. Angiography-supporting operating table; 200. Magnetic-controlled surgical robot module; 201. Cart; 202. Robotic arm; 203. Permanent magnet; 300. Magnetic-controlled guidewire; 301. Single-mode optical fiber; 3011. Flexible protective cover; 302. Fiber optic lens; 303. Guidewire magnet; 3031. Guidewire magnet N pole; 3032. Guidewire magnet S pole; 400. Guidewire and catheter pushing interventional surgical robot module; 501. Blood vessel wall; 600. Remote workstation. Detailed Implementation

[0025] To make the technical means, creative features, and achieved objectives and effects of this utility model easier to understand, the present utility model is further described below with reference to specific embodiments and accompanying drawings. However, the following embodiments are merely preferred embodiments of this utility model and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments described in the implementation plan without creative effort are all within the protection scope of this utility model.

[0026] The specific embodiments of this utility model are described below with reference to the accompanying drawings. Specific implementation examples:

[0028] Reference Figure 1-9The magnetically controlled guidance device for vascular interventional surgery includes a C-type interventional X-ray angiography device 101, an angiography-supporting operating table 102, a magnetically controlled surgical robot module 200, a magnetically controlled guidewire 300, a guidewire and catheter pushing interventional surgical robot module 400, and a remote workstation 600. The execution terminal of the guidewire and catheter pushing interventional surgical robot module 400 is the execution component for advancing the magnetically controlled guidewire 300. The component consists of a guide rail, clamping mechanism, stepper motor, gear shaft, sensor, lead screw, and rotating wheel. It is fixed to the end of the robotic arm actuator and provides power and necessary signal control transmission. When the system receives the instruction to advance the guidewire, the stepper motor drives the lead screw to rotate through the gear shaft. The lead screw drives the clamping mechanism to move linearly along the guide rail. The clamping mechanism keeps the guidewire clamped during the movement, thereby pushing the guidewire forward. The sensor monitors the position and resistance in real time and feeds it back to the control system to adjust the motor's motion parameters to ensure precise control. The gear shaft serves to reduce speed or increase torque, improving control precision. The rotary wheel is used when manual adjustment is required, such as manually rotating the lead screw in case of motor failure. The magnetically controlled guide wire 300 is composed of one or more metal materials such as nickel-titanium alloy, platinum-tungsten alloy, and stainless steel. The outer layer is a polymer coating material, which can be a hydrophilic coating. The magnetically controlled guide wire 300 has an internal fiber optic assembly, which includes a single-mode fiber 301 and a fiber optic lens 302. The fiber optic lens 302 is located at the distal end of the magnetically controlled guide wire 300. The end of the fiber optic lens 302 is equipped with a flexible protective cover 3011, which is made of Pebax material with a Shore hardness of 45A. The end of the fiber optic lens 302 is divided into three bevels, and the grinding angle of the bevels is 45 degrees from the grinding angle of the axis of the fiber optic lens 302. The magnetically controlled guide wire 300 is covered with a guide wire magnet 303 near the proximal end face of the fiber optic lens 302. The guide wire magnet 303 is composed of PMDS fluid and magnetic powder. After room temperature vulcanization and solidification, the guide wire magnet 303 is magnetized using a magnetization device, so that the distal end of the magnetically controlled guide wire 300 becomes magnetic, and is tested under the magnetic field of the matching permanent magnet 203. The guide wire magnet 303 consists of a guide wire magnet N pole 3031 and a guide wire magnet S pole 3032. The magnetically controlled surgical robot module 200 consists of a trolley and a robotic arm 202. The end of the robotic arm 202 away from the trolley is equipped with a permanent magnet 203. The permanent magnet 203 is a cylinder with a thickness and diameter of 100mm, and the magnetic field strength of the permanent magnet 203 is 1.45T.

[0029] The bottom of the C-type interventional X-ray angiography device 101 is rotatably connected to the bottom of the angiography-matching operating table 102, allowing for flexible adjustment of the device's angle and position according to the specific location of the magnetically controlled guidewire 300 within the blood vessels. This enables the X-ray angiography device to accurately locate the image of the magnetically controlled guidewire, providing doctors with clearer and more accurate real-time image-assisted judgment, greatly improving the precision and safety of the surgery. In complex interventional surgeries, this flexible adjustment capability can effectively reduce problems such as unclear imaging or inconvenient operation caused by fixed device positions, further improving surgical efficiency.

[0030] The bottom of the robotic arm 202 is bolted to the trolley, which not only facilitates the quick installation and disassembly of the robotic arm 202, but also greatly simplifies the process of maintenance and replacement of the guide device. In practical use, this connection method can effectively improve the maintenance efficiency of the equipment, reduce surgical delays caused by equipment failure, and reduce maintenance costs. The robotic arm 202 adopts a multi-degree-of-freedom robotic arm, usually a six-degree-of-freedom robotic arm, which can achieve multi-directional and high-precision adjustment, so that the permanent magnet 203 can be accurately aligned with the guide wire magnet 303, thereby improving the accuracy of the magnetic field direction formed between the two, reducing the risk of misoperation, and improving the success rate of surgery.

[0031] The robotic arm 202 and the permanent magnet 203 are connected by a flange. This connection method is not only convenient to install and disassemble, but also has higher stability and reliability. Compared with the traditional connection method, the flange connection will not loosen, thus effectively reducing the bolt load and extending the service life of the equipment.

[0032] The working principle of this invention: The patient lies on the surface of the angiography-equipped operating table 1. The interventional surgical robot module 400, through the guidewire catheter, advances the magnetically controlled guidewire 300 into the patient's blood vessel. Figures 6-7 As shown, the distance from the nearest side of the blood vessel wall is L (distance between the magnetically controlled guidewire and the deflected side of the blood vessel wall), the angle between the magnetically controlled guidewire 300 and the horizontal axis is θ (angle of the magnetically controlled guidewire's horizontal axial deflection within the blood vessel), and the position coordinates (x, y, z) of the distal end P of the magnetically controlled guidewire. At this time, the position image optical signal is fed back to the remote workstation 600 host in the control center for signal conversion and image processing. The analysis shows that the theoretical position should be L1 between the magnetically controlled guidewire and the nearest side of the blood vessel wall, θ1 between the magnetically controlled guidewire and the horizontal axis, and α (angle of deflection between the distal central axis of the magnetically controlled guidewire and the central axis of the blood vessel cross-section in real time). Based on the above angle values ​​and edge distances, the system algorithm calculates the adjusted position coordinates (x1, y1, z1) of the distal end P1 of the magnetically controlled guidewire. The coordinate position information is converted into control command coordinates and given to the robot module of the magnetic control system. The position of the centroid and the direction of the magnetic field of the permanent magnet 203 of the robotic arm end actuator are also adjusted to achieve the final timely correction of the position of the magnetically controlled guidewire.

[0033] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0034] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A magnetically controlled guided device for vascular interventional surgery, comprising a C-type interventional X-ray angiography device (101), an angiography-supporting operating table (102), a magnetically controlled surgical robot module (200), a magnetically controlled guidewire (300), a guidewire and catheter pushing interventional surgical robot module (400), and a remote workstation (600), characterized in that: The magnetically controlled guide wire (300) is equipped with an optical fiber assembly, which includes a single-mode optical fiber (301) and an optical fiber lens (302). The optical fiber lens (302) is located at the distal end of the magnetically controlled guide wire (300). The magnetically controlled guide wire (300) is covered with a guide wire magnet (303) near the proximal end face of the optical fiber lens (302). The guide wire magnet (303) is composed of a guide wire magnet N pole (3031) and a guide wire magnet S pole (3032). The magnetically controlled surgical robot module (200) is composed of a trolley (201) and a robotic arm (202). The end of the robotic arm (202) away from the trolley (201) is equipped with a permanent magnet (203).

2. The magnetically controlled guidance device for vascular interventional surgery according to claim 1, characterized in that: The bottom of the C-type interventional X-ray angiography device (101) is rotatably connected to the bottom of the angiography-matching operating table (102).

3. The magnetically controlled guidance device for vascular interventional surgery according to claim 1, characterized in that: The bottom of the robotic arm (202) is bolted to the trolley (201).

4. The magnetically controlled guidance device for vascular interventional surgery according to claim 1, characterized in that: The robotic arm (202) is a multi-degree-of-freedom robotic arm.

5. The magnetically controlled guidance device for vascular interventional surgery according to claim 1, characterized in that: The robotic arm (202) is connected to the permanent magnet (203) via a flange.

6. The magnetically controlled guidance device for vascular interventional surgery according to claim 1, characterized in that: The guide wire magnet (303) is composed of PMDS fluid and magnetic powder.

7. The magnetically controlled guidance device for vascular interventional surgery according to claim 1, characterized in that: The fiber optic lens (302) is provided with a flexible protective cover (3011) at its end.

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